Instrument sealing device, surgical instrument and surgical robot

Abstract

The embodiment of the utility model provides an instrument sealing device, a surgical instrument and a surgical robot. The instrument sealing device comprises a joint seat, the joint seat is provided with a first through hole, and the first through hole is configured to allow a cable to penetrate through; the sealing piece is arranged on the side, away from the instrument head end, of the joint seat, a second through hole is formed in the sealing piece, at least part of the first through hole is communicated with the second through hole, and the hole wall of the second through hole is configured to be in close contact with the peripheral wall of the cable; and the pressing piece is pressed on the side, back on to the joint seat, of the sealing piece, the pressing piece is at least pressed on the hole edge of the second through hole, and the hardness of the pressing piece is larger than that of the sealing piece. According to the instrument sealing device, the surgical instrument and the surgical robot, the sealing performance of the surgical instrument can be improved, pneumoperitoneum failure is prevented, the problem that the instrument control precision is reduced due to cable looseness caused by long-time use can be solved, and the surgical safety and the operation precision can be improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical devices, and particularly relates to a device sealing device, a surgical device and a surgical robot. BACKGROUND

[0002] With the continuous development of medical devices, computer technology and control technology, minimally invasive surgery is increasingly widely used due to its small surgical trauma, short recovery time, and less pain for patients. In addition, minimally invasive surgical robots can avoid operation limitations, filter hand tremors during operation, and are widely used in abdominal, pelvic and thoracic surgical areas due to their high dexterity, high control accuracy and intuitive surgical images.

[0003] The minimally invasive surgical robot includes a master control console and a slave manipulator arm. The master control console collects the operation signals of the doctor, processes the operation signals through a control system, and generates control signals of the slave manipulator arm, which executes surgical operations. The minimally invasive surgical robot has a surgical device matched therewith, which is assembled on a power box of the slave manipulator arm and is used to be manipulated by the doctor to execute surgical operations. In abdominal minimally invasive surgery, a pneumoperitoneum machine is usually used to establish a pneumoperitoneum to prop open the patient's abdomen and facilitate surgical operations. Therefore, the air tightness of the external interface (such as a poke card and a surgical device) of the pneumoperitoneum is required to be high.

[0004] In related technologies, for example, US11432889B2 discloses a surgical robot, an assembly method thereof and a robotic surgical system, which uses a pre-processed silicone seal ring to achieve sealing. A groove is arranged on the joint seat to match the protruding part of the silicone seal ring, the protruding part of the silicone seal ring is inserted into the groove, and the silicone seal ring is assembled in the joint seat. A through hole is arranged on the silicone seal ring, a cable is connected to an execution end through the through hole, and the execution end executes surgical operations by operating the cable.

[0005] However, in the related technology, the silicone seal ring is easily deformed during the operation of the cable, and the sealing effect is not good. If the silicone seal ring is set to be thicker, although the deformation can be reduced, the friction resistance of the cable and the contact range between the cable and the silicone seal ring are increased, thereby affecting the control accuracy of the device execution end and increasing the risk of debris falling caused by friction, which cannot meet the requirements. Utility model content

[0006] The device sealing device, the surgical device and the surgical robot provided by the embodiments of the present application can improve the sealing performance of the surgical device, prevent the pneumoperitoneum from failing, and improve the problem of decreased control accuracy of the device caused by cable relaxation during long-term use, thereby improving the safety and operation accuracy of surgery.

[0007] In one aspect, the embodiments of the present application provide an instrument sealing device, comprising:

[0008] A joint base, the joint base being provided with a first through hole configured to pass through the cable;

[0009] A sealing member provided on a side of the joint base away from the instrument head end, the sealing member being provided with a second through hole, the first through hole being at least partially communicated with the second through hole, and a hole wall of the second through hole being configured to tightly contact a peripheral wall of the cable;

[0010] A pressing member, the pressing member being press-fitted on a side of the sealing member away from the joint base, the pressing member being press-fitted on at least a hole wall of the second through hole, and a hardness of the pressing member being greater than a hardness of the sealing member.

[0011] In one implementation, a diameter of the second through hole is less than a diameter of the cable, and the cable is movable relative to the sealing member under a force less than or equal to 1 N along an axial direction of the second through hole.

[0012] In one implementation, the diameter of the second through hole is 0.3-0.9 times the diameter of the cable.

[0013] Alternatively,

[0014] The diameter of the second through hole is 0.4-0.7 times the diameter of the cable.

[0015] In one implementation, further comprising:

[0016] An elongated tube located on a side of the sealing member away from the joint base;

[0017] The cable is arranged to pass through the elongated tube, and the cable is configured to provide a pre-tightening force to the elongated tube and the joint base so as to press the pressing member against the sealing member.

[0018] The elongated tube is configured to press the pressing member.

[0019] In one implementation, one of a proximal end of the joint base and a distal end of the elongated tube is provided with a receiving cavity, the sealing member and the pressing member are arranged in the receiving cavity, and a peripheral wall of the pressing member extends towards an inner wall of the receiving cavity; the other of the proximal end of the joint base and the distal end of the elongated tube is provided with an insertion portion, the insertion portion is inserted into the receiving cavity and press-fitted on the pressing member.

[0020] In one implementation, the pressing member is located on a side of the sealing member away from the joint base, the pressing member is provided with a third through hole, the third through hole is arranged in communication with the second through hole, and the third through hole is configured to pass through the cable.

[0021] The diameter of the third through hole is greater than the diameter of the cable.

[0022] In one implementation, the diameter of the third through hole is 1.5-2.5 times the diameter of the cable.

[0023] or,

[0024] The diameter of the third through hole is 1.8-2.2 times of the diameter of the cable.

[0025] In an implementation, the diameter of the sealing member is equal to or smaller than the inner diameter of the accommodating cavity; the diameter of the pressing member is smaller than the inner diameter of the accommodating cavity, and the diameter of the pressing member is larger than the inner diameter of the insertion part.

[0026] In an implementation, along the axial direction of the accommodating cavity, the sum of the initial thickness of the sealing member, the thickness of the pressing member, and the length of the insertion part is greater than the depth of the accommodating cavity.

[0027] In the case of the cable tension joint base and the elongated tube, the sealing member is deformed along the axial direction of the accommodating cavity under the pressing of the pressing member.

[0028] In an implementation, the sum of the thickness of the sealing member, the thickness of the pressing member, and the length of the insertion part is 1-1.2 times of the depth of the accommodating cavity.

[0029] In an implementation, the thickness of the sealing member is 0.5-3mm, and the hardness of the sealing member is 50A-90A.

[0030] The thickness of the pressing member is 0.1-1mm, and the pressing member is a corrosion-resistant member.

[0031] In an implementation, a sealing structure is arranged between the insertion part and the accommodating cavity; the sealing structure is configured to seal the fitting gap between the insertion part and the accommodating cavity.

[0032] In an implementation, the sealing structure includes sealing glue arranged between the peripheral wall of the insertion part and the inner wall of the accommodating cavity.

[0033] and / or,

[0034] The sealing structure includes a sealing ring, the sealing ring is sleeved on the peripheral wall of the insertion part, and the sealing ring abuts against the mouth of the accommodating cavity.

[0035] In an implementation, the sealing structure includes a wedge-shaped structure arranged on the peripheral wall of the insertion part.

[0036] In the direction of insertion of the insertion part into the accommodating cavity, the outer diameter of the insertion part decreases to form the wedge-shaped structure.

[0037] In an implementation, the accommodating cavity is arranged at the proximal end of the joint base, and a limiting column is arranged in the accommodating cavity; a first limiting notch is arranged on the sealing member, a second limiting notch is arranged on the pressing member, the limiting column is arranged in the first limiting notch and the second limiting notch, and the limiting column is configured to limit the sealing member and the pressing member along the circumferential direction of the accommodating cavity.

[0038] The distance between the limiting column and the first through hole is greater than or equal to 0.3 mm.

[0039] In another aspect, the embodiments of the present application provide a surgical instrument, comprising:

[0040] An instrument box;

[0041] The instrument sealing device provided by the foregoing embodiments of the present application, the elongated tube of the instrument sealing device is connected with the instrument box, and the cable passes through the elongated tube and is connected with the driving mechanism in the instrument box;

[0042] A terminal executor is arranged at the distal end of the instrument sealing device, the terminal executor is connected with the joint seat, and the cable is connected with the terminal executor to drive the terminal executor to act.

[0043] In another aspect, the embodiments of the present application provide a surgical robot, comprising a slave end power box and the surgical instrument provided by the foregoing embodiments of the present application, and the instrument box of the surgical instrument is detachably mounted on the slave end power box.

[0044] The instrument sealing device, the surgical instrument and the surgical robot provided by the embodiments of the present application, by arranging the pressing member on the side of the sealing member away from the joint seat, the pressing member is at least pressed against the hole edge of the second through hole, and the hardness of the pressing member is greater than that of the sealing member; in this way, after the cable passes through the second through hole and the first through hole on the joint seat and is connected with the terminal executor, the cable moves axially relative to the sealing member to operate the terminal executor, and the friction between the peripheral wall of the cable and the hole wall of the second through hole drives the sealing member to deform, since the pressing member is at least pressed against the hole edge of the second through hole, the deformation of the sealing member is restrained by the pressing member with greater hardness, so that the deformation of the sealing member is reduced, the sealing of the first through hole by the sealing member is ensured, that is, the sealing effect of the instrument sealing device is improved, the sealing of the pneumoperitoneum is improved, and the safety of the operation is improved.

[0045] In addition, in the embodiments of the present application, the pressing member is at least pressed against the hole edge of the second through hole, so that the pulling force of the movement of the cable on the sealing member is dispersed by the pressing member, and the situation that the sealing member falls off can be avoided, compared with the related art, the sealing effect of the sealing member on the surgical instrument is improved, and the safety of the operation is improved. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed in the embodiments or the related art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0047] Figure 1is a structural schematic view of a surgical instrument provided by some embodiments of the present application;

[0048] Figure 2 is a structural schematic view of cooperation between an instrument sealing device and an end effector in a surgical instrument provided by some embodiments of the present application;

[0049] Figure 3 is an exploded structural schematic view of an instrument sealing device in a surgical instrument provided by some embodiments of the present application;

[0050] Figure 4 is a structural schematic view of a joint seat in a surgical instrument provided by some embodiments of the present application;

[0051] Figure 5 is a structural schematic view of a sealing member in a surgical instrument provided by some embodiments of the present application;

[0052] Figure 6 is a structural schematic view of a pressing member in a surgical instrument provided by some embodiments of the present application;

[0053] Figure 7 is a structural schematic view of an elongated tube in a surgical instrument provided by some embodiments of the present application;

[0054] Figure 8 is a sectional view of cooperation between an elongated tube and a joint seat in a surgical instrument provided by some embodiments of the present application;

[0055] Figure 9 is a structural schematic view of cooperation between an elongated tube and a joint seat in a surgical instrument provided by some embodiments of the present application;

[0056] Figure 10 is another sectional view of cooperation between an elongated tube and a joint seat in a surgical instrument provided by some embodiments of the present application;

[0057] Figure 11 is Figure 10 is a local enlarged view at A in FIG. 12;

[0058] Figure 12 is still another sectional view of cooperation between an elongated tube and a joint seat in a surgical instrument provided by some embodiments of the present application;

[0059] Figure 13 is still another sectional view of cooperation between an elongated tube and a joint seat in a surgical instrument provided by some embodiments of the present application;

[0060] Figure 14 is a front view of a joint seat in a surgical instrument provided by some embodiments of the present application.

[0061] BRIEF DESCRIPTION OF THE DRAWINGS

[0062] 10 - surgical instrument;

[0063] 100 - instrument cassette; 200 - instrument seal; 300 - end effector;

[0064] 210 - joint seat; 220 - cable; 230 - seal; 240 - compression member; 250 - elongated tube;

[0065] 211 - first through hole; 212 - accommodating cavity; 213 - limiting column; 231 - second through hole; 232 - first limiting notch; 241 - third through hole; 242 - second limiting notch; 251 - insertion part; 252 - step surface; 253 - gap; 254 - sealing glue; 255 - sealing ring;

[0066] 2101 - shaft hole; 2131 - first part; 2132 - second part. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0068] In this specification, some places explain many specific technical details. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed description should not be considered as limiting, and the protection scope of the present application is only limited by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misleading the public about the gist of the present application.

[0069] In this specification, the drawings show the schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that other embodiments or combinations can also be used, and mechanical structure, physical composition, electrical and step changes can be made without departing from the spirit and scope of the present application.

[0070] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present application. Spatial relative terms, such as "below", "lower", "above", "upper", and the like, can be used for convenience of description to describe the relationship between one element or feature illustrated in the figure and another element or feature. It should be understood that the spatial relative terms are intended to cover different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as "below" the other element or feature will become "above" the other element or feature. Therefore, the exemplary term "below" can cover the upward and downward orientations. The device can be oriented in other ways (for example, rotated 90° or in other orientations), and the spatial relative description words used herein are interpreted accordingly.

[0071] As used herein, "a," "an," and "the" are intended to include both singular and plural referents, unless the context clearly dictates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and / or "including," when used herein, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0072] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object," "component," "part," "piece," and "piece" are used interchangeably.

[0073] The terms "instrument," "surgical instrument," and "surgical instrument" are used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, including an end effector. The end effector can be a surgical tool related to one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used by embodiments of the present application further provide an articulated support for the surgical tool (sometimes referred to as a "wrist") so that the position and orientation of the end effector can be manipulated in one or more mechanical degrees of freedom relative to the instrument shaft. Further, many end effectors include functional mechanical degrees of freedom, such as opening or closing jaws or a knife translating along a path. The instrument can also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updatable by the surgical system. Accordingly, the system can provide one-way or two-way communication of information between the instrument and one or more system components.

[0074] The term "cooperate" can be broadly interpreted as any situation in which two or more objects are connected in a manner that allows the cooperating objects to operate in conjunction with each other. It should be noted that cooperation does not require direct connection (e.g., direct physical or electrical connection), but rather many objects or components can be used to cooperate two or more objects. For example, objects A and B can cooperate through the use of object C. Further, the term "removably coupled" or "removably cooperates" can be interpreted to mean a non-permanent coupling or cooperating situation between two or more objects. This means that removably coupled objects can be uncoupled and separated so that they no longer operate in conjunction.

[0075] The term "cable" can include drive cables, such as steel wire ropes, and power cables. It is understood that power cables are not able to carry significant tension or compression forces, and thus are typically bundled with drive cables, such as steel wire ropes, at the end effector and instrument seal locations to move in unison. It is also noted that power cables are typically surrounded by a smooth, insulating sheath, and thus provide good sealing with the instrument seal, and do not generate significant friction or debris. Thus, the present description will primarily be described with respect to drive cables. Finally, the terms "or" and "and / or" as used herein are to be interpreted as inclusive or meaning any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means any of the following: A; B; C; A and B; A and C; B and C; A, B and C. An exception to this definition will occur only when two or more elements, functions, steps or acts are in some way mutually exclusive.

[0076] Overview of master-slave teleoperated laparoscopic surgical robot

[0077] Laparoscopic surgical robots typically include a physician control platform, a patient surgical platform, and an image platform. A surgeon sits at the physician control platform, views two- or three-dimensional imagery of the surgical area transmitted by a laparoscope placed in the patient, and manipulates movement of robotic arms on the patient surgical platform and surgical instruments or laparoscopes attached to the robotic arms. The robotic arms are analogous to simulated human arms, and the surgical instruments are analogous to simulated human hands, both providing the surgeon with a range of motions analogous to human wrists, while filtering out tremors of the human hand itself.

[0078] The patient surgical platform includes a base, a column, robotic arms connected to the column, and one or more surgical instrument manipulators at the end of a support assembly of each robotic arm. Surgical instruments and / or laparoscopes are removably attached to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes that operate at a surgical site within a patient. Various forms can be provided that allow each surgical instrument manipulator to move in one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is constrained, either mechanically or by software, to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient. This center of motion is typically located at the point where the surgical instrument enters the body, and is referred to as the "telecenter."

[0079] An image platform typically includes a video image capture function (commonly an endoscope) and one or more video displays for displaying the captured images of the surgical instruments. In some laparoscopic surgical robots, the laparoscope includes optics that relay images from one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope to the proximal end of the endoscope, and then through photoelectric conversion and other steps to a host computer of the image platform. The processed images are then displayed on the video displays for viewing by an assistant through image processing.

[0080] The physician control platform can be at a single location in the surgical system composed of the laparoscopic surgical robot or it can be distributed at two or more locations in the system. The teleoperation master / slave operation can be accomplished according to a pre-set degree of control. In some embodiments, the physician control platform includes one or more manually operated input devices such as control sticks, exoskeletal gloves, powered and gravity compensated manipulators, and the like. These input devices pick up the surgeon's operation signals, which are processed by the control system to generate control signals for the manipulators of the surgical robot, thereby controlling the remote motors on the surgical instrument manipulators, which in turn control the movement of the surgical instruments.

[0081] Generally, the forces generated by the remote motors are transmitted through a transmission system to transmit the forces from the remote motors to the end effectors of the surgical instruments. In some teleoperated surgical embodiments, the input devices that control the manipulators can be located remotely from the patient, in the room where the patient is located or outside, even in a different city. The input signals of the input devices are then transmitted to the control system. Those familiar with telemanipulation, teleoperation, and telepresence surgery will be familiar with such systems and their components.

[0082] Some embodiments of the present application provide a surgical robot. The surgical robot can include a master console. The master console can pick up operation signals of a physician and process the operation signals of the physician.

[0083] In some examples, the surgical robot can include a slave manipulator arm. The slave manipulator arm can be communicatively connected with the master console. The slave manipulator arm can receive the processed operation signals of the master console and perform surgical operations according to the operation signals.

[0084] In some examples, the slave manipulator arm can include a slave end power box. The slave end power box can output power externally according to the operation signals.

[0085] In some examples, referring to Figure 1 The surgical robot can include a surgical instrument 10. The surgical instrument 10 can be detachably mounted on the slave end power box.

[0086] In some examples, the slave end power box can output power to the surgical instrument 10.

[0087] In some examples, referring to Figure 1 As shown, the surgical instrument 10 can include an instrument cassette 100. The instrument cassette 100 can be detachably mounted on the distal power cassette.

[0088] In some examples, a sterile barrier can be provided between the instrument cassette 100 and the distal power cassette. The distal power cassette can output power to the instrument cassette 100 through the sterile barrier.

[0089] In some examples, to seal the external interface (e.g., the poke card, the surgical instrument 10) during the surgery, referring to Figure 1 As shown, the surgical instrument 10 can include an instrument seal 200.

[0090] In some examples, the surgical instrument 10 can include an end effector 300. The end effector 300 can be disposed at the distal end of the instrument seal 200 (referring to Figure 1 As shown, the direction indicated by the arrow x1 can be the distal end of the instrument seal 200, i.e., the end closer to the end effector 300, and the direction indicated by the arrow x2 can be the proximal end of the instrument seal 200, i.e., the end closer to the instrument cassette 100, along the direction x1-x2 shown in Figure 1 In some examples, the distal end of the instrument seal 200 can be the end of the instrument seal 200 away from the instrument cassette 100. The proximal end of the instrument seal 200 can be the end of the instrument seal 200 closer to the instrument cassette 100.

[0091] It should be noted that in some examples of the embodiments of the present application, the reference to a certain end of a certain component, for example, the "distal end" and the "proximal end" of the instrument seal 200, does not specifically refer to the end point of the instrument seal 200, but is intended to emphasize that the "distal end" and the "proximal end" are not the same position of the instrument seal 200, and the relative relationship between the two positions is emphasized, i.e., who is closer to the end effector 300 or the instrument cassette 100. The specific positions of the "distal end" and the "proximal end" are not limited in some examples of the embodiments of the present application.

[0092] In some examples, the end effector 300 can include forceps, needle holders, scissors, cautery, tissue stabilizers, retractors, clip appliers, etc. It can be understood that in some examples of the embodiments of the present application, the specific type of the end effector 300 is only shown as some specific examples, and in some examples, the end effector 300 can also be other types of instruments, which are not enumerated one by one in the embodiments of the present application.

[0093] In some examples, to operate (physically or electrically) the end effector 300, a cable 220 can be provided in the instrument seal 200. The cable 220 can be connected to the end effector 300.

[0094] In some examples, cable 220 may include steel wire rope.

[0095] In some examples, cable 220 may include a transmission cable made of polymer and / or polymer materials.

[0096] In some examples, the cable may include a power cable. In some examples, the other end of the cable 220 may be connected to a transmission structure within the instrument housing 100. In this way, power output from the end power housing can operate the end effector 300 via the cable 220, thereby enabling surgical procedures.

[0097] In some examples, refer to Figures 2-4 As shown, the instrument sealing device 200 may include a joint seat 210. The end effector 300 may be movably connected to the joint seat 210, for example, by rotation.

[0098] In some examples, refer to Figure 3 As shown, the distal end of the joint seat 210 can be provided with a shaft hole 2101 in the radial direction. The end effector 300 can be movably connected to the shaft hole 2101 through a rotating shaft, thereby realizing the rotational connection between the end effector 300 and the joint seat 210.

[0099] In some examples, this is to facilitate operation of the end effector 300 via cable 220. (See reference...) Figure 4 As shown, the joint seat 210 may be provided with a first through hole 211 along the axial direction. The cable 220 can pass through the first through hole 211 and be connected to the end effector 300.

[0100] In some examples, when the cable 220 operates on the end effector 300, the cable 220 moves axially within the first through-hole 211.

[0101] In some examples, the diameter of the first through hole 211 can be larger than the diameter of the cable 220. This reduces friction between the cable and the wall of the first through hole, minimizing damage to the cable and improving the sealing effect of the instrument sealing device 200.

[0102] In some examples, to improve the sealing effect of the instrument sealing device 200, refer to Figure 3 As shown, the instrument sealing device 200 may include a seal 230.

[0103] In some examples, refer to Figure 3 As shown, the seal 230 can be located at the proximal end of the joint seat 210.

[0104] In some examples, refer to Figure 5 As shown, the seal 230 may be provided with a second through hole 231. The second through hole 231 may penetrate through both ends of the seal 230 along the axial direction of the seal 230.

[0105] In some examples, the second through hole 231 can be in communication with the first through hole 211. That is, at least a portion of the first through hole 211 can be in communication with the second through hole 231 after the seal 230 is installed to the joint base 210.

[0106] In some examples, the second through hole 231 can be coaxial with the first through hole 211.

[0107] In some examples, the first through hole 211 can have a larger diameter than the second through hole 231.

[0108] In some examples, the first through hole 211 can have a diameter much larger than the second through hole 231, and a plurality of second through holes 231 can be distributed within the first through hole 211.

[0109] In some examples, the cable 220 can pass through the second through hole 231, and the hole wall of the second through hole 231 can be in close contact with the peripheral wall of the cable 220.

[0110] In some examples, the seal 230 can be made of a material having a certain deformation property.

[0111] In some examples, the seal 230 can be a silica gel pad or a rubber pad.

[0112] In some examples of the present application, the seal 230 is arranged on the proximal end of the joint base 210, and the second through hole 231 is arranged on the seal 230. In this way, the cable 220 can be connected to the end effector 300 after passing through the second through hole 231 and the first through hole 211 in sequence. The hole wall of the second through hole 231 is in close contact with the peripheral wall of the cable 220, so that the seal 230 can seal the gap between the cable 220 and the first through hole 211, thereby achieving the effect of sealing the surgical instrument 10.

[0113] In some examples, the seal 230 can have a larger diameter than the first through hole 211. That is, the seal 230 can cover the entire opening of the first through hole 211 in the radial direction, so that the seal 230 can seal the first through hole 211.

[0114] In some examples, in order to improve the sealing effect of the instrument sealing device 200 on the surgical instrument 10, the instrument sealing device 200 can include a pressing member 240, as shown in Figure 3 and Figure 6 The pressing member 240 can be pressed against the side of the seal 230 away from the joint base 210. That is, the pressing member 240 can be located at the proximal end of the seal 230.

[0115] In some examples, the compression member 240 can be compressed at least on the hole edge of the second through hole 231. That is, the compression member 240 can be compressed on the hole edge of the second through hole 231 around the cable 220.

[0116] In some examples, the compression member 240 can be a ring structure. The cable 220 can be arranged in the central hole of the compression member 240. In this way, the compression member 240 can be compressed on the hole edge of the second through hole 231.

[0117] In some examples, the compression member 240 can include a plurality of disconnected arc-shaped members arranged along the circumference of the cable 220, so as to be compressed on the hole edge of the second through hole 231.

[0118] In some examples, the compression member 240 can be an integral part of the joint seat 210. For example, the compression member 240 can be fixed on the inner wall of the joint seat 210. When the sealing member 230 is installed on the joint seat 210, a relief groove can be arranged on the sealing member 230. After the compression member 240 passes through the relief groove, the sealing member 230 is deformed by extrusion, so that the compression member 240 completely passes over the sealing member 230 along the axial direction of the sealing member 230, and then rotates the sealing member 230 along the circumferential direction, so that the relief groove is dislocated from the compression member 240.

[0119] In some examples, the hardness of the compression member 240 can be greater than the hardness of the sealing member 230. For example, the sealing member 230 can be a deformable silica gel pad or a rubber pad, and the compression member 240 can be a metal member, a ceramic member, or a hard plastic member, etc. In this way, when the cable 220 operates the end effector 300, the cable 220 drives the sealing member 230 to deform along the circumferential direction, and the compression member 240 can control the deformation amount of the sealing member 230, so as to reduce the deformation amount of the sealing member 230 and improve the sealing effect of the instrument sealing device 200 on the surgical instrument 10.

[0120] In addition, by being compressed on the hole edge of the second through hole 231, the compression member 240 controls the deformation amount of the sealing member 230, reduces the deformation amount of the sealing member 230, reduces the pulling of the cable 220 on the sealing member 230, improves the stability of the sealing member 230 in the joint seat 210, and improves the sealing effect of the instrument sealing device 200 on the surgical instrument 10.

[0121] In some examples, the hardness of the compression member 240 can be more than 10 times the hardness of the sealing member 230, that is, the hardness of the compression member 240 is much greater than the hardness of the sealing member 230 in the physical concept.

[0122] In some examples, the hardness of the compression member 240 can be more than 20 times the hardness of the sealing member 230.

[0123] The instrument sealing device 200 provided by some embodiments of the present application is configured to set a pressing member 240 on the side of the sealing member 230 away from the joint seat 210, the pressing member 240 is at least pressed against the hole edge of the second through hole 231, and the hardness of the pressing member 240 is greater than that of the sealing member 230. In this way, after the cable 220 is connected to the end effector 300 by passing through the second through hole 231 and the first through hole 211 on the joint seat 210, the cable 220 moves axially relative to the sealing member 230 to operate the end effector 300. During the operation of the end effector 300, the friction between the peripheral wall of the cable 220 and the hole wall of the second through hole 231 drives the sealing member 230 to deform. Since the pressing member 240 is at least pressed against the hole edge of the second through hole 231, the deformation of the sealing member 230 is restrained by the pressing member 240 with greater hardness, thereby reducing the deformation of the sealing member 230 and ensuring the sealing of the sealing member 230 to the first through hole 211, that is, the sealing effect of the instrument sealing device 200 is improved, and the sealing of the pneumoperitoneum is improved, thereby improving the safety of the surgery.

[0124] In addition, in the embodiments of the present application, the pressing member 240 is at least pressed against the hole edge of the second through hole 231, so that the pulling force of the movement of the cable 220 on the sealing member 230 is dispersed by the pressing member 240, and the situation that the sealing member 230 falls off can be avoided. Compared with the related art, the sealing effect of the sealing member 230 to the pneumoperitoneum is improved, and the safety of the surgery is improved.

[0125] In some examples, the diameter of the second through hole 231 can be less than the diameter of the cable 220. That is, after the cable 220 passes through the second through hole 231, the hole wall of the second through hole 231 can be deformed outward in the radial direction under the action of the cable 220, so as to ensure the tightness of the contact between the hole wall of the second through hole 231 and the peripheral wall of the cable 220, and improve the sealing performance of the surgical instrument 10.

[0126] In some examples, the cable 220 can move relative to the sealing member 230 under a driving force less than or equal to 1N. That is, the friction between the cable 220 and the inner wall of the second through hole 231 can be less than or equal to 1N. In this way, the cable 220 is facilitated to operate the end effector 300, the convenience of operating the end effector 300 is improved, and debris is not easily dropped due to friction. In addition, the driving force of the cable 220 is less lost due to the friction of the inner wall of the second through hole 231, so as to improve the control accuracy of the cable 220, thereby improving the control accuracy of the end effector 300 and improving the safety of the surgery.

[0127] In some examples, the diameter of the second through hole 231 can be 0.3-0.9 times the diameter of the cable 220. That is, the diameter of the second through hole 231 can be 30%-90% of the diameter of the cable 220.

[0128] In some examples, the diameter of the second through hole 231 can be 0.4-0.7 times the diameter of the cable 220.

[0129] In some examples, the diameter of the second through hole 231 can be 0.5 times the diameter of the cable 220.

[0130] In some examples of the present application, the diameter of the second through hole 231 is set to be 0.3-0.9 times the diameter of the cable 220, so that the hole wall of the second through hole 231 is in close contact with the peripheral wall of the cable 220. In addition, the cable 220 can move axially in the second through hole 231.

[0131] In some examples, referring to Figures 2-4 As shown, the proximal end of the joint seat 210 can be provided with a receiving cavity 212. The receiving cavity 212 can extend along the axial direction of the joint seat 210.

[0132] In some examples, the sealing member 230 and the compression member 240 can be arranged in the receiving cavity 212.

[0133] In some examples, the peripheral wall of the sealing member 230 can be in close contact with the inner wall of the receiving cavity 212. In this way, the sealing effect of the instrument sealing device 200 can be improved.

[0134] In some examples, the diameter of the sealing member 230 can be equal to the inner diameter of the receiving cavity 212. After the sealing member 230 is installed in the receiving cavity 212, the sealing member 230 can be compressed axially by the compression member 240, at which time the sealing member 230 deforms axially and provides an axial reaction force, and in the radial direction, the peripheral wall of the sealing member 230 is in close contact with the inner wall of the receiving cavity 212 and is limited. In this way, the sealing member 230 can be limited in the radial direction by the inner wall of the receiving cavity 212, eliminating the sliding of the sealing member 230 in the radial direction and improving the sealing performance of the instrument sealing device 200.

[0135] In some examples, the diameter of the sealing member 230 can be smaller (e.g., slightly smaller) than the inner diameter of the receiving cavity 212. In this way, the sealing member 230 can be installed in the receiving cavity 212. After the sealing member 230 is installed in the receiving cavity 212, the sealing member 230 can be compressed axially by the compression member 240, at which time the sealing member 230 deforms axially and extends radially, and finally in the radial direction, the peripheral wall of the sealing member 230 is in close contact with the inner wall of the receiving cavity 212.

[0136] In some examples, the diameter of the sealing member 230 can be smaller than the inner diameter of the accommodating cavity 212. When the pressing member 240 presses the sealing member 230 in the axial direction, the sealing member 230 deforms in the axial direction, and a gap can exist between the peripheral wall of the sealing member 230 and the peripheral wall of the accommodating cavity 212 in the radial direction. It can be understood that the basic requirement of the embodiments of the present application is that the sealing member 230 can only seal the first through hole 211, that is, the sealing member 230 only needs to be pressed on the hole along the first through hole 211 to seal the first through hole 211. In this way, the material of the sealing member 230 can be saved, and the production and processing cost of the instrument sealing device can be saved.

[0137] In some examples, the peripheral wall of the pressing member 240 can extend to the inner wall of the accommodating cavity 212. In this way, the pressing area of the pressing member 240 on the sealing member 230 can be increased, the deformation of the sealing member 230 can be reduced, and the sealing effect of the instrument sealing device 200 can be improved.

[0138] In some examples of the embodiments of the present application, the accommodating cavity 212 is arranged at the proximal end of the joint seat 210, and the sealing member 230 and the pressing member 240 are arranged in the accommodating cavity 212. In this way, the sealing member 230 and the pressing member 240 are facilitated to be arranged. The peripheral wall of the sealing member 230 is in close contact with the inner wall of the accommodating cavity 212, so that the sealing effect of the instrument sealing device 200 can be improved. The peripheral wall of the pressing member 240 extends to the inner wall of the accommodating cavity 212, so that the pressing area of the pressing member 240 on the sealing member 230 can be increased, and the sealing effect of the instrument sealing device 200 can be improved.

[0139] In some examples, referring to FIG. 2, the third through hole 241 can be arranged on the pressing member 240. The third through hole 241 can be in communication with the second through hole 231. After the pressing member 240 is pressed on the sealing member 230, the third through hole 241 can be in communication with the second through hole 231. Figure 6 In some examples, referring to FIG. 2, the third through hole 241 can be arranged on the pressing member 240. The third through hole 241 can be in communication with the second through hole 231. After the pressing member 240 is pressed on the sealing member 230, the third through hole 241 can be in communication with the second through hole 231.

[0140] Figure 3 In some examples, referring to FIG. 2, the cable 220 can be arranged in the third through hole 241. That is, the cable 220 can be connected to the end effector 300 by being arranged in the third through hole 241, the second through hole 231 and the first through hole 211 in sequence.

[0141] In some examples of the embodiments of the present application, the third through hole 241 is arranged on the pressing member 240, and the third through hole is in communication with the second through hole 231. In this way, the cable 220 can be connected to the end effector 300 by being arranged in the third through hole 241, the second through hole 231 and the first through hole 211 in sequence, so that the cable 220 is facilitated to be connected to the end effector 300.

[0142] ​In some examples, the third through hole 241 can have a diameter greater than the diameter of the cable 220. In this way, the axial movement of the cable 220 is facilitated, and in addition, the friction between the cable 220 and the inner wall of the third through hole 241 can be reduced, which can protect the cable 220.

[0143] In some examples, the diameter of the third through hole 241 can be 1.5-2.5 times the diameter of the cable 220. That is, the diameter of the third through hole 241 can be 150%-250% of the diameter of the cable 220.

[0144] In some examples, the diameter of the third through hole 241 can be 1.8-2.2 times the diameter of the cable 220.

[0145] As a specific example, the diameter of the third through hole 241 can be 2 times the diameter of the cable 220.

[0146] In some examples of the embodiments of the present application, the diameter of the third through hole 241 is set to be 1.5-2.5 times the diameter of the cable 220. In this way, the friction between the peripheral wall of the cable 220 and the inner wall of the third through hole 241 can be reduced, which can protect the cable 220.

[0147] In some examples, as shown in Figs. Figure 1 , Figure 3 and Figure 7 , the instrument sealing device 200 can include an elongated tube 250. The elongated tube 250 can be located on the side of the compression member 240 away from the sealing member 230. That is, the elongated tube 250 can be located at the proximal end of the compression member 240.

[0148] In some examples, the elongated tube 250 can be a glass fiber tube.

[0149] In some examples, the elongated tube 250 can be a carbon fiber tube.

[0150] In some examples, the elongated tube 250 can be a polymer tube made of a polymer material.

[0151] In some examples, the elongated tube 250 can be a high-molecular polymer tube made of a high-molecular material.

[0152] In some examples, the elongated tube 250 can be a stainless steel metal tube.

[0153] In some examples, the elongated tube 250 can be a synthetic tube made of a mixture of various metals or non-metallic materials.

[0154] In some examples, the elongated tube 250 can be sleeved on the outer periphery of the cable 220.

[0155] In some examples, the cable 220 can include a capillary tube having a small tensile deformation. The tensile deformation of the cable 220 can be reduced. The capillary tube is bundled with the power cable by a heat shrink tube and moves synchronously.

[0156] In some examples, the proximal end of the elongated tube 250 can be connected to the instrument box 100.

[0157] In some examples, the distal end of the elongated tube 250 can be connected to the joint base 210.

[0158] In some examples, referring to Figure 8 As shown, the distal end of the elongated tube 250 can be inserted into the accommodating cavity 212.

[0159] In some examples, the pressing member 240 can be an end face of the distal end of the elongated tube 250. For example, the end face of the distal end of the elongated tube 250 can be a closed end face, and a third through hole 241 can be formed in the closed end face, and the cable 220 can be inserted into the third through hole 241. In this way, after the elongated tube 250 is inserted into the accommodating cavity 212, the distal end of the elongated tube 250 can be pressed against the sealing member 230.

[0160] In some examples, the pressing member 240 and the elongated tube 250 can be two independent components.

[0161] It can be understood that in some examples, the accommodating cavity 212 can be arranged at the distal end of the elongated tube 250, and the proximal end of the joint base 210 can be inserted into the accommodating cavity 212. In some examples of the embodiments of the present application, only the case where the accommodating cavity 212 is arranged at the proximal end of the elongated tube 250 is taken as a specific example for illustration. In the case where the accommodating cavity 212 is arranged at the distal end of the elongated tube 250, the cooperation relationship between the accommodating cavity 212 and the sealing member 230 and the pressing member 240 is the same as, similar to, or analogous to the case where the accommodating cavity 212 is arranged at the proximal end of the joint base 210. For details, reference can be made to the foregoing detailed description of the embodiments of the present application, and the embodiments of the present application will not be described again.

[0162] In some examples, the diameter of the pressing member 240 can be smaller than the diameter of the accommodating cavity 212, so that the pressing member 240 is facilitated to be installed into the accommodating cavity 212.

[0163] In some examples, the diameter of the pressing member 240 can be greater than the inner diameter of the distal end of the elongated tube 250. In this way, after the elongated tube 250 is inserted into the accommodating cavity 212, the distal end of the elongated tube 250 can be pressed against the pressing member 240, so as to press the pressing member 240 against the sealing member 230.

[0164] In some examples, the diameter of the pressing member 240 can be slightly smaller than the outer diameter of the distal end of the elongated tube 250, for example, the diameter of the pressing member 240 is 80% to 90% of the outer diameter of the distal end of the elongated tube 250.

[0165] In some examples, the diameter of the compression member 240 can be 50%-80% of the outer diameter of the distal end of the elongated tube 250.

[0166] In some examples, the diameter of the compression member 240 can be greater than the outer diameter of the distal end of the elongated tube 250. In this way, the entire end surface of the distal end of the elongated tube 250 can be compressed on the compression member 240, which can increase the compression area of the elongated tube 250 on the compression member 240 and improve the reliability of the compression of the elongated tube 250 on the compression member 240.

[0167] In some examples, the elongated tube 250 and the joint seat 210 can be detachably connected.

[0168] In some examples, the elongated tube 250 can be threadedly connected with the joint seat 210 through threads.

[0169] In some examples, the cable 220 can be arranged in the elongated tube 250, and the cable 220 can be configured to provide a pre-tightening force to the elongated tube 250 and the joint seat 210 to compress the compression member 240 on the sealing member 230.

[0170] In some examples, the cable 220 is arranged in the elongated tube 250, and after the cable 220 is connected with a transmission mechanism in the instrument box 100, the cable 220 can be tensioned through the transmission mechanism. At this time, the cable 220 pulls the joint seat 210 and the elongated tube 250 towards each other, so that the elongated tube 250 compresses the compression member 240 on the sealing member 230. In this way, the elongated tube 250 and the joint seat 210 can be connected and the sealing member 230 can be compressed without using other structures, which simplifies the structure of the instrument sealing device 200 and improves the sealing performance of the instrument sealing device 200.

[0171] In some examples, referring to FIG. 2, the distal end of the elongated tube 250 can have an insertion portion 251. Figures 7-9

[0172] In some examples, when the accommodation cavity 212 is arranged at the distal end of the elongated tube 250, the insertion portion 251 can be arranged at the proximal end of the joint seat 210. In some examples of the embodiments of the present application, only the insertion portion 251 arranged at the distal end of the elongated tube 250 is shown as a specific example.

[0173] In some examples, referring to FIG. 2, the diameter of the insertion portion 251 can be smaller than the diameter of other parts of the elongated tube 250, so that the insertion portion 251 is easily inserted into the accommodation cavity 212. Figure 7

[0174] Figure 8 ​​​As shown, after the insertion portion 251 is inserted into the accommodating cavity 212, the insertion portion 251 can abut against the end face of the compression member 240, so as to compress the compression member 240 against the sealing member 230.

[0175] In some examples, the sum of the initial thickness of the sealing member 230, the thickness of the compression member 240 and the length of the insertion portion 251 can be greater than the depth of the accommodating cavity 212 along the axial direction of the accommodating cavity 212. That is, after the sealing member 230 and the compression member 240 are arranged in the accommodating cavity 212, and the insertion portion 251 is inserted into the accommodating cavity 212, part of the insertion portion 251 can be outside the accommodating cavity 212.

[0176] In some examples, the initial thickness of the sealing member 230 can refer to the thickness of the sealing member 230 when it is not deformed by extrusion.

[0177] In some examples, there can be a stepped surface 252 between the insertion portion 251 and the body of the elongated tube 250, and a gap 253 between the stepped surface 252 and the end face of the proximal end of the joint base 210.

[0178] In some examples, when the cable 220 pulls the joint base 210 and the elongated tube 250, the compression member 240 is subjected to the force of the end face of the insertion portion 251, so that the sealing member 230 can be deformed along the axial direction of the accommodating cavity 212.

[0179] In some examples, when the tensioning force provided by the cable 220 reaches the preset tensioning force, the stepped surface 252 can just contact the end face of the proximal end of the joint base 210 (which can be the mouth of the accommodating cavity 211), or there can be a gap 253 between the stepped surface 252 and the end face of the proximal end of the joint base 210.

[0180] In some examples of the embodiments of the present application, the insertion portion 251 at the distal end of the elongated tube 250 is inserted into the accommodating cavity 212, and the sum of the thickness of the sealing member 230, the thickness of the compression member 240 and the length of the insertion portion 251 is greater than the depth of the accommodating cavity 212 along the axial direction of the accommodating cavity 212. In this way, when the cable 220 is stretched and lengthened for a long time, the compressed sealing member 230 can release the amount of compression deformation along the axial direction of the accommodating cavity 212, a gap 253 begins to appear between the stepped surface 252 and the end face of the proximal end of the joint base 210, or the gap 253 between the stepped surface 252 and the end face of the proximal end of the joint base 210 becomes larger, thereby absorbing the amount of stretching and lengthening of the cable 220, maintaining the pre-tensioning force of the cable 220 basically unchanged, prolonging the service life of the instrument sealing device 200, and improving the sealing effect of the instrument sealing device 200.

[0181] In some examples, the sum of the thickness of the seal 230, the thickness of the compression member 240, and the length of the insertion portion 251 can be 1-1.2 times the depth of the receiving cavity 212. That is, the sum of the thickness of the seal 230, the thickness of the compression member 240, and the length of the insertion portion 251 can be 100%-120% of the depth of the receiving cavity 212.

[0182] In some examples, after the seal 230 and the compression member 240 are installed to the receiving cavity 212, the insertion portion 251 is inserted into the receiving cavity 212, and the joint base 210 and the elongated tube 250 are pulled tight by the cable 220, the gap 253 between the stepped surface 252 and the end surface of the proximal end of the joint base 210 can be 0-1 mm. It should be noted that the gap 253 can be greater than 0 mm and less than or equal to 1 mm.

[0183] It should be noted that the numerical values and numerical ranges involved in some embodiments of the present application are approximate values, and there can be a certain range of errors due to the manufacturing process, which can be considered negligible by those skilled in the art.

[0184] In some examples, the thickness of the seal 230 can be 0.5-3 mm.

[0185] In some examples, the thickness of the seal 230 can be 0.5-2.5 mm.

[0186] In some examples, the thickness of the seal 230 can be 0.5-2.0 mm.

[0187] In some examples, the thickness of the seal 230 can be 0.5-1.5 mm.

[0188] In some examples, the thickness of the seal 230 can be 1-2.5 mm.

[0189] In some examples, the thickness of the seal 230 can be 1-2.0 mm.

[0190] In some examples, the thickness of the seal 230 can be 1-1.5 mm.

[0191] In some examples, the thickness of the seal 230 can be 1-3 mm.

[0192] In some examples, the thickness of the seal 230 can be 1.5-2.5 mm.

[0193] In some examples, the thickness of the seal 230 can be 1.5-2 mm.

[0194] In some examples, the thickness of the seal 230 can be 1.5-3 mm.

[0195] In some examples, the hardness of the sealing member 230 can be 50A-90A. It can be understood that in the embodiments of the present application, the sealing member 230 is made of silica gel or rubber, and therefore the hardness of the sealing member 230 can be Shore hardness.

[0196] In some examples, the hardness of the sealing member 230 can be 50A-80A.

[0197] In some examples, the hardness of the sealing member 230 can be 50A-70A.

[0198] In some examples, the hardness of the sealing member 230 can be 50A-60A.

[0199] In some examples, the hardness of the sealing member 230 can be 60A-90A.

[0200] In some examples, the hardness of the sealing member 230 can be 60A-80A.

[0201] In some examples, the hardness of the sealing member 230 can be 60A-70A.

[0202] In some examples, the hardness of the sealing member 230 can be 70A-90A.

[0203] In some examples, the hardness of the sealing member 230 can be 70A-80A.

[0204] In some examples, the hardness of the sealing member 230 can be 80A-90A.

[0205] In some examples of the embodiments of the present application, the thickness of the sealing member 230 is set to 0.5mm-3mm, and the hardness of the sealing member 230 is set to 50A-90A. In this way, the sealing member 230 can release sufficient deformation amount, so as to facilitate compensation for the length of the cable 220 being elongated.

[0206] In some examples, the thickness of the pressing member 240 can be 0.1mm-1mm. The pressing member 240 can be a corrosion-resistant member.

[0207] In some examples, the pressing member 240 can include any one of a metal member, a ceramic member or a hard plastic member.

[0208] In some examples, the pressing member 240 can include a metal sheet. In some examples, the material of the metal sheet can be stainless steel, for example, including any one of SUS630, SUS420, SUS304, US316.

[0209] In some examples, when the clamping member 240 is a metal part, the corrosion resistance of the clamping member 240 can be tested according to the test standard of the corrosion resistance test method for stainless steel medical devices, and it is sufficient to achieve the grade b requirement in the boiling water test.

[0210] Of course, it is understandable that if the clamping member 240 is made of other materials, the corrosion resistance test standard can also be tested using other materials. This application embodiment will not elaborate on this.

[0211] In some examples, the thickness of the clamping element 240 can be 0.5mm-1mm.

[0212] In some examples, the thickness of the clamping element 240 can be 0.7mm-1mm.

[0213] In some examples, the thickness of the clamping element 240 can be 0.1mm-0.7mm.

[0214] In some examples, the thickness of the clamping element 240 can be 0.1mm-0.5mm.

[0215] In some examples, the thickness of the clamping element 240 can be 0.5mm-0.7mm.

[0216] In this embodiment, the thickness of the clamping member 240 is set to 0.1mm-1mm, and a corrosion-resistant component is selected as the clamping member 240. This facilitates the clamping member 240 to press against the sealing member 230, thereby extending the service life of the instrument sealing device 200.

[0217] In some examples, refer to Figures 10-13 As shown, a sealing structure (not labeled) may be provided between the insertion part 251 and the receiving cavity 212. The sealing structure can be configured to seal the mating gap between the insertion part 251 and the receiving cavity 212. In this way, the sealing effect of the instrument sealing device on the surgical instrument can be improved, thereby enhancing surgical safety.

[0218] In some examples, refer to Figure 10 and Figure 11 As shown, the sealing structure may include sealant 254. The sealant 254 may be located between the peripheral wall of the insertion portion 251 and the inner wall of the receiving cavity 212.

[0219] In some examples, a gap may be reserved between the insertion part 251 and the inner wall of the receiving cavity 212 to facilitate insertion of the insertion part 251 into the receiving cavity 212. To improve the sealing performance of the instrument sealing device, in some examples of embodiments of this application, after the insertion part 251 is inserted into the receiving cavity 212, sealant 254 may be injected into the reserved gap to seal the reserved gap, and the injected sealant 254 will not affect the slight movement of the insertion part 251 relative to the receiving cavity 212 after long-term use. In this way, the sealing effect of the instrument sealing device on surgical instruments can be improved.

[0220] In some examples, sealant 254 may be applied to the peripheral wall of the insertion portion 251, and the insertion portion 251 may be inserted into the receiving cavity 212 before the sealant 254 is formed, thereby forming sealant 254 between the insertion portion 251 and the inner wall of the receiving cavity 212.

[0221] In some examples, sealant 254 can be applied to the inner wall of the receiving cavity 212, and the insertion part 251 can be inserted into the receiving cavity 212 before the sealant 254 is formed, thereby forming sealant 254 between the insertion part 251 and the inner wall of the receiving cavity 212.

[0222] In some examples, refer to Figure 12 As shown, the sealing structure may include a sealing ring 255. The sealing ring 255 may be sleeved on the outer periphery of the insertion portion 251. The sealing ring 255 may be interference-fitted with the insertion portion 251.

[0223] In some examples, the sealing ring 255 may abut against the rim of the receiving cavity 212.

[0224] In some examples, when the cable 220 tightens the joint seat 210 and the elongated tube 250, the sealing ring 255 can be pressed against the stepped surface 252 by the edge of the receiving cavity 212. Thus, even if the cable 220 undergoes elongation deformation over prolonged use, the sealing ring 255 can recover its deformation and abut against the edge of the receiving cavity 212 and the stepped surface, improving the sealing performance of the instrument sealing device for surgical instruments.

[0225] In addition, during the process of restoring deformation, the sealing ring 255 generates resistance between the step surface 252 and the edge of the receiving cavity 212, which can play the same role as the restoration deformation of the seal 230, that is, keep the cable 220 in a taut state and absorb the tensile deformation of the cable 220, thereby facilitating the compensation of the elongated length of the cable 220.

[0226] In some examples, refer to Figure 13As shown, the sealing structure may include a wedge-shaped structure. The wedge-shaped structure may be provided on the peripheral wall of the insertion part 251. This ensures that after the insertion part 251 is inserted into the receiving cavity 212, the insertion part 251 and the inner wall of the receiving cavity 212 near the opening are in an interference fit.

[0227] In some examples, the insertion is along the direction from the insertion portion 251 into the receiving cavity 212 (e.g.) Figure 13 (In the direction indicated by the middle arrow x), the outer diameter of the insertion part 251 can be reduced, thereby forming a wedge-shaped structure. Figure 13 (Identified by the inclination angle of the wedge-shaped structure). That is, the outer diameter of the insertion part 251 decreases from the proximal end to the distal end. During the insertion of the insertion part 251 into the receiving cavity 212, the insertion part 251 gradually forms an interference fit with the inner wall of the receiving cavity near the opening. Thus, even if the cable 220 stretches and deforms after prolonged use, the insertion part 251 may withdraw a portion of its length in the opposite direction of insertion. Because of the interference fit between the insertion part 251 and the receiving cavity 212, the insertion part 251 can still maintain a tight fit with the inner wall of the receiving cavity 212, improving the sealing performance of the instrument sealing device for surgical instruments. In some examples, refer to... Figure 14 As shown, a limiting post 213 can be provided inside the receiving cavity 212. The limiting post 213 can be fixedly connected to the inner wall of the receiving cavity 212.

[0228] In some examples, the limiting post 213 and the joint seat 210 can be a single piece.

[0229] In some examples, refer to Figure 5 As shown, the seal 230 may be provided with a first limiting notch 232. The limiting post 213 may be inserted into the first limiting notch 232 to limit the seal 230 along the circumference of the receiving cavity 212. In this way, the seal 230 can be fixed in the circumference of the receiving cavity 212, thereby improving the stability of the seal 230 in the receiving cavity 212.

[0230] In some examples, the limiting post 213 may include multiple posts, which are arranged at circumferential intervals along the receiving cavity 212.

[0231] In some examples, refer to Figure 14 As shown, the limiting post 213 may include two. The two limiting posts 213 are evenly spaced along the axial direction of the receiving cavity 212.

[0232] In some examples, refer to Figure 6As shown, a second limiting notch 242 may be provided on the clamping member 240. A limiting post 213 may be inserted into the second limiting notch 242. Along the circumference of the receiving cavity 212, the limiting post 213 limits the clamping member 240, thus fixing the clamping member 240 in the circumference of the receiving cavity 212, which can improve the stability of the clamping member 240 pressing against the sealing member 230 and improve the sealing effect of the instrument sealing device 200.

[0233] In some examples, refer to Figure 14 As shown, there can be a preset distance between the limiting post 213 and the first through hole 211. Since the second through hole 231 is connected to the first through hole 211, the sealing member 230 is pressed against the edge of the first through hole 211. In this way, sufficient sealing material is pressed against the edge of the first through hole 211 between the second through hole 231 and the first limiting notch 232, which can improve the sealing effect of the instrument sealing device 200.

[0234] In addition, the distance between the third through hole 241 and the second limiting notch 242 is increased, so that the clamping member 240 between the third through hole 241 and the second limiting notch 242 has sufficient strength, ensuring the pressing effect of the clamping member 240 on the seal 230 between the second through hole 231 and the first limiting notch 232, reducing the deformation of the seal 230 between the second through hole 231 and the first limiting notch 232, and improving the sealing effect of the instrument sealing device 200.

[0235] In some examples, refer to Figure 14 As shown, the limiting post 213 may include a first portion 2131. The first portion 2131 may be connected to the inner wall of the receiving cavity 212. The first portion 2131 may extend radially along the receiving cavity 212.

[0236] In some examples, the limiting post 213 may include a second portion 2132. The second portion 2132 may be connected to the first portion 2131.

[0237] In some examples, the second part 2132 may be connected to the end of the first part 2131 facing away from the inner wall of the receiving cavity 212.

[0238] In some examples, the extension direction of the second portion 2132 may intersect the extension direction of the first portion 2131. The second portion 2132 may be located on the side of the first portion 2131 facing away from the first through hole 211.

[0239] In other words, after the first part 2131 and the second part 2132 are connected, the cross-section of the fixing column can be an L-shaped structure, and there is no other structure on the side of the first part 2131 facing the first through hole 211. This makes it easy to reserve a preset distance between the side of the first part 2131 facing the first through hole 211 and the first through hole 211.

[0240] In this embodiment of the application, by setting the second part 2132 of the limiting post 213 on the side of the first part 2131 facing away from the first through hole 211, a preset distance is reserved between the side of the limiting post 213 facing the first through hole 211 and the first through hole 211. This simplifies the structural design of the limiting post 213, facilitates the production and processing of the joint seat 210, and saves the production and processing cost of the joint seat 210.

[0241] In some examples, the preset distance can be greater than or equal to 0.3 mm. This ensures that there is sufficient sealing material between the second through hole 231 and the first limiting notch 232 pressing against the edge of the first through hole 211, thereby improving the sealing effect of the instrument sealing device 200.

[0242] In addition, the distance between the third through hole 241 and the second limiting notch 242 is increased, so that the clamping member 240 between the third through hole 241 and the second limiting notch 242 has sufficient strength, ensuring the pressing effect of the clamping member 240 on the seal 230 between the second through hole 231 and the first limiting notch 232, reducing the deformation of the seal 230 between the second through hole 231 and the first limiting notch 232, and improving the sealing effect of the instrument sealing device 200.

[0243] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An apparatus seal, comprising: The utility model relates to a joint seat, a sealing element and a compression element, and belongs to the field of medical equipment. The joint seat is provided with a first through hole configured to pass through a cable; The sealing element is provided on a side of the joint seat away from a head end of an instrument, and is provided with a second through hole at least partially communicating with the first through hole, and a hole wall of the second through hole is configured to be in close contact with a peripheral wall of the cable; The compression element is compressed on a side of the sealing element away from the joint seat, and is compressed on at least a hole edge of the second through hole, and a hardness of the compression element is greater than a hardness of the sealing element.

2. The apparatus seal of claim 1, wherein, A diameter of the second through hole is less than a diameter of the cable, and the cable can move relative to the sealing element under a force of less than or equal to 1 N along an axial direction of the second through hole.

3. The apparatus seal of claim 2, wherein, The diameter of the second through hole is 0.3-0.9 times the diameter of the cable. Alternatively, the diameter of the second through hole is 0.4-0.7 times the diameter of the cable.

4. The apparatus seal of any one of claims 1-3, wherein, Further comprising: An elongated tube located on a side of the sealing element away from the joint seat; The cable is arranged in the elongated tube, and the cable is configured to provide a pre-tightening force to the elongated tube and the joint seat so that the compression element is compressed on the sealing element; The elongated tube is configured to compress the compression element.

5. The apparatus seal of claim 4, wherein, One of a proximal end of the joint seat and a distal end of the elongated tube is provided with a receiving cavity, and the sealing element and the compression element are arranged in the receiving cavity, and a peripheral wall of the compression element extends to an inner wall of the receiving cavity; The other of the proximal end of the joint seat and the distal end of the elongated tube is provided with an insertion part inserted into the receiving cavity and compressed on the compression element.

6. The apparatus seal of claim 5, wherein, The compression element is located on a side of the sealing element away from the joint seat, and is provided with a third through hole corresponding to the second through hole in communication, and the third through hole is configured to pass through the cable; The diameter of the third through hole is greater than the diameter of the cable.

7. The apparatus seal of claim 6, wherein, The diameter of the third through hole is 1.5-2.5 times the diameter of the cable. Alternatively, The diameter of the third through hole is 1.8-2.2 times the diameter of the cable.

8. The apparatus seal of claim 5, wherein, A diameter of the sealing element is equal to or less than an inner diameter of the receiving cavity; a diameter of the compression element is less than the inner diameter of the receiving cavity, and the diameter of the compression element is greater than an inner diameter of the insertion part.

9. The apparatus seal of claim 5, wherein, Along an axial direction of the receiving cavity, a sum of an initial thickness of the sealing element, a thickness of the compression element, and a length of the insertion part is greater than a depth of the receiving cavity; In a case where the cable tightens the joint seat and the elongated tube, the sealing element is deformed along the axial direction of the receiving cavity under compression of the compression element.

10. The apparatus seal of claim 9, wherein, The sum of the thickness of the sealing element, the thickness of the compression element, and the length of the insertion part is 1-1.2 times the depth of the receiving cavity.

11. The apparatus seal of claim 9, wherein, The thickness of the sealing element is 0.5-3 mm, and a hardness of the sealing element is 50A-90A; The thickness of the compression element is 0.1-1 mm, and the compression element is a corrosion-resistant element.

12. The apparatus seal of claim 5, wherein, A sealing structure is arranged between the insertion part and the receiving cavity, and is configured to seal a fitting gap between the insertion part and the receiving cavity.

13. The apparatus seal of claim 12, wherein, The sealing structure comprises a sealing glue, which is arranged between the peripheral wall of the insertion part and the inner wall of the accommodating cavity; And / or, The sealing structure comprises a sealing ring, which is sleeved on the peripheral wall of the insertion part and abuts against the rim of the accommodating cavity.

14. The apparatus seal of claim 12, wherein, The sealing structure comprises a wedge-shaped structure, which is arranged on the peripheral wall of the insertion part, so that the inner wall of the accommodating cavity near the rim is in interference fit with the insertion part; In the direction of inserting the insertion part into the accommodating cavity, the outer diameter of the insertion part decreases to form the wedge-shaped structure.

15. The apparatus seal of claim 5, wherein, The accommodating cavity is arranged at the proximal end of the joint base, and a limiting column is arranged in the accommodating cavity; a first limiting notch is arranged on the sealing member, and a second limiting notch is arranged on the compression member; the limiting column is arranged in the first limiting notch and the second limiting notch, and is configured to limit the sealing member and the compression member in the circumferential direction of the accommodating cavity. The distance between the limiting column and the first through hole is greater than or equal to 0.3 mm.

16. A surgical instrument, characterized by It comprises: An instrument box; The instrument sealing device of any one of claims 1-15, wherein the elongated tube of the instrument sealing device is connected with the instrument box, and a cable passes through the elongated tube and is connected with a driving mechanism in the instrument box; An end effector arranged at the distal end of the instrument sealing device, wherein the end effector is connected with a joint base, and the cable is connected with the end effector to drive the end effector to act.

17. A surgical robot, characterised in that, It comprises a slave power box and the surgical instrument of claim 16, wherein the instrument box of the surgical instrument is detachably mounted on the slave power box.

Images