Cannula adapter, surgical robot and identification method of puncture cannula

Abstract

The invention belongs to the technical field of medical instruments, and discloses a cannula adapter, a surgical robot and an identification method of a puncture cannula. The sleeve adapter comprises a shell, an operation piece, a push plate, a positioning ball and a reset piece. The shell is provided with a positioning channel and a mounting opening, the operating part is arranged in the mounting opening, the push plate is connected with the operating part, and the positioning ball is movably arranged in the positioning channel; the reset piece is arranged on the shell and is connected with the push plate; when the operating part is switched from the second state to the first state, the reset part pushes the push plate to slide along the shell, and meanwhile, the push plate pushes the positioning ball to move along the positioning channel and partially enter the joint part of the puncture cannula; when the operating part is switched from the first state to the second state, the operating part drives the push plate to move in the direction away from the puncture cannula. The cannula adapter is simple in structure, the puncture cannula is easy and convenient to disassemble, assemble and fix, and the operation preparation efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a cannula adapter, a surgical robot and a method for identifying a puncture cannula. BACKGROUND

[0002] In the medical technology field, with the continuous innovation and deep integration of medical devices, computer technology and control technology, minimally invasive surgery has been increasingly widely used in clinical treatment due to its small surgical trauma, short postoperative rehabilitation time and low intraoperative pain level. The largest category of minimally invasive surgery robots is the endoscopic surgery robot. The core working principle of this type of robot is to achieve the remote precise control of the lead surgeon on the surgical instruments through the pose mapping relationship between the surgeon console (commonly known as "master hand" in the industry) and the patient surgery platform (commonly known as "slave hand" in the industry). In the preoperative preparation stage of endoscopic surgery, a cannula is first used to open an incision on the wall of the patient's cavity, and a channel is established through the cannula for the endoscope and other surgical instruments to enter the surgical area in the body.

[0003] In related technologies, the cannula is clamped and fixed through a cannula adapter. The existing cannula adapter has poor fixing stability for the cannula, and the fixing structure of the cannula adapter for the cannula is complex, which has a high processing and manufacturing cost. In addition, in the preoperative operation link, the cannula needs to be manually inserted into the incision position of the patient by the doctor or nurse and positioned, and then it is docked with the cannula adapter. However, due to the lack of automatic identification mechanism of the surgical arm for the type of cannula, the doctor or nurse needs to rely on artificial judgment of the adaptability of the cannula type and the adapter in the docking operation, which not only increases the operation burden of the operator, but also has the risk of misoperation caused by artificial judgment errors.

[0004] Therefore, there is an urgent need for a cannula adapter, a surgical robot and a method for identifying a puncture cannula to solve the above technical problems. SUMMARY

[0005] The purpose of the present application is to provide a cannula adapter, a surgical robot and a method for identifying a puncture cannula, which aims to solve the problems of the existing technology that the fixing structure of the cannula adapter for the puncture cannula is complex, the processing and manufacturing cost is high, and the surgical arm cannot automatically identify the puncture cannula. The fixing structure of the cannula adapter, the surgical robot and the method for identifying the puncture cannula is simple, the disassembly and fixing process is simple, and the puncture cannula can be automatically identified, which reduces the operation burden of the operator and avoids misoperation caused by artificial judgment errors.

[0006] To achieve this purpose, the following technical solutions are used in the present application:

[0007] A cannula adapter, comprising:

[0008] A housing is provided with a positioning channel and a mounting opening;

[0009] An operating member is arranged in the mounting opening, and has a first state and a second state;

[0010] A push plate is connected with the operating member;

[0011] A positioning ball is movably arranged in the positioning channel;

[0012] A reset member is arranged on the housing and connected with the push plate; when the operating member is switched from the second state to the first state, the reset member pushes the push plate to slide along the housing, and the push plate pushes the positioning ball to move along the positioning channel and partially enter an engaging portion of a puncture sleeve; when the operating member is switched from the second state to the first state, the operating member drives the push plate to move in a direction away from the puncture sleeve, and pulls the puncture sleeve in a direction away from the sleeve adapter, and the positioning ball is pulled out of the engaging portion.

[0013] In some possible embodiments, the push plate is arranged in a U-shaped structure, a bottom plate of the U-shaped structure is connected with the operating member, and two side plates of the U-shaped structure extend in a direction close to the positioning channel, and an inner side surface of each side plate is sequentially provided with a top surface, a transition surface and a bottom surface from inside to outside.

[0014] In some possible embodiments, when the operating member is in the first state, the positioning ball is in contact with the top surface; and when the operating member is in the second state, the positioning ball is in contact with the transition surface and / or the bottom surface.

[0015] In some possible embodiments, a diameter of the positioning ball is d1, a diameter of one end of the positioning channel close to the push plate is d2, d2≥d1, and a diameter of one end of the positioning channel close to the puncture sleeve is d3, d3

[0016] In some possible embodiments, 0.8×d1≤d3

[0017] In some possible embodiments, the reset member is a spring, the housing is provided with a first channel and a second channel, the first channel is used for accommodating the spring, one end of the spring is connected with the housing, the other end of the spring is connected with the push plate, and a guide shaft is arranged in the second channel, the guide shaft is slidably arranged in the second channel, and one end of the guide shaft is connected with the push plate.

[0018] In some possible embodiments, the shell is provided with an assembly opening corresponding to the positioning channel, the shell further comprises a frame and a cover plate, the frame is installed at the assembly opening, the cover plate is pivotally connected to the outside of the frame, the cover plate is provided with a buckle and a button on the side away from the shell, and the buckle is matched with the matching hole of the spacer sleeve.

[0019] In some possible embodiments, the cannula adapter further comprises a sensor, the shell has a vertical installation surface, the sensor is installed on the vertical installation surface, and the puncture cannula is provided with a magnet corresponding to the sensor on the end face of the cannula adapter.

[0020] In some possible embodiments, the operating member comprises a connecting rod, one end of the connecting rod is pivotally connected to the shell through a first pin shaft, the other end of the operating member is provided with a holding part protruding out of the installation opening, the push plate is connected with the operating member through a second pin shaft, and a shielding piece is protrudingly arranged on the side of the operating member away from the push plate; when the operating member is in the first state, the shielding piece abuts against the shell.

[0021] A surgical robot comprises the cannula adapter and the puncture cannula according to any one of the above solutions, the puncture cannula comprises a cannula body and a cannula joint provided on the cannula body, the cannula joint has an engaging groove, the engaging groove forms the engaging part, when the operating member is in the first state, the cannula joint is inserted into the shell, the positioning ball part enters the engaging groove, the shell is provided with a sensor, and the cannula joint is provided with a magnet corresponding to the sensor.

[0022] In some possible embodiments, the cannula joint is provided with an installation groove, an opening of the installation groove is arranged opposite to the shell, the magnet is installed in the installation groove, the shell has a vertical installation surface, and the sensor is installed on the vertical installation surface.

[0023] In some possible embodiments, a distance adjustment step is arranged on the side wall of the installation groove, the magnet is installed on the distance adjustment step, and an end cover is arranged at the opening of the installation groove.

[0024] In some possible embodiments, the engaging groove comprises two slope surfaces connected by a slope bottom surface, the two slope surfaces are tangent to the positioning ball; the two slope surfaces form a V-shaped structure, and an opening angle of the V-shaped structure is 50°-70°.

[0025] In some possible embodiments, the opening angle of the V-shaped structure is 60°.

[0026] In some possible implementation manners, the surgical robot further comprises a spacer, the spacer comprising a connecting structure and a flexible diaphragm, the flexible diaphragm being arranged between the puncture cannula and the shell, the connecting structure comprising a sleeve frame and a positioning protrusion protruding from the sleeve frame, the flexible diaphragm being bonded to the positioning protrusion, the positioning protrusion being provided with a positioning hole corresponding to the positioning channel, and the positioning hole corresponding to the engaging groove, when the operating member is in the first state, the sleeve frame is detachably sleeved on the shell, the positioning protrusion is inserted into the shell, and the sleeve joint is inserted into the mounting cavity of the positioning protrusion.

[0027] A recognition method of a puncture cannula, applied to recognizing a puncture cannula of a surgical robot, the surgical robot comprising a cannula adapter and the puncture cannula, the cannula adapter comprising a sensor and a shell, the shell having a vertical mounting surface, the sensor being mounted on the vertical mounting surface, and an end surface of the puncture cannula facing the cannula adapter being provided with a magnet corresponding to the sensor, the recognition method comprising:

[0028] The sensor detects a magnetic field strength of the magnet, and outputs a voltage signal according to the magnetic field strength;

[0029] The presence and / or type of the puncture cannula are determined according to the voltage signal.

[0030] The beneficial effects of the present application are as follows:

[0031] The cannula adapter provided by the present application, when the operating member is switched from the second state to the first state, the reset member can push the push plate to slide along the shell, and at the same time, the push plate pushes the positioning ball to move along the positioning channel and partially into the engaging portion of the puncture cannula, so that the cannula adapter and the puncture cannula are locked; when the operating member is switched from the first state to the second state, the operating member drives the push plate to move in a direction away from the puncture cannula, and pulls the puncture cannula in a direction away from the cannula adapter, the positioning ball is pulled out of the engaging portion, so that the cannula adapter and the puncture cannula are unlocked, and the operation is simple; after the positioning ball is pulled out of the engaging portion, the operating member drives the push plate to move, and the reset member can also buffer the impact force of the push plate on the shell, so as to avoid direct collision between the push plate and the shell and damage caused thereby; and the overall structure is simple, since the push plate is arranged at two outer sides of the shell, more available space is left in the cannula adapter, the arrangement of other components (such as the sensor) is facilitated, and the design and part layout difficulty of the overall cannula adapter is reduced.

[0032] The surgical robot provided by the application comprises the sleeve adapter, and by arranging the magnet and the sensor, the sensor detects the magnetic field intensity of the magnet and outputs a voltage signal according to the magnetic field intensity, the type of the puncture sleeve is judged according to the voltage signal and in combination with a preset voltage-puncture sleeve type relationship mapping table, the type of the puncture sleeve does not need to be judged manually, the operation burden of the operator is reduced, and the misoperation caused by the manual judgment error is avoided.

[0033] The identification method of the puncture sleeve provided by the application, the sensor detects the magnetic field intensity of the magnet and outputs a voltage signal according to the magnetic field intensity, the type of the puncture sleeve is judged according to the voltage signal and in combination with a preset voltage-puncture sleeve type relationship mapping table, the type of the puncture sleeve does not need to be judged manually, the operation burden of the operator is reduced, and the misoperation caused by the manual judgment error is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a three-dimensional view of the surgical robot provided by the embodiment of the application;

[0035] Figure 2 is an exploded view of the surgical robot provided by the embodiment of the application;

[0036] Figure 3 is Figure 1 is a sectional view at A-A in FIG. 1;

[0037] Figure 4 is Figure 3 is a partial structural schematic diagram in one perspective view;

[0038] Figure 5 is Figure 4 is a partial enlarged view at C in FIG. 1;

[0039] Figure 6 is a structural schematic diagram of the sleeve adapter when the operating member is in the second state in one perspective view provided by the embodiment of the application;

[0040] Figure 7 is Figure 6 is a sectional view at B-B in FIG. 1;

[0041] Figure 8 is a structural schematic diagram of the sleeve adapter when the operating member is in the second state in another perspective view provided by the embodiment of the application;

[0042] Figure 9 is a structural schematic diagram of the sleeve adapter (the support arm is not shown) when the operating member is in the second state in one perspective view provided by the embodiment of the application;

[0043] Figure 10Figure 8 is a structural schematic diagram of the sleeve adapter (the support arm is not shown) in another perspective view when the operating member is in the second state according to an embodiment of the present application;

[0044] Figure 11 Figure 7 is a structural schematic diagram of the sleeve adapter in a perspective view when the operating member is in the first state according to an embodiment of the present application;

[0045] Figure 12 Figure 6 is a structural schematic diagram of the sleeve adapter in another perspective view when the operating member is in the first state according to an embodiment of the present application;

[0046] Figure 13 Figure 5 is a structural schematic diagram of the sleeve adapter (the support arm is not shown) in a perspective view when the operating member is in the first state according to an embodiment of the present application;

[0047] Figure 14 Figure 4 is a structural schematic diagram of the sleeve adapter (the support arm is not shown) in another perspective view when the operating member is in the first state according to an embodiment of the present application;

[0048] Figure 15 Figure 3 is a structural schematic diagram of the push plate according to an embodiment of the present application;

[0049] Figure 16 Figure 2 is a structural schematic diagram of the operating member according to an embodiment of the present application;

[0050] Figure 17 Figure 1 is a position schematic diagram of the sensor according to an embodiment of the present application;

[0051] Figure 18 Figure 9 is a structural schematic diagram of the shell in a perspective view according to an embodiment of the present application;

[0052] Figure 19 Figure 8 is a structural schematic diagram of the shell in another perspective view according to an embodiment of the present application;

[0053] Figure 20 Figure 7 is an exploded view of the shell, the frame and the cover plate according to an embodiment of the present application;

[0054] Figure 21 Figure 6 is a structural schematic diagram of the stopper on the cover plate according to an embodiment of the present application;

[0055] Figure 22 Figure 5 is a three-dimensional view of the puncture sleeve according to an embodiment of the present application;

[0056] Figure 23 Figure 4 is an exploded view of the puncture sleeve according to an embodiment of the present application;

[0057] Figure 24 Figure 3 is an exploded view of the spacer according to an embodiment of the present application;

[0058] Figure 25 is an exploded view of the spacer sleeve from another perspective provided by an embodiment of the present application;

[0059] Figure 26 is a structural schematic view of the sleeve joint frame provided by an embodiment of the present application;

[0060] Figure 27 is an assembly schematic view of the spacer sleeve provided by an embodiment of the present application.

[0061] In the drawings:

[0062] 10, sleeve adapter; 20, spacer sleeve; 30, puncture sleeve;

[0063] 11, support arm; 111, positioning channel; 112, assembly cavity; 12, assembly opening; 13, assembly hole;

[0064] 2, fixed support; 21, mounting opening; 22, first channel; 23, second channel;

[0065] 3, operating member; 31, connecting rod; 32, first pin shaft; 33, gripping portion; 34, connecting hole; 35, second pin shaft; 36, shielding piece; 37, limiting hole;

[0066] 4, push plate; 41, bottom plate; 411, first fixing groove; 412, second fixing groove; 42, side plate; 421, top surface; 422, transition surface; 423, bottom surface; 43, connecting frame; 431, insertion hole;

[0067] 5, reset member; 6, positioning ball; 7, guide shaft; 8, frame body; 9, cover plate; 91, buckle; 92, button; 93, stop block; 94, shaft hole; 101, compression spring; 102, rotating shaft; 103, sensor; 104, oil-free bushing; 105, PCB board;

[0068] 201, flexible diaphragm; 202, connecting structure; 2021, sleeve joint frame; 20211, matching hole; 20212, bonding surface; 20213, bottom frame plate; 20214, side frame plate; 20215, mounting port; 2022, positioning protrusion; 20221, positioning hole; 20222, mounting cavity;

[0069] 301, sleeve body; 302, sleeve joint portion; 3021, joint groove; 30211, inclined surface; 30212, slope bottom surface; 3022, mounting groove; 3023, distance adjustment step; 3024, weight reduction groove; 303, magnet; 304, end cover. DETAILED DESCRIPTION

[0070] The application will be further described below in conjunction with the drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not to be used to limit the application. In addition, it is to be understood that, for ease of description, only the parts related to the application are shown in the drawings.

[0071] In the description of the application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0072] In the present application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "above" and "on" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "under" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0073] In the description of the present embodiment, the terms "upper", "lower", "right", and the like orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0074] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "part", "part", "module", "assembly" and "element" are used interchangeably.

[0075] The terms "instrument," "surgical instrument," and "surgical instruments" are used herein to describe a medical device configured to be inserted into a patient's body and used to perform a surgical or diagnostic procedure, generally including an end effector. The end effector can be a surgical tool related to one or more surgical operations, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used by embodiments of the present application further provide an articulating support for the surgical tool (sometimes referred to as a "wrist," "joint base") so that the position and / or orientation of the end effector can be flexibly manipulated relative to the instrument shaft in one or more mechanical degrees of freedom. Further, many end effectors include functional mechanical degrees of freedom, such as opening or closing jaws or translating a blade along a particular path. The instruments can also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updatable by the surgical system. Accordingly, the system can provide one-way or two-way communication of information between the instrument and one or more system components.

[0076] The term "cooperate" (sometimes referred to as "connect," "couple," "mount," "fit") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the cooperating objects to operate in conjunction with one another. It should be noted that cooperation does not require direct connection (e.g., direct physical or electrical connection), but rather many objects or components can be used to cooperate two or more objects. For example, objects A and B can cooperate through the use of object C. Further, the term "removably coupled" or "removably cooperate" can be interpreted to mean a non-permanent coupling or cooperating situation between two or more objects. This means that the removably coupled objects can be uncoupled and separated so that they no longer operate in conjunction.

[0077] Finally, the terms "or" and "and / or" as used herein are to be interpreted as inclusive or meaning any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means any of the following: A; B; C; A and B; A and C; B and C; A, B and C. An exception to this definition will occur only when two or more alternatives are inherently mutually exclusive from each other.

[0078] As Figures 1 to 27As shown, the embodiment provides a cannula adapter 10, which comprises a shell, an operating member 3, a push plate 4, a positioning ball 6 and a reset member 5. The shell is provided with a positioning channel 111 and a mounting opening 21, the operating member 3 is arranged in the mounting opening 21, the push plate 4 is connected with the operating member 3, and the positioning ball 6 is movably arranged in the positioning channel 111. It is conceivable that the mounting opening 21 can have various opening shapes, such as square or circular. In addition, when the shell is entirely wrapped with a protective material, it can still be considered that the shell is provided with the mounting opening 21. The reset member 5 is arranged on the shell and connected with the push plate 4. For example, the reset member 5 can abut against the push plate 4, the reset member 5 can directly abut against the push plate 4, or the reset member 5 can indirectly abut against the push plate 4 through an intermediate force transmission component. The operating member 3 has a first state and a second state, wherein when the operating member 3 is switched from the second state to the first state, the reset member 5 pushes the push plate 4 to slide along the shell, and at the same time, the push plate 4 pushes the positioning ball 6 to move along the positioning channel 111 and partially enter the joint part of the puncture cannula 30; when the operating member 3 is switched from the first state to the second state, the operating member 3 drives the push plate 4 to move away from the puncture cannula 30, pulls the puncture cannula 30 away from the cannula adapter 10, and the positioning ball 6 is pulled out of the joint part.

[0079] The cannula adapter 10 provided by the embodiment, by arranging the reset member 5, when the operating member 3 is switched from the second state to the first state, i.e., when the cannula adapter 10 and the puncture cannula 30 are switched from the unlocked state to the locked state, the reset member 5 pushes the push plate 4 to slide along the shell, and at the same time, the push plate 4 pushes the positioning ball 6 to move along the positioning channel 111 and partially enter the joint part of the puncture cannula 30; when the operating member 3 is switched from the first state to the second state, i.e., when the cannula adapter 10 and the puncture cannula 30 are switched from the locked state to the unlocked state, the operating member 3 drives the push plate 4 to move away from the puncture cannula 30, pulls the puncture cannula 30 away from the cannula adapter 10, and the positioning ball 6 is pulled out of the joint part, which is simple and convenient to operate; after the positioning ball 6 is pulled out of the joint part, the operating member 3 drives the push plate 4 to move, and the arrangement of the reset member 5 can also buffer the impact force of the push plate 4 on the shell, avoiding direct collision between the push plate 4 and the shell to cause damage; and the overall structure is simple, since the push plate 4 is arranged at two outer sides of the shell, more available space is left in the cannula adapter 10, which is convenient for arrangement of other components (such as a sensor 103), and reduces the design and part layout difficulty of the whole cannula adapter 10.

[0080] It needs to be particularly pointed out that the positioning ball 6 in the embodiment should be understood in a broad sense, and it is not limited to being a rolling ball. It can be understood that as long as an element can move back and forth in the positioning channel 11 and partially enter the joint part of the puncture cannula 30 to achieve locking of the puncture cannula 30, it can be considered as the positioning ball 6. For example, the positioning ball 6 can have various structural forms such as spherical, ellipsoidal, bullet-shaped or cylindrical.

[0081] Optionally, the reset member 5 is a spring, the housing is provided with a first channel 22 and a second channel 23, the first channel 22 is used for accommodating the spring, one end of the spring is connected with the housing, the other end of the spring is connected with the push plate 4, the second channel 23 is provided with a guide shaft 7, the guide shaft 7 is slidably arranged in the second channel 23, and one end of the guide shaft 7 is connected with the push plate 4. By setting the reset member 5 as a spring, the reset function of the spring only depends on the elastic deformation of itself, without the need for additional connection of air source, power supply or hydraulic system, the structure is simple, and the failure rate is low; the elastic coefficient of the spring is fixed, as long as the deformation is within the elastic limit, the force and speed during reset are consistent, and the problems of insufficient power leading to incomplete reset and excessive power leading to impact do not occur; by setting the second channel 23 and the guide shaft 7, when the reset member 5 pushes the push plate 4 to slide along the housing, the guide shaft 7 plays a guiding role, so that the push plate 4 moves stably and reliably. In other embodiments, the reset member 5 can also be a magnet assembly, a rubber reset column or other elastic members. For example, when the reset member 5 is set as a magnet assembly, a first magnet is installed on the push plate 4, and a second magnet is installed on the housing, or a first magnet is installed on the housing, and a second magnet is installed on the push plate 4, the same magnetic poles of the two magnets are arranged opposite to each other, an repulsion force is generated, and the reset effect is achieved.

[0082] In the embodiment, the housing includes a fixed support 2, one end of the spring is connected with the fixed support 2, the other end of the spring is connected with the push plate 4, the mounting opening 21, the first channel 22 and the second channel 23 are all arranged on the fixed support 2, the first channel 22 is arranged in two, the reset member 5 is arranged in each first channel 22, the second channel 23 is arranged in two groups, each group of the second channel 23 includes two second channels 23 arranged at intervals, the guide shaft 7 is arranged in each second channel 23, the two first channels 22 are respectively located on the two sides of the mounting opening 21, and the two groups of the second channels 23 are respectively located on the two sides of the mounting opening 21, so that the pushing force of the reset member 5 on the push plate 4 is uniform and stable.

[0083] Optionally, the push plate 4 is provided with a first fixing groove 411 for fixing the guide shaft 7 and a second fixing groove 412 for fixing the spring. The first fixing groove 411 and the second fixing groove 412 can play a positioning role, and improve the positioning and guiding accuracy.

[0084] As preferred, an oil-free bushing 104 is arranged between the guide shaft 7 and the second channel 23, the oil-free bushing 104 can automatically release a lubricating component to form a stable lubricating film in the sliding process through built-in solid lubricants (such as graphite, molybdenum disulfide, polytetrafluoroethylene) or self-lubricating material matrix (such as phenolic resin, nylon, polyimide), without manual intervention.

[0085] Optionally, the push plate 4 is arranged in a U-shaped structure, the bottom plate 41 of the U-shaped structure is connected with the operating member 3, and the two side plates 42 of the U-shaped structure extend in directions away from each other, respectively. The inner side of the side plate 42 is sequentially provided with a top surface 421, a transition surface 422 and a bottom surface 423 connected with each other from inside to outside. The push plate 4 arranged in the U-shaped structure is beneficial to processing and manufacturing. The bottom plate 41 of the U-shaped structure is connected with the operating member 3, and the side plate 42 of the U-shaped structure is in action with the positioning ball 6. The connection of the bottom plate 41 and the operating member 3 enables the pulling force of the operating member 3 to be stably transmitted in the movement direction of the push plate 4, avoids the inclination or jamming of the push plate 4, and ensures the stable and reliable action process of the push plate 4.

[0086] In a possible implementation, the shell includes a support arm 11 having an assembly cavity corresponding to the push plate 4 arranged in a U-shaped structure, and two groups of positioning channels 111 corresponding to the two opposite side walls of the assembly cavity are arranged, respectively. Each group of the positioning channels 111 includes a plurality of positioning channels 111 arranged at intervals, and each positioning channel 111 is provided with a positioning ball 6. The two groups of the positioning channels 111 correspond to the two side plates 42 of the push plate 4, respectively. Such an arrangement can effectively improve the locking stability of the cannula adapter 10 and the puncture cannula 30.

[0087] Further, when the operating member 3 is in the first state, i.e., the cannula adapter 10 and the puncture cannula 30 are locked, the positioning ball 6 is in contact with the top surface 421 and is fixed in the limiting space formed by the top surface 421, the positioning channel 111 and the joint. When the operating member 3 is in the second state, i.e., the cannula adapter 10 and the puncture cannula 30 are unlocked, the positioning ball 6 is in contact with the transition surface 422 and / or the bottom surface 423. When the operating member 3 is in the first state, the positioning ball 6 partially enters the joint of the puncture cannula 30 and is limited in the limiting space formed by the top surface 421, the positioning channel 111 and the joint, so that the cannula adapter 10 and the puncture cannula 30 are locked. When the operating member 3 is in the second state, the positioning ball 6 is out of the joint and is limited in the limiting space formed by the transition surface 422 and / or the bottom surface 423 and the positioning channel 111, so as to avoid being out of the positioning channel 111 and improve the use reliability. Illustratively, when the cannula adapter 10 and the puncture cannula 30 are unlocked, the positioning ball 6 can be in contact with the transition surface 422 and be limited by the transition surface 422 and the positioning channel 111; or the positioning ball 6 can be in contact with the bottom surface 423 and be limited by the bottom surface 423 and the positioning channel 111; or the positioning ball 6 can be in contact with both the transition surface 422 and the bottom surface 423 and be limited by the transition surface 422, the bottom surface 423 and the positioning channel 111. It can be understood that which of the above situations occurs depends on the specific size relationship of the positioning ball 6, the transition surface 422 and the bottom surface 423. As long as the positioning ball 6 is in contact with any one of them and can be completely out of the joint of the puncture cannula 30 without being out of the positioning channel 11, the situation is acceptable.

[0088] As shown in Figure 5 d1 (d1 = 2R1), the diameter of the positioning channel 111 near the one end of the push plate 4 is d2, d2≥d1, and the diameter of the positioning channel 111 near the one end of the puncture cannula 30 is d3, d3

[0089] d3 < d1. In this way, when the operating member 3 is in the first state, i.e., the cannula adapter 10 and the puncture cannula 30 are locked, the positioning ball 6 can only partially enter the joint; at the same time, the operating member 3 is prevented from being in the second state, i.e., the cannula adapter 10 and the puncture cannula 30 are unlocked, and the positioning ball 6 is pulled out from the one end of the positioning channel 111 near the puncture cannula 30; in addition, by setting d2≥d1, when the operating member 3 is in the second state, under the pushing force of the puncture cannula 30, part of the positioning ball 6 is pulled out from the joint and enters the transition surface 422 and / or the bottom surface 423 and / or the limiting space formed by the positioning channel 111. It should be noted that after the positioning ball 6 enters the transition surface 422 and / or the bottom surface 423 and / or the limiting space formed by the positioning channel 111, the positioning ball 6 can still move freely, and the movable range of the positioning ball 6 is only in the transition surface 422 and / or the bottom surface 423 and / or the limiting space formed by the positioning channel 111.

[0090] As shown in Figure 16 In this embodiment, the operating member 3 includes a connecting rod 31, one end of the connecting rod 31 is pivoted to the housing through a first pin shaft 32, the other end of the operating member 3 is provided with a holding portion 33 protruding from the mounting opening 21, the push plate 4 is connected to the operating member 3 through a second pin shaft 35, and the side of the operating member 3 away from the push plate 4 is provided with a shielding piece 36. When the operating member 3 is in the first state, the shielding piece 36 abuts against the housing. By providing the holding portion 33, the holding portion 33 establishes a stable human-machine connection, improving the convenience and comfort of operation; by providing the shielding piece 36, the shielding piece 36 can shield the internal components of the cannula adapter 10, prevent dust from entering the interior of the cannula adapter 10, and at the same time, improve the aesthetics; when the operating member 3 is in the first state, the shielding piece 36 can assist in limiting the operating member 3.

[0091] Optionally, the operating member 3 is provided with a connecting hole 34 extending through the thickness direction. The wall of the connecting hole 34 has two opposing limiting holes 37 extending along the width direction of the operating member 3. The two ends of the second pin 35 pass through the two limiting holes 37 respectively. A connecting frame 43 protrudes from the U-shaped base plate 41. The connecting frame 43 has an insertion hole 431, which is inserted into the connecting hole 34, and the second pin 35 passes through the insertion hole 431. This arrangement improves the connection stability between the push plate 4 and the operating member 3, while ensuring that the pulling force of the operating member 3 is stably transmitted along the movement direction of the push plate 4, preventing the push plate 4 from tilting or jamming, and ensuring a stable and reliable operation of the push plate 4.

[0092] Preferably, the sheath adapter 10 also includes a sensor 103. The housing has a vertical mounting surface, and the sensor 103 is mounted on the vertical mounting surface. The vertical mounting surface has mounting holes 13 for mounting a magnet 303. A magnet 303 corresponding to the sensor 103 is provided on the end face of the puncture sheath 30 facing the sheath adapter 10. By setting the magnet 303 and the sensor 103, the sensor 103 detects the magnetic field strength of the magnet 303 and outputs a voltage signal based on the magnetic field strength. Based on the voltage signal, combined with a preset voltage-puncture sheath 30 type relationship mapping table, the presence and / or type of the puncture sheath 30 is determined. This eliminates the need for manual judgment of the type of the puncture sheath 30, reduces the operator's workload, and avoids misoperation caused by human error.

[0093] like Figure 20 As shown, in this embodiment, the support arm 11 is provided with an assembly opening 12 corresponding to the positioning channel 111. The housing also includes a frame 8 and a cover plate 9. The frame 8 is installed at the assembly opening 12, and the cover plate 9 is pivotally connected to the outside of the frame 8. A buckle 91 and a button 92 are provided on the side of the cover plate 9 away from the support arm 11. By providing the assembly opening 12, it is easy to install the positioning ball 6 into the positioning channel 111. By providing the buckle 91, the buckle 91 engages with the mating hole 20211 of the spacer 20, so that the spacer 20 is snapped into the sleeve adapter 10, making assembly simple. By providing the button 92, when the button 92 is pressed, the cover plate 9 rotates relative to the frame 8 towards the support arm 11, and at the same time, the buckle 91 disengages from the mating hole 20211, so that the spacer 20 and the sleeve adapter 10 are separated, making operation simple.

[0094] Preferably, a compression spring 101 is provided between the cover plate 9 and the support arm 11, and a stop block 93 is provided on the side of the cover plate 9 near the support arm. One end of the compression spring 101 is connected to the support arm 11, and the other end of the compression spring 101 is connected to the stop block 93. The stop block 93 is provided to prevent the cover plate 9 from rotating relative to the frame 8 away from the support arm 11 under the action of the compression spring 101.

[0095] Optionally, a shaft hole 94 is provided on the cover plate 9, and the cover plate 9 is pivotally connected to the frame 8 through a rotating shaft 102 passing through the shaft hole 94, which makes assembly simple.

[0096] Optionally, the cannula adapter 10 further comprises a PCB board 105 installed on the shell and used for storing information.

[0097] The embodiment further provides a surgical robot, comprising the cannula adapter 10 and the puncture cannula 30, the puncture cannula 30 comprising a cannula body 301 and a cannula joint 302 arranged on the cannula body 301, the cannula joint 302 having a joint groove 3021, the joint groove 3021 forming a joint part, the operating member 3 being in the first state, the cannula joint 302 being inserted into the shell, the positioning ball 6 partially entering the joint groove 3021, the shell being provided with the sensor 103, and the cannula joint 302 being provided with the magnet 303 corresponding to the sensor 103.

[0098] The surgical robot provided by the embodiment comprises the cannula adapter 10, and the magnet 303 and the sensor 103 are arranged, the sensor 103 detects the magnetic field intensity of the magnet 303 and outputs a voltage signal according to the magnetic field intensity, the type of the puncture cannula 30 is determined according to the voltage signal and a preset voltage-puncture cannula 30 type relationship mapping table, manual determination of the type of the puncture cannula 30 is not needed, the operation burden of an operator is reduced, and misoperation caused by manual determination error is avoided.

[0099] Optionally, the cannula joint 302 is provided with a mounting groove 3022, an opening of the mounting groove 3022 is arranged opposite to the shell, the magnet 303 is installed in the mounting groove 3022, the shell has a vertical mounting surface, and the sensor 103 is installed on the vertical mounting surface. When the cannula joint 302 is inserted into the shell, the sensor 103 detects the magnetic field intensity of the magnet 303 and outputs a voltage signal according to the magnetic field intensity, the type of the puncture cannula 30 is determined according to the voltage signal and a preset voltage-puncture cannula 30 type relationship mapping table, manual determination of the type of the puncture cannula 30 is not needed, the operation burden of an operator is effectively reduced, and the occupied space of the cannula joint 302 is reduced by installing the magnet 303 in the mounting groove 3022.

[0100] As preferred, the side wall of the installation groove 3022 is provided with a distance adjustment step 3023, the magnet 303 is installed on the distance adjustment step 3023, and an end cover 304 is arranged at the opening of the installation groove 3022. By installing the magnets 303 with different magnetic field strengths on the distance adjustment steps 3023 with different heights, the presence and / or type of the puncture cannula 30 can be determined according to the voltage signal based on the result of the Hall effect generated by the sensor 103; by arranging the end cover 304 for covering the opening of the installation groove 3022, the magnet 303 is positioned and protected, and the influence of high-temperature disinfection and sterilization on the magnet 303 can be avoided. Exemplarily, three height distance adjustment steps 3023 with heights of H1, H2 and H3 are arranged, and three magnets 303 with magnetic field strengths of M1, M2 and M3 are arranged, and then nine combination modes of H1+M1, H1+M2, H1+M3, H2+M1, H2+M2, H2+M3, H3+M1, H3+M2 and H3+M3 are included, and then each combination mode corresponds to a different voltage signal, and each voltage signal corresponds to a different type of puncture cannula 30. Of course, the above example is an extreme case, and it can be understood that the distance and the magnetic field strength of the magnet will ultimately affect the size of the voltage signal, so the combination of the two may appear the same voltage signal size, and in actual setting, this situation needs to be avoided, and generally, the number of types of puncture cannula 30 is also limited, which is basically within 5, and therefore, the above mode is fully sufficient for use.

[0101] Optionally, the joint groove 3021 includes two slope surfaces 30211 connected by a slope bottom surface 30212, the two slope surfaces 30211 are tangent to the positioning ball 6, and the two slope surfaces 30211 form a V-shaped structure, and the opening angle of the V-shaped structure is 50°-70°. If the opening angle of the V-shaped structure is too large, the direction of the force applied to the positioning ball 6 by the opening will change, the positioning ball 6 will generate a larger reaction force on the push plate 4, the positioning ball 6 will not be deep enough when entering the opening, and the positioning ball 6 will be in an unstable state in the V-shaped structure. If the surgical robot is slightly collided by external force or has lateral vibration during work, the positioning ball 6 is easy to be pulled out of the V-shaped structure, resulting in locking failure. If the opening angle of the V-shaped structure is too small, the direction of the force applied to the positioning ball 6 by the opening will also change, but the positioning ball 6 will be difficult to be pulled out of the opening, and the positioning ball 6 is easy to be stuck when pulled out of the joint groove 3021, the operation experience is not good, and the flexible diaphragm 201 of the spacer 20 on the surgical robot is easy to be damaged.

[0102] As preferred, the opening angle of the V-shaped structure is 60°. In this way, the stability of the positioning ball 6 can be ensured, and the puncture cannula 30 can be easily taken out.

[0103] Optionally, the sleeve joint 302 is provided with a plurality of lightening grooves 3024 to reduce the overall weight, facilitate the reliability of the sleeve adapter 10, and reduce the difficulty of controlling the robotic surgical arm and the overall cost of materials.

[0104] In the embodiment, the surgical robot further comprises a spacer 20, the spacer 20 comprises a connecting structure 202 and a flexible diaphragm 201, the flexible diaphragm 201 is arranged between the puncture sleeve 30 and the housing, the connecting structure 202 comprises a sleeve frame 2021 and a positioning protrusion 2022 protruding from the sleeve frame 2021, and the flexible diaphragm 201 is sleeved on the positioning protrusion 2022. For example, the flexible diaphragm 201 can be arranged on the positioning protrusion 2022 by adhesion or by ultrasonic welding. The positioning protrusion 2022 is provided with a positioning hole 20221 corresponding to the positioning channel 111, and the positioning hole 20221 corresponds to the engagement groove 3021. When the operating member 3 is in the first state, that is, when the sleeve adapter 10 and the puncture sleeve 30 are locked, the sleeve frame 2021 can be detachably arranged on the housing, the positioning protrusion 2022 is inserted into the housing, and the sleeve joint 302 is inserted into the mounting cavity 20222 of the connecting structure 202. After the puncture sleeve 30 is inserted into the housing, the flexible diaphragm 201 can be deformed and fitted into the engagement groove 3021 of the sleeve joint 302, and will not affect the positioning ball 6 entering the engagement groove 3021. By arranging the spacer 20, the spacer 20 can form a sterile barrier between the puncture sleeve 30 and the sleeve adapter 10. The connecting structure 202 can be directly injection molded, and the processing and manufacturing cost is low. The surface shape of the flexible diaphragm 201 is simple, the overall hardness is uniform and consistent, the structure is simple, and the manufacturing cost is low.

[0105] As a preferred, the shape of the mounting cavity 20222 matches the shape of the sleeve joint 302, so that after the sleeve joint 302 is inserted into the mounting cavity 20222, the engagement groove 3021 corresponds to the middle position of the side surface of the flexible diaphragm 201 as much as possible. When the positioning ball 6 presses the flexible diaphragm 201, the flexible diaphragm 201 is more likely to deform, reducing the resistance to the positioning ball 6, facilitating the positioning ball 6 to enter the engagement groove 3021, and reducing the force requirement of the reset member 5, so that the operator can more easily operate the operating member 3. In addition, the flexible diaphragm 201 is easy to deform, so it is not easy to be damaged, and the requirement for the flexible diaphragm 201 is also reduced. See Figure 24The sleeve frame 2021 comprises a bottom frame plate 20213 and a plurality of side frame plates 20214 protruding from the periphery of the bottom frame plate 20213. The side frame plates 20214 and the positioning protrusion 2022 are arranged on the same side of the bottom frame plate 20213, and the plurality of side frame plates 20214 surround the periphery of the positioning protrusion 2022. One of the side frame plates 20214 has a width greater than that of the remaining side frame plates 20214. The remaining side frame plates 20214 include two parallel side frame plates 20214, and the two side frame plates 20214 correspond to the two assembly openings 12 respectively. The two side frame plates 20214 are provided with two matching holes 20211 respectively, and the two matching holes 20211 correspond to the two buckles of the cover plate 9 respectively. By setting the width of one side frame plate 20214 to be greater than that of the remaining side frame plates 20214, the side frame plate 20214 can correspond to the assembly position of the shell, and can indicate the assembly direction between the sleeve frame 2021 and the shell, thereby avoiding misoperation. In the embodiment, the bottom frame plate 20213 is square, and the bottom frame plate 20213 is provided with four side frame plates 20214 connected to each other. The mounting cavity 20222 is arranged on the positioning protrusion 2022, and the bottom frame plate 20213 has a mounting opening 20215 corresponding to the mounting cavity 20222. The shape of the mounting opening 20215 matches the shape of the sleeve joint portion 302.

[0106] Preferably, the side of the sleeve frame 2021 away from the positioning protrusion 2022 has an adhesive surface 20212. Since the function of the spacer 20 is to form a sterile barrier to isolate the sterile puncture sleeve 30 and the non-sterile sleeve adapter 10, the surgical arm sterile cover is adhered to the adhesive surface 20212 to prevent bacteria and contaminants on the surface of the surgical arm from entering the sterile environment.

[0107] The embodiment also provides an identification method of the puncture sleeve 30, which is applied to identifying the puncture sleeve 30 of a surgical robot. The surgical robot comprises a sleeve adapter 10 and a puncture sleeve 30. The sleeve adapter 10 comprises a sensor 103 and a shell. The sensor 103 is mounted on a vertical mounting surface of the shell. The end surface of the puncture sleeve 30 facing the sleeve adapter 10 is provided with a magnet 303 corresponding to the sensor 103. The identification method comprises the following steps:

[0108] The sensor 103 detects the magnetic field strength of the magnet 303 and outputs a voltage signal according to the magnetic field strength.

[0109] The voltage signal is used to determine the presence and / or type of the puncture sleeve 30.

[0110] Exemplarily, the magnetic field strength includes M1, M2 and M3; M1 corresponds to the voltage signal in the range of a-b, the puncture cannula 30 is of type A; M2 corresponds to the voltage signal in the range of c-d, the puncture cannula 30 is of type B; M3 corresponds to the voltage signal in the range of e-f, the puncture cannula 30 is of type C. When there is no voltage signal, it indicates that there is no puncture cannula 30.

[0111] The identification method of the puncture cannula 30 of the embodiment detects the magnetic field strength of the magnet 303 by the sensor 103 and outputs a voltage signal according to the magnetic field strength, judges the type of the puncture cannula 30 according to the voltage signal and in combination with a preset voltage-puncture cannula 30 type relationship mapping table, does not need to manually judge the type of the puncture cannula 30, reduces the operation burden of the operator and avoids the misoperation caused by the manual judgment error.

[0112] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the implementation modes of the present application. For those skilled in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present application. Here, it is unnecessary and impossible to enumerate all the implementation modes. Any modification, equivalent substitution and improvement within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A ferrule adapter, characterized by, The application relates to a safety needle device, which comprises the following parts: a shell provided with a positioning channel (111) and a mounting opening (21); an operating member (3) arranged in the mounting opening (21), wherein the operating member (3) has a first state and a second state; a push plate (4) connected with the operating member (3); a positioning ball (6) movably arranged in the positioning channel (111); a reset member (5) arranged on the shell and connected with the push plate (4), wherein when the operating member (3) is switched from the second state to the first state, the reset member (5) pushes the push plate (4) to slide along the shell, and meanwhile the push plate (4) pushes the positioning ball (6) to move along the positioning channel (111) and partially enter an engaging part of a puncture sleeve (30); when the operating member (3) is switched from the first state to the second state, the operating member (3) drives the push plate (4) to move in a direction away from the puncture sleeve (30).

2. The cannula adapter of claim 1, wherein, The push plate (4) is arranged in a U-shaped structure, the bottom plate (41) of the U-shaped structure is connected with the operating member (3), and the two side plates (42) of the U-shaped structure are respectively arranged to extend towards the positioning channel (111), and the inner side of the side plate (42) is sequentially provided with a top surface (421), a transition surface (422) and a bottom surface (423) from inside to outside and connected with each other.

3. The cannula adapter of claim 2, wherein, When the operating member (3) is in the first state, the positioning ball (6) is in contact with the top surface (421); when the operating member (3) is in the second state, the positioning ball (6) is in contact with the transition surface (422) and / or the bottom surface (423).

4. The cannula adapter of claim 1, wherein, The diameter of the positioning ball (6) is d1, the diameter of one end of the positioning channel (111) close to the push plate (4) is d2, d2>=d1, and the diameter of one end of the positioning channel (111) close to the puncture sleeve (30) is d3, d3 5. The cannula adapter of claim 4, wherein, 0.8xd1<=d3 6. The cannula adapter of claim 1, wherein, The reset member (5) is a spring, the shell is provided with a first channel (22) and a second channel (23), the first channel (22) is used for accommodating the spring, one end of the spring is connected with the shell, the other end of the spring is connected with the push plate (4), the second channel (23) is provided with a guide shaft (7), the guide shaft (7) is slidably arranged in the second channel (23), and one end of the guide shaft (7) is connected with the push plate (4).

7. The cannula adapter of claim 1, wherein, The shell is provided with an assembly opening (12) corresponding to the positioning channel (111), the shell further comprises a frame (8) and a cover plate (9), the frame (8) is arranged at the assembly opening (12), the cover plate (9) is pivotally connected to the outer side of the frame (8), the side, away from the shell, of the cover plate (9) is provided with a buckle (91) and a button (92), and the buckle (91) is matched with a matching hole (20211) of a spacer (20).

8. The cannula adapter of claim 1, wherein, The sleeve adapter further comprises a sensor (103), the housing has a vertical mounting surface, the sensor (103) is mounted on the vertical mounting surface, and the puncture sleeve (30) is provided with a magnet (303) corresponding to the sensor (103) facing the end surface of the sleeve adapter.

9. The cannula adapter of claim 1, wherein, The operating member (3) comprises a connecting rod (31), one end of the connecting rod (31) is pivotally connected to the housing through a first pin shaft (32), the other end of the operating member (3) is provided with a gripping portion (33) protruding out of the mounting opening (21), the push plate (4) is connected with the operating member (3) through a second pin shaft (35), and a shielding piece (36) is protrudingly arranged on the side of the operating member (3) away from the push plate (4), and the shielding piece (36) abuts against the housing when the operating member (3) is in the first state.

10. A surgical robot, characterised in that, The sleeve adapter and the puncture sleeve (30) are provided, the puncture sleeve (30) comprises a sleeve body (301) and a sleeve joint (302) provided on the sleeve body (301), the sleeve joint (302) has a joint groove (3021), the joint groove (3021) forms the joint portion, the sleeve joint (302) is inserted into the housing when the operating member (3) is in the first state, the positioning ball (6) partially enters the joint groove (3021), the housing is provided with a sensor (103), and the sleeve joint (302) is provided with a magnet (303) corresponding to the sensor (103).

11. The surgical robot of claim 10, wherein, The sleeve joint (302) is provided with a mounting groove (3022), an opening of the mounting groove (3022) faces the housing, the magnet (303) is mounted in the mounting groove (3022), and the housing has a vertical mounting surface, and the sensor (103) is mounted on the vertical mounting surface.

12. The surgical robot of claim 11, wherein, A side wall of the mounting groove (3022) is provided with a distance adjusting step (3023), the magnet (303) is mounted on the distance adjusting step (3023), and an end cover (304) is arranged at the opening of the mounting groove (3022).

13. The surgical robot of claim 10, wherein, The joint groove (3021) comprises two slope surfaces (30211) connected by a slope bottom surface (30212), the two slope surfaces (30211) are tangent to the positioning ball (6), and the two slope surfaces (30211) form a V-shaped structure, and an opening angle of the V-shaped structure is 50°-70°.

14. The surgical robot of claim 13, wherein, The opening angle of the V-shaped structure is 60°.

15. The surgical robot of claim 10, wherein, The surgical robot also comprises a spacer sleeve (20), the spacer sleeve (20) comprising a connecting structure (202) and a flexible diaphragm (201), the flexible diaphragm (201) being arranged between the puncture sleeve (30) and the housing, the connecting structure (202) comprising a sleeve frame (2021) and a positioning protrusion (2022) protruding from the sleeve frame (2021), the flexible diaphragm (201) being bonded to the positioning protrusion (2022), the positioning protrusion (2022) being provided with a positioning hole (20221) corresponding to the positioning channel (111), and the positioning hole (20221) corresponding to the engagement groove (3021), when the operating member (3) is in the first state, the sleeve frame (2021) can be detachably sleeved on the housing, the positioning protrusion (2022) is inserted into the housing, and the sleeve joint (302) is inserted into the mounting cavity (20222) of the positioning protrusion (2022).

16. A method of identifying a puncture cannula, characterized by The application is applied to the identification of a puncture sleeve (30) of a surgical robot, the surgical robot comprising a sleeve adapter and the puncture sleeve (30), the sleeve adapter comprising a sensor (103) and a housing, the housing having a vertical mounting surface, the sensor (103) being mounted on the vertical mounting surface, the end surface of the puncture sleeve (30) facing the sleeve adapter being provided with a magnet (303) corresponding to the sensor (103), the identification method comprising: The sensor (103) detects the magnetic field strength of the magnet (303), and outputs a voltage signal according to the magnetic field strength; According to the voltage signal, the presence and / or type of the puncture sleeve (30) is determined.

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