Split type sheathing canal assembly and robot system

Abstract

The utility model relates to the field of medical instruments, and discloses a split type sheathing canal assembly and a robot system, and the split type sheathing canal assembly comprises a plurality of sheathing canals and at least one sheathing sleeve. The near ends of the sheaths are used for being connected with an external device, the sheaths comprise installation platforms arranged at the near ends of the sheaths, the installation platforms comprise at least one interface channel, and the far ends of the sheaths are used for being connected with at least one interface channel of at least one sheath. By means of the split type structural design, the flexibility of the sheathing canal assembly is improved, connection between a plurality of sheathing canals and an external device and connection between the sheathing canals and sheaths are facilitated, compared with an integrated sheathing canal and the split type sheathing canal assembly, connection operation is easier, a user can flexibly configure the number of the sheathing canals, use convenience is improved, and cost is reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to a split sheath assembly and a robot system. Background Art

[0002] Single-port laparoscopic surgery is a surgical method that has gradually developed and been widely used in recent years. It has the advantages of small incision, fast postoperative recovery, and low postoperative infection and complications. During the operation, multiple surgical instruments are inserted into the human body through the channel formed by the sheath, and surgical operations on different parts of the body are performed by controlling the joints of the robotic arm and surgical instruments.

[0003] At present, during the preoperative preparation process, the surgical assistant (usually an assistant doctor or nurse) inserts the sheath into the human body through a natural opening or incision, and the connecting structure of the sheath is located outside the human body. Then the robotic arm is adjusted to a suitable position to connect the robotic arm with the connecting structure of the sheath, and the surgical instrument is carried by the robotic arm so that the surgical instrument enters the human body through the lumen of the sheath to perform the surgical operation. However, the existing sheath is an integrated sheath, which is composed of a single lumen or multiple non-detachable lumens fixed together. For a single-hole robot, since the sheath lacks flexibility due to its integrated structure, the operator needs to connect multiple robotic arms to the multiple lumens of the sheath respectively, which is not easy to operate. In addition, the number of lumens of the integrated sheath is fixed. In cases where a small number of lumens are required, the number of lumens cannot be reduced, which will cause excess waste of lumens. Utility Model Content

[0004] Based on the above problems, the present invention is directed to a split sheath assembly, comprising:

[0005] a plurality of sheath tubes, the proximal ends of the plurality of sheath tubes being used to connect with external devices; and

[0006] At least one sheath comprises a mounting platform disposed at the proximal end of the sheath, the mounting platform comprises at least one interface channel, and the distal ends of the plurality of sheath tubes are used to be connected to the at least one interface channel of the at least one sheath.

[0007] In some embodiments, the plurality of sheaths are rigid sheaths.

[0008] In some embodiments, the at least one sheath comprises at least one single-pass sheath, the mounting platform of the single-pass sheath comprises an interface channel, and the distal end of the sheath tube is used to connect with the interface channel of the single-pass sheath.

[0009] In some embodiments, the at least one single-pass sheath comprises a plurality of single-pass sheaths, and the distal ends of the plurality of sheath tubes are respectively used to be connected to the interface channels of the plurality of single-pass sheaths.

[0010] In some embodiments, the at least one sheath comprises at least one combined sheath, the mounting platform of the combined sheath comprises a plurality of interface channels, and the plurality of interface channels of the combined sheath are respectively connected to the distal ends of at least a portion of the plurality of sheath tubes.

[0011] In some embodiments, the plurality of interface channels extend along an axial direction of the mounting platform and are spaced apart on the mounting platform.

[0012] In some embodiments, the plurality of interface channels are arranged to converge around a center of the mounting platform.

[0013] In some embodiments, the mounting platform includes a receiving card slot disposed at a distal end;

[0014] The sheath sleeve also includes a sheath barrel, and the proximal end of the sheath barrel is connected to the receiving slot of the mounting platform.

[0015] In some embodiments, the sheath further comprises a sealing sleeve, wherein the sealing sleeve is sleeved on the outer periphery of the proximal end of the sheath tube, and the proximal end of the sealing sleeve is used to be connected to the accommodating slot.

[0016] In some embodiments, the sealing sleeve includes at least one inner annular groove extending circumferentially along the inner surface and an outer annular groove extending circumferentially along the outer surface;

[0017] The receiving slot includes a flange extending along the circumference of the inner wall, and the flange is engaged with the outer annular groove to connect the mounting platform with the sealing sleeve;

[0018] The proximal end of the sheath tube is provided with at least one annular protrusion, and the at least one annular protrusion is engaged with the at least one inner annular groove to connect the sheath tube with the sealing sleeve.

[0019] In some embodiments, a blocking valve is provided in the interface channel; and / or

[0020] A sealing member is arranged inside the sheath tube, and the sealing member comprises a cutout.

[0021] In some embodiments, it also includes:

[0022] At least one cap is sleeved on the distal ends of the plurality of sheath tubes and extends outward along the distal ends of the plurality of sheath tubes, and the cap includes a through channel arranged along the axial direction.

[0023] In some embodiments, the plurality of sheath tubes include a straight sheath tube and at least one curved sheath tube, and the at least one curved sheath tube includes at least one straight tube and at least one arc-shaped tube penetrating each other.

[0024] In some embodiments, the at least one straight tube includes a first straight tube and a second straight tube, and the first straight tube and the second straight tube are respectively disposed on both sides of the arc tube.

[0025] In some embodiments, the plurality of sheath tubes are provided with at least one marking line on the outer circumference of the distal end section.

[0026] In some embodiments, the at least one marking line includes a plurality of marking lines that are axially spaced apart and extend circumferentially.

[0027] The present disclosure also provides a robot system, comprising:

[0028] Multiple robotic arms;

[0029] As in the split sheath tube assembly in any embodiment of the present disclosure, the proximal ends of the plurality of sheath tubes are respectively connected to the plurality of mechanical arms; and

[0030] The control unit is connected to the plurality of mechanical arms for controlling the movement of the plurality of mechanical arms so that the distal ends of the plurality of sheath tubes are connected to at least one interface channel of the at least one sheath sleeve.

[0031] In some embodiments, the robotic arm includes a connection structure disposed at a distal end;

[0032] The sheath tube comprises a proximal connecting piece for being detachably connected to the connecting structure.

[0033] In some embodiments, the proximal connector includes at least one of a protrusion, a clamp, a snap-fit ​​structure, an adhesive structure, a plug-in structure, or a suction structure.

[0034] In some embodiments, at least one sensor is further included, which is respectively arranged in the at least one interface channel. The at least one sensor is communicatively connected with the control unit, and the sensor is used to detect the connection status between the sheath tube and the corresponding interface channel.

[0035] Some embodiments of the present disclosure have one or more of the following beneficial effects:

[0036] 1. The split structural design increases the flexibility of the sheath assembly, making it easier to connect multiple sheaths to external devices and to sheath sleeves. Compared with the integrated sheath, the split sheath assembly is easier to connect; 2. The split sheath assembly can realize single-hole, multi-hole and mixed-hole surgical operations as needed; 3. Users can flexibly configure the number of sheaths to increase convenience and reduce costs; 4. The split sheath assembly uses a combination of straight sheaths and curved sheaths to avoid affecting the movement of surgical tools and reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. For ordinary technicians in this field, other embodiments can be obtained based on the contents of the embodiments of the present disclosure and these drawings without creative work.

[0038] Figure 1 A partial longitudinal cross-sectional schematic diagram showing a split sheath tube assembly according to some embodiments of the present disclosure;

[0039] Figure 2 A schematic diagram showing a three-dimensional structure of a split sheath tube assembly according to some embodiments of the present disclosure is shown;

[0040] Figure 3 A schematic diagram showing the structure of the connection between a single-pass sheath and a sheath tube according to some embodiments of the present disclosure;

[0041] Figure 4 A schematic diagram showing the structure of a single-pass sheath according to some embodiments of the present disclosure is shown;

[0042] Figure 5 A schematic longitudinal cross-sectional view of a single-pass sheath according to some embodiments of the present disclosure is shown;

[0043] Figure 6 A schematic diagram showing the structure of a combined sheath according to some embodiments of the present disclosure is shown;

[0044] Figure 7 A longitudinal cross-sectional schematic diagram of a combined sheath according to some embodiments of the present disclosure is shown;

[0045] Figure 8 A schematic longitudinal cross-sectional view of a sheath tube according to some embodiments of the present disclosure is shown;

[0046] Fig. 9 A schematic diagram showing the structure of the connection between the sheath tube and the robotic arm according to some embodiments of the present disclosure;

[0047] Fig.10 A schematic diagram showing the structure of a robot system according to some embodiments of the present disclosure is shown;

[0048] Fig.11 A partial structural schematic diagram showing the connection between the end of a robotic arm and a sheath tube according to some embodiments of the present disclosure is shown.

[0049] List of reference numerals:

[0050] 100. Split sheath tube assembly;

[0051] 110, sheath tube; 111, straight sheath tube; 112, curved sheath tube; 1121, straight tube; 1121a, first straight tube; 1121b, second straight tube; 1122, arc tube; 114, proximal connector; 115, sealing member;

[0052] 120, sheath; 120a, single-pass sheath; 120b, combined sheath; 121a-b, mounting platform; 1211a-b, interface channel; 1212b, receiving card slot; 1213b, flange; 122a-b, sheath tube; 1221-1222b, annular protrusion; 123b, sealing sleeve; 1231b, inner annular groove; 1232b, outer annular groove; 125a, air blocking valve; 126a, air inlet hole; 127a, air inlet valve;

[0053] 130. Blocked shot;

[0054] 1000. Robot system; 200. Robot arm; 210. Connection structure. DETAILED DESCRIPTION

[0055] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clearly, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0056] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying 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 a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In the present disclosure, the end close to the operator (e.g., doctor) is defined as the proximal end, near part, rear end, or rear part, and the end opposite to the proximal end, near part, rear end, or rear part is defined as the distal end, far end, front end, or front part. Alternatively, the end close to the operator (e.g., surgical patient) is defined as the distal end, far end, front end, or front part, and the end opposite to the distal end, far end, front end, or front part is defined as the proximal end, near part, rear end, or rear part. Those skilled in the art will appreciate that the embodiments of the present disclosure may be used for medical instruments or surgical robots, and may also be used for other non-medical devices.

[0057] The present disclosure provides a split sheath assembly. Figure 1 FIG. 1 is a partial longitudinal cross-sectional schematic diagram of a split sheath tube assembly 100 according to some embodiments of the present disclosure. Figure 1 FIG. 1 shows a schematic structural diagram of the sheath tube 110 and the sheath sleeve 120 in a connected state. Figure 2 FIG. 2 shows a schematic diagram of the structure of the sheath tube 110 and the sheath sleeve 120 in an unconnected state. Figure 1 and Figure 2 As shown, the split sheath assembly 100 may include a plurality of sheaths 110 and at least one sheath 120. The proximal ends of the plurality of sheaths 110 are used to connect with an external device. For example, the external device may be a robotic arm 200 of a robot. At least one sheath 120 may include a mounting platform 121 disposed at the proximal end of the sheath 120. The mounting platform 121 may include at least one interface channel 1211, and the distal end of the plurality of sheaths 110 is used to connect with at least one interface channel 1211 of at least one sheath 120, for example, to be inserted into the interface channel 1211. Figure 1 Three sheath tubes 110 are shown in FIG. Figure 2Four sheath tubes 110 are shown in FIG. It should be understood that a plurality of sheath tubes 110 may be identical, or may be partially or entirely different. The number of sheath tubes 110 may also be two, four, or other numbers, which are not limited herein. It should be understood that at least one sheath cover 120 may include one or more sheath covers, which may be identical, or may be partially or entirely different. The mounting platform 121 at the proximal end of the sheath cover 120 may include one or more interface channels 1211.

[0058] The split structural design increases the flexibility of the sheath assembly, facilitating the connection of multiple sheaths 110 with external devices and with the sheath sleeve 120. Compared with an integrated sheath, the connection operation of the split sheath assembly is easier.

[0059] Figure 3 A schematic diagram showing the structure of the connection between the single-pass sheath 120a and the sheath tube 110 according to some embodiments of the present disclosure is shown. Figure 4 A schematic diagram showing the structure of a single-pass sheath 120a according to some embodiments of the present disclosure is shown. Figure 5 FIG. 2 shows a schematic longitudinal cross-sectional view of a single-pass sheath 120a according to some embodiments of the present disclosure. Figure 3-Figure 5 As shown, at least one sheath 120 may include at least one single-pass sheath 120a. The mounting platform 121a of the single-pass sheath 120a includes an interface channel 1211a, and the distal end of the sheath tube 110 is used to connect with the interface channel 1211a of the single-pass sheath 120a, such as inserting into the interface channel 1211a. It should be understood that a single-pass sheath 120a is connected to the sheath tube 110 to adapt to simple surgical operations through a single incision or natural cavity.

[0060] In some embodiments, the single-pass sheath 120a may further include a sheath tube 122a. Figure 3-Figure 5 As shown, the sheath 122a may be in a cylindrical shape, such as a cylindrical shape, a conical cylindrical shape, a funnel shape, a trumpet shape, etc. It should be understood that the sheath 122a may be integrally formed with the mounting platform 121a or connected by means of a snap connection, bonding, etc. In some embodiments, as Figure 3-Figure 5 As shown, the sheath 122a can be funnel-shaped, for example, the proximal end of the sheath 122a is conical and the distal end is cylindrical. The transverse dimension of the proximal end of the sheath 122a is greater than the transverse dimension of the distal end. This can facilitate the installation with the mounting platform 121a and enable the proximal end of the sheath 122a to be kept outside the patient's incision.

[0061] In some embodiments, the sheath 122a has a certain hardness, for example, can be made of plastic, composite material or other medical materials, so that the sheath 122a can be inserted into the patient's body. In actual use, the sheath 122a extends from the patient's incision into the abdominal cavity, and the proximal end of the sheath 122a and the mounting platform 121a are located outside the incision.

[0062] In some embodiments, Figure 5 As shown, the sheath tube 122a may be provided with at least one air inlet hole 126a in the radial direction. The single-pass sheath 120a may also include an air inlet valve 127a, one end of which is connected to the air inlet hole 126a, and the other end of which is exposed outside the sheath tube 122a for connecting to the gas source. In actual application, the gas source releases gas, and the gas enters the air inlet hole 126a through the air inlet valve 127a, and enters the patient's body (e.g., the abdominal cavity) through the sheath tube 122a. It should be understood that the single-pass sheath 120a may include two (or more) air inlet valves 127a, and the sheath tube 122a includes two air inlet holes 126a that are radially connected along the proximal end of the sheath tube 122a and are arranged at intervals in the circumferential direction. The two air inlet valves 127a are respectively connected to the two air inlet holes 126a. It should be understood that the multiple air inlet holes 126a may be symmetrically arranged or asymmetrically arranged.

[0063] In certain embodiments, at least one single-pass sheath 120a may include multiple single-pass sheaths 120a. The mounting platform 121a of each single-pass sheath 120a includes an interface channel 1211a, and the distal ends of multiple sheath tubes 110 are used to be connected with the interface channels 1211a of multiple single-pass sheaths 120a respectively, such as inserted into the interface channel 1211a. The number of sheath tubes 110 can be consistent with the number of single-pass sheaths 120a. Multiple single-pass sheaths 120a are connected respectively by multiple sheath tubes 110 to realize multi-hole surgical operation to adapt to complicated surgical operation.

[0064] Figure 6 FIG. 1 is a schematic diagram showing the structure of a combined sheath 120b according to some embodiments of the present disclosure. Figure 1 and Figure 6As shown, at least one sheath 120 may include at least one combined sheath 120b. The mounting platform 121b of the combined sheath 120b includes a plurality of interface channels 1211b, and the plurality of interface channels 1211b of the combined sheath 120b are respectively connected to the distal end of at least a portion of the sheaths in the plurality of sheath tubes 110. For example, the distal end of all or a portion of the sheaths in the plurality of sheath tubes 110 is used to connect with at least a portion of the interface channels 1211b in the plurality of interface channels 1211b of a combined sheath 120b. It should be understood that the number of interface channels 1211b may be greater than or equal to the number of sheath tubes 110. For example, the combined sheath 120b may include four interface channels 1211b, and the plurality of sheath tubes 110 may include three or four sheath tubes 110. In some embodiments, the distal ends of the plurality of sheath tubes 110 may be respectively connected to the plurality of interface channels 1211b of the combined sheath 120b. In some embodiments, one, two or three of the plurality of sheath tubes 110 can be connected to one, two or three of the plurality of interface channels 1211b of the combined sheath 120b. Multiple interface channels 1211b of a combined sheath 120b are connected by multiple sheath tubes 110 to achieve single-port surgery to reduce trauma to the patient.

[0065] In some embodiments, at least one sheath 120 may include at least one single-pass sheath 120a and at least one combined sheath 120b. At least a portion of the sheaths in the plurality of sheath tubes 110 is used to be connected with the interface passage 1211a of at least one single-pass sheath 120a, and at least another portion of the sheaths in the plurality of sheath tubes 110 is used to be connected with the plurality of interface passages 1211b of at least one combined sheath 120b. For example, at least one sheath 120 may include a single-pass sheath 120a and a combined sheath 120b, and the combined sheath 120b may include three or four interface passages 1211b. A plurality of sheath tubes 110 may include four sheath tubes 110, wherein one of the sheath tubes 110 is connected with the interface passage 1211a of the single-pass sheath 120a, and the remaining three sheath tubes 110 are connected with the three interface passages 1211b of the combined sheath 120b. For example, at least one sheath 120 may include two single-pass sheaths 120a and one combined sheath 120b, and the combined sheath 120b may include three or four interface passages 1211b. A plurality of sheath tubes 110 may include four sheath tubes 110, wherein two sheath tubes 110 are respectively connected to the interface passages 1211a of two single-pass sheaths 120a, and the remaining two sheath tubes 110 are connected to the two interface passages 1211b of the combined sheath 120b. At least one single-pass sheath 120a and at least one combined sheath 120b are connected by a plurality of sheath tubes 110 to realize mixed hole surgery operation to meet different surgical requirements.

[0066] In some embodiments, at least one sheath 120 may not include a single-pass sheath 120a, but may include two combined sheaths 120b, and the combined sheath 120b may include two interface channels 1211b. A plurality of sheath tubes 110 may include three sheath tubes 110, wherein two sheath tubes 110 are connected to an interface channel 1211b of one of the combined sheaths 120b, and a remaining sheath tube 110 is connected to an interface channel 1211b of another combined sheath 120b. The above is only an example and is not limited thereto.

[0067] It should be understood that the number of single-pass sheaths 120a and the number of combined sheaths 120b can be adjusted according to actual needs, and at least one sheath 120 can only include one or more single-pass sheaths 120a, excluding the combined sheath 120b. Or at least one sheath 120 can include a combination of one or more single-pass sheaths 120a and one or more combined sheaths 120b. Or, at least one sheath 120 can only include one or more combined sheaths 120b, excluding the single-pass sheath 120a. The split sheath tube assembly 100 can realize single-hole, multi-hole and mixed-hole surgical operations according to needs.

[0068] It should be understood that the number of sheath tubes 110 can be adjusted according to actual needs, and each sheath tube 110 can be connected to any one of the multiple interface channels 1211b of the combined sheath 120b. Users can flexibly configure the number of sheath tubes 110 to increase convenience and reduce costs.

[0069] In some embodiments, Figure 1 and Figure 6 As shown, multiple interface channels 1211b extend along the axial direction of the mounting platform 121b and are spaced apart on the mounting platform 121b. For example, multiple interface channels 1211b can be spaced apart in an array. In certain embodiments, the proximal ends of multiple interface channels 1211b can protrude from the proximal surface of the mounting platform 121b. Or, the distal ends of multiple interface channels 1211b can protrude from the distal surface of the mounting platform 121b. The interface channel 1211b protrudes from the surface of the mounting platform 121b to facilitate the connection of the guide sheath 110 with the combined sheath cover 120b. It should be understood that multiple interface channels 1211b can also be flush with the surface of the mounting platform 121b.

[0070] In some embodiments, Figure 6 As shown, multiple interface channels 1211b are arranged around the center of the mounting platform 121b. In some embodiments, the center of the mounting platform 121b includes a connection platform, which is protruding from the surface of the mounting platform 121b. Multiple interface channels 1211b are arranged at intervals on the connection platform and extend along the axial direction of the connection platform.

[0071] It should be understood that the diameter of the interface channel 1211b is adapted to the size of the distal end of the sheath tube 110, so that the distal end of the sheath tube 110 can extend into the interface channel 1211b to achieve the connection between the sheath tube 110 and the combined sheath 120b.

[0072] Figure 7 FIG. 1 is a schematic longitudinal cross-sectional view of a combined sheath 120b according to some embodiments of the present disclosure. Figure 7 As shown, the mounting platform 121b may include a receiving slot 1212b disposed at the distal end. The sheath sleeve 120b may also include a sheath barrel 122b. The proximal end of the sheath barrel 122b is connected to the receiving slot 1212b of the mounting platform 121b. It should be understood that the sheath barrel 122b may be cylindrical, such as cylindrical, conical, horn-shaped, etc. For example, the receiving slot 1212b may include but is not limited to an annular slot, a polygonal slot, an elliptical slot, etc. The shape of the receiving slot 1212b is adapted to the proximal shape of the sheath barrel 122b, so that the sheath barrel 122b is engaged with the mounting platform 121b.

[0073] In some embodiments, Figure 7 As shown, the sheath 120b may further include a sealing sleeve 123b. The sealing sleeve 123b is sleeved on the proximal periphery of the sheath tube 122b, and the proximal end of the sealing sleeve 123b is used to connect with the receiving card slot 1212b. It should be understood that the sealing sleeve 123b may be annular. The sealing sleeve 123b has a certain thickness and may be made of an elastic material. For example, rubber, plastic or thermoplastic elastomer material. The inner side of the sealing sleeve 123b may be tightly sleeved on the proximal periphery of the sheath tube 122b, and the outer side of the sealing sleeve 123b may be tightly engaged with the receiving card slot 1212b.

[0074] It should be understood that the combined sheath 120b can also be similar to the single-pass sheath 120a, including an air inlet (not shown) and an air inlet valve. For example, at least one air inlet can be arranged along the radial direction of the sealing sleeve 123b (e.g., the distal end of the sealing sleeve 123b) and communicated with the sheath barrel 122b.

[0075] In some embodiments, Figure 7As shown, the sealing sleeve 123b may include at least one inner annular groove 1231b extending circumferentially along the inner surface and an outer annular groove 1232b extending circumferentially along the outer surface. The receiving slot 1212b includes a flange 1213b extending circumferentially along the inner wall, and the flange 1213b is engaged with the outer annular groove 1232b to connect the mounting platform 121b with the sealing sleeve 123b. The proximal end of the sheath tube 122b is provided with at least one annular protrusion 1221b, and at least one annular protrusion 1221b is engaged with at least one inner annular groove 1231b to connect the sheath tube 122b with the sealing sleeve 123b. It should be understood that the flange 1213b of the receiving slot 1212b is arranged circumferentially along the inner wall, so that the radial size of the mounting platform 121b can be larger than the sealing sleeve 123b. When the sheath tube 122b is extended into the incision of the patient, the mounting platform 121b can be stably located outside the incision.

[0076] In some embodiments, Figure 7 As shown, the inner surface of the sealing sleeve 123b may include two inner annular grooves 1231b, and the two inner annular grooves 1231b are arranged at intervals along the axial direction of the sealing sleeve 123b. The proximal end of the sheath tube 122b may include two annular protrusions 1221b, and the two annular protrusions 1221b are arranged at intervals along the axial direction of the sheath tube 122b, and the distance between the annular protrusions 1221b is equal to the distance between the inner annular grooves 1231b. The two inner annular grooves 1231b and the annular protrusions 1221b are arranged so that the sealing sleeve 123b and the sheath tube 122b are tightly connected to achieve sealing, thereby avoiding gas from escaping or leaking from the gap between the sealing sleeve 123b and the sheath tube 122b. The sheath tube 122b can reduce or avoid gas from escaping or leaking from the patient's incision.

[0077] In actual use, the sheath 122b is inserted into the abdominal cavity from the incision of the patient, and the sealing sleeve 123b and the mounting platform 121b are located outside the incision. The sheath 122b can be made of a plastic film that is easily deformed, thereby facilitating the sheath 122b to be inserted into the abdominal cavity from the incision. In some embodiments, Figure 7 As shown, the distal end of the sheath tube 122b may be provided with an annular protrusion 1222b. Through the proximal annular protrusion 1221b and the distal annular protrusion 1222b, the sheath tube 122b can maintain a cylindrical structure in the abdominal cavity to prevent the sheath tube 122b from sticking to the surgical instrument in the abdominal cavity. It should be understood that the distal end of the sheath tube 122 may also be provided with two or more annular protrusions 1222b spaced axially.

[0078] In some embodiments, Figure 4 and Figure 5As shown, a choke valve 125a may be provided in the interface channel 1211a of the single-pass sheath 120a. For example, the choke valve 125a may be provided in the proximal end of the sheath tube 122a. Similarly, a choke valve (not shown) may also be provided in the interface channel 1211b. The choke valve may be made of an elastic material, such as rubber, plastic or thermoplastic elastomer material. It should be understood that a circular through hole is provided on the choke valve 125a, the diameter of which is slightly smaller than the outer diameter of the surgical instrument, or is the same as the outer diameter of the surgical instrument, for the surgical instrument to pass through and tightly wrap the surgical instrument. The choke valve can allow the surgical instrument to pass through and ensure the sealing performance of the surgical instrument during movement. The choke valve can reduce or prevent the gas in the abdominal cavity from escaping or leaking from the interface channel 1211a (or the interface channel 1211b).

[0079] Figure 8 FIG. 1 is a schematic longitudinal cross-sectional view of a sheath tube 110 according to some embodiments of the present disclosure. Figure 8 As shown, a seal 115 is provided in the sheath 110. For example, the seal 115 can be provided at the proximal end of the sheath 110. It should be understood that the seal 115 can also be provided at the middle, distal end or other positions of the sheath 110. The seal 115 can include an incision to facilitate the passage of surgical instruments. The provision of the seal 115 can reduce or prevent the escape or leakage of gas in the abdominal cavity from the sheath 110.

[0080] In some embodiments, the plurality of sheath tubes 110 may be rigid sheath tubes 110. For example, the sheath tubes 110 may be made of metal material or hard plastic. The rigid sheath tubes 110 are provided so as to be connected with the sheath 120.

[0081] In some embodiments, Figure 8 As shown, the split sheath assembly 100 may further include at least one cap 130. At least one cap 130 is respectively sleeved on the distal ends of the plurality of sheaths 110 and extends outward along the distal ends of the plurality of sheaths 110, and the cap 130 includes a through channel arranged along the axial direction, and the through channel is used for surgical instruments to pass through. The cap 130 may be made of an elastic material, such as rubber, plastic, or thermoplastic elastomer material. By arranging the cap 130 at the distal end of the sheath 110, rigid friction between the surgical instrument and the distal end of the sheath 110 during the insertion and extraction process can be avoided, thereby reducing the wear of the surgical instrument.

[0082] Fig. 9 FIG. 1 is a schematic diagram showing a structure of a sheath tube 110 connected to a robotic arm 200 according to some embodiments of the present disclosure. Fig. 9 As shown, the plurality of sheath tubes 110 may include a straight sheath tube 111 and at least one curved sheath tube 112. Figure 8As shown, at least one curved sheath 112 includes at least one straight tube 1121 and at least one arc tube 1122 that are connected to each other. In some embodiments, the surgical instrument may include surgical tools and endoscopic tools. The straight sheath 111 can be used for the endoscopic tool to pass through, and at least one curved sheath 112 can be used for multiple surgical tools to pass through respectively. It should be understood that during the operation, after the endoscopic tool is positioned, the part of the endoscopic tool located outside the body usually does not move again, and the use requirements can be met by using the straight sheath 111. The surgical tool will rotate, feed and retreat according to actual needs. The curved sheath 112 can make the proximal ends of the surgical tools dispersed away from each other to avoid interference during the movement. It should be understood that the curvature of the arc tube 1122 of the curved sheath 112 is designed according to actual needs, so that the surgical instrument can better enter the human body through the sheath 110 to avoid bending and damage to the surgical instrument. By combining the straight sheath 111 and the curved sheath 112, the movement of the surgical tool can be avoided and the cost can be reduced.

[0083] In some embodiments, Figure 8 As shown, at least one straight tube 1121 may include a first straight tube 1121a and a second straight tube 1121b. The first straight tube 1121a and the second straight tube 1121b are respectively arranged on both sides of the arc tube 1122. In some embodiments, the curved sheath tube 112 may also include two arc tubes 1122 and two straight tubes 1121, and the arc tubes 1122 and the straight tubes 1121 are alternately arranged. The above is only an example and is not limited thereto.

[0084] In some embodiments, multiple sheaths 110 are provided with at least one marking line (not shown) on the outer circumferential surface of the distal segment. It should be understood that the marking line can be a line or other mark that is easy to distinguish, such as a graphic mark, a symbol, etc. In some embodiments, multiple marking lines can adopt different colors, forms or different lengths and combinations thereof, so that users can distinguish the positions corresponding to different marking lines. In some embodiments, at least one marking line may include multiple marking lines that are arranged at intervals along the axial direction and extend circumferentially. The centers of the multiple marking lines are at different axial length positions. For example, the marking line close to the farthest end can adopt a yellow line, and the adjacent marking line can adopt a green wavy line, etc. By setting the marking line, it is convenient for users to judge the depth and position of the sheath 110 inserted into the sheath sleeve 120.

[0085] The present disclosure also provides a robot system. Fig.10 FIG. 1 is a schematic diagram showing a structure of a robot system 1000 according to some embodiments of the present disclosure. Fig.10As shown, the robot system 1000 may include a plurality of robotic arms 200, a split sheath assembly 100 as in any embodiment of the present disclosure, and a control unit (not shown). The proximal ends of the plurality of sheaths 110 are respectively connected to the plurality of robotic arms 200. The control unit is in communication connection with the plurality of robotic arms 200, and is used to control the movement of the plurality of robotic arms 200 so that the distal ends of the plurality of sheaths 110 are connected to at least one interface channel 1211 of at least one sheath 120 (e.g., a single-pass sheath 120a or a combined sheath 120b).

[0086] It should be understood that the mechanical arm 200 can be moved by automatic control or manual control, thereby driving the distal end of the sheath tube 110 to move to the interface channel 1211 (e.g., interface channel 1211a or interface channel 1211b) of the sheath 120 (e.g., single-pass sheath 120a or combined sheath 120b). For example, the control unit can control the movement of multiple mechanical arms 200 simultaneously or separately based on user operation instructions, so that the distal end of the sheath tube 110 moves to the interface channel 1211 of the sheath 120. Alternatively, the control unit can control multiple mechanical arms 200 to move according to the planned movement path based on the received posture information of the sheath 120, so that the distal end of the sheath tube 110 moves to the interface channel 1211 of the sheath 120.

[0087] Fig.11 FIG. 2 is a schematic diagram showing a portion of the structure of the connection between the robot arm 200 and the sheath tube 110 according to some embodiments of the present disclosure. Fig. 9 and Fig.11 As shown, the robot arm 200 may include a connection structure 210 disposed at the end. The sheath tube 110 may include a proximal connection member 114 for detachably connecting to the connection structure 210. In some embodiments, the proximal connection member 114 may include at least one of a protrusion, a clamp, a snap-fit ​​structure, an adhesive structure, a plug-in structure, or a suction structure. The connection structure 210 is adapted to the proximal connection member 114 so that the robot arm 200 is detachably connected to the sheath tube 110. Figure 1 and Fig.11 As shown, the connection structure 210 can be a clamp, and the proximal connector 114 can be a protrusion extending radially outward along the sheath tube 110. The protrusion is clamped by the clamp to achieve the connection between the sheath tube 110 and the robotic arm 200. The detachable connection can facilitate the replacement of the sheath tube 110 and flexibly set the number of sheath tubes 110.

[0088] In some embodiments, the proximal connector 114 on the curved sheath tube 112 among the multiple sheath tubes 110 can be set at a position closer to the proximal end. The setting positions of the proximal connectors 114 on the multiple curved sheath tubes 112 can also be different. The proximal connector 114 on the straight sheath tube 111 can be set at a position closer to the middle of the proximal end. The above is only an example, and it should be understood that the specific setting position of the proximal connector 114 can be set according to the length of the sheath tube, the position of the connection structure 210 of the robotic arm 200, etc., so that the sheath tube 110 and the robotic arm 200 can be smoothly connected.

[0089] In some embodiments, the robot system 1000 may further include at least one sensor (not shown). At least one sensor may be respectively disposed in at least one interface channel 1211, and at least one sensor is communicatively connected to the control unit. The sensor is used to detect the connection status between the sheath tube 110 and the corresponding interface channel 1211. It should be understood that the connection status may include whether the connection is successful, whether the connection position is normal, etc. In some embodiments, the sensor may include, but is not limited to, a position sensor, a contact sensor, or other forms of sensors. By providing the sensor, it is convenient for the user to monitor the connection status between the sheath tube 110 and the sheath sleeve 120.

[0090] In some embodiments, Fig.11 As shown, the robot system 1000 may include a column 300. A plurality of mechanical arms 200 are arranged on the column 300. It should be understood that the mechanical arm 200 may include a plurality of movable joints and connecting rods, and has a plurality of degrees of freedom. The plurality of mechanical arms 200 may carry a plurality of surgical instruments (e.g., surgical tools or endoscopic tools), and at least one surgical tool or endoscopic tool is used to extend into the patient's body through the split sheath assembly 100 to perform a surgical operation. For example, before the operation, the column 300 needs to be moved to the patient's side so that the mechanical arm 200 moves to a suitable position. Then the sheath 120 is inserted into the incision or opening of the patient, and the movement of the plurality of mechanical arms 200 is controlled so that the plurality of sheaths 110 carried by the mechanical arm 200 are respectively connected to the plurality of interface channels 1211 of the sheath 120 (e.g., the single-pass sheath 120a and the combined sheath 120b), so as to facilitate at least one surgical tool or endoscopic tool to enter the body through the sheath 110 and the sheath 120.

[0091] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure is described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A split sheath tube assembly, characterized in that: include: A plurality of sheath tubes, the proximal ends of the plurality of sheath tubes being used to be connected to an external device; as well as At least one sheath comprises a mounting platform disposed at the proximal end of the sheath, the mounting platform comprises at least one interface channel, and the distal ends of the plurality of sheath tubes are used to be connected to the at least one interface channel of the at least one sheath.

2. The split sheath tube assembly according to claim 1, characterized in that: The multiple sheaths are rigid sheaths.

3. The split sheath tube assembly according to claim 1, characterized in that: The at least one sheath comprises at least one single-pass sheath, the mounting platform of the single-pass sheath comprises an interface channel, and the distal end of the sheath tube is used to be connected to the interface channel of the single-pass sheath.

4. The split sheath tube assembly according to claim 3, characterized in that: The at least one single-pass sheath comprises a plurality of single-pass sheaths, and the distal ends of the plurality of sheath tubes are respectively used to be connected to the interface channels of the plurality of single-pass sheaths.

5. The split sheath tube assembly according to claim 1 or 3, characterized in that: The at least one sheath comprises at least one combined sheath, the mounting platform of the combined sheath comprises a plurality of interface channels, and the plurality of interface channels of the combined sheath are respectively connected to the distal ends of at least a portion of the plurality of sheath tubes.

6. The split sheath tube assembly according to claim 5, characterized in that: The plurality of interface channels extend along the axial direction of the mounting platform and are spaced apart on the mounting platform.

7. The split sheath tube assembly according to claim 6, characterized in that: The plurality of interface channels are converged around the center of the mounting platform.

8. The split sheath tube assembly according to claim 5, characterized in that: The mounting platform includes a card receiving slot disposed at a distal end; The sheath sleeve also includes a sheath barrel, and the proximal end of the sheath barrel is connected to the receiving slot of the mounting platform.

9. The split sheath tube assembly according to claim 8, characterized in that: The sheath sleeve also includes a sealing sleeve, which is sleeved on the outer periphery of the proximal end of the sheath tube, and the proximal end of the sealing sleeve is used to be connected to the accommodating slot.

10. The split sheath tube assembly according to claim 9, characterized in that: The sealing sleeve comprises at least one inner annular groove extending along the circumference of the inner surface and an outer annular groove extending along the circumference of the outer surface; The receiving slot includes a flange extending along the circumference of the inner wall, and the flange is engaged with the outer annular groove to connect the mounting platform with the sealing sleeve; The proximal end of the sheath tube is provided with at least one annular protrusion, and the at least one annular protrusion is engaged with the at least one inner annular groove to connect the sheath tube with the sealing sleeve.

11. The split sheath tube assembly according to claim 1, characterized in that: A choke valve is provided in the interface channel; and / or A sealing member is arranged inside the sheath tube, and the sealing member comprises a cutout.

12. The split sheath tube assembly according to claim 1, characterized in that: Also includes: At least one cap is sleeved on the distal ends of the plurality of sheath tubes and extends outward along the distal ends of the plurality of sheath tubes, and the cap includes a through channel arranged along the axial direction.

13. The split sheath tube assembly according to claim 1, characterized in that: The plurality of sheath tubes include a straight sheath tube and at least one curved sheath tube, and the at least one curved sheath tube includes at least one straight tube and at least one arc-shaped tube penetrating each other.

14. The split sheath tube assembly according to claim 13, characterized in that: The at least one straight tube includes a first straight tube and a second straight tube, and the first straight tube and the second straight tube are respectively arranged on both sides of the arc tube.

15. The split sheath tube assembly according to claim 1, characterized in that: The plurality of sheath tubes are provided with at least one marking line on the outer circumferential surface of the distal end section.

16. The split sheath tube assembly according to claim 15, characterized in that: The at least one marking line includes a plurality of marking lines that are spaced apart in the axial direction and extend circumferentially.

17. A robot system, characterized in that: include: Multiple robotic arms; The split sheath tube assembly according to any one of claims 1 to 16, wherein the proximal ends of the plurality of sheath tubes are respectively connected to the plurality of mechanical arms; as well as The control unit is connected to the plurality of mechanical arms for controlling the movement of the plurality of mechanical arms so that the distal ends of the plurality of sheath tubes are connected to at least one interface channel of the at least one sheath sleeve.

18. The robot system according to claim 17, characterized in that: The mechanical arm includes a connecting structure arranged at the end; The sheath tube comprises a proximal connecting piece for being detachably connected to the connecting structure.

19. The robot system according to claim 18, characterized in that The proximal connecting piece includes at least one of a protrusion, a clamp, a snap-fit ​​structure, a bonding structure, a plug-in structure or a suction structure.

20. The robot system according to claim 17, characterized in that It also includes at least one sensor, which is respectively arranged in the at least one interface channel. The at least one sensor is communicatively connected with the control unit, and the sensor is used to detect the connection status between the sheath tube and the corresponding interface channel.

Images