Piercer unit and surgical robot

Abstract

This invention relates to the field of surgical robot technology, and discloses a trocar unit and a surgical robot. The trocar unit includes an adapter, a separator, a trocar assembly, and an unlocking assembly. The adapter is hollow inside, open at one end, and has a pusher movably disposed inside. One end of the separator is placed in the opening, and the other end has a receiving groove. A locking member is provided on the separator. The trocar assembly includes a trocar and a mounting piece on which the trocar is mounted. A connecting portion protrudes from the side wall of the mounting piece and is placed in the receiving groove. A snap-fit ​​groove is formed on the side wall of the connecting portion. The unlocking assembly is disposed in the inner cavity of the mounting piece, with one end contacting the locking member and the other end extending out of the mounting piece. The pusher can push the locking member to a locked position where it is snapped into the snap-fit ​​groove, and the unlocking assembly can push the locking member to an unlocked position where it is disengaged from the snap-fit ​​groove. This invention allows the operator to remove the mounting piece with the trocar mounted on it from the surgical arm with only one hand, simplifying the disassembly operation of the trocar.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and more particularly to a puncture device unit and a surgical robot. Background Technology

[0002] Surgical robots are widely used in the medical field. A surgical robot consists of a control panel and a surgical cart. The surgical cart includes an instrument-holding arm used to mount surgical instruments. During surgery, the surgeon controls the surgical instruments via the main wrist on the control panel. A trocar unit is attached to the end of the instrument-holding arm. The trocar is connected to the instrument-holding arm via a connecting mechanism. The trocar can pass through the patient's abdomen, allowing surgical instruments to be inserted into the abdominal cavity.

[0003] According to the content disclosed in Chinese Patent CN117796906A, the puncture device is provided with an extension. The adapter is detachably connected to the clamping housing of the clamping structure, and the extension is detachably installed in the mounting cavity of the adapter. A gripper is rotatably mounted inside the clamping housing, a snap-fit ​​arm is provided on the adapter, and a clamping recess is formed on the extension. One end of the gripper can push the snap-fit ​​arm to engage in the clamping recess, and the other end of the gripper extends out of the clamping housing. When it is necessary to remove the puncture device from the holding arm, the operator presses the extended end of the gripper with one hand, and the other hand can pull the puncture device outwards. However, the above structure requires two hands to operate simultaneously when removing the puncture device, making the operation complex.

[0004] Therefore, there is an urgent need for a puncture unit and surgical robot to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of this invention is to provide a puncture device unit and a surgical robot, which allows the operator to remove the puncture device from the surgical arm with only one hand, simplifying the disassembly of the puncture device.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] The puncture device unit includes:

[0008] The adapter is hollow inside, with one end open and the other end used to connect to the holding arm. A pusher is movably disposed inside the opening.

[0009] A separator for installing a sterile bag, one end of which is placed inside the opening and the other end of which has a receiving groove. A locking element is movably disposed on the separator, and the end of the pusher contacts the locking element.

[0010] A puncture device assembly includes a puncture device and a mounting component. The puncture device is mounted on the mounting component. A connecting portion protrudes from the side wall of the mounting component and is placed within the receiving groove. The connecting portion can be disengaged from the receiving groove from the slotted end of the receiving groove. A snap-fit ​​groove is formed on the side wall of the connecting portion. The mounting component has an inner cavity communicating with the snap-fit ​​groove.

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

[0012] The pusher can push the locking member to a locked position where it engages with the locking slot, and the unlocking component can push the locking member to an unlocked position where it disengages from the locking slot.

[0013] As an optional technical solution for the puncture device unit, the edge of the separator 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 unlocking component extend out of the mounting component at opposite sides of the flange.

[0014] As an optional technical solution for the puncture device unit, the unlocking component 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 side wall of the mounting member, and the perforation communicates with the inner cavity. One end of the operating member is placed inside the perforation and contacts the unlocking member, while the other end extends out of the perforation. 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 device unit, a through hole is provided on the side wall of the separator, the through hole is connected to the receiving groove, the locking member is placed in the through hole, the pushing member and the unlocking component are respectively in contact with the opposite ends of the locking member, and the locking member can move along the axial direction of the through hole to switch between the locked position and the unlocked position.

[0016] As an optional technical solution for the puncture device unit, an elastic element is provided inside the opening. The elastic element enables the pushing member to push the locking member to the locking position. A relief groove is provided on the wall of the through hole, and a stop surface is formed between the relief groove and the wall of the through hole. A protrusion is provided on the side wall of the locking member. The protrusion is placed in the relief groove, and the stop surface is located on the side of the protrusion facing the receiving groove. The stop surface can stop the protrusion.

[0017] When the locking member is configured in the locked position, the stop surface is either in contact with or spaced from the protrusion.

[0018] When the connecting portion is configured to disengage from the receiving groove, the stop surface abuts against the protrusion.

[0019] As an optional technical solution for the puncture device unit, the separator can be detached from the adapter through the opening;

[0020] The opening is located at one end of the adapter along the first direction, the pusher is located on one side of the separator along the second direction, a slide is provided on the side wall of the separator facing the pusher, the through hole is provided on the slide wall of the slide, the slide wall extends along the first direction and is perpendicular to the second direction, when the connecting part is configured to disengage from the receiving groove, the end face of the locking member facing the pusher protrudes from the slide wall or is flush with the slide wall, and the first direction is perpendicular to the second direction.

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

[0022] As an optional technical solution for the puncture device unit, a limiting part is provided on the inner sidewall of the cavity, and the locking member is in the unlocked position when the unlocking component is configured to abut against the limiting part.

[0023] As an optional technical solution for the puncture device unit, a slide wall is provided on one side of the separator, and a through hole communicating with the receiving groove is opened on the slide wall. The locking member is movably inserted into the through hole. When the unlocking component is configured to abut against the limiting part, the end of the unlocking component that contacts the locking member is flush with the slide wall.

[0024] Surgical robot, including the trocar unit as described above.

[0025] The beneficial effects of this invention are:

[0026] The trocar unit provided by this invention includes an adapter, a separator, a mounting component, and an unlocking component. The unlocking component is movably disposed within the inner cavity of the mounting component, with one end contacting a locking component and the other end extending out of the mounting component. When the trocar needs to be removed, the operator can push the locking component to the unlocked position, disengaging it from the locking slot, through the end of the unlocking component extending out of the mounting component. This allows the mounting component to separate from the separator, thus enabling the trocar assembly to be removed from the surgical arm. Because the unlocking component is located on the trocar assembly, the operator can simultaneously operate the unlocking component and pull out the trocar assembly, simplifying the disassembly process. This avoids occupying both of the operator's hands simultaneously, allowing the operator to use the other hand for other operations, improving the efficiency of preoperative preparation and postoperative storage, reducing operator fatigue, and enhancing surgical safety.

[0027] The surgical robot provided by this invention includes the aforementioned trocar unit. When it is necessary to disassemble the trocar, the operator can extend the end of the mounting component through the unlocking component to separate the mounting component from the separator. This allows the operator to pull out the trocar component while operating the unlocking component, simplifying the disassembly process, avoiding the need to use both of the operator's hands simultaneously, allowing the operator to use the other hand for other operations, improving the efficiency of preoperative preparation and postoperative storage, reducing operator fatigue, and enhancing surgical safety. Attached Figure Description

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

[0029] Figure 2 This is an exploded view of the puncture device unit provided in an embodiment of the present invention;

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

[0031] Figure 4 yes Figure 3 A magnified view of a section at point A in the middle;

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

[0033] Figure 6 yes Figure 5 A magnified view of a section at point B in the middle;

[0034] Figure 7 This is a cross-sectional view of the puncture device unit provided in an embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram of the structure of the separator and mounting component provided in the embodiment of the present invention;

[0036] Figure 9 This is a schematic diagram of the connecting strip and sealing membrane provided in an embodiment of the present invention;

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

[0038] In the picture:

[0039] 10. Mechanical arm; 1. Adapter; 11. Clip-on connector;

[0040] 2. Divider; 21. Receiving groove; 22. Locking element; 221. Groove; 222. Inclined sidewall; 223. Protrusion; 224. Second receiving groove; 23. Flanged edge; 24. Through hole; 241. Stop surface; 25. Slot; 26. Guide slope;

[0041] 3. Puncture device assembly; 31. Puncture device; 32. Mounting component; 321. Connecting part; 322. Snap-fit ​​groove; 3221. Mating bevel; 323. Perforation; 33. Inner cavity; 331. Limiting part; 332. Sealing part; 34. Reinforcing part;

[0042] 4. Unlocking component; 41. Unlocking part; 411. Unlocking end; 42. Operating part; 421. Guide hole; 43. Guide post;

[0043] 5. Pushing element; 51. Pushing end; 52. Slide; 521. Slide wall; 522. First receiving groove;

[0044] 6. Elastic components;

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

[0046] 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 with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0048] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0049] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0050] This embodiment provides a surgical robot. The surgical robot includes a main control console and a surgical cart. During surgery, the surgeon can control the surgical instruments on the surgical cart via the main wrist on the main control console to perform surgical procedures on the patient. The surgical cart is equipped with a surgical arm. The surgical arm is used to mount surgical instruments. The surgical cart also includes a trocar unit, which is connected to the end of the surgical arm. The trocar unit is equipped with a trocar. The trocar is used to penetrate the patient's abdominal wall to form a surgical channel for the surgical instruments to enter.

[0051] Specifically, such as Figures 1-8As shown, the puncture unit includes an adapter 1, a separator 2, a puncture device assembly 3, and an unlocking assembly 4. The adapter 1 is hollow inside and open at one end. The end of the adapter 1 away from the opening is used to connect to the holding arm 10. A pusher 5 is movably disposed inside the opening. The separator 2 is used to install a sterile bag. One end of the separator 2 is placed inside the opening, and the other end has a receiving groove 21. The separator 2 can be detached from the adapter 1 through the opening. A locking member 22 is movably disposed on the separator 2, and the end of the pusher 5 contacts the locking member 22. The puncture device assembly 3 includes a puncture device 31 and a mounting member 32. The puncture device 31 is mounted on the mounting member 32. A connecting portion 321 protrudes from the side wall of the mounting member 32 and is placed within a receiving groove 21. The connecting portion 321 can disengage from the receiving groove 21 through the slotted end. A snap-fit ​​groove 322 is formed on the side wall of the connecting portion 321. The mounting member 32 has an inner cavity 33 that communicates with the snap-fit ​​groove 322. The locking member 22 has a locking position that engages within the snap-fit ​​groove 322 and an unlocking position that disengages from the snap-fit ​​groove 322. When the locking member 22 is in the locked position, the connecting portion 321 can be fixed within the partition member 2. When the locking member 22 is in the unlocked position, the connecting portion 321 can disengage from the partition member 2 through the slotted end of the receiving groove 21. The unlocking component 4 is movably disposed within the inner cavity 33. One end of the unlocking component 4 contacts the locking member 22, and the other end extends out of the mounting member 32 for operation by the operator. The pusher 5 can push the locking member 22 to the locked position to fix the puncture device assembly 3; the unlocking member 4 can push the locking member 22 to the unlocked position to allow the puncture device assembly 3 to disengage from the separator 2. The structure of the puncture device 31 can refer to the prior art and is not the focus of this embodiment, so it will not be described in detail here.

[0052] The trocar unit provided in this embodiment includes an adapter 1, a separator 2, a mounting component 3, and an unlocking component 4. The unlocking component 4 is movably disposed within the inner cavity 33 of the mounting component 32. One end of the unlocking component 4 contacts the locking component 22, and the other end extends out of the mounting component 32. When it is necessary to remove the trocar 31, the operator can push the locking component 22 to the unlocked position, disengaging it from the locking groove 322, through the end of the unlocking component 4 extending out of the mounting component 32. This allows the mounting component 32 to separate from the separator 2, thus enabling the trocar assembly 3 to be removed from the surgical arm 10, i.e., removing the trocar 31 from the surgical arm 10. Because the unlocking component 4 is located on the trocar assembly 3, the operator can pull out the trocar assembly 3 while operating the unlocking component 4, simplifying the disassembly process of the trocar assembly 3, avoiding the simultaneous use of both hands, allowing the operator to use the other hand for other operations, improving the efficiency of preoperative preparation and postoperative storage, reducing operator fatigue, and enhancing surgical safety. Furthermore, the mounting component 32 is typically a consumable part that requires frequent replacement. In the puncture device unit provided in this embodiment, an unlocking structure is avoided on the adapter 1, simplifying the structure of the adapter 1, reducing the number of parts on the adapter 1, improving the reliability of the adapter 1, and reducing the possibility of damage to the adapter 1.

[0053] The surgical robot provided in this embodiment includes the aforementioned trocar unit. When it is necessary to remove the trocar 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 separator 2. This allows the operator to pull out the trocar assembly 3 while operating the unlocking component 4, simplifying the process of removing the trocar assembly 3, avoiding the simultaneous use of both of the operator's hands, and facilitating the operator to perform other operations with the other hand. This improves the efficiency of preoperative preparation and postoperative storage, reduces operator fatigue, and enhances the safety of the surgery.

[0054] In this embodiment, the adapter 1 has an opening at one end along the first direction. The end of the adapter 1 away from the opening along the first direction is used to connect with the holding arm 10. A second direction and a third direction perpendicular to the first direction are defined, with the second direction perpendicular to the third direction. Specifically, the separator 2 has a receiving groove 21 at its end facing out of the opening, that is, the separator 2 has a receiving groove 21 at its end along the first direction, and the receiving groove 21 extends along the first direction. The puncture device 31 is inserted into the mounting member 32 along the third direction.

[0055] Furthermore, there are two locking slots 322 and two locking members 22. The two locking slots 322 are respectively provided on both sides of the connecting part 321 along the second direction, and the two locking members 22 are also respectively provided on both sides of the connecting part 321 along the second direction.

[0056] Specifically, the edge of the separator 2 extends out of the opening and bends to form a flange 23. The flange 23 fits against the end face of the opening and is used to install a sterile bag. The ends of the adapter 1 and the unlocking component 4 extending out of the mounting component 32 are located on opposite sides of the flange 23. This positioning avoids the separator 2 from obstructing the end of the unlocking component 4 extending out of the mounting component 32, ensuring that this end is exposed and easy for the operator to manipulate. Simultaneously, this positioning also facilitates moving the trocar assembly 3 towards the side opposite to the flange 23, making it easier to pull out the trocar assembly 3. This further simplifies the disassembly process, avoids occupying both of the operator's hands simultaneously, allows the operator to use the other hand for other operations, improves the efficiency of preoperative preparation and postoperative storage, reduces operator fatigue, and enhances surgical safety.

[0057] The flange 23 is circumferentially arranged around the separator 2. The sterile bag is circumferentially connected to the flange 23 to ensure the formation of a sterile environment during the operation. The flange 23 and the sterile bag can be connected by adhesive or other structures. The sterile bag can be adhered to the end face of the flange 23 facing the adapter 1 or the end face opposite to the adapter 1, which is not limited here.

[0058] Preferably, the unlocking assembly 4 includes an unlocking element 41 and an operating element 42. The unlocking element 41 is movably connected to the mounting element 32, and one end of the unlocking element 41 is used to contact the locking element 22. This end of the unlocking element 41 that contacts the locking element 22 is designated as the unlocking end 411. The end of the unlocking element 41 away from the unlocking end 411 contacts the operating element 42. A through hole 323 is provided on the outer wall of the mounting element 32, which communicates with the inner cavity 33. One end of the operating element 42 is placed inside the through hole 323 and contacts the unlocking element 41, while the other end of the operating element 42 extends out of the through hole 323. The operating element 42 can move axially along the through hole 323 to drive the unlocking element 41 to push the locking element 22 to the unlocked position. By configuring the unlocking assembly 4 into two parts, the unlocking element 41 and the operating element 42, the structure of the unlocking assembly 4 is simplified, the volume of the mounting element 32 and the trocar assembly 3 is reduced, the trocar unit is miniaturized, the flexibility of the surgical robot is improved, and the processing and assembly are also facilitated.

[0059] Since there are two locking slots 322 and two locking members 22, there are also two unlocking components 4, with the two unlocking components 4 corresponding to the two locking members 22. Two through holes 323 are respectively opened 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 axis of rotation of the unlocking member 41 extends along the third direction. When it is necessary to disassemble the puncture device assembly 3, the operator simultaneously presses the two operating members 42, causing the two operating members 42 to move relative to each other. The two unlocking members 41 rotate synchronously, and the two unlocking ends 411 can push the two locking members 22 out of the locking slots 322, preventing the locking members 22 from blocking the connecting part 321, allowing the operator to pull out the puncture device assembly 3.

[0060] In this embodiment, the mounting member 32 passes through the inner cavity 33 along a third direction, and a sealing member 332 is used to seal the opening end of the inner cavity 33. The unlocking component 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 smaller cross-sectional area of ​​the connecting portion 321 facilitates reducing the opening area of ​​the adapter 1, thus reducing the volume of the adapter 1. The inner cavity 33 has a generally Y-shaped structure. One end of the inner cavity 33 extends along the first direction to the connecting portion 321 and communicates with the snap-fit ​​groove 322. The other two ends of the inner cavity 33 extend approximately along the second direction and communicate with the two perforations 323 respectively. In this embodiment, the unlocking component 4 is located on the side of the puncture device 31 facing the adapter 1. The unlocking component 41 has a bent structure, with an obtuse angle, and the included angle opening formed by the unlocking component 41 is positioned opposite to the puncture device 31. The unlocking component 41 is designed with a bent structure, which can also be adapted to be installed in the Y-shaped inner cavity 33. It also facilitates a large range of rotation, ensuring that the unlocking component 41 can reliably push the locking component 22 out of the locking groove 322, thereby ensuring that the puncture device assembly 3 can be smoothly disengaged from the adapter 1, which is beneficial to improving the efficiency of preoperative preparation or postoperative storage.

[0062] Preferably, a reinforcing part 34 is integrally provided on the inner wall of the inner cavity 33. The reinforcing part 34 is located on the side of the inner cavity 33 near the puncture device 31, which improves the structural strength of the mounting part 32. The reinforcing part 34 is located between the two unlocking parts 41.

[0063] Furthermore, the end of the unlocking member 41 contacts the end face 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 face of the operating member 42, further simplifying the structure of the unlocking assembly 4. The operating member 42 has a guide hole 421 extending along the second direction. A guide post 43 is fixedly installed inside the through hole 323, placed within the guide hole 421, and can slide relative to the operating member 42 along the extending direction of the guide hole 421. That is, the guide post 43 can guide the operating member 42, ensuring that the unlocking member 41 can reliably push the locking member 22 out of the locking groove 322, thereby ensuring that the puncture device assembly 3 can smoothly disengage from the adapter 1, which is beneficial for improving the efficiency of preoperative preparation or postoperative storage.

[0064] The locking member 22 is provided with an inclined sidewall 222, and the groove sidewall of the locking groove 322 includes a mating inclined surface 3221. When the connecting part 321 is in the receiving groove 21 and the locking member 22 abuts against the connecting part 321, the inclined sidewall 222 and the mating inclined surface 3221 are in contact. Furthermore, when the locking member 22 abuts against the connecting part 321, both the inclined sidewall 222 and the mating inclined surface 3221 are inclined towards the groove wall of the receiving groove 21 in a direction from the outside of the opening to the inside of the opening. The arrangement of the inclined sidewall 222 and the mating inclined surface 3221 provides a large contact area between the locking member 22 and the connecting part 321, and the inclined direction of the inclined sidewall 222 and the mating inclined surface 3221 ensures that the locking member 22 can clamp the connecting part 321.

[0065] In this embodiment, the "direction from outside the opening to inside the opening" is the first direction. The separator 2 extends into the opening along the aforementioned "direction from outside the opening to inside the opening," and the connecting part 321 extends into the receiving groove 21 along the aforementioned "direction from outside the opening to inside the opening." When the connecting part 321 is in the receiving groove 21 and the locking member 22 abuts against the connecting part 321, the two mating inclined surfaces 3221 are arranged in a "V" shape, with the ends of the two mating inclined surfaces 3221 away from the installation channel opening inclined in a direction away from each other. The inclination direction of the two inclined sidewalls 222 is the same as the inclination direction of the mating inclined surfaces 3221, and will not be described again here.

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

[0067] In existing technology, the locking element is elastically connected to the separator via an elastic arm, thereby enabling the locking element to switch between locked and unlocked positions. This means that in order to clamp the trocar assembly, the elastic arm needs to undergo corresponding elastic deformation, reducing structural reliability and consequently the reliability of the separator during use. This increases the risk of separator damage, affecting its ability to isolate bacteria and thus impacting surgical safety. Damaged separators also require replacement, affecting the efficiency of preoperative preparation and increasing the fatigue of medical staff. Furthermore, the back of the locking element typically forms a groove structure, with the end of the pusher element placed within this groove. Since the elastic arm is made of elastic material, ensuring the end of the pusher element fits snugly against the sidewall of the groove structure is crucial for clamping the trocar assembly. This limits the contact range between the pusher element and the locking element, increasing the processing and assembly requirements of the trocar assembly installation structure and raising production costs.

[0068] Preferably, a through hole 24 is provided on the side wall of the separator 2, which communicates with the receiving groove 21. The locking member 22 is placed in the through hole 24. The pushing member 5 and the unlocking member 41 of the unlocking assembly 4 respectively contact the opposite ends of the locking member 22. The locking member 22 can move axially along the through hole 24 to switch between the locked position and the unlocked position. When the connecting part 321 is placed in the receiving groove 21, the pushing member 5 pushes the locking member 22 until it is engaged in the engaging groove 322. The locking member 22 can press against the connecting part 321, thereby fixing the puncture device assembly 3. The unlocking assembly 4 can push the locking member 22 out of the engaging groove 322, thereby releasing the puncture device assembly 3. The puncture unit provided in this embodiment utilizes a locking member 22 that is movably inserted into the through hole 24 of the separator 2. This eliminates the need for elastic deformation of the separator 2, ensuring its structural reliability and thus its reliability during use. This reduces the risk of damage to the separator 2, thereby guaranteeing its function of isolating bacteria and ensuring surgical safety. It also avoids the need to replace the separator 2, improving the efficiency of preoperative preparation and alleviating the fatigue of medical staff. Furthermore, to achieve the clamping connection 321, contact between the pushing member 5 and the locking member 22 at any position on the end face opposite to the receiving groove 21 allows the locking member 22 to be pushed towards the locking position. This avoids limiting the contact range between the pushing member 5 and the locking member 22, reducing the processing and assembly requirements of the installation mechanism and lowering production costs.

[0069] Preferably, the sidewall of the through hole 24 is circumferentially fitted to the sidewall of the locking member 22, thereby guiding the locking member 22. In other embodiments, the through hole 24 utilizes a guide groove or other structure to guide the locking member 22.

[0070] Preferably, an elastic element 6 is provided in the opening of the adapter 1. The elastic element 6 enables the pushing element 5 to push the locking element 22 to the locked position. The elastic element 6 can push the locking element 22 into the locking groove 322 through the pushing element 5, ensuring that the locking element 22 is kept in the locked position, which is conducive to reliably fixing the puncture device assembly 3. The setting of the elastic element 6 enables the locking element 22 to move automatically into the locking groove 322 to clamp the connecting part 321, avoiding manual pushing of the pushing element 5 and improving the convenience of operation. In this embodiment, when the locking element 22 is in the locked position, the force applied by the elastic element 6 to the locking element 22 through the pushing element 5 is greater than zero. This allows the elastic element 6 to not only push the locking element 22 to the locked position, but also to apply a clamping force to the locking element 22 to clamp the connecting part 321. There is no need to add other structures to apply clamping force to the locking element 22, which helps to reduce the number of parts of the installation mechanism, simplify the structure of the installation mechanism, reduce the volume of the installation mechanism and the holding arm 20, and improve the flexibility of the surgical robot.

[0071] Specifically, the pusher 5 is rotatably disposed within the opening, and the axis of rotation of the pusher 5 extends in a third direction. The end of the pusher 5 facing the opening of the adapter 1 is provided with a push end 51 for contacting the locking member 22, and the elastic member 6 is placed on the 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 element 6 is a metal spring sheet, and one end of the elastic element 6 is fixedly connected to the inner wall of the adapter 1.

[0073] Furthermore, a torsion spring may also be provided on the pushing member 5. One end of the torsion spring is fixedly connected to the adapter 1, and the other end is fixedly connected to the pushing member 5. The torsion spring enables the pushing member 5 to push the locking member 22 towards the receiving groove 21, ensuring that the locking member 22 remains 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 the locked position, but also to apply a large clamping force to the locking member 22 for clamping the connecting part 321, further ensuring that the locking member 22 can reliably clamp the connecting part 321.

[0074] As a preferred embodiment, a clearance groove is provided on the side wall of the through hole 24, and a stop surface 241 is formed between the clearance groove and the side wall of the through hole 24. A protrusion 223 is provided on the side wall of the locking member 22, and the protrusion 223 is placed in the clearance groove. The stop surface 241 is located on the side of the protrusion 223 near the locking groove 322, and the stop surface 241 can stop the protrusion 223. When the locking member 22 abuts against the connecting part 321, that is, when the locking member 22 is in the locked position, the stop surface 241 and the protrusion 223 are spaced apart; when the connecting part 321 is disengaged from the receiving groove 21, the stop surface 241 and the protrusion 223 fit together and abut against each other, so that the stop surface 241 can stop the protrusion 223.

[0075] Due to the elastic element 6, when the separator 2 is installed onto the adapter 1 and the connecting part 321 disengages from the receiving groove 21, the elastic element 6 pushes the locking element 22 further into the receiving groove 21 via the pushing element 5. At this time, the depth of the locking element 22 entering the receiving groove 21 is greater than the depth of the locking element 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 element 22 is always within the through hole 24, preventing it from disengaging from the through hole 24, which facilitates the subsequent reinstallation of the puncture device assembly 3. Moreover, when the locking element 22 abuts against the connecting part 321, the stop surface 241 and the protrusion 223 are spaced apart, which also ensures that the elastic element 6 can apply a clamping force to the connecting part 321 through the locking element 22, preventing the stop surface 241 from hindering the locking element 22 from clamping the connecting part 321.

[0076] In this embodiment, the protrusion 223 is arranged circumferentially along the locking member 22. The protrusion 223 may be annular or strip-shaped, and there is no limitation on it.

[0077] In some other embodiments, when the locking member 22 is in the locked position, the stop surface 241 and the protrusion 223 may also be fitted together, which is not limited here.

[0078] In this embodiment, the clearance groove penetrates the outer wall of the partition 2. In other embodiments, the clearance groove may also be spaced apart from the outer wall of the partition 2, such that another stop is formed between the clearance groove and the side wall of the through hole 24. The stop is located on the side of the protrusion 223 opposite to the receiving groove 21, and the stop can stop the protrusion 223, preventing the locking member 22 from disengaging from the partition 2.

[0079] Preferably, a slide 52 is provided on the outer wall of the separator 2, and the slide 52 extends in a first direction. During the process of the separator 2 entering the adapter 1, the pushing end 51 is placed in the slide 52 and can slide along the slide 52. The slide 52 has a slide wall 521, which extends in the first direction and is perpendicular to the second direction. A through hole 24 is provided on the slide wall 521. When the connecting part 321 disengages from the receiving groove 21, the protrusion 223 abuts against the stop surface 241, and the locking member 22 protrudes from the end face of the pushing end 51 or is flush with the slide wall 521. This arrangement avoids the edge formed between the locking member 22 and the slide wall 521 from hindering the relative movement between the separator 2 and the pushing member 5, facilitating the removal of the separator 2 from the adapter 1 and improving the efficiency of postoperative care. In this embodiment, the axis of the through hole 24 extends in the second direction.

[0080] The separator 2 has slides 52 on its outer side walls along both sides of the second direction, and the two slides 52 are respectively arranged corresponding to the two through holes 24. Preferably, the two slide walls 521 are both arranged along the first direction, or the two slide walls 521 are inclined towards each other in the direction away from the opening of the adapter 1. The above arrangement avoids the slide walls 521 from obstructing the relative movement between the separator 2 and the pusher 5, making it easier to remove the separator 2 from the adapter 1 and improving the efficiency of postoperative care.

[0081] In this embodiment, a guide ramp 26 is provided at one end of the separator 2 opposite to the slotted end of the receiving groove 21. Two guide ramps 26 are provided, parallel to a third direction, and both are inclined to the first and second directions. The two guide ramps 26 are respectively located on both sides of the separator 2 along the second direction. The two guide ramps 26 gradually approach each other from the outside of the opening to the inside of the opening, and both slide walls 521 are connected to the guide ramps 26. Due to the elastic element 6, before the separator 2 enters the adapter 1, the pushing ends 51 of the two pushing elements 5 approach each other, contacting and sliding on the guide ramps 26 respectively. The angle of the guide ramps 26 facilitates the separation of the two pushing ends 51, enabling smooth installation of the separator 2 and avoiding the need to operate other structures to separate the pushing ends 51, thus simplifying the installation process of the puncture device assembly 3.

[0082] Preferably, the locking member 22 has a groove 221 on its end face facing the pushing member 5, and the pushing end 51 of the pushing member 5 is placed in the groove 221. When the connecting part 321 is disengaged from the receiving groove 21 and the separator 2 is still in the opening, if it is not necessary to remove the separator 2 from the adapter 1, the groove 221 can prevent the pushing end 51 from sliding relative to the locking member 22, thus preventing the separator 2 from disengaging from the adapter 1, reducing the risk of accidentally removing the separator 2, avoiding damage to the sterile environment, and ensuring the safety of the operation.

[0083] In this embodiment, the end face of the pushing end 51 is arc-shaped, and the groove wall of the groove 221 that contacts the pushing end 51 is arc-shaped.

[0084] As a preferred embodiment, a limiting part 331 is provided on the inner sidewall of the inner cavity 33. When the locking member 22 is in the unlocked position, the unlocking member 41 abuts against the limiting part 331. The limiting part 331 prevents the unlocking end 411 of the unlocking member 41 from extending too far out of the locking groove 322. When the connecting part 321 is installed in the receiving groove 21, the locking member 22 can extend into the locking groove 322 through the through hole 24 to reach the locked position. Therefore, the locking groove 322 communicates with the through hole 24. If the unlocking end 411 extends too far out of the locking groove 322, the unlocking end 411 may extend into the through hole 24. When the operator pulls out the puncture device assembly 3, the unlocking end 411 may obstruct the movement of the puncture device assembly 3. By limiting the position of the unlocking end 411 by the limiting part 331, the unlocking part 41 can be prevented from obstructing the movement of the puncture device assembly 3; at the same time, when disassembling or assembling the puncture device assembly 3, even if the operator presses the operating part 42 inward, the unlocking end 411 will not obstruct the movement of the puncture device assembly 3, thereby improving the efficiency of disassembling or assembling the puncture device assembly 3.

[0085] Preferably, the end face of the operating member 42 facing out of the perforation 323 is a rough surface, or a protruding ridge is provided on the end face of the operating member 42 facing out of the perforation 323. When assembling or disassembling the puncture device assembly 3, the operator can press the operating member 42 to pinch the mounting member 32, preventing the puncture device assembly 3 from falling off, reducing the risk of damage to the puncture device assembly 3, and thus reducing maintenance costs.

[0086] In this embodiment, the limiting part 331 is integrally formed with the inner wall of the inner cavity 33, which increases the structural strength of the mounting part 32.

[0087] Preferably, when the unlocking member 41 is configured to abut against the limiting part 331, the unlocking end 411 of the unlocking member 41 is flush with the slide wall 521. This configuration ensures that the unlocking member 41 can push the locking member 22 out of the locking groove 322 as far as possible, ensuring that the locking member 22 disengages from the locking groove 322, preventing the locking member 22 from obstructing the movement of the puncture device assembly 3, and improving the efficiency of disassembling and assembling the puncture device assembly 3.

[0088] Furthermore, the separator 2 is detachably connected to the adapter 1, allowing the separator 2 to detach from the adapter 1 through the opening. The adapter 1 is provided with a snap-fit ​​element 11, and the outer wall of the separator 2 has a snap-fit ​​groove 25. The snap-fit ​​element 11 is rotatably connected to the adapter 1. One end of the snap-fit ​​element 11 has a snap-fit ​​protrusion located within the opening, while the other end of the snap-fit ​​element 11 is positioned 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, which ensures that the snap-fit ​​protrusion of the snap-fit ​​element 11 is always engaged within the snap-fit ​​groove 25.

[0089] In this embodiment, slots 25 are provided on the side walls of the opposite sides of the separator 2, and two snap-fit ​​members 11 are provided, with the two snap-fit ​​members 11 corresponding to the two slots 25 respectively. A snap-fit ​​protrusion is provided at the same end of the two snap-fit ​​members 11, and the two elastic structures can bring the two snap-fit ​​protrusions close to each other to clamp the separator 2.

[0090] In the process of installing the separator 2 onto the adapter 1, specifically, first press the end of the snap fastener 11 to move the two snap protrusions away from each other and open the two snap fasteners 11. Then place the separator 2 between the two snap fasteners 11 and then loosen the two snap fasteners 11 so that the two snap protrusions are respectively snapped into the two slots 25, thereby installing the adapter 2.

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

[0092] In this embodiment, two pushing members 5 are disposed on opposite sides of the separator 2 along the second direction, and two locking members 11 are disposed on opposite sides of the separator 2 along the third direction, that is, the locking members 11 and the pushing members 5 are respectively disposed on different sides of the adapter 1. During the operation, this avoids accidentally pressing one of the operating members 42 or the locking members 11 while simultaneously pressing the other, ensuring a reliable connection between the separator 2 and the adapter 1, preventing the separator 2 from detaching from the adapter 1, maintaining a sterile environment during the operation, and improving the safety of the operation.

[0093] In some embodiments, the snap-fit ​​member 11 and the push member 5 may also be disposed on the same side of the adapter 1, which is not limited here.

[0094] The installation process of the puncture device unit provided in this embodiment is roughly as follows: First, press the end of the snap fastener 11 away from the snap protrusion; then, install the separator 2 onto the adapter 1 through the opening and loosen the snap fastener 11; finally, install the puncture device assembly 3, specifically by inserting the connecting part 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 unit 3 away from the separator 2; finally, press the end of the latching member 11 away from the latching protrusion and move the separator 2 away from the adapter 1.

[0096] In some embodiments, such as Figures 9-10As shown, in a preferred embodiment, the puncture device unit further includes a connecting strip 7. One end of the connecting strip 7 is connected to the slide wall 521, and the other end is connected to the end face of the locking member 22 for abutting against the pushing end 51. The connecting strip 7 further ensures that the locking member 22 is always within the through hole 24, preventing it from disengaging from the through hole 24 and facilitating subsequent reinstallation of the puncture device assembly 3. Furthermore, before the separator 2 is installed to the adapter 1, it ensures the connection between the locking member 22 and the separator 2, facilitating subsequent installation of the separator 2. In this embodiment, the connecting strip 7 is made of a spring or rubber, and the connecting strip 7 is bonded to both the locking member 22 and the separator 2 using adhesive.

[0097] As a preferred embodiment, a first receiving groove 522 is provided on the slide wall 521. The first receiving groove 522 passes through the side wall of the through hole 24. The connecting strip 7 is placed in the first receiving groove 522, which improves the structural compactness of the separator 2, reduces the volume of the separator 2, and improves the structural compactness of the holding arm 20.

[0098] Specifically, the end face of the connecting strip 7 exposed in the first receiving groove 522 is flush with the slide wall 521. This arrangement further improves the structural compactness of the separator 2 and reduces its volume.

[0099] Furthermore, a second receiving groove 224 is provided on the end face of the locking member 22, and the connecting strip 7 is placed in the second receiving groove 224, which further improves the structural compactness of the separator 2 and reduces the volume of the separator 2.

[0100] In some other embodiments, as a preferred option, the puncture device unit further includes a sealing membrane 8. The sealing membrane 8 is attached to the outer wall of the separator 2, and completely covers the slide 52 and the through hole 24 to seal the gap formed between the locking member 22 and the sidewall of the through hole 24. This arrangement prevents bacteria inside the adapter 1 from entering the sterile environment through the gap, further ensuring the antibacterial function of the separator 2, reducing the risk of patient infection, and improving the safety of the procedure.

[0101] In this embodiment, the sealing membrane 8 can be an elastic plastic membrane such as a silicone rubber membrane, PE membrane, or TPU membrane, and is bonded to the outer wall of the separator 2 by an adhesive.

[0102] Preferably, the sealing membrane 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, and the end face of the connecting ring portion 82 is attached to the outer side wall of the separator 2. The middle portion 81 completely covers the locking member 22, and the elasticity of the middle portion 81 is greater than that of the connecting ring portion 82. This configuration ensures that the pushing member 5 can smoothly push against the locking member 22. Simultaneously, when the separator 2 is disengaged from the adapter 1, the pushing member 5 can smoothly slide along the slide 52, ensuring smooth disassembly of the separator 2. Furthermore, the lower elasticity of the connecting ring portion 82 also ensures that the connecting ring portion 82 can reliably connect to the separator 2, guaranteeing the antibacterial function of the sealing membrane 8. Further, the middle portion 81 can completely cover the through hole 24.

[0103] Furthermore, the middle part 81 completely covers the locking member 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 part 81. The arrangement of the slide 52 and the first receiving groove 522 results in a relatively complex structure of the outer wall of the partition 2. The above arrangement covers the complex structure within the range of the middle part 81, avoiding the attachment of the connecting ring 82 along the side wall of the slide 52 and the first receiving groove 522, thus ensuring the antibacterial effect of the partition 2.

[0104] The statement that "the elasticity of the middle part 81 is greater than that of the connecting ring part 82" means that the middle part 81 is more easily deformed than the connecting ring part 82. The middle part 81 may be fixedly connected to the locking member 22, or it may not be connected to the locking member 22; this is not limited here.

[0105] Preferably, the middle portion 81 of the sealing membrane 8 and the connecting ring portion 82 are integrally formed, and the thickness of the middle portion 81 is less than the thickness 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 and the connecting ring portion 82 of the sealing membrane 8 can also be bonded together with an adhesive, and the middle portion 81 and the connecting ring portion 82 can be made of the same material or different materials.

[0106] In this embodiment, a sealing membrane 8 and a connecting strip 7 are provided simultaneously, with the connecting strip 7 located inside the sealing membrane 8. The pushing end 51 of the pushing member 5 contacts the outer side of the sealing membrane 8. In some embodiments, only the sealing membrane 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 implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A puncture device unit, characterized in that, include: The adapter is hollow inside, with one end open and the other end used to connect to the holding arm. A pusher is movably disposed inside the opening. A separator for installing a sterile bag, one end of which is placed inside the opening and the other end of which has a receiving groove. A locking element is movably disposed on the separator, and the end of the pusher contacts the locking element. A puncture device assembly includes a puncture device and a mounting component. The puncture device is mounted on the mounting component. A connecting portion protrudes from the side wall of the mounting component and is placed within the receiving groove. The connecting portion can be disengaged from the receiving groove from the slotted end of the receiving groove. A snap-fit ​​groove is formed on the side wall of the connecting portion. The mounting component has an inner cavity communicating with the snap-fit ​​groove. An unlocking component is movably disposed within the inner cavity, with one end of the unlocking component contacting the locking member and the other end extending out of the mounting member; The pusher can push the locking member to a locked position where it engages with the locking slot, and the unlocking component can push the locking member to an unlocked position where it disengages from the locking slot. The unlocking component includes an unlocking element and an operating element. The unlocking element is movably connected to the mounting element. A through hole is provided on the outer side wall of the mounting element, and the through hole communicates with the inner cavity. One end of the operating element is placed inside the through hole and in contact with the unlocking element, while the other end extends out of the through hole. The operating element can move along the axial direction of the through hole to drive the unlocking element to push the locking element to the unlock position. The partition has a through hole on its side wall, which communicates with the receiving groove. The locking member is placed in the through hole, and the pushing member and the unlocking component are respectively in contact with opposite ends of the locking member. The locking member can move along the axial direction of the through hole to switch between the locked position and the unlocked position.

2. The puncture device unit according to claim 1, characterized in that, The edge of the separator extends out of the opening and bends to form a flange, the flange fitting against the end face of the opening, and the adapter and the unlocking component extending out of the mounting component are located on opposite sides of the flange.

3. The puncture device unit according to claim 1, characterized in that, An elastic element is provided inside the opening, which enables the pushing element to push the locking element to the locking position. A relief groove is provided on the wall of the through hole, and a stop surface is formed between the relief groove and the wall of the through hole. A protrusion is provided on the side wall of the locking element, and the protrusion is placed in the relief groove. The stop surface is located on the side of the protrusion facing the receiving groove, and the stop surface can stop the protrusion. When the locking member is configured in the locked position, the stop surface is either in contact with or spaced from the protrusion. When the connecting portion is configured to disengage from the receiving groove, the stop surface abuts against the protrusion.

4. The puncture device unit according to claim 3, characterized in that, The separator can be detached from the adapter through the opening; The opening is located at one end of the adapter along the first direction, the pusher is located on one side of the separator along the second direction, a slide is provided on the side wall of the separator facing the pusher, the through hole is provided on the slide wall of the slide, the slide wall extends along the first direction and is perpendicular to the second direction, when the connecting part is configured to disengage from the receiving groove, the end face of the locking member facing the pusher protrudes from the slide wall or is flush with the slide wall, and the first direction is perpendicular to the second direction.

5. The puncture device unit according to claim 4, characterized in that, The locking member has a groove on its end face facing the pushing member, and the end of the pushing member is placed in the groove.

6. The puncture device unit according to claim 1, characterized in that, A limiting part is provided on the inner sidewall of the cavity, and when the unlocking component is configured to abut against the limiting part, the locking member is in the unlocked position.

7. The puncture device unit according to claim 6, characterized in that, A slide wall is provided on one side of the separator, and a through hole communicating with the receiving groove is provided on the slide wall. The locking member is movably inserted into the through hole. When the unlocking component is configured to abut against the limiting part, the end of the unlocking component that contacts the locking member is flush with the slide wall.

8. A surgical robot, characterized in that, Includes the puncture device unit as described in any one of claims 1-7.

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