A gasless access device applicable to a surgical robot

Abstract

The application relates to a pneumostasis-free device applicable to a surgical robot, which comprises a device body, a proximal end part and a distal end part connected in sequence along an axial direction from the proximal end to the distal end, the device body is used for being detachably mounted on a mechanical arm, the proximal end part comprises a proximal end outer tube and a proximal end inner transmission member, the proximal end inner transmission member is arranged in the proximal end outer tube, the distal end part comprises a distal end outer tube, a distal end inner transmission member, a support structure and a locking structure, the support structure is located at the distal end of the distal end outer tube, the distal end inner transmission member is arranged in the distal end outer tube and is connected with the support structure, and is used for controlling the support structure to expand and close under the driving of the proximal end inner transmission member, the locking structure is arranged on the distal end outer tube and is used for releasably locking the distal end inner transmission member and the distal end outer tube, so that the support structure is kept in an expanded state or a closed state, and the proximal end part and the distal end part are detachably connected through a clutch structure, thereby realizing the pneumostasis-free function, and the pneumostasis-free device can be separated from the mechanical arm and does not occupy the mechanical arm any more.

Description

Technical Field

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

[0002] Traditional laparoscopic surgery primarily utilizes CO2 pneumoperitoneum to provide surgical space. However, CO2 pneumoperitoneum has numerous adverse effects on the respiratory and circulatory systems. Therefore, gas-free devices have emerged. Current gas-free devices are mainly divided into two categories: external traction and internal support. Both techniques are fixed to the operating table using a support frame. External traction uses a suspension device to connect traction ropes, chains, and other accessories to a suspension arm, pulling the abdomen to create surgical space. Internal support uses a mechanical structure deployed inside the body to open the abdomen, while external traction pulls on the mechanical structure to create surgical space. Regardless of whether external traction or internal support is used, gas-free devices require 2-4 incisions in the patient's abdomen. A support rod is then passed through the abdomen to create traction and surgical space. However, this traction process can easily cause secondary damage to the incisions and abdominal mucosa. Furthermore, traction from the middle can cause the abdominal walls to converge towards the center, compressing the intestines and further reducing the surgical space. In addition, existing gasless laparotomy devices also have problems such as complicated installation and adjustment, excessive preoperative preparation time, and easy occupation of the operating space above the patient, interfering with the operation of other instruments.

[0003] It should be noted that the information disclosed in the background section of this application is intended only to enhance the understanding of the general background of this application, and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0004] Therefore, it is necessary to provide a gasless device that can be applied to surgical robots. This gasless device can achieve the function of gasless operation and can also remove the robotic arm after the surgical space is created in the body without affecting the use of other surgical instruments.

[0005] Therefore, this application provides a gasless device applicable to surgical robots, comprising the following components connected sequentially along the axial direction from proximal to distal end:

[0006] The device body is designed for detachable mounting on the robotic arm of the surgical robot.

[0007] The proximal portion includes a proximal outer tube and a proximal inner transmission component, wherein the proximal inner transmission component passes through the proximal outer tube;

[0008] The distal portion includes a distal outer tube, a distal inner transmission member, a support structure, and a locking structure; the support structure is located at the distal end of the distal outer tube; the distal inner transmission member passes through the distal outer tube and is connected to the support structure; the distal inner transmission member is used to control the expansion and closure of the support structure under the drive of the proximal inner transmission member; the locking structure is provided on the distal outer tube and is used to releasably lock the distal inner transmission member and the distal outer tube, so that the support structure remains in an expanded or closed state; and,

[0009] A clutch structure, wherein the proximal portion and the distal portion are detachably connected via the clutch structure.

[0010] In one embodiment, the support structure includes multiple support rods, all of which are circumferentially distributed around the axis of the distal outer tube. One end of each support rod is pivotally connected to the distal end of the distal outer tube. The distal portion also includes multiple connecting rods, each connecting rod connecting to a corresponding support rod. All connecting rods are connected to the distal inner transmission member, which is used to control the expansion and closure of the support structure through the multiple connecting rods.

[0011] In one embodiment, when the support structure is in the closed state, each of the support rods is housed in a corresponding through slot on the distal outer tube, and all the through slots are opened along the axial direction of the distal outer tube and distributed circumferentially around the axis of the distal outer tube.

[0012] The support structure forms an umbrella-shaped structure when it is unfolded.

[0013] In one embodiment, each of the support rods is connected to a connecting rod on its inner side, one end of each support rod is pivotally connected to the distal end of the distal outer tube, and the other end of each support rod is a free end with an inwardly curved shape.

[0014] In one embodiment, the distal internal transmission member has a closed locking position and an unfolded locking position in its own movement direction, and the distal internal transmission member is driven by the proximal internal transmission member to reciprocate between the closed locking position and the unfolded locking position.

[0015] When the remote internal transmission component moves to the closed locking position, it engages with the locking structure to limit and lock the support structure, so that the support structure remains in the closed state.

[0016] When the remote internal transmission component moves to the unfolded locking position, it engages with the locking structure to limit and lock the support structure in the unfolded state.

[0017] In one embodiment, the locking structure includes a button body, a locking spring, and a locking ball. The button body has a mounting hole, and the locking spring and the locking ball are movably disposed within the mounting hole.

[0018] The distal inner transmission component has a locking groove extending along its own axial direction. The proximal end of the locking groove along the axial direction forms a closed locking groove, and the distal end of the locking groove along the axial direction forms an expanded locking groove. The closed locking groove and the expanded locking groove are connected by a straight slide. The locking steel ball is partially exposed in the mounting hole and confined in the locking groove.

[0019] When the locking ball is engaged with the closed locking groove, the distal inner transmission member is in the closed locking position; when the locking ball is engaged with the unfolding locking groove, the distal inner transmission member is in the unfolding locking position.

[0020] In one embodiment, the clutch structure includes a first clutch structure and a second clutch structure. The distal end of the proximal outer tube and the proximal end of the distal outer tube are detachably connected through the first clutch structure. The distal end of the proximal inner transmission member and the proximal end of the distal inner transmission member are detachably connected through the second clutch structure. The first clutch structure and the second clutch structure can be simultaneously disengaged and simultaneously engaged. Both the first clutch structure and the second clutch structure are quick-release mechanical interfaces.

[0021] In one embodiment, both the first clutch structure and the second clutch structure are rotary engaging structures. When connected, after the proximal portion and the distal portion are inserted into a preset position facing each other along the axial direction, the proximal portion and the distal portion rotate relative to each other around the axis to engage and lock the proximal portion.

[0022] In one embodiment, the first clutch structure includes a protrusion on the distal outer tube and a groove on the proximal outer tube. The protrusion is provided on the outer peripheral surface of the proximal end of the distal outer tube, and the groove is hollowed out at the distal end of the proximal outer tube. When the two tubes are inserted into each other along the axial direction, the proximal end of the distal outer tube is inserted into the proximal outer tube, and the protrusion is inserted into the groove. After the protrusion and the groove are inserted into the preset position relative to each other, the proximal outer tube and the distal outer tube rotate relative to each other around the axis, so that the groove and the protrusion rotate relative to each other and engage and lock; and / or,

[0023] The second clutch structure includes a groove on the distal inner drive member and a locking arm on the proximal inner drive member. The groove is provided on the outer peripheral surface of the proximal end of the distal inner drive member, and the locking arm is provided at the distal end of the proximal inner drive member. When the two parts are inserted into each other along the axial direction, the locking arm is inserted into the groove. After the locking arm and the groove are inserted into the preset position relative to each other, the distal inner drive member and the proximal inner drive member rotate relative to each other around the axis so that the groove and the locking arm rotate relative to each other and lock.

[0024] In one embodiment, the first clutch structure is a plug-in engagement structure or a nut locking structure, and the second clutch structure is a plug-in engagement structure. When connected, after the proximal portion and the distal portion are inserted into a predetermined position facing each other along the axial direction, the proximal portion and the distal portion are locked together by a constraint force at least perpendicular to the axial direction.

[0025] In one embodiment, when the first clutch structure is a snap-fit ​​structure, the first clutch structure includes a slider, a limiting spring, a limiting steel ball, and a limiting groove. The slider is slidably fitted onto the distal outer circumferential surface of the proximal outer tube. The limiting spring and the limiting steel ball are located between the slider and the proximal outer tube. The limiting groove is located on the proximal outer circumferential surface of the distal outer tube. During engagement, the slider is forced to move proximally and pulls the limiting spring. The proximal end of the distal outer tube is then inserted into the proximal outer tube along the axial direction until the limiting steel ball is partially embedded in the limiting groove, and the engagement is released. After the slider is deflected, it returns to its initial position under the restoring force of the limiting spring and constrains the limiting steel ball in a direction perpendicular to the axis to prevent the limiting steel ball from disengaging from the limiting groove; or, when the first clutch structure is a nut locking structure, the first clutch structure includes a locking nut provided on the proximal outer tube and a locking part provided on the distal outer tube. The locking nut is sleeved on the distal outer circumferential surface of the proximal outer tube, and the locking part includes an external threaded part and a locking pawl. The external threaded part is provided on the distal outer circumferential surface of the distal outer tube, and the locking pawl is located at the proximal end of the external threaded part.

[0026] When the distal outer tube and the proximal outer tube are rotated and inserted into each other along the axial direction, the proximal end of the distal outer tube is inserted into the inner cavity of the locking nut, and the distal end of the proximal outer tube is inserted into the distal outer tube, until the external thread is threadedly locked with the locking nut, thereby causing the locking pawl to elastically deform under the action of the locking nut and hold the proximal outer tube tightly.

[0027] In one embodiment, the second clutch structure includes a clamping pawl, a guide ramp, an engaging end, and an engaging groove. The clamping pawl is located at the proximal end of the distal inner transmission member, and the engaging end is located at the proximal end of the clamping pawl. The guide ramp and the engaging groove are both located at the distal end of the proximal inner transmission member, and the engaging groove is located at the proximal end of the guide ramp. When the clutches are inserted into each other along the axial direction, the guide ramp is inserted into the clamping pawl until the clamping pawl undergoes elastic deformation under the action of the guide ramp, thereby causing the engaging end to engage and lock in the engaging groove.

[0028] In one embodiment, the device body includes a base and an opening / closing drive device and a rotation drive device mounted on the base. The opening / closing drive device is connected to the proximal inner transmission member, and the rotation drive device is connected to the proximal outer tube.

[0029] When the proximal portion and the distal portion are engaged, and when the locking structure releases the distal inner transmission member and the distal outer tube, the opening and closing drive device is used to drive the proximal inner transmission member to move axially along the proximal outer tube, thereby causing the proximal inner transmission member to drive the distal inner transmission member to move axially along the distal outer tube, so as to control the unfolding and closing of the support structure.

[0030] When the proximal portion and the distal portion are engaged, and when the locking structure locks the distal inner transmission member and the distal outer tube, the rotation drive device is used to drive the proximal portion and the distal portion to rotate as a whole.

[0031] Compared with existing technologies, the innovation of this invention lies in applying the gasless laparotomy device to a surgical robot. By using the surgical robot to install and control the gasless laparotomy device, preoperative preparation time is effectively reduced, surgical efficiency is improved, and the surgeon can perform minimally invasive, precise, and efficient surgery with the assistance of the surgical robot. This effectively makes up for the risks and defects of existing gasless laparotomy technologies, improves the efficiency and precision of abdominal surgery, and reduces patient pain.

[0032] The gasless laparotomy device of this invention can be detachably mounted on the robotic arm of a surgical robot, allowing the robot to control its movement, such as the opening and closing of the support structure and the rotation of the device. The robot can also move the device into and out of the abdominal cavity, minimizing preoperative preparation time for medical personnel. Furthermore, the locking structure on the device locks the support structure in the opened state, maintaining the abdominal surgical space and eliminating the need for external suspension structures. This simplifies the device's structure, making installation and adjustment easier, and also provides a wider field of vision and surgical environment for the surgeon. In addition, after the surgical space is established, the connection between the proximal and distal parts of the gasless end-body device can be released using the clutch mechanism on the gasless end-body device, realizing the separation of the proximal and distal parts. After the proximal and distal parts are separated, the device body along with the proximal part can also be separated from the robotic arm, so that the gasless end-body device no longer occupies the current robotic arm, making it convenient for the robotic arm to continue to be used by other surgical instruments. In this way, the surgical operation space above the patient can be saved, and the complexity of the surgical robot can be greatly reduced, making the surgery more flexible and convenient. Attached Figure Description

[0033] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0035] Figure 1 This is a schematic diagram illustrating an application scenario of the surgical robot according to an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of the pneumoperitoneum-free device of the present invention mounted on a robotic arm according to an embodiment of the invention;

[0037] Figure 3 This is a schematic diagram of the structure of the gas-free stomach device according to an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram of the support structure of the gas-free device according to an embodiment of the present invention in an unfolded state.

[0039] Figure 5 This is a schematic diagram of the support structure in a closed state according to an embodiment of the present invention;

[0040] Figure 6 This is a schematic diagram of the limit button according to an embodiment of the present invention;

[0041] Figure 7 This is a cross-sectional view of the limit button according to an embodiment of the present invention;

[0042] Figure 8 This is a schematic diagram of the structure of the remote internal transmission component according to an embodiment of the present invention;

[0043] Figure 9 This is a schematic diagram of a structure in which a protrusion is provided on the proximal outer peripheral surface of the distal inner transmission component according to an embodiment of the present invention.

[0044] Figure 10 This is a schematic diagram of the structure after the distal internal transmission component and the proximal internal transmission component are connected according to an embodiment of the present invention, wherein the distal transmission component and the proximal transmission component are connected by a rotary snap-fit ​​structure.

[0045] Figure 11 This is a schematic diagram of the structure before the distal outer tube and the proximal outer tube are connected according to an embodiment of the present invention;

[0046] Figure 12 This is a schematic diagram of the structure after the distal outer tube and the proximal outer tube are connected according to an embodiment of the present invention, wherein arrow A1 indicates the rotation locking direction and arrow A2 indicates the docking insertion direction along the axial direction;

[0047] Figure 13 This is a schematic diagram of the support rod according to an embodiment of the present invention;

[0048] Figure 14 This is a schematic diagram of the structure of the device body with a self-rotation drive device according to an embodiment of the present invention;

[0049] Figure 15 This is a schematic diagram of the structure of the device body with an opening and closing drive device according to an embodiment of the present invention;

[0050] Figure 16 This is a cross-sectional view of the structure after the distal outer tube and the proximal outer tube are connected according to another embodiment of the present invention.

[0051] Figure 17 This is a schematic diagram of the structure before the distal outer tube and the proximal outer tube are connected according to another embodiment of the present invention;

[0052] Figure 18 A cross-sectional view of a slider, a limiting spring, and a limiting steel ball provided at the distal end of a proximal outer tube according to another embodiment of the present invention.

[0053] Figure 19 A schematic diagram of a structure in another embodiment of the present invention, showing that the proximal end of the distal internal transmission member is provided with a clamping pawl;

[0054] Figure 20 A schematic diagram of a structure in another embodiment of the present invention, showing that the distal end of the proximal internal transmission member has a guide slope.

[0055] Figure 21 This is a schematic diagram of the structure after the distal outer tube and the proximal outer tube are connected according to another embodiment of the present invention;

[0056] Figure 22 This is a schematic diagram of the structure before the distal outer tube and the proximal outer tube are connected, according to another embodiment of the present invention. Detailed Implementation

[0057] 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.

[0058] Specifically, in this application, "proximal" refers to the end of the component that is closer to the surgical operator; "distal" or "terminal" refers to the end of the component that is farther away from the surgical operator.

[0059] Figure 1An application scenario of a surgical robot is illustrated. The surgical robot includes a doctor's console 100, a surgical cart 200, and an image cart 300. The doctor's console 100 has two master manipulators, left and right. During surgery, the operator (e.g., a doctor) sitting in front of the doctor's console 100 can control the movement of the robotic arms 201 on the surgical cart 200 and the instruments on the robotic arms 201 by manipulating the master manipulators, completing various operations to achieve the purpose of performing surgery on the patient. The surgical robot is mainly a master-slave teleoperated surgical robot system. In actual operation, according to a predetermined master-slave mapping relationship, the movements performed by the operator on the doctor's console 100 can be mapped to the movements of the robotic arms 201 and instruments. Furthermore, the operator can observe the transmitted surgical scene images inside the patient's body through the display on the doctor's console 100, and simultaneously control the movement of two of the robotic arms 201 by manipulating the two master manipulators. The operator can also switch between the robotic arms 201 using a clutch switching mechanism to select the desired robotic arm 201 for surgical operations. The current operating table 200 is equipped with multiple robotic arms 201, typically four. Taking four robotic arms 201 as an example, one robotic arm 201 carries an endoscope, and the other three robotic arms 201 each carry a surgical instrument, allowing multiple surgical instruments to be used simultaneously within the abdominal cavity for surgical procedures. Additionally, the imaging cart 300 is communicatively connected to the endoscope. The endoscope is used to acquire surgical field images within the abdominal cavity, and the imaging cart 300 then processes these images and transmits them to a monitor for the operator to observe. The monitor on the imaging cart 300 can provide real-time display of surgical field images or other auxiliary information to the operator (e.g., a nurse). Furthermore, in some surgical applications, the above surgical robot also includes a tool cart 400 for storing surgical instruments for use during surgery. Further still, in some surgical applications, the above surgical robot also includes auxiliary carts (not shown), such as ventilators and anesthesia machines, for use during surgery. It should be noted that for more information on the working principles of surgical robots, please refer to existing technologies, and will not be elaborated upon here.

[0060] To address the problems existing in current gasless laparotomy techniques, this invention also provides a gasless laparotomy device 500, which can be applied to the surgical robot described above, allowing for installation and adjustment via the surgical robot. In this context, the gasless laparotomy device 500 can be understood as an instrument applicable to the surgical robot. Thus, the gasless laparotomy device 500 is constructed in instrumental form, facilitating integration with the robotic arm 201 of the surgical robot. The robotic arm 201 directly installs and adjusts the gasless laparotomy device 500, making installation and adjustment convenient, effectively reducing preoperative operation time, improving surgical efficiency, and enabling the operator to perform minimally invasive, precise, and efficient surgery with the assistance of the surgical robot. This effectively compensates for the risks and shortcomings of existing gasless laparotomy techniques, improves the efficiency and precision of abdominal surgery, and reduces patient pain.

[0061] Figure 2 An exemplary configuration of the gas-free device 500 mounted on a robotic arm 201 is shown. Figure 2 As shown, the gas-free device 500 is detachably mounted on the robotic arm 201, and more specifically, detachably mounted on the end joint of the robotic arm 201. Here, the robotic arm 201 can adopt an existing structure; therefore, this application does not limit the specific configuration of the robotic arm 201, as long as the robotic arm 201 can drive the movement of the device and adjust its position and posture. Preferably, the gas-free device 500 is connected to a power box 202 on the robotic arm 201, so that the power box 202 directly outputs power to the gas-free device 500, and drives the gas-free device 500 to move up and down or back and forth to enter and exit the human body. The power box 202 is detachably or non-detachably connected to the gas-free device 500. The power box 202 is preferably detachably mounted on the robotic arm 201, facilitating the removal of the power box 202 from the robotic arm 201 along with the gas-free device 500. The power box 202 can reciprocate up and down or back and forth on the robotic arm 201. Furthermore, a trocar 203 is mounted on the robotic arm 201, located in front of (distal to) the power unit 202, and the gasless abdominal device 500 passes through the trocar 203. The trocar 203 establishes a channel for the gasless abdominal device 500 to enter the human body for surgical procedures; those skilled in the art can understand the trocar 203 by referring to existing technology. Furthermore, the distal joint of the robotic arm 201 is provided with a guide rail, on which the power unit 202 is slidably mounted.

[0062] Please refer to Figures 3 to 15The gas-free device 500 includes a device body 501, a proximal portion 502, and a distal portion 504 connected axially from proximal to distal. The device body 501 is detachably mounted on a robotic arm 201 and is used to drive the movement of the proximal portion 502 and the distal portion 504. Preferably, the device body 501 is connected to a power box 202 on the robotic arm 201, and the power box 202 directly outputs power to the device body 501, causing the device body 501 to drive the movement of the proximal portion 502 and the distal portion 504 according to the power output from the power box 202.

[0063] The proximal portion 502 includes a proximal outer tube 5021 and a proximal inner drive member 5022, the latter passing through the proximal outer tube 5021. The distal portion 504 includes a support structure 5041, a distal outer tube 5042, a distal inner drive member 5043, and a locking structure 505. The support structure 5041 is located at the distal end of the distal outer tube 5042. The distal inner drive member 5043 passes through the distal outer tube 5042 and is connected to the support structure 5041. The distal inner drive member 5043 controls the opening and closing of the support structure 5041 under the action of the proximal inner drive member 5022. The support structure 5041 can also switch back and forth between opening and closing. The locking structure 505 is provided on the distal outer tube 5042 and is used to releasably lock the distal inner transmission member 5043 and the distal outer tube 5042 so that the support structure 5041 is kept in the extended or closed state.

[0064] The locking structure 505 facilitates the locking and releasing (releasing is unlocking) of the distal inner drive component 5043 and the distal outer tube 5042 at any time, allowing them to move relative to each other or remain relatively stationary. When the locking structure 505 releases the distal inner drive component 5043 and the distal outer tube 5042, they can move relative to each other, facilitating the distal inner drive component 5043's control over the opening and closing of the support structure 5041. When the locking structure 505 locks the distal inner drive component 5043 and the distal outer tube 5042, they cannot move relative to each other. In this case, not only can the support structure 5041 be kept in its current state, but the entire gas-free device 500 can also move together, such as rotating together, moving up and down or back and forth together.

[0065] Furthermore, the gasless abdominal device 500 also includes a clutch structure 503, through which the proximal portion 502 and the distal portion 504 are connected. That is, the distal end of the proximal portion 502 and the proximal end of the distal portion 504 are connected via the clutch structure 503. The clutch structure 503 itself can be disconnected and connected, thereby controlling the engagement and disengagement of the proximal portion 502 and the distal portion 504. The clutch structure 503 facilitates the separation of the distal portion 504 from the proximal portion 502 and the device body 501, allowing the distal portion 504 to remain alone in the abdominal cavity to form a surgical space. It also facilitates the removal of the robotic arm 201 after the surgical space is formed, freeing the proximal portion 502 from the device body 501, thus saving surgical space above the patient and reducing the complexity of the surgery.

[0066] More specifically, when the proximal portion 502 and the distal portion 504 are engaged by the clutch structure 503, and the locking structure 505 releases the distal inner transmission component 5043 and the distal outer tube 5042, the distal inner transmission component 5043 can control the expansion or closure of the support structure 5041 under the drive of the proximal portion 502. After the support structure 5041 is closed, it is convenient for the surgical robot to control the gasless abdominal device 500 to enter and exit the human body. After the support structure 5041 is expanded, it can open the abdominal cavity to form a surgical space. After the surgical space is formed, the locking structure 505 locks the distal inner transmission component 5043 and the distal outer tube 5042, so that the support structure 5041 is kept in the expanded state. It no longer requires external traction and suspension, and can also maintain the surgical space, and provide the operator with a relatively wide field of vision and surgical environment.

[0067] Therefore, the gasless abdominal device 500 of the present invention can form and maintain the surgical space by its own structure, eliminating the need for external traction and installation equipment such as traction ropes, suspension chains, and supports. It only requires a single incision in the patient's abdomen, thus avoiding secondary injury and multiple incisions to the patient, while providing ample field of vision. Because external traction and installation equipment are eliminated, the overall structure of the gasless abdominal device 500 of the present invention is simpler, and installation and adjustment are more convenient. In particular, after the distal portion 504 separates from the proximal portion 502, the proximal portion 502 and the device body 501 can be detached from the robotic arm 201. In some scenarios, the power box 202 also leaves the robotic arm 201 along with the device body 501, so that the gasless abdominal device 500 no longer occupies the current robotic arm 201, allowing the robotic arm 201 to continue to be used by surgical instruments (instruments performing surgical operations). This not only saves surgical operating space above the patient but also significantly reduces the complexity of the surgical robot, making the surgery more flexible and convenient.

[0068] In this embodiment, the clutch structure 503 includes a first clutch structure and a second clutch structure. The distal end of the proximal outer tube 5021 and the proximal end of the distal outer tube 5042 are detachably connected via the first clutch structure, and the distal end of the proximal inner transmission member 5022 and the proximal end of the distal inner transmission member 5043 are detachably connected via the second clutch structure. Furthermore, the first clutch structure and the second clutch structure can simultaneously separate and engage. It is understood that when either the proximal portion 502 or the distal portion 504 is subjected to force, the first clutch structure and the second clutch structure can simultaneously separate, and of course, can also simultaneously engage. That is, when the first clutch structure disengages, the second clutch structure also disengages simultaneously, or when the first clutch structure engages, the second clutch structure also engages simultaneously. Therefore, the locking and unlocking methods of the first clutch structure and the second clutch structure are corresponding. In other words, while the near-end outer tube 5021 and the far-end outer tube 5042 are joined, the near-end inner transmission member 5022 and the far-end inner transmission member 5043 are also joined. Correspondingly, while the near-end outer tube 5021 and the far-end outer tube 5042 are separated, the near-end inner transmission member 5022 and the far-end inner transmission member 5043 are also separated.

[0069] The structures of the first clutch structure and the second clutch structure can be the same or different. Their unlocking and locking methods correspond, allowing for simultaneous locking or release. Therefore, using the pneumoperitoneum-free device 500 of this embodiment includes the following operations: (1) engagement and disengagement between the proximal outer tube 5021 and the distal outer tube 5042; (2) engagement and disengagement between the distal inner drive member 5043 and the proximal inner drive member 5022; and (3) locking and unlocking between the distal inner drive member 5043 and the distal outer tube 5042. To separate the distal portion 504, it is necessary to separate the proximal outer tube 5021 and the distal outer tube 5042, as well as the distal inner drive member 5043 and the proximal inner drive member 5022. To switch the state of the distal portion 504, the locking structure 505 is operated. In actual use, the clutch structure 503 can be controlled as needed to temporarily separate and gradually engage the distal portion 504 and the proximal portion 502. The clutch structure 503 can separate or engage the distal portion 504 and the proximal portion 502 at any time. The clutch structure 503 can be operated manually or mechanically to connect and disconnect the distal portion 504 and the proximal portion 502. The simultaneous separation or engagement of the first and second clutch structures facilitates quick disassembly and assembly of the proximal portion 502 and the distal portion 504, saving operation time and improving operational efficiency. Preferably, both the first and second clutch structures are quick-release mechanical interfaces, making the disassembly and assembly of the proximal portion 502 and the distal portion 504 even faster and more convenient.

[0070] In actual use, when the proximal part 502 and the distal part 504 are engaged, and the locking structure 505 releases the distal inner transmission member 5043 and the distal outer tube 5042, the distal inner transmission member 5043 can control the support structure 5041 to open and close under the drive of the device body 501 and the proximal inner transmission member 5022. When the proximal part 502 and the distal part 504 are engaged, and the locking structure 505 locks the distal inner transmission member 5043 and the distal outer tube 5042, the proximal part 502 and the distal part 504 are driven together by the device body 501 to rotate around their own axis. At this time, the entire gas-free device 500 can also be driven by the power box 202 to move up and down or back and forth. Regarding the control of the support structure 5041, the proximal inner transmission member 5022 moves along the axial direction of the proximal outer tube 5021, thereby driving the distal inner transmission member 5043 to move along the axial direction of the distal outer tube 5042. Finally, the axial movement of the distal inner transmission member 5043 can be converted into the opening and closing movement of the support structure 5041 relative to the distal outer tube 5042.

[0071] Next refer to Figure 4 and Figure 13 In this embodiment, the support structure 5041 includes multiple support rods 50411, all of which are circumferentially distributed around the axis of the distal outer tube 5042, and one end of each support rod 50411 is pivotally connected to the distal end of the distal outer tube 5042. Figure 4 As shown, in this embodiment, the distal portion 504 further includes multiple connecting rods 5044, each connecting rod 5044 connected to a corresponding support rod 50411, and all connecting rods 5044 connected to the distal internal transmission member 5043. At this time, after the distal internal transmission member 5043 is driven by the proximal internal transmission member 5022 to move axially along the distal outer tube 5042, the distal internal transmission member 5043 drives the multiple connecting rods 5044 to push and pull the support structure 5041, causing the support structure 5041 to unfold and close. The connecting rods 5044 are connected to the middle position of the support rod 50411, which is not limited to an absolute midpoint, but rather any position between the two ends of the support rod 50411. This frame-like support structure 5041 provides good support and can effectively expand the abdominal cavity to form a sufficiently large surgical space. However, in other embodiments, the support structure 5041 can be a mesh support, such as a cutting or woven support. In this embodiment, the number of support rods 50411 is not limited, as long as multiple support rods 50411 can open the abdominal cavity and form a sufficiently large surgical space.

[0072] Ideally, the multiple support rods 50411, when unfolded, can form an umbrella-shaped structure, which can effectively expand the abdominal cavity. For example... Figure 4As shown, in one embodiment, when the support structure 5041 is in the unfolded state, the angle between each support rod 50411 and the axis pointing proximally along the distal outer tube 5042 does not exceed 90°, so that the support structure 5041 forms an umbrella-shaped structure. Figure 5 As shown, when the support structure 5041 is in the closed state, each support rod 50411 is housed in a corresponding through slot (not labeled) on the distal outer tube 5042. All through slots are opened along the axial direction of the distal outer tube 5042 and are distributed circumferentially around the axis of the distal outer tube 5042. Thus, when closed, the support structure 5041 is housed to its minimum size, including both axial length and radial dimensions. In this embodiment, after the support structure 5041 is closed, it can directly form the outer circumferential contour of the distal outer tube 5042 and coincide with the distal outer tube 5042 in the axial direction.

[0073] One end of each support rod 50411 is pivotally connected to the distal end of the distal outer tube 5042, and the other end of each support rod 50411 is a free end 50412. For example... Figure 13 As shown, the free end 50412 of the support rod 50411 is preferably inwardly curved to prevent it from scratching the patient's abdominal tissue. Preferably, the connection point Q1 between the connecting rod 5044 and the support rod 50411 is located on the inner side of the support rod 50411 (i.e., the side facing the distal internal transmission member 5043), preventing the support rod 50411 from pinching the patient's abdominal tissue during opening and closing. The distal internal transmission member 5043 and the connecting rod 5044 also form a rigid linkage mechanism. The axial movement of the distal internal transmission member 5043 controls the connecting rod 5044 to push or pull the support structure 5041, thus controlling the opening or closing of the support structure 5041. Rigid linkage mechanisms are easy to assemble and have a relatively simple structure. "Rigid" is relative to "flexible," meaning a structure that is not easily deformed. Furthermore, the proximal internal transmission member 5022 is also preferably a rigid rod.

[0074] Furthermore, the distal internal transmission member 5043 has a closed locking position and an extended locking position in its own direction of movement. The distal internal transmission member 5043 is driven by the proximal internal transmission member 5022 to reciprocate between the closed locking position and the extended locking position. When the distal internal transmission member 5043 is in the closed locking position, it is locked with the locking structure 505, keeping the support structure 5041 in the closed state. When the distal internal transmission member 5043 is in the extended locking position, it is locked with the locking structure 505, keeping the support structure 5041 in the extended state.

[0075] like Figure 6 and Figure 7 As shown, and in combination Figure 4 In an optional embodiment, the locking structure 505 is a limit button 505a with a resilient locking head. For example... Figure 8As shown, the distal inner transmission member 5043 has a locking groove 50431 extending along its own axial direction. The proximal end of the locking groove 50431 forms a closed locking groove 50432, and the distal end of the locking groove 50431 forms an unfolding locking groove 50433. The closed locking groove 50432 and the unfolding locking groove 50433 are connected by a straight slide rail. In actual use, the elastic lock head of the locking structure 505 is confined within the locking groove 50431 of the distal inner transmission member 5043 and can only move along the locking groove 50431. Therefore, when the elastic locking head of the locking structure 505 is locked in place with the closed locking groove 50432, the distal inner transmission component 5043 is in the closed locking position, which also keeps the support structure 5041 in the closed state. After switching, when the elastic locking head of the locking structure 505 is locked in place with the unfolding locking groove 50433, the distal inner transmission component 5043 is in the unfolding locking position, which keeps the support structure 5041 in the unfolded state. The distance between the closed locking groove 50432 and the unfolding locking groove 50433 can be set according to the unfolding angle required by the support structure 5041. At this time, because the elastic locking head is elastic, it is firmly engaged with the locking groove 50431 under the action of its own elastic force. Only when the elastic locking head is compressed can it disengage from the locking groove 50431 to achieve unlocking. This elastic limiting locking method has a simple structure and is easy to use. However, the choice of locking structure 505 is not limited to limit button 505a, and other releaseable latches that can achieve the corresponding function are also within the protection scope of this invention.

[0076] Continue to refer to Figures 6-7In this embodiment, the locking structure 505 is a limit button 505a, specifically including a button body 5051 and an elastic lock head including a locking ball 5052 and a locking spring 5053. The button body 5051 is fixed to the proximal end of the distal outer tube 5042, and the button body 5051 has a mounting hole (not labeled), in which the elastic lock head is movably disposed. The locking spring 5053 is located between the bottom of the mounting hole and the locking ball 5052. For example, one end of the locking spring 5053 is connected to the bottom of the mounting hole, and the other end of the spring 5053 is connected to the locking ball 5052. Part of the structure of the locking ball 5052 can be exposed in the mounting hole to be embedded in the locking groove 50431; however, the locking ball 5052 will not come out of the mounting hole. Initially, the locking spring 5053 is compressed, applying an outward initial force to the locking ball 5052. This initial force facilitates the insertion of the locking ball 5052 into the locking groove 50431, but the locking ball 5052 will not dislodge from the button body 5051 due to the spring force. Furthermore, when the locking ball 5052 is compressed, it overcomes the spring force, causing the locking ball 5052 to move inward, thus disengaging from the locking groove 50431. Optionally, a limit is provided at the opening of the mounting hole in the button body 5051 to prevent the locking ball 5052 from dislodging from the button body 5051 due to the spring force. Preferably, the opening of the mounting hole is constricted, with the constricted opening limiting and enclosing the locking ball 5052 to prevent it from dislodging from the mounting hole. In practice, the locking ball 5052 slides along a straight track of the locking groove 50431, switching between the closed locking groove 50432 and the unfolded locking groove 50433. The shapes of the closed locking groove 50432 and the unfolded locking groove 50433 are adapted to the locking ball 5052, thereby limiting the locking ball 5052. The locking ball 5052 is generally spherical, and correspondingly, the closed locking groove 50432 and the unfolded locking groove 50433 are hemispherical.

[0077] like Figure 14 As shown, in this embodiment, the device body 501 includes a base 5012 and an opening / closing drive device and a rotation drive device mounted on the base 5012. The opening / closing drive device is connected to the proximal inner transmission member 5022. The rotation drive device is connected to the proximal outer tube 5021. Preferably, both the opening / closing drive device and the rotation drive device are used to receive power from the power box 202 on the robotic arm 201. When the proximal portion 502 and the distal portion 504 are engaged, the power box 202 outputs power, causing the opening / closing drive device to drive the proximal inner transmission member 5022 to move, which in turn drives the distal inner transmission member 5043 to move. After the distal inner transmission member 5043 moves, it controls the support structure 5041 to open or close. After receiving power from the power box 202, the rotation drive device can drive the proximal portion 502 and the distal portion 504 to rotate as a whole.

[0078] This application does not limit the structure of the opening and closing drive device, such as wire drive, gear and rack drive, sprocket and chain drive, screw and nut drive, etc. In this embodiment, the opening and closing drive device is used to drive the proximal inner transmission member 5022 to reciprocate linear motion through gear transmission. Figure 15 As shown, in an optional embodiment, the opening and closing drive device includes a first power shaft 5016, a driving gear 5017, a driven gear 5018, a lead screw 5019, and a lead screw nut 5020. The first power shaft 5016 can directly receive the power output from the power box 202; the driving gear 5017 is mounted on the power shaft 5016; the driven gear 5018 is mounted on the proximal end of the lead screw 5019; the driven gear 5018 meshes externally with the driving gear 5017; the lead screw nut 5020 is mounted on the lead screw 5019 and connected to the proximal end of the proximal inner transmission member 5022, thereby driving the proximal inner transmission member 5022 to move axially along the proximal outer tube 5021. At this time, after the first power shaft 5016 is driven to rotate by the power box 202, it sequentially drives the lead screw 5019 to rotate through the driving gear 5017 and the driven gear 5018. After the lead screw 5019 rotates, it drives the lead screw nut 5020 to slide on the lead screw 5019. In turn, the lead screw nut 5020 drives the proximal inner transmission component 5022 to move axially within the proximal outer tube 5021. The opening and closing drive device has a relatively simple structure, is easy to assemble and use, and has a compact structure, which is also beneficial for controlling the size of the device body 501. In other embodiments, the opening and closing drive device adopts wire drive. By controlling the contraction length of the transmission wire through the device body 501, the unfolding angle of the support structure 5041 can be controlled.

[0079] This application does not limit the structure of the self-rotation drive device, such as gear transmission drive, synchronous belt pulley drive, etc. In this embodiment, the self-rotation drive device is used to drive the proximal part 502 and the distal part 504 to rotate as a whole via synchronous belt transmission. Figure 14 As shown, in an optional embodiment, the self-rotation drive device includes a second power shaft 5011, synchronous pulleys 5013, a self-rotation connecting shaft 5014, and a synchronous belt 5015. The second power shaft 5011 can directly receive the power output from the power box 202. The two synchronous pulleys 5013 are respectively connected to the second power shaft 5011 and the self-rotation connecting shaft 5014. The synchronous belt 5015 is sleeved on the two synchronous pulleys 5013. The proximal end of the proximal outer tube 5021 is connected to the self-rotation connecting shaft 5014. Thus, after the second power shaft 5011 is driven to rotate by the power box 202, it drives the self-rotation connecting shaft 5014 to rotate through the synchronous pulleys 5013 and the synchronous belt 5015, thereby driving the proximal outer tube 5021 to rotate. In this case, the structure of the self-rotation drive device is relatively simple, convenient for assembly and use, easy to lay out, compact in structure, and easy to control the size of the device body 501.

[0080] In addition to the base 5012, the device body 501 generally also includes a cover plate (not marked) that covers the base 5012 to enclose the internal structure.

[0081] Next, the usage process of the gas-free device 500 will be further explained, and the following description will use the distal internal transmission component 5043, the proximal internal transmission component 5022, and the limit button 505a as illustrations.

[0082] Before entering the human body, the distal portion 504 and the proximal portion 502 are connected by a clutch structure 503, and the locking structure 505 releases the distal inner transmission member 5043 and the distal outer tube 5042. Then, the power box 202 outputs power to the device body 501, causing the opening and closing drive device in the device body 501 to drive the proximal inner transmission member 5022 to move axially towards the proximal end. In turn, the proximal inner transmission member 5022 drives the distal inner transmission member 5043 to move axially towards the proximal end. Finally, the connecting rod 5044 pulls the support structure 5041 to close. After the support structure 5041 closes, the locking structure 505 locks the distal inner transmission member 5043 and the distal outer tube 5042. Then, the power box 202 moves forward or downward. This causes the gasless laparotomy device 500 to move forward or downward until the closed support structure 5041 enters the abdominal cavity. After the support structure 5041 enters the abdominal cavity, the locking structure 505 releases the distal internal transmission member 5043 and the distal external tube 5042 again. Then, the power box 202 outputs power to the device body 501, causing the opening and closing drive device in the device body 501 to drive the proximal internal transmission member 5022 to move axially distally. The proximal internal transmission member 5022 then drives the distal internal transmission member 5043 to move axially distally. Finally, the connecting rod 5044 pushes the support structure 5041 to unfold. During the unfolding process, the support structure 5041 opens the abdominal cavity and forms a surgical space. After the surgical space is formed, the locking structure... 505 locks the distal internal transmission component 5043 and the distal external tube 5042. Then, the clutch structure 503 is disengaged, separating the distal portion 504 from the proximal portion 502, leaving only the distal portion 504 inside the body. The power box 202 then moves backward or upward, causing the proximal portion 502 and the device body 501 to move backward or upward together and leave the body. After the proximal portion 502 and the device body 501 of the gas-free laparotomy device 500 are removed from the body, the proximal portion 502, the device body 501, and the power box 202 are then removed from the robotic arm 201, allowing surgical instruments to continue using the robotic arm 201. Postoperatively, the proximal portion 502 and the distal portion 504 are engaged and locked. Structure 505 releases the distal inner transmission component 5043 and the distal outer tube 5042, thereby power box 202 outputs power to device body 501, causing the opening and closing drive device in device body 501 to drive the proximal inner transmission component 5022 to move axially towards the proximal end. Then, the proximal inner transmission component 5022 drives the distal inner transmission component 5043 to move axially towards the proximal end. Finally, the connecting rod 5044 pulls the support structure 5041 to close. After the support structure 5041 closes, the locking structure 505 locks the distal inner transmission component 5043 and the distal outer tube 5042. The power box 202 then moves backward or upward again, thereby driving the gas-free device 500 to move backward or upward together until the entire gas-free device 500 is removed from the human body.

[0083] The present invention will be further illustrated by the following exemplary examples, but these examples are merely illustrative and are intended to enable those skilled in the art to understand the present invention, rather than to limit the scope of protection of the present invention.

[0084] In one embodiment, both the first and second clutch structures described above are rotary engaging structures. During connection, the proximal portion 502 and the distal portion 504 are inserted into a preset position facing each other along the axial direction. Only then can the proximal portion 502 and the distal portion 504 rotate relative to each other around the axis to engage and lock. This rotary engaging structure is simple in structure, easy to operate, and can achieve quick assembly and disassembly.

[0085] like Figures 8 to 10 As shown, when the second clutch structure is a rotary engaging structure, in an optional embodiment, the second clutch structure includes: a groove 50434 provided on the distal inner transmission member 5043; and a locking arm 50221 provided on the proximal inner transmission member 5022. The distal inner transmission member 5043 has a groove 50434 on its proximal outer circumferential surface, and the proximal inner transmission member 5022 has a hollowed-out locking arm 50221 at its distal end. When connection is required, the distal inner transmission member 5043 and the proximal inner transmission member 5022 are inserted into each other along the axial direction, so that the locking arm 50221 is inserted into the groove 50434 along the axial direction until the locking arm 50221 and the groove 50434 are inserted into a preset position relative to each other. Then, the distal inner transmission member 5043 and the proximal inner transmission member 5022 are rotated relative to each other around the axis to make the groove 50434 and the locking arm 50221 rotate and lock relative to each other. Figure 10 As shown, during connection, locking can be achieved by rotating in the direction indicated by arrow A1, and axial insertion can be achieved by aligning in the direction indicated by arrow A2. Conversely, the distal internal transmission component 5043 and the proximal internal transmission component 5022 can be separated.

[0086] like Figure 10 As shown, after the distal internal transmission member 5043 and the proximal internal transmission member 5022 are connected, the internal structures of the proximal portion 502 and the distal portion 504 are integrated into one unit. Figure 9 and Figure 10 As shown, the groove 50434 matches the shape of the clamping arm 50221, and an L-shaped snap fastener can be used to complete the connection. (Refer to...) Figure 8 The distal end of the internal transmission component 5043 is provided with multiple pivot interfaces 50435, and the multiple pivot interfaces 50435 are connected to multiple connecting rods 5044 in a one-to-one correspondence.

[0087] like Figure 11 and Figure 12As shown, when the first clutch structure is a rotary engaging structure, in an optional embodiment, the first clutch structure includes a protrusion 50421 on the distal outer tube 5042 and a groove 50211 on the proximal outer tube 5021. The protrusion 50421 is provided on the proximal outer circumferential surface of the distal outer tube 5042, allowing the proximal end of the distal outer tube 5042 to be inserted into the proximal outer tube 5021 when the proximal end is set as the smaller end. The distal end of the proximal outer tube 5021 is provided with a hollowed-out groove 50211. When inserting the distal outer tube 5042 into the proximal outer tube 5021, the protrusion 50421 is inserted into the slot 50211 along the axial direction. This continues until the protrusion 50421 and slot 50211 are inserted into their preset positions. Then, the proximal outer tube 5021 and distal outer tube 5042 are rotated relative to each other around the axis to allow the slot 50211 and protrusion 50421 to rotate relative to each other and engage. The disassembly and assembly methods of the first clutch structure and the second clutch structure are the same. Therefore, during connection, the proximal outer tube 5021 and distal outer tube 5042 are rotated and locked in the direction indicated by arrow A1, and then axially inserted into the proximal outer tube 5021 and distal outer tube 5042 in the direction indicated by arrow A2. Conversely, the proximal outer tube 5021 and distal outer tube 5042 can be separated.

[0088] In another embodiment, the first clutch structure and the second clutch structure described above can both be quick-connect structures. When connecting, after the proximal portion 502 and the distal portion 504 are inserted into the predetermined insertion position along the axial direction, the proximal portion 502 and the distal portion 504 can at least be locked together by a constraint force perpendicular to the axial direction. Here, the constraint force can refer to an elastic force or a non-elastic force.

[0089] like Figures 16 to 20 As shown, when the first clutch structure is a quick-connect structure, in an optional embodiment, the first clutch structure includes a slider 5031, a limiting spring 5032, a limiting steel ball 5033, and a limiting groove 50422. The slider 5031 is slidably sleeved on the distal outer peripheral surface of the proximal outer tube 5021. The limiting spring 5032 and the limiting steel ball 5033 are disposed between the slider 5031 and the proximal outer tube 5021. The limiting groove 50422 is disposed on the proximal outer peripheral surface of the distal outer tube 5042. In practice, after the slider 5031 is moved proximally and pulls the limiting spring 5032, the proximity of the distal outer tube 5042 is inserted into the proximity outer tube 5021 along the axial direction until the limiting steel ball 5033 is partially embedded in the limiting groove 50422. Then, the slider 5031 is released, allowing it to return to its initial position under the restoring force of the limiting spring 5032. This restrains the limiting steel ball 5033 in the direction perpendicular to the axis, preventing it from dislodging from the limiting groove 50422, thereby firmly locking the proximity outer tube 5021 and the distal outer tube 5042.

[0090] Furthermore, the inner wall of the slider 5031 is provided with a radially protruding limiting boss 50311 (see...). Figure 16 and Figure 18 The limiting boss 50311 restricts the movement of the limiting steel balls 5033. Therefore, when the slider 5031 is moved proximally under force, several limiting steel balls 5033 also move. Then, when the distal outer tube 5042 is inserted into the proximal outer tube 5021, the limiting steel balls 5033 slide into the limiting groove 50422 of the distal outer tube 5042, which also causes the slider 5031 to return to its initial position under the rebound action of the limiting spring 5032. At this time, the limiting boss 50311 on the slider 5031 further restricts the movement of the limiting steel balls 5033, thus locking the distal outer tube 5042 and the proximal outer tube 5021. When separation is required, pull the slider 5031 towards the proximal end again to release the limiting boss 50311 on the slider 5031 from the limiting steel ball 5033. Then, the proximal outer tube 5021 or the distal outer tube 5042 can be pulled axially to separate the two.

[0091] like Figure 17 As shown, the limiting groove 50422 is located at the proximal end of the distal outer tube 5042. Preferably, the limiting groove 50422 is continuously arranged around the distal outer tube 5042 for a complete circle. More preferably, the limiting groove 50422 has long ramps at both ends along the axial direction of the distal outer tube 5042, which facilitate the smooth entry and exit of the distal outer tube 5042 into the proximal outer tube 5021. More preferably, a stop boss 50423 is provided on the proximal outer circumferential surface of the distal outer tube 5042, and the stop boss 50423 is located at the distal end of the limiting groove 50422. In conjunction with this, as shown... Figure 18 As shown, a stop groove 50212 is provided on the distal outer circumferential surface of the proximal outer tube 5021. The stop boss 50423 and the stop groove 50212 form a mating relationship, which not only serves as a limiting function, but also plays a role in transmitting torque when the proximal outer tube 5021 rotates, thereby enhancing the force transmission performance. In this embodiment, multiple stop bosses 50423 and multiple stop grooves 50212 are matched one-to-one. However, it is not limited to this. In fact, one stop boss 50423 and / or one stop groove 50212 can be provided. For example, the stop boss 50423 is an annular flange, and the stop groove 50212 is an annular groove.

[0092] like Figure 19 and Figure 20As shown, when the second clutch structure is a quick-engagement structure, in an optional embodiment, the second clutch structure includes a clamping pawl 50436, a guide ramp 50222, an engaging end 50437, and an engaging groove 50223. The clamping pawl 50436 is located at the proximal end of the distal inner transmission member 5043. The engaging end 50437 is located at the proximal end of the clamping pawl 50436. The guide ramp 50222 and the engaging groove 50223 are both located at the distal end of the proximal inner transmission member 5022, and the engaging groove 50223 is located at the proximal end of the guide ramp 50222. When the distal inner drive component 5043 and the proximal inner drive component 5022 are inserted into each other along the axial direction, the guide slope 50222 can be simultaneously inserted into the clamping pawl 50436 along the axial direction. This allows the clamping pawl 50436 to undergo elastic deformation under the action of the guide slope 50222 until the engaging end 50437 of the clamping pawl 50436 engages in the engaging groove 50223, thus completing the locking of the proximal inner drive component 5022 and the distal inner drive component 5043. Conversely, during separation, the slider 5031 moves towards the proximal end, and with a slight force, the distal outer tube 5042 moves towards the distal end. At the same time, the distal inner drive component 5043 moves towards the distal end along with the distal outer tube 5042, thus disengaging the engaging end 50437 from the engaging groove 50223, completing the separation of the distal inner drive component 5043 and the proximal inner drive component 5022. Optionally, the engaging end 50437 has an inwardly curved arc shape. The engaging groove 50223 is preferably an annular groove. It should also be understood that the outer contour of the clamping pawl 50436 is also conical, and it is composed of multiple independently deformable pawl pieces, with gaps formed between adjacent pawl pieces.

[0093] In another embodiment, the first clutch structure is a nut locking structure, and the second clutch structure is still a quick-connect structure. The quick-connect structure is as described above and will not be described in detail here.

[0094] like Figure 21 and Figure 22As shown, when the first clutch structure is a nut locking structure, in an optional embodiment, the first clutch structure includes a locking nut 5034 disposed on the proximal outer tube 5021 and a locking part disposed on the distal outer tube 5042. The locking nut 5034 is sleeved on the distal outer peripheral surface of the proximal outer tube 5021, and the locking part includes an external thread portion 50424 and a locking pawl 50425. The external thread portion 50424 is disposed on the distal outer peripheral surface of the distal outer tube 5042, and the locking pawl 50425 is located at the proximal end of the external thread portion 50424. During connection, the distal outer tube 5042 and the proximal outer tube 5021 are rotated and inserted into each other along the axial direction, so that the proximal end of the distal outer tube 5042 is inserted into the inner cavity of the locking nut 5034, and the distal end of the proximal outer tube 5021 is inserted into the distal outer tube 5042, until the external thread 50424 is threadedly locked with the locking nut 5034. Simultaneously, the locking pawl 50425 is elastically deformed under the control of the locking nut 5034 and grips the proximal outer tube 5021.

[0095] Specifically, such as Figure 21 As shown, during connection, the proximal end of the distal outer tube 5042 is inserted into the inner cavity of the locking nut 5034, and simultaneously the proximal outer tube 5021 is also inserted into the distal outer tube 5042. At this time, the internal thread of the locking nut 5034 and the external thread 50424 on the distal outer tube 5042 are rotated and locked. At this time, the inner cavity of the locking nut 5034 can also squeeze the locking pawl 50425, causing the locking pawl 50425 to grip the proximal outer tube 5021. Conversely, by rotating the locking nut 5034 and the distal outer tube 5042 in the opposite direction, the distal outer tube 5042 can be controlled to gradually rotate away from the locking nut 5034 along the axial direction, and simultaneously the locking pawl 50425 is caused to loosen the proximal outer tube 5021.

[0096] In this embodiment, the outer diameter of the external thread portion 50424 is larger than the outer diameter of the locking pawl 50425, making the locking pawl 50425 the relatively thinner end on the distal outer tube 5042. Simultaneously, the inner cavity of the locking nut 5034, axially from distal to proximal, consists of a distal inner cavity and a proximal inner cavity, with the radial dimension (i.e., inner diameter) of the distal inner cavity being larger than that of the proximal inner cavity. During connection, the external thread portion 50424 can be threadedly locked with the distal inner cavity of the locking nut 5034. Furthermore, because the outer diameter of the locking pawl 50425 is larger than the radial dimension of the proximal inner cavity, the locking pawl 50425 can undergo elastic deformation under the action of the proximal inner cavity of the locking nut 5034.

[0097] In summary, the gas-free laparotomy device provided by this invention achieves gas-free operation, avoiding patient contact with CO2 and reducing complications arising from CO2 exposure. Furthermore, the unexpected technical advantage of this gas-free laparotomy device is that after creating a surgical space support in the abdomen, a locking structure maintains the surgical space without reducing its size, providing the operator with a relatively wide field of vision and surgical environment. The clutch structure also allows for the separation of the proximal and distal portions, facilitating the withdrawal of the robotic arm without occupying the original robotic arm used by surgical instruments or affecting the use of other surgical instruments. This not only saves operating space above the patient but also reduces surgical complexity, making the surgery more flexible and convenient. In addition, the gas-free laparotomy device of this invention does not require external traction or hoisting equipment, reducing harm to the patient. Its simple overall structure and convenient installation and adjustment effectively save preoperative preparation time and improve surgical efficiency.

[0098] It should be understood that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any form or substance. It should be noted that those skilled in the art can make various improvements and additions without departing from the method of the present invention, and these improvements and additions should also be considered within the scope of protection of the present invention. Any modifications, alterations, and equivalent changes made by those skilled in the art based on the above-disclosed technical content without departing from the spirit and scope of the present invention are equivalent embodiments of the present invention; furthermore, any modifications, alterations, and evolutions made to the above embodiments based on the essential technology of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A gas-free laparotomy device applicable to surgical robots, characterized in that, Including those connected sequentially along the axial direction from proximal to distal: The device body is designed for detachable mounting on the robotic arm of the surgical robot. The proximal portion includes a proximal outer tube and a proximal inner transmission component, wherein the proximal inner transmission component passes through the proximal outer tube; The distal portion includes a distal outer tube, a distal inner transmission member, a support structure, and a locking structure; the support structure is located at the distal end of the distal outer tube; the distal inner transmission member passes through the distal outer tube and is connected to the support structure; the distal inner transmission member controls the expansion and closure of the support structure under the drive of the proximal inner transmission member; the locking structure is disposed on the distal outer tube and is used to releasably lock the distal inner transmission member and the distal outer tube, so that the support structure remains in an expanded or closed state; the distal inner transmission member has a closed locking position and an expanded locking position in its own movement direction, and the distal inner transmission member is driven by the proximal inner transmission member to reciprocate between the closed locking position and the expanded locking position; when the distal inner transmission member moves to the closed locking position, it engages with the locking structure to limit and lock, so that the support structure remains in the closed state; when the distal inner transmission member moves to the expanded locking position, it engages with the locking structure to limit and lock, so that the support structure remains in the expanded state; and... A clutch structure, wherein the proximal portion and the distal portion are detachably connected via the clutch structure.

2. The gasless laparotomy device applicable to surgical robots according to claim 1, characterized in that, The support structure includes multiple support rods, all of which are circumferentially distributed around the axis of the distal outer tube. One end of each support rod is pivotally connected to the distal end of the distal outer tube. The distal portion also includes multiple connecting rods, each of which connects to a corresponding support rod. All connecting rods are connected to the distal inner transmission component, which is used to control the expansion and closure of the support structure through the multiple connecting rods.

3. The gasless laparotomy device applicable to surgical robots according to claim 2, characterized in that, When the support structure is in the closed state, each of the support rods is housed in a corresponding through slot on the distal outer tube. All the through slots are opened along the axial direction of the distal outer tube and are distributed circumferentially around the axial direction of the distal outer tube. The support structure forms an umbrella-shaped structure when it is unfolded.

4. The gasless laparotomy device applicable to surgical robots according to claim 3, characterized in that, Each of the support rods is connected to a connecting rod on its inner side. One end of each support rod is pivotally connected to the distal end of the distal outer tube. The other end of each support rod is a free end, which has an inwardly curved arc shape.

5. The gasless laparotomy device applicable to surgical robots according to claim 1, characterized in that, The locking structure includes a button body, a locking spring, and a locking ball. The button body has a mounting hole, and the locking spring and the locking ball are movably disposed in the mounting hole. The distal inner transmission component has a locking groove extending along its own axial direction. The proximal end of the locking groove along the axial direction forms a closed locking groove, and the distal end of the locking groove along the axial direction forms an expanded locking groove. The closed locking groove and the expanded locking groove are connected by a straight slide. The locking steel ball is partially exposed in the mounting hole and confined in the locking groove. When the locking ball is engaged with the closed locking groove, the distal inner transmission member is in the closed locking position; when the locking ball is engaged with the unfolding locking groove, the distal inner transmission member is in the unfolding locking position.

6. The gasless laparotomy device applicable to surgical robots according to claim 1, characterized in that, The clutch structure includes a first clutch structure and a second clutch structure. The distal end of the proximal outer tube and the proximal end of the distal outer tube are detachably connected through the first clutch structure. The distal end of the proximal inner transmission member and the proximal end of the distal inner transmission member are detachably connected through the second clutch structure. The first clutch structure and the second clutch structure can be simultaneously disengaged and simultaneously engaged. Both the first clutch structure and the second clutch structure are quick-release mechanical interfaces.

7. The gasless laparotomy device applicable to surgical robots according to claim 6, characterized in that, Both the first clutch structure and the second clutch structure are rotary engaging structures. When connected, the proximal part and the distal part are inserted into a preset position along the axial direction, and then the proximal part and the distal part rotate relative to each other around the axis to engage and lock the proximal part and the distal part.

8. The gasless laparotomy device applicable to surgical robots according to claim 7, characterized in that, The first clutch structure includes a protrusion on the distal outer tube and a groove on the proximal outer tube. The protrusion is located on the outer circumferential surface of the proximal end of the distal outer tube, and the groove is hollowed out at the distal end of the proximal outer tube. When the tubes are inserted into each other along the axial direction, the proximal end of the distal outer tube is inserted into the proximal outer tube, and the protrusion is inserted into the groove. After the protrusion and the groove are inserted into the preset position relative to each other, the proximal and distal outer tubes rotate relative to each other around the axis, so that the groove and the protrusion rotate relative to each other and engage in a locking mechanism; and / or, The second clutch structure includes a groove on the distal inner drive member and a locking arm on the proximal inner drive member. The groove is provided on the outer peripheral surface of the proximal end of the distal inner drive member, and the locking arm is provided at the distal end of the proximal inner drive member. When the two parts are inserted into each other along the axial direction, the locking arm is inserted into the groove. After the locking arm and the groove are inserted into the preset position relative to each other, the distal inner drive member and the proximal inner drive member rotate relative to each other around the axis so that the groove and the locking arm rotate relative to each other and lock.

9. The gasless laparotomy device applicable to surgical robots according to claim 6, characterized in that, The first clutch structure is a plug-in engagement structure or a nut locking structure, and the second clutch structure is a plug-in engagement structure. When connected, the proximal part and the distal part are inserted into a predetermined position along the axial direction, and the proximal part and the distal part are locked together by a constraint force at least perpendicular to the axial direction.

10. The gasless laparotomy device applicable to surgical robots according to claim 9, characterized in that, When the first clutch structure is a snap-fit ​​structure, the first clutch structure includes a slider, a limiting spring, a limiting steel ball, and a limiting groove. The slider is slidably sleeved on the distal outer circumferential surface of the proximal outer tube. The limiting spring and the limiting steel ball are located between the slider and the proximal outer tube. The limiting groove is located on the proximal outer circumferential surface of the distal outer tube. During engagement, the slider is forced to move proximally and pulls the limiting spring. The proximal end of the distal outer tube is then inserted into the proximal outer tube along the axial direction until the limiting steel ball is partially embedded in the limiting groove. After the slider is released, the engagement... The slider returns to its initial position under the restoring force of the limiting spring and constrains the limiting steel ball in a direction perpendicular to the axis to prevent the limiting steel ball from disengaging from the limiting groove; or, when the first clutch structure is a nut locking structure, the first clutch structure includes a locking nut provided on the proximal outer tube and a locking part provided on the distal outer tube. The locking nut is sleeved on the distal outer circumferential surface of the proximal outer tube, and the locking part includes an external threaded part and a locking pawl. The external threaded part is provided on the distal outer circumferential surface of the distal outer tube, and the locking pawl is located at the proximal end of the external threaded part. When the distal outer tube and the proximal outer tube are rotated and inserted into each other along the axial direction, the proximal end of the distal outer tube is inserted into the inner cavity of the locking nut, and the distal end of the proximal outer tube is inserted into the distal outer tube, until the external thread is threadedly locked with the locking nut, thereby causing the locking pawl to elastically deform under the action of the locking nut and hold the proximal outer tube tightly.

11. The gasless laparotomy device applicable to surgical robots according to claim 9, characterized in that, The second clutch structure includes a clamping pawl, a guide ramp, a locking end, and a locking groove. The clamping pawl is located at the proximal end of the distal inner transmission member, and the locking end is located at the proximal end of the clamping pawl. The guide ramp and the locking groove are both located at the distal end of the proximal inner transmission member, and the locking groove is located at the proximal end of the guide ramp. When they are inserted into each other along the axial direction, the guide ramp is inserted into the clamping pawl until the clamping pawl undergoes elastic deformation under the action of the guide ramp, thereby causing the locking end to engage and lock in the locking groove.

12. The gasless laparotomy device applicable to surgical robots according to claim 1, characterized in that, The device body includes a base and an opening / closing drive device and a rotation drive device mounted on the base. The opening / closing drive device is connected to the proximal inner transmission component, and the rotation drive device is connected to the proximal outer tube. When the proximal portion and the distal portion are engaged, and when the locking structure releases the distal inner transmission member and the distal outer tube, the opening and closing drive device is used to drive the proximal inner transmission member to move axially along the proximal outer tube, thereby causing the proximal inner transmission member to drive the distal inner transmission member to move axially along the distal outer tube, so as to control the unfolding and closing of the support structure. When the proximal portion and the distal portion are engaged, and when the locking structure locks the distal inner transmission member and the distal outer tube, the rotation drive device is used to drive the proximal portion and the distal portion to rotate as a whole.

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