Sealing structure, puncture assembly and surgical robot

Abstract

The utility model relates to the technical field of medical equipment, and provides a sealing structure, a puncture assembly and a surgical robotic.The sealing structure comprises a sealing shell and a sealing assembly, the sealing shell comprises an upper cover and a base, the upper cover is connected with one end of the base through a first fixing piece end, and the sealing assembly is arranged in a space defined by the upper cover and the base. A second fixing piece is arranged on the periphery of the base, and the sleeve of the puncture outfit is connected to the other end of the base in a clamped mode through the base through the second fixing piece. The sealing structure is simplified into the upper cover and the base, and the second fixing piece is arranged on the periphery of the base and used for clamping and fixing the sealing structure and the sleeve. In the assembling process of the sealing structure, the upper cover and the base are connected and fixed through the first fixing piece, and the base and the sleeve are clamped and fixed through the second fixing piece, so that the assembling process of the sealing structure is simplified.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a sealing structure, a puncture assembly and a surgical robot. Background Art

[0002] Minimally invasive surgery is a type of surgery that uses laparoscopes, thoracoscopes and other medical devices and related equipment. It has the advantages of less trauma, less pain and faster recovery. Taking abdominal surgery as an example, during surgical robot surgery, it is necessary to puncture the patient's abdominal skin with a puncture device so that the surgical instruments can enter the patient's body and complete the operation. When puncturing the patient's abdominal skin, it is necessary to maintain the patient's pneumoperitoneum. For this purpose, the puncture device needs to pass through the cannula and penetrate into the patient's body under the inflated state. In order to reduce gas leakage from the connection between the puncture device and the cannula, a sealing device can be set between the puncture device and the cannula.

[0003] In the related art, the sealing device includes an upper shell and a lower shell, and sealing members are installed inside the upper and lower shells to maintain sealing. The sealing device is also provided with a latch member for fixing the sleeve on the lower shell to complete the assembly of the sleeve and the sealing device. However, since the sealing device itself has many structural components, when assembling the sealing device, it is necessary to fix and assemble the upper shell, the latch member, the sealing member and the lower shell in sequence, resulting in a relatively complicated assembly process of the sealing structure. Utility Model Content

[0004] In order to simplify the assembly process of the puncture device sealing structure, the embodiments of the present application provide a sealing structure, a puncture assembly and a surgical robot. In a first aspect, some embodiments of the present application provide a sealing structure, which is assembled on the puncture device and includes:

[0005] A sealed housing, comprising an upper cover and a base;

[0006] Sealing components;

[0007] The upper cover is fixed to one end of the base by a first fixing member, and the sealing assembly is placed in a space enclosed by the upper cover and the base;

[0008] A second fixing piece is disposed on the outer periphery of the base, and the base clamps the sleeve of the puncture device to the other end of the base through the second fixing piece.

[0009] In some embodiments, the first fixing member is disposed on the upper cover buckle and buckle notch of the upper cover and the base;

[0010] The upper cover buckle is buckled with the buckle slot to cooperate and fix the upper cover and the base.

[0011] In some embodiments, the base includes an upper column and a lower column, and the upper column is fixed to the upper cover by the first fixing member;

[0012] The sleeve is sleeved on the lower column, and the lower column and the sleeve are fixed by clamping through the second fixing piece.

[0013] In some embodiments, the second fixing member is a pressing member, and the pressing member is disposed on the outer periphery of the base, and the base fixes the sleeve on the lower column through the pressing member.

[0014] In some embodiments, the pressing member includes a finger pressing portion, a supporting portion, and a locking portion, wherein the supporting portion is fixed to the side surface of the upper cylinder;

[0015] The finger pressing part and the locking part are arranged at both ends of the supporting part and form a lever structure.

[0016] When the finger pressing portion is in a pressed state, the locking portion expands radially.

[0017] In some embodiments, the locking portion is an arc-shaped plate starting from the supporting portion and bending toward the base;

[0018] The arc-shaped plate is used for clamping and fixing with the top end of the sleeve so as to sleeve and fix the sleeve on the outside of the lower column.

[0019] In some embodiments, the sealing assembly includes a first seal and a second seal;

[0020] The first sealing member is embedded in the upper cover, and the second sealing member is embedded in the base;

[0021] After the upper cover and the base are butted against each other, the first sealing member contacts the second sealing member.

[0022] In some embodiments, the upper cover is provided with a first guide hole, and the upper cover is provided with a coaxial first annular plate and a second annular plate, the first annular plate is inscribed with the first guide hole, and the outer diameter of the second annular plate is greater than the outer diameter of the first annular plate;

[0023] A first annular fixing groove is formed between the first annular plate and the second annular plate, and the first sealing member is fixed to the upper cover through the first annular fixing groove.

[0024] In some embodiments, the first sealing member is provided with an annular limiting groove and an axially arranged gas injection valve port, and the annular limiting groove is plugged with the second annular plate to fix the first sealing member to the upper cover through the first annular fixing groove;

[0025] The gas injection valve port is used for the puncture device to pass through the first sealing member.

[0026] In some embodiments, the base is provided with a second guide hole, and the base is provided with a coaxial third annular plate and a fourth annular plate, the third annular plate is inscribed with the second guide hole, and the outer diameter of the fourth annular plate is greater than the outer diameter of the third annular plate;

[0027] A second annular fixing groove is formed between the third annular plate and the fourth annular plate, and the second sealing member is clamped and fixed inside the second guide hole through the second annular fixing groove.

[0028] In some embodiments, one end of the second sealing member is an annular boss extending outward, and a mounting plate is provided at the bottom of the annular boss;

[0029] When the base and the second sealing member are assembled, the assembly plate is plugged into the second annular fixing groove.

[0030] In some embodiments, the second sealing member is an openable and closable opening valve. When the puncture device passes through the second sealing member, the opening valve is opened, and when the puncture device is withdrawn from the sealing structure, the opening valve is closed.

[0031] In some embodiments, the assembly plate and the outer periphery of the second sealing member form a boss groove, and the boss groove is plugged into the fourth annular plate.

[0032] In some embodiments, a gas delivery hole is provided on the annular boss of the second sealing member.

[0033] In a second aspect, some embodiments of the present application provide a puncture assembly, comprising the sealing structure described in the first aspect, as well as a puncture device and a sleeve, wherein one end of the sleeve is connected to the base of the sealing structure, and the puncture device sequentially passes through the sealing structure and the sleeve and extends from the other side of the sleeve.

[0034] In a third aspect, some embodiments of the present application provide a surgical robot, comprising the puncture assembly described in the second aspect, and a robotic arm having a free end at one end, wherein the free end of the robotic arm is provided with a clamping portion, and the clamping portion is used to clamp the puncture assembly.

[0035] It can be seen from the above technical solutions that the present application provides a sealing structure, a puncture assembly and a surgical robot, wherein the sealing structure includes a sealing shell and a sealing assembly, wherein the sealing shell includes an upper cover and a base, wherein the upper cover is connected to one end of the base through a first fixing member, and the sealing assembly is placed in a space enclosed by the upper cover and the base. A second fixing member is provided on the periphery of the base, and the base clamps the sleeve of the puncture device to the other end of the base through the second fixing member. The sealing structure provided in the present application is simplified into two parts, an upper cover and a base, and a second fixing member is provided on the periphery of the base for clamping and fixing between the sealing structure and the sleeve. During the assembly process of the sealing structure, the connection and fixing between the upper cover and the base are completed by the first fixing member, and the clamping and fixing between the base and the sleeve are completed by the second fixing member, so as to simplify the assembly process of the sealing structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0037] Figure 1 An assembly diagram of a surgical robot provided in an embodiment of the present application;

[0038] Figure 2 This is an assembly diagram of the puncture assembly of an embodiment of the present application;

[0039] Figure 3 An assembly diagram of a sealing structure provided in an embodiment of the present application;

[0040] Figure 4 A cross-sectional view of a sealing structure provided in an embodiment of the present application;

[0041] Figure 5 This is an exploded view of the sealing structure in the embodiment of the present application;

[0042] Figure 6 This is a structural diagram of the upper cover of the sealing structure in the embodiment of the present application;

[0043] Figure 7 This is a structural diagram of the base of the sealing structure in the embodiment of the present application;

[0044] Figure 8 This is a diagram of the clamping assembly of the upper cover and the base in the embodiment of the present application;

[0045] Fig. 9 This is a side structural diagram of the base in the embodiment of the present application;

[0046] Fig.10 This is a schematic diagram of the installation of the sealing structure and the sleeve in the embodiment of the present application;

[0047] Fig.11 This is a schematic diagram of the structure of the first sealing member in the embodiment of the present application;

[0048] Fig.12 This is a schematic diagram of the structure of the second sealing member in the embodiment of the present application;

[0049] Fig.13 is a cross-sectional view of the second sealing member in the embodiment of the present application;

[0050] Fig.14 This is a structural diagram of the upper end surface of the upper cover in the embodiment of the present application.

[0051] Illustration Description:

[0052] Upper cover 10, first fixing member 100, first side edge 101, upper cover buckle 102, upper cover slot 103, first annular plate 11, second annular plate 12, first annular fixing slot 13, first guide hole 14;

[0053] Base 20, second fixing member 200, third annular plate 201, fourth annular plate 202, upper column 21, second side 211, buckle notch 212, lower column 22, sealing ring 221, sealing ring groove 222, pressing member 23, finger pressing part 231, supporting part 232, locking part 233, second guide hole 24, second annular fixing groove 25;

[0054] Sealing assembly-30, first sealing member-31, annular limiting groove-311, gas injection valve port-312, second sealing member-32, sealing through hole-321, boss groove-322, opening valve-323, gas delivery hole-324, assembly plate-325;

[0055] Trocar-40, cannula-50, gas delivery structure-60, gas delivery valve-61, gas valve switch-62, gas delivery channel-63;

[0056] Robotic arm-70, clamping part-71. DETAILED DESCRIPTION

[0057] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0058] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0059] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0060] In the embodiments of the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0061] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0062] Minimally invasive surgery is a type of surgery performed using medical instruments such as laparoscopes and thoracoscopes and related equipment. Medical personnel can perform minimally invasive surgery through remote control of assisted surgical robots. Figure 1 This is an assembly diagram of a surgical robot according to an embodiment of the present application. Figure 1 The surgical robot includes a robotic arm 70. Before the surgical robot performs an operation, the surgical robot needs to clamp the puncture assembly through the clamping part 71 and puncture the skin of the affected part through the puncture assembly, thereby providing space for the surgical instrument to enter the patient's body. After completing the puncture process, the surgical robot can replace the puncture assembly with a surgical instrument, thereby completing the surgical process in the patient's body by clamping the surgical instrument.

[0063] Figure 2 This is an assembly diagram of a puncture assembly according to an embodiment of the present application. Figure 1 and Figure 2 The puncture assembly may include a puncture device 40 and a cannula 50, wherein one end of the puncture device 40 is a sharp tip for puncturing the patient's skin. During the operation, the puncture device 40 passes through the cannula 50, so that the cannula 50 guides the puncture device 40 to approach the patient's puncture site to puncture the patient's skin.

[0064] Taking abdominal surgery as an example, when the puncture device 40 pierces the abdominal skin of the patient, in order to facilitate the expansion of the abdominal cavity space and reduce the difficulty of the operation, the patient's pneumoperitoneum state can be maintained by injecting gas into the patient's body. The pneumoperitoneum state refers to the state in which there is free gas in the abdominal cavity, and the gas in the patient's body needs to be maintained within a specific air pressure range. During the gas injection, some gas will leak from the gap between the puncture device 40 and its sleeve 50, resulting in unstable air pressure in the patient's body. To this end, a sealing device can be provided at the connection between the puncture device 40 and the sleeve 50, and the puncture device 40 passes through the sealing device and the sleeve 50 in sequence during assembly, so that the sealing state of the puncture assembly is maintained by the sealing device, so that the gas no longer leaks.

[0065] In the related art, the sealing device includes an upper shell and a lower shell, and a sealing member is installed inside the upper shell and the lower shell to keep the connection between the puncture device 40 and the sleeve 50 sealed and reduce gas leakage. The sealing device is also provided with a latch, which is used to limit and fix the sealing member inside the sealing device, and to fix the sleeve on the lower shell to complete the assembly of the sleeve and the sealing device. However, since the sealing device itself has many structural components, when assembling the sealing device, it is necessary to connect and fix the upper shell and the latch by ultrasonic wave welding or adhesive fixing, that is, one end of the latch is connected to the upper shell, and the other end is connected to one end of the lower shell. Pressing members are also provided on both sides of the latch, and the pressing member is used to connect the sleeve to the other end of the lower shell to maintain sealing, which makes the connection relationship between the latch and the respective components more complicated, resulting in cumbersome assembly process of the sealing structure.

[0066] Figure 3 An assembly diagram of a sealing structure provided in an embodiment of the present application; Figure 4 A cross-sectional view of a sealing structure provided in an embodiment of the present application; Figure 5 This is an exploded view of the sealing structure in the embodiment of the present application. Figure 2-Figure 5 In order to simplify the assembly process of the sealing structure, the embodiment of the present application provides a sealing structure, which is assembled on the puncture device 40, including a sealing shell and a sealing assembly 30, and the sealing shell includes an upper cover 10 and a base 20. The puncture device 40 is a medical device for puncture sampling or injection, such as a needle, a catheter or a medical knife, etc., which is usually cylindrical or flat. In order to be suitable for the puncture device 40, the upper cover 10 and the base 20 can be provided with guide holes to facilitate the puncture device 40 to pass through the sealing shell.

[0067] The upper cover 10 may be a plate-shaped profile, used to cooperate and fix with one end of the base 20, and the base 20 may be a tubular profile with two ends penetrated. After the upper cover 10 and one end of the base 20 are cooperated and fixed, the enclosed space can be used to accommodate the sealing assembly 30. The sealing assembly 30 is arranged inside the sealing housing, and when the puncture device 40 passes through the sealing structure and the sleeve 50, the sealing assembly 30 can maintain the sealing state between the puncture device 40 and the sleeve 50.

[0068] The upper cover 10 and the base 20 can be fixed by a first fixing member 100. The first fixing member 100 may include components with various connection methods, for example, plate connection, such as bolts, screws, etc., and for example, threaded connection components, such as internal threads, external threads, key connection components, such as keys, keyways, or other connection components.

[0069] The first fixing member 100 may include at least two connecting components, and the two connecting components may form at least one connection relationship, for example, a threaded connection of an internal thread and an external thread. The upper cover 10 and the base 20 may be fixed by two connecting components. For example, the upper cover 10 is provided with an internal thread, and the base 20 is provided with an external thread. The upper cover 10 and the base 20 may be connected and fixed by the internal and external threads.

[0070] In some embodiments, the connecting parts of the first fixing member 100 can be respectively set on the upper cover 10 and the base 20, or can be both set on one of the parts of the sealed shell. For example, the first fixing member 100 is only set on the upper cover 10, or the first fixing member 100 is only set on the base 20.

[0071] The other end of the base 20 is connected to the sleeve 50. When installed, one end of the sleeve 50 is sleeved on the outside of the base 20, and the other end extends into the patient's body, so that gas is injected into the patient's body through the sleeve 50 to maintain the patient's pneumoperitoneum. A second fixing member 200 is provided on the periphery of the base 20, and the base 20 can be clamped with the sleeve 50 through the second fixing member 200 to reduce the risk of the sleeve 50 falling off the periphery of the base 20.

[0072] In some examples, the first fixing member 100 may also be a snap-fit ​​component to simplify the connection between the upper cover 10 and the base 20 and facilitate the disassembly of the upper cover 10 and the base 20 .

[0073] Figure 6 This is a structural diagram of the upper cover of the sealing structure in the embodiment of the present application; Figure 7 This is a structural diagram of the base of the sealing structure in the embodiment of the present application. Figure 6 and Figure 7 The first fixing member 100 may include an upper cover buckle 102 disposed on the upper cover 10 and a buckle notch 212 disposed on the base 20. The buckle notch 212 and the upper cover buckle 102 may form a Figure 8 The snap fit shown is used to snap-fit ​​and fix the base 20 and the upper cover 10. During the installation process, no other tools or equipment are needed to assist in the installation, which simplifies the installation process of the sealed housing and improves the installation efficiency.

[0074] In some embodiments, the upper cover buckle 102 includes buckle protrusions of various shapes, so that the buckle protrusions and the buckle slot 212 form a snap fit, thereby reducing the risk of the upper cover buckle 102 and the buckle slot 212 falling off. For example, the end of the upper cover buckle 102 can be a hook-shaped portion with toughness. When the upper cover buckle 102 and the buckle slot 212 are assembled, the upper cover buckle 102 can enter the buckle slot 212 through toughness, and the hook-shaped portion can clamp the edge of the buckle slot 212 to prevent the upper cover buckle 102 from retreating from the buckle slot 212.

[0075] The hook-shaped portion can be adapted to buckle slots 212 of different shapes and can be set in different directions. For example, when the buckle slot 212 is a rectangular slot, the hook-shaped portion can be set toward four different edges of the rectangular slot, so that when the upper cover buckle 102 forms a buckle fit with the buckle slot 212, the hook-shaped portion can clamp the edge of the buckle slot 212. When the buckle slot 212 is a circular slot, the hook-shaped portion can be set to face any direction. In order to adapt to the circular slot, the hook-shaped portion can be set to an arc shape to increase the fitting area between the hook-shaped portion and the buckle slot 212 and improve the firmness of the buckle fit.

[0076] Continue to see Figure 6 In some embodiments, a first side edge 101 is disposed on the periphery of the upper cover 10, and an end surface formed by the first side edge 101 is butted against the base 20, which can ensure the sealing of the side edge of the upper cover 10 and reduce gas leakage from the side edge of the upper cover 10. A plurality of upper cover buckles 102 can be disposed along the first side edge 101.

[0077] See also Figure 7 A second side edge 211 is provided on the outer periphery of the base 20, and a plurality of snap grooves 212 are provided on the inner side of the second side edge 211. When the upper cover 10 and the base 20 are fixed by the first fixing member 100, the first side edge 101 and the second side edge 211 are butt-sealed, and gas leakage from the side can also be reduced.

[0078] In some embodiments, Fig. 9 As shown, the base 20 may include an upper cylinder 21 and a lower cylinder 22. For ease of description, the embodiment of the present application defines one end of the upper cylinder 21 fixed to the upper cover 10 as the top, and the other end of the upper cylinder 21 as the bottom. The top of the upper cylinder 21 is fixed to the upper cover 10 by the first fixing member 100, and the second side 211 and the buckle notch 212 are both arranged at the top of the upper cylinder 21. One end of the lower cylinder 22 is connected to the bottom of the upper cylinder 21, and the other end of the lower cylinder 22 is sleeved with a sleeve 50. The lower cylinder 22 and the sleeve 50 are clamped and fixed by the second fixing member 200, so that the base 20 and the sleeve 50 are interpenetrated, providing installation space for the sealing assembly 30 and the puncture device 40.

[0079] Since the incision of minimally invasive surgery is relatively small, the cannula 50 needs to follow the puncture device 40 into the patient's body during the operation. The outer diameter of the lower column 22 is set relatively small to facilitate the installation of the cannula 50 and improve the installation efficiency.

[0080] In some embodiments, the second fixing member 200 may include at least two pressing members 23, which are arranged on the periphery of the base 20. The sealing structure can fix the sleeve 50 to the bottom of the sealing structure, that is, to the lower column 22, through the pressing members 23. The pressing member 23 can be made of a high-toughness material. When installing the sleeve 50 and the sealing structure, medical personnel can press the pressing members 23 with their fingers or clamping instruments. The pressing members 23 open to both sides under the action of pressure. At this time, the sleeve 50 is sleeved on the outside of the sealing structure. After the sleeve 50 is installed, the pressing member 23 is released. The pressing member 23 will shrink in place due to its toughness and form a clamping connection with the sleeve 50 to complete the fixing of the sleeve 50 and reduce the risk of the sleeve 50 falling off.

[0081] Continue to see Fig. 9 In some embodiments, the pressing piece 23 is arranged on the outer side of the upper column 21, wherein the pressing piece 23 includes a finger pressing portion 231, a supporting portion 232 and a locking portion 233, wherein the supporting portion 232 is a long strip structure with toughness, and the supporting portion 232 includes left and right ends, one end of the supporting portion 232 is fixed to the outer side of the upper column 21, and the other end of the supporting portion 232 is a free end.

[0082] It should be understood that both the left and right ends of the support portion 232 can serve as fixed ends to the upper column 21, and can also serve as free ends. For example, when the left end of the support portion 232 is fixed to the outer side surface of the upper column 21, the right end of the support portion 232 is a free end.

[0083] The finger pressure part 231 and the locking part 233 are respectively constructed on the upper and lower end surfaces of the support part 232. For example, the finger pressure part 231 is fixed on the upper end surface of the support part 232, and the locking part 233 is fixed on the lower end surface of the support part 232. The finger pressure part 231 and the locking part 233 are jointly located at the free end of the support part 232 to form a lever structure based on the support part 232.

[0084] The outer circumference of the upper column 21 may be provided with a plurality of pressing members 23. Taking two pressing members 23 as an example, in order to facilitate the installation of the sleeve 50 on the lower column 22, medical personnel can use their fingers to simultaneously apply relative pressure to the two finger pressing parts 231. The two finger pressing parts 231 are in a pressed state and are relatively offset. At the same time, when the finger pressing parts 231 are offset, the locking parts 233 are synchronously offset in the opposite direction, so that the two locking parts 233 are radially expanded in the direction of the free end, away from the upper column 21, and provide installation space for the sleeve 50. After the sleeve 50 is installed on the lower column 22, the two finger pressing parts 231 are released, and the finger pressing parts 231 will return to their original positions due to the toughness of the support part 232. At the same time, the locking parts 233 will also shrink in the direction of the free end to contact with the sleeve 50, and the sleeve 50 will be clamped on the lower column 22 of the base 20.

[0085] Fig.10 Schematic diagram of the installation of the sealing structure and the sleeve in the embodiment of the present application. Fig.10 In some embodiments, the top end of the sleeve 50 is a boss structure. When the sleeve 50 is installed on the lower column 22, the boss structure cooperates with the locking portion 233 to limit the freedom of the sleeve 50 in the axial direction of the sealing structure, so that the sleeve 50 is fixed on the lower column 22.

[0086] See also Fig. 9 As shown, in some embodiments, the locking portion 233 includes an upper and lower end, wherein the upper end of the locking portion 233 is connected to the supporting portion 232, and the lower end of the locking portion 233 is a curved arc plate, which is radially bent toward the base 20, that is, the arc plate of the locking portion 233 located on the right side of the base 20 is bent to the left, and the arc plate of the locking portion 233 located on the left side of the base 20 is bent to the right. After the installation of the sleeve 50 is completed, the arc plate is engaged with the boss structure at the top of the sleeve 50 to fix the sleeve 50 on the lower column 22.

[0087] When the sleeve 50 is removed from the lower column 22, the two finger pressing parts 231 are also pressed to offset the two locking parts 233 to the boss structure of the sleeve 50. At this time, the sleeve 50 has no freedom restriction in the axial direction of the sealing structure. The sleeve 50 can be removed along the axial direction, and then the finger pressing parts 231 are released to reset the locking parts 233 to complete the removal of the sleeve 50.

[0088] It can be seen from the above technical solutions that the sealing structure provided by the present application is simplified into two parts, namely, the upper cover 10 and the base 20. The upper cover and the base are fixed by the first fixing member 100, and the second fixing member 200 is arranged on the periphery of the base 20, so as to fix the sealing structure and the sleeve 50 by the second fixing member 200. During the assembly process of the sealing structure, it is only necessary to complete the connection and fixation between the upper cover 10 and the base 20 by the first fixing member 100, and to complete the clamping and fixation between the base 20 and the sleeve 50 by the second fixing member 200, so as to simplify the assembly process of the sealing structure.

[0089] Continue to see Figure 3 In order to maintain the airtightness between the sleeve 50 and the lower cylinder 22, in one implementation, the sealing structure may further include a sealing ring 221, and a sealing ring groove 222 for installing the sealing ring 221 is provided on the outer periphery of the lower cylinder 22. When the sleeve 50 is sleeved on the lower cylinder 22, the edge of the sleeve 50 is located at the sealing ring groove 222, and then the sealing ring 221 is placed in the sealing ring groove 222, so that the sleeve 50 is located between the sealing ring 221 and the sealing ring groove 222, so as to achieve a fastening effect and improve the airtightness between the sleeve 50 and the lower cylinder 22.

[0090] In some embodiments, Figure 5 and Figure 7 As shown, the base 20 is also provided with a gas delivery structure 60 for delivering gas into the patient's body. The gas delivery structure 60 includes a gas delivery valve 61, a gas valve switch 62 and a gas delivery channel 63. One end of the gas delivery valve 61 is connected to the gas valve switch 62, and the other end of the gas delivery valve 61 is connected to the gas delivery channel 63. The gas delivery channel 63 is opened on the side wall of the base 20, and the gas delivery channel 63 extends from the side wall of the base 20 to the inside of the base 20. The gas delivery valve 61 is used to input inert gas into the patient's body so that the air pressure in the patient's body maintains a pneumoperitoneum state. The gas valve switch 62 controls the progress of gas delivery. When the gas valve switch 62 is in an open state, the gas delivery valve 61 passes the gas through the gas delivery channel 63, through the sealing structure and the cannula, and inputs the gas into the patient's body. When the gas valve switch 62 is in a closed state, the gas delivery valve 61 stops delivering gas.

[0091] Reference Figure 2 As shown, the sealing component 30 can improve the airtightness between the puncture device 40 and the sleeve 50. During the operation, the sealing component 30 can prevent external gas or liquid from entering the puncture device 40, and prevent the gas and liquid in the patient's body from leaking to the outside, thereby ensuring that the operation is carried out in a sterile and dry environment.

[0092] The sealing assembly 30 may include a first sealing member 31 and a second sealing member 32 , and the first sealing member 31 and the second sealing member 32 may prevent gas from flowing back.

[0093] Fig.11 Schematic diagram of the structure of the first sealing member in the embodiment of the present application. Fig.11 The first sealing member 31 may be a cylindrical air-blocking valve, which is used to maintain the air tightness of the puncture assembly when the puncture device 40 punctures the patient's affected part. The cylindrical air-blocking valve is also provided with an air injection valve port 312 in the axial direction, and the air injection valve port 312 is used for the puncture device 40 to pass through the first sealing member 31. In addition, during the assembly of the sealing structure, the air injection valve port 312 can effectively increase the contact area with the puncture device 40. During the puncture process, when the puncture device 40 passes through the first sealing member 31, an interference fit is formed with the first sealing member, so a sealed environment is formed to improve air tightness.

[0094] Fig.12 This is a schematic diagram of the structure of the second sealing member in the embodiment of the present application; Fig.13 is a cross-sectional view of the second sealing member in the embodiment of the present application. Fig.12 and Fig.13 The second sealing member 32 is axially provided with a sealing through hole 321, and the sealing through hole 321 is used to provide an assembly space for the puncture device 40. An opening valve 323 can be opened and closed at one end of the second sealing member 32. When the puncture device 40 passes through the second sealing member 32, the opening valve 323 will be opened by the top end of the puncture device 40.

[0095] After the puncture process is completed, the surgical robot needs to replace the puncture assembly with a surgical instrument to perform the surgical process. When the puncture assembly is withdrawn from the sealing structure, the puncture assembly is withdrawn from the second sealing member 32 and the first sealing member 31 in sequence. During the withdrawal process, the opening valve 323 of the second sealing member 32 will be closed following the withdrawal of the puncture assembly, thereby preventing gas leakage.

[0096] To install the first seal 31, see Figure 6 and Fig.14 In some embodiments, the upper cover 10 is provided with a first guide hole 14, which is a through hole reserved for the puncture device 40. The upper cover 10 is provided with a coaxial first annular plate 11 and a second annular plate 12, which can be arranged perpendicular to the upper cover 10 and both take the axial center line of the upper cover 10 as the axis. Among them, the first annular plate 11 is inscribed in the first guide hole 14. When the puncture device 40 passes through the upper cover 10, the first annular plate 11 fits with the puncture device 40 to reduce gas leakage from the gap between the puncture device 40 and the upper cover 10. The outer diameter of the second annular plate 12 is greater than the outer diameter of the first annular plate 11, and a first annular fixing groove 13 is formed between the first annular plate 11 and the second annular plate 12. The first sealing member 31 can be installed on the upper cover 10 through the first annular fixing groove 13. In this way, when the puncture device 40 is inserted into the first guide hole 14, the inner walls of the first annular plate 11 and the first sealing member 31 can both be stably fitted on the side walls of the puncture device 40 to ensure the sealing between the puncture device 40 and the sealing structure.

[0097] Corresponding to the first guide hole 14, see Figure 7 As shown, the base 20 is provided with a second guide hole 24 in the axial direction, and the second guide hole 24 is coaxially arranged with the first guide hole 14. The base 20 is provided with a coaxial third annular plate 201 and a fourth annular plate 202, wherein the third annular plate 201 and the fourth annular plate 202 are both perpendicular to the plane where the second guide hole 24 is located, and extend toward one end connected to the upper cover 10. The third annular plate 201 is internally connected to the second guide hole 24, the outer diameter of the fourth annular plate 202 is larger than the outer diameter of the third annular plate 201, and a second annular fixing groove 25 is formed between the third annular plate 201 and the fourth annular plate 202, and the second sealing member 32 is clamped and fixed inside the second guide hole 24 through the second annular fixing groove 25.

[0098] The other end of the second seal 32 is an annular boss extending outward, and a mounting plate 325 is arranged at the bottom of the annular boss. The mounting plate 325 is spaced a certain distance from the outer peripheral surface of the second seal 32 to form a boss groove 322 between the mounting plate 325 and the outer peripheral surface of the second seal 32.

[0099] During assembly, one end of the opening valve 323 of the second sealing member 32 is installed inside the second guide hole 24 of the base 20. At the same time, the assembly plate 325 is inserted into the second annular fixing groove 25 formed by the third annular plate 201 and the fourth annular plate 202 on the base 20 to form an interference fit plug-in structure to fix the second sealing member 32 inside the base 20.

[0100] At the same time, the fourth annular plate 202 is inserted into the boss groove 322 of the second seal 32 to form an interference fit, thereby forming a double clamping connection with the assembly plate 325 and the second annular fixing groove 25, further improving the connection tightness between the sealing structure components, simplifying the assembly connection method, and improving assembly efficiency.

[0101] In some embodiments, in order to prevent the annular boss from blocking the input of gas, a gas delivery hole 324 is provided on the annular boss of the second sealing member 32. When gas is injected into the patient's body through the gas delivery structure 60, the gas can pass through the annular boss through the gas delivery hole 324, making the gas delivery process smoother.

[0102] In some embodiments, one end of the first seal 31 is embedded in the interior of the upper cover 10, and one end of the second seal 32 is embedded in the interior of the base 20. When the upper cover 10 and the base 20 are snap-fitted and fixed, the other end of the first seal 31 is snap-fitted and fixed with the other end of the second seal 32.

[0103] In order to be fixed with the upper cover 10, as Fig.11 As shown, an end surface of the first seal 31 connected to the upper cover 10 is provided with an annular limiting groove 311, wherein the annular limiting groove 311 is composed of the shell of the first seal 31 and a sealing annular plate provided inside the shell of the first seal 31. When the first seal 31 is assembled with the upper cover 10, the sealing annular plate of the first seal 31 is plugged into the first annular fixing groove 13 of the upper cover 10 to form an interference fit, so as to clamp the first seal 31 and the upper cover 10.

[0104] At the same time, the second annular plate 12 of the upper cover 10 is inserted into the annular limiting groove 311 of the first sealing member 31, forming a double clamping relationship similar to the base 20 and the second sealing member 32, so as to increase the contact area between the annular limiting groove 311 and the second annular plate 12, increase the friction between the annular limiting groove 311 and the second annular plate 12, and improve the tightness between the upper cover 10 and the first sealing member 31.

[0105] Some embodiments of the present application also provide a puncture assembly, including the sealing structure described in the above embodiments, as well as a puncture device 40 and a sleeve 50, wherein one end of the sleeve 50 is connected to the base 20 of the sealing structure, and the puncture device 40 passes through the sealing structure and the sleeve 50 in sequence and extends out from the other side of the sleeve 50. Figure 2One end of the puncture device 40 is a sharp end, and the other end is a fixed end, wherein the sharp end passes through the sealing structure and the sleeve 50 in sequence. During the assembly process, the sleeve 50 plays a guiding role so that the puncture device 40 can be accurately moved to the puncture position to facilitate the operation.

[0106] The fixed end of the puncture device 40 is a columnar boss structure, which is used to be clamped and fixed with the top of the upper cover 10. In order to improve the clamping effect, a buckle is provided at the bottom of the columnar boss (i.e., the end clamped with the upper cover 10). Fig.14 As shown, the upper cover 10 is provided with an upper cover slot 103 at the corresponding position of the buckle. After the puncture device 40 passes through the sealing structure, the fixed end of the puncture device 40 is snap-fitted and fixed to the upper cover slot 103 through the buckle, thereby fixing the puncture device 40 on the sealing structure.

[0107] Before assembling the puncture device 40, the sealing structure needs to be assembled first to ensure the sealing between the sealing structure and the sleeve, and between the sealing structure and the puncture device 40. In the process of assembling the sealing structure, the upper cover 10 and the base are fixed by the first fixing member 100, the outer periphery of the base 20 is provided with a second fixing member 200, and the base 20 is fixed to the sleeve 50 by the second fixing member to complete the assembly, saving the assembly steps of the latch in the prior art, simplifying the assembly process, and improving the assembly efficiency of the puncture assembly.

[0108] See also Figure 1 Some embodiments of the present application also provide a surgical robot, including the puncture assembly described above and a robotic arm 70, one end of which is connected to a console. Medical personnel can send corresponding operation instructions to the surgical robot through the console to control the surgical robot to perform corresponding surgical actions.

[0109] It should be noted that, in addition to the puncture process, the surgical robot can also perform corresponding surgical operations. Corresponding to different operation processes, the surgical robot can clamp different medical instruments, for example, the surgical robot can clamp the puncture assembly to perform the puncture process, and the surgical robot can also clamp the surgical instrument to perform the corresponding surgical action.

[0110] The other end of the robot arm 70 is a free end, which is configured to respond to the operation instructions sent by the console and perform corresponding surgical actions, such as extension, retraction, movement, etc. The free end of the robot arm 70 is provided with a clamping portion 71, which is used to clamp the puncture assembly and / or surgical instruments to drive the puncture assembly to complete the puncture process, and drive the surgical instruments to complete the surgical process.

[0111] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on the several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0112] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A sealing structure, the sealing structure being assembled on a trocar (40), characterized in that: include: A sealed housing, the sealed housing comprising an upper cover (10) and a base (20); A sealing assembly (30); The upper cover (10) and one end of the base (20) are fixed by a first fixing member (100), and the sealing assembly (30) is placed in a space enclosed by the upper cover (10) and the base (20); A second fixing member (200) is provided on the outer periphery of the base (20), and the base (20) clamps the sleeve (50) of the puncture device (40) to the other end of the base (20) through the second fixing member (200).

2. The sealing structure according to claim 1, characterized in that: The first fixing member (100) comprises an upper cover buckle (102) and a buckle notch (212) respectively arranged on the upper cover (10) and the base (20); The upper cover buckle (102) is buckled with the buckle slot (212) to cooperate and fix the upper cover (10) and the base (20).

3. The sealing structure according to claim 1, characterized in that: The base (20) comprises an upper column (21) and a lower column (22), and the upper column (21) is fixed to the upper cover (10) by means of the first fixing member (100); The lower column (22) is sleeved with the sleeve (50), and the lower column (22) and the sleeve (50) are clamped and fixed via the second fixing member (200).

4. The sealing structure according to claim 3, characterized in that: The second fixing member (200) is a pressing member (23), and the pressing member (23) is arranged on the outer periphery of the base (20). The base (20) fixes the sleeve (50) on the lower column (22) through the pressing member (23).

5. The sealing structure according to claim 4, characterized in that: The pressing member (23) comprises a finger pressing portion (231), a supporting portion (232) and a locking portion (233), wherein the supporting portion (232) is fixed to the side surface of the upper column (21); The finger pressing part (231) and the locking part (233) are constructed at both ends of the supporting part (232) and form a lever structure. When the finger pressing portion (231) is in a pressed state, the locking portion (233) expands radially.

6. The sealing structure according to claim 5, characterized in that: The locking portion (233) is an arc-shaped plate starting from the supporting portion and bending toward the base (20); The arc-shaped plate is used to be clamped and fixed with the top end of the sleeve (50) so as to sleeve and fix the sleeve (50) on the outside of the lower column (22).

7. The sealing structure according to claim 1, characterized in that: The sealing assembly (30) comprises a first sealing member (31) and a second sealing member (32); The first sealing member (31) is embedded in the upper cover (10), and the second sealing member (32) is embedded in the base (20); After the upper cover and the base are butted against each other, the first sealing member (31) contacts the second sealing member (32).

8. The sealing structure according to claim 7, characterized in that: The upper cover (10) is provided with a first guide hole (14), and the upper cover (10) is provided with a coaxial first annular plate (11) and a second annular plate (12), the first annular plate (11) is internally connected to the first guide hole (14), and the outer diameter of the second annular plate (12) is greater than the outer diameter of the first annular plate (11); A first annular fixing groove (13) is formed between the first annular plate (11) and the second annular plate (12), and the first sealing member (31) is fixed to the upper cover (10) through the first annular fixing groove (13).

9. The sealing structure according to claim 8, characterized in that: The first sealing member (31) is provided with an annular limiting groove (311) and an axially arranged gas injection valve port (312), and the annular limiting groove (311) is plugged into the second annular plate (12) so as to fix the first sealing member (31) to the upper cover (10) through the first annular fixing groove (13); The gas injection valve port (312) is used for the puncture device (40) to pass through the first sealing member (31).

10. The sealing structure according to claim 7, characterized in that: The base (20) is provided with a second guide hole (24), and the base (20) is provided with a coaxial third annular plate (201) and a fourth annular plate (202), the third annular plate (201) is internally connected to the second guide hole (24), and the outer diameter of the fourth annular plate (202) is greater than the outer diameter of the third annular plate (201); A second annular fixing groove (25) is formed between the third annular plate (201) and the fourth annular plate (202), and the second sealing member (32) is clamped and fixed inside the second guide hole (24) through the second annular fixing groove (25).

11. The sealing structure according to claim 10, characterized in that: One end of the second sealing member (32) is an annular boss extending outward, and a mounting plate (325) is provided at the bottom of the annular boss; When the base (20) and the second sealing member (32) are assembled, the assembly plate (325) is plugged into the second annular fixing groove (25).

12. The sealing structure according to claim 10, characterized in that: The second sealing member (32) is an openable and closable opening valve (323). When the puncture device (40) passes through the second sealing member (32), the opening valve (323) opens; when the puncture device (40) is withdrawn from the sealing structure, the opening valve (323) closes.

13. The sealing structure according to claim 11, characterized in that: The outer periphery of the assembly plate (325) and the second sealing member (32) forms a boss groove (322), and the boss groove (322) is plugged into the fourth annular plate (202).

14. The sealing structure according to claim 13, characterized in that: The annular boss of the second sealing member (32) is provided with a gas delivery hole (324).

15. A puncture assembly, characterized in that: It comprises a sealing structure as described in any one of claims 1 to 14, as well as a puncture device (40) and a sleeve (50), one end of the sleeve (50) is connected to the base (20) of the sealing structure, and the puncture device (40) passes through the sealing structure and the sleeve (50) in sequence and extends out from the other side of the sleeve (50).

16. A surgical robot, characterized in that: It comprises the puncture assembly as claimed in claim 15, and a mechanical arm (70) having a free end at one end, wherein the free end of the mechanical arm (70) is provided with a clamping portion (71), and the clamping portion (71) is used to clamp the puncture assembly.

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