A puncture device for a surgical robot

Abstract

This invention relates to the field of implantable medical device technology, specifically to a surgical robot trocar, comprising a trocar body, a robot docking bayonet, a sealing assembly, an inflation valve, and a depth adjustment and quick-release mechanism. The sealing assembly is fixedly connected to one side of the trocar body, the inflation valve is fixedly connected to one side of the sealing assembly, and the robot docking bayonet is engaged with one side of the trocar body via the depth adjustment and quick-release mechanism, which is located on one side of the trocar body. This invention provides a surgical robot trocar with a disposable design, eliminating cross-infection at the source; a split structure that balances high precision and low cost, significantly reducing surgical costs; multiple seals to ensure pneumoperitoneum stability; convenient assembly and disassembly adjustment; a customizable bayonet with a QR code; high adaptability and intelligence; and no risk of displacement or dislodgement during surgery.

Description

Technical Field

[0001] This invention relates to the field of implantable medical device technology, specifically a puncture device for surgical robots. Background Technology

[0002] As is well known, the trocar is a core medical device used in laparoscopic surgery to create an abdominal cavity passage, achieve a closed and isolated abdominal cavity, and ensure the safe entry and exit of surgical instruments. In robot-assisted laparoscopic surgery, the trocar needs to be equipped with a special bayonet structure that matches the end effector of the surgical robot's robotic arm to achieve precise docking, positioning, and transmission between the robotic arm and the trocar.

[0003] The existing technologies have the following problems: 1. Due to the extremely high precision requirements and high manufacturing costs of the slit structure, the industry generally designs them as reusable medical devices. Incomplete sterilization during reuse can easily lead to cross-infection during surgery, posing a medical safety hazard; 2. Traditional reusable trocars are integrated structures that cannot be disassembled and separated. The slit and the main body of the trocar cannot be replaced separately, resulting in high costs per use; 3. Due to limitations in processing technology, disposable trocars cannot meet both the requirements for high-precision slit matching and low-cost mass production. There are currently no mature disposable, high-precision, detachable slit-equipped trocar products. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides a trocar for surgical robots, which solves the problems of easy cross-infection from reuse of existing robotic surgical trocars, high usage costs due to the inability to disassemble the trocar and the main body, and the difficulty in balancing accuracy and mass production costs with disposable trocars. At the same time, it achieves precise adjustment of puncture depth and rapid disassembly and assembly of the trocar, improving the convenience of clinical operation and surgical safety.

[0006] (II) Technical Solution

[0007] The above-mentioned technical objective of the present invention is achieved through the following technical solution: a surgical robot trocar, comprising a trocar body, a robot docking bayonet, a sealing component, an air injection valve, and a depth adjustment and quick disassembly mechanism, wherein the sealing component is fixedly connected to one side of the trocar body, the air injection valve is fixedly connected to one side of the sealing component, and the robot docking bayonet is engaged with one side of the trocar body through the depth adjustment and quick disassembly mechanism, wherein the depth adjustment and quick disassembly mechanism is disposed on one side of the trocar body.

[0008] By adopting the above technical solution, through the design of a split structure and a disposable aseptic design, the robot docking bayonet and the puncture tube body can be detachably connected through a depth adjustment and quick disassembly mechanism. This not only meets the high-precision docking requirements of the surgical robot arm, but also enables the bayonet and the main body to be processed separately and assembled quickly. At the same time, it eliminates the risk of cross-infection caused by reuse from the source, and takes into account medical safety, docking accuracy and usage cost.

[0009] The present invention is further configured such that: the sealing assembly includes an upper housing, a lower housing, an air-blocking valve, a sealing valve, a support tube, and a sealing ring; the upper housing is snapped onto one side of the lower housing; the air-blocking valve is disposed on one side of the cavity formed by the upper housing and the lower housing; the support tube is disposed on one side of the air-blocking valve; the sealing valve is sleeved on one side of the support tube; and the sealing ring is snapped onto one side of the lower housing.

[0010] By adopting the above technical solution, a multi-component sealing structure is set up to integrate the dual sealing effects of one-way valve sealing and annular lip sealing. This allows the system to adapt to surgical instruments of different diameters while ensuring the pneumoperitoneum pressure maintenance requirements of laparoscopic surgery, achieving a leak-free and leak-free sealing effect.

[0011] The invention is further configured such that: the upper shell includes an upper shell body, an ear protrusion, an upper shell center hole, and a snap-fit ​​hole; the ear protrusions are symmetrically arranged on both sides of the outer wall of the upper shell body; the upper shell center hole is opened through the center of the upper shell body; and the snap-fit ​​hole is opened on one side of the middle of the ear protrusion. The lower shell includes a lower shell body, a lower shell center hole, a positioning post, a stop, and a sealing ring positioning groove; the lower shell center hole is opened through the center of the lower shell body; the positioning post is inserted into the inner side of the ear protrusion; the snap-fit ​​is snapped into the inner side of the snap-fit ​​hole; the stop cooperates with the flange of the puncture tube body to achieve end face sealing; and the sealing ring positioning groove is used to install the sealing ring.

[0012] By adopting the above technical solution, the upper and lower shells are precisely positioned and securely locked by setting the insertion and engagement of the positioning post and the lug, and the snap-fit ​​and snap-fit ​​hole, ensuring the assembly accuracy and structural stability of the sealing component, and avoiding air leakage problems caused by assembly gaps.

[0013] The present invention is further configured such that: the puncture tube body is a hollow tubular structure, including a central hole of the puncture tube body, a flange, a tube body, anti-slip texture, a first depth mark, a second depth mark, a third depth mark, a limiting block, a slot, and a through hole for the movable limiting block; the flange is fitted to the stop of the lower shell; the slot is a T-shaped groove or a dovetail groove structure and is opened on one side of the tube body; the anti-slip texture and multiple depth marks are set on the outer wall of the tube body; and the through hole for the limiting block and the movable limiting block are adapted to the depth adjustment and quick disassembly / reassembly mechanism.

[0014] By adopting the above technical solution, the end face sealing of the puncture tube body and the sealing component is achieved by setting the flange to fit with the lower shell. The slot provides a base for the robot docking bayonet, realizing the sliding assembly of the bayonet and the puncture tube body, and providing structural support for rapid assembly and disassembly.

[0015] The present invention is further configured such that: the robot docking bayonet is provided with a buckle, a square hole and a buckle pit, the buckle is a dovetail block or T-shaped block structure that matches the slot and is snapped into the inside of the slot, the square hole is opened on the side of the robot docking bayonet, and the buckle pit is opened on the top of the robot docking bayonet.

[0016] By adopting the above technical solution, the robot docking bayonet and the puncture tube body are precisely engaged by setting a buckle that matches the slot, ensuring the structural stability after docking. The square hole facilitates the assembly and operation of the bayonet, and the buckle pit provides a clamping and fixing position for the surgical robot arm, realizing the precise docking and transmission cooperation between the robotic arm and the puncture device.

[0017] The present invention is further configured such that: the depth adjustment and quick disassembly mechanism includes a movable limit block button, a spring and a movable stop block, the movable limit block button is disposed at the movable limit block through hole of the puncture tube body, the spring is fixedly connected to the inner side of the movable limit block button, the movable stop block is fixedly connected to the inner side of the spring and disposed on one side of the slot port, and the end of the movable stop block is provided with a chamfer.

[0018] By adopting the above technical solution, the linkage between the movable limit block button, spring and movable stop is set. The spring's reset action is used to lock and release the buckle in the slot. The robot docking bayonet can be quickly assembled and disassembled without professional tools. At the same time, the puncture depth can be intuitively adjusted by the cooperation between the slot and the buckle.

[0019] The present invention is further configured such that: the air injection valve is a one-way valve structure, the air inlet of the air injection valve extends to the outer side of the sealing assembly, and the air outlet of the air injection valve extends to the inner side of the channel formed by the sealing assembly and the puncture tube body.

[0020] By adopting the above technical solution, the gas injection valve with a one-way valve structure can be set to inject CO2 gas into the abdominal cavity to establish pneumoperitoneum. After gas injection, the one-way valve automatically closes, effectively preventing gas leakage in the abdominal cavity and ensuring the stability of pneumoperitoneum pressure during surgery.

[0021] The present invention is further configured such that: the air-blocking valve includes an air-blocking valve body, a top chamfer, a positioning hole, and a sealing valve; the sealing valve is disposed on one side of the bottom of the air-blocking valve body; the top chamfer facilitates smooth insertion of instruments; the positioning hole is adapted to the positioning structure of the lower housing; the sealing valve includes a sealing valve flange, a sealing valve body, a sealing valve cone, and a sealing valve center hole; and a reinforcing rib is provided in the sealing valve center hole.

[0022] By adopting the above technical solution, a sealing valve is set up that automatically closes when no surgical instruments are inserted to maintain the pneumoperitoneum pressure in the abdominal cavity, and can be smoothly opened when instruments are inserted. By setting a reinforcing rib in the center hole of the sealing valve, the structural strength of the sealing valve is enhanced, adapting to the dynamic sealing of surgical instruments of different diameters, and avoiding deformation or damage to the sealing valve due to instrument insertion and removal.

[0023] The present invention is further configured such that: the depth adjustment and quick disassembly mechanism is provided with a disposable anti-counterfeiting buckle, which is located on the side of the engagement point between the puncture tube body and the robot docking port.

[0024] By adopting the above technical solution, a disposable anti-counterfeiting buckle is set. After the buckle is assembled with the puncture tube body, the anti-counterfeiting buckle automatically breaks, making it impossible to reassemble. This forces the puncture device to be used only once, completely avoiding the medical safety hazards caused by human reuse and ensuring aseptic operation standards.

[0025] The present invention is further configured such that: the robot docking bay is provided with a QR code recognition mark, which is located on one side of the outer wall of the robot docking bay.

[0026] By adopting the above technical solution and setting up QR code recognition markers, the surgical robot can automatically scan and identify the puncture device, thereby achieving automatic positioning and model matching of the puncture device, improving the accuracy and intelligence of the docking between the robot and the puncture device, and adapting to the usage needs of different brands of surgical robots.

[0027] (III) Beneficial Effects

[0028] Compared with the prior art, the present invention provides a trocar for a surgical robot, which has the following advantages:

[0029] This surgical robot trocar, by setting up a disposable sterile design and a disposable anti-counterfeiting buckle, completely eliminates the problem of cross-contamination during surgery caused by incomplete sterilization of reusable trocars, complies with aseptic medical operation standards, and greatly improves surgical safety.

[0030] This surgical robot trocar, by setting a split and detachable structure and a depth adjustment and quick assembly / disassembly mechanism, enables the rapid assembly and disassembly of the robot docking bayonet and the trocar body. Only the bayonet is processed with high precision technology, while the main body can be mass-produced at low cost. It takes into account both the high precision requirements of robot docking and the overall manufacturing cost control, and significantly reduces the cost of use per surgery.

[0031] This surgical robot trocar integrates multiple sealing structures, including a gas-blocking valve, a sealing valve, and a sealing ring, to achieve multiple sealing effects. Combined with a one-way valve-structured air injection valve, it ensures stable pneumoperitoneum pressure during laparoscopic surgery, preventing air and fluid leakage. Meanwhile, the support tube prevents the sealing valve from shifting when the instrument is removed, thus improving the reliability of the sealing structure.

[0032] This surgical robot trocar, through the precise matching of slots and buckles, combined with the locking effect of movable blocks, ensures the structural stability of the robot docking bayonet and the trocar body after docking, realizing stable transmission between the surgical robot arm and the trocar, eliminating the risk of displacement or detachment. Furthermore, the structural design of the trocar body allows for precise adjustment of the puncture depth, reducing the difficulty of clinical operation.

[0033] This surgical robot puncture device, through the setting of QR code recognition marks and customizable robot docking ports, can be adapted to mainstream surgical robot models of different brands, realizing automatic robot positioning and model recognition, improving the product's adaptability and intelligence level. At the same time, the overall structural design is simple, easy to assemble and operate, and improves the efficiency of surgical preparation. Attached Figure Description

[0034] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 is a schematic cross-sectional view of the structure in this invention;

[0036] Figure 3 is a schematic diagram of the upper housing structure of the sealing assembly in this invention;

[0037] Figure 4 is a schematic diagram of the lower housing structure of the sealing assembly in this invention;

[0038] Figure 5 is a schematic diagram of the air-blocking valve structure in this invention;

[0039] Figure 6 is a schematic diagram of the sealing valve structure in this invention;

[0040] Figure 7 is a schematic diagram of the support tube structure in this invention;

[0041] Figure 8 is a schematic diagram of the sealing ring structure in this invention;

[0042] Figure 9 is a schematic diagram of the puncture tube body structure in this invention;

[0043] Figure 10 is a schematic diagram of the active limit block button structure in this invention;

[0044] Figure 11 is a schematic diagram of the spring structure in this invention;

[0045] Figure 12 is a schematic diagram of the movable stop structure in this invention;

[0046] Figure 13 is a schematic diagram of the robot docking buckle structure in this invention;

[0047] Figure 14 is a schematic diagram of the disassembled sealing assembly in this invention;

[0048] Figure 15 is a schematic diagram of the puncture tube and robot docking bayonet in this invention.

[0049] In the diagram: 1. Sealing assembly; 101. Upper housing; 10101. Upper housing body; 10102. Lug; 10103. Upper housing center hole; 10104. Snap-fit ​​hole; 102. Lower housing; 10201. Lower housing center hole; 10202. Positioning pin; 10203. Stop; 10204. Lower housing body; 10205. Sealing ring positioning groove; 103. Airlock valve; 10301. Top chamfer; 10302. Positioning hole; 10303. Airlock valve body; 10304. Sealing valve diaphragm; 104. Sealing valve; 10401. Sealing valve flange; 10402. Sealing valve body; 10403. 1. Sealing valve cone; 10404. Sealing valve center hole; 105. Support tube; 106. Sealing ring; 2. Injection valve; 3. Puncture tube body; 301. Puncture tube body center hole; 302. Flange; 303. Tube body; 304. Anti-slip texture; 305. First depth mark; 306. Second depth mark; 307. Third depth mark; 308. Limit block; 309. Slot; 310. Movable limit block through hole; 311. Movable limit block button; 312. Spring; 313. Movable stop; 31301. Movable stop chamfer; 4. Robot docking bayonet; 401. Buckle; 402. Square hole; 403. Buckle recess. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described 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.

[0051] Example 1

[0052] Please see Figure 1-12A surgical robot puncture device includes a puncture tube body 3, a robot docking bayonet 4, a sealing component 1, an air injection valve 2, and a depth adjustment and quick disassembly mechanism. The sealing component 1 is fixedly connected to one side of the puncture tube body 3, and the air injection valve 2 is fixedly connected to one side of the sealing component 1. The robot docking bayonet 4 is engaged with one side of the puncture tube body 3 through the depth adjustment and quick disassembly mechanism. The depth adjustment and quick disassembly mechanism is located on one side of the puncture tube body 3. By setting a split and detachable structure, the robot docking bayonet 4 and the puncture tube body 3 can be processed separately and quickly assembled, taking into account both high-precision docking and low-cost mass production.

[0053] The sealing assembly 1 includes an upper housing 101, a lower housing 102, a gas-blocking valve 103, a sealing valve 104, a support tube 105, and a sealing ring 106. The upper housing 101 is snapped onto one side of the lower housing 102. The gas-blocking valve 103 is located on one side of the cavity formed by the upper housing 101 and the lower housing 102. The support tube 105 is located on one side of the gas-blocking valve 103. The sealing valve 104 is sleeved on one side of the support tube 105. The sealing ring 106 is snapped onto one side of the lower housing 102. By setting up multiple sealing assemblies, laparoscopic... The pneumoperitoneum pressure is maintained during surgery to ensure no air or fluid leakage. The upper shell 101 includes an upper shell body 10101, an auricle 10102, an upper shell center hole 10103, and a snap-fit ​​hole 10104. The lower shell 102 includes a lower shell body 10204, a lower shell center hole 10201, a positioning post 10202, a stop 10203, and a sealing ring positioning groove 10205. The positioning post 10202 is inserted into the auricle 10102, and the snap-fit ​​is engaged with the snap-fit ​​hole 10104 to achieve precise positioning and locking of the upper and lower shells.

[0054] The puncture tube body 3 is a hollow tubular structure, including a central hole 301, a flange 302, a tube body 303, anti-slip texture 304, a first depth mark 305, a second depth mark 306, a third depth mark 307, a limiting block 308, a slot 309, and a movable limiting block through hole 310. The flange 302 is fitted to the stop 10203 of the lower housing 102. The slot 309 is a dovetail groove structure and is opened on one side of the tube body 303. The flange 302 is used to achieve end face sealing, and the slot 309 is used to provide a base for the robot docking bayonet 4. The depth marks enable precise control of the puncture depth.

[0055] The robot docking bayonet 4 is equipped with a buckle 401, a square hole 402, and a buckle recess 403. The buckle 401 is a dovetail block structure that matches the slot 309 and is snapped into the inside of the slot 309. The square hole 402 is opened on the side of the robot docking bayonet 4, and the buckle recess 403 is opened on the top of the robot docking bayonet 4. The buckle 401 and the slot 309 are matched to achieve precise snapping, and the buckle recess 403 is used to clamp and fix the robot arm, thus meeting the requirements for high-precision docking.

[0056] The depth adjustment and quick disassembly mechanism includes a movable limit block button 311, a spring 312, and a movable stop 313. The movable limit block button 311 is located at the movable limit block through hole 310 of the puncture tube body 3. The spring 312 is made of SUS304 material and is fixedly connected to the inner side of the movable limit block button 311. The movable stop 313 is fixedly connected to the inner side of the spring 312 and is located on one side of the port of the slot 309. The end of the movable stop 313 is provided with a chamfer 31301. By setting up a linkage disassembly mechanism, the spring 312 is used to reset to realize the locking and releasing of the movable stop 313, so as to realize the toolless quick disassembly and disassembly and puncture depth adjustment of the robot docking bayonet 4.

[0057] In this embodiment, the puncture tube body 3 is injection molded from medical PC material with an outer diameter of 12mm and an inner diameter of 10mm; the robot docking bayonet 4 is injection molded from medical PPSU with high precision; the sealing pressure of the sealing component 1 is ≥25mmHg, which meets the requirements of laparoscopic pneumoperitoneum; the whole is a disposable sterile package, assembled before use, and medically discarded after the operation.

[0058] The working principle of this embodiment is as follows: Before use, the sealing ring 106 is installed into the sealing ring positioning groove 10205 of the lower housing 102. The air-blocking valve 103, the support tube 105, and the sealing valve 104 are then installed into the lower housing 102 in sequence. The lugs 10102 of the upper housing 101 are inserted into the positioning pins 10202 of the lower housing 102. The upper housing 101 is pressed so that the buckle is engaged in the buckle hole 10104, thus completing the assembly of the sealing assembly 1. The stop 10203 of the sealing assembly 1 is fitted and fixed to the flange 302 of the puncture tube body 3. The buckle 401 of the robot docking bayonet 4 is slid into the slot 309 of the puncture tube body 3 and the chamfer 31301 of the movable stop 313. The buckle 401 squeezes the movable stop 313 to compress the spring. 312. After sliding into place, spring 312 resets, causing movable stop 313 to move upward and lock buckle 401, completing the overall assembly. CO2 gas is injected into the abdominal cavity through the gas injection valve 2 to establish pneumoperitoneum. Surgical instruments enter the abdominal cavity through the central hole 10103 of the upper shell, gas-blocking valve 103, central hole 10404 of the sealing valve, and central hole 301 of the puncture tube body. The sealing valve 10304 of the gas-blocking valve 103 and the sealing valve 104 achieve dynamic sealing to maintain pneumoperitoneum pressure. After the operation, press the movable limit block button 311, compress spring 312 to drive movable stop 313 downward, release buckle 401, and slide robot docking bayonet 4 out of slot 309. The entire puncture device is disposed of as medical waste, with no reuse links throughout the process.

[0059] Example 2

[0060] refer to Figure 1-12 A surgical robot puncture device also includes a disposable anti-counterfeiting buckle and a QR code recognition mark mechanism. The disposable anti-counterfeiting buckle is set on one side of the engagement point between the puncture tube body 3 and the robot docking port 4, and the QR code recognition mark is set on one side of the outer wall of the robot docking port 4. By setting the disposable anti-counterfeiting buckle and the QR code recognition mark, the device is forced to be used only once and the level of intelligence of the robot docking is improved.

[0061] The depth adjustment and quick assembly / disassembly mechanism is equipped with a disposable anti-counterfeiting buckle. The disposable anti-counterfeiting buckle is located on one side of the engagement point between the puncture tube body 3 and the robot docking port 4. By setting the disposable anti-counterfeiting buckle, it will automatically break after assembly to prevent reuse. The robot docking port 4 is equipped with a QR code recognition mark. The QR code recognition mark is located on one side of the outer wall of the robot docking port 4. By setting the QR code recognition mark, the surgical robot can automatically scan and locate and identify the model. The air injection valve 2 is a one-way valve structure. The air inlet of the air injection valve 2 extends to the outer side of the sealing component 1, and the air outlet of the air injection valve 2 extends to the inner side of the channel formed by the sealing component 1 and the puncture tube body 3. By setting the one-way valve air injection valve 2, the pneumoperitoneum pressure is kept stable and gas leakage is prevented.

[0062] Based on Example 1, this embodiment only adds a disposable anti-counterfeiting buckle and a QR code identification mark. The rest of the structure, materials and dimensions are the same as in Example 1, retaining the core advantages of disposable sterility, quick disassembly and assembly, high-precision docking and low-cost mass production.

[0063] The working principle of this embodiment is as follows: Based on the assembly steps of embodiment 1, when the buckle 401 of the robot docking port 4 is slid into the slot 309 and locked, the disposable anti-counterfeiting buckle at the docking point automatically breaks with the docking action, making secondary assembly impossible and structurally forcing single-use; the surgical robot scans the QR code identification mark on the outer wall of the robot docking port 4 through the visual recognition system, automatically completes the positioning, model matching and parameter reading of the trocar, and realizes the automated and precise docking of the robotic arm and the trocar; the steps of air injection, surgical operation and disassembly are the same as in embodiment 1, realizing single-use sterility throughout the process, while improving the intelligence and precision of the surgery and further reducing clinical operation errors.

[0064] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. Those skilled in the art can make modifications to this embodiment without contributing any inventive step after reading this specification. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A surgical robot trocar, comprising a trocar body (3), a robot docking bayonet (4), a sealing assembly (1), an air injection valve (2), and a depth adjustment and quick disassembly / reassembly mechanism, characterized in that: The sealing component (1) is fixedly connected to one side of the puncture tube body (3), the air injection valve (2) is fixedly connected to one side of the sealing component (1), and the robot docking bayonet (4) is engaged with one side of the puncture tube body (3) through a depth adjustment and quick disassembly mechanism. The depth adjustment and quick disassembly mechanism is located on one side of the puncture tube body (3).

2. The surgical robot trocar according to claim 1, characterized in that: The sealing assembly (1) includes an upper housing (101), a lower housing (102), a gas-blocking valve (103), a sealing valve (104), a support tube (105), and a sealing ring (106). The upper housing (101) is snapped onto one side of the lower housing (102). The gas-blocking valve (103) is disposed on one side of the cavity formed by the upper housing (101) and the lower housing (102). The support tube (105) is disposed on one side of the gas-blocking valve (103). The sealing valve (104) is sleeved on one side of the support tube (105). The sealing ring (106) is snapped onto one side of the lower housing (102).

3. The surgical robot trocar according to claim 2, characterized in that: The upper shell (101) includes an upper shell body (10101), an auricle (10102), an upper shell center hole (10103), and a snap-fit ​​hole (10104). The auricles (10102) are symmetrically arranged on both sides of the outer wall of the upper shell body (10101). The upper shell center hole (10103) is opened through the center of the upper shell body (10101). The snap-fit ​​hole (10104) is opened on one side of the middle of the auricle (10102). The lower shell (102) includes a lower shell body (10204), a lower shell center hole (10103), and a snap-fit ​​hole (10104). 10201), positioning post (10202), stop (10203) and sealing ring positioning groove (10205), the lower housing center hole (10201) is opened through the center of the lower housing body (10204), the positioning post (10202) is inserted into the inner side of the lug (10102), the buckle is snapped into the inner side of the buckle hole (10104), the stop (10203) cooperates with the flange (302) of the puncture tube body (3) to achieve end face sealing, and the sealing ring positioning groove (10205) is used to install the sealing ring (106).

4. The surgical robot trocar according to claim 1, characterized in that: The puncture tube body (3) is a hollow tubular structure, including a central hole (301), flange (302), tube body (303), anti-slip texture (304), first depth mark (305), second depth mark (306), third depth mark (307), limiting block (308), slot (309) and movable limiting block through hole (310). The flange (302) is attached to the stop (10203) of the lower shell (102). The slot (309) is a T-shaped groove or dovetail groove structure and is opened on one side of the tube body (303). The anti-slip texture (304) and multiple depth marks (305, 306, 307) are set on the outer wall of the tube body (303). The limiting block (308) and the movable limiting block through hole (310) are both adapted to the depth adjustment and quick disassembly mechanism.

5. The surgical robot trocar according to claim 4, characterized in that: The robot docking bayonet (4) is provided with a buckle (401), a square hole (402) and a buckle pit (403). The buckle (401) is a dovetail block or T-shaped block structure that matches the slot (309) and is snapped into the inside of the slot (309). The square hole (402) is opened on the side of the robot docking bayonet (4), and the buckle pit (403) is opened on the top of the robot docking bayonet (4).

6. The surgical robot trocar according to claim 1, characterized in that: The depth adjustment and quick disassembly mechanism includes a movable limit block button (311), a spring (312), and a movable stop (313). The movable limit block button (311) is located at the movable limit block through hole (310) of the puncture tube body (3). The spring (312) is fixedly connected to the inner side of the movable limit block button (311). The movable stop (313) is fixedly connected to the inner side of the spring (312) and is located on one side of the port of the slot (309). The end of the movable stop (313) is provided with a chamfer (31301).

7. The surgical robot trocar according to claim 1, characterized in that: The air injection valve (2) is a one-way valve structure. The air inlet of the air injection valve (2) extends to the outer side of the sealing assembly (1), and the air outlet of the air injection valve (2) extends to the inner side of the channel formed by the sealing assembly (1) and the puncture tube body (3).

8. A surgical robot trocar according to claim 2, characterized in that: The air-blocking valve (103) includes an air-blocking valve body (10303), a top chamfer (10301), a positioning hole (10302), and a sealing valve (10304). The sealing valve (10304) is located on one side of the bottom of the air-blocking valve body (10303). The top chamfer (10301) facilitates the smooth insertion of instruments. The positioning hole (10302) is adapted to the positioning structure of the lower housing (102). The sealing valve (104) includes a sealing valve flange (10401), a sealing valve body (10402), a sealing valve cone (10403), and a sealing valve center hole (10404). The sealing valve center hole (10404) is provided with reinforcing ribs.

9. A surgical robot trocar according to claim 1, characterized in that: The depth adjustment and quick disassembly mechanism is equipped with a one-time anti-counterfeiting buckle, which is located on the side of the connection between the puncture tube body (3) and the robot docking port (4).

10. A surgical robot trocar according to claim 1, characterized in that: The robot docking bay (4) is equipped with a QR code recognition mark, which is located on one side of the outer wall of the robot docking bay (4).

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