Punch mechanism and surgical robot

Abstract

The utility model relates to surgical robot technical field discloses a kind of poking card mechanism and surgical robot.Poking card mechanism includes sleeve, tube shell and gas resistance sealing element, tube shell is placed in sleeve and includes coaxial connection's first tube body and second tube body, the end of first tube body opposite to second tube body is connected with top cover, two protruding parts are arranged in the circumferential interval on the outside wall of first tube body, sealing ring is set on first tube body, sealing ring is located between two protruding parts, the inside wall of second tube body is provided with reinforcing part, gas resistance sealing element is placed in the space surrounded by tube shell and top cover, gas resistance sealing element includes sealing tube body and at least two closure petals, the opening of sealing tube body far from top cover end is provided with closure petal, closure petal can be mutually far away or close to each other.The utility model avoids reinforcing part and protruding part and sealing ring along radial overlapping arrangement, reduce the possibility of affecting puncture needle and surgical instrument to pass in or pull out, while guarantee the structural strength of tube shell.

Description

Technical Field

[0001] This utility model relates to the field of surgical robot technology, and in particular to a card-punching mechanism and a surgical robot. Background Technology

[0002] Surgical robots are widely used in the medical field. During surgery, the user can control the movement of the surgical arm, thereby controlling the surgical instruments to perform surgical procedures on the patient. The end of the surgical arm is connected to a trocar mechanism. This trocar mechanism forms a surgical channel for the passage of surgical instruments.

[0003] The puncture mechanism includes a cannula and a sealing mechanism. The cannula is used to pass through the patient's abdominal wall, and the sealing structure is used to prevent gas from escaping from the patient's abdominal cavity. Referring to Chinese Patent CN222676387U – A Sealing Structure, Puncture Assembly, and Surgical Robot, the sealing structure includes a sealing shell, a first sealing element, and a second sealing element. The sealing shell is placed inside the cannula. A penetration channel is provided on the sealing shell, through which the puncture needle or surgical instrument can pass through the sealing structure. The first and second sealing elements are placed inside and connected to the sealing shell. When the puncture needle or surgical instrument passes through the sealing structure, the conical air injection valve of the first sealing element seals against the puncture needle or surgical instrument, achieving a sealing effect. When the puncture needle or surgical instrument is withdrawn, the opening valve of the second sealing element closes the opening of the second sealing element, achieving a sealing effect.

[0004] In the prior art, the encapsulation shell includes a top cover and a base, with the top end of the base facing outwards from the sleeve connected to the top cover. A sealing ring is fitted onto the outer side of the top end of the base, which is used to achieve a sealed connection between the base and the sleeve. Two protruding ring structures are provided on the outer side wall of the base, with the sealing ring located between the two protruding ring structures. A reinforcing structure extending axially is provided on the inner side wall of the top end of the base, and the reinforcing structure overlaps radially with the sealing ring and the protruding ring structures, resulting in a thicker wall at the top end of the base. This allows for a smaller size of the instrument seal and the gas-blocking seal, which may affect the insertion or removal of the puncture needle and surgical instruments.

[0005] Therefore, there is an urgent need for a card-punching mechanism and a surgical robot to solve the problems mentioned above. Utility Model Content

[0006] The purpose of this invention is to provide a puncture mechanism and a surgical robot that avoids the radial overlap of the reinforcing part, the protrusion, and the sealing ring, thereby reducing the possibility of affecting the insertion or removal of the puncture needle and surgical instruments, while ensuring the structural strength of the tube shell.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] A card-punching mechanism includes a sleeve, a shell, and an air-blocking seal. The shell is placed inside the sleeve and includes a first tube and a second tube coaxially connected. A top cover is connected to one end of the first tube opposite to the second tube. The top cover has a through hole extending through the shell along its axial direction. Two protrusions are spaced apart circumferentially on the outer wall of the first tube. A sealing ring is fitted onto the first tube to seal the shell as it passes through the sleeve. The sealing ring is located between the two protrusions. A protrusion is also present on the inner wall of the second tube. The device has a reinforcing section, the end face of which faces the axis of the tube shell is flush with the inner wall of the first tube body. The gas-blocking seal is placed in the space enclosed by the tube shell and the top cover. The gas-blocking seal includes a sealing tube body and at least two closing flaps. The sealing tube body is coaxially arranged with the through hole. The closing flaps are arranged at the opening of the sealing tube body away from the top cover. At least two closing flaps can move away from or close to each other to open or close the opening of the sealing tube body. The outer diameter of the sealing tube body is smaller than the inner diameter of the first tube body.

[0009] As an optional technical solution for the card stamping mechanism, the end of the reinforcing part away from the first tube extends to the closing flap.

[0010] As an optional technical solution for the card stamping mechanism, multiple reinforcing parts are arranged at intervals along the circumference of the tube shell, and a connecting part is protruding on the inner sidewall of the second tube body. The connecting part extends along the circumference of the second tube body and is connected to at least two of the reinforcing parts. The connecting part is positioned opposite to the closing flap.

[0011] As an optional technical solution for the card stamping mechanism, the protrusion is arranged circumferentially around the tube shell, and the outer diameter of the second tube body is smaller than the outer diameter of the protrusion.

[0012] As an optional technical solution for the card stamping mechanism, the reinforcing part extends along the axial direction of the tube shell; and / or, multiple reinforcing parts are evenly spaced along the circumference of the tube shell.

[0013] As an optional technical solution for the card stamping mechanism, an air valve is connected to the outer wall of the first tube, and a vent hole is provided in the first tube in a radial direction, the vent hole being connected to the air valve.

[0014] An air passage is provided on the inner wall of the first tube, the air passage is connected to the vent hole, the air passage extends along the axis and is connected to the space formed between the second tube and the air-blocking seal.

[0015] As an optional technical solution for the card stamping mechanism, the depth of the air passage is less than the thickness of the reinforcing part, so that a boss surface is formed between the first tube and the second tube.

[0016] As an optional technical solution for the card stamping mechanism, multiple reinforcing parts are arranged at circumferential intervals along the shell, and the air passage is located between two adjacent reinforcing parts.

[0017] As an optional technical solution for the card stamping mechanism, the width of the air passage is the same as the distance between the two reinforcing parts on both sides.

[0018] Surgical robots, including the card-tapping mechanism described above.

[0019] The beneficial effects of this utility model are:

[0020] This invention provides a puncture mechanism, comprising a sleeve, a tube shell, and an air-blocking seal. A surgical robot includes the aforementioned puncture mechanism. This invention places the reinforcing portion in the second tube body instead of the first tube body, avoiding radial overlap between the reinforcing portion, protrusions, and sealing ring. This results in a thinner first tube body. Furthermore, compared to having the second tube body flush with the inner wall of the first tube body, the end face of the reinforcing portion in this invention is flush with the inner wall of the first tube body, avoiding a protruding structure on the inner wall of the tube shell and reducing the possibility of interference with the insertion or removal of the puncture needle and surgical instruments. Simultaneously, compared to directly milling the reinforcing portion into the inner wall of the first tube body, this ensures the structural strength of the first tube body. Furthermore, the reinforcement is placed on the second tube body, which improves the structural strength of the second tube body, ensures the durability of the tube shell and the puncture mechanism, avoids the need to replace the sealing mechanism during the operation, and reduces costs. In addition, when the puncture mechanism or surgical instruments penetrate into the sealing mechanism, the gas-blocking seal deforms. The reinforcement can prevent the gas-blocking seal from having a large deformation, which is conducive to the gas-blocking seal's reset. This ensures that the gas-blocking seal can close the penetration channel in time after the puncture mechanism and surgical instruments are removed, thus ensuring the sealing function of the sealing mechanism, maintaining the air pressure in the patient's abdominal cavity, and improving the safety of the operation. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the card stamping mechanism provided in this embodiment of the utility model;

[0022] Figure 2 This is an exploded view of the card stamping mechanism provided in this embodiment of the utility model;

[0023] Figure 3 This is a cross-sectional view of the card stamping mechanism provided in this embodiment of the utility model;

[0024] Figure 4 This is a schematic diagram of the sealing mechanism provided in an embodiment of the present invention;

[0025] Figure 5 This is an exploded view of the sealing mechanism provided in this embodiment of the utility model;

[0026] Figure 6 This is a cross-sectional view of the sealing mechanism provided in an embodiment of the present utility model;

[0027] Figure 7 yes Figure 6 A magnified view of a section at point A in the middle;

[0028] Figure 8 This is a schematic diagram of the top cover provided in an embodiment of the present utility model;

[0029] Figure 9 This is a schematic diagram of the structure of the gas-blocking sealing element provided in this embodiment of the utility model;

[0030] Figure 10 This is a first-view structural schematic diagram of the tube shell provided in an embodiment of the present invention;

[0031] Figure 11 This is a second-view structural schematic diagram of the tube shell provided in an embodiment of the present invention;

[0032] Figure 12 yes Figure 11 A magnified view of a section at point B in the middle.

[0033] In the picture:

[0034] 10. Sleeve; 101. Flanged edge; 20. Puncture needle; 30. Sealing mechanism;

[0035] 1. Top cover; 11. Guide ring; 111. Inclined annular surface; 12. First abutment ring; 19. Through passage;

[0036] 2. Instrument seal; 21. First ring portion; 22. Second ring portion; 23. Third ring portion; 231. First protrusion; 232. Second protrusion; 24. Conical ring portion; 241. Sealing hole; 25. First connecting edge;

[0037] 3. Gas-blocking seal; 31. Sealing tube body; 32. Closing flap; 33. Second connecting edge;

[0038] 4. Tube shell; 41. First tube body; 411. Protrusion; 412. Sealing ring; 413. Vent hole; 414. Air passage; 42. Second tube body; 421. Reinforcing part; 422. Connecting part; 43. Boss surface; 44. Mating part; 45. Second abutment ring;

[0039] 5. Air valve;

[0040] 6. Snap-fit ​​component; 61. Abutment ring; 62. Flexible connecting part; 63. Pressing part; 64. Snap-fit ​​part; 65. Protruding ring;

[0041] 71. First positioning post; 72. Second positioning post; 8. Connecting pipe; 9. Positioning hole. Detailed Implementation

[0042] To make the technical problems solved by this utility model, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this utility model will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0043] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0044] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0045] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0046] like Figures 1-12As shown, this embodiment provides a surgical robot, which includes a doctor's console and a patient surgical platform. The doctor's console includes a doctor's manipulator arm and a master carriage. The doctor's manipulator arm includes an arm linkage assembly and an input handle. One end of the arm linkage assembly is connected to the master carriage, and the input handle is located at the other end of the arm linkage assembly. The patient surgical platform includes a slave carriage and an instrument-holding arm. The slave carriage is located on one side of the operating table. One end of the instrument-holding arm is connected to the slave carriage, and the other end is used to mount surgical instruments. During the operation, the patient lies on the operating table. When the master-slave control mode of the surgical robot is activated, the user holds the input handle of the master control arm and can control the movement of the instrument-holding arm through the input handle of the master control arm, thereby controlling the surgical instruments to perform surgical operations on the patient.

[0047] Apart from the structures of the surgical robot described above and below, other structures of the surgical robot can refer to existing technologies and are not the focus of protection in this embodiment, so they will not be described in detail here.

[0048] The surgical robot also includes a trocar mechanism, which is mounted at the end of the surgical arm. The trocar mechanism is used to pass through the patient's abdominal wall to create a surgical channel for the surgical instruments to pass through, allowing them to enter the patient's abdominal cavity and perform the surgical procedure. Before surgery, gas is also introduced into the patient's abdominal cavity via the trocar mechanism to create pneumoperitoneum.

[0049] Specifically, such as Figure 1 and Figure 2 As shown, the puncture mechanism includes a puncture needle 20, a cannula 10, and a sealing mechanism 30. The sealing mechanism 30 is located inside one end of the cannula 10. Before surgery, the puncture needle 20 passes through the sealing mechanism 30, and the tip of the puncture needle 20 exits through the other end of the cannula 10. Medical personnel hold the puncture mechanism and pass it through the patient's abdominal wall into the abdominal cavity. Gas from an external gas source is introduced into the patient's abdominal cavity through the puncture mechanism. After the puncture needle 20 is removed, the cannula 10 and the sealing mechanism 30 form a surgical channel for surgical instruments to pass through. The sealing mechanism 30 has a passage channel 19, which is coaxially arranged with the cannula 10, allowing the puncture needle 20 and surgical instruments to pass through the passage channel 19. The axis of the cannula 10 extends along a first direction. When the puncture needle 20 and surgical instruments are inserted into or removed from the sealing mechanism 30, the sealing mechanism 30 can achieve a sealing effect, preventing the loss of gas from the patient's abdominal cavity.

[0050] The sealing mechanism 30 includes a sealing shell and a gas-blocking seal 3. The sealing shell extends along a first direction to form the aforementioned penetration channel 19. The sealing shell includes a tube shell 4 and a top cover 1. The sealing shell is placed inside the sleeve 10. The tube shell 4 is tubular and coaxially arranged with the sleeve 10. The top cover 1 has a through hole extending along the axial direction of the tube shell 4, and the through hole is coaxially arranged with the penetration channel 19. This through hole forms the port of the penetration channel 19, through which the puncture needle 20 and surgical instruments can pass into the penetration channel 19 of the sealing mechanism 30. The tube shell 4 includes a first tube body 41 and a second tube body 42, which are coaxially connected. One end of the first tube body 41 opposite to the second tube body 42 is connected to the aforementioned top cover 1. The outer wall of the first tube 41 has two protrusions 411 arranged axially at intervals. A sealing ring 412 is fitted onto the first tube 41, and the sealing ring 412 is located in the gap between the two protrusions 411. The sealing ring 412 is used to seal the tube shell 4 through the sleeve 10. The inner wall of the second tube 42 has a reinforcing part 421. The end face of the reinforcing part 421 facing the axis of the tube shell 4 is flush with the inner wall of the first tube 41. The gas-blocking seal 3 is placed in the space enclosed by the tube shell 4 and the top cover 1, that is, the gas-blocking seal 3 is placed inside the encapsulation shell. The gas-blocking seal 3 includes a sealing tube 31 and at least two closing flaps 32. The sealing tube 31 is coaxially arranged with the above-mentioned through hole. The opening of the sealing tube 31 away from the top cover 1 is provided with closing flaps 32. At least two closing flaps 32 can move away from or close to each other to open or close the opening of the sealing tube 31. The outer diameter of the sealing tube 31 is smaller than the inner diameter of the first tube 41.

[0051] In this embodiment, the protrusion 411, the first tube 41, the second tube 42, and the reinforcing part 421 are integrally formed. The gas-blocking seal 3 is made of rubber, and the sealing tube 31 and the closing flap 32 are integrally formed.

[0052] In this embodiment, the shell 4 is placed inside the sleeve 10, and the end of the shell 4 exposed at the first end of the sleeve 10 is connected to the top cover 1.

[0053] This embodiment provides a puncture mechanism, which includes a sleeve 10, a tube shell 4, and an air-blocking seal 3. The surgical robot includes the aforementioned puncture mechanism. In this embodiment, the reinforcing part 421 is disposed on the second tube body 42 instead of the first tube body 41, avoiding radial overlap between the reinforcing part 421, the protrusion 411, and the sealing ring 412. This results in a thinner first tube body 41. Furthermore, compared to having the second tube body 42 flush with the inner wall of the first tube body 41, the end face of the reinforcing part 421 in this embodiment is flush with the inner wall of the first tube body 41, avoiding a protruding structure on the inner wall of the tube shell 4. This reduces the possibility of interference with the insertion or removal of the puncture needle 20 and surgical instruments, and also increases the overlap in thickness between the first tube body 41 and the second tube body 42, reducing the overall thickness of the tube shell 4 and thus the volume of the puncture mechanism. This also reduces the possibility of interference or collision between the puncture mechanism and other structures of the surgical robot. Meanwhile, compared to milling the inner wall of the first tube 41 directly to form the reinforcing part, this method ensures the structural strength of the first tube 41. Furthermore, by placing the reinforcing part 421 on the second tube 42, the structural strength of the second tube 42 is improved, ensuring the durability of the tube shell 4 and the puncture mechanism. This avoids the need to replace the sealing mechanism 30 during the operation, reducing costs. In addition, when the puncture needle 20 or surgical instrument is inserted into the sealing mechanism, the gas-blocking seal 3 deforms. The reinforcing part 421 can prevent the gas-blocking seal 3 from having a large deformation, which is conducive to the gas-blocking seal 3 repositioning. This ensures that the gas-blocking seal 3 can close the insertion channel in time after the puncture needle 20 and surgical instrument are removed, ensuring the sealing function of the sealing mechanism, ensuring the air pressure in the patient's abdominal cavity, and thus improving the safety of the operation.

[0054] As a preferred embodiment, the protrusion 411 is arranged circumferentially around the casing 4, that is, the protrusion 411 is annular, which further increases the structural strength of the first tube 41 and the casing 4, and ensures the durability of the casing 4 and the embossing mechanism. The sealing ring 412 is made of rubber. When the encapsulation shell is not placed inside the sleeve 10, that is, in its natural state, the diameter of the sealing ring 412 is greater than the radial thickness of the protrusion 411, so that the sealing ring 412 can protrude from the protrusion 411, and the sealing ring 412 can abut against the inner wall of the sleeve 10, so that the casing 4 is sealed through the sleeve 10.

[0055] Preferably, the outer diameter of the second tube 42 is smaller than the outer diameter of the protrusion 411, that is, the protrusion 411 protrudes from the second tube 42. When the puncture needle 20 or surgical instrument that needs to be inserted into or removed from the sealing mechanism 30 is tilted, the protrusion 411 can abut against the cannula 10, which limits the tilt of the tube shell 4, reduces the shaking amplitude of the sealing mechanism 30, and facilitates the smooth insertion or removal of the puncture needle 20 or surgical instrument from the sealing mechanism 30, thus ensuring the smooth implementation of the operation.

[0056] The outer diameter of the protrusion 411 is slightly smaller than the inner diameter of the sleeve 10, facilitating the installation of the encapsulation shell into the sleeve 10. In this embodiment, the difference between the outer diameter of the protrusion 411 and the inner diameter of the sleeve 10 is 0.1–0.4 mm. When the encapsulation shell is placed inside the sleeve 10, the sealing ring 412 abuts against the inner wall of the sleeve 10, and the outer wall of the protrusion 411 is spaced apart from the sleeve 10. By providing two protrusions 411, when the puncture needle 20 or surgical instrument that needs to be inserted into or removed from the sealing mechanism 30 is tilted, one of the protrusions 411 can abut against the sleeve 10 to limit the tilt of the shell 4, facilitating the smooth insertion or removal of the puncture needle 20 or surgical instrument from the sealing mechanism 30, thus ensuring the smooth implementation of the surgery. In other embodiments, the outer diameter of the protrusion 411 and the inner diameter of the sleeve 10 may also be the same, which is not limited here.

[0057] As a preferred embodiment, multiple reinforcing sections 421 are evenly spaced along the circumference of the tube shell 4, further improving the structural strength of the second tube body 42 and the tube shell 4, ensuring the durability of the tube shell 4 and the puncture mechanism, avoiding the need to replace the sealing mechanism 30 during surgery, reducing costs, and ensuring the smooth implementation of the surgery. The number of reinforcing sections 421 can be adjusted according to requirements and is not limited here.

[0058] Furthermore, the reinforcing part 421 extends axially along the shell 4, which facilitates production and processing.

[0059] In this embodiment, two closing flaps 32 are provided. The ends of the two closing flaps 32 furthest from the sealing tube 31 form the opening of the gas-blocking seal 3, and these ends can move away from or towards each other to open or close the opening of the gas-blocking seal 3. When the puncture needle 20 and surgical instruments are inserted into the sealing mechanism 30, the puncture needle 20 and surgical instruments are placed inside the opening of the gas-blocking seal 3, i.e., the opening of the gas-blocking seal 3 is open. When the puncture needle 20 and surgical instruments are withdrawn from the sealing mechanism 30, the ends of the two closing flaps 32 furthest from the sealing tube 31 move towards each other, and the opening of the gas-blocking seal 3 is closed, ensuring the sealing effect of the sealing mechanism 30. In other embodiments, the number of closing flaps 32 can be adjusted adaptively according to requirements, and is not limited here.

[0060] Preferably, the end of the reinforcing part 421 away from the first tube 41 extends to the closing flap 32. During the opening and closing of the air-blocking seal 3, the closing flap 32 deforms. The above-mentioned arrangement increases the structural strength of the second tube 42 corresponding to the closing flap 32, reduces the possibility of deformation or even damage to the second tube 42 due to compression during the deformation of the closing flap 32, and improves the durability of the sealing mechanism 30. This ensures that the sealing mechanism 30 reliably achieves its sealing function, guarantees the safety of the operation, ensures the smooth implementation of the operation, avoids the need to replace the sealing mechanism 30 during the operation, and reduces costs.

[0061] In this embodiment, the end face of the reinforcing part 421 away from the first tube body 41 is arranged perpendicular to the axis of the tube shell 4. It can be understood that "the end of the reinforcing part 421 away from the first tube body 41 extends to the closing flap 32" means that the plane on which the end face of the reinforcing part 421 away from the first tube body 41 is located passes through the closing flap 32.

[0062] Preferably, a connecting portion 422 protrudes from the inner wall of the second tube 42, extending circumferentially along the second tube 42. The connecting portion 422 connects to at least two reinforcing portions 421, and is positioned directly opposite the closing flap 32. By providing the connecting portion 422, the structural strength of the second tube 42 corresponding to the closing flap 32 is further increased, reducing the possibility of deformation or even damage to the second tube 42 caused by compression during deformation of the closing flap 32. This improves the durability of the sealing mechanism 30, ensuring that the sealing mechanism 30 reliably achieves its sealing function, guaranteeing the safety and smooth implementation of the surgery, avoiding the need to replace the sealing mechanism 30 during the operation, and reducing costs.

[0063] Specifically, the end face of the connecting part 422 facing the axis of the tube shell 4 is flush with the inner wall of the first tube body 41, that is, the end face of the reinforcing part 421 facing the axis of the tube shell 4 is flush with the end face of the connecting part 422 facing the axis of the tube shell 4. This arrangement reduces the possibility that the connecting part 422 may affect the insertion or removal of the puncture needle 20 and surgical instruments, ensuring the smooth execution of the surgery.

[0064] like Figure 11 The examples shown are merely illustrative. Figure 11 One connecting part 422 connects to three reinforcing parts 421. At this time, there may be two connecting parts 422, with the two connecting parts 422 facing the two closing petals 32. In some cases, the connecting part 422 may also be arranged around the circumference of the second tube body 42, so that the connecting part 422 is in a ring shape and connected to all the reinforcing parts 421.

[0065] Furthermore, the card-punching mechanism includes an air valve 5, which is used to connect with an external air source during preoperative preparation to create a pneumoperitoneum environment. The sealing mechanism 30 includes the aforementioned air valve 5, which is connected to the outer wall of the first tube 41 of the casing 4. The first tube 41 has a radially penetrating vent hole 413, which communicates with the air valve 5 to allow an external air source to input gas into the inside of the casing 4 through the air valve 5.

[0066] Preferably, an air passage 414 is provided on the inner wall of the first tube 41, which communicates with the vent 413. The air passage 414 extends along the axis and communicates with the space formed between the inner wall of the second tube 42 and the gas-blocking seal 3. With this arrangement, gas from an external gas source can enter the space formed between the inner wall of the second tube 42 and the gas-blocking seal 3 through the air valve 5 and be injected into the patient's abdominal cavity. This avoids the need for a separate ventilation pipeline, simplifies the structure of the puncture mechanism, and helps to reduce the size of the puncture mechanism. In this embodiment, the vent 413 is located between the end face of the first tube 41 facing the top cover 1 and the first rib 411, and the air valve 5 is placed on the outside of the first end of the sleeve 10.

[0067] As a preferred embodiment, the depth of the airway 414 is less than the thickness of the reinforcing part 421, so that a boss surface 43 is formed between the first tube 41 and the second tube 42. This avoids the first tube 41 at the airway 414 having a thin wall thickness, ensuring the structural strength of the first tube 41 and the tube shell 4, reducing the possibility of damage to the tube shell 4, ensuring the durability of the tube shell 4 and the puncture mechanism, avoiding the need to replace the sealing mechanism 30 during the operation, and reducing costs.

[0068] As a preferred embodiment, the airway 414 is located between two adjacent reinforcing sections 421, which avoids the reinforcing sections 421 from obstructing the gas entering through the airway 414. This allows the gas to enter the patient's abdominal cavity in a timely manner through the space formed between the second tube 42 and the gas-blocking seal 3, ensuring the rate of gas input. This facilitates the formation of a pneumoperitoneum environment at an appropriate speed, ensuring the smooth implementation of the surgery.

[0069] In this embodiment, no connecting part 422 is provided in the space between the two reinforcing parts 421 on both sides of the airway 414, so as to avoid the connecting part 422 from obstructing the gas input into the patient's abdominal cavity.

[0070] Preferably, the width of the airway 414 is the same as the distance between the two reinforcing parts 421 on both sides. The width of the airway 414 is determined according to the distance between the two adjacent reinforcing parts 421, which facilitates production and processing. At the same time, since the depth of the airway 414 is small, the above arrangement makes the width of the airway 414 larger, which can also ensure the gas input rate, thereby facilitating the formation of a pneumoperitoneum environment at an appropriate speed and ensuring the smooth implementation of the surgery.

[0071] The puncture mechanism includes a sealing assembly housed within the encapsulation shell. The sealing assembly includes an instrument seal 2 and the aforementioned gas-blocking seal 3. The instrument seal 2 is cylindrical and coaxially arranged with the cannula 10. A sealing tube 31 is spaced out from the instrument seal 2, meaning it is positioned on the outside of the instrument seal 2, and spaced apart from the outer wall of the instrument seal 2. When the puncture needle 20 or surgical instrument is inserted into the sealing mechanism 30, the instrument seal 2 provides a seal; when the puncture needle 20 or surgical instrument is removed, the gas-blocking seal 3 provides a seal. The instrument seal 2 includes a first ring portion 21, a second ring portion 22, and a conical ring portion 24, all of which are coaxially arranged with the insertion channel 19. The second ring portion 22 connects the first ring portion 21 and the conical ring portion 24. The wall thickness of the second ring portion 22 increases from the first ring portion 21 toward the conical ring portion 24. The wall thickness of the conical ring portion 24 decreases away from the first ring portion 21. The small end of the conical ring portion 24 is positioned opposite to the first ring portion 21, and forms a sealing hole 241 for the puncture needle 20 or surgical instrument to pass through. When the puncture needle 20 or surgical instrument penetrates the sealing assembly, it passes sequentially through the first ring portion 21, the second ring portion 22, and the conical ring portion 24, with the puncture needle 20 or surgical instrument passing through the small end of the conical ring portion 24. It can be understood that the inner diameter of the small end of the conical ring portion 24 is smaller than the diameter of the puncture needle 20 and the surgical instrument, i.e., as shown below. Figure 7 The diameter of the sealing hole 241 at the small end of the conical ring portion 24 shown is smaller than the diameter of the puncture needle 20 and the surgical instrument, thereby enabling the puncture needle 20 and the surgical instrument to seal through the small end of the conical ring portion 24. In this embodiment, the instrument seal 2 is made of rubber, and the first ring portion 21, the second ring portion 22, and the conical ring portion 24 are integrally formed.

[0072] Understandably, when the puncture needle 20 or surgical instrument is inserted into the sealing mechanism 30, the puncture needle 20 and surgical instrument pass through the opening of the gas-blocking seal 3, that is, the opening of the gas-blocking seal 3 is in an open state, and the puncture needle 20 or surgical instrument is sealed through the sealing hole 241 of the conical ring portion 24 of the instrument seal 2. At this time, the instrument seal 2 achieves a sealing function. When the puncture needle 20 or surgical instrument is pulled out, the ends of the two closing flaps 32 away from the sealing tube 31 move closer to each other, and the opening of the gas-blocking seal 3 is in a closed state. At this time, the gas-blocking seal 3 achieves a sealing function.

[0073] Because the wall thickness at the connection between the first ring 21 and the second ring 22 is relatively thin, and the wall thickness at the end of the conical ring 24 facing the second ring 22 is relatively thick, during the process of the puncture needle 20 or surgical instrument penetrating the sealing mechanism 30, not only the conical ring 24 can deform, but the connection between the first ring 21 and the second ring 22 can also deform. In this embodiment, the puncture mechanism has a simple structure, and the deformation positions of the instrument seal 2 are increased, reducing the deformation at each deformation position. This facilitates the reset of the instrument seal 2 after the puncture needle 20 or surgical instrument is removed, making it easier to reinsert other surgical instruments. It also reduces the possibility of damage to the instrument seal 2 due to large deformation at the same position, improves the fatigue strength of the instrument seal 2, and enhances the durability of the sealing mechanism 30. This avoids the need to replace the sealing mechanism 30 during the operation, reduces costs, and ensures that the sealing mechanism 30 can reliably achieve the sealing function, guaranteeing the safety of the operation and ensuring its smooth implementation. At the same time, the ends of the second ring 22 and the conical ring 24 facing each other are thicker, reducing the possibility of the conical ring 24 completely flipping upwards after the puncture needle 20 or surgical instrument is removed, further facilitating the reset of the conical ring 24.

[0074] In this embodiment, the thickness of the connection between the first ring 21 and the second ring 22 needs to be ensured that when the puncture needle 20 or surgical instrument penetrates and contacts the conical ring 24, the instrument seal 2 first deforms at the connection between the first ring 21 and the second ring 22, causing the second ring 22 to expand outward. As the puncture needle 20 and surgical instrument continue to penetrate, the conical ring 24 deforms further. No specific dimensional limitation is made on the thickness of the connection between the first ring 21 and the second ring 22. Furthermore, before the conical ring 24 deforms, the second ring 22 may abut against the inner wall of the sealing tube 31, or it may not abut against the inner wall of the sealing tube 31; this is not limited here.

[0075] It is understood that the small end of the conical ring 24 has a smaller outer diameter, and the large end has a larger outer diameter. In this embodiment, the large end of the conical ring 24 faces the first ring 21, and the small end faces away from the first ring 21. The outer diameter of the conical ring 24 decreases in the direction away from the first ring 21, and the inner diameter of the conical ring 24 decreases in the direction away from the first ring 21, so that the wall thickness of the conical ring 24 decreases in the direction away from the first ring 21. The inner diameters of the first ring 21, the second ring 22, and the large end of the conical ring 24 are all larger than the diameters of the puncture needle 20 and the surgical instrument, facilitating the insertion of the puncture needle 20 and the surgical instrument into the sealing mechanism 30. It is understood that since the diameter of the sealing hole 241 is smaller than the diameter of the puncture needle 20 and the surgical instrument, the conical ring 24 will inevitably deform when the puncture needle 20 and the surgical instrument pass through the sealing mechanism 30.

[0076] As a preferred option, such as Figures 4-7 As shown, the instrument seal 2 also includes a third ring portion 23 coaxially arranged with the through-channel 19. The wall thickness of the third ring portion 23 is a fixed value, and the third ring portion 23 connects between the second ring portion 22 and the conical ring portion 24. The wall thickness of the third ring portion 23 is the same as the maximum wall thickness of the second ring portion 22. By setting the third ring portion 23, the length of the thicker portion is increased, the structural strength of the instrument seal 2 is increased, the durability and reliability of the instrument seal 2 during the operation are improved, and the possibility of damage to the instrument seal 2 is reduced. This allows the sealing mechanism 30 to reliably achieve the sealing function, ensuring the safety of the operation, avoiding the need to replace the sealing mechanism 30 during the operation, reducing costs, and facilitating the repositioning of the instrument seal 2. This makes it easy to reinsert other surgical instruments after the puncture needle 20 and surgical instruments have been removed, ensuring the smooth implementation of the operation.

[0077] In this embodiment, the integral cylindrical structure formed by connecting the first ring portion 21, the second ring portion 22, the third ring portion 23 and the conical ring portion 24 is placed inside the sealed tube body 31.

[0078] Furthermore, the outer diameter of the third ring 23 is a fixed value. Based on the description above that "the wall thickness of the third ring 23 is a fixed value," it can be deduced that the inner diameter of the third ring 23 is also a fixed value. This configuration simplifies the structure of the instrument seal 2 and facilitates manufacturing.

[0079] In this embodiment, the wall thickness of the first ring portion 21 is a constant value, meaning the wall thickness of the first ring portion 21 is the same everywhere. This ensures that the thickness at the connection between the first ring portion 21 and the second ring portion 22 is relatively small, facilitating manufacturing and reducing production costs. In other embodiments, the wall thickness of the first ring portion 21 may decrease along the direction towards the second ring portion 22.

[0080] As a preferred embodiment, the outer diameter of the first ring portion 21 is a fixed value. Furthermore, based on the description above that "the wall thickness of the first ring portion 21 is a fixed value," it can be deduced that the inner diameter of the first ring portion 21 is also a fixed value. This configuration simplifies the structure of the instrument seal 2 and facilitates manufacturing.

[0081] As a preferred embodiment, the outer diameter of the second ring portion 22 decreases in the direction away from the first ring portion 21. That is, the outer wall of the second ring portion 22 is a conical surface. The larger end of the second ring portion 22 connects to the first ring portion 21, and the smaller end of the second ring portion 22 connects to the third ring portion 23. The outer diameter of the first ring portion 21 is larger than the outer diameter of the third ring portion 23. The outer diameter of the first ring portion 21 is the same as the outer diameter of the larger end of the second ring portion 22, and the outer diameter of the third ring portion 23 is the same as the outer diameter of the smaller end of the second ring portion 22. Similarly to the conical ring portion 24, the smaller end of the second ring portion 22 has a smaller outer diameter, and the larger end of the second ring portion 22 has a larger outer diameter. The above configuration increases the distance between the outer wall of the third ring 23 and the inner wall of the sealing tube 31. When deformation occurs at the connection between the first ring 21 and the second ring 22, it ensures that the third ring 23 and the conical ring 24 have a large range of motion, preventing the conical ring 24 from obstructing the puncture needle 20 and surgical instruments. This allows the puncture needle 20 and surgical instruments to pass through smoothly, ensuring the smooth implementation of the surgery. At the same time, it reduces the possibility of damage to the instrument seal 2, avoids the need to replace the sealing mechanism 30, and reduces maintenance costs. In addition, as described above, "the outer diameter of the first ring 21 is a fixed value, the outer diameter of the second ring decreases in the direction away from the first ring 21, the outer diameter of the third ring 23 is a fixed value, and the outer diameter of the conical ring 24 decreases in the direction away from the first ring 21." That is, the outer diameter of the instrument seal 2 generally decreases in the direction from the first ring 21 to the conical ring 24, which facilitates the installation of the instrument seal 2 into the gas-blocking seal 3.

[0082] As a preferred embodiment, a guide ring 11 is provided on the encapsulation shell. The guide ring 11 is coaxially arranged with the penetration channel 19. The guide ring 11 is used to ensure that the puncture needle 20 and the surgical instrument are inserted into or pulled out of the sealing mechanism 30 along the penetration channel 19.

[0083] Furthermore, the guide ring 11 is connected to the end face of the top cover 1 and is circumferentially arranged along the through hole. The end of the instrument seal 2 with the first ring portion 21 is positioned facing the top cover 1, that is, the top cover 1 is positioned on the side of the instrument seal 2 away from the conical ring portion 24 in the first direction. The guide ring 11 is placed inside the instrument seal 2, and the end of the guide ring 11 opposite to the top cover 1 extends to the third ring portion 23. By setting the guide ring 11, the tip of the end effector of the surgical instrument or the puncture needle 20 can be guided to the thicker third ring 23 and the conical ring 24, avoiding contact between the tip of the end effector of the surgical instrument or the puncture needle 20 and other parts of the instrument seal 1. This reduces the possibility of the instrument seal 1 being scratched, avoids the need to replace the sealing mechanism 30 during the operation, reduces costs, and ensures that the sealing mechanism 30 reliably achieves its sealing function, thus ensuring the safety and smooth implementation of the operation. Moreover, by extending the end of the guide ring 11 to the thicker third ring 23, the guide ring 11 can prevent the third ring 23 from flipping upward when the puncture needle 20 or surgical instrument is pulled out. At the same time, it ensures that the connection between the first ring 21 and the second ring 22 does not deform or the deformation is small, which further facilitates the reset of the instrument seal 2 and makes it easier to insert other surgical instruments again.

[0084] As a preferred embodiment, the distance between the third ring 23 and the guide ring 11 is less than the distance between the third ring 23 and the sealing tube 31. That is, the distance between the inner wall of the third ring 23 and the outer wall of the guide ring 11 is less than the distance between the outer wall of the third ring 23 and the inner wall of the sealing tube 31. The smaller inner diameter of the third ring 23 helps to reduce the radial dimension of the sealing mechanism 30, reducing the possibility of collision and interference between the puncture mechanism and other structures of the surgical robot, thus ensuring the safety of the surgery. Simultaneously, when the puncture needle 20 and... When the surgical instrument is inserted into the sealing mechanism 30, the third ring 23 has a large range of motion due to the large distance between it and the sealing tube 31, ensuring that the puncture needle 20 and the surgical instrument can be inserted smoothly. Moreover, when the puncture needle 20 and the surgical instrument are pulled out, the third ring 23 has a small distance between it and the guide ring 11, which limits the range of deformation of the third ring 23 and ensures that the guide ring 11 prevents the third ring 23 from flipping up. This further facilitates the repositioning of the conical ring 24 and makes it easier to insert other surgical instruments again.

[0085] Furthermore, the outer diameter of the guide ring 11 is a fixed value, and the outer diameter of the guide ring 11 is the same as the inner diameter of the third ring portion 23, or the outer diameter of the guide ring 11 is slightly smaller than the inner diameter of the third ring portion 23. In this embodiment, the outer diameter of the guide ring 11 is slightly smaller than the inner diameter of the third ring portion 23, and the difference between the outer diameter of the guide ring 11 and the inner diameter of the third ring portion 23 is 0.1 to 0.4 mm. This dimensional setting, while ensuring that the connection between the first ring portion 21 and the second ring portion 22 does not deform or has a small amount of deformation as described above, facilitates the insertion of the guide ring 11 into the instrument seal 2, avoids setting the outer diameter of the guide ring 11 and the inner diameter of the third ring portion 23 to the same value, reduces the requirement for dimensional accuracy, reduces the difficulty of assembly and processing, and thus reduces production costs.

[0086] Furthermore, as described above, the outer diameter of the second ring 22 decreases in the direction away from the first ring 21, and the guide ring 11 extends to the third ring 23 at one end opposite to the top cover 1. The distance between the third ring 23 and the guide ring 11 is less than the distance between the third ring 23 and the sealing tube 31, so that the third ring 23 is set close to the guide ring 11. This avoids the need to set other structures on the instrument seal 2 to abut against the guide ring 11 and restrict the upward flipping of the third ring 23, thus simplifying the structure of the instrument seal 2, reducing the space occupied by the instrument seal 2, and also facilitating production and processing.

[0087] Preferably, such as Figure 7 As shown, the end of the guide ring 11 is directly opposite the end of the third ring 23 near the conical ring 24, so that the guide ring 11 coincides with most of the third ring 23, which improves the stopping effect of the guide ring 11 on the third ring 23, facilitates the reset of the instrument seal 2, and does not affect the deformation of the conical ring 24, ensuring that the puncture needle 20 and surgical instruments can be smoothly inserted or withdrawn.

[0088] As a preferred embodiment, the inner wall of the guide ring 11 away from the top cover 1 is provided with an inclined annular surface 111. The diameter of the inclined annular surface 111 increases in the direction away from the top cover 1, that is, the diameter of the inclined annular surface 111 near the conical ring 24 is larger. When the puncture needle 20 and surgical instruments are withdrawn, the inclined annular surface 111 acts as a guide, facilitating the movement of the puncture needle 20 and surgical instruments along the insertion channel 19. Furthermore, if the conical ring 24 flips upwards during withdrawal, it may be positioned between the guide ring 11 and the surgical instrument or puncture needle 20. The inclined annular surface 111 increases the space between the guide ring 11 and the surgical instrument or puncture needle 20 for accommodating the conical ring 24, reducing the likelihood of the conical ring 24 being squeezed between the guide ring 11 and the surgical instrument or puncture needle 20, thus preventing obstruction of withdrawal. This ensures that the puncture needle 20 and surgical instruments can be smoothly inserted or withdrawn, facilitating the insertion of other surgical instruments, ensuring the smooth execution of the surgery, improving the efficiency of withdrawing the puncture needle 20 or changing surgical instruments, avoiding increased user fatigue, reducing the possibility of secondary injury to the patient, and ensuring the safety of the surgery. In this embodiment, the inclined annular surface 111 is arranged circumferentially around the guide ring 11.

[0089] As a preferred embodiment, a first protrusion 231 is provided at the connection between the third ring portion 23 and the conical ring portion 24. The first protrusion 231 is located on the inner wall of the instrument seal 2. When the puncture needle 20 or surgical instrument is withdrawn, the first protrusion 231 can abut against the end of the guide ring 11 to limit the upward tilt angle of the conical ring portion 24, which facilitates the timely reset of the conical ring portion 24 and the re-insertion of other surgical instruments, ensuring the smooth implementation of the surgery. At the same time, placing the first protrusion 231 at the connection between the third ring portion 23 and the conical ring portion 24 can also increase the thickness of the connection between the third ring portion 23 and the conical ring portion 24, further reducing the possibility of the conical ring portion 24 tilting upward and facilitating the re-insertion of other surgical instruments. In this embodiment, the first protrusion 231 is integrally formed with the instrument seal 2. The first protrusion 231 is annular and is arranged circumferentially around the instrument seal 2.

[0090] Furthermore, a second protrusion 232 is provided on the outer side wall of the third ring 23. When the puncture needle 20 or surgical instrument is inserted into the sealing mechanism 30, the second protrusion 232 can abut against the inner side wall of the sealing tube 31. When the second protrusion 232 abuts against the inner wall of the sealing tube 31, if the third ring 23 continues to deform as the puncture needle 20 or surgical instrument continues to penetrate, the third ring 23 will generate deformation at the location where the second protrusion 232 is set, further increasing the deformation positions on the instrument seal 2 and reducing the deformation at each deformation position. This facilitates the reset of the instrument seal 2 after the puncture needle 20 or surgical instrument is removed, making it easier to reinsert other surgical instruments. It also reduces the possibility of damage to the instrument seal 2 due to large deformation at the same position, improves the fatigue strength of the instrument seal 2, improves the durability of the sealing mechanism 30, avoids the need to replace the sealing mechanism 30 during the operation, reduces costs, and enables the sealing mechanism 30 to reliably achieve the sealing function, ensuring the safety of the operation and the smooth implementation of the operation. Moreover, by setting the second protrusion 232, the deformation range at the connection between the first ring 21 and the second ring 22 can be limited, further improving the fatigue strength of the instrument seal 2. In this embodiment, the second protrusion 232 and the instrument seal 2 are integrally formed. The second protrusion 232 is annular and is arranged around the circumference of the instrument seal 2.

[0091] Furthermore, the instrument seal 2 also includes a first connecting edge 25, which is connected to the outer wall of the first ring portion 21 and located at the end of the first ring portion 21 away from the second ring portion 22. The first connecting edge 25 is circumferentially arranged around the first ring portion 21. The gas-blocking seal 3 also includes a second connecting edge 33. The second connecting edge 33 is connected to the outer wall of the sealing tube body 31 and located at the end of the sealing tube body 31 facing the top cover 1, and the first connecting edge 25 is placed on the side of the second connecting edge 33 facing the top cover 1. The first connecting edge 25 and the second connecting edge 33 are placed between the end faces of the top cover 1 and the tube shell 4, and the top cover 1 and the tube shell 4 are fixedly connected to press the first connecting edge 25 and the second connecting edge 33, thereby realizing that the instrument seal 2 and the gas-blocking seal 3 are fixedly installed in the encapsulation shell.

[0092] In this embodiment, the top cover 1 and the tube shell 4 can be fixedly connected by fasteners such as adhesive, welding, or screws, and there is no limitation on this. The first connecting edge 25 extends in a ring shape along the circumference of the first ring portion 21, and the second connecting edge 33 extends in a ring shape along the circumference of the sealing tube body 31. After the sealing mechanism 30 is installed, the instrument seal 2 and the gas-blocking seal 3 are coaxially arranged.

[0093] Preferably, the sealing mechanism 30 further includes an abutment ring 61, which is coaxially arranged with the tube shell 4. The abutment ring 61 is positioned between the first connecting edge 25 and the second connecting edge 33. After the top cover 1 and the tube shell 4 are fixedly connected, the first connecting edge 25 is pressed and clamped between the abutment ring 61 and the top cover 1, and the second connecting edge 33 is pressed and clamped between the abutment ring 61 and the tube shell 4.

[0094] Furthermore, a first abutment ring 12 is provided at the end of the top cover 1 facing the tube shell 4, and the first abutment ring 12 is coaxially arranged with the tube shell 4. A protruding ring 65 is coaxially arranged on the end face of the abutment ring 61 facing the top cover 1. The first abutment ring 12 and the abutment ring 61 are arranged opposite each other, and the first connecting edge 25 is pressed and clamped between the first abutment ring 12 and the protruding ring 65. A mating part 44 is protruding on the outer wall of the tube shell 4 facing the top cover 1, and a second abutment ring 45 is provided on the end face of the mating part 44 facing the top cover 1. Both the mating part 44 and the second abutment ring 45 are arranged circumferentially around the tube shell 4. The second connecting edge 33 is pressed and clamped between the end faces of the second abutment ring 45 and the abutment ring 61. By setting the first abutment ring 12, the second abutment ring 45, the abutment ring 61, and the convex ring 65, reliable clamping of the first connecting edge 25 and the second connecting edge 33 is ensured, improving the stability of the sealing mechanism 30 structure, reducing the possibility of the instrument seal 2 and the air-blocking seal 3 falling off when the puncture needle 20 and surgical instruments pass through the sealing mechanism 30, and also ensuring the sealing performance of the sealing mechanism 30. It is understood that the top cover 1 is annular, and the inner diameter of the top cover 1 is smaller than the inner diameter of the tube shell 4, while the outer diameter of the top cover 1 is larger than the outer diameter of the tube shell 4. In this embodiment, the outer diameter of the top cover 1 is the same as the outer diameter of the mating part 44.

[0095] Understandably, since the first connecting edge 25 is clamped between the first abutting ring 12 and the convex ring 65, and the second connecting edge 33 is clamped between the second abutting ring 45 and the abutting ring 61, gas from the external gas source cannot pass through the gap between the instrument seal 2, the gas-blocking seal 3, the abutting ring 61, the tube shell 4, and the top cover 1. The gas can only flow into the patient's abdominal cavity through the space formed between the second tube body 42 and the gas-blocking seal 3.

[0096] In this embodiment, the first ring portion 21, the second ring portion 22, the third ring portion 23, the conical ring portion 24, and the first connecting edge 25 are integrally formed. The sealing tube body 31, the closing flap 32, and the second connecting edge 33 are integrally formed.

[0097] In this embodiment, the top cover 1 is provided with a plurality of connecting pipes 8, and the casing 4 is provided with a plurality of first positioning posts 71. Each of the first positioning posts 71 corresponds to one of the connecting pipes 8, and the first positioning posts 71 pass through the corresponding connecting pipe 8, with an interference fit between the first positioning posts 71 and the connecting pipe 8. The first positioning posts 71 and the connecting pipes 8 are used to determine the relative position between the top cover 1 and the casing 4. Specifically, the first positioning posts 71 are provided on the mating portion 44 of the casing 4. The plurality of first positioning posts 71 are evenly spaced along the circumference of the casing 4, and the connecting pipes 8 are evenly spaced along the circumference of the top cover 1.

[0098] In this embodiment, the mating part 44 is also provided with a second positioning post 72. The abutment ring 61 and the second connecting edge 33 are both provided with positioning holes 9 for the second positioning post 72 to pass through. The second positioning post 72 can pass through the positioning hole 9 to limit the position of the abutment ring 61 and the gas-blocking seal 3 in the encapsulation shell.

[0099] Specifically, the sealing mechanism 30 includes a snap-fit ​​member 6, which includes a snap-fit ​​part 64. The end of the first end of the sleeve 10 is bent outward and provided with a flange 101. The snap-fit ​​part 64 can snap onto the flange 101, thereby realizing a detachable connection between the encapsulation shell and the sleeve 10.

[0100] The snap-fit ​​component 6 includes an elastic connecting portion 62, a snap hook, and the aforementioned abutment ring 61. The elastic connecting portions 62 are respectively connected to the radial edges of both ends of the abutment ring 61, and a protruding ring 65 is located between the two elastic connecting portions 62. A snap hook is connected to the end of the elastic connecting portion 62 opposite to the protruding ring 65. The snap hook includes a pressing portion 63 and the aforementioned snap-fit ​​portion 64. The snap-fit ​​portion 64 is located at the end of the snap hook facing the sleeve 10, and the pressing portion 63 is located at the end of the snap hook away from the sleeve 10; that is, the snap-fit ​​portion 64 and the pressing portion 63 are respectively located at both ends of the elastic connecting portion 62. The elastic connection part 62 can undergo elastic deformation. When the user presses the pressing part 63, the locking part 64 moves away from the axis of the abutment ring 61. When the user releases the pressing part 63, the locking part 64 moves closer to the axis of the abutment ring 61. Thus, through the pressing and releasing operation, the user can make the locking part 64 disengage from or engage with the flange 101, thereby realizing a detachable connection between the encapsulation shell and the sleeve 10.

[0101] Understandably, the latches are located on the outside of the mating part 44, that is, the mating part 44 is located between the two latches. The end of the elastic connecting part 62 away from the abutment ring 61 extends out of the mating part 44 and connects with the corresponding latch.

[0102] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A card stamping mechanism, characterized in that, The system includes a sleeve, a housing, and a gas-blocking seal. The housing is placed inside the sleeve and includes a first tube and a second tube coaxially connected. A top cap is connected to one end of the first tube opposite to the second tube. The top cap has a through hole extending through the housing along its axial direction. Two protrusions are spaced circumferentially on the outer wall of the first tube. A sealing ring is fitted onto the first tube to seal the housing as it passes through the sleeve. The sealing ring is located between the two protrusions. A reinforcement is provided on the inner wall of the second tube. The reinforcing part has an end face facing the axis of the tube shell that is flush with the inner wall of the first tube body. The gas-blocking seal is placed in the space enclosed by the tube shell and the top cover. The gas-blocking seal includes a sealing tube body and at least two closing flaps. The sealing tube body is coaxially arranged with the through hole. The closing flaps are arranged at the opening of the sealing tube body away from the top cover. At least two closing flaps can move away from or close to each other to open or close the opening of the sealing tube body. The outer diameter of the sealing tube body is smaller than the inner diameter of the first tube body.

2. The card stamping mechanism according to claim 1, characterized in that, The reinforcing portion extends from the end away from the first tube body to the closing flap.

3. The card stamping mechanism according to claim 1, characterized in that, The reinforcing parts are arranged in multiple intervals along the circumference of the tube shell. A connecting part is protruding on the inner sidewall of the second tube body. The connecting part extends along the circumference of the second tube body and is connected to at least two of the reinforcing parts. The connecting part is positioned opposite to the closing flap.

4. The card stamping mechanism according to claim 1, characterized in that, The protrusion is arranged circumferentially around the tube shell, and the outer diameter of the second tube body is smaller than the outer diameter of the protrusion.

5. The card stamping mechanism according to claim 1, characterized in that, The reinforcing portion extends axially along the shell; and / or, a plurality of reinforcing portions are evenly spaced along the circumference of the shell.

6. The card stamping mechanism according to any one of claims 1, 2, 4, and 5, characterized in that, An air valve is connected to the outer wall of the first tube, and a vent hole is provided in the first tube radially through it, the vent hole being connected to the air valve. An air passage is provided on the inner wall of the first tube, the air passage is connected to the vent hole, the air passage extends along the axis and is connected to the space formed between the second tube and the air-blocking seal.

7. The card stamping mechanism according to claim 6, characterized in that, The depth of the air passage is less than the thickness of the reinforcing part, so that a boss surface is formed between the first tube and the second tube.

8. The card stamping mechanism according to claim 6, characterized in that, The reinforcing sections are arranged in multiple circumferentially along the shell, and the air passage is located between two adjacent reinforcing sections.

9. The card stamping mechanism according to claim 8, characterized in that, The width of the airway is the same as the distance between the two reinforcing portions on both sides.

10. A surgical robot, characterized in that, Includes the card stamping mechanism as described in any one of claims 1-9.

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