A robotic system and its surgical robot

Abstract

This invention discloses a surgical robot and a robotic system. The surgical robot includes: a robotic arm; a trocar mounted on the robotic arm, used to create a channel through the patient's tissue and into the patient's internal cavity; surgical instruments that pass through the channel into the patient's internal cavity and are movable along the axis of the channel; and an image acquisition mechanism including an image acquisition sensor that can pass through the channel into the patient's internal cavity and is movable along the axis of the channel. The surgical robot provided by this invention, by integrating the image acquisition mechanism and surgical instruments within the same channel, reduces the number of cavities in the patient's body, thus facilitating postoperative recovery.

Description

Technical Field

[0001] This invention relates to the field of intracavitary surgical equipment, and in particular to a surgical robot. Furthermore, this invention also relates to a robotic system comprising the aforementioned surgical robot. Background Technology

[0002] Laparoscopic surgery is a newly developed minimally invasive method and an inevitable trend in the future development of surgical methods.

[0003] In existing technologies, laparoscopic surgery generally employs a multi-cavity surgical approach, with the endoscope and surgical instruments entering the patient's body through different cavities. This surgical approach requires opening multiple cavities in the patient's body, which is not conducive to the patient's subsequent recovery. In addition, the endoscope and surgical instruments are independent of each other, which is not conducive to the doctor's observation of lesions and surgical operations. Furthermore, in existing technologies, the endoscope and surgical instruments are controlled by different institutions, and the endoscope and surgical instruments are independent of each other, which is not conducive to the doctor observing lesions while performing surgical operations.

[0004] Therefore, how to reduce damage to patients and facilitate postoperative recovery is a technical problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a surgical robot that can effectively reduce the number of cavities in a patient's body, thus facilitating postoperative recovery. Another purpose of this invention is to provide a robotic system comprising the aforementioned surgical robot.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A surgical robot, comprising:

[0008] robotic arm;

[0009] A trocar, mounted on the robotic arm, is used to create a channel through the patient's tissue and into the patient's internal cavity;

[0010] Surgical instruments pass through the channel into the patient's internal cavity, and the surgical instruments can move along the axial direction of the channel;

[0011] An image acquisition mechanism, comprising an image acquisition sensor, which can pass through the channel into the patient's internal cavity and can move along the axis of the channel.

[0012] Preferably, it further includes a limiting member, which is detachably connected to the puncture device; the limiting member is used to restrict the position of the image acquisition mechanism in the axial direction of the channel when the image acquisition sensor moves to the target position along the axial direction of the channel.

[0013] Preferably, the limiting component includes: a base, a data acquisition mechanism locking component, and a puncture device locking component. The data acquisition mechanism locking component is used to lock the image acquisition mechanism, and the puncture device locking component is used to connect with the puncture device. Both the data acquisition mechanism locking component and the puncture device locking component are mounted on the base in an adjustable position.

[0014] Preferably, the first side of the locking member of the collection mechanism is fixedly connected to the base, and the second side is connected to the base by a screw. The screw can rotate to drive the second side of the locking member of the collection mechanism to move away from or towards the base.

[0015] Preferably, the end of the puncture device near the limiting member is provided with an annular groove, and the puncture device locking member can engage with the annular groove to axially limit the limiting member; a limiting boss and a limiting groove extending along the axial direction of the puncture device are also provided between the annular groove and the puncture device locking member to circumferentially limit the limiting member.

[0016] Preferably, the puncture device locking member has a puncture device fixing cavity in the middle, and the two sides of the puncture device fixing cavity are detachably connected to the base by buckles.

[0017] Preferably, the puncture device locking member has connecting legs on both sides, and the base has a buckle assembly. The connecting legs can be inserted into the base and engaged with the buckle assembly.

[0018] Preferably, the buckle assembly includes a first buckle body, a second buckle body, and an elastic component, wherein the elastic component is installed between the first buckle body and the second buckle body; the connecting leg includes a first connecting leg and a second connecting leg, wherein the first connecting leg is engaged with the first buckle body, and the second connecting leg is engaged with the second buckle body; the first buckle body and the second buckle body can be unlocked by pressing.

[0019] Preferably, the base is provided with clearance grooves on both sides, and the opposite ends of the first buckle body and the second buckle body extend out from the clearance grooves on the left and right sides of the base, so as to press the first buckle body and the second buckle body.

[0020] Preferably, the first buckle body and the second buckle body are provided with buckle guide slope and buckle engagement step on the side opposite to each other, and the first connecting leg and the second connecting leg are provided with leg guide slope and leg engagement step on the side close to each other. When the buckle guide slope and the leg guide slope approach each other, they will push the first buckle body and the second buckle body to move in the direction of approaching each other.

[0021] Preferably, the base has a cavity, the first buckle body, the second buckle body and the elastic component are all installed in the cavity, the top of the base is also provided with a through hole for the first connecting leg and the second connecting leg to be inserted into the cavity, and the bottom of the base is provided with a bottom cover plate.

[0022] The present invention also provides a robotic system comprising the surgical robot described in any one of the preceding claims.

[0023] The surgical robot provided by this invention includes: a robotic arm; a trocar mounted on the robotic arm, the trocar used to create a channel through patient tissue and into the patient's internal cavity; a surgical instrument passing through the channel into the patient's internal cavity, and the surgical instrument being movable along the axis of the channel; and an image acquisition mechanism including an image acquisition sensor, the image acquisition sensor passing through the channel into the patient's internal cavity and being movable along the axis of the channel. The surgical robot provided by this invention, by integrating the image acquisition mechanism and the surgical instrument within the same channel, reduces the number of cavities in the patient's body, thus facilitating postoperative recovery.

[0024] In a preferred embodiment, a limiting member is further included, which is detachably connected to the puncture device. The limiting member restricts the position of the image acquisition mechanism along the axial direction of the channel when the image acquisition sensor moves to the target position. This configuration, using the limiting member to mount the image acquisition mechanism onto the puncture device, not only allows for synchronous movement of the image acquisition sensor and the puncture device using the robotic arm, but also enables quick locking of the image acquisition sensor, facilitating its installation, improving assembly efficiency, and saving disassembly and assembly time.

[0025] The robot system provided by the present invention is equipped with the above-mentioned surgical robot. Since the surgical robot has the above-mentioned technical effects, the robot system equipped with the surgical robot should also have the corresponding technical effects. Attached Figure Description

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

[0027] Figure 1 A schematic diagram of a specific embodiment of the surgical robot provided by the present invention;

[0028] Figure 2 for Figure 1 A schematic diagram of the assembly structure of the image acquisition mechanism, limiting components, and puncture device in the surgical robot shown.

[0029] Figure 3 for Figure 2 An exploded view of the assembly diagram shown.

[0030] Figure 4 for Figure 1 A schematic diagram of the assembly structure of the limiting component and the trocar in the surgical robot shown;

[0031] Figure 5 for Figure 1 The diagram shows the structure of the limiting component in the surgical robot.

[0032] Figure 6 for Figure 5 A sectional view of the limiting component shown;

[0033] The components include: robotic arm-100; puncture device-200; annular groove-200-1; limiting boss-200-2; surgical instrument-300; image acquisition mechanism-400; limiting component-500; base-501; acquisition mechanism locking component-502; puncture device locking component-503; limiting groove-503-1; knob-504; screw-505; first buckle body-506; buckle guide slope-506-1; buckle engagement step-506-2; second buckle body-507; and elastic component-508. Detailed Implementation

[0034] The core of this invention is to provide a surgical robot that is easy to use, has high control precision, and makes surgery safer. Another core aspect of this invention is to provide a robotic system including the aforementioned surgical robot.

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Please refer to Figures 1 to 6 , Figure 1 A schematic diagram of a specific embodiment of the surgical robot provided by the present invention; Figure 2 for Figure 1 A schematic diagram of the assembly structure of the image acquisition mechanism, limiting components, and puncture device in the surgical robot shown. Figure 3 for Figure 2 An exploded view of the assembly diagram shown. Figure 4 for Figure 1 A schematic diagram of the assembly structure of the limiting component and the trocar in the surgical robot shown; Figure 5 for Figure 1 The diagram shows the structure of the limiting component in the surgical robot. Figure 6 for Figure 5 The sectional view of the limiting component shown.

[0037] In this embodiment, the surgical robot includes:

[0038] 100 robotic arms;

[0039] The puncture device 200, mounted on the robotic arm 100, is used to create a channel through the patient's tissue and into the patient's internal cavity.

[0040] Surgical instrument 300 passes through the channel and enters the patient's internal cavity, and surgical instrument 300 can move along the axis of the channel;

[0041] The image acquisition mechanism 400 includes an image acquisition sensor that can pass through the channel into the patient's internal cavity and can move along the axis of the channel.

[0042] Specifically, the trocar 200 is preferably located at the front end of the robotic arm 100, with the front end of the robotic arm 100 being the end closest to the patient. The robotic arm 100 is equipped with a fixing component, and the trocar 200 is detachably mounted on this component. The robotic arm 100 moves the trocar 200, facilitating the creation of a channel through the patient's tissue and into the patient's internal cavity. After the surgical instrument 300 passes through the channel and enters the patient's internal cavity, surgical operations are performed. The surgical instrument 300 moves along the channel's axial direction to perform surgical procedures at different locations within the patient's internal cavity. The image acquisition mechanism 400 can be an endoscope. The image acquisition mechanism 400 acquires images of the patient's internal cavity and displays them on a display screen for easy viewing by the doctor and to facilitate surgical operations. Similarly, the image acquisition sensor can also move along the channel's axial direction, thereby adjusting its position to acquire image information at different locations within the patient's internal cavity. Specifically, the diameter of the trocar 200 can be 8mm-12mm, and the image acquisition sensor can move relative to the surgical instrument 300, while the surgical instrument 300 can also move relative to the image acquisition sensor.

[0043] The surgical robot provided by this invention improves control precision and convenience, and increases the degree of automation by setting the puncture device 200 on the robotic arm 100 and using the robotic arm 100 to drive the puncture device 200 to move. Furthermore, by integrating the image acquisition mechanism 400 and the surgical instrument 300 in the same channel, the number of cavities in the patient's body is reduced, which is more conducive to the patient's postoperative recovery.

[0044] In some embodiments, a slide table is also included. The slide table is mounted on the robotic arm 100, and one end of the surgical instrument 300 is mounted on the slide table, while the other end passes through the channel. The surgical instrument 300 can slide along the axial direction of the channel following the slide table. The slide table can improve the stability and accuracy of the movement of the surgical instrument 300 and facilitate operation. Of course, in actual use, the surgical instrument 300 can also be moved manually, and is not limited to the method given in this embodiment.

[0045] In some embodiments, a limiting member 500 is also included, which is detachably connected to the puncture device 200. The limiting member 500 is used to restrict the position of the image acquisition mechanism 400 in the axial direction of the channel when the image acquisition sensor moves to the target position along the axial direction of the channel. Specifically, the image acquisition sensor is installed at the end of the image acquisition mechanism 400. The image acquisition mechanism 400 includes an acquisition tube, and the image acquisition sensor is installed at one end of the acquisition tube. The movement of the acquisition tube moves the image acquisition sensor. In the above configuration, the limiting member 500 is used to install the image acquisition mechanism 400 on the puncture device 200. That is, the limiting member 500 is used to set the image acquisition mechanism 400 and the surgical instrument 300 on the same robotic arm 100. The same robotic arm 100 controls the movement of the image acquisition mechanism 400 and the surgical instrument 300 relative to the operating table, realizing the synchronous movement of the image acquisition sensor and the puncture device 200. Moreover, the image acquisition sensor can be quickly locked, which facilitates the installation of the image acquisition sensor, improves assembly efficiency, and saves disassembly and assembly time.

[0046] In some embodiments, the limiting member 500 includes: a base 501, a data acquisition mechanism locking member 502, and a puncture device locking member 503. The data acquisition mechanism locking member 502 is used to lock the image acquisition mechanism 400, and the puncture device locking member 503 is used to connect with the puncture device 200. Both the data acquisition mechanism locking member 502 and the puncture device locking member 503 are positionally adjustable and mounted on the base 501. Specifically, the base 501 serves as a supporting body, ensuring the stability of the limiting member 500. The distance between the data acquisition mechanism locking member 502 and the puncture device locking member 503 and the base 501 can be changed by adjusting their positions, thereby locking or unlocking the image acquisition mechanism 400 and the puncture device 200. This facilitates position adjustment of the image acquisition mechanism 400 and the disassembly and assembly of the puncture device 200, improving patient comfort.

[0047] In some embodiments, the first side of the acquisition mechanism locking member 502 is fixedly connected to the base 501, and the second side is connected to the base 501 by a screw 505. The screw 505 can rotate to drive the second side of the acquisition mechanism locking member 502 to move away from or towards the base 501, thereby locking or unlocking the image acquisition mechanism 400. The locking member 502 of the acquisition mechanism is preferably arc-shaped, extending from one side of the base 501 to the other side of the base 501. Specifically, the first side of the locking member 502 is an integral structure with the base 501, and there is a gap between the first side of the locking member 502 and the base 501. When the screw 505 is rotated, the second side of the locking member 502 is pulled to move away from or towards the base 501, thereby changing the size of the gap. When the gap becomes larger, the image acquisition mechanism 400 is unlocked, and the position of the image acquisition mechanism 400 can be adjusted. After the adjustment is in place, the screw 505 is rotated in the opposite direction, the gap becomes smaller, and the image acquisition mechanism 400 is locked, thereby fixing the position of the image acquisition mechanism 400.

[0048] In some embodiments, the bottom of the screw 505 is also provided with a knob 504, which is located at the bottom of the base 501 for easy gripping. The knob 504 is provided with a washer to improve stability.

[0049] In some embodiments, the end of the puncture device 200 near the limiting member 500 is provided with an annular groove 200-1, and the puncture device locking member 503 can engage with the annular groove 200-1 to axially limit the limiting member 500. Specifically, the width of the annular groove 200-1 matches the width of the puncture device locking member 503, that is, the width of the annular groove 200-1 is slightly larger than the width of the puncture device locking member 503, so that the puncture device locking member 503 can just fit into the annular groove 200-1 to restrict the axial movement of the puncture device 200 and prevent the puncture device 200 from coming out of the puncture device locking member 503. The width of the annular groove 200-1 is slightly larger than the width of the puncture device locking member 503, for example, the width of the annular groove 200-1 is 0.5 mm larger than the width of the puncture device locking member 503. Of course, the puncture device 200 can be fitted with the puncture device locking member 503 by setting a boss on the periphery of the puncture device 200 or a groove on the puncture device locking member 503. Any structure that can achieve the upper limit of the axial position of the puncture device 200 and the puncture device locking member 503 is acceptable.

[0050] In some embodiments, a limiting boss 200-2 and a limiting groove 503-1 extending axially along the puncture device 200 are further provided between the annular groove 200-1 and the puncture device locking member 503 to circumferentially limit the limiting member 500. Specifically, the limiting boss 200-2 is preferably provided in the annular groove 200-1 of the puncture device 200, and the puncture device locking member 503 is provided with a limiting groove 503-1 that can cooperate with the limiting boss 200-2. Preferably, there are at least two sets of limiting bosses 200-2 and limiting grooves 503-1 to improve the stability of their cooperation. The provision of the limiting bosses 200-2 and limiting grooves 503-1 can effectively prevent the limiting member 500 from rotating and ensure the stability of use.

[0051] In some embodiments, the puncture device locking member 503 has a fixing cavity for the puncture device 200 in the middle, and the two sides of the fixing cavity for the puncture device 200 are detachably connected to the base 501 by snap fasteners. Since the puncture device locking member 503 mainly serves to fix the puncture device 200 and does not require adjustment, the snap fastener connection is convenient to operate and has higher assembly and disassembly efficiency.

[0052] In some embodiments, the puncture device locking member 503 is provided with connecting legs on both sides, and the base 501 is provided with a buckle assembly. The connecting legs can be inserted into the base 501 and engaged with the buckle assembly. Specifically, the puncture device locking member 503 is preferably arc-shaped, such as semi-circular. The middle part of the puncture device locking member 503 forms a puncture device 200 fixing cavity for the puncture device 200 to be inserted. The two connecting legs are located on both sides of the puncture device 200, fixing the puncture device 200 in the puncture device 200 fixing cavity, which has good stability.

[0053] In some embodiments, the latching assembly includes a first latching body 506, a second latching body 507, and an elastic member 508, the elastic member 508 being installed between the first latching body 506 and the second latching body 507; the connecting leg includes a first connecting leg and a second connecting leg, the first connecting leg being latched to the first latching body 506, and the second connecting leg being latched to the second latching body 507; the first latching body 506 and the second latching body 507 can be unlocked by pressing. Specifically, when the first connecting leg and the second connecting leg are inserted into the base 501, the first latch body 506 and the second latch body 507 will separate to both sides under the action of the base 501, until the first connecting leg is engaged with the first latch body 506 and the second connecting leg is engaged with the second latch body 507. Under the action of the elastic member 508, the first latch body 506 and the second latch body 507 will reset, thus locking the first connecting leg and the second connecting leg. When it is necessary to separate the puncture device locking member 503, press the side of the first latch body 506 and the second latch body 507 that are opposite to each other, so that the first connecting leg is separated from the first latch body 506 and the second connecting leg is separated from the second latch body 507. Then the first connecting leg and the second connecting leg can be taken out, thereby separating the puncture device locking member 503 from the base 501. After the first connecting leg and the second connecting leg are taken out, under the action of the elastic member 508, the first latch body 506 and the second latch body 507 will reset again.

[0054] In some embodiments, the base 501 is further provided with clearance grooves on both sides. The opposite ends of the first latch body 506 and the second latch body 507 extend from the clearance grooves on the left and right sides of the base 501, respectively, to facilitate pressing the first latch body 506 and the second latch body 507. The clearance grooves facilitate the installation and pressing operation of the first latch body 506 and the second latch body 507. Preferably, the size of the first latch body 506 and the second latch body 507 should not be too large, so that the first latch body 506 and the second latch body 507 are both located inside the clearance grooves and do not protrude outside the clearance grooves to prevent accidental contact.

[0055] In some embodiments, the first snap-fit ​​body 506 and the second snap-fit ​​body 507 are each provided with a snap-fit ​​guide ramp 506-1 and a snap-fit ​​step 506-2 on the opposite sides. The first connecting leg and the second connecting leg are each provided with a leg guide ramp and a leg snap-fit ​​step on the side facing each other. When the snap-fit ​​guide ramp 506-1 and the leg guide ramp approach each other, they push the first snap-fit ​​body 506 and the second snap-fit ​​body 507 to move in the direction of approaching each other. This configuration, utilizing the snap-fit ​​guide ramp 506-1 and the leg guide ramp, can improve the assembly efficiency of the first connecting leg and the second connecting leg. Utilizing the snap-fit ​​step 506-2 and the leg snap-fit ​​step, can improve the snap-fit ​​stability of the first connecting leg and the second connecting leg, thereby improving the locking stability of the puncture device 200.

[0056] In some embodiments, the base 501 has a cavity, in which the first snap-fit ​​body 506, the second snap-fit ​​body 507, and the elastic member 508 are all installed. The top of the base 501 also has a through hole for the first connecting leg and the second connecting leg to be inserted into the cavity. The bottom of the base 501 has a bottom cover plate, which restricts the first snap-fit ​​body 506, the second snap-fit ​​body 507, and the elastic member 508 within the base to ensure reliable use.

[0057] In one specific embodiment, the surgical instrument 300 is driven by a slide to move along the axial direction of the trocar 200; while the image acquisition mechanism 400 is manually pushed to move along the axial direction of the trocar 200. The image acquisition mechanism 400 is locked to the base 501 by the acquisition mechanism locking member 502, thereby preventing the image acquisition mechanism 400 from moving along the axial direction of the trocar 200. When the acquisition mechanism locking member 502 is loosened manually, the image acquisition mechanism 400 can be manually pushed to move along the axial direction of the trocar 200. After the image acquisition mechanism 400 moves to the target position, the acquisition mechanism locking member 502 is tightened to lock the image acquisition mechanism 400. With this setup, surgery can be performed by simply opening a hole in the patient's body or by utilizing the body's natural cavities. The surgical instrument 300 and the image acquisition mechanism 400 enter the patient's body through the same cavity / natural cavity to perform their functions. Both the image acquisition mechanism 400 and the surgical instrument 300 are integrated onto the robotic arm 100, which facilitates the combination of images and the surgical instrument 300 during surgery, thereby making it easier for doctors to operate.

[0058] In addition to the surgical robot described above, the present invention also provides a robotic system including the surgical robot described above.

[0059] In some embodiments, the robotic system also includes an operating table, a control panel, and a control unit. The control panel controls the movements of the operating table and the surgical robot. The operating table, control panel, control unit, and surgical robot are all communicatively connected. During use, the patient lies on the operating table, and the doctor controls the operating table and surgical robot to perform the surgical procedure via the control panel. Specifically, the control panel has a first control handle, a second control handle, and a foot pedal. The first control handle is located on the left side and is used to control the operation of the surgical robot, the image acquisition mechanism 400, and the surgical instruments 300. The second control handle is located on the right side and is used to control the movement of the operating table relative to the surgical robot, such as rotation or movement, thereby adjusting the patient's position to match the position of the surgical robot. Therefore, the doctor can control the movement of the surgical robot and the operating table separately using the two control handles. The surgical robot and the operating table cannot be controlled simultaneously; the operating table can automatically follow the movement of the surgical robot. That is, the operating table can move when the surgical robot is working, and the surgical robot remains stationary when the operating table moves. During the operation of the first operating handle controlling the surgical robot, image acquisition mechanism 400 and surgical instrument 300, the surgical robot, image acquisition mechanism 400 and surgical instrument 300 cannot move simultaneously. There is a switching button on the operating table. Doctors can switch between the surgical robot, image acquisition mechanism 400 and surgical instrument 300 currently controlled by the first operating handle by different switching buttons to improve the control accuracy.

[0060] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0061] The surgical robot provided by this invention has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A surgical robot, characterized by, The utility model relates to a medical device, including: a mechanical arm (100); a puncture device (200) arranged on the mechanical arm (100), the puncture device (200) is used to create a passage through the patient's tissue and into the patient's internal cavity; a surgical instrument (300) that enters the patient's internal cavity through the passage and can move along the axial direction of the passage, the surgical instrument (300) is integrated on the mechanical arm (100); an image acquisition mechanism (400) including an image acquisition sensor, the image acquisition sensor can enter the patient's internal cavity through the passage and can move along the axial direction of the passage; Further comprising a limiting piece (500) detachably connected with the puncture device (200); the limiting piece (500) is used to limit the position of the image acquisition mechanism (400) in the axial direction of the passage when the image acquisition sensor moves to the target position along the axial direction of the passage; the limiting piece (500) includes a base (501), an acquisition mechanism locking piece (502) and a puncture device locking piece (503), the acquisition mechanism locking piece (502) is used to lock the image acquisition mechanism (400), the puncture device locking piece (503) is used to be connected with the puncture device (200), the acquisition mechanism locking piece (502) and the punctive device locking piece (503) are both position-adjustable and installed on the base (501), so as to realize the locking or unlocking of the image acquisition mechanism (400) and the puncture device (200).

2. The surgical robot of claim 1, wherein, The first side of the acquisition mechanism locking piece (502) is fixedly connected with the base (501), and the second side is connected with the base (501) through a screw rod (505), the screw rod (505) can rotate to drive the second side of the acquisition mechanism locking piece (502) to move away from or close to the base (501).

3. The surgical robot of claim 2, wherein, The end of the puncture device (200) close to the limiting piece (500) is provided with an annular groove (200-1), the puncture device locking piece (503) can be clamped with the annular groove (200-1) to axially limit the limiting piece (500); the annular groove (200-1) and the puncture device locking piece (503) are further provided with a limiting boss (200-2) and a limiting groove (503-1) extending along the axial direction of the puncture device (200) to circumferentially limit the limiting piece (500).

4. The surgical robot of any one of claims 1 to 3, wherein, The middle part of the puncture device locking piece (503) is provided with a puncture device (200) fixing cavity, and the two sides of the puncture device (200) fixing cavity are detachably connected with the base (501) through buckles.

5. The surgical robot of claim 4, wherein, The two sides of the puncture device locking piece (503) are respectively provided with connecting legs, and the base (501) is provided with a buckle assembly, the connecting legs can be inserted into the inside of the base (501) and clamped with the buckle assembly.

6. The surgical robot of claim 5, wherein, The buckle assembly comprises a first buckle body (506), a second buckle body (507) and an elastic component (508) installed between the first buckle body (506) and the second buckle body (507); the connecting legs comprise a first connecting leg and a second connecting leg, the first connecting leg is connected with the first buckle body (506), and the second connecting leg is connected with the second buckle body (507); the first buckle body (506) and the second buckle body (507) can be unlocked by pressing the first connecting leg and the second connecting leg.

7. The surgical robot as claimed in claim 6, characterised in that, The base (501) is further provided with avoiding grooves on both sides, and the mutually opposite ends of the first buckle body (506) and the second buckle body (507) respectively extend from the avoiding grooves on the left and right sides of the base (501) so as to press the first buckle body (506) and the second buckle body (507).

8. The surgical robot of claim 7, wherein, The mutually opposite sides of the first buckle body (506) and the second buckle body (507) are respectively provided with buckle guide-in inclined surfaces (506-1) and buckle clamping steps (506-2), and the mutually close sides of the first connecting leg and the second connecting leg are respectively provided with leg guide-in inclined surfaces and leg clamping steps; when the buckle guide-in inclined surfaces (506-1) and the leg guide-in inclined surfaces are close to each other, the first buckle body (506) and the second buckle body (507) are pushed to move towards the direction of being close to each other.

9. The surgical robot of claim 6, wherein, The base (501) is provided with a cavity, the first buckle body (506), the second buckle body (507) and the elastic component (508) are all installed in the cavity, the top of the base (501) is further provided with through holes for the first connecting leg and the second connecting leg to be inserted into the cavity, and the bottom of the base (501) is provided with a bottom cover plate.

10. A robotic system comprising a surgical robot, characterized in that, The surgical robot is the surgical robot according to any one of claims 1 to 9. The surgical robot is the surgical robot according to any one of claims 1 to 9.

Images