Piercer mechanism and surgical robot

Abstract

This invention relates to the field of surgical robot technology, and discloses a trocar mechanism and a surgical robot. The trocar mechanism includes a trocar, a mounting sleeve, and a locking assembly. The trocar includes a sheath and a seal; a receiving groove is formed on the inner wall of the mounting sleeve, through which the sheath passes; the locking assembly includes 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 locked position extending out of the receiving groove and detachably connected to the sheath, and a clearance position disengaged from the sheath; the seal restricts the locking member in the locked position, and when the seal disengages from the sheath, the trocar can detach from the mounting sleeve. This invention enables the trocar to be separated from the mounting sleeve, and utilizes the structure inherent in the trocar itself to fix the trocar to the mounting sleeve, simplifying the structure of the trocar mechanism.

Description

Technical Field

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

[0002] Surgical robots are widely used in the medical field. A surgical robot consists of a surgeon's control unit and a patient's surgical unit. The patient's surgical unit includes a surgical arm used to mount surgical instruments. During surgery, the surgeon controls the surgical instruments via input handles on the surgeon's control unit. One end of the surgical arm is connected to a trolley, and the other end is equipped with a trocar mechanism. The trocar mechanism includes a mounting component and a trocar body. The trocar body passes through the patient's abdomen, allowing surgical instruments to be inserted into the abdominal cavity. The trocar body is connected to the mounting component, which in turn connects to the surgical arm.

[0003] In some existing technologies, such as the one disclosed in Chinese Patent CN117796906A, the mounting component is integrated with the trocar body. When the trocar mechanism is damaged, the trocar body or the mounting component cannot be replaced separately, resulting in high maintenance costs. Furthermore, it prevents the replacement of trocars of different sizes according to actual needs, affecting the practicality of the trocar mechanism. In other existing technologies, such as the one disclosed in Chinese Patent CN116098712A, the mounting component is designed as an openable and closable clamping structure, allowing for the assembly and disassembly of the trocar body and the mounting component through the opening and closing of the clamping structure. However, the above structure is relatively complex, and the clamp-like mounting component cannot reliably secure the trocar, affecting the safety of the surgery.

[0004] Therefore, 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 purpose of this invention is to provide a puncture device mechanism and a surgical robot, which enables the puncture device to be separated from the mounting sleeve, and the puncture device can be fixed to the mounting sleeve by utilizing the structure on the puncture device itself, thus simplifying the structure of the puncture device mechanism.

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

[0007] The puncture device mechanism includes:

[0008] A puncture device, comprising a sheath and a seal, the seal being detachably connected to the sheath;

[0009] A mounting sleeve is used to connect with the holding arm. The sheath passes through the mounting sleeve, and a receiving groove is provided on the inner side wall of the mounting sleeve.

[0010] 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 is movable relative to the mounting sleeve to drive the locking member to switch between a locking position that extends out of the receiving groove and is detachably connected to the sheath and a clearance position that disengages from the sheath and retracts into the receiving groove.

[0011] The seal abuts against the other end of the movable member to restrict the locking member to the locked position. When the seal is configured to disengage from the sheath, the movable member can move the locking member from the locked position to the clearance position so that the puncture device can disengage from the mounting sleeve.

[0012] As an optional technical solution for the puncture device mechanism, the receiving groove extends through the first end of the mounting sleeve along the axial direction, the seal is located on one side of the first end, and when the seal is configured to disengage from the sheath, the movable member can move outward along the axial direction of the mounting sleeve toward the receiving groove, so that the locking member moves from the locking position to the avoidance position.

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

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

[0015] As an optional technical solution for the puncture device mechanism, the puncture device further includes an air valve, which is connected to the side wall of the sheath. The air valve is located on the side 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 for the puncture device mechanism, the locking assembly further includes an operating member connected to the movable member, the operating member being located outside the mounting sleeve.

[0017] As an optional technical solution for the puncture device mechanism, at least part of the operating member is disposed opposite to the outer side wall of the mounting sleeve. The locking assembly also includes an intermediate member. The receiving groove passes through the first end of the mounting sleeve along the axial direction. One end of the intermediate member is connected to the end of the moving member opposite to the locking member. The other end of the intermediate member is connected to the operating member.

[0018] As an optional technical solution for the puncture device mechanism, a snap-fit ​​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 receiving groove. The locking member is rotatably connected to the first rotating shaft so that the locking member can switch between the locking position snapped into the snap-fit ​​groove and the avoidance position disengaged from the snap-fit ​​groove.

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

[0020] Surgical robots, including the puncture device mechanism described above.

[0021] The beneficial effects of this invention are:

[0022] The puncture device mechanism provided by this invention includes a puncture device, an installation sleeve, and a locking assembly. A sealing element on the puncture device abuts against a movable component, restricting the position of the movable component and thus confining the locking component to a locked position. This ensures a reliable connection between the puncture device and the installation sleeve. When the sealing element is removed from the puncture device, it disengages from the sheath, releasing its limiting effect on the movable component. This allows the movable component to move relative to the installation sleeve, thereby moving the locking component from the locked position to an avoidance position, allowing the puncture device to disengage from the installation sleeve. The trocar mechanism provided in this embodiment allows for the separation of the trocar and the mounting sleeve, facilitating the replacement of different trocars or mounting sleeves. This improves the practicality of the trocar mechanism and reduces maintenance and replacement costs. Furthermore, a locking component is provided on the mounting sleeve, and the position of the moving part is restricted or released by installing or removing the seal on the trocar. In other words, the trocar can be fixed to the mounting sleeve using its own built-in structure, avoiding the need for additional structures to fix the trocar. This simplifies the structure of the trocar mechanism and avoids using a clamp-like mounting structure or incorporating springs or other structures. This improves the durability and reliability of the trocar mechanism, ensuring reliable fixation of the trocar and enhancing surgical safety.

[0023] The surgical robot provided by this invention includes the aforementioned trocar mechanism, which can replace different trocars or installation sleeves as needed, improving the practicality of the trocar mechanism and reducing maintenance and replacement costs. Moreover, the trocar can be fixed to the installation sleeve using its own structure, avoiding the need for other structures to fix the trocar, thus simplifying the structure of the surgical robot. It also avoids setting the installation structure of the trocar as a clamp and avoids setting springs or other structures on the trocar mechanism, improving the durability and reliability of the surgical robot, ensuring reliable fixation of the trocar, and improving the safety of the surgery. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the holding arm and puncture device mechanism provided in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the puncture device mechanism provided in an embodiment of the present invention;

[0026] Figure 3 This is a cross-sectional view of the puncture device mechanism provided in an embodiment of the present invention;

[0027] Figure 4 yes Figure 3 A magnified view of a section at point A in the middle;

[0028] Figure 5 This is a schematic diagram of the puncture device provided in an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of the structure of the mounting sleeve provided in an embodiment of the present invention;

[0030] Figure 7 This is a schematic diagram of the structure of the locking component provided in an embodiment of the present invention;

[0031] Figure 8 This is a schematic diagram of the puncture device mechanism provided in another embodiment of the present invention;

[0032] Figure 9 yes Figure 8 A cross-sectional view of the puncture device mechanism in the middle;

[0033] Figure 10 yes Figure 8 A schematic diagram of the installation sleeve.

[0034] In the picture:

[0035] 10. Weapon-holding arm;

[0036] 1. Puncture instrument; 11. Sheath; 111. Snap-fit ​​groove; 12. Seal; 121. Stepped surface; 13. Air valve;

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

[0038] 3. Locking assembly; 31. Locking element; 311. Waist-shaped hole; 312. Snap-fit ​​element; 32. Moving element; 321. Through rod; 322. Connecting ear; 33. Operating element; 34. Intermediate element. Detailed Implementation

[0039] 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.

[0040] 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.

[0041] 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.

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

[0043] This embodiment provides a surgical robot. The surgical robot includes a doctor's control end and a patient's surgical end. During the operation, the doctor can control the surgical instruments on the patient's surgical end to perform surgical procedures on the patient via an input handle on the doctor's control end. The patient's surgical end includes a surgical cart, a surgical arm, and surgical instruments. One end of the surgical arm is connected to the surgical cart, and the other end is equipped with the surgical instruments. The patient's surgical end also includes a trocar mechanism connected to the end of the surgical arm away from the surgical cart. The trocar mechanism includes a trocar for penetrating the patient's abdominal wall to form a surgical channel for the surgical instruments to enter.

[0044] Specifically, such as Figure 1-3 As shown, the trocar 1 includes a sheath 11 and a seal 12. The sheath 11 forms the surgical channel described above. 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 seals the sheath 11, and surgical instruments can pass through the seal 12 into the sheath 11.

[0045] Preferably, such as Figures 1-7 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. A sheath 11 passes through 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 that extends out of the receiving groove 21 and is detachably connected to the sheath 11, and a clearance position that disengages from the sheath 11 and retracts into the receiving groove 21. The movable member 32 can move relative to the mounting sleeve 2 to switch the locking member 31 between the locking position and the clearance 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 restrict the position of the movable member 32, thereby restricting the locking member 31 to the locking position. The sealing member 12 is detachably connected to the sheath 11. After the seal 12 is disengaged from the sheath 11, the limit of the movable part 32 is released, and the movable part 32 can move relative to the mounting sleeve 2, which can drive the locking part 31 to switch between the locking position and the avoidance position, thereby enabling the locking part 31 to move from the locking position to the avoidance position so that the puncture tool 1 can be disengaged from the mounting sleeve 2.

[0046] The puncture device mechanism provided in this embodiment includes a puncture device 1, an mounting sleeve 2, and a locking assembly 3. A sealing element 12 on the puncture device 1 abuts against a movable element 32, restricting the position of the movable element 32 and thus limiting the locking element 31 to a locked position, ensuring a reliable connection between the puncture device 1 and the mounting sleeve 2. When the sealing element 12 is removed from the puncture device 1, it disengages from the sheath 11, releasing its limiting effect on the movable element 32. This allows the movable element 32 to move relative to the mounting sleeve 2, thereby moving the locking element 31 from the locked position to an avoidance position, allowing the puncture device 1 to disengage from the mounting sleeve 2. The trocar mechanism provided in this embodiment allows for the separation of the trocar 1 and the mounting sleeve 2, facilitating the replacement of different trocars 1 or mounting sleeves 2. This improves the practicality of the trocar mechanism and reduces maintenance and replacement costs. Furthermore, a locking component 3 is provided on the mounting sleeve 2, and the position of the movable part 32 is restricted or the restriction on the movable part 32 is released by installing or removing the seal 12 on the trocar 1. In other words, the trocar 1 can be fixed to the mounting sleeve 2 using its own structure, avoiding the need for other structures to fix the trocar 1. This simplifies the structure of the trocar mechanism and avoids setting the mounting structure of the trocar 1 as a clamp, as well as the need for springs or other structures on the trocar mechanism. This improves the durability and reliability of the trocar mechanism during use, ensuring reliable fixation of the trocar 1 and enhancing the safety of the surgery.

[0047] The surgical robot provided in this embodiment includes the aforementioned puncture device mechanism, which can replace different puncture devices 1 or mounting sleeves 2 as needed. This improves the practicality of the puncture device mechanism and reduces maintenance and replacement costs. Moreover, the puncture device 1 can be fixed to the mounting sleeve 2 using its own structure, avoiding the need for other structures to fix the puncture device 1. This simplifies the structure of the surgical robot and avoids setting the mounting structure of the puncture device as a clamp, as well as avoiding the need for springs or other structures on the puncture device mechanism. This improves the durability and reliability of the surgical robot, ensures reliable fixation of the puncture device 1, and enhances the safety of the surgery.

[0048] In this embodiment, an adapter 22 is provided on the outer wall of the mounting sleeve 2, which is used to connect with the holding arm 10. The structure of the adapter 22 can refer to the prior art and is not the focus of this embodiment, so it 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 used to abut against the sealing member 12. In other embodiments, the movable member 32 may also move relative to the mounting sleeve 2 in other directions, which is not limited here.

[0050] Preferably, the receiving groove 21 extends through the first end of the mounting sleeve 2 along the axial direction, and the sealing element 12 is located on one side of the first end of the mounting sleeve 2, that is, the sealing element 12 is located on the outside of the mounting sleeve 2. The end of the movable element 32 that abuts against the sealing element 12 is positioned towards the outside of the receiving groove 21. When the sealing element 12 is disengaged from the sheath 11, the movable element 32 can move along the axial direction of the mounting sleeve 2 towards the outside of the receiving groove 21, so that the locking element 31 can move from the locked position to the avoidance position. The above configuration simplifies the structure of the inner side of the mounting sleeve 2, which is beneficial to reducing the volume of the mounting sleeve 2. It also facilitates the operator's operation of the sealing element 12, enabling the disassembly or installation of the sealing element 12. This simplifies the process of disassembling and assembling the trocar 1, improves the efficiency of disassembling and assembling the trocar 1, reduces operator fatigue, and helps ensure the safety of the operation. During the operation, the first end of the mounting sleeve 2 is positioned away from the patient, and the second end of the mounting sleeve 2, which is away from the first end, is positioned towards the patient.

[0051] Preferably, at least a portion of the edge of the seal 12 protrudes from the outer wall of the sheath 11, so that a stepped surface 121 is formed between the seal 12 and the sheath 11, the stepped surface 121 being used to fit and abut against the movable member 32.

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

[0053] Furthermore, a snap-fit ​​groove 111 is provided on the side wall of the sheath 11, which is used for detachable connection with the locking member 31. The locking member 31 can snap into or disengage from the snap-fit ​​groove 111 to achieve a detachable connection between the locking member 31 and the sheath 11. The above-mentioned configuration makes the detachable connection structure between the sheath 11 and the locking assembly 3 relatively simple, reduces the structural complexity of the puncture device mechanism, facilitates processing and assembly, and further helps to reduce the volume of the mounting sleeve 2.

[0054] In this embodiment, the sealing element 12 is disc-shaped and coaxially arranged with the sheath tube 11. The sheath tube 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 tube 11 and the inner wall of the mounting sleeve 2 are circumferentially fitted.

[0055] As a preferred embodiment, the edge of the seal 12 protrudes circumferentially from the sidewall of the sheath 11 to form an annular stepped surface 121. The locking groove 111 is an annular groove circumferentially formed along the sheath 11. This configuration allows the movable member 32 to abut against any position on the stepped surface 121, and the locking member 31 to engage at any position within the annular groove. Before surgery, when the trocar 1 is installed on the mounting sleeve 2, if the sheath 11 of the trocar 1 is accidentally touched, the sheath 11 can rotate relative to the mounting sleeve 2, reducing the possibility of scratching the sheath 11, ensuring the smoothness of the outer surface of the sheath 11, preventing the sheath 11 from scratching the operator or patient, and ensuring the safety of the surgery.

[0056] The other structures of the seal 12 and the sheath 11 can be referred to in the prior art and are not the focus of protection in this embodiment, so they will not be described in detail here.

[0057] In this embodiment, a convex ring is coaxially provided at one end of the seal 12 facing the sheath 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 11. The convex ring and the sheath 11 are threadedly connected through the external and internal threads to achieve a detachable connection between the seal 12 and the sheath 11.

[0058] Preferably, the end face of the movable member 32 away from the locking member 31 is flush with the first end face, that is, the end face of the movable member 32 used to fit against the stepped surface 121 is flush with the first end face of the mounting sleeve 2, so that the stepped surface 121, the end face of the movable member 32, and the first end face are all in contact. Since the sealing member 12 protrudes circumferentially from the stepped surface 121 of the sheath tube 11 in an annular shape, the first end face can support and position the sealing member 12, ensuring that the puncture device 1 and the mounting sleeve 2 are coaxially arranged, so that the weight of the puncture device 1 can be supported by the locking component 3 and the mounting sleeve 2 together, avoiding the weight of the puncture device 1 being supported only by the locking component 3, reducing the possibility of damage to the locking component 3, reducing the replacement frequency of the locking component 3 and the mounting sleeve 2, and thus reducing the maintenance cost of the puncture device mechanism. In this embodiment, the inner diameter of the mounting sleeve 2 is a constant diameter, that is, the inner sidewall of the mounting sleeve 2 is not provided with a structure that can support the sheath tube 11. Therefore, by setting the first end face to have the function of supporting and positioning the sealing element 12, it is also possible to ensure that the puncture device 1 is reliably and stably installed on the mounting sleeve 2, thus ensuring the structural stability of the puncture device mechanism and improving the safety of the operation.

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

[0060] Furthermore, the puncture device 1 also includes an air valve 13, which is connected to the side wall of the sheath 11. In the prior art, a placement groove is usually provided on the structure such as the mounting sleeve 2. The placement groove extends axially along the mounting sleeve 2 and passes through it radially, with the air valve 13 placed within the placement groove. That is, the placement groove restricts the relative rotation between the puncture device 1 and the mounting sleeve 2. Preferably, the air valve 13 is located on the second end of the mounting sleeve 2 away from the first end, meaning there is no limiting structure between the air valve 13 and the mounting sleeve 2. This structure avoids the structural relationship between the air valve 13 and the mounting sleeve 2 restricting the rotation of the trocar 1 relative to the mounting sleeve 2, allowing the sheath 11 to rotate relative to the mounting sleeve 2. Before surgery, this reduces the possibility of scratching the sheath 11, ensures the smoothness of the outer surface of the sheath 11, avoids the sheath 11 scratching the patient, and ensures the safety of the surgery. At the same time, it also avoids limiting structures such as the placement groove squeezing the air valve 13, reducing the possibility of damage to the air valve 13 and the trocar 1, and reducing maintenance costs. In addition, the trocar 1 can rotate relative to the mounting sleeve 2, adjusting the relative positional relationship between the air valve 13 and the mounting sleeve 2, avoiding the possibility of the air valve 13 interfering with the patient or other structures. During the operation, due to the possible motion error of the holding arm 10, if the air valve 13 of the trocar 1 is limited by the placement groove, the trocar 1 may rotate relative to the patient's abdominal wall, causing secondary injury to the patient. In this embodiment, when the trocar 1 can rotate relative to the mounting sleeve 2, the injury to the patient in the above situation can also be reduced.

[0061] Understandably, when the puncture device 1 is installed on the mounting sleeve 2, since 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, with the sealing member 12 located on one side of the first end of the mounting sleeve 2, the sealing member 12 limits the movement of the movable member 32 and the locking member 31. In other words, the puncture device 1 cannot move towards the second end of the mounting sleeve 2 and disengage from it. However, since the inner diameter of the mounting sleeve 2 is constant, the puncture device 1 may disengage from the first end of the mounting sleeve 2.

[0062] As a preferred embodiment, the side wall of the air valve 13 is fitted to the end face of the second end of the mounting sleeve 2. When the trocar 1 is installed on the mounting sleeve 2, the above-mentioned arrangement can further reliably fix the trocar 1 on the mounting sleeve 2, preventing the trocar 1 from detaching from the mounting sleeve 2, ensuring a reliable connection between the trocar 1 and the mounting sleeve 2, thereby improving the structural stability and reliability of the trocar mechanism and enhancing the safety of the surgery; at the same time, it avoids setting other structures on the mounting sleeve 2 to fix the trocar 1, using the trocar 1's own mechanism to fix the trocar 1 on the mounting sleeve 2, further simplifying the structure of the trocar mechanism and reducing its size.

[0063] As a preferred embodiment, a first rotating shaft 211 perpendicular to the axis of the mounting sleeve 2 is provided in the receiving groove 21, and the locking member 31 is rotatably connected to the first rotating shaft 211 so that the locking member 31 can switch between a locking position and a clearance position. The above structural configuration allows the locking member 31 to switch between the two positions by rotation, which simplifies the structure of the locking assembly 3 and reduces the size of the puncture device mechanism.

[0064] In other embodiments, the movable member 32 is provided with an inclined surface, which is inclined to both the axial and radial directions of the mounting sleeve 2. The inclined surface is always in contact with the locking member 31, so that when the movable member 32 moves along the axial direction of the mounting sleeve 2, the locking member 31 can move along the radial direction of the mounting sleeve 2, thereby switching between the locked position and the avoidance position. The locking member 31 may be spherical, rod-shaped, or other shapes, and is not limited thereto.

[0065] Understandably, since the movable part 32 can move axially relative to the mounting sleeve 2, it can also rotate relative to the locking part 31. As a preferred embodiment, the locking part 31 has a slotted hole 311, and the movable part 32 is provided with a through rod 321, which passes through the slotted hole 311 and can slide along the length of the slotted hole 311. This arrangement ensures that the movable part 32 can only move axially relative to the mounting sleeve 2, preventing radial movement and thus avoiding deformation of the sheath 11 caused by the movable part 32 pressing against it. This ensures the durability of the puncture device 1 and reduces maintenance costs. In some installation methods of the puncture device 1, before installation, the sealing element 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, the movable part 32 gradually moves towards the locking part 31 as the sealing element 12 moves. Through the setting of the through rod 321 and the waist-shaped hole 311, the movable part 32 can be prevented from extending out of the receiving groove 21, thus preventing the movable part 32 from stopping the sheath tube 11 from entering the installation sleeve 2, thereby ensuring that the puncture device 1 can be smoothly installed into 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 part 32 can only move along the axial direction of the mounting sleeve 2.

[0067] The thickness of the movable part 32 along the radial direction of the mounting sleeve 2 is less than or equal to the depth of the receiving groove 21 along the radial direction of the mounting sleeve 2. In this embodiment, the thickness of the movable part 32 along the radial direction of the mounting sleeve 2 is equal to the depth of the receiving groove 21 along the radial direction of the mounting sleeve 2. The side wall of the movable part 32 opposite to the axis of the mounting sleeve 2 is fitted to the bottom surface of the receiving groove 21. The bottom surface of the receiving groove 21 extends along the axial direction of the mounting sleeve 2, which can guide the movable part 32 and ensure that the movable part 32 moves axially along the mounting sleeve 2.

[0068] In this embodiment, one end of the locking member 31 is provided with a snap-fit ​​member 312, and the other end is rotatably connected to the first rotating shaft 211. The locking member 31 has the aforementioned waist-shaped hole 311 in its middle. The movable member 32 protrudes from one end toward the locking member 31 and is provided with two connecting ears 322, which 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 clearance position, the snap-fit ​​member 312 is always located on the side of the first rotating shaft 211 closest to the axis of the mounting sleeve 2, preventing the locking assembly 3 from passing through unusual positions during movement. Furthermore, the snap-fit ​​member 312 is always located on the side of the first rotating shaft 211 closest to the first end of the mounting sleeve 2.

[0069] Furthermore, the locking member 312 is spherical, and the distance between the two connecting ears 322 is less than the diameter of the locking 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 locking member 312 is located on the side of the two connecting ears 322 closer to the axis of the mounting sleeve 2. With the above arrangement, a large receiving space is formed between the movable member 32 and the connecting ears 322. When the locking member 31 is in the avoidance position, the locking member 312 is within the receiving space, which helps to prevent the locking member 312 from extending out of the receiving groove 21, and thus prevents the locking member 312 from stopping the sheath tube 11 from entering the mounting sleeve 2, thereby ensuring that the puncture device 1 can be smoothly installed into the mounting sleeve 2.

[0070] As a preferred embodiment, the locking assembly 3 further includes an operating element 33, which is connected to the movable element 32 and located on the outside of the mounting sleeve 2. By providing the operating element 33, it is convenient for the operator to move the movable element 32 from the outside of the mounting sleeve 2, simplifying the operation process and reducing the complexity of moving the movable element 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 to 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 the movable member 32, the operating member 33, and the intermediate member 34 can form a U-shaped groove. The portion between the bottom surface of the receiving groove 21 and the outer side wall of the mounting sleeve 2 is placed in the opening of the U-shaped groove, so that at least a portion of the operating member 33 is directly opposite the outer side wall of the mounting sleeve 2. Understandably, the operating part 33 can contact the outer wall of the mounting sleeve 2, restricting the position of the movable part 32, preventing the movable part 32 from extending too far out of the receiving groove 21 and squeezing the sheath tube 11, causing the sheath tube 11 to deform, thus ensuring the durability of the puncture device 1, reducing maintenance costs, and also preventing the movable part 32 from obstructing the sheath tube 11 from detaching from or entering the mounting sleeve 2, ensuring that the puncture device 1 can be smoothly detached from or installed into the mounting sleeve 2.

[0072] In this embodiment, the surface of the operating member 33 opposite to the outer wall of the mounting sleeve 2 is an arc-shaped surface. The arc-shaped surface of the operating member 33 is fitted to the outer wall of the mounting sleeve 2 to ensure that the movable member 32 can always be placed inside the receiving groove 21.

[0073] The end of the intermediate member 34 is connected to the side of the end of the movable member 32 away from the axis of the mounting sleeve 2, so that the seal 12 can abut against the side of 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 puncture device 1 is as follows:

[0075] The first installation method is as follows: First, separate the seal 12 of the puncture device 1 from the sheath 11. Then, move the movable part 32 towards the first end of the mounting sleeve 2 so that the locking part 31 is in the avoidance position. Then, insert the sheath 11 into the mounting sleeve 2 from the first or second end. Next, move the movable part 32 towards the second end of the mounting sleeve 2 so that the locking part 312 is in the locking position in the locking groove 111. Finally, install the seal 12 on the sheath 11.

[0076] The second installation method: First, move the movable part 32 to the first end of the mounting sleeve 2 so that the locking part 31 is in the avoidance position. Then, insert the piercing tool 1 into the mounting sleeve 2 from the first end of the mounting sleeve 2. Finally, as the sealing part 12 moves, the movable part 32 moves synchronously to the second end of the mounting sleeve 2 so that the locking part 312 of the locking part 31 is in the locking position in the locking groove 111.

[0077] When the puncture device 1 is installed onto the mounting sleeve 2 using the second installation method, as the puncture device 1 moves axially along the mounting sleeve 2, the sealing element 12 moves, thereby driving the movable element 32 and the locking element 31 to move, causing the locking element 31 to move to the locked position. As the puncture device 1 moves axially, the locking groove 111 on the sheath 11 moves simultaneously. During the movement of the locking groove 111, the locking element 31 gradually rotates until it engages within the locking groove 111. The edge formed between the locking groove 111 and the side wall of the sheath 11 may interfere with the rotation of the locking element 31. Preferably, the outer side of the snap-fit ​​member 312 is covered with an elastic layer made of rubber. The elastic layer is deformable, which prevents the edge formed between the snap-fit ​​groove 111 and the side wall of the sheath 11 from interfering with the rotation of the locking member 31, and ensures that the snap-fit ​​member 312 can be snapped into the snap-fit ​​groove 111 in time. At the same time, the elastic layer can increase the friction between the snap-fit ​​member 312 and the side wall of the snap-fit ​​groove 111, and prevent the trocar 1 from rotating significantly relative to the installation sleeve 2 during the operation.

[0078] In yet another embodiment, such as Figures 8-10 As shown, the air valve 13 does not contact the mounting sleeve 2. A connecting groove 23 is provided on the inner wall of the first end of the mounting sleeve 2, circumferentially surrounding the mounting sleeve 2, and the receiving groove 21 communicates with the connecting groove 23. The movable member 32 is used to contact the end face of the stepped surface 121, which is coplanar with the bottom surface of the connecting groove 23. The side wall of the sealing member 12 is provided with external threads, and the side wall of the connecting groove 23 is provided with internal threads. The sealing member 12 and the mounting sleeve 2 are threadedly connected through the aforementioned internal and external threads. That is, when the puncture device 1 is installed on the mounting sleeve 2 and the locking member 31 is in the locked position, the end of the sealing member 12 is placed in the connecting groove 23, and the sealing member 12 is threadedly connected to the mounting sleeve 2. The stepped surface 121 and the end face of the movable member 32 that contacts the stepped surface 121 and the bottom surface of the connecting groove 23 are both in contact. The above-mentioned configuration, through the threaded connection between the sealing element 12 and the mounting sleeve 2, ensures a reliable connection between the puncture device 1 and the mounting sleeve 2, reducing the possibility of the puncture device 1 detaching from the mounting sleeve 2. This improves the structural stability and reliability of the puncture device mechanism, thus enhancing the safety of the surgery. It also avoids the need for other structures to fix the puncture device 1 on the mounting sleeve 2, using the puncture device 1's own mechanism to fix it to the mounting sleeve 2, further simplifying the structure of the puncture device mechanism and reducing its size. Furthermore, it avoids the air valve 13 from being in contact with the end face of the mounting sleeve 2, reducing the processing requirements for the air valve 13 and the mounting sleeve 2, and thus reducing production costs.

[0079] 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 mechanism, characterized in that, include: A puncture device, comprising a sheath and a seal, the seal being detachably connected to the sheath; A mounting sleeve is used to connect with the holding arm. The sheath passes 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 is movable relative to the mounting sleeve to drive the locking member to switch between a locking position that extends out of the receiving groove and is detachably connected to the sheath and a clearance position that disengages from the sheath and retracts into the receiving groove. The seal abuts against the other end of the movable member to restrict the locking member to the locked position. When the seal is configured to disengage from the sheath, the movable member can move the locking member from the locked position to the clearance position so that the puncture device can disengage from the mounting sleeve. The sheath has a snap-fit ​​groove on its side wall, and a first rotating shaft perpendicular to the axis of the mounting sleeve is provided in the receiving groove. The locking member is rotatably connected to the first rotating shaft so that the locking member can switch between the locking position snapped into the snap-fit ​​groove and the clearance position disengaged from the snap-fit ​​groove. The locking member has a waist-shaped hole, and the movable member has a through rod that passes through the waist-shaped hole and can slide along the length of the waist-shaped hole.

2. The puncture device mechanism according to claim 1, characterized in that, The receiving groove extends through the first end of the mounting sleeve along the axial direction, the seal is located on one side of the first end, and when the seal is configured to disengage from the sheath, the movable member can move outward along the axial direction of the mounting sleeve toward the receiving groove, so that the locking member moves from the locking position to the clearance position.

3. The puncture device mechanism according to claim 2, characterized in that, The edge of the seal protrudes circumferentially from the side wall of the sheath to form an annular stepped surface, which is used to fit against the movable part. A snap-fit ​​groove is provided circumferentially on the side wall of the sheath, and the locking part can snap into the snap-fit ​​groove.

4. The puncture device mechanism according to claim 3, characterized in that, The end face of the movable component away from the locking component is flush with the first end face, and the stepped surface is in contact with the end face of the movable component and the first end face.

5. The puncture device 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. The air valve is located on the side 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.

6. The puncture device mechanism according to claim 1, characterized in that, The locking assembly further includes an operating element connected to the movable element and located on the outside of the mounting sleeve.

7. The puncture device mechanism according to claim 6, characterized in that, At least a portion of the operating member is disposed opposite to the outer side wall of the mounting sleeve. The locking assembly further includes an intermediate member. The receiving groove passes through the first end of the mounting sleeve along the axial direction. One end of the intermediate member is connected to the end of the movable member opposite to the locking member. The other end of the intermediate member is connected to the operating member.

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

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