Instrument sealing device, surgical instrument and surgical robot

Abstract

The embodiment of the invention provides an instrument sealing device, a surgical instrument and a surgical robot. The instrument sealing device comprises a joint seat, the joint seat is provided with a first through hole, and the first through hole is configured to allow a cable to penetrate through; the sealing piece is arranged on the side, away from the instrument head end, of the joint seat, a second through hole is formed in the sealing piece, at least part of the first through hole is communicated with the second through hole, and the hole wall of the second through hole is configured to be in close contact with the peripheral wall of the cable; and the pressing piece is pressed on the side, back on to the joint seat, of the sealing piece, the pressing piece is at least pressed on the hole edge of the second through hole, and the hardness of the pressing piece is larger than that of the sealing piece. According to the instrument sealing device, the surgical instrument and the surgical robot, the sealing performance of the surgical instrument can be improved, pneumoperitoneum failure is prevented, the problem that the instrument control precision is reduced due to cable looseness caused by long-time use can be solved, and the surgical safety and the operation precision can be improved.

Description

Technical Field

[0001] The present application belongs to the field of medical device technology, and in particular relates to an instrument sealing device, a surgical instrument and a surgical robot. Background Art

[0002] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been widely used due to its advantages of small surgical trauma, short recovery time and less pain for patients. In addition, minimally invasive surgical robots can avoid operational limitations and filter hand tremors during operation due to their high dexterity, high control accuracy and intuitive surgical images, and are widely used in surgical areas such as the abdomen, pelvis and chest.

[0003] The minimally invasive surgical robot includes a main control console and a slave manipulator arm. The main control console collects the doctor's operation signal and generates a control signal for the slave manipulator arm after processing by the control system. The slave manipulator arm performs the surgical operation. The minimally invasive surgical robot has matching surgical instruments, which are mounted on the power box of the slave manipulator arm and are used to be manipulated by the doctor to perform the surgical operation. In minimally invasive abdominal surgery, it is usually necessary to use a pneumoperitoneum machine to establish pneumoperitoneum in order to open the patient's abdomen and facilitate surgical operations. Therefore, the airtightness requirements for the external interfaces of the pneumoperitoneum (such as puncture cards, surgical instruments) are relatively high.

[0004] In the related art, for example, the US invention patent US11432889B2 discloses a surgical robot, an assembly method thereof and a robotic surgical system, which uses a pre-processed silicone sealing ring to achieve sealing. A groove that matches the protruding part of the silicone sealing ring is provided on the joint seat, and the protruding part of the silicone sealing ring is inserted into the groove, so that the silicone sealing ring is assembled in the joint seat. A through hole is provided on the silicone sealing ring, and a cable passes through the through hole to connect to the execution terminal, and the cable is operated so that the execution terminal performs the surgical operation.

[0005] However, in the related art, the silicone seal ring is easily deformed during the operation of the cable, resulting in poor sealing effect. If the silicone seal ring is set thicker, although the deformation can be reduced, the friction resistance of the cable and the contact range between the cable and the silicone seal ring will increase, thereby affecting the control accuracy of the instrument execution end and increasing the risk of debris falling due to friction, which is even more unsatisfactory. Summary of the invention

[0006] The embodiments of the present application provide an instrument sealing device, a surgical instrument, and a surgical robot, which can improve the sealing of the surgical instrument, prevent pneumoperitoneum failure, and improve the problem of decreased instrument control accuracy caused by loose cables due to long-term use, thereby improving surgical safety and operating accuracy.

[0007] On the one hand, an embodiment of the present application provides an instrument sealing device, comprising:

[0008] A joint seat, wherein the joint seat is provided with a first through hole, and the first through hole is configured to pass a cable;

[0009] A sealing member is disposed on a side of the joint seat away from the head end of the instrument, the sealing member is provided with a second through hole, the first through hole is at least partially connected to the second through hole, and the hole wall of the second through hole is configured to be in close contact with the peripheral wall of the cable;

[0010] The pressing piece is pressed on the side of the sealing piece facing away from the joint seat. The pressing piece is at least pressed on the edge of the second through hole, and the hardness of the pressing piece is greater than that of the sealing piece.

[0011] In one implementation, the diameter of the second through hole is smaller than the diameter of the cable, and along the axial direction of the second through hole, the cable can move relative to the sealing member when driven by a force less than or equal to 1N.

[0012] In one implementation, the diameter of the second through hole is 0.3-0.9 times the diameter of the cable;

[0013] or,

[0014] The diameter of the second through hole is 0.4-0.7 times the diameter of the cable.

[0015] In one implementation, the method further includes:

[0016] A slender tube located on the side of the seal facing away from the joint seat;

[0017] The cable is passed through the slender tube, and the cable is configured to provide a pre-tightening force to the slender tube and the joint seat so that the pressing member presses the sealing member;

[0018] The elongated tube is configured as a press-fit compression piece.

[0019] In one implementation, one of the proximal end of the joint seat and the distal end of the slender tube is provided with a accommodating cavity, the sealing member and the clamping member are arranged in the accommodating cavity, and the peripheral wall of the clamping member extends toward the inner wall of the accommodating cavity; the other of the proximal end of the joint seat and the distal end of the slender tube is provided with an insertion portion, and the insertion portion is inserted in the accommodating cavity and pressed on the clamping member.

[0020] In one implementation, the pressing member is located on a side of the sealing member facing away from the joint seat, and a third through hole is provided on the pressing member, the third through hole is connected to the second through hole and is correspondingly arranged, and the third through hole is configured to pass a cable;

[0021] Wherein, the diameter of the third through hole is greater than the diameter of the cable.

[0022] In one implementation, the diameter of the third through hole is 1.5-2.5 times the diameter of the cable;

[0023] or,

[0024] The diameter of the third through hole is 1.8-2.2 times the diameter of the cable.

[0025] In one implementation, the diameter of the sealing member is equal to or smaller than the inner diameter of the accommodating cavity; the diameter of the pressing member is smaller than the inner diameter of the accommodating cavity, and the diameter of the pressing member is larger than the inner diameter of the insertion portion.

[0026] In one implementation, along the axial direction of the accommodating cavity, the sum of the initial thickness of the sealing member, the thickness of the pressing member, and the length of the inserting portion is greater than the depth of the accommodating cavity;

[0027] When the cable tightens the joint seat and the slender tube, the sealing member is deformed along the axial direction of the accommodating cavity under the compression of the compression member.

[0028] In one implementation, the sum of the thickness of the sealing member, the thickness of the pressing member, and the length of the inserting portion is 1-1.2 times the depth of the accommodating cavity.

[0029] In one implementation, the thickness of the seal is 0.5 mm-3 mm, and the hardness of the seal is 50A-90A;

[0030] The thickness of the pressing piece is 0.1mm-1mm, and the pressing piece is a corrosion-resistant piece.

[0031] In one implementation, a sealing structure is provided between the insertion portion and the accommodating cavity; the sealing structure is configured to seal a fitting gap between the insertion portion and the accommodating cavity.

[0032] In one implementation, the sealing structure includes a sealant, and the sealant is disposed between the peripheral wall of the insertion portion and the inner wall of the accommodating cavity;

[0033] and / or,

[0034] The sealing structure comprises a sealing ring which is sleeved on the peripheral wall of the inserting part and abuts against the edge of the accommodating cavity.

[0035] In one implementation, the sealing structure includes a wedge-shaped structure, and the wedge-shaped structure is provided on the peripheral wall of the insertion portion;

[0036] Along the direction in which the inserting portion is inserted into the accommodating cavity, the outer diameter of the inserting portion decreases to form a wedge-shaped structure.

[0037] In one implementation, the accommodating cavity is arranged at the proximal end of the joint seat, and a limiting column is arranged in the accommodating cavity; a first limiting notch is arranged on the sealing member, and a second limiting notch is arranged on the pressing member, and the limiting column is passed through the first limiting notch and the second limiting notch, and the limiting column is configured to limit the sealing member and the pressing member along the circumference of the accommodating cavity;

[0038] The distance between the limiting column and the first through hole is greater than or equal to 0.3 mm.

[0039] On the other hand, an embodiment of the present application provides a surgical instrument, comprising:

[0040] Instrument boxes;

[0041] The instrument sealing device provided in the aforementioned embodiment of the present application, wherein the elongated tube of the instrument sealing device is connected to the instrument box, and the cable passes through the elongated tube and is connected to the driving mechanism in the instrument box;

[0042] The end effector is arranged at the far end of the instrument sealing device, the end effector is connected to the joint seat, and the cable is connected to the end effector to drive the end effector to move.

[0043] On the other hand, an embodiment of the present application provides a surgical robot, including a slave-end power box and the surgical instrument provided by the aforementioned embodiment of the present application, wherein the instrument box of the surgical instrument is detachably mounted on the slave-end power box.

[0044] An instrument sealing device, a surgical instrument and a surgical robot provided by the embodiments of the present application are characterized in that a clamping member is arranged on the side of the seal facing away from the joint seat, the clamping member is at least pressed against the edge of the second through hole, and the hardness of the clamping member is greater than the hardness of the seal; in this way, after the cable passes through the second through hole and the first through hole on the joint seat and is connected to the end effector, the cable moves axially relative to the seal, and in the process of operating the end effector, the friction between the peripheral wall of the cable and the wall of the second through hole drives the seal to deform, and since the clamping member is at least pressed against the edge of the second through hole, the deformation of the seal will be restrained by the clamping member with greater hardness, thereby reducing the deformation of the seal and ensuring the sealing of the seal to the first through hole, that is, the sealing effect of the instrument sealing device can be improved, the sealing of the pneumoperitoneum can be improved, and the safety of the operation can be improved.

[0045] In addition, in the embodiment of the present application, the clamping member is at least pressed against the edge of the second through hole, so that the pulling force on the seal caused by the movement of the cable is dispersed by the clamping member, which can prevent the seal from falling off. Compared with the related technology, the sealing function and sealing effect of the sealing surgical instrument are improved, and the safety of the operation is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0047] Figure 1 is a schematic diagram of the structure of surgical instruments provided in some embodiments of the present application;

[0048] Figure 2 It is a schematic diagram of the structure of the cooperation between the instrument sealing device and the end effector in the surgical instrument provided in some embodiments of the present application;

[0049] Figure 3 is a schematic diagram of the exploded structure of an instrument sealing device in a surgical instrument provided in some embodiments of the present application;

[0050] Figure 4 It is a schematic diagram of the structure of a joint seat in a surgical instrument provided in some embodiments of the present application;

[0051] Figure 5 is a schematic diagram of the structure of a sealing member in a surgical instrument provided in some embodiments of the present application;

[0052] Figure 6 is a schematic diagram of the structure of a compression member in a surgical instrument provided in some embodiments of the present application;

[0053] Figure 7 is a schematic diagram of the structure of an elongated tube in a surgical instrument provided in some embodiments of the present application;

[0054] Figure 8 is a cross-sectional view of the cooperation between the elongated tube and the joint seat in the surgical instrument provided in some embodiments of the present application;

[0055] Fig. 9 It is a schematic diagram of the structure of the cooperation between the elongated tube and the joint seat in the surgical instrument provided in some embodiments of the present application;

[0056] Fig.10 is another cross-sectional view of the cooperation between the elongated tube and the joint seat in the surgical instrument provided in some embodiments of the present application;

[0057] Fig.11 yes Fig.10 A partial enlarged view of point A in the middle;

[0058] Fig.12 is another cross-sectional view of the cooperation between the elongated tube and the joint seat in the surgical instrument provided in some embodiments of the present application;

[0059] Fig.13 is another cross-sectional view of the cooperation between the elongated tube and the joint seat in the surgical instrument provided in some embodiments of the present application;

[0060] Fig.14 This is a front view of a joint seat in a surgical instrument provided in some embodiments of the present application.

[0061] Description of reference numerals:

[0062] 10-Surgical instruments;

[0063] 100- instrument box; 200- instrument sealing device; 300- end effector;

[0064] 210-joint seat; 220-cable; 230-seal; 240-pressing member; 250-slender tube;

[0065] 211-first through hole; 212-accommodating cavity; 213-limiting column; 231-second through hole; 232-first limiting notch; 241-third through hole; 242-second limiting notch; 251-insertion part; 252-step surface; 253-gap; 254-sealant; 255-sealing ring;

[0066] 2101- axial hole; 2131- first part; 2132- second part. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0068] In this specification, many specific technical details are described in some places. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed descriptions should not be regarded as limiting, and the scope of protection of the present application is limited only by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misunderstandings of the main points of the present application by the public.

[0069] In this specification, the drawings show schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that other embodiments or combinations may be used, and that mechanical structures, physical components, electrical and step changes may be made without departing from the spirit and scope of the present application.

[0070] The following terms used herein are only used to describe specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower", "above", "upper", etc., can be used to describe the relationship between an element or feature illustrated in the figure and another element or feature for the convenience of explanation. It should be understood that spatially relative terms are intended to cover different orientations of the device in use or operation except the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as being "below" other elements or features will become "above" other elements or features. Therefore, the exemplary term "below" can cover the orientation of the top and bottom. And the device can be oriented in other ways (for example, rotated 90 ° or in other orientations), and the spatially relative descriptors used here are interpreted accordingly.

[0071] As used herein, "several", the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or components, but do not exclude the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0072] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "portion", "part" and "item" are used interchangeably.

[0073] The terms "instrument", "surgical instrument" and "surgical instrument" are used herein to describe a medical device, including an end effector, that is configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. An end effector can be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present application further provide an articulated support (sometimes referred to as a "wrist") for the surgical tool so that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or a knife that translates along a path. The instrument may also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updateable by the surgical system. Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0074] The term "matching" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the matched objects to operate in conjunction with each other. It should be noted that matching does not require a direct connection (e.g., a direct physical or electrical connection), but many objects or components can be used to match two or more objects. For example, objects A and B can be matched using object C. In addition, the terms "removably connected" or "removably matched" can be interpreted as meaning a non-permanent connection or matching situation between two or more objects. This means that the objects that are removably connected can be unconnected and separated so that they no longer operate in conjunction.

[0075] The term "cable" may include steel wire ropes, transmission cables made of polymer and / or polymer materials, and power cables, etc. It is understood that since the power cable cannot bear too much tensile pressure, in order to prevent damage, it is generally necessary to bundle the power cable with the drive cable, such as the steel wire rope, at the position of the end effector and the instrument sealing device, so as to move synchronously. It should also be noted that since the power cable generally has a smooth insulating skin on the outside, it has a good seal with the instrument sealing device and will not produce much friction resistance or debris problems. Therefore, this specification mainly uses the transmission cable as an example for explanation. Finally, the terms "or" and "and / or" used herein should be interpreted as inclusive or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B and C. Exceptions to this definition will only occur when the combination of elements, functions, steps or actions is inherently mutually exclusive in some way.

[0076] Overview of Master-Slave Teleoperated Laparoscopic Surgical Robot

[0077] Laparoscopic surgical robots usually include a doctor control platform, a patient surgical platform, and an image platform. The surgeon sits on the doctor control platform to view the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope placed in the patient's body, and to control the movement of the robotic arm on the patient surgical platform, as well as the surgical instruments or laparoscopes attached to the robotic arm. The robotic arm simulates the human arm, and the surgical instrument simulates the human hand. Both provide surgeons with a series of movements that simulate the human wrist, while filtering out the tremor of the human hand itself.

[0078] The patient surgical platform includes a chassis, a column, a mechanical arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each mechanical arm. Surgical instruments and / or laparoscopes are detachably attached to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operated at the surgical site in the patient's body. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the relevant surgical instrument around the center of motion on the surgical instrument that remains stationary relative to the patient, and the center of motion is usually located at the position where the surgical instrument enters the body, and the center of motion is called the "telecentric point".

[0079] The imaging platform usually includes a video image capture function (commonly an endoscope) and one or more video displays for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes an optical device that transmits images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, and then transmits the video image to the host of the imaging platform through steps such as photoelectric conversion. Subsequently, through image processing, the processed image is displayed on the video display for observation by the assistant.

[0080] The doctor control platform may be at a single location in the surgical system consisting of a laparoscopic surgical robot or it may be distributed at two or more locations in the system. Remote control master / slave operation can be performed according to a preset control degree. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operating signals, and after processing by the control system, generate control signals for the robotic arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the movement of the surgical instrument.

[0081] Typically, the force generated by the remote motor is transmitted via a transmission system that transmits the force from the remote motor to the end effector of the surgical instrument. In some telesurgery embodiments, the input device for controlling the manipulator may be located remotely from the patient, in or outside the room where the patient is located, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with telemanipulation, telecontrol, and telepresentation surgery will be familiar with such systems and their components.

[0082] Some embodiments of the present application provide a surgical robot. The surgical robot may include a main console. The main console may collect and process a doctor's operation signal.

[0083] In some examples, the surgical robot may include a slave manipulator arm. The slave manipulator arm may be communicatively connected to the master console. The slave manipulator arm may receive an operation signal processed by the master console and perform a surgical operation according to the operation signal.

[0084] In some examples, the slave manipulator arm may include a slave power box, which may output power to the outside according to the operation signal.

[0085] For some examples, refer to Figure 1 The surgical robot may include a surgical instrument 10. The surgical instrument 10 may be detachably mounted on a slave power box.

[0086] In some examples, the slave power box can output power to the surgical instrument 10 .

[0087] For some examples, refer to Figure 1 As shown, the surgical instrument 10 may include an instrument box 100. The instrument box 100 may be detachably mounted on a slave power box.

[0088] In some examples, a sterile isolation plate may be provided between the instrument box 100 and the slave power box. The slave power box may output power to the instrument box 100 through the sterile isolation plate.

[0089] In some examples, in order to seal the external interface (e.g., the puncture card, the surgical instrument 10) during surgery, refer to Figure 1 As shown, surgical instrument 10 may include an instrument seal 200 .

[0090] In some examples, the surgical instrument 10 may include an end effector 300. The end effector 300 may be disposed at the distal end of the instrument sealing device 200 (see Figure 1 As shown, along Figure 1 In the direction shown by x1-x2, the direction shown by arrow x1 can be the distal end of the instrument sealing device 200, that is, the end closer to the end effector 300, and the direction shown by arrow x2 can be the proximal end of the instrument sealing device 200, that is, the end closer to the instrument box 100). In some examples, the distal end of the instrument sealing device 200 can be the end of the instrument sealing device 200 away from the instrument box 100. The proximal end of the instrument sealing device 200 can be the end of the instrument sealing device 200 close to the instrument box 100.

[0091] It should be noted here that some examples of the embodiments of the present application involve a certain end of a certain component. For example, the "distal end" and "proximal end" of the instrument sealing device 200 do not specifically refer to the endpoints of the instrument sealing device 200, but are intended to emphasize that the "distal end" and "proximal end" are not the same position of the instrument sealing device 200, but emphasize the relative relationship between the two positions, that is, which is closer to the end effector 300 or the instrument box 100. In some examples of the embodiments of the present application, the specific positions of the "distal end" and "proximal end" are not limited.

[0092] In some examples, the end effector 300 may include forceps, needle holders, scissors, cauterizers, tissue stabilizers, retractors, clip applicators, etc. It can be understood that in some examples of the embodiments of the present application, the specific types of the end effector 300 are only shown as some specific examples. In some examples, the end effector 300 may also be other types of instruments, which are not listed one by one in the embodiments of the present application.

[0093] In some examples, in order to operate the end effector 300 (physically or electrically), a cable 220 may be passed through the instrument sealing device 200. The cable 220 may be connected to the end effector 300.

[0094] In some examples, cable 220 may include a steel cable.

[0095] In some examples, the cable 220 may include a transmission cable made of a macromolecular and / or polymer material.

[0096] In some examples, the cable may include a power cable. In some examples, the other end of the cable 220 may be connected to a transmission structure in the instrument box 100. In this way, the power output from the end power box may operate the end effector 300 through the cable 220, thereby achieving a surgical operation.

[0097] For some examples, refer to Figure 2-Figure 4 As shown, the instrument sealing device 200 may include a joint seat 210. The end effector 300 may be movably connected to the joint seat 210, such as a rotational connection.

[0098] For some examples, refer to Figure 3 As shown, the distal end of the joint seat 210 may be provided with an axial hole 2101 in a radial direction, and the end effector 300 may be movably connected to the axial hole 2101 via a rotating shaft, thereby realizing a rotational connection between the end effector 300 and the joint seat 210 .

[0099] In some examples, the cable 220 is used to facilitate the operation of the end effector 300. Figure 4 As shown, the joint seat 210 may be provided with a first through hole 211 along the axial direction. The cable 220 may pass through the first through hole 211 and be connected to the end effector 300 .

[0100] In some examples, when the cable 220 operates the end effector 300 , the cable 220 moves axially in the first through hole 211 .

[0101] In some examples, the diameter of the first through hole 211 may be greater than the diameter of the cable 220. In this way, the friction between the cable and the wall of the first through hole may be reduced, the damage to the cable may be reduced, and the sealing effect of the instrument sealing device 200 may be improved.

[0102] In some examples, in order to improve the sealing effect of the instrument sealing device 200, refer to Figure 3 As shown, instrument sealing arrangement 200 may include a seal 230 .

[0103] For some examples, refer to Figure 3 As shown, the seal 230 may be disposed at the proximal end of the joint seat 210 .

[0104] For some examples, refer to Figure 5 As shown, the sealing member 230 may be provided with a second through hole 231. The second through hole 231 may penetrate both ends of the sealing member 230 along the axial direction of the sealing member 230.

[0105] In some examples, the second through hole 231 may be in communication with the first through hole 211 . That is, after the seal 230 is mounted to the joint seat 210 , at least a portion of the first through hole 211 may be in communication with the second through hole 231 .

[0106] In some examples, the second through hole 231 may be coaxial with the first through hole 211 .

[0107] In some examples, the diameter of the first through hole 211 may be larger than the diameter of the second through hole 231 .

[0108] In some examples, the diameter of the first through hole 211 may be much larger than the diameter of the second through hole 231 , and a plurality of second through holes 231 may be distributed within the range of the first through hole 211 .

[0109] In some examples, the cable 220 may pass through the second through hole 231 , but the hole wall of the second through hole 231 is in close contact with the peripheral wall of the cable 220 .

[0110] In some examples, the seal 230 may be made of a material having certain deformation properties.

[0111] In some examples, the seal 230 may be a silicone pad or a rubber pad.

[0112] In some examples of the embodiments of the present application, a seal 230 is provided at the proximal end of the joint seat 210, and a second through hole 231 is provided on the seal 230. In this way, the cable 220 can pass through the second through hole 231 and the first through hole 211 in sequence and then be connected to the end effector 300. The hole wall of the second through hole 231 is in close contact with the peripheral wall of the cable 220, so that the seal 230 can seal the matching gap between the cable 220 and the first through hole 211, thereby achieving the effect of sealing the surgical instrument 10.

[0113] In some examples, the diameter of the sealing member 230 may be greater than the diameter of the first through hole 211. That is, the sealing member 230 may cover the entire opening of the first through hole 211 in the radial direction, so that the sealing member 230 can seal the first through hole 211.

[0114] In some examples, in order to improve the sealing effect of the instrument sealing device 200 on the surgical instrument 10, refer to Figure 3 and Figure 6 As shown, the instrument sealing device 200 may include a pressing member 240. The pressing member 240 may be pressed against a side of the sealing member 230 that faces away from the joint seat 210. In other words, the pressing member 240 may be located at the proximal end of the sealing member 230.

[0115] In some examples, the pressing member 240 may be pressed at least on the edge of the second through hole 231. In other words, the pressing member 240 may surround the cable 220 and be pressed on the edge of the second through hole 231.

[0116] In some examples, the pressing member 240 may be an annular structure, and the cable 220 may be inserted into the central hole of the pressing member 240. In this way, the pressing member 240 may be pressed against the edge of the second through hole 231.

[0117] In some examples, the pressing member 240 may include a plurality of disconnected arc-shaped members, and the plurality of disconnected arc-shaped members are arranged along the circumference of the cable 220 , so as to be pressed against the edge of the second through hole 231 .

[0118] In some examples, the pressing member 240 may be an integral part with the joint seat 210. For example, the pressing member 240 may be fixedly arranged on the inner wall of the joint seat 210, and when the seal 230 is installed on the joint seat 210, an escape groove may be arranged on the seal 230, and after the pressing member 240 passes through the escape groove, the seal 230 is squeezed and deformed, so that the pressing member 240 completely passes over the seal 230 along the axial direction of the seal 230, and then the seal 230 is rotated circumferentially, so that the escape groove and the pressing member 240 are misaligned.

[0119] In some examples, the hardness of the pressing member 240 may be greater than the hardness of the sealing member 230. For example, the sealing member 230 is a deformable silicone pad or a rubber pad, and the pressing member 240 may be a metal member, a ceramic member, or a hard plastic member. In this way, when the cable 220 operates the end effector 300, the cable 220 moves in the circumferential direction to drive the sealing member 230 to deform, and the pressing member 240 can control the deformation of the sealing member 230, thereby reducing the deformation of the sealing member 230 and improving the sealing effect of the instrument sealing device 200 on the surgical instrument 10.

[0120] In addition, by pressing the clamping member 240 against the edge of the second through hole 231, the clamping member 240 controls the deformation of the seal 230, reduces the deformation of the seal 230, reduces the pulling of the seal 230 by the cable 220, improves the stability of the seal 230 on the joint seat 210, and improves the sealing effect of the instrument sealing device 200 on the surgical instrument 10.

[0121] In some examples, the hardness of the pressing member 240 may be more than 10 times the hardness of the sealing member 230 , that is, the hardness of the pressing member 240 in physical concept is much greater than the hardness of the sealing member 230 .

[0122] In some examples, the hardness of the pressing member 240 may be more than 20 times the hardness of the sealing member 230 .

[0123] In the instrument sealing device 200 provided in some embodiments of the present application, a pressing member 240 is provided on the side of the sealing member 230 facing away from the joint seat 210, and the pressing member 240 is at least pressed against the edge of the second through hole 231, and the hardness of the pressing member 240 is greater than the hardness of the sealing member 230; thus, after the cable 220 passes through the second through hole 231 and the first through hole 211 on the joint seat 210 and is connected to the end effector 300, the cable 220 moves axially relative to the sealing member 230 to perform the end effector 300. During the operation, the friction between the peripheral wall of the cable 220 and the hole wall of the second through hole 231 drives the seal 230 to deform. Since the clamping member 240 is at least pressed against the hole edge of the second through hole 231, the deformation of the seal 230 will be restrained by the clamping member 240 with greater hardness, thereby reducing the deformation of the seal 230 and ensuring the sealing of the first through hole 211 by the seal 230, that is, the sealing effect of the instrument sealing device 200 can be improved, the sealing of the pneumoperitoneum can be improved, and the safety of the operation can be improved.

[0124] In addition, in the embodiment of the present application, the clamping member 240 is at least pressed against the edge of the second through hole 231. In this way, the pulling force caused by the movement of the cable 220 on the sealing member 230 is dispersed by the clamping member 240, which can prevent the sealing member 230 from falling off. Compared with the related art, the sealing function and sealing effect of the sealing member 230 on the pneumoperitoneum are improved, thereby improving the safety of the operation.

[0125] In some examples, the diameter of the second through hole 231 may be smaller than the diameter of the cable 220. That is, after the cable 220 passes through the second through hole 231, the hole wall of the second through hole 231 may be deformed radially outward under the action of the cable 220, which can ensure the tightness of the contact between the hole wall of the second through hole 231 and the peripheral wall of the cable 220, thereby improving the sealing performance of the surgical instrument 10.

[0126] In some examples, the cable 220 can move relative to the seal 230 when driven by a force less than or equal to 1N. In other words, the friction between the cable 220 and the inner wall of the second through hole 231 can be less than or equal to 1N. In this way, it is convenient for the cable 220 to operate the end effector 300, which improves the convenience of operating the end effector 300 and is not prone to debris falling due to friction. In addition, the driving force of the cable 220 is less lost due to the friction of the inner wall of the second through hole 231, which can improve the control accuracy of the cable 220, thereby improving the control accuracy of the end effector 300 and improving the safety of the operation.

[0127] In some examples, the diameter of the second through hole 231 may be 0.3-0.9 times the diameter of the cable 220 . In other words, the diameter of the second through hole 231 may be 30%-90% of the diameter of the cable 220 .

[0128] In some examples, the diameter of the second through hole 231 may be 0.4-0.7 times the diameter of the cable 220 .

[0129] As a specific example, the diameter of the second through hole 231 may be 0.5 times the diameter of the cable 220 .

[0130] In some examples of the present application, the diameter of the second through hole 231 is set to 0.3-0.9 times the diameter of the cable 220, so that the hole wall of the second through hole 231 is in close contact with the peripheral wall of the cable 220. In addition, the cable 220 is easy to move axially in the second through hole 231.

[0131] For some examples, refer to Figure 2-Figure 4 As shown, the proximal end of the joint seat 210 may be provided with a receiving cavity 212. The receiving cavity 212 may extend along the axial direction of the joint seat 210.

[0132] In some examples, the sealing member 230 and the pressing member 240 may be disposed in the accommodating cavity 212 .

[0133] In some examples, the peripheral wall of the sealing member 230 may be in close contact with the inner wall of the accommodating cavity 212. In this way, the sealing effect of the instrument sealing device 200 may be improved.

[0134] In some examples, the diameter of the seal 230 may be equal to the inner diameter of the accommodating cavity 212. After the seal 230 is installed in the accommodating cavity 212, the seal 230 may be squeezed axially by the pressing member 240. At this time, the seal 230 is deformed axially and provides an axial reaction force, while in the radial direction, the peripheral wall of the seal 230 is tightly contacted with the inner wall of the accommodating cavity 212 and is limited. In this way, the seal 230 can be limited in the radial direction by the inner wall of the accommodating cavity 212, eliminating the radial slip of the seal 230 and improving the sealing performance of the instrument sealing device 200.

[0135] In some examples, the diameter of the seal 230 may be smaller than (e.g., slightly smaller than) the inner diameter of the accommodating cavity 212. In this way, it is convenient to install the seal 230 into the accommodating cavity 212. After the seal 230 is installed into the accommodating cavity 212, the seal 230 may be compressed along the axial direction by the compression member 240. At this time, the seal 230 is deformed along the axial direction and stretched radially, and finally, in the radial direction, the peripheral wall of the seal 230 is in close contact with the inner wall of the accommodating cavity 212.

[0136] In some examples, the diameter of the seal 230 may be smaller than the inner diameter of the accommodating cavity 212. When the pressing member 240 presses the seal 230 in the axial direction, the seal 230 is deformed in the axial direction. In the radial direction, there may be a gap between the peripheral wall of the seal 230 and the peripheral wall of the accommodating cavity 212. It can be understood that the basic requirement of the embodiment of the present application is that the seal 230 only needs to be able to seal the first through hole 211, that is, the seal 230 only needs to be pressed on the edge of the first through hole 211 to seal the first through hole 211. In this way, the material used for the seal 230 can be saved, and the production and processing cost of the instrument sealing device can be saved.

[0137] In some examples, the peripheral wall of the pressing member 240 may extend toward the inner wall of the accommodating cavity 212. In this way, the pressing area of ​​the pressing member 240 on the sealing member 230 may be increased, the deformation of the sealing member 230 may be reduced, and the sealing effect of the instrument sealing device 200 may be improved.

[0138] In some examples of the embodiments of the present application, by providing an accommodating cavity 212 at the proximal end of the joint seat 210, the sealing member 230 and the pressing member 240 are provided in the accommodating cavity 212. In this way, it is convenient to arrange the sealing member 230 and the pressing member 240. The peripheral wall of the sealing member 230 is in close contact with the inner wall of the accommodating cavity 212, which can improve the sealing effect of the instrument sealing device 200, and the peripheral wall of the pressing member 240 extends toward the inner wall of the accommodating cavity 212, so that the pressing area of ​​the pressing member 240 on the sealing member 230 can be increased, and the sealing effect of the instrument sealing device 200 can be improved.

[0139] For some examples, refer to Figure 6 As shown, the pressing member 240 may be provided with a third through hole 241. The third through hole 241 may be communicated with the second through hole 231. After the pressing member 240 is pressed on the sealing member 230, the third through hole 241 may be communicated with the second through hole 231.

[0140] For some examples, refer to Figure 3 As shown, the cable 220 may be inserted into the third through hole 241. That is, the cable 220 may be connected to the end effector 300 after passing through the third through hole 241, the second through hole 231 and the first through hole 211 in sequence.

[0141] In some examples of the embodiments of the present application, the third through hole 241 is provided on the pressing member 240, and the third through hole is connected to the second through hole 231. In this way, the cable 220 can be connected to the end effector 300 after passing through the third through hole 241, the second through hole 231 and the first through hole 211 in sequence, so that the cable 220 is connected to the end effector 300.

[0142] In some examples, the diameter of the third through hole 241 may be larger than the diameter of the cable 220. In this way, the axial movement of the cable 220 is facilitated, and the friction between the cable 220 and the inner wall of the third through hole 241 can be reduced, so that the cable 220 can be protected.

[0143] In some examples, the diameter of the third through hole 241 may be 1.5-2.5 times the diameter of the cable 220 . In other words, the diameter of the third through hole 241 may be 150%-250% of the diameter of the cable 220 .

[0144] In some examples, the diameter of the third through hole 241 may be 1.8-2.2 times the diameter of the cable 220 .

[0145] As a specific example, the diameter of the third through hole 241 may be twice the diameter of the cable 220 .

[0146] In some examples of the embodiments of the present application, the diameter of the third through hole 241 is set to be 1.5-2.5 times the diameter of the cable 220. In this way, the friction between the peripheral wall of the cable 220 and the inner wall of the third through hole 241 can be reduced, and the cable 220 can be protected.

[0147] For some examples, refer to Figure 1 , Figure 3 and Figure 7 As shown, the instrument sealing device 200 may include an elongated tube 250. The elongated tube 250 may be located on a side of the pressing member 240 facing away from the sealing member 230. In other words, the elongated tube 250 may be located at the proximal end of the pressing member 240.

[0148] In some examples, the elongated tube 250 may be a fiberglass tube.

[0149] In some examples, the elongated tube 250 may be a carbon fiber tube.

[0150] In some examples, the elongated tube 250 may be a polymer tube made of a polymer material.

[0151] In some examples, the elongated tube 250 may be a polymer tube made of a polymer material.

[0152] In some examples, the elongated tube 250 may be a stainless steel metal tube.

[0153] In some examples, the elongated tube 250 may be a composite tube made of a mixture of various metal or non-metal materials.

[0154] In some examples, the elongated tube 250 may be sleeved around the outer circumference of the cable 220 .

[0155] In some examples, the cable 220 may include a capillary tube, and the capillary tube has a small tensile deformation rate, which can reduce the tensile deformation of the cable 220. The capillary tube is bundled with the power cable through a heat shrink tube and moves synchronously.

[0156] In some examples, the proximal end of the elongated tube 250 can be connected to the instrument box 100 .

[0157] In some examples, the distal end of the elongated tube 250 may be connected to the joint seat 210 .

[0158] For some examples, refer to Figure 8 As shown, the distal end of the elongated tube 250 can be inserted into the accommodating cavity 212 .

[0159] In some examples, the pressing member 240 may be the end surface of the distal end of the slender tube 250. For example, the end surface of the distal end of the slender tube 250 may be a closed end surface, and a third through hole 241 may be provided on the closed end surface, and the cable 220 may be inserted into the third through hole 241. In this way, after the slender tube 250 is inserted into the accommodating cavity 212, the distal end surface of the slender tube 250 may be pressed against the sealing member 230.

[0160] In some examples, the pressing member 240 and the elongated tube 250 may be two independent components.

[0161] It can be understood that in some examples, the accommodating chamber 212 can be provided at the distal end of the slender tube 250, and the proximal end of the joint seat 210 can be inserted into the accommodating chamber 212. In some examples of the embodiments of the present application, only the accommodating chamber 212 provided at the proximal end of the slender tube 250 is used as a specific example for illustration. In the case where the accommodating chamber 212 is provided at the distal end of the slender tube 250, the matching relationship between the accommodating chamber 212 and the sealing member 230 and the pressing member 240 is the same, close or similar to that when the accommodating chamber 212 is provided at the proximal end of the joint seat 210. For details, reference can be made to the detailed description of the aforementioned embodiments of the present application, which will not be repeated in the embodiments of the present application.

[0162] In some examples, the diameter of the pressing member 240 may be smaller than the diameter of the accommodating cavity 212 , so that it is easier to install the pressing member 240 into the accommodating cavity 212 .

[0163] In some examples, the diameter of the pressing member 240 may be greater than the distal inner diameter of the elongated tube 250. Thus, after the elongated tube 250 is inserted into the accommodating cavity 212, the distal end surface of the elongated tube 250 may be pressed against the pressing member 240, thereby pressing the pressing member 240 against the sealing member 230.

[0164] In some examples, the diameter of the pressing member 240 may be slightly smaller than the outer diameter of the distal end of the slender tube 250 . For example, the diameter of the pressing member 240 is 80% to 90% of the outer diameter of the distal end of the slender tube 250 .

[0165] In some examples, the diameter of the compression member 240 may be 50%-80% of the outer diameter of the distal end of the elongated tube 250 .

[0166] In some examples, the diameter of the pressing member 240 may be larger than the outer diameter of the distal end of the slender tube 250. In this way, the entire end surface of the distal end of the slender tube 250 may be pressed against the pressing member 240, which may increase the pressing area of ​​the slender tube 250 against the pressing member 240 and improve the reliability of the pressing of the slender tube 250 against the pressing member 240.

[0167] In some examples, the elongated tube 250 and the joint seat 210 may be detachably connected.

[0168] In some examples, the elongated tube 250 may be threadedly connected to the joint seat 210 via threads.

[0169] In some examples, the cable 220 may be inserted into the elongated tube 250 , and the cable 220 may be configured to provide a pre-tightening force to the elongated tube 250 and the joint seat 210 , so that the pressing member 240 presses the sealing member 230 .

[0170] In some examples, the cable 220 is passed through the elongated tube 250. After the cable 220 is connected to the transmission mechanism in the instrument box 100, the cable 220 can be tightened by the transmission mechanism. At this time, the cable 220 pulls the joint seat 210 and the elongated tube 250 toward each other, so that the elongated tube 250 presses the pressing member 240 against the sealing member 230. In this way, the elongated tube 250 and the joint seat 210 can be connected and the sealing member 230 can be pressed without adopting other structures, which simplifies the structure of the instrument sealing device 200 and improves the sealing performance of the instrument sealing device 200.

[0171] For some examples, refer to Figure 7-Figure 9 As shown, the distal end of the elongated tube 250 may have an insertion portion 251. The insertion portion 251 may be inserted into the accommodating cavity 212.

[0172] In some examples, when the accommodating cavity 212 is disposed at the distal end of the elongated tube 250, the inserting portion 251 may be disposed at the proximal end of the joint seat 210. In some examples of the embodiments of the present application, only the inserting portion 251 disposed at the distal end of the elongated tube 250 is shown as a specific example.

[0173] For some examples, refer to Figure 7 As shown, the diameter of the insertion portion 251 may be smaller than the diameter of other portions of the slender tube 250 , so that the insertion portion 251 is easily inserted into the accommodating cavity 212 .

[0174] For some examples, refer to Figure 8As shown, after the inserting portion 251 is inserted into the accommodating cavity 212 , the inserting portion 251 may abut against the end surface of the pressing member 240 , thereby pressing the pressing member 240 onto the sealing member 230 .

[0175] In some examples, along the axial direction of the accommodating cavity 212, the sum of the initial thickness of the sealing member 230, the thickness of the pressing member 240, and the length of the inserting portion 251 may be greater than the depth of the accommodating cavity 212. That is, after the sealing member 230 and the pressing member 240 are disposed in the accommodating cavity 212 and the inserting portion 251 is inserted into the accommodating cavity 212, a portion of the inserting portion 251 may be outside the accommodating cavity 212.

[0176] In some examples, the initial thickness of the sealing member 230 may refer to the thickness of the sealing member 230 when the sealing member 230 is not squeezed and deformed.

[0177] In some examples, a step surface 252 may be provided between the insertion portion 251 and the body of the elongated tube 250 , and a gap 253 may be provided between the step surface 252 and the end surface of the proximal end of the joint seat 210 .

[0178] In some examples, when the cable 220 tightens the joint seat 210 and the slender tube 250 , the pressing member 240 is subjected to the force of the end surface of the inserting portion 251 , so that the sealing member 230 can be deformed along the axial direction of the accommodating cavity 212 .

[0179] In some examples, when the tension provided by the cable 220 reaches a preset tension, the step surface 252 may just contact the end surface of the proximal end of the joint seat 210 (which may be the edge of the accommodating cavity 211), or there may be a gap 253 between the step surface 252 and the end surface of the proximal end of the joint seat 210.

[0180] In some examples of the embodiments of the present application, the insertion portion 251 at the distal end of the slender tube 250 is inserted into the accommodating cavity 212, and along the axial direction of the accommodating cavity 212, the sum of the thickness of the sealing member 230, the thickness of the pressing member 240 and the length of the insertion portion 251 is greater than the depth of the accommodating cavity 212. In this way, when the cable 220 is stretched and elongated after long-term use, the compressed sealing member 230 can release the compressed deformation along the axial direction of the accommodating cavity 212, and a gap 253 begins to appear between the step surface 252 and the end surface of the proximal end of the joint seat 210, or the gap 253 between the step surface 252 and the end surface of the proximal end of the joint seat 210 becomes larger, thereby absorbing the amount of stretching and elongation of the cable 220, and maintaining the preload force of the cable 220 basically unchanged, thereby extending the service life of the instrument sealing device 200 and improving the sealing effect of the instrument sealing device 200.

[0181] In some examples, the sum of the thickness of the sealing member 230, the thickness of the pressing member 240, and the length of the inserting portion 251 may be 1-1.2 times the depth of the accommodating cavity 212. In other words, the sum of the thickness of the sealing member 230, the thickness of the pressing member 240, and the length of the inserting portion 251 may be 100%-120% of the depth of the accommodating cavity 212.

[0182] In some examples, after the seal 230 and the pressing member 240 are installed in the accommodating cavity 212, the inserting portion 251 is inserted into the accommodating cavity 212, and the joint seat 210 and the slender tube 250 are tightened by the cable 220, the gap 253 between the step surface 252 and the end surface of the proximal end of the joint seat 210 can be 0-1 mm. It should be noted that the gap 253 can be greater than 0 mm and less than or equal to 1 mm.

[0183] It should be noted here that the numerical values ​​and numerical ranges involved in some embodiments of the present application are approximate values. Due to the influence of the manufacturing process, there may be a certain range of errors, which can be considered negligible by those skilled in the art.

[0184] In some examples, the thickness of the seal 230 may be 0.5 mm to 3 mm.

[0185] In some examples, the thickness of the seal 230 may be 0.5 mm to 2.5 mm.

[0186] In some examples, the thickness of the seal 230 may be 0.5 mm-2.0 mm.

[0187] In some examples, the thickness of the seal 230 may be 0.5 mm-1.5 mm.

[0188] In some examples, the thickness of the seal 230 may be 1 mm to 2.5 mm.

[0189] In some examples, the thickness of the seal 230 may be 1 mm-2.0 mm.

[0190] In some examples, the thickness of the seal 230 may be 1 mm-1.5 mm.

[0191] In some examples, the thickness of the seal 230 may be 1 mm to 3 mm.

[0192] In some examples, the thickness of the seal 230 may be 1.5 mm to 2.5 mm.

[0193] In some examples, the thickness of the seal 230 may be 1.5 mm to 2 mm.

[0194] In some examples, the thickness of the seal 230 may be 1.5 mm to 3 mm.

[0195] In some examples, the hardness of the sealing member 230 may be 50A-90A. It is understood that in the embodiment of the present application, the sealing member 230 is made of a silicone member or a rubber member, and therefore, the hardness of the sealing member 230 may be Shore hardness.

[0196] In some examples, the seal 230 may have a hardness of 50A-80A.

[0197] In some examples, the seal 230 may have a hardness of 50A-70A.

[0198] In some examples, the hardness of the seal 230 may be 50A-60A.

[0199] In some examples, the seal 230 may have a hardness of 60A-90A.

[0200] In some examples, the seal 230 may have a hardness of 60A-80A.

[0201] In some examples, the hardness of the seal 230 may be 60A-70A.

[0202] In some examples, the seal 230 may have a hardness of 70A-90A.

[0203] In some examples, the hardness of the seal 230 may be 70A-80A.

[0204] In some examples, the seal 230 may have a hardness of 80A-90A.

[0205] In some examples of the embodiments of the present application, the thickness of the seal 230 is set to 0.5 mm-3 mm, and the hardness of the seal 230 is set to 50A-90A. In this way, the seal 230 can release enough deformation to compensate for the elongated length of the cable 220.

[0206] In some examples, the thickness of the pressing member 240 may be 0.1 mm to 1 mm. The pressing member 240 may be a corrosion-resistant member.

[0207] In some examples, the pressing member 240 may include any one of a metal member, a ceramic member, or a hard plastic member.

[0208] In some examples, the pressing member 240 may include a metal sheet. In some examples, the metal sheet may be made of stainless steel, such as any one of SUS630, SUS420, SUS304, and SUS316.

[0209] In some examples, when the pressing part 240 is a metal part, the corrosion resistance of the pressing part 240 can be tested according to the test standard of the corrosion resistance test method of stainless steel medical equipment, and it only needs to meet the Class B requirement in the boiling water test.

[0210] Of course, it is understandable that when the clamping member 240 is a clamping member made of other materials, the corrosion resistance test standards of other materials can also be tested, and this embodiment of the present application will not go into details.

[0211] In some examples, the thickness of the pressing member 240 may be 0.5 mm-1 mm.

[0212] In some examples, the thickness of the pressing member 240 may be 0.7 mm-1 mm.

[0213] In some examples, the thickness of the pressing member 240 may be 0.1 mm-0.7 mm.

[0214] In some examples, the thickness of the pressing member 240 may be 0.1 mm-0.5 mm.

[0215] In some examples, the thickness of the pressing member 240 may be 0.5 mm-0.7 mm.

[0216] In the embodiment of the present application, the thickness of the pressing member 240 is set to 0.1 mm-1 mm, and a corrosion-resistant member is selected as the pressing member 240. In this way, it is convenient for the pressing member 240 to press the sealing member 230, which can improve the service life of the instrument sealing device 200.

[0217] For some examples, refer to Figure 10-13 As shown, a sealing structure (not numbered in the figure) may be provided between the insertion portion 251 and the accommodating cavity 212. The sealing structure may be configured to seal the matching gap between the insertion portion 251 and the accommodating cavity 212. In this way, the sealing effect of the instrument sealing device on the surgical instrument can be improved, thereby enhancing the safety of the operation.

[0218] For some examples, refer to Fig.10 and Fig.11 As shown, the sealing structure may include a sealant 254. The sealant 254 may be located between the peripheral wall of the inserting portion 251 and the inner wall of the accommodating cavity 212.

[0219] In some examples, in order to facilitate the insertion of the insertion portion 251 into the accommodating cavity 212, a gap may be reserved between the insertion portion 251 and the inner wall of the accommodating cavity 212, so as to facilitate the insertion of the insertion portion 251 into the accommodating cavity 212. In order to improve the sealing performance of the instrument sealing device, in some examples of the embodiments of the present application, after the insertion portion 251 is inserted into the accommodating cavity 212, a sealant 254 may be poured into the reserved gap to seal the reserved gap, and the poured sealant 254 will not affect the slight movement of the insertion portion 251 relative to the accommodating cavity 212 after long-term use. In this way, the sealing effect of the instrument sealing device on the surgical instrument can be improved.

[0220] In some examples, the sealant 254 may be applied to the peripheral wall of the insert portion 251 , and before the sealant 254 is formed, the insert portion 251 is inserted into the accommodating cavity 212 , thereby forming the sealant 254 between the insert portion 251 and the inner wall of the accommodating cavity 212 .

[0221] In some examples, the sealant 254 may be coated on the inner wall of the accommodating cavity 212 , and before the sealant 254 is formed, the inserting portion 251 is inserted into the accommodating cavity 212 , thereby forming the sealant 254 between the inserting portion 251 and the inner wall of the accommodating cavity 212 .

[0222] For some examples, refer to Fig.12 As shown, the sealing structure may include a sealing ring 255. The sealing ring 255 may be sleeved on the outer circumference of the inserting portion 251. The sealing ring 255 may be interference fit with the inserting portion 251.

[0223] In some examples, the sealing ring 255 can abut against the edge of the accommodating cavity 212 .

[0224] In some examples, when the cable 220 tightens the joint seat 210 and the elongated tube 250, the sealing ring 255 can be pressed against the step surface 252 by the edge of the accommodating cavity 212. In this way, when the cable 220 is stretched and deformed after long-term use, the sealing ring 255 can restore the deformation, thereby abutting between the edge of the accommodating cavity 212 and the step surface, thereby improving the sealing performance of the instrument sealing device for the surgical instrument.

[0225] In addition, during the process of restoring the deformation, the sealing ring 255 generates a resistance force between the step surface 252 and the edge of the accommodating cavity 212, and can play the same role as the seal 230 in restoring the deformation, that is, keeping the cable 220 in a taut state and absorbing the tensile deformation of the cable 220, thereby facilitating compensation for the elongated length of the cable 220.

[0226] For some examples, refer to Fig.13As shown, the sealing structure may include a wedge-shaped structure. The wedge-shaped structure may be provided on the peripheral wall of the inserting portion 251. After the inserting portion 251 is inserted into the accommodating cavity 212, the inserting portion 251 and the inner wall of the accommodating cavity 212 near the edge are interference-fitted.

[0227] In some examples, the direction in which the insertion portion 251 is inserted into the accommodating cavity 212 (eg Fig.13 The outer diameter of the inserting portion 251 can be reduced to form a wedge-shaped structure ( Fig.13 In other words, the outer diameter of the insertion portion 251 decreases from the proximal end to the distal end, and during the insertion of the insertion portion 251 into the accommodating cavity 212, the insertion portion 251 gradually interferes with the inner wall of the accommodating cavity near the edge of the mouth. In this way, when the cable 220 is stretched and deformed after long-term use, the insertion portion 251 withdraws a portion of its length in the opposite direction of the insertion direction. Since the insertion portion 251 interferes with the accommodating cavity 212, the insertion portion 251 can still maintain a close fit with the inner wall of the accommodating cavity 212, thereby improving the sealing performance of the instrument sealing device for the surgical instrument. In some examples, refer to Fig.14 As shown, a limiting column 213 may be disposed in the accommodating cavity 212 . The limiting column 213 may be fixedly connected to the inner wall of the accommodating cavity 212 .

[0228] In some examples, the limiting column 213 and the joint seat 210 can be an integrated piece.

[0229] For some examples, refer to Figure 5 As shown, the seal 230 may be provided with a first limiting notch 232. The limiting column 213 may be inserted into the first limiting notch 232 to limit the seal 230 along the circumference of the accommodating cavity 212. In this way, the seal 230 can be fixed in the circumference of the accommodating cavity 212, thereby improving the stability of the seal 230 in the accommodating cavity 212.

[0230] In some examples, the limiting pillars 213 may include a plurality of limiting pillars 213 , and the plurality of limiting pillars 213 are arranged at intervals along the circumference of the accommodating cavity 212 .

[0231] For some examples, refer to Fig.14 As shown, there may be two limiting posts 213 . The two limiting posts 213 are evenly spaced and arranged along the axial direction of the accommodation cavity 212 .

[0232] For some examples, refer to Figure 6As shown, the pressing member 240 may be provided with a second limiting notch 242. The limiting post 213 may be inserted into the second limiting notch 242. Along the circumference of the accommodating cavity 212, the limiting post 213 limits the pressing member 240, so that the pressing member 240 can be fixed in the circumference of the accommodating cavity 212, and the stability of the pressing member 240 pressing the sealing member 230 can be improved, thereby improving the sealing effect of the instrument sealing device 200.

[0233] For some examples, refer to Fig.14 As shown, there may be a preset distance between the limiting column 213 and the first through hole 211. Since the second through hole 231 is connected to the first through hole 211, the sealing member 230 is pressed against the edge of the first through hole 211. In this way, there is enough sealing material between the second through hole 231 and the first limiting notch 232 to be pressed against the edge of the first through hole 211, which can improve the sealing effect of the instrument sealing device 200.

[0234] In addition, the distance between the third through hole 241 and the second limiting notch 242 is increased, so that the clamping piece 240 between the third through hole 241 and the second limiting notch 242 has sufficient strength, ensuring the pressing effect of the clamping piece 240 on the sealing piece 230 between the second through hole 231 and the first limiting notch 232, reducing the deformation of the sealing piece 230 between the second through hole 231 and the first limiting notch 232, and improving the sealing effect of the instrument sealing device 200.

[0235] For some examples, refer to Fig.14 As shown, the limiting column 213 may include a first portion 2131. The first portion 2131 may be connected to the inner wall of the accommodating cavity 212. The first portion 2131 may extend along the radial direction of the accommodating cavity 212.

[0236] In some examples, the limiting post 213 may include a second portion 2132 . The second portion 2132 may be connected to the first portion 2131 .

[0237] In some examples, the second portion 2132 may be connected to an end of the first portion 2131 that faces away from the inner wall of the accommodating cavity 212 .

[0238] In some examples, the extension direction of the second portion 2132 may intersect with the extension direction of the first portion 2131. The second portion 2132 may be located on a side of the first portion 2131 facing away from the first through hole 211.

[0239] That is, after the first portion 2131 and the second portion 2132 are connected, the cross section of the fixing column can be an L-shaped structure, and there is no other structure on the side of the first portion 2131 facing the first through hole 211. In this way, a preset distance is reserved between the side of the first portion 2131 facing the first through hole 211 and the first through hole 211.

[0240] In the embodiment of the present application, by disposing the second part 2132 of the limit column 213 on the side of the first part 2131 facing away from the first through hole 211, a preset distance is reserved between the side of the limit column 213 facing the first through hole 211 and the first through hole 211, the structural design of the limit column 213 can be simplified, the production and processing of the joint seat 210 can be facilitated, and the production and processing costs of the joint seat 210 can be saved.

[0241] In some examples, the preset distance may be greater than or equal to 0.3 mm. In this way, there is enough sealing material between the second through hole 231 and the first limiting notch 232 to be pressed against the edge of the first through hole 211, which can improve the sealing effect of the instrument sealing device 200.

[0242] In addition, the distance between the third through hole 241 and the second limiting notch 242 is increased, so that the clamping piece 240 between the third through hole 241 and the second limiting notch 242 has sufficient strength, ensuring the pressing effect of the clamping piece 240 on the sealing piece 230 between the second through hole 231 and the first limiting notch 232, reducing the deformation of the sealing piece 230 between the second through hole 231 and the first limiting notch 232, and improving the sealing effect of the instrument sealing device 200.

[0243] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An instrument sealing device, characterized in that: include: A joint seat, wherein the joint seat is provided with a first through hole, and the first through hole is configured to pass a cable; A sealing member is disposed on a side of the joint seat away from the instrument head end, the sealing member is provided with a second through hole, the first through hole is at least partially connected to the second through hole, and the hole wall of the second through hole is configured to be in close contact with the peripheral wall of the cable; A pressing piece is pressed on a side of the sealing piece facing away from the joint seat. The pressing piece is at least pressed on the edge of the second through hole, and the hardness of the pressing piece is greater than that of the sealing piece.

2. The instrument sealing device according to claim 1, characterized in that: The diameter of the second through hole is smaller than the diameter of the cable. Along the axial direction of the second through hole, the cable can move relative to the sealing member when driven by a force less than or equal to 1N.

3. The instrument sealing device according to claim 2, characterized in that: The diameter of the second through hole is 0.3-0.9 times the diameter of the cable; Alternatively, the diameter of the second through hole is 0.4-0.7 times the diameter of the cable.

4. The instrument sealing device according to any one of claims 1 to 3, characterized in that: Also includes: A slender tube located on a side of the sealing member facing away from the joint seat; The cable is inserted into the elongated tube, and the cable is configured to provide a pre-tightening force to the elongated tube and the joint seat so that the pressing member presses the sealing member; The elongated tube is configured to be compressed against the compression member.

5. The instrument sealing device according to claim 4, characterized in that: One of the proximal end of the joint seat and the distal end of the slender tube is provided with a receiving cavity, the sealing member and the pressing member are arranged in the receiving cavity, and the peripheral wall of the pressing member extends toward the inner wall of the receiving cavity; The other of the proximal end of the joint seat and the distal end of the slender tube is provided with an insertion portion, and the insertion portion is inserted into the accommodating cavity and pressed on the pressing piece.

6. The instrument sealing device according to claim 5, characterized in that: The pressing member is located at a side of the sealing member facing away from the joint seat, and a third through hole is provided on the pressing member. The third through hole is connected to the second through hole and is correspondingly arranged, and the third through hole is configured to pass the cable; Wherein, the diameter of the third through hole is greater than the diameter of the cable.

7. The instrument sealing device according to claim 6, characterized in that: The diameter of the third through hole is 1.5-2.5 times the diameter of the cable; or, The diameter of the third through hole is 1.8-2.2 times the diameter of the cable.

8. The instrument sealing device according to claim 5, characterized in that: The diameter of the sealing member is equal to or smaller than the inner diameter of the accommodating cavity; the diameter of the pressing member is smaller than the inner diameter of the accommodating cavity, and the diameter of the pressing member is larger than the inner diameter of the inserting portion.

9. The instrument sealing device according to claim 5, characterized in that: Along the axial direction of the accommodating cavity, the sum of the initial thickness of the sealing member, the thickness of the pressing member and the length of the inserting portion is greater than the depth of the accommodating cavity; When the cable tightens the joint seat and the slender tube, the sealing member is deformed along the axial direction of the accommodating cavity under the compression of the compression member.

10. The instrument sealing device according to claim 9, characterized in that: The sum of the thickness of the sealing member, the thickness of the pressing member and the length of the inserting portion is 1-1.2 times the depth of the accommodating cavity.

11. The instrument sealing device according to claim 9, characterized in that: The thickness of the sealing member is 0.5 mm to 3 mm, and the hardness of the sealing member is 50A to 90A; The thickness of the pressing piece is 0.1 mm-1 mm, and the pressing piece is a corrosion-resistant piece.

12. The instrument sealing device according to claim 5, characterized in that: A sealing structure is provided between the insertion portion and the accommodating cavity; the sealing structure is configured to seal a fitting gap between the insertion portion and the accommodating cavity.

13. The instrument sealing device according to claim 12, characterized in that: The sealing structure includes a sealant, and the sealant is arranged between the peripheral wall of the insertion portion and the inner wall of the accommodating cavity; and / or, The sealing structure comprises a sealing ring, which is sleeved on the peripheral wall of the inserting portion and abuts against the edge of the accommodating cavity.

14. The instrument sealing device according to claim 12, characterized in that: The sealing structure comprises a wedge-shaped structure, and the wedge-shaped structure is arranged on the peripheral wall and the upper part of the inserting part, so that the inner wall of the accommodating cavity close to the edge of the mouth is interference-fitted with the inserting part; Along the direction in which the inserting portion is inserted into the accommodating cavity, the outer diameter of the inserting portion decreases to form the wedge-shaped structure.

15. The instrument sealing device according to claim 5, characterized in that: The accommodating cavity is arranged at the proximal end of the joint seat, and a limiting column is arranged in the accommodating cavity; a first limiting notch is arranged on the sealing member, and a second limiting notch is arranged on the pressing member, and the limiting column is passed through the first limiting notch and the second limiting notch, and the limiting column is configured to limit the sealing member and the pressing member along the circumference of the accommodating cavity; The distance between the limiting column and the first through hole is greater than or equal to 0.3 mm.

16. A surgical instrument, characterized in that: include: Instrument boxes; The instrument sealing device according to any one of claims 1 to 15, wherein the elongated tube of the instrument sealing device is connected to the instrument box, and the cable passes through the elongated tube and is connected to the driving mechanism in the instrument box; The end effector is arranged at the far end of the instrument sealing device, the end effector is connected to the joint seat, and the cable is connected to the end effector to drive the end effector to move.

17. A surgical robot, characterized in that: It comprises a slave power box and the surgical instrument as claimed in claim 16, wherein the instrument box of the surgical instrument is detachably mounted on the slave power box.

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