Instrument access devices and surgical robots

Abstract

This invention provides an instrument access device, including a wound retractor and a sleeve. The wound retractor includes an outer ring, a first membrane, and an inner ring, with the first membrane fixedly connected between the outer ring and the inner ring. The sleeve includes a second membrane and a connecting portion, with one end of the second membrane fixedly connected to the connecting portion and the other end of the second membrane passing through the first membrane and fixedly connected to the inner ring. The second membrane has at least one auxiliary instrument port for inserting an auxiliary instrument into the patient's body. This instrument access device has a simple structure, low cost, requires a small wound, and provides sufficient installation space for auxiliary instruments. This invention also relates to a surgical robot.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a device access device and a surgical robot. Background Technology

[0002] In robotic laparoscopic surgery systems, the cannulation assembly for instrument insertion features a trocar structure. This trocar must form an airtight connection with the surgical port device at the surgical incision site to maintain the pneumoperitoneum environment required for laparoscopic surgery. However, existing trocar structures do not provide additional insertion channels for auxiliary instruments, forcing surgeons to make additional incisions at other locations in the patient's abdomen, increasing the number of incisions and potentially leading to a higher risk of infection. Utility Model Content

[0003] In view of this, the purpose of this utility model is to provide an instrument access device that can solve the problems existing in the prior art, has a simple structure, and can provide sufficient installation space for auxiliary instruments, thereby reducing the number of wounds and improving safety.

[0004] This utility model provides an instrument access device, including a wound retractor and a sleeve. The wound retractor includes an outer ring, a first membrane, and an inner ring. The first membrane is fixedly connected between the outer ring and the inner ring. The sleeve includes a second membrane and a connecting part. One end of the second membrane is fixedly connected to the connecting part, and the other end of the second membrane passes through the first membrane and is fixedly connected to the inner ring. The second membrane is provided with at least one auxiliary instrument port for an auxiliary instrument to enter the patient's body through the auxiliary instrument port.

[0005] In one embodiment, the first membrane, the second membrane, the outer ring, and the inner ring are coaxially arranged.

[0006] In one embodiment, the length of the second membrane along the axial direction is greater than the length of the first membrane along the axial direction.

[0007] In one embodiment, when the second membrane is inflated, an angle is formed between the auxiliary instrument port and the axis of the second membrane, the angle being greater than 0° and less than or equal to 90°.

[0008] In one embodiment, there are two auxiliary device ports, which are arranged at intervals around the circumference of the second membrane; or there are three auxiliary device ports, which are arranged at intervals around the circumference of the second membrane; or there are multiple auxiliary device ports, which are arranged at intervals around the circumference of the second membrane.

[0009] In one embodiment, the instrument access device is provided with an air inlet and a smoke outlet, which are respectively located on the sidewall of the second membrane.

[0010] In one embodiment, the auxiliary device port, the air inlet, and the smoke outlet are arranged circumferentially around the second membrane.

[0011] In one embodiment, the instrument access device further includes an instrument guide with a groove, wherein when the instrument guide is partially installed in the second membrane, the connecting portion is disposed within the groove.

[0012] In one embodiment, the groove is disposed in the tube of the instrument guide; or the instrument guide includes a guide end, the guide end being disposed on the proximal side of the instrument guide, the proximal side being defined as the end opposite to the wound retractor, and the groove being disposed on the guide end.

[0013] In one embodiment, the connecting part is fixedly connected to a pull rope, and the connecting part is connected to the instrument guide via the pull rope; or the connecting part is fixedly connected to a buckle, and the instrument guide is provided with a slot or fixing member that cooperates with the buckle, the buckle and the slot cooperate to connect the connecting part to the instrument guide, or the buckle and the fixing member cooperate to connect the connecting part to the instrument guide.

[0014] In one embodiment, the second membrane body and the inner ring are integrally formed.

[0015] In one embodiment, the second membrane is in the form of a column, a sphere, a barrel, or a columnar corrugated tube under pressure after gas injection.

[0016] This invention also relates to a surgical robot, which includes a main console and a slave operating device. The main console is used to send control commands to the slave operating device to control the slave operating device, and the slave operating device is used to respond to the control commands sent by the main console to perform surgical operations. The slave operating device includes a robotic arm, surgical instruments mounted on the robotic arm, and the aforementioned instrument access device for guiding the surgical instruments.

[0017] In one embodiment, the operating device includes a remote motion center, and a plurality of the surgical instruments pass through the second membrane and rotate around the remote motion center.

[0018] The sleeve of this utility model is fixedly connected to the connecting part at one end, and the other end of the sleeve is connected to the inner ring of the wound retractor. The connecting part is directly connected to the instrument guide, so that a sealed cavity is formed inside the second membrane. The auxiliary instrument port provided on the second membrane can provide an insertion channel for the auxiliary instrument. The sealed cavity can provide sufficient installation space for the auxiliary instrument, which facilitates the operator's surgical operation, avoids the operator making additional holes in the patient's abdomen, reduces the number of incisions, and reduces the risk of infection during or after the operation. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a top view of a surgical robot system arranged in an operating room according to an embodiment of this application.

[0021] Figure 2a This is a schematic diagram of the main control console of a surgical robot system according to an embodiment of this application.

[0022] Figure 2b This is a schematic diagram of the slave operating device of a surgical robot system according to an embodiment of this application.

[0023] Figure 3 This is a partial structural schematic diagram of the device access device according to the first embodiment of this application.

[0024] Figure 4 This is a front view structural schematic diagram of the device access device according to the first embodiment of this application.

[0025] Figure 5 This is a schematic diagram of the structure of the auxiliary instrument port of the instrument access device according to the first embodiment of this application, which is tilted.

[0026] Figure 6a This is a schematic diagram of the second membrane body in the first embodiment of this application after being inflated into a spherical shape.

[0027] Figure 6b This is a schematic diagram of the second membrane body in the first embodiment of this application after being inflated into a columnar shape.

[0028] Figure 6c This is a schematic diagram of the second membrane body in the first embodiment of this application after being inflated into a barrel shape.

[0029] Figure 6d and Figure 6fThis is a schematic diagram of the structure of the second membrane body in the first embodiment of this application after being inflated into a cylindrical corrugated tube shape.

[0030] Figures 7a to 7c This is a schematic diagram of the structure of the instrument access device with different buckles according to the first embodiment of this application. Detailed Implementation

[0031] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application and are not intended to limit the scope of this application.

[0032] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element present, or it can refer to the two elements being interconnected via signals. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intermediate element present, or it can refer to the two elements interacting via signals. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or operation, in addition to those depicted in the figures. For example, if the device is flipped in the figures, an element or feature described as "below" or "under" other elements or features would be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0033] The terms "distal" and "proximal" used in this article are locative terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the surgeon during the procedure, while "proximal" refers to the end closest to the surgeon. The term "multiple" used in this article includes two or more.

[0034] The term "instrument" is used herein to describe a medical device inserted into a patient's body to perform surgical or diagnostic procedures. This instrument includes an end effector, which may be a surgical tool used to perform surgical procedures, such as a biopsy needle, electrocautery device, forceps, stapler, scissors, imaging equipment (e.g., an endoscope or ultrasound probe), and the like. Some instruments used in embodiments of this application further include a hinged component (e.g., a joint assembly) for the end effector, allowing the position and orientation of the end effector to be manipulated with one or more mechanical degrees of freedom relative to an instrument axis. Further, the end effector includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include stored information that can be updated by a surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system components.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms “and / or” and “and / or” as used herein include any and all combinations of one or more of the associated listed items.

[0036] like Figures 1 to 2b As shown, this embodiment of the present invention provides a surgical robot, which includes a main console 20 and a slave operating device 10. The main console 20 is remotely connected to the slave operating device 10, and the doctor S can remotely operate and control the slave operating device 10 from the main console 20. The main console 20 is configured to send control signals to the slave operating device 10 and display images acquired by the slave operating device 10 according to the doctor S's operation. The doctor S can observe the three-dimensional stereoscopic image of the patient's body provided by the imaging system through the main console 10. By observing the three-dimensional image of the patient's body, the doctor S can control the slave operating device 10 to perform related operations (such as performing surgery or acquiring images of the patient's body) with an immersive feeling.

[0037] The operating device 10 includes a control unit, a robotic arm 11, and a tool-holding mechanism 12. The control unit can be located in the base of the operating device 10 or on the robotic arm 11. The tool-holding mechanism is connected to the robotic arm 11. In one embodiment, the control unit is used to control the joint movement of the robotic arm 11 and the movement of the drive device in the tool-holding mechanism 12. Multiple surgical tools 40 can be mounted on the tool-holding mechanism 12, and the drive device of the tool-holding mechanism 12 is used to drive the surgical tools 40 to perform various surgeries.

[0038] In one embodiment, the surgical robot further includes a gas inhalation device, a lumen assembly (not shown), and an instrument access device 13, the lumen assembly providing fluid communication between the instrument access device 13 and the gas inhalation device. The instrument access device 13 is connected to the distal end of the instrument holding mechanism 12 and is inserted into the body cavity of the patient P lying on the operating table T. The instrument access device 13 guides surgical instruments 40, the end devices of multiple surgical instruments 40, or cameras at the distal end of endoscopes, through the instrument access device 13 into the body cavity of the patient P to perform surgery-related operations or acquire images of the patient P's internal environment.

[0039] In one embodiment, the physician S can control the operating mode of the gas inhalation device via the main control console 10, for example, injecting gas from a gas source into the patient P's body cavity to create an artificial pneumoperitoneum, or aspirating gas from the patient P's body cavity. The assistant A attaches or removes surgical instruments 40 from the instrument holding mechanism 12 according to the surgical situation. The physician S, assistant A, and anesthesiologist B form a basic surgical team. Surgical instruments 40 can be surgical tools used to perform surgical procedures, such as electrocautery devices, forceps, staplers, ultrasonic scalpels, etc., or imaging devices (e.g., endoscopes) or other surgical tools for acquiring images.

[0040] The main control console 10 is also remotely connected to the electronic device cart 30, which in turn is remotely connected to the slave operating device 10. The electronic device cart 30 may include an energy generating device, an image signal processing device, and the aforementioned gas blowing device. In this embodiment, the main control console 10, the slave operating device 10, and the electronic device cart 30 communicate remotely via wired Ethernet. However, remote communication is not limited to wired Ethernet; it can also be other wired methods, such as, but not limited to, serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, such as, but not limited to, 5G, WiFi, NB, Zigbee, Bluetooth, or RFID.

[0041] In one embodiment, such as Figure 2aAs shown, the main control console 20 includes a display device 21, an armrest 22, an input device 23, an observation device 24, and a control signal processing system 25. The display device 21 displays images acquired by the imaging system. The display device 21 can be an image source reflected into the eyepiece by multiple mirrors, or it can be a 3D display. The armrest 22 is used to support the doctor's arm and / or hand, allowing the doctor to operate the input device 23 more comfortably. The observation device 24 is used to observe the images displayed on the display device. Depending on actual needs, the armrest or observation device 24 can be omitted, allowing direct observation. The doctor manipulates the surgical instruments of the secondary operating device 10 by operating the input device 23. The control signal processing system of the main control console 20 processes the input signal from the input device 23 and sends control commands to the secondary operating device. The secondary operating device 10 responds to the control commands of the main control console 20 and performs corresponding operations. In some embodiments, the control signal processing system 25 can also be located in the secondary operating device 10, for example, in the base of the secondary operating device 10. The control signal processing system 25 can be the same device as the control device described above.

[0042] Surgical robots typically also include an imaging system (not shown) that enables the surgeon S to view the surgical site from outside the patient's body. This imaging system typically includes a surgical tool 40 with video image acquisition capabilities (e.g., an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the surgical tool 40 with image acquisition capabilities includes optics for acquiring images of one or more imaging sensors (e.g., CCD or CMOS sensors) within the patient's body. These one or more imaging sensors can be positioned distal to the surgical tool 40 with image acquisition capabilities, and the signals generated by these sensors can be transmitted via cable or wirelessly for processing and display on the video display device.

[0043] In one embodiment, such as Figure 2bAs shown, the robotic arm 11 of the surgical robot's operating device 10 includes a base 110, a column 120 connected to the base 110, and a large arm 130, a forearm 140, and a vertical arm 150 connected in sequence. The robotic arm also includes multiple joints J1-J5 for connecting the column 120, the large arm 130, the forearm 140, and the vertical arm 150. Specifically, the column 120 includes a support column 121 and a lifting column 122. The support column 121 is fixedly connected to the base 110, and the lifting column 122 is connected to the support column 121 through a first joint J1. The first joint J1 is a linear motion joint, and the lifting column 122 can move linearly along the axis 101 of the first joint J1 to change the height of the portion of the robotic arm 11 connected to the distal end of the column 120. The lifting column 122 is connected to the upper arm 130 via the second joint J2. The upper arm 130 is connected to the lower arm 140 via the third joint J3. The lower arm 140 is connected to the vertical arm 150 via the fourth joint J4. The second joint J2, the third joint J3, and the fourth joint J4 are all rotary joints, and the rotation axes 102, 103, and 104 of these three rotary joints are all perpendicular to the horizontal plane. The vertical arm 150 is connected to the holding device 112 via the fifth joint J5. The axis 105 of the fifth joint J5 is perpendicular to the axes 101-104.

[0044] The control device 160 is configured to control multiple joints J1-J5 in linkage to achieve various positions of the entire robotic arm 11, adjust the position and posture of the holding device 112, and realize the rotational movement of the holding device 112 around its remote motion center 116 at its far end. The control device 160 can be set in the base 110 or in the main control console 20.

[0045] In one embodiment, the holding device 112 further includes a cannula 115, which is detachably connected to the holding device 112 via a docking device 114. The central axis 106 of the holding device 112 is substantially coincident with the axis 118 of the cannula 115. The holding device 112 drives the cannula 115 to rotate around a remote center of motion 116. Since the remote center of motion 116 is located at the incision 117, the patient P will not be injured when the cannula 115 rotates around the remote center of motion 116.

[0046] In one embodiment, the operating device 10 further includes a control panel 170 disposed on the support column 121. The control panel 170 includes at least one switch 171. The switch 171 is used to input a positioning command to the control device 160. The control device 160 responds to the action of the switch 171 to control the movement of the robotic arm 11 to quickly achieve various predetermined positions of the robotic arm 11, such as unfolding it into a position for arranging a sterile curtain.

[0047] In one embodiment, the holding device 112 may be equipped with multiple surgical instruments 40, which enter the body through the incision 117 via the same cannula 115. Figure 3 As shown in Figure A, the surgical instrument 40 includes an instrument case 41, a long shaft 42, a joint assembly 43, and an end effector 6 connected in sequence. The surgical instrument 40 is detachably mounted on a drive system of the instrument holding device 112 of the operating device 10. The instrument case 41 contains a transmission device (not shown), which includes multiple transmission units (e.g., winches). The transmission units are connected to the joint assembly 43 and the end effector 6 via multiple drive cables. The multiple transmission units are coupled to and driven by multiple actuators (e.g., motors) within the drive system. The multiple actuators receive control commands from a control device and, according to the control commands, drive the transmission units to move, thereby driving the end effector 6 to move. For example, the drive units rotate the transmission units to pull / tighten the drive cables to control the movement of the end effector. The end effector 6, via the joint assembly 43, can perform movements with multiple Cartesian degrees of freedom, such as translational movements (including lateral and / or longitudinal movements) to change the position of the end effector 6 and pitch, yaw, and roll movements to change the attitude of the mode device 44. It is understood that translation, pitch, yaw, and roll can occur independently or simultaneously. The end effector 6 is used to perform surgical procedures. Depending on the needs of the surgical procedure, the end effector 6 can be an electrocautery device, forceps, stapler, scissors, ultrasonic scalpel, camera, imaging device, etc., where the camera or imaging device is used to acquire images of the inside of the human body. In this embodiment, the surgical tool 40 is a surgical instrument.

[0048] The following, in conjunction with the accompanying drawings and embodiments, details the specific implementation methods, structure, features, and effects of the instrument access device proposed according to this utility model: First Embodiment like Figures 3 to 7c As shown, the instrument access device includes a wound retractor 61 and a sleeve 62. The wound retractor 61 includes an outer ring 611, a first membrane 612, and an inner ring 613. The first membrane 612 is fixedly connected between the outer ring 611 and the inner ring 613. When the wound retractor is placed at the wound site, the inner ring 613 is embedded in the wound. By retracting the outer ring 611, the length of the first membrane 612 is gradually shortened until the outer ring 611 touches the outer surface of the body wall. In this way, the tissues around the wound can be retracted, allowing the surgical area to be fully exposed. This facilitates the operator to insert surgical instruments into the wound to perform various operations, such as cutting, suturing, or hemostasis, reducing the collision and friction between surgical instruments and surrounding tissues, and lowering the risk of damage to surrounding tissues. The wound retractor 61 maintains the open state of the wound, stably maintaining the retraction effect throughout the entire surgical process, ensuring that the surgical operation can be carried out smoothly and avoiding the impact of wound closure on the surgical progress.

[0049] like Figure 3 and Figure 4 As shown, the sleeve 62 includes a second membrane 621 and a connecting portion 622. One end of the second membrane 621 is fixedly connected to the connecting portion 622, and the other end of the second membrane 621 passes through the first membrane 612 and is fixedly connected to the inner ring 613. The second membrane 621 is provided with at least one auxiliary instrument port 601 for auxiliary instruments to enter the patient's body through the auxiliary instrument port 601. The auxiliary instrument port 601 can be located at the end of the second membrane 621 away from the first membrane 612, or it can be located at the end closer to the first membrane 612. The operating device also includes a remote motion center, through which multiple surgical instruments pass through the second membrane 621 and rotate around the remote motion center. In this embodiment, the first membrane 612 has a first cavity 606, which is a hollow structure. An outer ring 611 has a first port. The second membrane 621 passes through the first port and the first cavity 606 sequentially and connects to an inner ring 613. The inner ring 613 and the first membrane 612 are integrally formed, and the inner ring 613 and the second membrane 621 are also integrally formed. The material of the first membrane 612 can be polyether-based, rubber, or silicone, etc. The second membrane 621 has a second cavity 607, which is a hollow structure. The material of the second membrane 621 can be polyether-based, rubber, or silicone, etc. 1. It has extensibility. Under normal conditions, the second membrane 621 is in a contracted state. When it is necessary to use the instrument access device to cooperate with surgical instruments for treatment, gas is injected into the second cavity 607 of the second membrane 621. The second membrane 621 expands to a set volume to allow the surgical instruments to enter and exit. The second cavity 607 formed by the sleeve 62 is a sealed cavity, which can maintain the injection pressure and prevent the injection gas from leaking. The pressurized and sealed second cavity 607 provides space for the surgical instruments to move, so that the axis of the surgical instruments can be movably connected outside the patient's body to change the angle and position of the surgical instruments and adapt to different surgical operation needs.

[0050] In this invention, one end of the sleeve 62 of the instrument access device is fixedly connected to the connecting part 622, and the other end of the sleeve 62 is connected to the inner ring 613 of the wound retractor 61. The connecting part 622 is directly connected to the instrument guide 63, so that a sealed cavity is formed inside the second membrane 621. The auxiliary instrument port 601 provided on the second membrane 621 can provide an insertion channel for the auxiliary instrument. The sealed cavity can provide sufficient installation space for the auxiliary instrument, which facilitates the operator's surgical operation, avoids the operator making additional holes in the patient's abdomen, reduces the number of incisions, and reduces the risk of infection during or after the operation.

[0051] Preferably, the first membrane 612, the second membrane 621, the outer ring 611 and the inner ring 613 are coaxially arranged, and the length of the second membrane 621 along the axial direction is greater than the length of the first membrane 612 along the axial direction, such that at least a portion of the second membrane 621 overlaps with the first membrane 612, and another portion of the second membrane 621 is used for the insertion, extension and movement of surgical instruments.

[0052] Preferably, when the second membrane 621 is inflated, an angle is formed between the auxiliary device port 601 and the axis of the second membrane 621, which is greater than 0° and less than or equal to 90°. When the auxiliary device port 601 is tilted, i.e., the angle is greater than 0° and less than 90°, it is easier to insert the auxiliary device into the second membrane 621.

[0053] Preferably, an auxiliary device port 601 is provided, and the auxiliary device port 601 is located on the side wall of the second membrane 621.

[0054] In another preferred embodiment, two auxiliary instrument ports 601 are provided. The two auxiliary instrument ports 601 are located on the side wall of the second membrane 621 and are arranged at intervals around the circumference of the second membrane 621. The included angle between the two auxiliary instrument ports 601 is 180 degrees. The two auxiliary instrument ports 601 can be located on the same horizontal plane or can be arranged at different heights.

[0055] In another preferred embodiment, three auxiliary instrument ports 601 are provided, each auxiliary instrument port 601 is disposed on the side wall of the second membrane 621, and the auxiliary instrument ports 601 are arranged at intervals around the circumference of the second membrane 621, with the included angle between any two auxiliary instrument ports 601 being 120 degrees. The three auxiliary instrument ports 601 can be located on the same horizontal plane or arranged at different heights.

[0056] In another preferred embodiment, please refer to Figure 3 The device has four auxiliary instrument ports 601, which are arranged at intervals around the circumference of the second membrane 621, with an included angle of 90 degrees between any two adjacent auxiliary instrument ports 601. The four auxiliary instrument ports 601 can be located on the same horizontal plane or arranged at different heights.

[0057] In another preferred embodiment, there are multiple auxiliary device ports 601, and each auxiliary device port 601 is arranged at intervals around the circumference of the second membrane 621, or each auxiliary device port 601 is arranged at equal intervals around the circumference of the second membrane 621.

[0058] Preferably, each auxiliary instrument port 601 is provided with an internal thread for fixing the instrument.

[0059] like Figure 3 and Figure 4 As shown, the instrument access device is provided with an air inlet 602 and a smoke exhaust port 603. The air inlet 602 and the smoke exhaust port 603 are respectively located on the side wall of the second membrane 621. The air inlet 602 is used to inject air into the second cavity 607 inside the second membrane 621, so that the second membrane 621 expands to a set space size during use, providing space for the surgical instruments to move. The smoke exhaust port 603 is used to discharge water vapor or smoke in the second cavity 607 out of the instrument access device. The second membrane 621 is preferably a single-layer membrane or a double-layer membrane. When the second membrane 621 is a single-layer membrane, the auxiliary device port 601, the air inlet 602, and the smoke outlet 603 pass through the membrane layer and communicate with the second cavity 607. When the second membrane 621 is a double-layer membrane, the second membrane 621 includes an inner membrane layer and an outer membrane layer that are arranged opposite to each other. The second cavity 607 is disposed in the inner membrane layer. The auxiliary device port 601, the air inlet 602, and the smoke outlet 603 pass through the outer membrane layer and the inner membrane layer, respectively, and communicate with the second cavity 607. The auxiliary device port 601, air inlet 602, and smoke outlet 603 are arranged circumferentially around the second membrane 621. The heights of the auxiliary device port 601, the air inlet 602, and the smoke outlet 603 from the outer ring 611 are all the same; or the heights of the auxiliary device port 601, the air inlet 602, and the smoke outlet 603 from the outer ring 611 are all different.

[0060] In another preferred embodiment, the height of the auxiliary device port 601 from the outer ring 611 is the same as the height of the air inlet 602 from the outer ring 611, but the height of the auxiliary device port 601 from the outer ring 611 is different from the height of the smoke exhaust port 603 from the outer ring 611.

[0061] In another preferred embodiment, the height of the auxiliary device port 601 from the outer ring 611 is the same as the height of the exhaust port 603 from the outer ring 611, but the height of the auxiliary device port 601 from the outer ring 611 is different from the height of the air inlet 602 from the outer ring 611.

[0062] In this embodiment, the auxiliary device port 601, air inlet 602, and exhaust port are respectively located on the side wall of the second membrane 621, which has a simple structure and is easy to operate.

[0063] Preferably, the instrument access device further includes an instrument guide 63, which provides an accurate guiding path for the surgical instruments to enter the body, ensuring that the surgical instruments can enter in the predetermined direction and position, improving the precision of the surgical operation, enabling the surgical instruments to reach the surgical area more accurately, and reducing unnecessary damage to surrounding tissues. In the case of multiple surgical instruments, the instrument guide 63 guides and arranges them in an orderly manner, avoiding mutual interference and collisions between the instruments. It also helps maintain the stability and accuracy of the surgical instruments during entry, reducing shaking and deviation. The instrument guide 63, together with the sleeve 62, wound retractor 61, and other structures, forms a complete operating device, making the entire surgical process smoother and more efficient. In this embodiment, the wound retractor 61 retracts the tissue around the wound, and the second membrane 621, in conjunction with the instrument guide 63, can reduce the incision diameter, adhering to the principle of minimal invasiveness in minimally invasive surgery, reducing the difficulty of postoperative recovery and the risk of complications for the patient. The second membrane 621 can adapt to different instrument guides 63, improving the smoothness of the surgery and reducing the difficulty of operation for the surgeon.

[0064] Preferably, the instrument guide 63 is provided with a groove 604, which is arranged circumferentially around the tube body 631. The cross-section of the groove 604 is, for example, arc-shaped or rectangular. When the instrument guide 63 is partially installed in the second membrane body 621, the connecting part 622 is arranged in the groove 604, and the groove 604 is provided on the tube body 631 of the instrument guide 63. For example, the groove 604 is provided at half the length of the tube body 631, or at one-third of the end of the tube body 631 near the inner ring 613, or at two-thirds of the end of the tube body 631 near the inner ring 613, etc., but it is not limited to these.

[0065] In another preferred embodiment, the instrument guide 63 includes a guide end 632, which is located on the proximal side of the instrument guide 63. The proximal side is defined as the end away from the wound retractor 61. A groove 604 is located on the guide end 632.

[0066] Please refer to Figure 3 As shown, a pull rope 623 is fixedly connected to the connecting part 622. The connecting part 622 is connected to the instrument guide 63 through the pull rope 623. The pull rope 623 can be, for example, an elastic rope or a non-elastic rope, as long as it can fix the connecting part 622 to the tube body 631 of the instrument guide 63.

[0067] In another preferred embodiment, please refer to Figures 7a to 7cAs shown, the connecting part 622 is fixedly connected to a buckle 624, and the instrument guide 63 is provided with a groove that mates with the buckle 624. The buckle 624 mates with the groove to connect the connecting part 622 to the instrument guide 63; or the instrument guide 63 is provided with a fixing member, and the buckle 624 mates with the fixing member to connect the connecting part 622 of the sleeve 62 to the instrument guide 63. The buckle 624 is preferably a threaded buckle 624, a plug-in buckle 624, or a locking type, etc., and the fixing member is a structural component that can be correspondingly connected to the buckle 624. The buckle 624 can be connected to the outer side, top side, or inner side of the connecting part 622. The outer side refers to the outside of the second cavity 607, the inner side refers to the inside of the second cavity 607, and the top side refers to the end of the connecting part 622 away from the inner ring 613.

[0068] Please refer to Figure 6b As shown, the second membrane 621 is columnar under pressure after gas injection. Specifically, the second membrane 621 includes a first end 6211, a middle part 6212, and a second end 6213 that are fixedly connected in sequence. The first end 6211 is located near the outer ring 611, and the second end 6213 is located near the inner ring 613. When gas is injected into the second membrane 621, the inner diameter of the first end 6211, the inner diameter of the middle part 6212, and the inner diameter of the second end 6213 are all equal.

[0069] In another preferred embodiment, please refer to Figure 6a , Figures 6c to 6f As shown, when the second membrane 621 is pressurized after gas injection, it takes the shape of a spherical, barrel-shaped, or cylindrical corrugated tube. The cylindrical corrugated shape can be formed by two or more bowl-shaped structures, for example, as... Figure 6d As shown, when the cylindrical corrugated structure is formed by two bowl-shaped structures, the ends of the two bowl-shaped structures with the larger inner diameters are connected to each other. This implies that the two bowl-shaped structures are either integrally molded or fixed together using adhesive. Figure 6f As shown, when the cylindrical corrugated structure is formed by multiple bowl-shaped structures, the ends of each bowl-shaped structure with larger inner diameters are connected to each other, and the ends of each bowl-shaped structure with smaller inner diameters are also connected to each other. The bowl-shaped structures are integrally formed or fixedly connected by adhesive. Each bowl-shaped structure includes a first connecting end 6214 and a second connecting end 6215 that are fixedly connected. The first connecting end 6214 and the second connecting end 6215 are integrally formed. The inner diameter of the first connecting end 6214 is smaller than the inner diameter of the second connecting end 6215. After inflation, the inner diameter of the bowl-shaped structure gradually increases from the first connecting end 6214 towards the second connecting end 6215, and the connection between the first connecting end 6214 and the second connecting end 6215 is not arc-shaped after inflation.

[0070] The instrument access device also includes a pulling part 614, which is fixedly connected to the inner ring 613 via a connecting line 615. After the surgical operation is completed, the operator can pull the pulling part 614 to pull the wound retractor 61 and the sleeve 62 out of the wound together. The pulling part 614 is, for example, a ring-shaped structure or a plate-shaped structure, made of rigid or flexible materials, such as steel wire or rubber. The connecting line 615 is preferably made of a flexible material that will not damage the tissue.

[0071] Second Embodiment The device access device in this embodiment is structurally similar to the device access device in the first embodiment, except that the connection part 622 of the sleeve 62 is assembled in a different position.

[0072] Specifically, the instrument access device also includes a trocar, which is connected to the instrument guide 63. The trocar has a mounting groove, and the connecting part 622 of the sleeve 62 is disposed in the mounting groove and is fixedly connected to the trocar by the pull cord 623 or the buckle 624 of the sleeve 62 to achieve the sealing of the second cavity 607. Alternatively, the connecting part 622 can be fixed to the outer surface of the trocar by means of elastic connection, interference fit, friction fit, etc. In this embodiment, the trocar is a commonly used tool in surgical robots for abdominal or thoracic surgery. The function of the trocar is to guide surgical instruments to the surgical area in the abdominal or thoracic cavity during surgery. The trocar can be quickly installed and removed on the robotic arm 11, which is convenient and fast.

[0073] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the appended claims.

Claims

1. A medical device access device, characterized in that, The device includes a wound retractor (61) and a sleeve (62). The wound retractor (61) includes an outer ring (611), a first membrane (612) and an inner ring (613). The first membrane (612) is fixedly connected between the outer ring (611) and the inner ring (613). The sleeve (62) includes a second membrane (621) and a connecting part (622). One end of the second membrane (621) is fixedly connected to the connecting part (622), and the other end of the second membrane (621) passes through the first membrane (612) and is fixedly connected to the inner ring (613). The second membrane (621) is provided with at least one auxiliary device port (601) for the auxiliary device to enter the patient's body through the auxiliary device port (601).

2. The medical device access device as described in claim 1, characterized in that, The first membrane (612), the second membrane (621), the outer ring (611), and the inner ring (613) are coaxially arranged.

3. The medical device access device as described in claim 2, characterized in that, The length of the second membrane (621) along the axial direction is greater than the length of the first membrane (612) along the axial direction.

4. The instrument access device as described in claim 1, characterized in that, When the second membrane (621) is inflated, an angle is formed between the auxiliary device port (601) and the axis of the second membrane (621), the angle being greater than 0° and less than or equal to 90°.

5. The instrument access device as described in claim 1, characterized in that, The auxiliary instrument port (601) is provided in two places, and the two auxiliary instrument ports (601) are arranged at intervals around the circumference of the second membrane (621); Alternatively, the auxiliary device port (601) may be provided in three parts, and each of the auxiliary device ports (601) may be arranged at intervals around the circumference of the second membrane (621); Alternatively, multiple auxiliary device ports (601) may be provided, with each auxiliary device port (601) arranged at intervals around the circumference of the second membrane (621).

6. The instrument access device as described in claim 1 or 4, characterized in that, The device access device is provided with an air inlet (602) and a smoke outlet (603), which are respectively located on the side wall of the second membrane (621).

7. The instrument access device as described in claim 6, characterized in that, The auxiliary device port (601), the air inlet (602), and the smoke outlet (603) are arranged circumferentially around the second membrane (621).

8. The instrument access device as described in claim 1, characterized in that, The instrument access device further includes an instrument guide (63), which has a groove (604). When the instrument guide (63) is partially installed in the second membrane (621), the connecting part (622) is disposed in the groove (604).

9. The instrument access device as described in claim 8, characterized in that, The groove (604) is provided in the tube body (631) of the instrument guide (63). Alternatively, the instrument guide (63) may include a guide end (632), which is located on the proximal side of the instrument guide (63), defined as the end opposite to the wound retractor (61), and the groove (604) is located on the guide end (632).

10. The instrument access device as described in claim 9, characterized in that, The connecting part (622) is fixedly connected to a pull rope (623), and the connecting part (622) is connected to the instrument guide (63) through the pull rope (623); Alternatively, the connecting part (622) may be fixedly connected to a buckle (624), and the instrument guide (63) may be provided with a slot or fixing member that cooperates with the buckle (624). The buckle (624) cooperates with the slot to connect the connecting part (622) to the instrument guide (63), or the buckle (624) cooperates with the fixing member to connect the connecting part (622) to the instrument guide (63).

11. The instrument access device as described in claim 1, characterized in that, The second membrane (621) and the inner ring (613) are integrally formed.

12. The instrument access device as described in claim 1, characterized in that, The second membrane (621) is columnar, spherical, barrel-shaped or columnar corrugated tube-shaped under pressure after gas injection.

13. A surgical robot, characterized in that, The surgical robot includes a main console (20) and a slave operating device (10). The main console (20) is used to send control commands to the slave operating device (10) to control the slave operating device (10). The slave operating device (10) is used to respond to the control commands sent by the main console (20) to perform surgical operations. The slave operating device (10) includes a robotic arm (11), surgical instruments mounted on the robotic arm (11), and an instrument access device as described in any one of claims 1 to 12 for guiding the surgical instruments.

14. The surgical robot as described in claim 13, characterized in that, The operating device (10) includes a remote motion center (116) through which a plurality of surgical instruments pass through the second membrane (621) and rotate around the remote motion center (116).

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