Medical cannula, cannula assembly and surgical robot

Abstract

The utility model relates to the technical field of medical instruments, in particular to a medical cannula, a cannula assembly and a surgical robot. The medical cannula comprises a cannula body and a cannula body, the first marking part is arranged on the outer pipe wall of the pipe body; the first marking part has a first preset color. The first marking part is arranged on the outer tube wall of the tube body, so that information such as the size of the medical cannula can be determined according to the first preset color of the first marking part. Under the condition that an operator uses the medical cannula and the parts to assemble the cannula assembly, the operator can easily determine the size specification of the medical cannula according to the first preset color, so that the matched parts such as a sealing element can be conveniently installed on the medical cannula, the assembly accuracy of the cannula assembly is improved, the part identification time is shortened when the cannula assembly is assembled, and the assembly efficiency is improved. And moreover, the problem of mistakenly mounting parts is reduced, so that the preoperative preparation time is shortened, and the overall efficiency of the operation is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a medical cannula, a cannula assembly and a surgical robot. BACKGROUND

[0002] At present, with the continuous development of medical devices, computer technology and control technology, minimally invasive surgery has been more and more widely used due to its small surgical trauma, short recovery time and less pain to patients. The minimally invasive surgical robot can avoid the operation limitation due to its high dexterity, high control precision and intuitive surgical image, and is widely used in minimally invasive surgery.

[0003] In the related art, a minimally invasive surgical robot is used for minimally invasive surgery. The minimally invasive surgical robot includes a master control console and a surgical arm, and a cannula mounting member is arranged on the surgical arm, which is used to mount a cannula. The cannula is used to open on the body of an operator and establish a channel for other surgical instruments to enter. Before surgery, the cannula and other sealing members, puncture needles and the like need to be assembled into a whole for use in order to establish a surgical channel.

[0004] In the implementation process of the related art, at least the following technical problems are found:

[0005] Since the cannula, sealing member, puncture needle and the like have multiple specifications, the corresponding specifications of the components need to be manually assembled into a puncture cannula assembly before use. However, too many specifications and difficult identification may cause the operator to pick up the wrong components or find errors during assembly, which requires disassembly and reassembly, prolongs the preoperative preparation time and reduces the work efficiency. INVENTION CONTENTS

[0006] The embodiments of the present application provide a medical cannula, a cannula assembly and a surgical robot, which reduce the problem of incorrect installation of components and medical cannula when assembling the cannula assembly, thereby reducing the problem of long preoperative preparation time caused by incorrect assembly and disassembly, and improving the work efficiency.

[0007] In some embodiments, a medical cannula is provided, which includes: a tube body; a first marking part arranged on the outer tube wall of the tube body; and the first marking part has a first preset color.

[0008] The medical sleeve provided by the embodiment of the present application is provided with a first marking part on the outer wall of the pipe body, so that the size specification and other information of the medical sleeve can be determined according to the first preset color of the first marking part. In the case of using the medical sleeve and assembling the sleeve assembly by using the components, the operator can easily determine the size specification of the medical sleeve according to the first preset color, so as to facilitate the installation of the matching components such as the sealing element on the medical sleeve, improve the accuracy of the assembly of the sleeve assembly, reduce the identification time of the components or the problem of incorrectly installed components when assembling the sleeve assembly, thereby reducing the preoperative preparation time and improving the overall efficiency of the operation.

[0009] Optionally, the first marking part comprises: a first fixing element arranged on the outer wall of the pipe body; and a marking element arranged on the first fixing element, wherein the marking element has the first preset color, and the first fixing element is configured to fixedly arrange the marking element.

[0010] Optionally, the first fixing element comprises: a first groove arranged on the outer wall of the pipe body, and the marking element is arranged in the first groove.

[0011] Optionally, the first fixing element further comprises: a first protrusion fixedly arranged on the outer wall of the pipe body, and the first groove is arranged on the first protrusion; in the case of installing the medical sleeve on the surgical arm, the outer side wall of the first protrusion corresponds to the sleeve sensing part of the surgical arm, and the first protrusion is configured to reduce the distance between the sleeve sensing part and the medical sleeve.

[0012] Optionally, the marking element is sleeved in the first groove; or the marking element is arranged in the first groove by injection molding.

[0013] Optionally, the first marking part is silk-screen printed on the outer wall of the pipe body.

[0014] Optionally, the medical sleeve further comprises: a clamping part arranged on the outer wall of the pipe body; the clamping part is arranged at intervals with the first marking part along the axial direction of the pipe body; a second groove is formed between the clamping part and the first marking part, and the second groove is configured to be clamped by the surgical arm; and the first marking part is arranged in the second groove.

[0015] Optionally, the height of the first marking part along the axial direction of the pipe body is 1mm to 5mm; the first marking part is continuously or intermittently arranged on the outer wall of the pipe body; and the first preset color is determined according to the diameter specification of the pipe body.

[0016] Optionally, the pipe body comprises a first sub-pipe body and a second sub-pipe body, the first sub-pipe body and the second sub-pipe body are in communication, the outer diameter of the first sub-pipe body is greater than the outer diameter of the second sub-pipe body, and the first marking part and the clamping part are arranged at intervals on the outer wall of the first sub-pipe body along the axial direction of the first sub-pipe body.

[0017] Optionally, the medical cannula further comprises: a mounting portion arranged on the tube body, the mounting portion being configured to be connectable to different sealing members; the sealing members comprise a first sealing member and a second sealing member; the mounting portion is snap-connected to the first sealing member; and the mounting portion is screw-connected to the second sealing member.

[0018] Optionally, the mounting portion comprises: a first mounting member arranged on the outer tube wall of the tube body and located at one end of the tube body; the first mounting member is configured to be snap-connected to the first sealing member.

[0019] Optionally, the mounting portion comprises a second mounting member arranged on the inner tube wall of the tube body; the second mounting member is configured to be connected to the second sealing member through an internal thread.

[0020] In some embodiments, a cannula assembly is provided, comprising: one or more medical cannulas as provided in any of the above embodiments, the first marking portions of the medical cannulas of different sizes having different colors; and one or more components configured to be mounted to the medical cannula; the components comprising second marking portions; in the case where the components are matched with the medical cannula, the second marking portions have the same color as the colors of the first marking portions.

[0021] With the cannula assembly provided in the embodiments of the present application, by arranging the second marking portions on the components and the first marking portions on the medical cannula, and the second marking portions of the components matched with the medical cannula having the same color as the first marking portions, the operator can easily identify that the medical cannula and the components are matched, thereby facilitating the operator to select and assemble the medical cannula and the components, improving the accuracy of assembly of the cannula assembly, reducing the identification time of the components when assembling the cannula assembly, and reducing the problem of incorrectly installed components, thereby reducing the preoperative preparation time and improving the overall efficiency of the operation.

[0022] Optionally, the components comprise: a puncture needle arranged in the medical cannula; the puncture needle comprises: a puncture needle body and a hand-held portion; the hand-held portion is arranged on the outer side wall of the puncture needle body, and the hand-held portion comprises a third groove; and the second marking portion is arranged in the third groove.

[0023] Optionally, the hand-held portion comprises: a first flange and a second flange; the first flange and the second flange are arranged on the outer side wall of the puncture needle body in the axial direction of the puncture needle body to form the third groove.

[0024] Optionally, the medical cannula comprises a first channel, and the components comprise: a sealing member mounted to the medical cannula, the sealing member being configured to seal the first channel; and the second marking portion is arranged on the outer side wall of the sealing member.

[0025] Optionally, the sealing member comprises a first sealing member, the first sealing member comprising: a first main body, a second marking portion arranged on an outer sidewall of the first main body; a second fixing member comprising a fixing portion and a clamping portion; the fixing portion is fixedly arranged on the first main body, and the clamping portion is clamped with the medical cannula.

[0026] Optionally, the medical cannula comprises a first mounting member, the first mounting member comprising: a third flange; an upper end surface of the third flange is in abutment with the first main body, and the clamping portion is clamped on a lower end surface of the third flange.

[0027] Optionally, the first main body comprises: a plastic shell, a first cross seal valve and a first rubber sealing cap arranged in sequence; the second fixing member is arranged between the first cross seal valve and the first rubber sealing cap; a first sealing portion connects an end surface of the first cross seal valve and the plastic shell, and the first sealing portion is configured to seal a gap between the first cross seal valve and the plastic shell; a second sealing portion connects the second fixing member and the first rubber sealing cap, and the second sealing portion is configured to seal a gap between the second fixing member and the first rubber sealing cap.

[0028] Optionally, the first sealing portion comprises: a first annular protrusion arranged on an upper end surface of the first cross seal valve; a first annular groove arranged on a sidewall of the plastic shell; the first annular protrusion is arranged in the first annular groove; and / or, the second sealing portion comprises: a second annular protrusion arranged on an upper end surface of the second fixing member; a second annular groove arranged on a sidewall of the first rubber sealing cap; the second annular protrusion is arranged in the second annular groove; and / or, a second annular protrusion arranged on an upper end surface of the fifth flange; a third annular groove arranged on a sidewall of the first rubber sealing cap; the second annular protrusion is arranged in the third annular groove.

[0029] Optionally, the second sealing member comprises: a second main body comprising a first thread; the first thread is threadedly connected with the medical cannula; a second marking portion is arranged on the second main body.

[0030] Optionally, the medical cannula comprises a second mounting member, the second mounting member comprising: a second thread; the first thread is screwed with the second thread.

[0031] Optionally, the second body includes: a metal housing, including a third channel, a fourth annular groove, a fifth annular groove, and a sixth annular groove, the third channel being configured to allow other components to pass through and enter the first channel of the medical cannula; a first thread being provided on the outer wall of the metal housing; the fourth annular groove, the fifth annular groove, and the sixth annular groove being provided on the outer wall of the metal housing; a second cross-shaped sealing valve, including a snap-fit ​​boss that snaps into the fourth annular groove; a second sealing ring, fitted inside the fifth annular groove, the sealing ring abutting against the inner wall of the medical cannula to seal the first channel; and a second rubber sealing cap, snapped into the sixth annular groove, the second rubber sealing cap being located at one end of the first channel to seal the second channel.

[0032] In some embodiments, a surgical robot is provided, comprising: a medical cannula as provided in any of the above embodiments, or a cannula assembly as provided in any of the above embodiments; a surgical arm, wherein the medical cannula or cannula assembly is mounted on the surgical arm.

[0033] Using the surgical robot provided in this application embodiment, a medical cannula or cannula assembly is installed through the surgical arm of the surgical robot to construct a channel in the body of the patient using the medical cannula. Attached Figure Description

[0034] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the structure of the medical cannula provided in the embodiments of this application;

[0036] Figure 2 for Figure 1 A cross-sectional view of the embodiment shown;

[0037] Figure 3 A schematic diagram illustrating minimally invasive surgery performed using the surgical robot provided in this application embodiment;

[0038] Figure 4 for Figure 3 An enlarged view of point A in the illustrated embodiment;

[0039] Figure 5 An assembly diagram of the medical cannula and cannula adapter provided in the embodiments of this application;

[0040] Figure 6 This is an exploded view of the sleeve assembly provided in the embodiments of this application;

[0041] Figure 7A structure schematic diagram of a puncture needle provided by an embodiment of the present application;

[0042] Figure 8 A structure schematic diagram of a needle cap side of a puncture needle provided by an embodiment of the present application;

[0043] Figure 9 A structure schematic diagram of a first sleeve assembly provided by an embodiment of the present application;

[0044] Figure 10 A structure schematic diagram of a first sealing member provided by an embodiment of the present application; Figure 9 An enlarged schematic diagram of the embodiment B shown in the figure;

[0045] Figure 11 A structure schematic diagram of a second sealing member provided by an embodiment of the present application;

[0046] Figure 12 A structure schematic diagram of a second sleeve assembly provided by an embodiment of the present application; Figure 11 A sectional view of the embodiment shown in the figure;

[0047] Figure 13 A structure schematic diagram of a second sealing member provided by an embodiment of the present application;

[0048] Figure 14 A sectional view of a second sealing member and a medical sleeve provided by an embodiment of the present application;

[0049] Figure 15 A structure schematic diagram of a second sealing member provided by an embodiment of the present application;

[0050] Figure 16 A sectional view of the embodiment shown in the figure. Figure 15

[0051] Reference signs:

[0052] 1. A medical sleeve; 11, a tube body; 111, a first sub-tube body; 112, a second sub-tube body; 12, a first marking part; 121, a first fixing member; 1211, a first groove; 1212, a first protrusion; 122, a marking member; 13, a clamping part; 131, a second groove; 14, a mounting part; 141, a first mounting member; 142, a second mounting member; 15, a first channel;

[0053] 2. A surgical robot; 21, a surgical arm; 22, a sleeve adapter; 23, a clamping jaw; 24, a sleeve sensing part; 25, a knob;

[0054] ​3, sleeve assembly; 31, component; 311, second mark part; 32, puncture needle; 321, puncture needle body; 322, third groove; 323, hand holding part; 324, first flange; 325, second flange; 33, sealing member; 331, first sealing member; 3311, first main body; 1a, plastic shell; 1b, first sealing ring; 1c, first cross seal valve; 1d, film piece; 1e, first rubber sealing cap; 1f, first sealing part; 1g, second sealing part; 1h, first gas injection valve; 3312, second fixing member; 2b, clamping part; 332, second sealing member; 3321, second main body; 3a, first thread; 3b, metal shell; 3c, second cross seal valve; 3d, second sealing ring; 3e, second rubber sealing cap; 3f, second gas injection valve. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0056] In the present specification, many specific technical details are described in some places, so that those skilled in the art can understand the complete technical solutions. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed description of technical details should not be regarded as a limitation of the present application, and the protection scope of the present application is only defined by the claims. In other places, well-known structures, connection / position relationships, circuits and / or other details can not be shown in detail, so as not to mislead the public about the inventive points of the present application.

[0057] In the present 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 mechanical structures, connection / position relationships, physical compositions, electrical and steps can be changed without departing from the spirit and scope of the present application. Such changes can be made by replacing or combining elements of several embodiments of the present application, or by replacing or combining well-known contents.

[0058] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. Spatially relative terms, such as "under", "below", "lower", "over", "upper", "middle", "indside", "outside", "central", "lateral", "longitudinal", "vertical", "horizontal", and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. For example, if a device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The devices can be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. The terms "first", "second", "third", etc. can be used herein to describe various elements, regions, layers and / or sections but are not intended to be limiting, unless otherwise indicated.

[0059] As used herein, the terms "a", "an" and "the" are intended to encompass both singular and plural forms, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising", when used in this specification, 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.

[0060] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "part", "piece", "module", "assembly", and "element" are used interchangeably.

[0061] The terms "instrument", "surgical instrument", and "surgical instruments" are used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, generally including an end effector. The end effector can be a surgical tool related to one or more surgical operations, 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 articulated supports (sometimes referred to as "wrist joints", "jointed wrist") for the surgical tools, so that the position and / or orientation of the end effector can be flexibly manipulated relative to the instrument shaft in one or more mechanical degrees of freedom. Further, many end effectors include functional mechanical degrees of freedom, such as opening or closing jaws or translating a blade along a particular path. The instruments 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.

[0062] The term "cooperate" (sometimes referred to as "connect," "couple," "mount," "fit") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the cooperating objects to operate in conjunction with one another. It should be noted that cooperation does not require a direct connection (e.g., a 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. Furthermore, the term "removably coupled" or "removably cooperate" 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 such that they no longer operate in conjunction.

[0063] 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 are in some way mutually exclusive from one another.

[0064] Minimally invasive surgery (MIS) is a surgical technique that is performed through small incisions or without incisions. Compared with traditional open surgery, it has the advantages of less trauma and faster recovery, and is widely used in various surgical fields, including digestive surgery, cardiovascular surgery, gynecology, urology, etc.

[0065] At present, in the minimally invasive surgery, a minimally invasive surgery robot is generally used to perform the minimally invasive surgery on an operator, and the minimally invasive surgery robot includes a master console and a surgical arm. The steps of the minimally invasive surgery generally include: assembling a sleeve and parts (such as a sleeve body, a puncture needle, a sealing cap or an adapter cap, etc.) to form a sleeve assembly required for surgery, mounting the sleeve assembly on the surgical arm, making the operator lie on a surgical bed and expose a surgical site, and aligning the surgical site with a part of the minimally invasive surgery robot performing the surgery. A surgical access is created, a sleeve in the sleeve assembly is inserted into the surgical access, and a channel required for the surgery is constructed. A surgical instrument required to be used is arranged in place through the channel in the sleeve. The operator operates the surgical arm through handles and foot pedals on the master console to perform the minimally invasive surgery.

[0066] In the process of preoperative preparation, the assembly of the sleeve and the parts needs to be completed manually. Since there are many types of sleeves (mainly different diameters, such as 5 mm, 8 mm, 10 mm, 12 mm, and 15 mm), and many parts are limited in material and size, and cannot be marked on the parts, there is no identification mark on the sleeve to identify the size of the sleeve, and the staff may identify the wrong size of the sleeve, resulting in incorrect installation of the sleeve assembly. At this time, all the parts in the incorrectly assembled sleeve assembly need to be disassembled for reinstallation, which prolongs the preoperative preparation time and reduces the work efficiency.

[0067] To solve the above technical problems, the embodiments of the present application provide a medical sleeve, a sleeve assembly and a surgical robot. By providing a first marking part on the medical sleeve body, the operator can accurately identify the size of the medical sleeve according to the first preset color of the first marking part during preoperative preparation, so as to facilitate the installation of the corresponding parts on the medical sleeve, improve the accuracy of the sleeve assembly, reduce the problem of long preoperative preparation time caused by reassembly due to assembly error, and improve the work efficiency.

[0068] Figure 1 The structure diagram of the medical sleeve provided by the embodiments of the present application is shown.

[0069] In combination with Figure 1 the drawings, the embodiments of the present application provide a medical sleeve 1, which comprises a sleeve body 11 and a first marking part 12. The first marking part 12 is arranged on the outer tube wall of the sleeve body 11. The first marking part 12 has a first preset color.

[0070] By providing the first marking part 12 on the outer tube wall of the sleeve body 11, the size and other information of the medical sleeve 1 can be determined according to the first preset color of the first marking part 12. In the case of assembling the sleeve assembly 3 by using the medical sleeve 1 and the parts 31 by the operator, the operator can easily determine the size of the medical sleeve 1 according to the first preset color, so as to facilitate the installation of the matching parts 31 such as the sealing element 33 on the medical sleeve 1, improve the accuracy of the assembly of the sleeve assembly 3, reduce the identification time of the parts 31 during the assembly of the sleeve assembly 3, and reduce the problem of incorrect installation of the parts 31, thereby reducing the preoperative preparation time and improving the overall efficiency of the operation.

[0071] Optionally, the first preset color is determined according to the diameter specification of the sleeve body 11. In this way, the medical staff can determine the diameter specification of the medical sleeve 1 according to the first preset color of the first marking part 12. For example, in the case of a tube diameter of 2.5 cm of the medical sleeve 1, the first preset color is green. In the case of a tube diameter of 3 cm of the medical sleeve 1, the first preset color is red.

[0072] Optionally, the first marking part 12 has a height of 1mm to 5mm along the axial direction of the tube body 11. In this way, the size of the first marking part 12 can be set according to the size of the tube body 11, and the medical staff can easily see the first marking part 12 at a glance.

[0073] Optionally, the first marking part 12 is continuously or intermittently arranged on the outer tube wall of the tube body 11. In this way, the medical staff can observe the first marking part 12 from multiple angles and in all directions.

[0074] Figure 2 For Figure 1 the cross-sectional view of the embodiment shown.

[0075] Optionally, in combination with Figure 1 and Figure 2 shown, the first marking part 12 includes a first fixing part 121 and a marking part 122. The first fixing part 121 is arranged on the outer tube wall of the tube body 11. The marking part 122 is arranged on the first fixing part 121, and the marking part 122 has a first preset color. The first fixing part 121 is configured to fixedly mount the marking part 122.

[0076] In this embodiment, the marking part 122 is arranged on the first fixing part 121 to fixedly mount the marking part 122, thereby reducing the problem of the marking part 122 falling off.

[0077] Optionally, in combination with Figure 1 and Figure 2 shown, the first fixing part 121 includes a first groove 1211. The first groove 1211 is arranged on the outer tube wall of the tube body 11. The marking part 122 is arranged in the first groove 1211.

[0078] In this embodiment, by arranging the first groove 1211, the mounting position of the marking part 122 is fixed, the stability of the position of the marking part 122 is improved, and the problem of the marking part 122 falling off caused by movement is reduced. Moreover, by arranging the first groove 1211 on the outer tube wall of the tube body 11, the weight of the tube body 11 is reduced, thereby reducing the force required for the surgical arm 21 to hold the medical sleeve 1, reducing energy consumption, and improving the stability of the surgical arm 21.

[0079] Figure 3 For the schematic view of the surgical robot provided by the embodiment of the present application performing minimally invasive surgery.

[0080] Figure 4 For Figure 3 the enlarged schematic view of position A in the embodiment shown.

[0081] Figure 5 For the assembly schematic view of the medical sleeve and the sleeve adapter provided by the embodiment of the present application.

[0082] In combination with Figure 3As shown, the surgical robot 2 comprises a main control console and a surgical arm 21, which holds the trocar assembly 3 to fix the position of the medical trocar 1, so as to use the medical trocar 1 to open an opening on the body of an operator and establish a channel for other surgical instruments to enter. In combination Figure 4 As shown, the surgical arm 21 holds the outer tube arm of the trocar assembly 3 through the clamping jaw 23 on the trocar adapter 22 to fix the position of the medical trocar 1. The surgical arm 21 is also provided with a trocar sensing portion 24 to detect whether the surgical arm 21 is installed with the medical trocar 1 through the trocar sensing portion 24. In combination Figure 5 As shown, the trocar adapter 22 comprises the clamping jaw 23. The clamping jaw 23 is arranged on the outer tube wall of the medical trocar 1, and the trocar sensing portion 24 corresponds to the outer tube wall of the medical trocar 1.

[0083] Specifically, in combination Figure 5 As shown, the medical trocar 1 is detachably installed on the trocar adapter 22 at the end of the surgical arm 21. Before installing the medical trocar 1, a sterile cover (the sterile cover comprises an isolation plate and a trocar adapter 22 clamping sleeve) needs to be installed first. The clamping jaw 23 is opened by pushing the knob 25, the medical trocar 1 is put in, and then the knob 25 is released to clamp the medical trocar 1. The knob 25 is also pushed to unlock the clamping jaw 23 to release the medical trocar 1.

[0084] Optionally, the marker 122 is sleeved in the first groove 1211.

[0085] In this embodiment, by using the setting mode that the marker 122 is sleeved in the first groove 1211, when the marker 122 is damaged or broken, it can be replaced in time, prolonging the service life of the medical trocar 1.

[0086] Optionally, the marker 122 is arranged in the first groove 1211 by injection molding.

[0087] In this embodiment, the marker 122 is directly formed in the first groove 1211 by injection molding, which can reduce the gap between the marker 122 and the first groove 1211, so as to facilitate the cleaning and disinfection of the medical trocar 1, and reduce the problem of dirt accumulation in the first groove 1211.

[0088] Optionally, in combination Figure 1 and Figure 2 As shown, the first fixing member 121 further comprises a first protrusion 1212. The first protrusion 1212 is fixedly arranged on the outer tube wall of the tube body 11. The first groove 1211 is arranged in the first protrusion 1212. In the case that the medical trocar 1 is installed on the surgical arm 21, the outer side wall of the first protrusion 1212 corresponds to the trocar sensing portion 24 of the surgical arm 21, and the first protrusion 1212 is configured to reduce the distance between the trocar sensing portion 24 and the medical trocar 1.

[0089] In this embodiment, the first protrusion 1212 is arranged on the outer wall of the pipe body 11 to reduce the distance between the outer wall of the medical sleeve 1 and the sleeve induction portion 24 by using the first protrusion 1212, thereby improving the accuracy of the sleeve induction portion 24 in detecting the medical sleeve 1. In addition, the first groove 1211 is arranged on the first protrusion 1212 to reduce the weight of the first protrusion 1212, thereby reducing the weight of the medical sleeve 1 while reducing the distance between the outer wall of the medical sleeve 1 and the sleeve induction portion 24 by using the first protrusion 1212, thereby reducing the force required for the surgical arm 21 to hold the medical sleeve 1, reducing energy consumption, and improving the stability of the surgical arm 21.

[0090] For example, the outer diameter of the pipe body 11 is 2 cm, the thickness of the first protrusion 1212 is 0.1 cm, and the outer diameter of the medical sleeve 1 is 2.1 cm when the first protrusion 1212 is installed on the pipe body 11. In this way, compared with the pipe body 11 without the first protrusion 1212, the outer wall of the medical sleeve 1 with the first protrusion 1212 is closer to the sleeve induction portion 24, so as to facilitate the sleeve induction portion 24 to detect whether the surgical arm 21 is installed with the medical sleeve 1 and improve the detection accuracy.

[0091] Optionally, the first marking portion 12 is silk-screened on the outer wall of the pipe body 11. In this way, the method for constructing the first marking portion 12 on the outer wall of the pipe body 11 is simple, easy to implement and low in cost. Specifically, the marking member 122 is silk-screened on the outer wall of the pipe body 11.

[0092] For example, the embodiment of the present application can be silk-screened with a color block, a color strip, etc. having a first preset color on the outer wall of the pipe body 11, or can be silk-screened with a digital or character mark, etc. having a first preset color.

[0093] Optionally, in combination with Figure 1 and Figure 2 As shown in the figures, the medical sleeve 1 further comprises a clamping portion 13. The clamping portion 13 is arranged on the outer wall of the pipe body 11. The clamping portion 13 is arranged at a distance from the first marking portion 12 along the axial direction of the pipe body 11. The clamping portion 13 and the first marking portion 12 form a second groove 131 configured to be held by the surgical arm 21, and the first marking portion 12 is arranged in the second groove 131.

[0094] In this embodiment, the clamping portion 13 is arranged, and the second groove 131 is formed by the clamping portion 13 and the first marking portion 12, so as to facilitate the surgical arm 21 to clamp the second groove 131 and reduce the relative movement between the medical sleeve 1 and the surgical arm 21.

[0095] For example, in combination with Figure 2 ​​​​​​As shown, the distance L between the clamping portion 13 and the first marking portion 12 should be greater than or equal to the axial length of the medical sleeve 1 when the clamping jaw 23 is clamped on the outer tube wall of the medical sleeve 1.

[0096] Exemplarily, the embodiment in which the first marking portion 12 is arranged in the second groove 131 includes but is not limited to: the first marking portion 12 is silk-printed in the second groove 131, or the first marking portion 12 is sleeved in the second groove 131, or the first marking portion 12 is injection-molded in the second groove 131.

[0097] Optionally, the clamping portion 13 comprises: a second protrusion. The second protrusion is protrudingly arranged on the outer tube wall of the tube body 11.

[0098] Optionally, in combination with Figure 1 and Figure 2 As shown, the tube body 11 comprises a first sub-tube body 111 and a second sub-tube body 112. The first sub-tube body 111 is in communication with the second sub-tube body 112; the outer diameter of the first sub-tube body 111 is greater than that of the second sub-tube body 112; the first marking portion 12 and the clamping portion 13 are arranged on the outer tube wall of the first sub-tube body 111 in the axial direction of the first sub-tube body 111.

[0099] In this embodiment, the clamping portion 13 and the first marking portion 12 are arranged on the outer tube wall of the first sub-tube body 111 to facilitate the clamping of the surgical arm 21. Moreover, since the outer diameter of the first sub-tube body 111 is larger, the distance between the outer tube wall of the medical sleeve 1 and the sleeve induction portion 24 can also be reduced.

[0100] Exemplarily, the first marking portion 12 can be silk-printed in the first groove 1211, or in the second groove 131, or in any other position that can facilitate the observation of medical staff, and the present application does not limit this.

[0101] Optionally, in combination with Figure 1 and Figure 2 As shown, the medical sleeve 1 further comprises: a mounting portion 14. The mounting portion 14 is arranged on the tube body 11, and the mounting portion 14 is configured to be connectable to different sealing members 33; the sealing member 33 comprises a first sealing member 331 and a second sealing member 332; the mounting portion 14 is snap-connected with the first sealing member 331; and the mounting portion 14 is screw-connected with the second sealing member 332.

[0102] In this embodiment, the mounting portion 14 is arranged to simultaneously adapt to various types of sealing members 33 using the mounting portion 14, so that the medical sleeve 1 is used to simultaneously adapt to the snap-connected sealing members 33 (such as disposable sealing members or plastic sealing members) and the screw-connected sealing members 33 (such as metal sealing members).

[0103] Specifically, by setting the mounting portion 14 on the pipe body 11, it can adapt to both the sealing element 33 (such as a disposable sealing element or a plastic sealing element) of the clamping connection and the sealing element 33 (such as a metal sealing element) of the threaded connection, so as to adapt to more application scenarios, reduce the procurement pressure of the hospital, reduce the SKU quantity, reduce the complexity of the inventory management of the hospital, and provide more flexible selection for the clinical users while reducing the cost of clinical use.

[0104] Optionally, in combination with Figure 1 and Figure 2 As shown, the mounting portion 14 includes a first mounting element 141. The first mounting element 141 is arranged on the outer pipe wall of the pipe body 11 and located at one end of the pipe body 11. The first mounting element 141 is configured to be clamped with the first sealing element 331.

[0105] In this embodiment, the first mounting element 141 is arranged to adapt to the first sealing element 331 of the clamping connection. For example, when the first sealing element 331 is installed on the medical cannula 1, the clamping portion 2b of the first sealing element 331 is clamped with the first mounting element 141.

[0106] Optionally, in combination with Figure 1 and Figure 2 As shown, the mounting portion 14 includes a second mounting element 142. The second mounting element 142 is arranged on the inner pipe wall of the pipe body 11. The second mounting element 142 is configured to be connected with the second sealing element 332 through the internal thread.

[0107] In this embodiment, the second mounting element 142 is arranged to adapt to the second sealing element 332 of the threaded connection. For example, when the second sealing element 332 is installed on the medical cannula 1, the second sealing element 332 is screwed with the second mounting element 142.

[0108] Figure 6 The structural explosion diagram of the cannula assembly provided in the embodiments of the present application is shown.

[0109] In combination with Figure 1 and Figure 2 The medical cannula 1 provided in the embodiments of the present application further provides a cannula assembly 3, as shown in Figure 6 The cannula assembly 3 includes one or more medical cannulas 1 provided in any of the above embodiments and one or more accessory parts 31. The accessory part 31 is configured to be installed on the medical cannula 1. The accessory part 31 includes a second marking portion 311; in the case where the accessory part 31 is matched with the medical cannula 1, the second marking portion 311 has the same color as the color of the first marking portion 12.

[0110] By adopting the cannula assembly 3 provided in the embodiment of the present application, the second mark part 311 is arranged on the component 31, the first mark part 12 is arranged on the medical cannula 1, and the second mark part 311 in the component 31 matched with the medical cannula 1 has the same color as the first mark part 12, so that the operator can identify that the medical cannula 1 is matched with the component 31, thereby facilitating the selection and assembly of the medical cannula 1 and the component 31 by the operator, improving the assembly accuracy of the cannula assembly 3, reducing the identification time of the component 31 or the problem of incorrectly installing the component 31 when the cannula assembly 3 is assembled, thereby reducing the preoperative preparation time and improving the overall efficiency of the operation.

[0111] Exemplarily, the first preset color and the second preset color can be set according to the size of the medical cannula 1 and the component 31, or can be set according to the use of the medical cannula 1 and the component 31. For example, two medical cannulas 1 with the same size can adopt different first preset colors according to different uses, or can adopt the same first preset color according to the same size, which is not limited in the present application.

[0112] Exemplarily, the color of the second mark part 311 of the component 31 needs to be adapted to the color of the first mark part 12 of the medical cannula 1 matched therewith, and the colors of the second mark parts 311 of the components 31 matched with medical cannulas 1 of the same size can be the same or different, which depends on the color selection of the first mark part 12 of the medical cannula 1. For example, if the colors of the first mark parts 12 of two medical cannulas 1 with the same diameter are the same, the colors of the second mark parts 311 of the components 31 matched therewith are also the same as the color of the first mark part 12 of the medical cannula 1. If the colors of the first mark parts 12 of two medical cannulas 1 with the same diameter are different, the colors of the second mark parts 311 of the components 31 matched therewith are the same as the colors of the first mark parts 12 of the medical cannulas 1 matched therewith, respectively, and the colors of the second mark parts 311 of the components 31 are different.

[0113] It should be emphasized that the same color or the same color in the embodiments of the present application is not strictly limited to the same RGB, and the color difference caused by process and vision is tolerable.

[0114] It should be understood that Figure 6 The component 31 given in the embodiment of the present application is only a schematic view of the component 31, and does not limit the shape and arrangement form of the component 31. For example Figure 6 The seal 33 in the embodiment of the present application includes a first seal 331 and a second seal 332, and the first seal 331 and the second seal 332 are arranged on the component 31 in the embodiment of the present application. Figure 6 The type of the seal 32 is not limited in the embodiment of the present application.

[0115] Figure 7 The structure schematic view of the puncture needle provided in the embodiment of the present application is shown.

[0116] Figure 8 Structure diagram of the needle cap side of the puncture needle provided in the embodiments of the present application.

[0117] Optionally, in combination with Figure 7 and Figure 8 As shown in the figure, the component 31 comprises: a puncture needle 32. The puncture needle 32 is arranged in the medical cannula 1. The puncture needle 32 comprises: a puncture needle body 321 and a hand-holding part 323. The hand-holding part 323 is arranged on the outer side wall of the puncture needle body 321. The hand-holding part 323 comprises a third groove 322. The second marking part 311 is arranged in the third groove 322.

[0118] In this embodiment, by arranging the hand-holding part 323 on the puncture needle body 321 and arranging the second marking part 311 in the third groove 322, the second marking part 311 is constructed on the component 31, so as to facilitate the determination of the medical cannula 1 having the first marking part 12 with the same color as the second marking part 311, thereby facilitating the assembly of the medical staff on the cannula assembly 3, reducing the problem of assembly error, and reducing the preoperative preparation time. Moreover, the third groove 322 can be used for the operator to hold the hand, so as to avoid the puncture needle 32 from being inserted too deep by the operator when the puncture needle 32 is used, and facilitate the extraction of the puncture needle 32, thereby improving the user experience.

[0119] Specifically, in the case where the puncture needle 32 is arranged in the medical cannula 1, the hand-holding part 323 is located outside the medical cannula 1.

[0120] Exemplarily, the implementation in which the second marking part 311 is arranged in the third groove 322 includes but is not limited to: the second marking part 311 is silk-printed in the third groove 322, or the second marking part 311 is sleeved in the third groove 322, or the second marking part 311 is injection-molded in the third groove 322.

[0121] Optionally, in combination with Figure 7 As shown in the figure, the hand-holding part 323 comprises: a first flange 324 and a second flange 325. The first flange 324 and the second flange 325 are arranged on the outer side wall of the puncture needle body 321 in the axial direction of the puncture needle body 321, so as to construct the third groove 322.

[0122] In this embodiment, by arranging the double-flange structure in the axial direction, the third groove 322 is constructed on the puncture needle body 321, so as to facilitate the arrangement of the second marking part 311 in the third groove 322.

[0123] Optionally, in combination with Figure 2As shown, the medical cannula 1 comprises a first channel 15, and the spare part 31 comprises a sealing member 33. The sealing member 33 is installed on the medical cannula 1, and the sealing member 33 is configured to seal the first channel 15; and a second marking portion 311 is arranged on the outer sidewall of the sealing member 33.

[0124] In this embodiment, by sealing the first channel 15 by using the sealing member 33, the opening of the first channel 15 is reduced to expose the opening to the air operated by the operator, and the air tightness in the body cavity is maintained. And by arranging the second marking portion 311 on the outer sidewall of the sealing member 33, it is convenient to determine the medical cannula 1 with the first marking portion 12 of the same color as the second marking portion 311, so as to facilitate the assembly of the cannula assembly 3 by medical staff, reduce the problem of assembly error, and reduce the preoperative preparation time.

[0125] Exemplarily, the sealing member 33 can be a first sealing member 331 connected by clamping, or a second sealing member 332 connected by screwing.

[0126] Specifically, the medical cannula 1 is reusable, and when the sealing member 33 is installed on the medical cannula 1, the puncture needle 32 penetrates into the medical cannula 1 through the channel of the sealing member 33.

[0127] Figure 9 The structure schematic diagram of the first cannula assembly provided by the embodiment of the present application is shown. Wherein, the cannula assembly 3 comprises a first sealing member 331, a medical cannula 1 and a puncture needle 32.

[0128] Figure 10 For Figure 9 The enlarged schematic diagram of the embodiment B is shown.

[0129] Exemplarily, in combination with Figure 9 and Figure 10 As shown, the first sealing member 331 is clamped on the installation portion 14 of the medical cannula 1 by buckling. When the operator needs to use the puncture needle 32 for surgery, the puncture needle 32 is arranged in the second channel through the first sealing member 331, and then enters the first channel 15 of the medical cannula 1, so as to facilitate the surgery on the operated person.

[0130] Figure 11 The structure schematic diagram of the first sealing member provided by the embodiment of the present application is shown.

[0131] Figure 12 For Figure 11 The cross-sectional view of the embodiment is shown.

[0132] Optionally, in combination with Figure 11 and Figure 12As shown, the first sealing member 331 comprises a first body 3311 and a second fixing member 3312. The second marking part 311 is arranged on the outer side wall of the first body 3311; the second fixing member 3312 comprises a fixing part and a clamping part 2b; the fixing part is fixedly arranged on the first body 3311, and the clamping part 2b is clamped with the medical cannula 1.

[0133] In this embodiment, the first body 3311 and the second fixing member 3312 are fixed by the fixing part of the second fixing member 3312, and then the first body 3311 is clamped to the medical cannula 1 by the clamping part 2b, so as to realize the fixation of the first sealing member 331 and the medical cannula 1.

[0134] For example, the second marking part 311 is arranged on the outer side wall of the first body 3311, and the implementation manner includes but is not limited to arranging the outer shell of the first body 3311 as a second preset color, or arranging a second marking member 122 with a second preset color on the outer side of the first body 3311.

[0135] Optionally, in combination with Figure 9 As shown, the medical cannula 1 comprises a first mounting member 141. The first mounting member 141 comprises a third flange. The upper end face of the third flange abuts against the first body 3311, and the clamping part 2b is clamped on the lower end face of the third flange.

[0136] In this embodiment, the third flange is arranged to realize the clamping fixation of the first sealing member 331 and the medical cannula 1.

[0137] Optionally, in combination with Figure 12 and 13 As shown, the first body 3311 comprises a plastic outer shell 1a, a first cross sealing valve 1c and a first rubber sealing cap 1e arranged in sequence; the second fixing member 3312 is arranged between the first cross sealing valve 1c and the first rubber sealing cap 1e; a first sealing part 1f connects the end faces of the first cross sealing valve 1c and the plastic outer shell 1a, and the first sealing part 1f is configured to seal the gap between the first cross sealing valve 1c and the plastic outer shell 1a; a second sealing part 1g connects the second fixing member 3312 and the first rubber sealing cap 1e, and the second sealing part 1g is configured to seal the gap between the second fixing member 3312 and the first rubber sealing cap 1e.

[0138] In this embodiment, the first sealing part 1f and the second sealing part 1g are arranged to improve the sealing degree of the first channel 15, so as to facilitate maintaining the airtightness in the body cavity.

[0139] Optionally, the first sealing part 1f comprises a first annular protrusion and a first annular groove. The first annular protrusion is arranged on the upper end surface of the first cross seal valve 1c; the first annular groove is arranged on the side wall of the plastic shell 1a; and the first annular protrusion is arranged in the first annular groove.

[0140] In this embodiment, the first annular protrusion and the first annular groove are arranged to improve the sealing between the first cross seal valve and the side wall of the plastic shell.

[0141] Optionally, the second sealing part 1g comprises a second annular protrusion and a second annular groove. The second annular protrusion is arranged on the upper end surface of the second fixing member 3312; the second annular groove is arranged on the side wall of the first rubber sealing cap 1e; and the second annular protrusion is arranged in the second annular groove.

[0142] In this embodiment, the second annular protrusion and the second annular groove are arranged to improve the sealing between the fifth flange and the first rubber sealing cap 1e.

[0143] Optionally, in combination with Figure 12 and 13 , the first main body 3311 further comprises a first sealing ring 1b and a film piece 1d. The plastic shell 1a comprises a third annular groove and a second channel configured to pass other components 31 into the first channel 15 of the medical sleeve 1. The first sealing ring 1b is sleeved in the third annular groove, and the outer side wall of the first sealing ring 1b is in interference fit with the side wall of the first channel 15 to seal the first channel 15. The first cross seal valve 1c comprises a valve body and a fourth flange; the valve body is arranged in the second channel; and the fourth flange and the end surface of the plastic shell 1a are connected by the first sealing part 1f to seal the gap between the fourth flange and the second channel. The second fixing member 3312 comprises a fifth flange, the clamping part 2b comprises a buckle, the lower end surface of the fifth flange abuts against the upper end surface of the fourth flange; the fifth flange is provided with the first rubber sealing cap 1e, and the fifth flange and the first rubber sealing cap 1e are connected by the second sealing part 1g to seal the gap between the fifth flange and the first rubber sealing cap 1e. The film piece 1d is arranged on the first rubber sealing cap 1e to close the first rubber sealing cap 1e; and the film piece 1d is located between the first rubber sealing cap 1e and the plastic shell 1a.

[0144] Specifically, the first annular protrusion is arranged on the upper end surface of the fourth flange; the first annular groove is arranged on the side wall of the second channel; and the second annular protrusion is arranged on the upper end surface of the fifth flange.

[0145] Optionally, in combination with Figure 11 and Figure 12 , the first annular protrusion is arranged on the upper end surface of the fourth flange; the first annular groove is arranged on the side wall of the second channel; and the second annular protrusion is arranged on the upper end surface of the fifth flange.As shown, the first body 3311 further comprises a first gas injection valve 1h. The first gas injection valve 1h is configured to open or close a first gas injection channel. The first gas injection channel is configured to inject gas into the second channel.

[0146] Figure 13 A structure schematic diagram of a second sleeve assembly is provided for the embodiment of the present application. The sleeve assembly 3 comprises a second sealing member 332, a medical sleeve 1 and a puncture needle 32.

[0147] Figure 14 A sectional view of the second sealing member and the medical sleeve is provided for the embodiment of the present application.

[0148] Exemplarily, in combination with Figure 13 and Figure 14 As shown, the second sealing member 332 is screwed with the mounting portion 14 of the medical sleeve 1 by threads. When the operator needs to use the puncture needle 32 for surgery, the puncture needle 32 is arranged in the channel of the sealing member 33 connected by threads, and then enters the first channel 15 of the medical sleeve 1, so as to facilitate the surgery on the operator.

[0149] Figure 15 A structure schematic diagram of the second sealing member is provided for the embodiment of the present application.

[0150] Figure 16 A sectional view of the embodiment is provided. Figure 15

[0151] Optionally, in combination with Figure 15 and Figure 16 As shown, the second sealing member 332 comprises a second body 3321. The second body 3321 comprises a first thread 3a; the first thread 3a is screwed with the medical sleeve 1; and a second marking portion 311 is arranged on the second body 3321.

[0152] In this embodiment, the first thread 3a is arranged to realize the threaded connection between the second sealing member 332 and the medical sleeve 1.

[0153] Exemplarily, the implementation manner of arranging the second marking portion 311 on the second body 3321 includes but is not limited to arranging the shell of the second body 3321 as a second preset color, or arranging a second marking member 122 with a second preset color on the outside of the second body 3321.

[0154] Optionally, the medical sleeve 1 comprises a second mounting member 142, and the second mounting member 142 comprises a second thread. The first thread 3a is screwed with the second thread.

[0155] In this embodiment, the first thread 3a and the second thread are arranged to realize the threaded connection between the second sealing member 332 and the medical sleeve 1. Exemplarily, as Figure 2 and​Figure 14 As shown, the first thread 3a is located on the outer sidewall of the second seal 332, and the second thread is located on the inner sidewall of the first channel 15. In the case where the second seal 332 is arranged in the first channel 15 to seal the first channel 15, the first thread 3a is screwed with the second thread.

[0156] Optionally, the second body 3321 comprises: a metal shell 3b, a second cross seal valve 3c, a second sealing ring 3d, and a second rubber sealing cap 3e. The metal shell 3b comprises a third channel configured to pass other components 31 into the first channel 15 of the medical sleeve 1, a fourth annular groove, a fifth annular groove, and a sixth annular groove; the first thread 3a is arranged on the outer sidewall of the metal shell 3b; the fourth annular groove, the fifth annular groove, and the sixth annular groove are all arranged on the outer sidewall of the metal shell 3b; the second cross seal valve 3c comprises a clamping boss clamped with the fourth annular groove. The second sealing ring 3d is sleeved in the fifth annular groove, and the sealing ring is in abutment with the inner wall of the medical sleeve 1 to seal the first channel 15. The second rubber sealing cap 3e is clamped in the sixth annular groove, and the second rubber sealing cap 3e is located at one end of the first channel 15 to seal the second channel.

[0157] Optionally, in combination with Figure 15 and Figure 16 As shown, the second body 3321 further comprises: a second gas injection valve 3f. The second gas injection valve 3f is configured to open or close a second gas injection channel. The second gas injection channel is configured to inject gas into the third channel.

[0158] In combination with Figures 3 to 5 As shown, the embodiments of the present application further provide a surgical robot 2, comprising: the medical sleeve 1 provided in any of the above embodiments and a surgical arm 21. The medical sleeve 1 is installed on the surgical arm 21.

[0159] The surgical robot 2 provided by the embodiments of the present application installs the medical sleeve 1 through the surgical arm 21 of the surgical robot 2 to use the medical sleeve 1 to construct a channel on the body of an operator.

[0160] In combination with Figures 3 to 5 As shown, the embodiments of the present application further provide a surgical robot 2, comprising: the sleeve assembly 3 provided in any of the above embodiments and a surgical arm 21. The sleeve assembly 3 is installed on the surgical arm 21.

[0161] The surgical robot 2 provided by the embodiments of the present application installs the sleeve assembly 3 through the surgical arm 21 of the surgical robot 2 to use the sleeve assembly 3 to construct a channel on the body of an operator, and to use the components 31 in the sleeve assembly 3 to perform surgery, etc.

[0162] Optionally, in the case that the medical sleeve 1 comprises the clamping portion 13, the surgical arm 21 comprises a clamping jaw 23. The upper end surface of the clamping jaw 23 abuts against the lower end surface of the clamping portion 13, or the clamping jaw 23 is clamped in the second groove 131.

[0163] Optionally, the surgical robot 2 comprises a sleeve sensing portion 24. The sleeve sensing portion 24 is arranged corresponding to the first protrusion 1212 of the first marking portion 12.

[0164] Exemplarily, the surgical robot provided by the embodiments of the present application comprises a master-slave teleoperation laparoscopic surgery robot.

[0165] The laparoscopic surgery robot generally comprises a physician control platform, a patient surgery platform and an image platform. The surgeon sits on the physician control platform, watches the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope (sometimes referred to as "endoscope") placed in the patient's body, and manipulates the movement of the surgical arm on the patient surgery platform and the surgical instrument or laparoscope attached to the surgical arm. The surgical arm is equivalent to simulate the human arm, and the surgical instrument is equivalent to simulate the human hand, both of which provide the surgeon with a series of actions simulating the human wrist, while also filtering the tremor of the human hand itself, so they are increasingly widely used in surgery, especially in abdominal, thoracic and general surgery.

[0166] The patient surgery platform generally comprises a base, a column, a plurality of surgical arms connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each surgical arm. The surgical instrument and / or laparoscope is detachably coupled to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operating at a surgical site in the patient's body. Various forms of control related to the surgical instrument can be allowed for each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Generally, each surgical instrument manipulator is limited by mechanical or software constraints to rotate the related surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient, which is generally located at the position where the surgical instrument enters the body wall, and which is generally referred to as the "telecentric point" or "fixed point".

[0167] The image platform generally comprises one or more video displays with video image capture functions (commonly endoscopes) and for displaying the captured images of the surgical instruments. In some laparoscopic surgery robots, optical devices including one or more imaging sensors (e.g., CCD or CMOS sensors) that deliver images from within the patient's body to the distal end of the endoscope are included, and then the video images are delivered to the host computer of the image platform through photoelectric conversion and other steps. Subsequently, the processed images are displayed on the video display for observation by other doctors or assistants through image processing.

[0168] The surgeon control platform typically includes a base, a foot pedal assembly, a stereo monitor, a master control arm, and a hand controller attached to the end of the master control arm, through which the surgeon controls specific motions of the surgical instruments and / or energy activation by controlling the hand controller and foot pedal assembly. The surgeon control platform can be at a single location in a surgical system composed of a laparoscopic surgical robot or it can be distributed at two or more locations in the system, and the teleoperated master / slave operation can be done according to a pre-set control degree, for example, one location as a master control for a primary operator and another location as a slave control for an assistant operator, the master control performs the primary surgical operation and the slave control performs the auxiliary operation such as laparoscopic movement or tissue retraction. In some embodiments, the hand controller can be an input device capable of performing one or more manual operations, such as a joystick, an exoskeleton glove, a powered and gravity compensated manipulator, and the like. These input devices collect the operator's operation signals, which are processed by the control system to generate control signals for the surgical arm and surgical instrument manipulator, thereby controlling the remote motors on the surgical instrument manipulator, which in turn control the final movement of the surgical instruments.

[0169] Generally, the force generated by the remote motor is transmitted through a transmission system to transmit the force from the remote motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device that controls the manipulator 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 device are then transmitted to the control system. Those familiar with telemanipulation, teleoperation, and telepresence surgery will appreciate such systems and their components, which are not described here.

[0170] It is understood that other embodiments of the application will become readily apparent to those skilled in the art from the disclosure herein, namely, the general principles of the application. The application is to be limited only by the claims specifically set forth herein. It is understood that the application is not limited to the particular constructions and arrangements described herein, as such arrangements would be obvious to those reasonably skilled in the art and the scope of the claimed application is only to be limited by the appended claims.

[0171] It is understood that the application is not limited to the precise construction and arrangements herein described and illustrated, which can be varied in various ways. The scope of the application should only be limited by the claims appended hereto.

Claims

1. A medical sleeve, characterized in that The medical cannula comprises: a tube body; a first marking part provided on an outer tube wall of the tube body; the first marking part has a first preset color.

2. The medical sleeve of claim 1, wherein, The first marking part comprises: a first fixing part provided on the outer tube wall of the tube body; a marking part provided on the first fixing part; the marking part has the first preset color; the first fixing part is configured to fixedly install the marking part.

3. The medical sleeve of claim 2, wherein, The first fixing part comprises: a first groove opened on the outer tube wall of the tube body; the marking part is provided in the first groove.

4. The medical sleeve of claim 3, wherein, The first fixing part further comprises: a first protrusion fixedly provided on the outer tube wall of the tube body; the first groove is opened on the first protrusion; in the case that the medical cannula is installed on a surgical arm, an outer side wall of the first protrusion corresponds to a cannula sensing part of the surgical arm, and the first protrusion is configured to reduce the distance between the cannula sensing part and the medical cannula.

5. The medical cannula according to claim 4, wherein: the marking part is sleeved in the first groove; or, the marking part is provided in the first groove by injection molding.

6. The medical cannula according to claim 1, wherein: the first marking part is silk-screened on the outer tube wall of the tube body.

7. The medical sleeve of claim 1, wherein, Further comprising: a clamping part provided on the outer tube wall of the tube body; the clamping part is spaced apart from the first marking part along the axial direction of the tube body; a second groove is formed between the clamping part and the first marking part, and the second groove is configured to be clamped by a surgical arm; the first marking part is provided in the second groove.

8. The medical cannula according to claim 1, wherein: the height of the first marking part along the axial direction of the tube body is 1mm to 5mm; the first marking part is continuously or intermittently annularly arranged on the outer tube wall of the tube body; the first preset color is determined according to the diameter specification of the tube body.

9. A bushing assembly characterized by, The medical cannula comprises: one or more medical cannulas according to any one of claims 1 to 8, the first marking parts of the medical cannulas of different diameter specifications have different colors; one or more components, the components are configured to be installed on the medical cannula; the components comprise a second marking part; in the case that the components are matched with the medical cannula, the second marking part has the same color as the color of the first marking part.

10. The cannula assembly of claim 9, wherein, The components comprise: a puncture needle, the puncture needle is provided in the medical cannula; the puncture needle comprises a puncture needle body and a hand-held part; the hand-held part is provided on the outer side wall of the puncture needle body, and the hand-held part comprises a third groove; the second marking part is provided in the third groove.

11. The cannula assembly of claim 9, wherein, The medical cannula comprises a first channel, and the components comprise: a sealing part, the sealing part is installed on the medical cannula, and the sealing part is configured to seal the first channel; the second marking part is provided on the outer side wall of the sealing part.

12. A surgical robot, characterized in that, The medical cannula comprises: a medical cannula according to any one of claims 1 to 8, or a cannula assembly according to any one of claims 9 to 11; a surgical arm, the medical cannula or the cannula assembly is detachably installed on the surgical arm.

Images