Aspirator, assemblable aspirator assembly and surgical robot

Abstract

The utility model relates to the field of medical instruments, and discloses an aspirator, an assemblable aspirator assembly and a surgical robot. The aspirator comprises an aspiration tube, a head part and an assembly structure, the head is arranged at the far end of the suction tube and comprises a main body and an internal cavity penetrating through the main body, and the internal cavity is communicated with the suction tube; the assembling structure is connected with the head and used for assembling or disassembling the aspirator. Based on the invention, the aspirator can be assembled with the clamp tool and perform the surgical operation at the same time, so that the switching of surgical tools is reduced, and the efficiency of performing the surgical operation is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and in particular to an aspirator, an assembleable aspirator component, and a surgical robot. Background Art

[0002] Laparoscopic surgery is a surgical method that has gradually developed and been widely used in recent years. It has the advantages of small incisions, greatly reducing the patient's recovery time, discomfort experience and post-healing side effects. Laparoscopic surgery, especially single-port laparoscopic surgery, can be performed through a surgical robot system, which can optimize the surgical method through computer remote control technology.

[0003] During surgery, an aspirator is needed to remove the patient's bleeding, exudate, pus, contents of organs, etc., to make the surgical field clearer and reduce the possibility of contamination. When performing surgery, the user needs to switch between surgical instruments and the aspirator, and the switching steps are relatively cumbersome. Utility Model Content

[0004] In some embodiments, the present disclosure provides an aspirator, comprising:

[0005] Suction tube;

[0006] A head, disposed at the distal end of the suction tube, comprising a main body and an internal cavity penetrating the main body, wherein the internal cavity is communicated with the suction tube; and

[0007] The assembly structure is connected to the head and is used to assemble or disassemble the attractor.

[0008] In some embodiments, the body of the head includes:

[0009] A proximal portion connected to the distal end of the suction tube; and

[0010] The distal portion is located at the distal end of the proximal portion, and includes at least one suction hole.

[0011] In some embodiments, the assembly structure includes:

[0012] The handle is arranged above the proximal end portion and is used for assembling or disassembling the attractor. The handle comprises an assembly hole.

[0013] In some embodiments, the assembly structure further comprises:

[0014] The boss is located at the distal end of the assembly hole of the handle, and the proximal end portion of the boss is arranged above the proximal end portion.

[0015] In some embodiments, the boss includes:

[0016] a ramp structure located proximal to the proximal portion of the boss; and / or

[0017] The chamfer is located at the upper part of the boss and is arranged along the circumference of the upper surface of the boss.

[0018] In some embodiments, the assembly structure further comprises:

[0019] An insulating sleeve, which is sleeved on the proximal end of the main body, and the distal end of the main body is exposed from the insulating sleeve;

[0020] The handle and the proximal portion of the boss are disposed on the insulating sleeve.

[0021] In some embodiments, the assembly structure further comprises:

[0022] The support part is arranged on the insulating sleeve, and the proximal end part of the boss is connected to the distal end of the support part.

[0023] In some embodiments, the support portion includes a slope at a proximal end of the support portion and a step structure at a distal end of the support portion; the proximal end of the boss is embedded in the step structure, and the distal end of the boss extends out of the step structure of the support portion.

[0024] In some embodiments, the attractor further comprises:

[0025] A first connecting arm is provided on the insulating sleeve and extends to the side of the insulating sleeve; and

[0026] The second connecting arm is arranged on the insulating sleeve and extends to the side of the insulating sleeve. The second connecting arm is arranged opposite to the first connecting arm.

[0027] In some embodiments, the present disclosure further provides an assembleable attractor assembly, comprising:

[0028] An attractor as in any one of the embodiments of the present disclosure; and

[0029] The clamp tool is detachably connected to the attractor, and the clamp tool is used to drive the attractor to move. The clamp tool includes:

[0030] Arm body; and

[0031] The clamp head is arranged at the distal end of the arm body, and the clamp head is detachably connected to the suction device.

[0032] In some embodiments, the clamp head of the clamp tool includes:

[0033] A first clamp head, the first clamp head is used to be detachably connected to the assembly structure of the suction device; and

[0034] The second clamp head cooperates with the first clamp head.

[0035] In some embodiments, the clamp head further comprises:

[0036] A clamp base connected to the distal end of the arm body;

[0037] The first clamp head is fixedly arranged at the distal end of the clamp base, and the proximal end of the second clamp head is hinged to the clamp base to cooperate with the first clamp head.

[0038] In some embodiments, the first clamp head comprises:

[0039] A clamping portion located at the distal end of the first clamp head; and

[0040] The transverse groove is arranged at the proximal end of the clamping portion, and is used to connect with at least a part of the assembly structure of the suction device.

[0041] In some embodiments, the first clamp head further comprises:

[0042] The hole-shaped structure is arranged on the clamping portion, and the hole-shaped structure can be engaged with at least a part of the assembly structure of the suction device.

[0043] In some embodiments, the first clamp head and the second clamp head are configured as a first electrode and a second electrode, respectively.

[0044] In some embodiments, the present disclosure further provides a surgical robot, comprising:

[0045] A surgical trolley comprising at least one robotic arm; and

[0046] As in any of the mountable suction device components in some embodiments of the present disclosure, a clamping tool of the mountable suction device component is disposed at a distal end of at least one robotic arm.

[0047] In some embodiments, the surgical robot further comprises:

[0048] The auxiliary clamping tool is arranged at the distal end of at least one mechanical arm, and is used for clamping the suction device that can be assembled with the suction device assembly and driving the suction device to move so as to assemble or disassemble the suction device.

[0049] Some embodiments of the present disclosure have one or more of the following technical effects: the suction device can be assembled with another surgical tool (such as a clamp tool) and perform surgical operations together, which is conducive to reducing the switching of surgical tools and improving the efficiency of performing surgical operations; it can suck blood stains in the patient's body while performing electrocoagulation on the patient's tissue; it is convenient to assemble and disassemble the clamp tool and the suction device; the clamp tool and the suction device can establish a close connection, so that the clamp tool can drive the suction device to move in the patient's body. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] 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.

[0051] Figure 1 A schematic diagram showing the structure of an attractor according to some embodiments of the present disclosure;

[0052] Figure 2 A structural side view showing an assembleable attractor assembly in an assembled state according to some embodiments of the present disclosure;

[0053] Figure 3 A schematic diagram showing a surgical robot system according to some embodiments of the present disclosure;

[0054] Figure 4 A schematic diagram showing the structure of an attractor according to some embodiments of the present disclosure at another angle;

[0055] Figure 5 shows a side view of a clamp tool according to some embodiments of the present disclosure;

[0056] Figure 6 A schematic diagram showing the structure of an assembleable attractor assembly in a separated state according to some embodiments of the present disclosure;

[0057] Figure 7 A schematic structural diagram of an arm body of a clamp tool according to some embodiments of the present disclosure is shown;

[0058] Figure 8 A schematic structural diagram showing a first continuum structure of an arm according to some embodiments of the present disclosure;

[0059] Fig. 9 A schematic structural diagram of a driving device according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0060] 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.

[0061] In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the 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 limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0062] 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 communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0063] 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 close to the surgical patient is defined as the distal end, far end, front end, or front part. 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 can be used for medical instruments or surgical robots, and can also be used for other non-medical devices.

[0064] Figure 1 A schematic structural diagram of an absorber 100 according to some embodiments of the present disclosure is shown. Figure 2 FIG. 2 shows a structural side view of an assembleable attractor assembly 10 in an assembled state according to some embodiments of the present disclosure. Figure 2 As shown, the assembleable suction assembly 10 can include a suction device 100 and a clamp tool 200. In certain embodiments, the assembleable suction assembly 10 including the suction device 100 and the clamp tool 200 can be used for a surgical robot system. The clamp tool 200 in the assembleable suction assembly 10 can be arranged at the far end of the mechanical arm (such as the positioning arm of the surgical robot system) of the surgical robot system. The clamp tool 200 can move under the control (e.g., teleoperation) of the user.

[0065] The surgical robot system may be any suitable surgical robot system including a laparoscopic surgical robot system. Figure 3FIG. 3 is a schematic diagram of a surgical robot system 300 according to some embodiments of the present disclosure. Figure 3 As shown, the surgical robot system 300 may include an operating table 310 and a main control table 320. The operating table 310 may include at least one robotic arm 311. The main control table 320 may include at least one main manipulator 321. Figure 3 As shown, at least one mechanical arm 311 can be movably arranged on the surgical trolley 310. In some embodiments, at least one mechanical arm 311 can be a positioning arm of a surgical robot, and the distal end of at least one mechanical arm 311 can carry at least one surgical instrument 312 (e.g., curved scissors, endoscope, clamp tool 200, etc.). At least one main operator 321 is arranged on the main control trolley 320, and is used to receive the user's operation on at least one main operator 321. The main control trolley 320 can be connected to the surgical trolley 310 for communication. During the operation, the surgical trolley 310 is usually located on the patient's side, and the user can issue a control instruction by operating at least one main operator 321 of the main control trolley 320 to control at least one surgical instrument 312 carried by the surgical trolley 310 to perform a surgical operation on the patient.

[0066] like Figure 1 As shown, the suction device 100 may include a suction tube 110, a head 120, and an assembly structure 130. Those skilled in the art will appreciate that Figure 1 Only a partial structure of the distal end of the suction tube 110 is shown. The head 120 may be disposed at the distal end of the suction tube 110 , and the head 120 may include a body 121 and an internal cavity 122 penetrating the body 121 , and the internal cavity 122 may communicate with the suction tube 110 .

[0067] Those skilled in the art will understand that Figure 1 Only a partial structure of the suction device 100 is shown. In some embodiments, the suction device 100 may also include a negative pressure device, which may be connected to the suction tube 110, for example, connected to the proximal end of the suction tube 110, to create a negative pressure environment inside the suction tube 110 and the internal cavity 122, so that the patient's blood, exudate, etc. can be sucked by the suction device 100.

[0068] In some embodiments, the aspirator 100 may further include a first connecting tube and a second connecting tube (not shown) connected to the proximal end of the suction tube 110. The proximal end of the first connecting tube may be connected to a negative pressure device. In some embodiments, the aspirator 100 may further include a liquid collecting device, and the liquid collecting port of the liquid collecting device may be connected to the proximal port of the first connecting tube to store blood, exudate, etc. attracted by the suction tube 110. The proximal end of the first connecting tube is connected to the negative pressure device, and the proximal port of the first connecting tube may extend from the negative pressure device to connect the liquid collecting device. Based on this, during surgery, the blood, exudate, etc. attracted by the aspirator 100 may enter the aspirator 100 from the head 120, and enter the liquid collecting device via the first connecting tube along the internal cavity 122 and the suction tube 110 connected thereto.

[0069] The proximal end of the second connecting tube can be connected to the positive pressure device to pump the liquid (e.g., saline) used to flush the aspirator 100 into the aspirator 100. The saline can flow through the aspirator tube 110 and the internal cavity 122 along the second connecting tube, thereby flushing the aspirator 100, which is beneficial to the subsequent use of the aspirator 100. In some embodiments, the proximal port of the second connecting tube can be connected to a device for storing saline.

[0070] In some embodiments, the suction tube 110 may be integrally formed with the first connecting tube and the second connecting tube.

[0071] In some embodiments, Figure 1 As shown, the main body 121 of the head 120 may include a proximal portion 1211 and a distal portion 1212. The proximal portion 1211 may be connected to the distal end of the suction tube 110. The distal portion 1212 may be located at the distal end of the proximal portion 1211. Figure 1 As shown, the distal portion 1212 may include at least one suction hole, for example, a suction hole 11 located at the distal end of the internal cavity 122, and a suction hole 12 disposed on the peripheral side of the distal portion 1212. In some embodiments, the distal portion 1212 may include a plurality of suction holes 12 disposed on the peripheral side, and the plurality of suction holes 12 may be evenly distributed. It will be appreciated by those skilled in the art that the suction hole 11 and the suction hole 12 may complement each other to prevent one of the suction holes from being blocked by the patient's exudate and the like and making it difficult to continue suctioning.

[0072] The assembly structure 130 can be connected to the head 120, and the assembly structure 130 can be used to assemble or disassemble the suction device 100. In some embodiments, the suction device 100 can be assembled with another surgical tool (e.g., a clamp tool 200) through the assembly structure 130 to form an assembleable suction device assembly 10 (see Figure 2). Based on this, during surgery, the suction device 100 and the clamp tool 200 can perform surgical operations simultaneously. For example, while the clamp tool 200 performs electrocoagulation on the patient's tissue, the suction device 100 can suction the patient's blood, etc. The user no longer needs to switch between the surgical tool and the suction device 100, which is conducive to improving the efficiency of performing the surgery.

[0073] During surgery, the head 120 of the suction device 100, the assembly structure 130, and a portion of the distal end of the suction tube 110 can be inserted into the patient's body, for example, through a natural opening or incision of the patient, or through a channel provided by a sheath (the distal end of which can be inserted into the patient's body) or other instruments. In some embodiments, the suction device 100 and the clamping tool 200 can be assembled or disassembled in the patient's body.

[0074] Figure 4 FIG. 2 shows a schematic diagram of the structure of the attractor 100 according to some embodiments of the present disclosure at another angle. Figure 4 As shown, the assembly structure 130 may include a handle 131, which may be used to assemble or disassemble the suction device 100. The handle 131 may be disposed above the proximal end 1211 of the body 121, so that the clamp tool 200 may be assembled with the suction device 100 through the handle 131. Figure 4 As shown, the handle 131 may include a handle body 1311 and an assembly hole (eg, a through hole, an open hole, etc.) 1312 disposed on the body 1311. During assembly, the end of the clamp tool 200 may be assembled with the suction device 100 through the assembly hole 1312.

[0075] Those skilled in the art will appreciate that the assembly hole 1312 may adopt any suitable structure, such as Figure 4 The through hole shown passes through the door-shaped handle body 1311. In some embodiments, the handle body 1311 can be in an inverted L-shape, and the assembly hole 1312 is an open hole located below the inverted L-shape.

[0076] like Figure 1 or Figure 4 As shown, the assembly structure 130 may further include a boss 132, and a proximal portion 1321 of the boss 132 may be disposed above the proximal portion 1211. The boss 132 may be located at the distal end of the assembly hole 1312 of the handle 131, based on which the head of the clamp tool 200 may extend from the assembly hole 1312 of the handle 131 and be connected to the boss 132, for example, by being engaged with the boss 132. Figure 4 As shown, the boss 132 may further include a ramp structure 1322 located at the proximal end of the proximal portion 1321 of the boss 132, so that the head of the clamp tool 200 is connected to the boss 132 when it extends from the assembly hole 1312. Figure 4As shown, the boss 132 may further include a chamfer 1323 located at the upper portion of the boss 132 and arranged along the circumference of the upper surface of the boss 132 to facilitate assembly and disassembly of the suction device 100 and the clamp tool 200.

[0077] The handle 131 and the boss 132 can be disposed above the proximal portion 1211 in a variety of ways. In some embodiments, the handle 131 can be connected to the proximal portion 1211 by bonding or the like. Figure 4 The longitudinal portion of the door-shaped handle body 1311 shown can be connected to both sides of the proximal portion 1211 by bonding or the like, so that the assembly hole 1312 of the handle 131 can be located above the proximal portion 1211 to facilitate the passage of the end of the clamp tool 200. In some embodiments, the handle 131 and the proximal portion 1211 of the head body can be connected by mutually matching connection structures. For example, the proximal portion 1211 can include ridges arranged on both sides, the longitudinal portion of the handle body 1311 of the handle 131 can include a structure that can be connected to the ridges, such as a snap-fitting groove, and the handle 131 and the proximal portion 1211 can be connected by mutually matching ridges and grooves.

[0078] In some embodiments, the proximal portion 1321 of the boss 132 can be disposed above the proximal portion 1211 by bonding or the like. In some embodiments, the proximal portion 1211 can include a ridge disposed at the top, the boss 132 can include a groove disposed at the bottom and capable of engaging with the ridge, and the boss 132 and the proximal portion 1211 can be connected by the ridge and the groove that cooperate with each other.

[0079] In some embodiments, the assembly structure 130 may further include an insulating sleeve 133. Figure 1 As shown, the insulating sleeve 133 can be sleeved on the proximal portion 1211 of the body 121. The handle 131 and the boss 132 can be connected to the insulating sleeve 133, so as to be arranged above the proximal portion 1211. In some embodiments, the proximal portion 1321 of the boss 132 can be arranged on the insulating sleeve 133. Figure 1 As shown, the distal portion 1324 of the boss 132 can extend distally from the insulating sleeve 133 and hang above the distal portion 1212 of the head 120. In some embodiments, the handle 131, the boss 132 and the insulating sleeve 133 can be fixedly connected or integrally formed. It can be understood by those skilled in the art that the manner in which the handle 131, the boss 132 and the proximal portion 1211 are connected is not limited to the above-mentioned several methods, and can also include any suitable connection method.

[0080] In some embodiments, the insulating sleeve 133 can be connected to the proximal portion 1211 by any suitable means such as gluing. The distal portion 1212 of the head 120 can be exposed from the insulating sleeve 133 to facilitate suction of blood, exudate, etc. in the patient's body. The insulating sleeve 132 can prevent the end of the clamp tool 200 from being electrically connected to the head 120 of the suction device 100, thereby preventing the suction device 100 from accidentally damaging the patient's tissue, and improving the assembly of the suction device assembly 10 (see Figure 2 ) security.

[0081] In some embodiments, the assembly structure 130 may further include a support portion 134. Figure 1 or Figure 4 As shown, the support portion 134 can be connected to the insulating sleeve 133 (for example, fixedly connected or integrally formed), and the proximal portion 1321 of the boss 132 can be connected to the support portion 134. The support portion 134 may include a slope at the proximal end to facilitate the head of the clamp tool 200 to extend into the assembly hole 1312 of the handle 131. In some embodiments, the support portion 134 may also include a step structure at the distal end, the proximal end of the boss 132 may be embedded in the step structure and the distal end of the boss 132 may extend out of the support portion 134. Figure 2 As shown, in the assembled state, the support portion 134 can provide support for another surgical tool (e.g., clamp tool 200) in the assembleable aspirator assembly 10 to reduce the slippage between the aspirator 100 and the clamp tool 200. In addition, based on the support portion 134, it helps the distal ends of the aspirator 100 and the clamp tool 200 to maintain a suitable distance, so that the two can perform operations separately.

[0082] like Figure 4 As shown, the aspirator 100 may further include a first connecting arm 140 and a second connecting arm 150. The first connecting arm 140 may be disposed on the insulating sleeve 133 and extend to the side of the insulating sleeve 133. The second connecting arm 150 may be disposed on the insulating sleeve 133 and extend to the side of the insulating sleeve 133, and the second connecting arm 150 may be disposed opposite to the first connecting arm 140. In some embodiments, the first connecting arm 140 or the second connecting arm 150 of the aspirator 100 may be clamped by an auxiliary clamping tool, and the distal end of the aspirator 100 (e.g., the head 120 and the assembly structure 130) may be connected to the distal end of the clamping tool 200 by operating the auxiliary clamping tool, thereby realizing the assembly of the aspirator 100 with the clamping tool 200; or the distal end of the aspirator 100 may be disassembled from the distal end of the clamping tool 200 by operating the auxiliary clamping tool, thereby realizing the disassembly of the aspirator 100 with the clamping tool 200.

[0083] Some embodiments of the present disclosure also provide an assembleable attractor assembly 10 . Figure 2FIG. 1 is a schematic diagram showing the structure of an assembleable attractor assembly 10 according to some embodiments of the present disclosure. Figure 2 As shown, the assembleable aspirator assembly 10 can include an aspirator 100 and a clamp tool 200. The aspirator 100 can be any of the aspirators in some embodiments of the present disclosure, and to reduce repetition, no further description is given. The clamp tool 200 can be detachably connected to the aspirator 100. The clamp tool 200 can be used to drive the aspirator 100 to move, for example, drive the aspirator 100 to realize feeding, retreating, pitching, deflection and other movements in the patient.

[0084] like Figure 2 As shown, the clamp tool 200 may include an arm body 210 and a clamp head 220. The clamp head 220 may be disposed at the distal end of the arm body 210, and may be fixedly connected to the distal end of the arm body 210 by, for example, welding. The clamp head 220 may be detachably connected to the suction device 100.

[0085] During surgery, blood, exudate, etc. will be generated while performing surgical operations. If not handled in time, they will block the doctor's vision and may even cause contamination. Therefore, during surgery, an aspirator is needed to remove blood, exudate, etc. during the surgical operation. This requires the doctor to repeatedly perform a certain surgical operation with surgical tools, switch to operating the aspirator for suction, and then switch to the surgical tools to continue performing the surgical operation after the aspirator performs the suction operation. The above process steps are cumbersome, resulting in a prolonged operation time. Based on some embodiments of the present disclosure, the assembled aspirator assembly 10 (see Figure 2 ), during the operation, while the clamp tool 200 performs surgical operations such as electrocoagulation and clamping tissue, the suction device 100 can perform suction, reducing the switching operations of surgical instruments that the doctor needs to perform, which helps to improve the efficiency of the operation.

[0086] like Figure 2 As shown, the clamp head 220 may include a first clamp head 221 and a second clamp head 222. The first clamp head 221 may be used to be detachably connected to the assembly structure 130 of the aspirator 100. The first clamp head 221 and the assembly structure 130 of the aspirator 100 may be detachably connected through a variety of mutually cooperating structures.

[0087] Figure 5 FIG. 2 shows a side view of a clamp tool 200 according to some embodiments of the present disclosure. Figure 5 As shown, in some embodiments, the first clamp head 221 may include a clamping portion 2211 located at the distal end of the first clamp head 221 and a transverse groove 2212 disposed at the proximal end of the clamping portion 2211. The transverse groove 2212 may be used to connect with at least a portion of the assembly structure 130 of the suction device 100. For example, Figure 2As shown, the transverse groove 2212 of the first pliers head 221 of the clamp tool 200 can be connected to the handle 131 of the suction device 100. Figure 2 As shown, in the connected state, the clamping portion 2211 of the first clamp head 221 extends out from the assembly hole 1312 of the handle 131 , and the transverse groove 2212 of the first clamp head 221 is engaged with the transverse portion of the main body 1311 of the handle 131 .

[0088] Figure 6 FIG. 1 is a schematic diagram showing a structure of an assembleable attractor assembly 10 in a separated state according to some embodiments of the present disclosure. A person skilled in the art will appreciate that Figure 6 In some embodiments, the absorber assembly 10 can be in a separated state or a state to be assembled. Figure 6 As shown, in the clamp tool 200, the first clamp head 221 may further include a hole-shaped structure 2213. Figure 6 As shown, the hole-shaped mechanism 2213 can be arranged on the clamping portion 2211, and the hole-shaped structure 2213 can be engaged with at least a part of the assembly structure 130 of the suction device 100. For example, in the connected state, the hole-shaped structure 2213 can be engaged with the boss 132 of the suction device 100, and the boss 132 can be embedded in the hole-shaped structure 2213. Based on the mutually matched connection structures on the suction device 100 and the clamp tool 200 (for example, the handle 131 of the suction device 100 and the transverse groove 2212 of the clamp tool 200, the boss 132 of the suction device 100 and the hole-shaped structure 2213 of the clamp tool 200), it is conducive to making the suction device 100 and the clamp tool 200 connected more firmly, so that the clamp tool 200 can drive the suction device 100 to move.

[0089] The second clamp head 222 can cooperate with the first clamp head 221, for example, to perform a clamping operation with the first clamp head 221. Figure 2 As shown, the clamp head 220 may further include a clamp base 223. The clamp base 223 may be connected to the distal end of the arm body 210, for example, by welding or other suitable means to fix the distal end of the arm body 210. The first clamp head 221 may be fixedly arranged (for example, fixedly connected or integrally formed) at the distal end of the clamp base 223. The proximal end of the second clamp head 222 may be hinged to the clamp base 223 to cooperate with the first clamp head 221. For example, Figure 5 Point A is shown as a hinge point that is hinged to the clamp base 223. Those skilled in the art will appreciate that the second clamp head 222 can be driven to rotate around point A to achieve the opening and closing of the clamp tool 200. Figure 5 As shown, the second clamp head 222 may include a clamping portion 2221. The clamping portion 2211 of the first clamp head 221 and the clamping portion 2221 of the second clamp head 222 cooperate with each other to clamp the patient's tissue.

[0090] In some embodiments, the first forceps 221 and the second forceps 222 can also be configured as a first electrode and a second electrode, respectively. Based on this, the clamp tool 200 can be used as a bipolar electrosurgical tool to perform electrocoagulation on patient tissue. In some embodiments, the first forceps 221 and the second forceps 222 can be connected to a bipolar electrosurgical generator, respectively, to be configured as a first electrode and a second electrode. In some embodiments, as Figure 5 As shown, the clamp tool 200 may further include an insulating structure 230, and the insulating structure 230 may be disposed between the clamp base 223 and the first clamp head 221. Those skilled in the art may understand that the second clamp head 222 is conductively connected to the clamp base 223, and the insulating structure 230 may isolate the electrical connection between the clamp base 223 and the first clamp head 221, thereby isolating the first clamp head 221 and the second clamp head 222 from each other.

[0091] Before performing a surgical procedure using the assembleable suction device assembly 10 , the suction device 100 and the clamp tool 200 may be assembled through the following process.

[0092] The distal end of the aspirator 100 is placed into the patient's body. For example, the user can hold the aspirator tube 110 of the aspirator 100 and place the distal end of the aspirator 100 (e.g., the head 120, the assembly structure 130, and the distal end of the aspirator tube 110) into the patient's body through an opening (e.g., a natural opening or an incision) of the patient.

[0093] The distal ends of the clamp tool 200 and the auxiliary clamp tool (not shown) for auxiliary assembly are placed in the patient's body. In some embodiments, the distal end of the sheath can be first extended into the patient's body, and then the clamp tool 200 and the auxiliary clamp tool are extended into the patient's body through the channel provided by the sheath, so as to improve the stability of the operation. In some embodiments, the distal end of the sheath can be extended into the patient's body through another incision on the patient's body surface (different from the incision through which the aspirator 100 extends into the patient's body). In some embodiments, the clamp tool 200 and the auxiliary clamp tool can be respectively arranged at the distal ends of the mechanical arm of the surgical robot system (for example, the mechanical arm 311 of the surgical robot system 300), and the distal ends of the clamp tool 200 and the auxiliary clamp tool can be respectively controlled by the surgical robot system (for example, a driving device in the surgical robot system for driving the clamp tool 200 and the auxiliary clamp tool to move) to enter the patient's body through the sheath.

[0094] The clamp tool 200 is operated to move the clamp tool 200 to a position convenient for assembly. For example, the clamp tool 200 is moved to a suspended position in the patient's body. In some embodiments, the user can operate the main console of the surgical robot system (for example, Figure 3The main control trolley 320 shown in the figure issues a control instruction to control the clamp tool 200 to move to a suitable position.

[0095] The auxiliary clamp tool is operated to clamp the distal end of the suction device 100. For example, the first connecting arm 140 or the second connecting arm 150 of the suction device 100 is clamped by the auxiliary clamp tool. In some embodiments, the user can use the main console of the surgical robot system (for example, Figure 3 The main control trolley 320 shown in the figure issues a control instruction to control the auxiliary clamp tool to clamp the distal end of the suction device 100.

[0096] The auxiliary clamping tool is operated to assemble the distal end of the aspirator 100 and the distal end of the clamping tool 200. For example, when the auxiliary clamping tool clamps the aspirator 100, the user can control the auxiliary clamping tool to move and drive the aspirator 100 to move to the end of the clamping tool 200, and put the handle 131 of the aspirator 100 on the first pliers 221 of the clamping tool 200, so that the distal end of the first pliers 221 extends from the assembly hole 1312 of the handle 131. In some embodiments, the aspirator 100 and the clamping tool 200 can be controlled to move in coordination, so that the transverse portion of the main body 1311 of the handle 131 is engaged with the transverse groove 2212 of the first pliers 221 of the clamping tool 200. In some embodiments, when the aspirator 100 moves to the assembly position, the boss 132 of the aspirator 100 can be embedded in the hole structure 2213 of the first pliers 221 of the clamping tool 200.

[0097] After reaching the above state, the user can release the auxiliary clamp tool. In some embodiments, the user can control the auxiliary clamp tool to withdraw from the patient's body. Based on the above process, the in vivo assembly of the suction device 100 and the clamp tool 200 can be completed, and the two can establish a Figure 2 The rigid connection shown is thus completed to prepare the assembleable attractor assembly 10. Those skilled in the art will appreciate that the steps included in the preparation of the assembleable attractor assembly 10 are not limited to the above steps, nor are they limited to the above step sequence.

[0098] In some embodiments, the clamp tool 200 can be mounted on the distal end of the mechanical arm 311 of the surgical trolley 310 of the surgical robot system 300. Based on this, the user can control the movement of the clamp tool 200 by controlling the main operator 321 of the main control trolley 320, thereby driving the aspirator 100 to move in the patient's body, so as to facilitate the assembly of the aspirator assembly 10 to move to different positions in the patient's body and perform operations on tissues at different positions. The user can also control the opening and closing of the clamp tool 200 by operating the main operator 321, so as to perform operations such as clamping and electrocoagulation on the patient's tissue.

[0099] Figure 7 A schematic diagram of the structure of the arm 210 of the clamp tool 200 according to some embodiments of the present disclosure is shown. In some embodiments, the arm 210 can be a flexible arm to increase the degree of freedom of the clamp tool 200, improve the flexibility of the clamp tool 200 in performing surgical operations in the body, and thus improve the flexibility of the suction device 100 assembled with the clamp tool 200 in the body.

[0100] like Figure 7 As shown, in some embodiments, the arm body 210 of the clamp tool 200 may include a first continuum structure 211 . Figure 8 FIG. 2 is a schematic diagram showing a structure of a first continuous structure 211 of an arm 210 according to some embodiments of the present disclosure. Figure 8 As shown, the first continuum structure 211 may include a first base plate 211a, a plurality of first spacer plates (eg, Figure 8 The first spacer plates 211b-1, 211b-2, 211b-3) and a plurality of first structural bones (eg, Figure 8 The first structural bones 211c-1, 211c-2, etc. are shown in the figure). The plurality of first structural bones pass through the plurality of first spacer plates and the first base plate 211a, and the proximal ends of the plurality of first structural bones are used to receive a push or pull drive to drive the first continuum structure 211 to move. In some embodiments, as Figure 8 As shown, the first continuum structure 211 may further include a first fixing plate 211d. The distal ends of the plurality of first structural bones are fixedly connected to the first fixing plate 211d.

[0101] like Figure 8 As shown, a plurality of first spacer plates may be spaced apart to enhance the stability of the plurality of first structural bones when being pushed or pulled. Figure 8 The first continuum structure 211 shown in the figure includes three first spacer disks. Those skilled in the art will appreciate that the number of first spacer disks included in the first continuum structure 211 is not limited to three, and the first continuum structure 211 may include any appropriate number of first spacer disks.

[0102] In some embodiments, the shapes of the first base plate 211a, the first spacer plate and the first fixed plate 211d can be suitable structures such as an annular structure and a disk structure, and the cross-section can be various shapes such as a circle, a rectangle, a polygon and the like.

[0103] In some embodiments, Figure 7 As shown, the arm 210 may further include a second continuum structure 212. The structure of the second continuum structure 212 may be similar to that of Figure 8 The structure of the first continuum structure 211 shown is similar. Figure 7 As shown, the second continuum structure may include a second base plate 212a, a plurality of second spacer plates (eg, Figure 7 The second spacer disk 212b shown) and a plurality of second structural bones (eg, Figure 7 The second structural bones 212c shown in the figure, the plurality of second structural bones 212c pass through the plurality of second spacer plates 212b and the second base plate 212a, and the proximal ends of the plurality of second structural bones 212c are used to receive a push or pull drive to drive the second continuum structure to move. Figure 7 As shown, the first continuum structure 211 is located at the distal end of the second continuum structure 212, and a plurality of first structural bones 211c pass through a plurality of second spacer plates 212b and a second base plate 212a. Figure 7 As shown, the second continuum structure 212 may further include a second fixing plate 212d. The distal ends of the plurality of second structural bones 212c are fixedly connected to the second fixing plate 212d.

[0104] like Figure 7 As shown, a plurality of second spacer plates 212b may be arranged at intervals to enhance the stability of a plurality of second structural bones 212c when being pushed or pulled. Similar to the first continuum structure 211, the second continuum structure may include any suitable number of second spacer plates 212b.

[0105] In some embodiments, the second base plate 212a, the second spacer plate 212b and the second fixed plate 212d may be in the shape of a ring structure, a disk structure or other suitable structures, and the cross-section may be in various shapes such as a circle, a rectangle, a polygon or the like.

[0106] In some embodiments, the arm 210 may further include a first straight rod section 213 disposed between the first continuum structure 211 and the second continuum structure. Figure 7 As shown, the second fixing plate 212d of the second continuum structure can be fixedly connected to the proximal end of the first straight rod segment 213. In some embodiments, the arm body 210 can also include a second straight rod segment 214 connected to the proximal end of the second continuum structure. For example, in a surgical robot system, during a surgical operation performed using the clamp tool 200, the clamp tool 200 extends into the body from an opening (e.g., an incision or a natural opening, etc.) on the patient's body, and the second straight rod segment 214 can pass through the opening.

[0107] Those skilled in the art will appreciate that the structure for increasing the degree of freedom of the arm 210 is not limited to a continuum structure, but may also be a suitable structure such as a snake-bone structure, a combination structure of a rod and a joint, or the like.

[0108] The proximal ends of the plurality of first structural bones 211c and the plurality of second structural bones 212c may be connected to a driving device. Fig. 9FIG. 1 is a schematic diagram showing a structure of a driving device 900 according to some embodiments of the present disclosure. In some embodiments, the driving device 900 may include a first driving mechanism 910. Fig. 9 The first driving mechanism 910 is connected to the proximal end of the clamp tool 200. Those skilled in the art will appreciate that Fig. 9 Only a portion of the structure of the clamp tool 200 is shown. In some embodiments, a plurality of first structural bones ( Fig. 9 Not shown, e.g. Figure 8 The first structural bone 211c) and / or multiple second structural bones ( Fig. 9 Not shown, e.g. Figure 7 The second structural bones 212c in the first continuum 211a are connected to the first driving mechanism 910 through a plurality of second spacing plates 212b and a second base plate 212a. The first driving mechanism 910 drives the first continuum structure 211 to bend in different directions in space by pushing and pulling a plurality of first structural bones 211c, and drives the second continuum structure to bend in different directions in space by pushing and pulling a plurality of second structural bones 212c.

[0109] In some embodiments, the first driving mechanism 910 may include a plurality of double-ended screw assemblies, each of which may include a double-ended screw and a pair of sliders threadedly connected to two threaded segments of the double-ended screw. The double-ended screw can be driven to rotate, thereby driving a pair of sliders to move in opposite directions at the same speed. The pair of sliders can be connected to a pair of symmetrical first structural bones 211c or second structural bones 212c, thereby pushing and pulling a pair of symmetrical first structural bones 211c or second structural bones 212c, driving the first continuum structure 211 or the second continuum 212 structure to bend.

[0110] In some embodiments, the first driving mechanism 910 may include a proximal continuum, and the first continuum structure 211 or the second continuum structure 212 may be connected to the proximal continuum to form a linked dual continuum. The proximal continuum may be driven to bend by a double-headed screw assembly, thereby driving the first continuum structure 211 or the second continuum structure 212 to bend.

[0111] In some embodiments, Fig. 9 As shown, the driving device may further include a second driving mechanism 920, which is connected to the arm 210 (eg, Figure 7 The second drive mechanism 920 is connected to the arm body 210 in the patient body to drive the arm body 210 to feed or retreat, thereby enabling the clamp tool 200 to feed or retreat in the patient body, or enter or exit the patient body. In some embodiments, the second drive mechanism 920 can be a linear drive mechanism to drive the arm body 210 to move linearly.

[0112] In some embodiments, the second driving mechanism 920 may include a pedestal and a driving unit, the pedestal may be used to support the first driving mechanism 910, and the driving unit is used to drive the pedestal forward or backward. In some embodiments, the second driving mechanism 920 may include a bracket 921 with a slide groove, and a lead screw 922 is rotatably arranged on the bracket 921. A slider 923 is sleeved on the lead screw 922 as a pedestal, and the slider 923 is threadedly matched with the lead screw 922 and is slidably arranged in the slide groove of the bracket 921. A motor 924 as a second driving unit may be arranged at one end of the bracket 921, and the output shaft of the motor 924 may be fixedly connected to the lead screw 922 through a coupling 925.

[0113] In some embodiments, the second drive mechanism 920 may further include a sleeve 9231 for mounting the first drive mechanism 910. The sleeve 9231 may be mounted on the slider 923, or the sleeve 9231 may be integrally formed with the slider 923. The motor 924 drives the lead screw 922, thereby driving the slider 923 and the sleeve 9231 to move linearly along the slide groove, thereby achieving the feeding movement of the clamp tool 200. It will be understood by those skilled in the art that the second drive mechanism 920 is not limited to the above structure, and any drive mechanism capable of achieving the feeding movement of the surgical tool does not depart from the scope of the present disclosure.

[0114] A surgical robot is also provided in some embodiments of the present disclosure. Figure 3 FIG. 2 is a schematic diagram showing a structure of a surgical robot system 300 according to some embodiments of the present disclosure. Figure 3 The surgical robot system 300 may include a surgical trolley 310 and at least one assembleable suction assembly 10 as any one of some embodiments of the present disclosure, for example Figure 2 The illustrated embodiment of the present invention is a assembleable suction device assembly 10. The surgical trolley 310 may include at least one robotic arm 311. The at least one robotic arm 311 may be as Figure 3 The positioning arm of the surgical robot is shown. The clamp tool 200 that can be equipped with the suction assembly 10 can be set at the distal end of at least one robot arm 311.

[0115] In some embodiments, the surgical robot system 300 may further include a main control trolley 320. The surgical trolley 310 and the main control trolley 320 may be connected via wired transmission or wireless transmission. During surgery, the user controls the surgical tools (e.g., clamping tools 200, clamps, bending shears, etc.) and / or imaging tools (e.g., endoscopes) included in the surgical trolley 310 by operating the main operator 321 included in the main control trolley 320 to perform operations. The surgical trolley 310 is usually located on the patient side, responding to the control instructions of the main control trolley 320, and performing surgical operations on the patient. In some embodiments, the user can also adjust the posture of the clamping tool 200 by operating the main operator 321, thereby adjusting the posture of the attachable suction device assembly 10.

[0116] In some embodiments, the surgical robot system 300 may further include an equipment trolley 330. The equipment trolley 330 may include a power source (not shown in the figure), which may be used to provide energy to the first clamp head 221 and the second clamp head 222 of the clamp tool 200, so that the clamp tool 200 can perform surgical operations such as electrocoagulation on patient tissue.

[0117] In some embodiments, the surgical trolley 310 of the surgical robot system 300 may further include at least one driving device 313. The at least one driving device 313 may be disposed between the at least one surgical tool 312 and the at least one robotic arm 311. Figure 3 As shown, the surgical trolley 310 may include a single robotic arm 311, and a plurality of driving devices 313 may be disposed on the robotic arm 311. Those skilled in the art may understand that the surgical trolley of the surgical robot system 300 may also include a plurality of robotic arms.

[0118] Those skilled in the art will appreciate that the surgical robot 300 provided in this embodiment may be any suitable surgical robot including a laparoscopic surgical robot.

[0119] During surgery, blood, exudate, etc. will be generated while performing surgical operations. If not handled in time, they will block the doctor's vision and may even cause contamination. Therefore, during surgery, an aspirator is needed to remove blood, exudate, etc. during the surgical operation. This requires the doctor to repeatedly perform certain surgical operations with surgical tools, switch to operating the aspirator for suction, and then switch to the surgical tools to continue performing the surgical operation after the aspirator performs the suction operation. The above process steps are cumbersome, resulting in a prolonged operation time. Based on the assembled aspirator assembly provided in some embodiments of the present disclosure (see Figure 2 ), during the operation, while the clamp tool 200 performs surgical operations such as electrocoagulation and clamping tissue, the suction device 100 can perform suction, reducing the switching operations of surgical instruments that the doctor needs to perform, which helps to improve the efficiency of the operation.

[0120] In some embodiments, the distal end of the head of the aspirator may include a plurality of aspiration holes, and the plurality of aspiration holes may complement each other to prevent one of the aspiration holes from being blocked by the patient's exudate, etc., making it difficult to continue aspiration.

[0121] In some embodiments, the assembly structure may further include an insulating sleeve. Based on the insulating sleeve, the end of the clamp tool and the head of the aspirator can be prevented from being electrically connected. This can prevent the aspirator from accidentally damaging the patient's tissue, thereby improving the safety of the aspirator assembly.

[0122] In some embodiments, the first and second clamp heads of the clamp tool are respectively configured as the first electrode and the second electrode, based on which, an aspirator assembly can be assembled to perform coagulation operations on the patient's tissue and simultaneously perform suction operations on blood, exudate, etc. in the patient's body.

[0123] 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 suction device, characterized in that: include: Suction tube; A head, arranged at the distal end of the suction tube, the head comprising a main body and an internal cavity penetrating the main body, the internal cavity being in communication with the suction tube; as well as An assembly structure is connected to the head and is used to assemble or disassemble the suction device.

2. The suction device according to claim 1, characterized in that: The subject includes: A proximal portion connected to the distal end of the suction tube; and The distal portion is located at the distal end of the proximal portion, and the distal portion includes at least one suction hole.

3. The suction device according to claim 2, characterized in that: The assembly structure comprises: A handle is arranged above the proximal end portion, the handle is used for assembling or disassembling the suction device, and the handle includes an assembly hole.

4. The suction device according to claim 3, characterized in that: The assembly structure also includes: The boss is located at the distal end of the assembly hole of the handle, and the proximal end portion of the boss is arranged above the proximal end portion.

5. The suction device according to claim 4, characterized in that: The boss comprises: a ramp structure located proximal to the proximal portion of the boss; and / or The chamfer is located at the upper part of the boss and is arranged along the circumference of the upper surface of the boss.

6. The suction device according to claim 4, characterized in that: The assembly structure also includes: An insulating sleeve, wherein the insulating sleeve is sleeved on the proximal end portion of the main body, and the distal end portion of the main body is exposed from the insulating sleeve; The handle and the proximal end portion of the boss are disposed on the insulating sleeve.

7. The suction device according to claim 6, characterized in that: The assembly structure also includes: The support portion is arranged on the insulating sleeve, and the proximal end portion of the boss is connected to the distal end of the support portion.

8. The suction device according to claim 7, characterized in that: The support portion includes a slope located at a proximal end of the support portion, and a step structure located at a distal end of the support portion; The proximal end of the boss is embedded in the step structure, and the distal end of the boss extends out of the step structure of the support portion.

9. The suction device according to claim 6, characterized in that: Also includes: A first connecting arm is provided on the insulating sleeve and extends to the side of the insulating sleeve; as well as The second connecting arm is arranged on the insulating sleeve and extends to the side of the insulating sleeve. The second connecting arm is arranged opposite to the first connecting arm.

10. An assembleable suction device assembly, characterized in that: include: The suction device as claimed in any one of claims 1 to 9; as well as A clamp tool, detachably connected to the attractor, the clamp tool is used to drive the attractor to move, and the clamp tool includes: Arm body; as well as The clamp head is arranged at the distal end of the arm body, and the clamp head is detachably connected to the suction device.

11. The assembleable suction device assembly according to claim 10, characterized in that: The clamp head comprises: A first forceps head, the first forceps head is used to be detachably connected to the assembly structure of the suction device; and A second clamp head, wherein the second clamp head cooperates with the first clamp head.

12. The assembleable suction device assembly according to claim 11, characterized in that: The clamp head also includes: A clamp base connected to the distal end of the arm; The first clamp head is fixedly arranged at the distal end of the clamp base, and the proximal end of the second clamp head is hinged to the clamp base to cooperate with the first clamp head.

13. The assembleable suction device assembly according to claim 11, characterized in that: The first clamp head comprises: A clamping portion located at the distal end of the first clamp head; and A transverse groove is arranged at the proximal end of the clamping portion, and the transverse groove is used to connect with at least a part of the assembly structure of the suction device.

14. The assembleable suction device assembly according to claim 13, characterized in that: The first clamp head also includes: A hole-shaped structure is arranged on the clamping portion, and the hole-shaped structure can be engaged with at least a part of the assembly structure of the suction device.

15. The assembleable suction device assembly according to claim 11, characterized in that: The first clamp head and the second clamp head are configured as a first electrode and a second electrode, respectively.

16. A surgical robot, characterized in that: include: A surgical trolley, comprising at least one robotic arm; as well as The assembleable suction device assembly as described in any one of claims 10-15, wherein the clamping tool of the assembleable suction device assembly is arranged at the distal end of the at least one robotic arm.

17. The surgical robot according to claim 16, characterized in that: Also includes: An auxiliary clamping tool is arranged at the distal end of the at least one mechanical arm, and is used for clamping the suction device of the assembleable suction device assembly and driving the suction device to move so as to assemble or disassemble the suction device.

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