Single-hole puncture device and surgical robot

Abstract

The present invention relates to the field of medical device technology, and discloses a single-hole puncture device and a surgical robot. In the present invention, the single-hole puncture device includes: a sleeve fixed to the end of a robotic arm; an air-blocking assembly rotatably sleeved in the sleeve, the air-blocking assembly being provided with a plurality of instrument channels for inserting instrument rods and endoscope tubes; a lock buckle fixedly provided on the sleeve or the air-blocking assembly; the lock buckle is provided with a locking tongue that can move radially along the sleeve, the locking tongue can limit the sleeve or the air-blocking assembly in the axial direction to prevent the air-blocking assembly from separating from the sleeve; the setting of the lock buckle simplifies the structure of the single-hole puncture device, and the setting of the radial movement of the locking tongue can not only effectively prevent the air-blocking assembly from axially separating from the sleeve, but also facilitate disassembly.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a single-hole puncture device and a surgical robot. Background Art

[0002] Minimally invasive surgery has many advantages such as less trauma, less bleeding, and faster recovery. It has been increasingly widely used in clinical surgery. Among them, the trocar is an important instrument in laparoscopic surgery. At the beginning of laparoscopic surgery, one end of the trocar penetrates the skin and enters the body cavity, and the other end is exposed to the outside of the human body and is fixedly connected to the mounting part on the surgical robot through the trocar connecting mechanism. The trocar forms a surgical working channel, and surgical instruments and lighting equipment are introduced through the channel to complete the operation.

[0003] In the existing technology, the puncture device is basically composed of an air-blocking component and a movable sleeve. In minimally invasive laparoscopic surgery, the human abdominal cavity needs to be pneumoperitoneum. Sufficient pneumoperitoneum expands the distance between the abdominal cavity and the organs, and between the organs, providing the surgeon with a relatively wide field of view and surgical environment. In order to ensure the stability of the axial connection between the air-blocking component and the sleeve, it is often necessary to add an anti-detachment structure to fix the air-blocking component and the sleeve. In the Chinese utility model patent document CN219207197U, entitled "Anti-slip Structure and Single-Hole Trocar with Such Structure," an anti-slip structure is disclosed. By positioning a clamping member externally, one end of the clamping member presses against the outer surface of the sheath and the other end presses against the outer surface of the sealing tube, thereby preventing the sheath from being pulled away from the sealing tube during surgery. The clamping member comprises an integrally formed first fastening portion and a second fastening portion. The first fastening portion presses against the sheath, while the second fastening portion presses against the sealing tube or has a gap between it and the outer surface of the sealing tube. The inner diameter of the first fastening portion is smaller than that of the second fastening portion, or the inner diameter of the first fastening portion is smaller than that of the sealing tube. The inner surfaces of the first and second fastening portions are transitionally connected by a compression step. The second fastening portion can be in close contact with the sealing tube, or a gap can be present between the second fastening portion and the sealing tube. When there is a gap, it is still necessary to ensure that the inner diameter of the first fastening part is smaller than the outer diameter of the sealing tube body, so that when subjected to force, the sealing tube body will be stuck inside the first fastening part and will not be pulled off.

[0004] Most trocars on the market have similar structures, and their anti-drop structures are complex, the installation process is cumbersome, and the disassembly is inconvenient. Summary of the Invention

[0005] The object of the present invention is to provide a single-hole puncture device and a surgical robot, so that the single-hole puncture device has a simple structure and is easy to assemble, can realize the anti-detachment function of the air blocking component and the sleeve, and is easy to disassemble.

[0006] To solve the above technical problems, an embodiment of the present invention provides a single-hole puncture device, comprising:

[0007] A sleeve is fixed to the end of the robotic arm;

[0008] An air blocking assembly is rotatably sleeved in the sleeve, and the air blocking assembly is provided with a plurality of instrument channels for inserting instrument rods and endoscope tubes;

[0009] A lock buckle, fixedly arranged on the sleeve or the air blocking component;

[0010] The lock buckle is provided with a locking tongue that can move radially along the cannula, and the locking tongue can limit the cannula or the air blocking component in the axial direction to prevent the air blocking component from being separated from the cannula. The arrangement of the lock buckle simplifies the structure of the single-hole puncture device, and the radial movement of the locking tongue can not only effectively prevent the air blocking component from being axially separated from the cannula, but also facilitate disassembly.

[0011] Furthermore, the lock buckle includes a housing, a locking tongue disposed within the housing, and a pull post connected to the locking tongue along the radial direction of the cannula. One end of the pull post extends through the housing and is exposed to the outside. An elastic component is disposed between the locking tongue and the housing along the radial direction of the catheter. The provision of the elastic component between the locking tongue and the housing allows the locking tongue to stably maintain its axial position-limiting function on the air blocking assembly or cannula during surgery, preventing the air blocking assembly from axially disengaging from the cannula, thereby improving surgical safety. When the pull post is not pulled, the locking tongue protrudes and extends to limit the position. When disassembly or installation is required, the pull post is pulled, causing the locking tongue to compress the spring component and retract radially away from the air blocking assembly.

[0012] Furthermore, the air blocking assembly includes an upper cover and a conduit fixedly connected to the upper cover. The conduit is rotatably disposed in the sleeve. A first stopper is provided at a position where the conduit protrudes from the sleeve or radially extends from the upper cover. A second stopper is provided radially extending from one end of the sleeve toward the upper cover. The lock catch is fixedly disposed on one of the first stopper or the second stopper, and the lock tongue axially corresponds to the other of the first stopper and the second stopper. By providing the protruding first stopper and the second stopper at the connection position, the lock catch is more convenient to install and fix, the operation is simpler, and the assembly and disassembly of the air blocking assembly and the sleeve are more convenient.

[0013] Furthermore, a limiting abutment is provided on the edge of the end of the catheter. When the catheter is inserted into the sleeve, the limiting abutment abuts against the end of the sleeve in the same direction as the insertion direction, thereby forming an axial gap between the catheter and the sleeve. The limiting abutment serves to position and limit the catheter during installation, restricting further insertion of the catheter into the sleeve. The axial gap helps reduce the contact area between the catheter and the sleeve, reducing the rotational resistance of the catheter relative to the sleeve, and making the rotation between the catheter and the sleeve smoother.

[0014] Furthermore, the end edge of the sleeve and the position-limiting abutment portion in the same direction is provided with a positioning portion corresponding to the position-limiting abutment portion, and the positioning portion abuts against the position-limiting abutment portion to limit the position. The provision of the positioning portion is conducive to increasing the contact area between the abutment portion and the position-limiting portion, thereby increasing the stability of the catheter's relative rotation to the sleeve.

[0015] Furthermore, the lock buckle is provided on the position-limiting abutment portion or the positioning portion. By providing the lock buckle on the position-limiting abutment portion or the positioning portion, not only can the axial clearance between the catheter and the cannula be maintained, but the lock buckle can also prevent the air blocking component from axially separating from the cannula, making the structure of the puncture device simpler.

[0016] Furthermore, a one-way valve is provided at one end of the catheter near the upper cover, with a sealing ring disposed between the one-way valve and the catheter. Multiple third instrument channels are provided within the one-way valve, and a one-way cover is hingedly mounted on the one-way valve. Connecting ears are disposed on the outer periphery of the one-way valve. The one-way cover includes a cover plate hingedly coupled to the connecting ears and a pressure plate disposed toward the third instrument channels. The one-way valve and the one-way cover, which closes one end of the opening of the third instrument channel, ensure that the instrument channel remains sealed before the trocar and endoscope tube are inserted.

[0017] Furthermore, the inner cavity of the catheter is provided with a positioning groove corresponding to the connecting ear. The positioning groove and the connecting ear axially cooperate and circumferentially block each other. The axial cooperation between the positioning groove and the connecting ear not only provides a guiding and positioning function during assembly of the one-way valve and the catheter, but also improves the consistency of the one-way valve and the catheter when they rotate as a whole.

[0018] Furthermore, a sealing ring is provided between the air blocking assembly and the cannula, and the air blocking assembly and the cannula are connected in a rotationally sealed manner. The provision of the sealing ring effectively improves the sealing between the catheter and the cannula, facilitates the sealed rotational connection between the catheter and the cannula, improves the overall sealing effect of the puncture device, and enhances the safety of the operation.

[0019] To address the above technical issues, the present invention further provides a surgical robot comprising a console and a robotic arm, the distal end of which is fixedly connected to a single-hole puncture device as described above. The provision of the single-hole puncture device reduces the difficulty for the surgeon operating the surgical robot during surgery, enabling the surgeon to more quickly install and remove the puncture assembly, thereby improving surgical efficiency. Furthermore, the provision of a locking latch further enhances the stability of the puncture assembly during surgery, thereby improving surgical safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0021] Figure 1 2. This is a schematic diagram of the three-dimensional structure of a single-hole puncture device according to an embodiment of the present invention;

[0022] Figure 2 This is a front view of a single-hole trocar in an embodiment of the present invention;

[0023] Figure 3 This is a right side view of a single-hole trocar in an embodiment of the present invention;

[0024] Figure 4 It is attached Figure 3 Partial view of the AA section view;

[0025] Figure 5 is a partial cross-sectional view of the assembly structure of the sleeve and the air barrier component in one embodiment of the present invention;

[0026] Figure 6 is a partial cross-sectional view of the assembly structure of the sleeve and the air barrier component in another embodiment of the present invention;

[0027] Figure 7 This is an exploded view of a single-hole puncture device according to an embodiment of the present invention;

[0028] Figure 8 is an exploded view of the gas blocking component in an embodiment of the present invention;

[0029] Figure 9 is a top view of a catheter in an embodiment of the present invention;

[0030] Figure 10 2. It is a schematic diagram of the three-dimensional structure of a one-way valve in an embodiment of the present invention;

[0031] Figure 11 This is a front view of a one-way cover in an embodiment of the present invention;

[0032] Figure 12It is a left view of the one-way cover in an embodiment of the present invention.

[0033] Explanation of reference numerals: 1, air blocking assembly; 11, upper cover; 111, first instrument channel; 12, sealing member; 121, second instrument channel; 13, one-way valve; 131, third instrument channel; 132, connecting ear; 1321, ear hole; 1322, back of ear; 14, one-way cover; 141, cover plate; 142, pressure plate; 143, pin; 144, torsion spring; 145, hinge shaft; 15, conduit; 151, first stopper; 152, valve chamber; 15 21. Inner cavity; 1522. Positioning groove; 153. Guide portion; 1531. Fourth instrument channel; 154. Limiting abutment portion; 155. Axial gap; 16. Sealing ring; 17. Fastener; 2. Sleeve; 21. Second stop portion; 22. Air injection hole; 23. Positioning portion; 3. Locking buckle; 31. Shell; 32. Lock tongue; 321. Connecting hole; 33. Pull column; 331. Pin hole; 34. Pin column; 35. Elastic component; 4. Air injection valve; 5. Card seat. DETAILED DESCRIPTION

[0034] To make the objectives, technical solutions, and advantages of the present invention more apparent, various embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will appreciate that many technical details are provided in various embodiments of the present invention to facilitate a better understanding of the present application. However, even without these technical details and the various variations and modifications based on the following embodiments, the technical solutions claimed in the claims of this application can be implemented.

[0035] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0036] like Figure 1-4As shown in Figures 7, in one embodiment of the present invention, there is provided a single-hole puncture device, comprising a sleeve fixed to the end of a robotic arm, and an air-blocking component 1 rotatably sleeved in the sleeve, wherein the single-hole puncture device is used to provide a channel for connecting multiple surgical instruments to the surgical site, and the air-blocking component 1 is provided with multiple instrument channels, which are used for inserting instrument rods and endoscope tubes; the lock buckle 3 is fixedly provided on the sleeve 2 or the air-blocking component 1, and the lock buckle 3 is provided with a locking tongue 32 that can move radially along the sleeve 2, and the locking tongue 32 can limit the sleeve 2 or the air-blocking component 1 in the axial direction to prevent the air-blocking component 1 from being separated from the sleeve 2; the sleeve 2 is also provided with a through gas injection hole 22 and a gas injection valve 4 and a holder 5 corresponding to the gas injection hole 22, the gas injection valve 4 is used to inject external gas into the human body to form pneumoperitoneum that is conducive to surgical operations, and the holder 5 is used for fixed connection with the robotic arm.

[0037] like Figure 4-8As shown, in one embodiment, it relates to a single-hole puncture device, the air-blocking component 1 is coaxially connected to the sleeve 2 for rotation, and the lock buckle 3 includes a shell 31, the shell 31 is fixedly arranged on the sleeve 2 or the air-blocking component 1, and the shell 31 is provided with an opening at one end facing the air-blocking component 1, and a locking tongue 32 is provided in the shell 31, and the locking tongue 32 is arranged perpendicular to the central axis of the sleeve 2, one end of the locking tongue 32 is facing the central axis of the sleeve 2, and the other end is connected to a pull column 33, the pull column 33 is coaxially arranged with the locking tongue 32, and the other end of the pull column 33 is arranged through the shell 31, that is, one end of the pull column 33 is exposed outside the shell 31, and pulling or pushing the pull column 33 along the axial direction of the pull column 33 can drive the locking tongue 32 to move radially along the sleeve 2. The lock tongue 32 is fixed with the lock post 33 and the lock tongue 32 is fixed with the lock post 33. The lock tongue 32 is fixed with the lock post 33 and the lock post 33 is fixed with the lock post 33. When the air blocking component 1 and the sleeve 2 need to be disassembled, the end of the pull column 33 is pulled to drive the lock tongue 32 to move toward the side away from the air blocking component 1, and the elastic component 35 is compressed, thereby releasing the axial restriction of the sleeve 2 and the air blocking component 1 by the lock tongue 32, making the disassembly operation of the sleeve 2 and the air blocking component 1 simple and convenient. Preferably, the compression spring is sleeved on the pull column 33, and the compression spring is coaxially arranged with the pull column 33. By setting the elastic component between the lock tongue and the housing, the lock tongue can stably maintain the axial limiting function of the air blocking component or the sleeve during surgery, preventing the air blocking component from axially detaching from the sleeve, thereby improving the safety of the surgery.

[0038] In one embodiment, a puncture device is provided, which includes an air-blocking component 1 and a sleeve 2 rotatably mounted on the outside of the air-blocking component 1, the air-blocking component 1 including an upper cover 11 and a catheter 15 fixedly connected to the upper cover 11, the upper cover 11 is provided with a plurality of first instrument channels 111, the first instrument channels 111 are components of the instrument channel of the air-blocking component 1, the first instrument channels 111 are tapered through holes, and the setting of the tapered through holes helps to guide the insertion of the instrument rod or endoscope tube; the catheter 15 is provided with a valve cavity 152 and a guide portion 153, the valve cavity 152 is provided with an inner cavity 1521, the valve cavity 152 is provided with a first stop portion 151 radially extending away from the central axis toward the edge of the upper cover 11, the guide portion 153 is provided with a fourth instrument channel 1531, the fourth instrument channel 1531 is a component of the instrument channel of the air-blocking component 1, and the fourth instrument channel 1531 is axially corresponding to the first instrument channel 111. The sleeve 2 is sleeved on the outside of the conduit 15, and a sealing ring 16 is provided between the conduit 15 and the sleeve 2, so that the sleeve 2 and the conduit 15 are rotatably sealed and connected. The end of the sleeve 2 close to the valve cavity 152 is radially extended away from the central axis and provided with a second stop portion 21; the lock buckle 3 is fixedly provided on one of the first stop portion 151 or the second stop portion 21, and the locking tongue 32 is axially corresponding to the other of the first stop portion 151 or the second stop portion 21. The setting of the lock buckle 3 effectively prevents the air blocking component 1 from axially disengaging from the sleeve 2. The protruding setting of the first stop portion 151 and the second stop portion 21 makes it more convenient to install and fix the lock buckle, and the operation is simpler, making the assembly and disassembly of the air blocking component and the sleeve more convenient. In an exemplary embodiment, the housing 31 of the locking tongue 32 is fixedly disposed on the second stop portion 21, and the locking tongue 32 corresponds axially to the first stop portion 151, so that when the conduit 15 moves toward the upper cover 11, the first stop portion 151 is axially limited to prevent the air blocking assembly 1 from separating from the sleeve 2. The conduit 15 and the upper cover 11 can be fixedly connected in a variety of ways, such as welding, bonding, etc. Preferably, the conduit 15 is fixed to the upper cover 11 by a fastener 17, such as using a fastener 17 to pass through the first stop portion 151 to be fixedly connected to the upper cover 11.

[0039] In one embodiment, the difference from the above embodiment lies in the different location of the first stopper 151. In this embodiment, the upper cover 11 is radially extended with a first stopper 151, which is fixedly mounted on the upper cover 11 and corresponds to the second stopper 21. The lock catch 3 is fixedly mounted on one of the first stopper 151 or the second stopper 21, and the lock tongue 32 axially corresponds to the other of the first stopper 151 or the second stopper 21. The lock catch 3 effectively prevents the air blocking assembly 1 from axially disengaging from the sleeve 2.

[0040] like Figure 5 As shown, in one embodiment, the edge of one end of the conduit 15 facing the upper cover 11 is turned outward to form a limiting abutment 154, and the outer diameter of the limiting abutment 154 is larger than the inner diameter of the sleeve 2. When the conduit 15 is inserted into the sleeve 2, the limiting abutment 154 can abut and limit the end of the sleeve 2. The relative position of the conduit 15 and the conduit 15 is limited by the abutment of the limiting abutment 154 and the end of the sleeve 2. When the conduit 15 is plugged into the sleeve 2, the end of the conduit 15 and the sleeve 2 axially away from the limiting abutment 154 maintains an axial gap 155. The setting of the limiting abutment 154 plays the role of installation positioning and limiting, limiting the conduit 15 from being further inserted into the sleeve 2. The setting of the axial gap 155 is conducive to reducing the contact area between the conduit 15 and the sleeve 2, reducing the rotational resistance of the conduit 15 relative to the sleeve 2, and making the rotation between the conduit 15 and the sleeve 2 smoother.

[0041] like Figure 6 As shown, in one embodiment, the edge of one end of the sleeve 2 that abuts the limiting abutment portion 154 of the conduit 15 is flanged to form a positioning portion 23. The positioning portion 23 is in surface contact with the limiting abutment portion 154 and axially limits the relative position of the conduit 15 and the sleeve 2, so that when the conduit 15 and the sleeve 2 are plugged together, an axial gap 155 is maintained. The provision of the axial gap 155 not only helps to reduce the contact area between the conduit 15 and the sleeve 2, but also reduces the rotational resistance of the conduit 15 relative to the sleeve 2, making the rotation between the conduit 15 and the sleeve 2 smoother, but also increases the stability of the conduit 15 when rotating relative to the sleeve 2. Preferably, the lock buckle 3 can be provided on the limiting abutment portion 154 or the positioning portion 23. The provision of the lock buckle 3 limits the axial position of the sleeve 2 and the air blocking component 1, preventing the air blocking component 1 from axially separating from the sleeve 2.

[0042] like Figure 10-12As shown, in one embodiment, the air blocking component 1 also includes a one-way valve 13, which is accommodated in the inner cavity 1521. The one-way valve 13 is provided with a plurality of through third instrument channels 131, and the third instrument channel 131 is a component of the instrument channel of the air blocking component 1. The third instrument channel 131 corresponds axially to the first instrument channel 111, and the opening of the third instrument channel 131 toward the guide portion 153 is provided with a one-way cover 14, and the one-way cover 14 can seal the first instrument channel 111; the one-way cover 14 is hingedly arranged with the one-way valve 13, and a connecting ear 132 is provided on the side of the one-way valve 13, and the connecting ear 132 is arranged corresponding to the one-way cover 14, and the connecting ear 132 is provided with an ear hole 1321, and the outer portion of the connecting ear 132 is provided with a There is an ear back 1322, and the ear back 1322 has an arc-shaped profile; the one-way cover 14 includes a cover plate 141, one end of the cover plate 141 is hinged to the connecting ear 132 through a hinge shaft 145, and a torsion spring 144 is sleeved on the hinge shaft 145, one end of the torsion spring 144 abuts against the one-way valve 13, and the other end abuts against the cover plate 141, and the other end of the cover plate 141 is fixed with a pressure plate 142, and the pressure plate 142 is arranged toward the third instrument channel 131, and the pressure plate 142 corresponds to the opening of the third instrument channel 131, and can cover and seal the third instrument channel 131; preferably, the pressure plate 142 is fixedly connected to the cover plate 141 by a pin 143, and the pressure plate 142 is compressible, such as rubber, etc., which is conducive to improving the sealing effect of the pressure plate 142. By setting the torsion spring 144, the third instrument channel 131 can always remain sealed before the instrument rod and the endoscope tube are inserted. When the instrument rod is inserted, the pressure plate 142 is squeezed by the instrument rod, the torsion spring 144 is compressed and deformed, and the cover plate 141 is actively rotated with the hinge shaft 145 as the rotation axis to open the third instrument channel 131, thereby allowing the instrument rod to be inserted smoothly.

[0043] like Figure 8-9 As shown, in one embodiment, the one-way valve 13 is accommodated in the inner cavity 1521, and the side wall of the inner cavity 1521 is provided with a positioning groove 1522 corresponding to the connecting ear 132, and the positioning groove 1522 is axially corresponding to the connecting ear 132. A sealing ring 16 is sleeved on the circumferential surface of the one-way valve 13, and the sealing ring 16 is used to seal the gap between the one-way valve 13 and the inner cavity 1521, so as to improve the sealing effect of the air blocking component 1; during installation, the back of the ear 1322 of the connecting ear 132 abuts against the side wall of the positioning groove 1522, providing a guide and positioning effect for the installation between the one-way valve 13 and the conduit 15, which is beneficial to the rapid assembly between the one-way valve 13 and the conduit 15, and at the same time, the positioning groove 1522 and the connecting ear 132 can block each other in the circumferential direction, which is beneficial to improve the consistency of the one-way valve 13 and the conduit 15 when they rotate as a whole.

[0044] like Figure 6 As shown, in one embodiment, a seal 12 is further provided between the one-way valve 13 and the upper cover 11, and the seal 12 is provided with a plurality of second instrument channels 121, and the second instrument channels 121 are components of the instrument channels of the air blocking component 1, and the second instrument channels 121 correspond axially to the first instrument channels 111; the above-mentioned second instrument channels 121 are tapered through holes, and the inner diameter of the second instrument channel 121 is smaller than the diameter of the instrument rod or the endoscope tube, and the seal 12 is compressible. Preferably, the seal 12 is made of an elastic material, such as rubber, etc. When the instrument rod or the endoscope tube is inserted into the second instrument channel 121, the side wall of the second instrument channel 121 can be tightly fitted on the instrument rod or the endoscope tube to seal the second instrument channel 121, that is, the side wall of the second instrument channel 121 can be fitted and sealed on the instrument rod or the endoscope tube.

[0045] The present invention also provides a surgical robot, which includes a console and a robotic arm, and also includes any of the single-hole puncture devices described above, wherein the single-hole puncture device is fixedly arranged at the end of the robotic arm through a holder 5.

[0046] During use, the upper cover 11, the seal 12, the one-way valve 13 and the catheter 15 are assembled and installed in sequence to form the air-blocking assembly 1, and then the air-blocking assembly 1 is inserted into the sleeve 2 and axially limited by the lock buckle 3. The first instrument channel 111, the second instrument channel 121, the third instrument channel 131 and the fourth instrument channel 1531 axially correspond to form an instrument channel for inserting the instrument rod and the endoscope tube. Before the instrument rod and the endoscope tube are inserted into the instrument channel, the one-way cover 14 is sealed at the opening of the third instrument channel 131 under the rebound action of the torsion spring 144, thereby closing the instrument channel and preventing gas leakage; during the operation, the air-blocking assembly 1 is subjected to the pressure difference, so that the air-blocking assembly 1 has a tendency to move away from the sleeve 2. The setting of the axial limit of the lock tongue 32 on the first stop portion 151 can effectively prevent the air-blocking assembly 1 from detaching from the sleeve 2, thereby improving the safety of the operation.

[0047] The single-hole trocar and surgical robot provided by the present invention limit the cannula or the air-blocking assembly in the axial direction to prevent the air-blocking assembly from separating from the cannula. The provision of a lock simplifies the structure of the single-hole trocar. The lock simplifies the structure of the single-hole trocar. The lock simplifies the structure of the single-hole trocar by providing a locking tongue that can move radially along the cannula to limit the axial movement between the air-blocking assembly and the cannula. This not only effectively prevents the air-blocking assembly from axially separating from the cannula, but also facilitates disassembly, which is beneficial to the clinical use of the trocar.

[0048] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and that in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A single-hole puncture device, characterized in that: include: A sleeve (2) is fixed to the end of the robotic arm; An air blocking component (1) is rotatably sleeved in a sleeve (2), wherein the air blocking component (1) is provided with a plurality of instrument channels, wherein the instrument channels are used for inserting instrument rods and endoscope tubes; A lock buckle (3) is fixedly arranged on the sleeve (2) or the air blocking component (1); The lock buckle (3) is provided with a locking tongue (32) that can move radially along the sleeve (2), and the locking tongue (32) can limit the sleeve (2) or the air blocking component (1) along the axial direction of the puncture device to prevent the air blocking component (1) from being separated from the sleeve (2); The lock buckle (3) comprises a shell (31), a locking tongue (32) is provided in the shell (31), a pull column (33) is provided on the locking tongue (32) along the radial direction of the sleeve (2), one end of the pull column (33) passes through the shell (31) and is exposed outside, and an elastic component (35) is provided between the locking tongue (32) and the shell (31) along the radial direction of the sleeve (2); The air blocking assembly (1) comprises an upper cover (11) and a conduit (15) fixedly connected to the upper cover (11), wherein the conduit (15) is rotatably arranged in the sleeve (2); the conduit (15) protrudes from the position of the sleeve (2) or the upper cover (11) is radially extended to be provided with a first stopper (151), and the sleeve (2) is radially extended to be provided with a second stopper (21) at one end thereof toward the upper cover (11); the lock buckle (3) is fixedly arranged on one of the first stopper (151) or the second stopper (21), and the lock tongue (32) is axially corresponding to the other of the first stopper (151) or the second stopper (21).

2. The single-hole puncture device according to claim 1, characterized in that: The end edge of the conduit (15) is provided with a limiting abutment portion (154), and the conduit (15) is inserted into the sleeve (2). The limiting abutment portion (154) abuts and limits the end portion in the same direction as the sleeve (2) along the insertion direction, so that an axial gap (155) is formed between the conduit (15) and the sleeve (2).

3. The single-hole puncture device according to claim 2, characterized in that: The end edge of the sleeve (2) in the same direction as the position-limiting abutment portion (154) is provided with a positioning portion (23) corresponding to the axial direction of the position-limiting abutment portion (154), and the positioning portion (23) abuts against the position-limiting abutment portion (154) to limit the position.

4. The single-hole puncture device according to claim 3, characterized in that: The lock buckle (3) is arranged on the position-limiting abutment portion (154) or the positioning portion (23).

5. The single-hole puncture device according to claim 1, characterized in that: A one-way valve (13) is provided at one end of the conduit (15) close to the upper cover (11), a sealing ring (16) is provided between the one-way valve (13) and the conduit (15), a plurality of third instrument channels (131) are provided in the one-way valve (13), a one-way cover (14) is hingedly provided on the one-way valve (13), a connecting ear (132) is provided on the outer periphery of the one-way valve (13), and the one-way cover (14) includes a cover plate (141) hingedly connected to the connecting ear (132), and a pressing plate (142) arranged toward the third instrument channels (131).

6. The single-hole puncture device according to claim 5, characterized in that: The inner cavity (1521) of the catheter (15) is provided with a positioning groove (1522) corresponding to the connecting ear (132), and the positioning groove (1522) and the connecting ear (132) are axially matched and circumferentially blocked from each other.

7. The single-hole puncture device according to any one of claims 1 to 6, characterized in that: A sealing ring (16) is provided between the air blocking component (1) and the sleeve (2), and the air blocking component (1) and the sleeve (2) are connected in a rotationally sealed manner.

8. A surgical robot, characterized in that The device comprises a console and a mechanical arm, wherein the end of the mechanical arm is fixedly connected with the single-hole puncture device according to any one of claims 1 to 7.

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