Puncture outfit mechanism and surgical robot

Abstract

The invention relates to the technical field of surgical robots, and discloses a puncture outfit mechanism and a surgical robot. The puncture outfit mechanism comprises a puncture outfit, a mounting sleeve and a locking assembly. The puncture outfit comprises a sheathing canal and a sealing element; a containing groove is formed in the inner side wall of the mounting sleeve, and the sheathing canal penetrates through the mounting sleeve; the locking assembly comprises a locking piece and a movable piece, one end of the movable piece is connected to the locking piece, and the movable piece can move relative to the mounting sleeve so as to drive the locking piece to be switched between a locking position where the locking piece stretches out of the containing groove and is detachably connected with the sheathing canal and an avoiding position where the locking piece is separated from the sheathing canal; the sealing piece limits the locking piece at the locking position, and when the sealing piece is separated from the sheathing canal, the puncture outfit can be separated from the installation sleeve. The puncture outfit and the installation sleeve can be separated, the puncture outfit can be fixed to the installation sleeve through the structure of the puncture outfit, and the structure of the puncture outfit mechanism can be simplified.

Description

Technical Field

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

[0002] Surgical robots are widely used in the medical field. They consist of a doctor-controlled end and a patient-controlled end. The patient-controlled end includes a robotic arm, which holds surgical instruments. During surgery, the doctor controls the instruments using the input handle on the doctor-controlled end. One end of the robotic arm is connected to the trolley, while the other end is equipped with a puncture mechanism. The puncture mechanism consists of a mounting assembly and a puncture body. The puncture body can penetrate the patient's abdomen, allowing surgical instruments to be inserted into the patient's abdominal cavity. The puncture body is connected to the mounting assembly, which is then connected between the robotic arms.

[0003] In some prior art, such as that disclosed in Chinese Patent CN117796906A, the mounting member is integrally mounted with the trocar body. If the trocar mechanism is damaged, the trocar body or the mounting member cannot be replaced separately, resulting in high maintenance costs. It also prevents replacement of trocars of different sizes based on actual needs, impacting the practicality of the trocar mechanism. In other prior art, such as that disclosed in Chinese Patent CN116098712A, the mounting member is configured as an openable and closable clamping structure, which allows for assembly and disassembly of the trocar body and the mounting member by opening and closing the clamping structure. However, this structure is relatively complex, and the clamping-like mounting member cannot reliably secure the trocar, impacting surgical safety.

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

[0005] The object of the present invention is to provide a puncture device mechanism and a surgical robot, which can realize the separation between the puncture device and the mounting sleeve, and the puncture device can be fixed on the mounting sleeve by utilizing the structure on the puncture device itself, which is conducive to simplifying the structure of the puncture device mechanism.

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

[0007] The trocar mechanism comprises:

[0008] The trocar comprises a sheath and a sealing member, wherein the sealing member is detachably connected to the sheath;

[0009] A mounting sleeve, used for connecting with the holding arm, wherein the sheath tube is passed through the mounting sleeve, and an accommodating groove is provided on the inner side wall of the mounting sleeve;

[0010] a locking assembly disposed in the receiving groove, the locking assembly comprising a locking member and a movable member connected to the locking member at one end, the movable member being movable relative to the mounting sleeve to drive the locking member to switch between a locking position extending from the receiving groove and detachably connected to the sheath tube and a avoiding position detached from the sheath tube and retracted into the receiving groove;

[0011] The sealing member abuts against the other end of the movable member to limit the locking member to the locking position. When the sealing member is configured to be detached from the sheath, the movable member can drive the locking member to move from the locking position to the avoidance position so that the puncture device can be detached from the mounting sleeve.

[0012] As an optional technical solution for the puncture mechanism, the accommodating groove passes through the first end of the mounting sleeve in the axial direction, and the sealing member is located on one side of the first end. When the sealing member is detached from the sheath, the movable member can move along the axial direction of the mounting sleeve toward the outside of the accommodating groove, so that the locking member moves from the locking position to the avoidance position.

[0013] As an optional technical solution for the puncture mechanism, the edge of the sealing member protrudes circumferentially from the side wall of the sheath to form an annular step surface, and the step surface is used to fit with the movable part. A snap-fit ​​groove is circumferentially provided on the side wall of the sheath, and the locking member can be snapped into the snap-fit ​​groove.

[0014] As an optional technical solution of the puncture device mechanism, the end surface of the movable member away from the locking member is flush with the first end surface, and the step surface is in contact with the end surface of the movable member and the first end surface.

[0015] As an optional technical solution for the puncture device mechanism, the puncture device also includes an air valve, which is connected to the side wall of the sheath tube. The air valve is located on the side of the second end of the mounting sleeve away from the first end, and the side wall of the air valve is in contact with the end face of the second end.

[0016] As an optional technical solution of the puncture device mechanism, the locking assembly further includes an operating member, which is connected to the movable member and is located outside the mounting sleeve.

[0017] As an optional technical solution for the puncture mechanism, at least part of the operating member is arranged opposite to the outer side wall of the mounting sleeve, and the locking assembly also includes an intermediate member, the accommodating groove passes through the first end of the mounting sleeve in the axial direction, one end of the intermediate member is connected to the end of the movable member opposite to the locking member, and the other end of the intermediate member is connected to the operating member.

[0018] As an optional technical solution for the puncture mechanism, a snap-in groove is provided on the side wall of the sheath, and a first rotating shaft perpendicular to the axial direction of the mounting sleeve is provided in the accommodating groove. The locking member is rotatably connected to the first rotating shaft so that the locking member can switch between the locking position in which it is snap-in to the snap-in groove and the avoidance position in which it is detached from the snap-in groove.

[0019] As an optional technical solution for the puncture device mechanism, a waist-shaped hole is provided on the locking member, and a penetration rod is provided on the movable member. The penetration rod is passed through the waist-shaped hole and can slide along the length direction of the waist-shaped hole.

[0020] A surgical robot includes the puncture mechanism as described above.

[0021] Beneficial effects of the present invention:

[0022] The puncture mechanism provided by the present invention includes a puncture device, a mounting sleeve, and a locking assembly. A sealing member provided on the puncture device abuts against a movable member, limiting the position of the movable member and thereby confining the locking member in a locked position, thereby ensuring a reliable connection between the puncture device and the mounting sleeve. When the sealing member is removed from the puncture device, it detaches from the sheath, releasing the sealing member's limiting effect on the movable member, allowing the movable member to move relative to the mounting sleeve, thereby driving the locking member from the locked position to a retracted position, allowing the puncture device to detach from the mounting sleeve. The puncture device and the mounting sleeve of the puncture device mechanism provided in this embodiment are separable, which facilitates the replacement of different puncture devices or mounting sleeves, improves the practicality of the puncture device mechanism, and reduces the cost of maintenance and replacement. In addition, a locking assembly is provided on the mounting sleeve, and the position of the movable part is restricted or the limit on the movable part is released by installing or removing the sealing member on the puncture device. That is, the puncture device can be fixed to the mounting sleeve by utilizing the structure provided on the puncture device itself, avoiding the need for providing other structures to fix the puncture device, which is conducive to simplifying the structure of the puncture device mechanism. At the same time, it is avoided to set the mounting structure of the puncture device in a clamping shape and avoid the need to provide structures such as springs on the puncture device mechanism, thereby improving the durability and reliability of the puncture device mechanism, ensuring that the puncture device is reliably fixed, and improving the safety of the operation.

[0023] The surgical robot provided by the present invention includes the above-mentioned puncture device mechanism, which can replace different puncture devices or mounting sleeves as needed, thereby improving the practicality of the puncture device mechanism and reducing the cost of maintenance and replacement. In addition, the puncture device can be fixed to the mounting sleeve by utilizing the structure provided on the puncture device itself, avoiding the need to set up other structures to fix the puncture device, which is conducive to simplifying the structure of the surgical robot. At the same time, it is avoided to set the mounting structure of the puncture device in a clamping shape and avoid the need to set springs and other structures on the puncture device mechanism, thereby improving the durability and reliability of the surgical robot, ensuring that the puncture device is reliably fixed, and improving the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the structure of the holding arm and trocar mechanism provided by an embodiment of the present invention;

[0025] Figure 2 1 is a schematic structural diagram of a trocar mechanism provided by an embodiment of the present invention;

[0026] Figure 3 is a cross-sectional view of a trocar mechanism provided by an embodiment of the present invention;

[0027] Figure 4 yes Figure 3 A partial enlarged view of point A in the middle;

[0028] Figure 5 1 is a schematic structural diagram of a trocar provided by an embodiment of the present invention;

[0029] Figure 6 is a structural schematic diagram of a mounting sleeve provided by an embodiment of the present invention;

[0030] Figure 7 is a schematic structural diagram of a locking assembly provided by an embodiment of the present invention;

[0031] Figure 8 is a structural schematic diagram of a trocar mechanism provided by another embodiment of the present invention;

[0032] Figure 9 yes Figure 8 A cross-sectional view of the trocar mechanism;

[0033] Figure 10 yes Figure 8 Schematic diagram of the structure of the mounting sleeve.

[0034] In the picture:

[0035] 10. Arm-holding device;

[0036] 1. Trocar; 11. Sheath; 111. Connecting groove; 12. Sealing element; 121. Step surface; 13. Air valve;

[0037] 2. Mounting sleeve; 21. Accommodating groove; 211. First rotating shaft; 22. Adapter; 23. Connecting groove;

[0038] 3. Locking assembly; 31. Locking piece; 311. Waist-shaped hole; 312. Snap-fit ​​piece; 32. Movable piece; 321. Through rod; 322. Connecting ear; 33. Operating piece; 34. Intermediate piece. DETAILED DESCRIPTION

[0039] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved more clearly, 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 part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0040] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0041] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0042] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0043] This embodiment provides a surgical robot. The surgical robot includes a doctor control terminal and a patient surgical terminal. During surgery, the doctor can control the surgical instruments on the patient surgical terminal using the input handle on the doctor control terminal to perform surgery on the patient. The patient surgical terminal includes a surgical trolley, a surgical arm, and surgical instruments. One end of the surgical arm is used to connect to the surgical trolley, and the other end is equipped with the aforementioned surgical instruments. The patient surgical terminal also includes a puncture mechanism, which is connected to the end of the surgical arm away from the surgical trolley. The puncture mechanism includes a puncture, which is used to penetrate the patient's abdominal wall to form a surgical channel for the surgical instruments to enter.

[0044] Specifically, if Figure 1-3 As shown, the trocar 1 includes a sheath 11 and a seal 12. The sheath 11 is used to form the above-mentioned surgical channel. When the sheath 11 passes through the patient's abdominal wall, the seal 12 is installed at the end of the sheath 11 away from the patient's abdominal cavity. The seal 12 is used to seal the sheath 11, and surgical instruments can pass through the seal 12 and enter the sheath 11.

[0045] Preferably, if Figure 1-Figure 7 As shown, the puncture device mechanism also includes a mounting sleeve 2 and a locking assembly 3. The mounting sleeve 2 is used to connect to the holding arm 10. The sheath 11 is inserted into the mounting sleeve 2, and a receiving groove 21 is formed on the inner side wall of the mounting sleeve 2. The locking assembly 3 is placed in the receiving groove 21. The locking assembly 3 includes a locking member 31 and a movable member 32. One end of the movable member 32 is connected to the locking member 31. The locking member 31 has a locking position in which it extends out of the receiving groove 21 and is detachably connected to the sheath 11, and a retreat position in which it is detached from the sheath 11 and retracted into the receiving groove 21. The movable member 32 can move relative to the mounting sleeve 2 to drive the locking member 31 to switch between the locked position and the retreat position. When the puncture device 1 is mounted on the mounting sleeve 2, the sealing member 12 abuts against the other end of the movable member 32 to limit the position of the movable member 32, thereby restricting the locking member 31 to the locked position. The sealing member 12 is detachably connected to the sheath 11. After the sealing member 12 is separated from the sheath 11, the limit of the movable member 32 is released, and the movable member 32 can move relative to the mounting sleeve 2, thereby driving the locking member 31 to switch between the locking position and the avoidance position, thereby driving the locking member 31 to move from the locking position to the avoidance position, so that the puncture device 1 can be separated from the mounting sleeve 2.

[0046] The trocar mechanism provided in this embodiment includes a trocar 1, a mounting sleeve 2, and a locking assembly 3. The sealing member 12 provided on the trocar 1 abuts against the movable member 32, restricting the position of the movable member 32 and thereby restraining the locking member 31 in the locked position, thereby ensuring a reliable connection between the trocar 1 and the mounting sleeve 2. When the sealing member 12 is removed from the trocar 1, it disengages from the sheath 11, releasing the restraining effect of the sealing member 12 on the movable member 32, allowing the movable member 32 to move relative to the mounting sleeve 2, thereby driving the locking member 31 from the locked position to the escape position, allowing the trocar 1 to be separated from the mounting sleeve 2. The puncture device 1 and the mounting sleeve 2 of the puncture device mechanism provided in this embodiment can be separated, which is convenient for replacing different puncture devices 1 or mounting sleeves 2, thereby improving the practicality of the puncture device mechanism and reducing the cost of maintenance and replacement. In addition, a locking assembly 3 is provided on the mounting sleeve 2, and the position of the movable part 32 is restricted or the limit on the movable part 32 is released by installing or removing the sealing member 12 on the puncture device 1. That is, the puncture device 1 can be fixed to the mounting sleeve 2 by utilizing the structure provided on the puncture device 1 itself, avoiding the need to set other structures to fix the puncture device 1, which is conducive to simplifying the structure of the puncture device mechanism. At the same time, it is avoided to set the mounting structure of the puncture device 1 as a clamp shape, and avoids the need to set springs and other structures on the puncture device mechanism, thereby improving the durability of the puncture device mechanism and the reliability during use, ensuring that the puncture device 1 is reliably fixed, and improving the safety of the operation.

[0047] The surgical robot provided in this embodiment includes the above-mentioned puncture device mechanism, which can replace different puncture devices 1 or mounting sleeves 2 as needed, thereby improving the practicality of the puncture device mechanism and reducing the cost of maintenance and replacement. In addition, the puncture device 1 can be fixed to the mounting sleeve 2 by utilizing the structure provided on the puncture device 1, thereby avoiding the need to set other structures to fix the puncture device 1, which is conducive to simplifying the structure of the surgical robot. At the same time, it is avoided to set the mounting structure of the puncture device in a clamping shape, and avoid the need to set springs and other structures on the puncture device mechanism, thereby improving the durability and reliability of the surgical robot, ensuring that the puncture device 1 is reliably fixed, and improving the safety of the operation.

[0048] In this embodiment, an adapter 22 is provided on the outer wall of the mounting sleeve 2, and the adapter 22 is used to connect with the robotic arm 10. The structure of the adapter 22 can refer to the prior art, which is not the focus of this embodiment and will not be described in detail here.

[0049] In this embodiment, the movable member 32 is movable relative to the mounting sleeve 2 along the axial direction of the mounting sleeve 2. Specifically, one end of the movable member 32 along the axial direction of the mounting sleeve 2 is connected to the locking member 31, and the other end is configured to abut against the sealing member 12. In other embodiments, the movable member 32 may also move relative to the mounting sleeve 2 along other directions, which are not limited here.

[0050] Preferably, the receiving groove 21 extends through the first axial end of the mounting sleeve 2, and the seal 12 is located on one side of the first end of the mounting sleeve 2, that is, the seal 12 is located outside the mounting sleeve 2. The end of the movable member 32, which is used to abut the seal 12, is positioned toward the outside of the receiving groove 21. When the seal 12 is detached from the sheath 11, the movable member 32 can move axially along the mounting sleeve 2 toward the outside of the receiving groove 21, allowing the locking member 31 to move from the locked position to the escape position. This arrangement simplifies the structure inside the mounting sleeve 2, helping to reduce the volume of the mounting sleeve 2. It also facilitates the operator's manipulation of the seal 12 to remove or install the seal 12, simplifies the process of disassembling and assembling the puncture device 1, improves the efficiency of disassembling and assembling the puncture device 1, reduces the operator's fatigue, and helps ensure the safety of the procedure. During the procedure, the first end of the mounting sleeve 2 is positioned away from the patient, and the second end of the mounting sleeve 2, away from the first end, is positioned toward the patient.

[0051] Preferably, at least part of the edge of the sealing member 12 is protruding from the outer wall of the sheath tube 11 , so that a step surface 121 is formed between the sealing member 12 and the sheath tube 11 , and the step surface 121 is used to fit and abut against the movable member 32 .

[0052] In this embodiment, the end surface of the movable member 32 opposite to the locking member 31 is configured to abut against the step surface 121 .

[0053] Furthermore, a snap-fit ​​groove 111 is provided on the side wall of the sheath 11, which is configured to detachably connect with the locking member 31. The locking member 31 can be snapped into or out of the snap-fit ​​groove 111 to achieve a detachable connection between the locking member 31 and the sheath 11. This arrangement simplifies the detachable connection structure between the sheath 11 and the locking assembly 3, reduces the structural complexity of the puncture mechanism, facilitates processing and assembly, and further helps reduce the volume of the mounting sleeve 2.

[0054] In this embodiment, the seal 12 is disc-shaped and is coaxially arranged with the sheath 11. The sheath 11 is coaxially inserted into the mounting sleeve 2, so that the puncture device 1 and the mounting sleeve 2 are coaxially arranged. The outer wall of the sheath 11 is circumferentially aligned with the inner wall of the mounting sleeve 2.

[0055] As a preferred embodiment, the edge of the sealing member 12 protrudes circumferentially from the side wall of the sheath tube 11 to form an annular step surface 121. The engaging groove 111 is an annular groove arranged along the circumference of the sheath tube 11. The above arrangement enables the movable member 32 to abut against any position of the step surface 121, and the locking member 31 to be engaged at any position in the annular groove. Before the operation, when the puncture device 1 is mounted on the mounting sleeve 2, if the sheath tube 11 of the puncture device 1 is accidentally touched, the sheath tube 11 can rotate relative to the mounting sleeve 2, reducing the possibility of scratching the sheath tube 11, ensuring the smoothness of the outer surface of the sheath tube 11, avoiding the sheath tube 11 from scratching the operator or the patient, and ensuring the safety of the operation.

[0056] Among them, other structures of the sealing member 12 and the sheath tube 11 can refer to the existing technology, which is not the focus of protection of this embodiment and will not be described here.

[0057] In this embodiment, a convex ring is coaxially provided at one end of the seal 12 facing the sheath tube 11, an external thread is provided on the outer wall of the convex ring, and an internal thread is provided on the inner wall of the sheath tube 11. The convex ring and the sheath tube 11 are threadedly connected through the above-mentioned external thread and internal thread to achieve a detachable connection between the seal 12 and the sheath tube 11.

[0058] Preferably, the end surface of the movable member 32 distal from the locking member 31 is flush with the first end surface. That is, the end surface of the movable member 32 that abuts the stepped surface 121 is flush with the first end surface of the mounting sleeve 2, so that the stepped surface 121 is in contact with both the end surface of the movable member 32 and the first end surface. Because the sealing member 12 protrudes circumferentially from the sheath 11, and the stepped surface 121 is an annular surface, this arrangement allows the first end surface to support and position the sealing member 12, ensuring that the puncture device 1 and the mounting sleeve 2 are coaxially arranged. This allows the weight of the puncture device 1 to be supported by both the locking assembly 3 and the mounting sleeve 2, preventing the weight of the puncture device 1 from being supported solely by the locking assembly 3. This reduces the possibility of damage to the locking assembly 3, reduces the frequency of replacement of the locking assembly 3 and the mounting sleeve 2, and thus reduces the maintenance cost of the puncture device mechanism. In this embodiment, the inner diameter of the mounting sleeve 2 is uniform, meaning that no structure capable of supporting the sheath 11 is provided on the inner sidewall of the mounting sleeve 2. Therefore, setting the first end surface to support and position the sealing member 12 can also ensure that the trocar 1 is reliably and stably mounted on the mounting sleeve 2, thereby ensuring the structural stability of the trocar mechanism and improving the safety of the operation.

[0059] In other embodiments, the end surface of the movable member 32 away from the locking member 31 may also be arranged to protrude from the first end surface, which is not limited here.

[0060] Furthermore, the trocar 1 includes an air valve 13 connected to the sidewall of the sheath 11. In the prior art, a placement slot is typically provided in a structure such as the mounting sleeve 2. The placement slot extends axially and radially through the mounting sleeve 2, with the air valve 13 positioned within the placement slot. This placement slot limits relative rotation between the trocar 1 and the mounting sleeve 2. Preferably, the air valve 13 is located on the side of the second end of the mounting sleeve 2 away from the first end, that is, there is no limiting structure between the air valve 13 and the mounting sleeve 2. This structural setting avoids the structural relationship between the air valve 13 and the mounting sleeve 2 limiting the rotation of the puncture device 1 relative to the mounting sleeve 2, so that the sheath 11 can rotate relative to the mounting sleeve 2. Before the operation, the possibility of scratching the sheath 11 is reduced, the smoothness of the outer surface of the sheath 11 is ensured, the sheath 11 is avoided from scratching the patient, and the safety of the operation is ensured; at the same time, it also avoids the limiting structure such as the placement groove squeezing the air valve 13, reduces the possibility of damage to the air valve 13 and the puncture device 1, and reduces maintenance costs; in addition, the puncture device 1 can rotate relative to the mounting sleeve 2, adjust the relative position relationship between the air valve 13 and the mounting sleeve 2, and avoid the possibility of interference between the air valve 13 and the patient or other structures. During the operation, since the arm 10 may have motion errors, if the air valve 13 of the puncture device 1 is limited by the placement slot, the puncture device 1 may rotate relative to the patient's abdominal wall, causing secondary damage to the patient. When the puncture device 1 in this embodiment can rotate relative to the mounting sleeve 2, the damage to the patient in the above situation can also be reduced.

[0061] It is understood that when the trocar 1 is mounted on the mounting sleeve 2, the locking member 31 is detachably connected to the side wall of the sheath 11, and the sealing member 12 protrudes circumferentially from the side wall of the sheath 11. The sealing member 12 is located on one side of the first end of the mounting sleeve 2, so that the sealing member 12 acts as a limiter for the movable member 32 and the locking member 31. In other words, the trocar 1 cannot move toward the second end of the mounting sleeve 2 and detach from the mounting sleeve 2. However, since the inner diameter of the mounting sleeve 2 is uniform, it is possible for the trocar 1 to detach from the mounting sleeve 2 from the first end of the mounting sleeve 2.

[0062] As a preferred embodiment, the side wall of the air valve 13 is in contact with the end surface of the second end of the mounting sleeve 2. When the trocar 1 is mounted on the mounting sleeve 2, the above arrangement can further securely fix the trocar 1 to the mounting sleeve 2, preventing the trocar 1 from being separated from the mounting sleeve 2 and ensuring a secure connection between the trocar 1 and the mounting sleeve 2. This improves the structural stability of the trocar mechanism and its reliability during use, thereby facilitating improved surgical safety. Furthermore, the trocar 1 can be secured to the mounting sleeve 2 by utilizing its own structure, thereby avoiding the need for other structures on the mounting sleeve 2 to secure the trocar 1. This further simplifies the structure of the trocar mechanism and reduces its size.

[0063] As a preferred embodiment, a first rotating shaft 211 is disposed within the receiving groove 21 and is perpendicular to the axial direction of the mounting sleeve 2. The locking member 31 is rotatably connected to the first rotating shaft 211, so that the locking member 31 can be switched between a locked position and a retracted position. This structural arrangement enables the locking member 31 to switch between the two positions by rotation, simplifies the structure of the locking assembly 3, and reduces the size of the trocar mechanism.

[0064] In other embodiments, the movable member 32 is provided with an inclined surface that is inclined in both the axial and radial directions relative to the mounting sleeve 2. The inclined surface is in constant contact with the locking member 31, so that when the movable member 32 moves axially along the mounting sleeve 2, the locking member 31 can move radially along the mounting sleeve 2 to switch between the locked position and the avoidance position. The locking member 31 can be spherical, rod-shaped, or other shapes, which are not limited here.

[0065] It is understood that because the movable member 32 can move axially relative to the mounting sleeve 2, the movable member 32 can rotate relative to the locking member 31. As a preferred embodiment, the locking member 31 is provided with a waist-shaped hole 311, and the movable member 32 is provided with a penetrating rod 321. The penetrating rod 321 is inserted into the waist-shaped hole 311 and can slide along the length of the waist-shaped hole 311. This arrangement ensures that the movable member 32 can only move axially relative to the mounting sleeve 2, preventing the movable member 32 from moving radially relative to the mounting sleeve 2. This also prevents the movable member 32 from squeezing the sheath 11 and causing deformation of the sheath 11, thereby ensuring the durability of the puncture device 1 and reducing maintenance costs. In some installation methods of the puncture device 1, before the puncture device 1 is installed, the sealing member 12 of the puncture device 1 is connected to the sheath tube 11 as a whole. At this time, the puncture device 1 needs to be inserted from the first end of the installation sleeve 2. As the sheath tube 11 gradually enters the installation sleeve 2, as the sealing member 12 moves, the movable member 32 gradually moves toward the direction of the locking member 31. Through the setting of the penetration rod 321 and the waist-shaped hole 311, the movable member 32 can be prevented from extending out of the accommodating groove 21, which also prevents the movable member 32 from blocking the sheath tube 11 from entering the installation sleeve 2, thereby ensuring that the puncture device 1 can be smoothly installed in the installation sleeve 2.

[0066] In this embodiment, the dimensions of the through rod 321 and the waist-shaped hole 311 should ensure that the movable member 32 can only move along the axial direction of the mounting sleeve 2 .

[0067] The thickness of the movable member 32 along the radial direction of the mounting sleeve 2 is less than or equal to the radial depth of the accommodating groove 21. In this embodiment, the thickness of the movable member 32 along the radial direction of the mounting sleeve 2 is equal to the radial depth of the accommodating groove 21. The sidewall of the movable member 32, facing away from the axis of the mounting sleeve 2, is aligned with the bottom surface of the accommodating groove 21. The bottom surface of the accommodating groove 21 extends axially along the mounting sleeve 2, guiding the movable member 32 and ensuring axial movement of the movable member 32 along the mounting sleeve 2.

[0068] In this embodiment, a snap-fit ​​member 312 is provided at one end of the locking member 31, and the other end is rotatably connected to the first rotating shaft 211. The waist-shaped hole 311 is provided in the middle of the locking member 31. Two connecting ears 322 are provided on the movable member 32, which protrude toward one end of the locking member 31. The two connecting ears 322 are spaced apart, and the locking member 31 is positioned between the two connecting ears 322. When the locking member 31 is in the locked position and the avoidance position, the snap-fit ​​member 312 is located on the side of the first rotating shaft 211 close to the axis of the mounting sleeve 2, preventing the locking assembly 3 from passing through a strange position during movement. The snap-fit ​​member 312 is always located on the side of the first rotating shaft 211 close to the first end of the mounting sleeve 2.

[0069] Furthermore, the clamping member 312 is spherical, and the distance between the two connecting ears 322 is smaller than the diameter of the clamping member 312. The two connecting ears 322 are located on the side of the movable member 32 away from the axis of the mounting sleeve 2, and the clamping member 312 is located on the side of the two connecting ears 322 closer to the axis of the mounting sleeve 2. This arrangement creates a large accommodating space between the movable member 32 and the connecting ears 322. When the locking member 31 is in the avoidance position, the clamping member 312 is located within the accommodating space, which helps prevent the clamping member 312 from extending out of the accommodating slot 21. This also prevents the clamping member 312 from blocking the sheath 11 from entering the mounting sleeve 2, thereby ensuring that the puncture device 1 can be smoothly installed in the mounting sleeve 2.

[0070] As a preferred embodiment, the locking assembly 3 further includes an operating member 33, which is connected to the movable member 32 and is located outside the mounting sleeve 2. The provision of the operating member 33 facilitates the operator to operate the movable member 32 from outside the mounting sleeve 2, thereby simplifying the operation process and reducing the complexity of moving the movable member 32.

[0071] Preferably, the locking assembly 3 further includes an intermediate member 34, which is connected between the operating member 33 and the movable member 32. One end of the intermediate member 34 is connected to the end of the movable member 32 opposite the locking member 31, and the other end of the intermediate member 34 is connected to the operating member 33. The operating member 33 and the movable member 32 are located on the same side of the intermediate member 34, so that a U-shaped groove is formed between the movable member 32, the operating member 33, and the intermediate member 34. The portion between the bottom surface of the accommodating groove 21 and the outer wall of the mounting sleeve 2 is positioned within the opening of the U-shaped groove, so that at least a portion of the operating member 33 is directly opposite the outer wall of the mounting sleeve 2. It can be understood that the operating part 33 can contact the outer wall of the mounting sleeve 2, limit the position of the movable part 32, and prevent the movable part 32 from extending too far out of the accommodating groove 21 to squeeze the sheath 11 and cause deformation of the sheath 11, thereby ensuring the durability of the puncture device 1 and reducing maintenance costs. It also prevents the movable part 32 from hindering the sheath 11 from detaching from or entering the mounting sleeve 2, ensuring that the puncture device 1 can be smoothly detached from or installed in the mounting sleeve 2.

[0072] In this embodiment, the surface of the operating member 33 facing the outer wall of the installation sleeve 2 is an arcuate surface. The arcuate surface of the operating member 33 is fitted with the outer wall of the installation sleeve 2 to ensure that the movable member 32 can always be placed inside the accommodating groove 21.

[0073] The end of the intermediate member 34 is connected to the end of the movable member 32 away from the axis of the mounting sleeve 2 , so that the sealing member 12 can abut against the end of the movable member 32 close to the axis of the mounting sleeve 2 .

[0074] For ease of understanding, the detailed installation process of the trocar 1 is as follows:

[0075] The first installation method: first, separate the sealing member 12 of the puncture device 1 from the sheath 11, then move the movable member 32 toward the first end of the mounting sleeve 2 so that the locking member 31 is in the avoidance position, and then insert the sheath 11 into the mounting sleeve 2 from the first end or the second end of the mounting sleeve 2, and again move the movable member 32 toward the second end of the mounting sleeve 2 so that the snap-fit ​​member 312 of the locking member 31 is in the locking position in the snap-fit ​​groove 111, and finally install the sealing member 12 on the sheath 11.

[0076] The second installation method: first, move the movable part 32 toward the first end of the mounting sleeve 2 so that the locking part 31 is in the avoidance position, then insert the puncture device 1 into the mounting sleeve 2 from the first end of the mounting sleeve 2, and finally, as the sealing part 12 moves, the movable part 32 moves synchronously toward the second end of the mounting sleeve 2, so that the clamping part 312 of the locking part 31 is in the locking position in the clamping groove 111.

[0077] When the trocar 1 is mounted on the mounting sleeve 2 using the second installation method, the trocar 1 moves axially along the mounting sleeve 2, causing the seal 12 to move, thereby driving the movable member 32 and the locking member 31 to move to the locked position. As the trocar 1 moves axially, the engaging groove 111 on the sheath 11 simultaneously moves. As the engaging groove 111 moves, the locking member 31 gradually rotates until it engages within the engaging groove 111. The edge formed between the engaging groove 111 and the sidewall of the sheath 11 may interfere with the rotation of the locking member 31. Preferably, the outer side of the clip 312 is covered with an elastic layer, which is made of rubber. The elastic layer can be deformed to prevent the edges formed between the clip groove 111 and the side wall of the sheath 11 from interfering with the rotation of the locking member 31, thereby ensuring that the clip 312 can be timely inserted into the clip groove 111; at the same time, the provision of the elastic layer can increase the friction between the clip 312 and the side wall of the clip groove 111, thereby preventing the puncture device 1 from rotating significantly relative to the mounting sleeve 2 during the operation.

[0078] In yet another embodiment, Figures 8-10 As shown, the air valve 13 does not contact the mounting sleeve 2. A connecting groove 23 is defined on the inner sidewall of the first end of the mounting sleeve 2. The connecting groove 23 is arranged circumferentially around the mounting sleeve 2, and the accommodating groove 21 is in communication with the connecting groove 23. The end surface of the movable member 32, which is designed to contact the step surface 121, is coplanar with the bottom surface of the connecting groove 23. The sidewalls of the sealing member 12 are provided with external threads, and the sidewalls of the connecting groove 23 are provided with internal threads. The sealing member 12 and the mounting sleeve 2 are threadedly connected via these internal and external threads. That is, when the trocar 1 is mounted on the mounting sleeve 2 and the locking member 31 is in the locked position, the end of the sealing member 12 is positioned within the connecting groove 23, and the sealing member 12 is threadedly connected to the mounting sleeve 2. The step surface 121 and the end surface of the movable member 32, which are designed to contact the step surface 121, and the bottom surface of the connecting groove 23, are in contact. The above arrangement ensures a reliable connection between the puncture device 1 and the mounting sleeve 2 through the threaded connection between the sealing member 12 and the mounting sleeve 2, thereby reducing the possibility of separation between the puncture device 1 and the mounting sleeve 2, thereby improving the structural stability of the puncture device mechanism and the reliability during use, which is conducive to improving the safety of the operation; at the same time, it also avoids the need to set other structures on the mounting sleeve 2 to fix the puncture device 1, and utilizes the mechanism of the puncture device 1 itself to fix the puncture device 1 on the mounting sleeve 2, further simplifying the structure of the puncture device mechanism and reducing the volume of the puncture device mechanism; in addition, it avoids the air valve 13 from being attached to the end surface of the mounting sleeve 2, reducing the processing requirements of the air valve 13 and the mounting sleeve 2, and helping to reduce production costs.

[0079] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A trocar mechanism, characterized in that: include: A trocar, comprising a sheath and a sealing member, wherein the sealing member is detachably connected to the sheath; A mounting sleeve, used for connecting with the holding arm, the sheath tube is passed through the mounting sleeve, and a receiving groove is provided on the inner side wall of the mounting sleeve; A locking assembly is placed in the receiving groove, the locking assembly includes a locking member and a movable member connected to the locking member at one end, the movable member can move relative to the mounting sleeve to drive the locking member to switch between a locking position extending from the receiving groove and detachably connected to the sheath tube and an avoidance position detached from the sheath tube and retracted into the receiving groove; The sealing member abuts against the other end of the movable member to limit the locking member to the locking position. When the sealing member is configured to be detached from the sheath, the movable member can drive the locking member to move from the locking position to the avoidance position so that the puncture device can be detached from the mounting sleeve.

2. The trocar mechanism according to claim 1, characterized in that: The receiving groove passes through the first axial end of the mounting sleeve, and the sealing member is located on one side of the first end. When the sealing member is separated from the sheath, the movable member can move along the axial direction of the mounting sleeve toward the outside of the receiving groove to move the locking member from the locking position to the avoidance position.

3. The trocar mechanism according to claim 2, characterized in that: The edge of the sealing member protrudes circumferentially from the side wall of the sheath tube to form an annular step surface, and the step surface is used to fit with the movable member. The side wall of the sheath tube is provided with a snap-fit ​​groove along the circumferential direction, and the locking member can be snap-fitted into the snap-fit ​​groove.

4. The trocar mechanism according to claim 3, characterized in that: The end surface of the movable member away from the locking member is flush with the first end surface, and the step surface is in contact with the end surface of the movable member and the first end surface.

5. The trocar mechanism according to claim 2, characterized in that: The puncture device also includes an air valve, which is connected to the side wall of the sheath tube, and is located on a side of the second end of the mounting sleeve away from the first end, and the side wall of the air valve is in contact with the end surface of the second end.

6. The trocar mechanism according to claim 1, characterized in that: The locking assembly also includes an operating member, which is connected to the movable member and is located outside the mounting sleeve.

7. The trocar mechanism according to claim 6, characterized in that: At least part of the operating member is arranged opposite to the outer side wall of the mounting sleeve, and the locking assembly also includes an intermediate member, the accommodating groove passes through the first end of the mounting sleeve along the axial direction, one end of the intermediate member is connected to an end of the movable member opposite to the locking member, and the other end of the intermediate member is connected to the operating member.

8. The trocar mechanism according to claim 1, characterized in that: A clamping groove is provided on the side wall of the sheath tube, and a first rotating shaft perpendicular to the axial direction of the mounting sleeve is provided in the accommodating groove. The locking member is rotatably connected to the first rotating shaft so that the locking member can switch between the locking position clamped in the clamping groove and the avoidance position disengaged from the clamping groove.

9. The trocar mechanism according to claim 8, characterized in that: The locking member is provided with a waist-shaped hole, and the movable member is provided with a penetration rod, which penetrates the waist-shaped hole and can slide along the length direction of the waist-shaped hole.

10. A surgical robot, characterized in that: Comprising the puncture device mechanism as described in any one of claims 1-9.

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