Puncture outfit unit and surgical robot

Abstract

The invention relates to the technical field of surgical robots, and discloses a puncture outfit unit and a surgical robot. The puncture outfit unit includes an adapter, a divider, a puncture outfit assembly, and an unlocking assembly. The adapter is hollow, one end of the adapter is open, and a pushing part is movably arranged in the adapter; one end of the separator is arranged in the opening, the other end of the separator is provided with a containing groove, and the separator is provided with a locking piece; the puncture outfit assembly comprises a puncture outfit and an installation part provided with the puncture outfit, a connecting part arranged in the containing groove is arranged on the side wall of the installation part in a protruding mode, and a clamping groove is formed in the side wall of the connecting part; the unlocking assembly is arranged in the inner cavity of the mounting piece, one end is in contact with the locking piece, and the other end extends out of the mounting piece; the abutting piece can push the locking piece to a locking position clamped in the clamping groove, and the unlocking assembly can push the locking piece to an unlocking position separated from the clamping groove. According to the invention, an operator only needs one hand to dismount the mounting piece provided with the puncture outfit from the instrument holding arm, and the dismounting operation of the puncture outfit is simplified.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a puncture unit and a surgical robot. Background Art

[0002] Surgical robots are widely used in the medical field. The surgical robot includes a main console and an operating trolley. The operating trolley includes a holding arm, which is used to mount surgical instruments. During the operation, the doctor controls the surgical instruments through the main wrist of the main console to perform the operation. A puncture unit is installed at the end of the holding arm. The puncture unit is connected to the holding arm through a connecting mechanism. The puncture unit can pass through the abdomen of the patient, and the surgical instrument is inserted into the abdominal cavity of the patient through the puncture unit.

[0003] According to the disclosure of Chinese patent CN117796906A, an extension portion is provided on the puncture device. The adapter is detachably connected to the clamping shell of the clamping structure, and the extension portion is detachably installed in the mounting cavity of the adapter. A clamping claw is rotatably provided in the clamping shell, a clamping arm is provided on the adapter, and a clamping recess is provided on the extension portion. One end of the clamping claw can push the clamping arm to be clamped in the clamping recess, and the other end of the clamping claw extends out of the clamping shell. When the puncture device needs to be removed from the holding arm, the operator presses the extended end of the clamping claw with one hand, and the puncture device can be pulled out with the other hand. However, the above structure requires two hands to operate simultaneously when removing the puncture device, which is complicated to operate.

[0004] Based on this, there is an urgent need for a puncture unit and a surgical robot to solve the above-mentioned problems. Summary of the invention

[0005] The object of the present invention is to provide a trocar unit and a surgical robot, wherein an operator can remove a mounting part on which the trocar is mounted from a holding arm with only one hand, thereby simplifying the disassembly operation of the trocar.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] Trocar unit, comprising:

[0008] The adapter is hollow inside, one end is open and the other end is used to connect with the holding arm, and a push piece is movably arranged in the opening;

[0009] A separator, used for mounting the sterile bag, one end of which is placed in the opening and the other end of which is provided with a receiving groove, a locking member being movably provided on the separator, and an end of the push member being in contact with the locking member;

[0010] The puncture assembly comprises a puncture and a mounting member, wherein the puncture is mounted on the mounting member, a connecting portion placed in the receiving groove is convexly provided on the side wall of the mounting member, the connecting portion can be separated from the receiving groove through the slotted end of the receiving groove, a clamping groove is provided on the side wall of the connecting portion, and an inner cavity connected to the clamping groove is provided in the mounting member;

[0011] An unlocking component is movably disposed in the inner cavity, one end of the unlocking component is in contact with the locking member, and the other end extends out of the mounting member;

[0012] The push member can push the locking member to a locking position in which the locking member is engaged with the engaging groove, and the unlocking assembly can push the locking member to an unlocking position in which the locking member is disengaged from the engaging groove.

[0013] As an optional technical solution for the puncture unit, the edge of the partition extends out of the opening and is bent to form a flange, the flange is fitted with the end face of the opening, and the adapter and the end of the unlocking component extending out of the mounting member are respectively located on opposite sides of the flange.

[0014] As an optional technical solution for the puncture unit, the unlocking assembly includes an unlocking member and an operating member, the unlocking member is movably connected to the mounting member, a perforation is provided on the outer wall of the mounting member, the perforation is connected to the inner cavity, one end of the operating member is placed on the inner side of the perforation and in contact with the unlocking member, and the other end extends out of the perforation, and the operating member can move axially along the perforation to drive the unlocking member to push the locking member to the unlocking position.

[0015] As an optional technical solution for the puncture unit, a through hole is provided on the side wall of the partition, the through hole is connected to the accommodating groove, the locking piece is placed in the through hole, the push piece and the unlocking assembly are respectively in contact with opposite ends of the locking piece, and the locking piece can move axially along the through hole to switch between the locking position and the unlocking position.

[0016] As an optional technical solution of the puncture unit, an elastic member is provided in the opening, and the elastic member can enable the push member to push the locking member to the locking position, and an avoidance groove is provided on the hole wall of the through hole, and a stop surface is formed between the avoidance groove and the hole wall of the through hole, and a protrusion is convexly provided on the side wall of the locking member, and the protrusion is placed in the avoidance groove, and the stop surface is located on the side of the protrusion facing the accommodating groove, and the stop surface can stop the protrusion;

[0017] The locking member is configured such that when the locking member is in the locking position, the stop surface is in contact with or spaced from the protruding portion;

[0018] The connecting portion is configured such that when the connecting portion is disengaged from the receiving groove, the stopping surface abuts against the protruding portion.

[0019] As an optional technical solution of the puncture unit, the partition can be separated from the adapter through the opening;

[0020] The opening is located at one end of the adapter along the first direction, the push member is located at one side of the partition along the second direction, a slide is provided on the side wall of the partition facing the push member, the through hole is provided on the slide wall of the slide, the slide wall extends along the first direction and is arranged perpendicular to the second direction, the connecting portion is configured so that when the connecting portion is disengaged from the accommodating groove, the end face of the locking member facing one end of the push member protrudes from the slide wall or is flush with the slide wall, and the first direction is arranged perpendicular to the second direction.

[0021] As an optional technical solution of the puncture unit, a groove is provided on the end surface of the locking member facing one end of the pushing member, and the end of the pushing member is placed in the groove.

[0022] As an optional technical solution of the puncture unit, a limiting portion is provided on the inner side wall of the inner cavity, and when the unlocking assembly is configured to abut against the limiting portion, the locking member is in the unlocking position.

[0023] As an optional technical solution for the puncture unit, a slide wall is provided on one side of the partition, a through hole connected to the accommodating groove is opened on the slide wall, the locking piece is movably inserted into the through hole, and the unlocking component is configured to abut against the limiting portion so that the end of the unlocking component that contacts the locking piece is flush with the slide wall.

[0024] A surgical robot comprises the trocar unit as described above.

[0025] Beneficial effects of the present invention:

[0026] The puncture unit provided by the present invention includes an adapter, a separator, a mounting member and an unlocking assembly. An unlocking assembly is movably arranged in the inner cavity of the mounting member, one end of the unlocking assembly is in contact with the locking member, and the other end extends out of the mounting member. When the puncture needs to be disassembled, the operator can push the locking member to an unlocking position disengaged from the snap-in groove through the end of the unlocking assembly extending out of the mounting member, so that the mounting member can be separated from the separator, thus realizing the removal of the puncture assembly from the arm holding the device, that is, realizing the removal of the puncture assembly from the arm holding the device. Since the unlocking assembly is arranged on the puncture assembly, the operator can pull out the puncture assembly while operating the unlocking assembly, which simplifies the operation process of disassembling the puncture assembly, avoids occupying both hands of the operator at the same time, and facilitates the operator to use the other hand to perform other operations, thereby improving the efficiency of preoperative preparation and postoperative storage, reducing the fatigue of the operator, and facilitating improving the safety of the operation.

[0027] The surgical robot provided by the present invention includes the above-mentioned trocar unit. When the trocar needs to be disassembled, the operator can extend the end of the mounting member through the unlocking component to separate the mounting member from the partition, so that the operator can pull out the trocar component while operating the unlocking component, simplifying the operation process of disassembling the trocar component, avoiding occupying both hands of the operator at the same time, facilitating the operator to use the other hand to perform other operations, improving the efficiency of preoperative preparation and postoperative storage, reducing the fatigue of the operator, and facilitating improving the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic structural diagram of a puncture unit and a holding arm provided in an embodiment of the present invention;

[0029] Figure 2 is an exploded view of a trocar unit provided in an embodiment of the present invention;

[0030] Figure 3 is a schematic structural diagram of a puncture unit provided by an embodiment of the present invention when the locking member is in a locked position;

[0031] Figure 4 yes Figure 3 A partial enlarged view of the middle A;

[0032] Figure 5 is a schematic structural diagram of a puncture unit provided by an embodiment of the present invention when the locking member is in an unlocked position;

[0033] Figure 6 yes Figure 5 A partial enlarged view of point B in the middle;

[0034] Figure 7 is a cross-sectional view of a trocar unit provided by an embodiment of the present invention;

[0035] Figure 8 is a schematic structural diagram of a separator and a mounting member provided in an embodiment of the present invention;

[0036] Fig. 9 is a schematic diagram of the structure of a connecting strip and a blocking film provided in an embodiment of the present invention;

[0037] Fig.10 is a cross-sectional view of a blocking membrane provided in an embodiment of the present invention.

[0038] In the figure:

[0039] 10. Arm; 1. Adapter; 11. Adapter;

[0040] 2. separator; 21. receiving groove; 22. locking member; 221. groove; 222. inclined side wall; 223. protrusion; 224. second receiving groove; 23. flange; 24. through hole; 241. stop surface; 25. slot; 26. guide slope;

[0041] 3. trocar assembly; 31. trocar; 32. mounting member; 321. connecting portion; 322. snap-fitting groove; 3221. matching slope; 323. perforation; 33. inner cavity; 331. limiting portion; 332. blocking member; 34. reinforcing portion;

[0042] 4. unlocking assembly; 41. unlocking member; 411. unlocking end; 42. operating member; 421. guide hole; 43. guide column;

[0043] 5. Pushing member; 51. Pushing end; 52. Slideway; 521. Slideway wall; 522. First accommodation groove;

[0044] 6. Elastic parts;

[0045] 7. Connecting strip; 8. Sealing membrane; 81. Middle part; 82. Connecting ring part. DETAILED DESCRIPTION

[0046] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0047] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0049] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0050] This embodiment provides a surgical robot. The surgical robot includes a main console and an operating trolley. During the operation, the doctor can control the surgical instruments on the operating trolley through the main wrist on the main console to perform surgery on the patient. The operating trolley is provided with a tool holding arm. The tool holding arm is used to install surgical instruments. The operating trolley also includes a puncture unit, which is connected to the end of the tool holding arm. The puncture unit is provided with a puncture. The puncture is used to penetrate the abdominal wall of the patient to form a surgical channel for the surgical instruments to enter.

[0051] Specifically, Figure 1-Figure 8As shown, the puncture unit includes an adapter 1, a separator 2, a puncture assembly 3 and an unlocking assembly 4. The adapter 1 is hollow inside and has an opening at one end. The end of the adapter 1 away from the opening is used to connect with the mechanical arm 10, and a push member 5 is movably provided in the opening; the separator 2 is used to install the sterile bag, one end of the separator 2 is placed in the opening and the other end is provided with a receiving groove 21, the separator 2 can be separated from the adapter 1 through the opening, and a locking member 22 is movably provided on the separator 2, and the end of the push member 5 is in contact with the locking member 22. The puncture assembly 3 includes a puncture 31 and a mounting member 32. The puncture 31 is mounted on the mounting member 32. A connecting portion 321 is convexly provided on the side wall of the mounting member 32. The connecting portion 321 is placed in the receiving groove 21. The connecting portion 321 can be separated from the receiving groove 21 by the slotted end of the receiving groove 21. A clamping groove 322 is provided on the side wall of the connecting portion 321. An inner cavity 33 is provided in the mounting member 32, and the inner cavity 33 is communicated with the clamping groove 322. The locking member 22 has a locking position clamped in the clamping groove 322 and an unlocking position separated from the clamping groove 322. When the locking member 22 is in the locking position, the connecting portion 321 can be fixed in the partition 2. When the locking member 22 is in the unlocking position, the connecting portion 321 can be separated from the partition 2 by the slotted end of the receiving groove 21. The unlocking assembly 4 is movably arranged in the inner cavity 33. One end of the unlocking assembly 4 contacts the locking member 22, and the other end extends out of the mounting member 32 for the operator to operate. The push member 5 can push the locking member 22 to the locking position to fix the piercer assembly 3; the unlocking member 4 can push the locking member 22 to the unlocking position to allow the piercer assembly 3 to be separated from the partition 2. The structure of the piercer 31 can refer to the prior art, which is not the focus of protection of this embodiment and will not be described here.

[0052] The puncture unit provided in this embodiment includes an adapter 1, a partition 2, a mounting member 3 and an unlocking assembly 4. An unlocking assembly 4 is movably arranged in the inner cavity 33 of the mounting member 32, one end of the unlocking assembly 4 is in contact with the locking member 22, and the other end extends out of the mounting member 32. When it is necessary to disassemble the puncture 31, the operator can push the locking member 22 to an unlocking position disengaged from the clamping groove 322 through the end of the unlocking assembly 4 extending out of the mounting member 32, so that the mounting member 32 can be separated from the partition 2, and the puncture assembly 3 is removed from the mechanical arm 10, that is, the puncture 31 is removed from the mechanical arm 10. Since the unlocking assembly 4 is arranged on the puncture assembly 3, the operator can pull out the puncture assembly 3 while operating the unlocking assembly 4, which simplifies the operation process of disassembling the puncture assembly 3, avoids occupying both hands of the operator at the same time, and facilitates the operator to use the other hand to perform other operations, improves the efficiency of preoperative preparation and postoperative storage, reduces the fatigue of the operator, and is conducive to improving the safety of the operation. In addition, the mounting member 32 is usually a consumable part and is replaced frequently. In the puncture unit provided in this embodiment, the unlocking structure is avoided on the adapter 1, the structure of the adapter 1 is simplified, the number of parts on the adapter 1 is reduced, the reliability of the adapter 1 is improved, and the possibility of damage to the adapter 1 is reduced.

[0053] The surgical robot provided in this embodiment includes the above-mentioned puncture unit. When it is necessary to disassemble the puncture 31, the operator can extend the end of the mounting member 32 through the unlocking component 4 to separate the mounting member 32 from the partition 2, so that the operator can pull out the puncture component 3 while operating the unlocking component 4, simplifying the operation process of disassembling the puncture component 3, avoiding occupying both hands of the operator at the same time, facilitating the operator to use the other hand to perform other operations, improving the efficiency of preoperative preparation and postoperative storage, reducing the fatigue of the operator, and helping to improve the safety of the operation.

[0054] In this embodiment, an opening is provided at one end of the adapter 1 along the first direction. The end of the adapter 1 away from the opening along the first direction is used to connect with the mechanical arm 10. A second direction and a third direction perpendicular to the first direction are set, and the second direction is perpendicular to the third direction. Specifically, a receiving groove 21 is provided at one end of the partition 2 facing the outside of the opening, that is, a receiving groove 21 is provided at one end of the partition 2 along the first direction, and the receiving groove 21 extends along the first direction. The puncture device 31 is penetrated in the mounting member 32 along the third direction.

[0055] Furthermore, two engaging grooves 322 and two locking members 22 are provided, and the two engaging grooves 322 are respectively provided on both sides of the connecting portion 321 along the second direction, and the two locking members 22 are also correspondingly provided on both sides of the connecting portion 321 along the second direction.

[0056] Specifically, the edge of the partition 2 extends out of the opening and is bent to form a flange 23, which is attached to the end surface of the opening and is used to install the sterile bag, and the adapter 1 and the end of the unlocking assembly 4 extending from the mounting member 32 are respectively located on opposite sides of the flange 23. Through the above-mentioned position setting, the partition 2 is prevented from blocking the end of the unlocking assembly 4 extending from the mounting member 32, ensuring that the end of the unlocking assembly 4 extending from the mounting member 32 can be exposed, which is convenient for the operator to operate the end of the unlocking assembly 4 extending from the mounting member 32; at the same time, the above-mentioned position setting is also convenient for moving the puncture assembly 3 toward the side opposite to the flange 23, that is, it is convenient to pull out the puncture assembly 3, further simplifying the operation process of disassembling the puncture assembly 3, avoiding occupying both hands of the operator at the same time, and facilitating the operator to use the other hand to perform other operations, thereby improving the efficiency of preoperative preparation and postoperative storage, reducing the fatigue of the operator, and improving the safety of the operation.

[0057] The flange 23 is arranged along the circumference of the partition 2. The sterile bag is connected to the flange 23 along the circumference to ensure the formation of a sterile environment during the operation. The flange 23 and the sterile bag can be connected by adhesive layer or other structures. The sterile bag can be bonded to the end surface of the flange 23 facing the end of the adapter 1 or the end surface opposite to the end of the adapter 1, which is not limited here.

[0058] Preferably, the unlocking assembly 4 includes an unlocking member 41 and an operating member 42. The unlocking member 41 is movably connected to the mounting member 32, and one end of the unlocking member 41 is used to contact the locking member 22. The end of the unlocking member 41 used to contact the locking member 22 is set as the unlocking end 411. The end of the unlocking member 41 away from the unlocking end 411 contacts the operating member 42. A perforation 323 is provided on the outer wall of the mounting member 32, and the perforation 323 is connected to the inner cavity 33. One end of the operating member 42 is placed inside the perforation 323 and contacts the unlocking member 41, and the other end of the operating member 42 extends out of the perforation 323. The operating member 42 can move along the axial direction of the perforation 323 to drive the unlocking member 41 to push the locking member 22 to the unlocking position. The unlocking assembly 4 is configured as the unlocking member 41 and the operating member 42, which is conducive to simplifying the structure of the unlocking assembly 4, reducing the volume of the mounting member 32 and the puncture assembly 3, realizing the miniaturization of the puncture unit, improving the flexibility of the surgical robot, and facilitating processing and assembly.

[0059] Since there are two clamping grooves 322 and two locking members 22, two unlocking assemblies 4 are also provided, and the two unlocking assemblies 4 are respectively provided corresponding to the two locking members 22. Two perforations 323 are respectively provided on both sides of the mounting member 32 along the second direction. The middle part of the unlocking member 41 is rotatably connected to the mounting member 32, and the rotating shaft of the unlocking member 41 extends along the third direction. When it is necessary to disassemble the puncture assembly 3, the operator presses the two operating members 42 at the same time to move the two operating members 42 relative to each other, and the two unlocking members 41 rotate synchronously, and the two unlocking ends 411 can push the two locking members 22 out of the clamping grooves 322 to prevent the locking members 22 from blocking the connecting portion 321, so that the operator can pull out the puncture assembly 3.

[0060] In this embodiment, one side of the inner cavity 33 along the third direction passes through the mounting member 32, and the opening end of the inner cavity 33 is blocked by a blocking member 332. The unlocking assembly 4 can enter the inner cavity 33 through the opening end of the inner cavity 33 and be assembled.

[0061] Preferably, the cross-sectional area of ​​the connecting portion 321 perpendicular to the first direction is smaller than the cross-sectional area of ​​the mounting member 32 perpendicular to the first direction. The cross-sectional area of ​​the connecting portion 321 is small, which is convenient for reducing the opening area of ​​the adapter 1, and thus reducing the volume of the adapter 1. The inner cavity 33 is roughly Y-shaped. One end of the inner cavity 33 extends along the first direction to the connecting portion 321 and is connected to the snap-in groove 322. The other two ends of the inner cavity 33 extend roughly along the second direction and are respectively connected to the two perforations 323. In this embodiment, the unlocking assembly 4 is located on the side of the puncture device 31 facing the adapter 1. The unlocking member 41 is a bent structure, and the bending angle of the unlocking member 41 is an obtuse angle. The angle opening formed by the unlocking member 41 is arranged opposite to the puncture device 31. The unlocking member 41 is configured as a bending structure, and can also be adapted to and installed in the Y-shaped inner cavity 33. It is also convenient to achieve a larger rotation range, ensuring that the unlocking member 41 can reliably push the locking member 22 out of the snap-in groove 322, thereby ensuring that the puncture assembly 3 can be smoothly separated from the adapter 1, which is beneficial to improving the efficiency of preoperative preparation or postoperative storage.

[0062] Preferably, a reinforcing portion 34 is integrally provided on the inner wall of the inner cavity 33 , and the reinforcing portion 34 is located on a side of the inner cavity 33 close to the trocar 31 , thereby improving the structural strength of the mounting member 32 . The reinforcing portion 34 is located between the two unlocking members 41 .

[0063] Furthermore, the end of the unlocking member 41 contacts the end surface of the operating member 42, and during the rotation of the unlocking member 41, the end of the unlocking member 41 can slide on the end surface of the operating member 42, further simplifying the structure of the unlocking assembly 4. The operating member 42 is provided with a guide hole 421, which extends along the second direction, and a guide column 43 is fixedly provided inside the through hole 323. The guide column 43 is placed in the guide hole 421 and can slide relative to the operating member 42 along the extension direction of the guide hole 421. That is, the guide column 43 can guide the operating member 42, ensuring that the unlocking member 41 can reliably push the locking member 22 out of the clamping groove 322, thereby ensuring that the puncture assembly 3 can be smoothly separated from the adapter 1, which is conducive to improving the efficiency of preoperative preparation or postoperative storage.

[0064] The locking member 22 is provided with an inclined side wall 222, and the groove side wall of the clamping groove 322 includes a matching inclined surface 3221. When the connecting portion 321 is in the receiving groove 21 and the locking member 22 is pressed against the connecting portion 321, the inclined side wall 222 is in contact with the matching inclined surface 3221. When the locking member 22 is pressed against the connecting portion 321, the inclined side wall 222 and the matching inclined surface 3221 are both inclined toward the groove wall of the receiving groove 21 in the direction from the outside of the opening to the inside of the opening. The arrangement of the inclined side wall 222 and the matching inclined surface 3221 allows a larger contact area between the locking member 22 and the connecting portion 321, and the inclined direction of the inclined side wall 231 and the matching inclined surface 3221 ensures that the locking member 22 can clamp the connecting portion 321.

[0065] In this embodiment, the "direction from the outside of the opening to the inside of the opening" is the first direction, the partition 2 extends into the opening along the above "direction from the outside of the opening to the inside of the opening", and the connecting portion 321 extends into the receiving groove 21 along the above "direction from the outside of the opening to the inside of the opening". When the connecting portion 321 is in the receiving groove 21, and the locking member 22 is pressed against the connecting portion 321, the two matching inclined surfaces 3221 are arranged in an "eight" shape, and the ends of the two matching inclined surfaces 3221 away from the opening of the installation channel are inclined in a direction away from each other. The inclination direction of the two inclined side walls 222 is the same as the inclination direction of the matching inclined surfaces 3221, which will not be repeated here.

[0066] Furthermore, the groove side wall of the snap-in groove 322 also includes a first inclined surface arranged opposite to the mating inclined surface 3221 and in an inclination direction opposite to the mating inclined surface 3221. The locking member 22 is provided with a second inclined surface arranged opposite to the inclined side wall 222 and in an inclination direction opposite to the inclined side wall 222. When the locking member 22 is in the locked position, the first inclined surface is arranged in a fit with the second inclined surface.

[0067] In the prior art, the locking piece is elastically connected to the partition through an elastic arm, so that the locking piece can be switched between the locked position and the unlocked position. That is to say, in order to clamp the puncture assembly, the elastic arm needs to undergo corresponding elastic deformation, which reduces the reliability of the structure, and also reduces the reliability of the partition when in use, and increases the risk of damage to the partition, thereby affecting the function of the partition in isolating bacteria, and also affecting the safety of the operation; when the partition is damaged, it also needs to be replaced, which affects the efficiency of preoperative preparation and increases the fatigue of medical staff; in addition, the back of the locking piece usually forms a groove structure, and the end of the push piece is placed in the groove structure, and because the elastic arm is made of elastic material, it is ensured that the end of the push piece fits with the groove side wall of the groove structure to achieve the clamping of the puncture assembly, which limits the contact range between the push piece and the locking piece, increases the processing and assembly requirements of the puncture assembly installation structure, and increases the production cost.

[0068] Preferably, a through hole 24 is provided on the side wall of the partition 2, the through hole 24 is connected to the receiving groove 21, the locking member 22 is placed in the through hole 24, the push member 5 and the unlocking member 41 of the unlocking assembly 4 are respectively in contact with the opposite ends of the locking member 22, and the locking member 22 can move along the axial direction of the through hole 24 to switch between the locked position and the unlocked position. When the connecting portion 321 is placed in the receiving groove 21, the push member 5 is used to push the locking member 22 until it is clamped in the clamping groove 322, and the locking member 22 can be pressed against the connecting portion 321, thereby fixing the puncture assembly 3, and the unlocking assembly 4 can push the locking member 22 out of the clamping groove 322, thereby releasing the puncture assembly 3. The puncture unit provided in the present embodiment utilizes a locking piece 22 movably inserted into the through hole 24 of the partition 2. There is no need for the partition 2 to undergo elastic deformation, thereby ensuring the structural reliability of the partition 2, and thus ensuring the reliability of the partition 2 during use, reducing the risk of damage to the partition 2, thereby ensuring the function of the partition 2 in isolating bacteria and the safety of the operation, avoiding the need to replace the partition 2, improving the efficiency of preoperative preparation, and relieving the fatigue of medical staff; in addition, in order to achieve the clamping connection 321, the push piece 5 can contact any position of the end face of the locking piece 22 opposite to one end of the accommodating groove 21 to push the locking piece 22 to move to the locked position, thereby avoiding limiting the contact range between the push piece 5 and the locking piece 22, reducing the processing and assembly requirements of the installation mechanism, and reducing the production cost.

[0069] Preferably, the sidewall of the through hole 24 is circumferentially fitted with the sidewall of the locking member 22, so that the through hole 24 guides the locking member 22. In other embodiments, the through hole 24 guides the locking member 22 using a guide groove or other structures.

[0070] Preferably, an elastic member 6 is provided in the opening of the adapter 1, and the elastic member 6 can enable the push member 5 to push the locking member 22 to the locking position. The elastic member 6 can push the locking member 22 to the clamping groove 322 through the push member 5, ensuring that the locking member 22 remains in the locking position, which is conducive to reliably fixing the puncture assembly 3. Through the provision of the elastic member 6, the locking member 22 can automatically move into the clamping groove 322 to clamp the connecting portion 321, avoiding manual pushing of the push member 5, and improving the convenience of operation. In this embodiment, when the locking member 22 is in the locking position, the force applied by the elastic member 6 to the locking member 22 through the push member 5 is greater than zero, so that the elastic member 6 can not only push the locking member 22 to move to the locking position, but also apply a clamping force to the locking member 22 for clamping the connecting portion 321, without adding other structures for applying a clamping force to the locking member 22, which is conducive to reducing the number of parts of the mounting mechanism, simplifying the structure of the mounting mechanism, reducing the volume of the mounting mechanism and the holding arm 20, and improving the flexibility of the surgical robot.

[0071] Specifically, the push member 5 is rotatably disposed in the opening, and the rotation axis of the push member 5 extends along the third direction. The push member 5 is provided with a push end 51 for contacting the locking member 22 at one end facing the opening end of the adapter 1, and the elastic member 6 is disposed on a side of the push end 51 opposite to the locking member 22, and the elastic member 6 abuts against the push end 51.

[0072] In this embodiment, the elastic member 6 is configured as a metal spring sheet, and one end of the elastic member 6 is fixedly connected to the inner wall of the adapter 1 .

[0073] Furthermore, a torsion spring may be provided on the push member 5. One end of the torsion spring is fixedly connected to the adapter 1, and the other end is fixedly connected to the push member 5. The torsion spring can enable the push member 5 to push the locking member 22 to move toward the receiving groove 21, thereby ensuring that the locking member 22 is maintained in the locked position. In this embodiment, the torsion spring and the elastic member 6 work together to not only quickly push the locking member 22 to move to the locked position, but also apply a larger clamping force to the locking member 22 for clamping the connecting portion 321, thereby further ensuring that the locking member 22 can reliably clamp the connecting portion 321.

[0074] As a preferred solution, an avoidance groove is provided on the side wall of the through hole 24, and a stop surface 241 is formed between the avoidance groove and the side wall of the through hole 24. A protrusion 223 is convexly provided on the side wall of the locking member 22, and the protrusion 223 is placed in the avoidance groove. The stop surface 241 is located on the side of the protrusion 223 close to the clamping groove 322, and the stop surface 241 can stop the protrusion 223. When the locking member 22 is pressed against the connecting portion 321, that is, the locking member 22 is in the locked position, the stop surface 242 is spaced from the protrusion 223; when the connecting portion 321 is separated from the receiving groove 21, the stop surface 241 is fitted and abutted against the protrusion 223, so that the stop surface 241 can stop the protrusion 223.

[0075] Due to the setting of the elastic member 6, when the partition 2 is installed on the adapter 1 and the connecting portion 321 is separated from the receiving groove 21, the elastic member 6 pushes the locking member 22 to continue to move into the receiving groove 21 through the push member 5. At this time, the depth of the locking member 22 entering the receiving groove 21 is greater than the depth of the locking member 22 entering the receiving groove 21 when it is in the locked position. By setting the stop surface 241, it can be ensured that the locking member 22 is always in the through hole 24, avoiding separation from the through hole 24, and facilitating the subsequent reinstallation of the puncture assembly 3. Moreover, when the locking member 22 is pressed against the connecting portion 321, the stop surface 241 is spaced apart from the protrusion 223, which also ensures that the elastic member 6 can apply a clamping force to the connecting portion 321 through the locking member 22, avoiding the stop surface 241 from hindering the locking member 22 from clamping the connecting portion 321.

[0076] In this embodiment, the protrusion 223 is arranged along the circumference of the locking member 22 . The protrusion 223 may be arranged in a ring shape or in a strip shape, which is not limited here.

[0077] In some other embodiments, when the locking member 22 is in the locking position, the stop surface 241 and the protruding portion 223 may also be disposed in close contact with each other, which is not limited here.

[0078] In this embodiment, the avoidance groove passes through the outer side wall of the partition 2. In other embodiments, the avoidance groove may be spaced apart from the outer side wall of the partition 2, so that another stopper is formed between the avoidance groove and the hole side wall of the through hole 24, and the stopper is located on the side of the protrusion 223 opposite to the receiving groove 21, and the stopper can stop the protrusion 223, thereby preventing the locking member 22 from being separated from the partition 2.

[0079] Preferably, a slideway 52 is provided on the outer wall of the partition 2, and the extension direction of the slideway 52 extends along the first direction. In the process of the partition 2 entering the adapter 1, the push end 51 is placed in the slideway 52 and can slide along the slideway 52. ​​The slideway 52 has a slideway wall 521, which extends along the first direction and is arranged perpendicular to the second direction, and a through hole 24 is provided on the slideway wall 521. When the connecting portion 321 is separated from the accommodating groove 21, the protrusion 223 fits with the stop surface 241, and the end face of the locking member 22 facing the push end 51 protrudes from the slideway wall 521 or is flush with the slideway wall 521. Through the above arrangement, it is avoided that the edge formed between the locking member 22 and the slideway wall 521 hinders the relative movement between the partition 2 and the push member 5, which facilitates the removal of the partition 2 from the adapter 1, and improves the efficiency of postoperative finishing. In this embodiment, the axis of the through hole 24 extends along the second direction.

[0080] Slideways 52 are provided on the outer walls of the partition 2 on both sides along the second direction, and the two slideways 52 are respectively arranged corresponding to the two through holes 24. Preferably, the two slideway walls 521 are arranged along the first direction, or the two slideway walls 521 are inclined from the direction away from the opening of the adapter 1 to the direction close to each other. The above arrangement prevents the slideway walls 521 from hindering the relative movement between the partition 2 and the push member 5, facilitates the removal of the partition 2 from the adapter 1, and improves the efficiency of postoperative arrangement.

[0081] In this embodiment, a guide slope 26 is provided at one end of the separator 2 opposite to the slotted end of the receiving groove 21, and two guide slopes 26 are provided. The two guide slopes 26 are parallel to the third direction, and the two guide slopes 26 are inclined to the first direction and the second direction. The two guide slopes 26 are respectively arranged on both sides of the separator 2 along the second direction. The two guide slopes 26 gradually approach each other along the direction from the outside of the opening to the inside of the opening, and the two slideway walls 521 are connected to the guide slopes 26. Due to the arrangement of the elastic member 6, before the separator 2 enters the adapter 1, the push ends 51 of the two push members 5 approach each other, and the two push ends 51 contact the two guide slopes 26 respectively and slide on the guide slopes 26. The angle setting of the guide slope 26 facilitates the separation of the two push ends 51, which is conducive to the smooth installation of the separator 2, and also avoids the operation of other structures to separate the push ends 51, simplifying the installation process of the puncture assembly 3.

[0082] Preferably, a groove 221 is provided on the end surface of the locking member 22 facing the end of the pushing member 5, and the pushing end 51 of the pushing member 5 is placed in the groove 221. When the connecting portion 321 is separated from the receiving groove 21 and the partition 2 is still in the opening, if the partition 2 does not need to be removed from the adapter 1, the groove 221 can prevent the pushing end 51 from sliding relative to the locking member 22, thereby preventing the partition 2 from being separated from the adapter 1, reducing the risk of mistakenly removing the partition 2, avoiding damage to the sterile environment, and ensuring the safety of the operation.

[0083] In this embodiment, the end surface of the pushing end 51 is arc-shaped, and the groove wall of the groove 221 that is used to contact the pushing end 51 is an arc-shaped surface.

[0084] As a preferred solution, a limiting portion 331 is provided on the inner side wall of the inner cavity 33, and when the locking member 22 is in the unlocking position, the unlocking member 41 abuts against the limiting portion 331. The setting of the limiting portion 331 prevents the unlocking end 411 of the unlocking member 41 from extending too far out of the clamping groove 322. When the connecting portion 321 is installed in place in the receiving groove 21, since the locking member 22 can extend from the through hole 24 into the clamping groove 322 and reach the locking position, the clamping groove 322 is connected with the through hole 24. If the unlocking end 411 extends too far out of the clamping groove 322, the unlocking end 411 may extend into the through hole 24. When the operator pulls out the puncture assembly 3, the unlocking end 411 may hinder the movement of the puncture assembly 3. By limiting the position of the unlocking end 411 by the limiting portion 331, it is possible to prevent the unlocking member 41 from hindering the movement of the puncture assembly 3; at the same time, when disassembling the puncture assembly 3, even if the operator presses the operating member 42 inward, the unlocking end 411 will not hinder the movement of the puncture assembly 3, thereby improving the efficiency of disassembling the puncture assembly 3.

[0085] Preferably, the end surface of the operating member 42 facing the outside of the perforation 323 is a rough surface, or a convex ridge is provided on the end surface of the operating member 42 facing the outside of the perforation 323. When disassembling the puncture assembly 3, the operator can press the operating member 42 to knead the mounting member 32, thereby preventing the puncture assembly 3 from falling, reducing the risk of damage to the puncture assembly 3, and reducing the maintenance cost.

[0086] In this embodiment, the limiting portion 331 is integrally formed with the inner wall of the inner cavity 33 , thereby increasing the structural strength of the mounting member 32 .

[0087] Preferably, the unlocking member 41 is configured such that when the unlocking end 411 of the unlocking member 41 abuts against the limiting portion 331, it is flush with the slideway wall 521. The above arrangement ensures that the unlocking member 41 can push the locking member 22 out of the engaging groove 322 as much as possible, ensures that the locking member 22 is separated from the engaging groove 322, avoids the locking member 22 from hindering the movement of the puncture assembly 3, and improves the efficiency of disassembling and assembling the puncture assembly 3.

[0088] Furthermore, the separator 2 is detachably connected to the adapter 1, so that the separator 2 can be separated from the adapter 1 through the opening. The adapter 1 is provided with a clamping member 11, and a clamping groove 25 is provided on the outer wall of the separator 2. The clamping member 11 is rotatably connected to the adapter 1, and one end of the clamping member 11 is provided with a clamping protrusion and is located in the opening, and the other end of the clamping member 11 is placed on the outside of the adapter 1 for the operator to press. The adapter 1 is provided with an elastic structure such as a spring, and the elastic structure can make the clamping protrusion of the clamping member 11 always clamped in the clamping groove 25.

[0089] In this embodiment, the side walls of the separator 2 on opposite sides are provided with a clamping groove 25, and two clamping members 11 are provided, and the two clamping members 11 are respectively provided corresponding to the two clamping grooves 25. A clamping protrusion is provided at the same end of the two clamping members 11, and two elastic structures can make the two clamping protrusions approach each other to clamp the separator 2.

[0090] In the process of installing the partition 2 on the adapter 1, specifically, first press the end of the clip 11 to move the two clips away from each other and open the two clips 11, then place the partition 2 between the two clips 11, and then relax the two clips 11 so that the two clips are respectively inserted into the two slots 25 to install the adapter 2.

[0091] In other embodiments, the partition 2 and the adapter 1 may be detachably connected via bolts, nuts or other structures, which is not limited here.

[0092] In this embodiment, two push members 5 are arranged on opposite sides of the partition 2 along the second direction, and two clamping members 11 are arranged on opposite sides of the partition 2 along the third direction, that is, the clamping members 11 and the push members 5 are arranged on different sides of the adapter 1. During the operation, it is avoided that when one of the pressing operating member 42 or the clamping member 11 is accidentally touched, the other is accidentally touched, the reliable connection between the partition 2 and the adapter 1 is ensured, the separation of the partition 2 and the adapter 1 is avoided, the sterile environment during the operation is maintained, and the safety of the operation is improved.

[0093] In some embodiments, the clamping member 11 and the pushing member 5 may also be arranged on the same side of the adapter 1 , which is not limited here.

[0094] The installation process of the puncture unit provided in this embodiment is roughly as follows: first, press the end of the clamping piece 11 away from the clamping protrusion; then, install the partition 2 to the adapter 1 through the opening, and release the clamping piece 11; finally, install the puncture assembly 3, specifically extend the connecting portion 321 into the receiving groove 21.

[0095] The disassembly process of the puncture unit provided in this embodiment is roughly as follows: first, press the operating member 42 to move the locking member 22 to the unlocked position; then, move the puncture assembly 3 in a direction away from the partition 2; finally, press the end of the clamping member 11 away from the clamping protrusion, and move the partition 2 toward the end away from the adapter 1.

[0096] In some embodiments, Figure 9-10As shown, as a preferred solution, the puncture unit also includes a connecting strip 7, one end of which is connected to the slideway wall 521, and the other end is connected to the end surface of the locking member 22 for abutting against the push end 51. Due to the provision of the connecting strip 7, it is further ensured that the locking member 22 is always in the through hole 24, avoiding separation from the through hole 24, and facilitating the subsequent reinstallation of the puncture assembly 3. Moreover, before the partition 2 is installed on the adapter 1, the connection relationship between the locking member 22 and the partition 2 is ensured, facilitating the subsequent installation of the partition 2. In this embodiment, the connecting strip 7 is made of a spring sheet, or rubber or other materials, and the connecting strip 7 is bonded to the locking member 22 and the partition 2 using an adhesive.

[0097] As a preferred solution, a first accommodating groove 522 is opened on the slide wall 521, and the first accommodating groove 522 passes through the side wall of the through hole 24. The connecting strip 7 is placed in the first accommodating groove 522, which improves the structural compactness of the partition 2, reduces the volume of the partition 2, and improves the structural compactness of the robotic arm 20.

[0098] Specifically, the end surface of the connecting strip 7 exposed in the first receiving groove 522 is flush with the slideway wall 521. The above arrangement further improves the compactness of the structure of the partition 2 and reduces the volume of the partition 2.

[0099] Furthermore, a second accommodating groove 224 is formed on the end surface of the locking member 22 , and the connecting strip 7 is placed in the second accommodating groove 224 , which further improves the compactness of the structure of the partition 2 and reduces the volume of the partition 2 .

[0100] In some other embodiments, as a preferred solution, the puncture unit further includes a blocking film 8. The blocking film 8 is attached to the outer wall of the partition 2, and the blocking film 8 completely covers the slideway 52 and the through hole 24 to block the gap formed between the locking member 22 and the side wall of the through hole 24. The above arrangement prevents bacteria on the inside of the adapter 1 from entering the sterile environment through the above gap, further ensures the bacteria isolation effect of the partition 2, reduces the risk of infection of the patient, and improves the safety of the operation.

[0101] In this embodiment, the blocking film 8 can be an elastic-plastic film such as a silicone rubber film, a PE film, a TPU film, etc., and is bonded to the outer wall of the partition 2 by an adhesive.

[0102] Preferably, the blocking film 8 includes a middle portion 81 and a connecting ring portion 82, the edge of the middle portion 81 is circumferentially connected to the inner edge of the connecting ring portion 82, the end face of the connecting ring portion 82 is fitted and connected to the outer wall of the partition 2, the middle portion 81 completely covers the locking member 22, and the elasticity of the middle portion 81 is greater than the elasticity of the connecting ring portion 82. The above arrangement ensures that the push member 5 can smoothly push the locking member 22, and when the partition 2 is separated from the adapter 1, the push member 5 can smoothly slide along the slide 52 to ensure smooth removal of the partition 2. In addition, the elasticity of the connecting ring portion 82 is relatively small, which also ensures that the connecting ring portion 82 can be reliably connected to the partition 2, ensuring the antibacterial effect of the blocking film 8. Furthermore, the middle portion 81 can completely cover the through hole 24.

[0103] Furthermore, the middle portion 81 completely covers the locking piece 22 and the slide 52, that is, the connection between the slide 52 and the outer wall of the partition 2 is covered by the middle portion 81. The arrangement of the slide 52 and the first receiving groove 522 causes the outer wall structure of the partition 2 to be more complicated. The above arrangement covers the above-mentioned complex structure within the range of the middle portion 81, avoiding the connection ring portion 82 from being attached along the side walls of the slide 52 and the first receiving groove 522, thereby ensuring the bacteria-isolating effect of the partition 2.

[0104] The elasticity of the middle portion 81 is greater than that of the connecting ring portion 82, which means that the middle portion 81 is more easily deformed than the connecting ring portion 82. The middle portion 81 may be fixedly connected to the locking member 22 or may have no connection with the locking member 22, which is not limited here.

[0105] Preferably, the middle portion 81 of the blocking film 8 and the connecting ring portion 82 are integrally formed, and the thickness of the middle portion 81 is smaller than that of the connecting ring portion 82, so that the elasticity of the middle portion 81 is greater than that of the connecting ring portion 82. The middle portion 81 of the blocking film 8 and the connecting ring portion 82 may also be bonded by an adhesive, and the middle portion 81 and the connecting ring portion 82 may be made of the same material or different materials.

[0106] In this embodiment, the blocking film 8 and the connecting strip 7 are provided at the same time, and the connecting strip 7 is located inside the blocking film 8. The pushing end 51 of the pushing member 5 contacts the outside of the blocking film 8. In some embodiments, only the blocking film 8 or the connecting strip 7 may be provided, which is not limited here.

[0107] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A trocar unit, characterized in that: include: The adapter is hollow inside, one end is open and the other end is used to connect with the holding arm, and a push piece is movably arranged in the opening; A separator, used for mounting the sterile bag, one end of which is placed in the opening and the other end of which is provided with a receiving groove, a locking member being movably provided on the separator, and an end of the push member being in contact with the locking member; The puncture assembly comprises a puncture and a mounting member, wherein the puncture is mounted on the mounting member, a connecting portion placed in the receiving groove is convexly provided on the side wall of the mounting member, the connecting portion can be separated from the receiving groove through the slotted end of the receiving groove, a clamping groove is provided on the side wall of the connecting portion, and an inner cavity connected to the clamping groove is provided in the mounting member; An unlocking component is movably disposed in the inner cavity, one end of the unlocking component is in contact with the locking member, and the other end extends out of the mounting member; The push member can push the locking member to a locking position in which the locking member is engaged with the engaging groove, and the unlocking assembly can push the locking member to an unlocking position in which the locking member is disengaged from the engaging groove.

2. The trocar unit according to claim 1, characterized in that The edge of the partition extends out of the opening and is bent to form a flange, and the flange is fitted with the end surface of the opening. The adapter and one end of the unlocking component extending out of the mounting member are respectively located on opposite sides of the flange.

3. The trocar unit according to claim 2, characterized in that: The unlocking assembly includes an unlocking member and an operating member, the unlocking member is movably connected to the mounting member, a through hole is provided on the outer wall of the mounting member, the through hole is communicated with the inner cavity, one end of the operating member is placed inside the through hole and in contact with the unlocking member, and the other end extends out of the through hole, the operating member can move axially along the through hole to drive the unlocking member to push the locking member to the unlocking position.

4. The trocar unit according to claim 1, characterized in that: A through hole is provided on the side wall of the partition, the through hole is connected to the accommodating groove, the locking member is placed in the through hole, the push member and the unlocking assembly are respectively in contact with opposite ends of the locking member, and the locking member can move axially along the through hole to switch between the locking position and the unlocking position.

5. The trocar unit according to claim 4, characterized in that: An elastic member is provided in the opening, and the elastic member can enable the push member to push the locking member to the locking position. A avoidance groove is provided on the hole wall of the through hole, and a stop surface is formed between the avoidance groove and the hole wall of the through hole. A protrusion is convexly provided on the side wall of the locking member, and the protrusion is placed in the avoidance groove. The stop surface is located on the side of the protrusion facing the accommodating groove, and the stop surface can stop the protrusion; The locking member is configured such that when the locking member is in the locking position, the stop surface is in contact with or spaced from the protruding portion; The connecting portion is configured such that when the connecting portion is disengaged from the receiving groove, the stopping surface abuts against the protruding portion.

6. The trocar unit according to claim 5, characterized in that: The partition can be separated from the adapter through the opening; The opening is located at one end of the adapter along the first direction, the push member is located at one side of the partition along the second direction, a slide is provided on the side wall of the partition facing the push member, the through hole is provided on the slide wall of the slide, the slide wall extends along the first direction and is arranged perpendicular to the second direction, the connecting portion is configured so that when the connecting portion is disengaged from the accommodating groove, the end face of the locking member facing one end of the push member protrudes from the slide wall or is flush with the slide wall, and the first direction is arranged perpendicular to the second direction.

7. The trocar unit according to claim 6, characterized in that: A groove is provided on the end surface of the locking member facing one end of the pushing member, and the end of the pushing member is placed in the groove.

8. The trocar unit according to claim 1, characterized in that: A limiting portion is provided on the inner side wall of the inner cavity, and when the unlocking assembly is configured to abut against the limiting portion, the locking member is in the unlocking position.

9. The trocar unit according to claim 8, characterized in that A slide wall is provided on one side of the partition, and a through hole connected to the accommodating groove is opened on the slide wall. The locking piece is movably inserted into the through hole. When the unlocking component is configured to abut against the limiting portion, the end of the unlocking component that contacts the locking piece is flush with the slide wall.

10. A surgical robot, characterized in that: Comprising the puncture unit according to any one of claims 1-9.

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