CN115300072A - Stab card sealing device and minimally invasive surgery robot - Google Patents

Abstract

The application discloses stab card sealing device and minimally invasive surgery robot, wherein, a stab card sealing device, including channel unit and can dismantle the card sealing of stabbing who sets up on channel unit, stab card sealing is including sealed upper plate, with sealed upper plate fixed connection's sealed hypoplastron, with sealed upper plate, the apparatus via hole that sealed hypoplastron link up, in the embodiment of the application, adopt foretell card sealing device that stabs, stab card sealing part comprises sealed upper plate and sealed hypoplastron, moreover, the steam generator is simple in structure, the part is small in quantity, manufacturing and assembly require lowly, and guarantee the sealing performance between sealed upper plate and the sealed hypoplastron through the upper seal circle, guarantee to stab the sealing performance between card sealing and the channel unit through the lower seal circle, when applying the pneumoperitoneum at the minimally invasive surgery in-process, can prevent gas leakage, guarantee the atmospheric pressure in the belly.

Description

Stab card sealing device and minimally invasive surgery robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a poking card sealing device and a minimally invasive surgery robot.

Background

The minimally invasive surgery is a surgery mode for performing surgery inside a human body cavity by using modern medical instruments such as a laparoscope and a thoracoscope and related equipment, and has the advantages of small wound, light pain, quick recovery and the like compared with the traditional surgery mode. However, in the minimally invasive surgery, since the minimally invasive instrument is limited by the size of the incision, the difficulty of the surgical operation is greatly increased, and the actions of fatigue, trembling and the like of a doctor in the long-time surgical process are amplified, which becomes a key factor restricting the development of the minimally invasive surgery technology. With the development of the robot technology, a novel minimally invasive surgery robot technology, which can overcome the defects and inherit the advantages, in the minimally invasive medical field, is produced.

In robotic-assisted minimally invasive surgical procedures, a dedicated channel is typically created by a stab card, into which a surgeon performs surgical tasks within the abdominal cavity of the body with the aid of elongated minimally invasive surgical instruments. In order to increase the space between the abdominal wall and the internal organs, the abdominal cavity is usually filled with carbon dioxide, and in this case, the dedicated channel is required to be closed in both the insertion state and the withdrawal state of the instrument, so that the carbon dioxide does not leak, and therefore, a reasonable sealing structure design for the poke card is required.

Chinese patent application No. CN109788971A discloses a cannula assembly for robot-assisted pressure regulating laparoscopic surgery, which comprises an adaptor assembly formed by fastening an upper housing and a lower housing, wherein latches for fixing the adaptor assembly to the cannula are provided on both sides of a cover of the upper housing.

However, the above-mentioned cannula assembly for robotic-assisted pressure regulated laparoscopic surgery suffers from at least the following technical drawbacks:

1. the adapter component has more parts and complex structure, the upper shell and the lower shell are buckled, and the requirements on processing, manufacturing and assembling are high;

2. the latch is an integrated component, large force is required for unlocking, the use is inconvenient, and deformation can be generated after long-time use, so that the stability of locking is reduced, even the locking cannot be realized;

3. the duckbill type sealing piece is used for sealing the instrument channel, but the phenomenon of air leakage between the sealing piece and the upper shell can also occur, and the sealing effect is difficult to ensure.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a poking card sealing device with simple structure and good sealing performance and a minimally invasive surgery robot.

In order to achieve the above object, the present invention is achieved by the following technical solutions.

Firstly, the application provides a sealing device of a poking card, which comprises a channel assembly, a poking card sealing part and a locking assembly, wherein the poking card sealing part is detachably arranged on the channel assembly;

the poking and clamping sealing part comprises a sealing plate and an instrument through hole communicated with the sealing plate, the channel assembly is sleeved on the sealing plate, and a lower sealing ring which is respectively abutted to the inner peripheral surface of the sealing plate and the inner peripheral surface of the channel assembly is arranged between the sealing plate and the channel assembly.

Further defined, the sealing plate of the poking card sealing device, wherein the sealing plate comprises an upper sealing plate and a lower sealing plate fixedly connected with the upper sealing plate;

the channel assembly is sleeved on the sealing lower plate, and the lower sealing ring is located between the sealing lower plate and the channel assembly.

Further, in the sealing device for a stab card, an upper sealing ring is disposed between the upper sealing plate and the lower sealing plate, and the upper sealing ring and the lower sealing ring are abutted against the upper sealing plate and the lower sealing plate respectively.

Further defined, the sealing device of the above mentioned poke card, wherein the sealing upper plate includes:

an upper plate main body;

the connecting bulge is fixedly arranged on the end face of one side of the upper plate main body, which is far away from the lower sealing plate;

wherein, the apparatus via hole with connect protruding the link up, stab card seal portion still including the cover establish connect protruding last and detachable seal receptacle.

Further defined, the sealing device of the above mentioned poke card, wherein the sealing upper plate includes:

the positioning column is fixedly arranged on the end face of one side, close to the lower sealing plate, of the upper plate main body and is used for connecting and positioning the upper sealing plate and the lower sealing plate;

and the sealing lower plate is provided with a positioning hole which is matched and spliced with the positioning column.

Further defined, the sealing device for a stamp card as described above, wherein the sealing device for a stamp card further comprises:

the inflation interface is fixedly arranged on the sealing plate, is communicated with the instrument through hole and is used for inflating the instrument through hole;

the valve body is arranged on the inflation connector and used for controlling the gas flow of the inflation connector.

Further defined, the sealing device for a poking card, wherein the sealing part for a poking card further comprises:

the ferromagnetic part is arranged on the inner wall of the instrument through hole;

the gasket, the activity sets up in the apparatus crosses the downthehole and can with ferromagnetic portion actuation.

Further defined, the stab seal of the above, wherein the channel assembly comprises a transition sleeve for connecting the stab seal, a snap seat fixedly disposed on the transition sleeve for connecting an instrument motion platform, a sleeve fixedly disposed on the transition sleeve and in communication with the transition sleeve;

the locking assembly comprises a locking button and a flange edge, the locking button is elastically and rotatably arranged on the sealing part of the poking card, and the flange edge is fixedly arranged on the transition sleeve;

wherein, the locking button can be buckled with the flange edge.

Further defined, in the sealing device for the stab card, two locking buttons are symmetrically arranged on the sealing part for the stab card.

Secondly, this application provides a minimal access surgery robot, its characterized in that adopts as above any one stab card sealing device, still include doctor's master control platform, follow operating means includes the base and sets up on the base and can the multi freedom motion hold the arm, it is equipped with the apparatus motion platform to hold the arm, stab card sealing device and set up on the apparatus motion platform.

The invention has at least the following beneficial effects:

1. the sealing performance between the sealing part of the poking card and the channel assembly is ensured through the lower sealing ring, and when pneumoperitoneum is applied in the minimally invasive surgery process, air leakage can be prevented, and air pressure in the abdomen is ensured;

2. the poking card sealing part consists of an upper sealing plate and a lower sealing plate, has simple structure, less parts and low requirements on processing, manufacturing and assembly, and effectively ensures the sealing performance between the upper sealing plate and the lower sealing plate through an upper sealing ring;

3. the locking button capable of elastically rotating is matched and buckled with the flange edge, so that the sealing part of the poking card is connected with the channel assembly, the acting force for unlocking the poking card by pressing the locking button is smaller than that of a latch structure, and the locking and the unlocking are simple and convenient.

Drawings

FIG. 1 is a schematic structural diagram of a minimally invasive surgical robot according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a sealing device of a poking card according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a sealing device of a poking card according to an embodiment of the present application;

FIG. 4 is an enlarged schematic view of a "locking assembly" portion of the sealing device of the poke card of the present application;

FIG. 5 is an exploded view of the sealing device of the poking card according to the embodiment of the present application;

fig. 6 is a schematic structural view of a "sealing portion 11" of the sealing device for a card of the present embodiment;

FIG. 7 is an exploded view of the "sealing portion 11" of the sealing device for a poking card according to the embodiment of the present invention;

fig. 8 is an exploded view of the structure of the "sealing upper plate 111" of the sealing device of the poking card according to the embodiment of the present application;

FIG. 9 is an exploded view of the "locking button 114" of the sealing device of the poke card of the present application;

FIG. 10 is a schematic view of the structure of the "abutment body 1144" portion of the sealing device of the present application;

FIG. 11 is a schematic structural view of a "marble ejector 117" of the sealing device of the present application;

fig. 12 is a schematic cross-sectional view of a "marble ejector 117" of the sealing device of the present application;

fig. 13 is a schematic structural view of the "locking assembly" in a locked and unlocked state when the "abutting body 1144" of the sealing device of the poking card of the embodiment of the present application adopts a combined planar structure;

fig. 14 is a schematic structural view of the "locking assembly" in an unlocked state when the "abutting body 1144" of the sealing device for a poking card according to the embodiment of the present application adopts a circular arc surface structure;

fig. 15 is a schematic structural view of the sealing lower plate 112 of the sealing device "of the poking card according to the embodiment of the present application;

fig. 16 is a schematic cross-sectional view of the sealing lower plate 112 of the sealing device for a stab card according to an embodiment of the present application.

Reference numerals

The sealing device comprises a sealing device-10 of a poking card, a sealing part-11 of the poking card, a sealing seat-110, a sealing upper plate-111, an upper plate main body-1110, a connecting protrusion-1111, a first instrument through hole-1112, a positioning column-1113, a mounting hole-1114, a ferromagnetic part-1115, a limiting step-1116, a limiting lug-1117, a sealing lower plate-112, a lower plate main body-1120, an inflation interface-1121, a valve body-1122, a positioning hole-1123, a second instrument through hole-1124, a first annular sealing groove-1125, a connecting lug-1126, a first shaft hole-1127, a second annular sealing groove-1128, a sealing plate-113, a locking button-114, a lifting upright post 40 of the button main body-11, a rotating shaft-1141, a second shaft hole-1142, a buckling body-1143, an abutting body-1144, an unlocking plane-1144 a, a locking plane-1144 b, a transition arc surface-1144 c, an upper sealing ring-115, a lower sealing ring-116, a push rod ball-117, a main body-1171, a limiting sleeve-1172, a spring sleeve-1173, a transition plane-1174, a transition ring-1173, a spring-1174, a handle-pushing assembly, a handle-pushing arm assembly, a handle-20-and a handle-arm assembly.

Detailed Description

The technical solutions in the embodiments of the present application will be described below clearly with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present disclosure.

The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/", and generally means that the former and latter related objects are in an "or" relationship.

The stab card sealing device and the minimally invasive surgery robot provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios thereof.

As shown in fig. 1, the present embodiment provides a minimally invasive surgery robot, which includes a doctor console (not shown in the figure) and a slave operation device, wherein the doctor console is a control center of the minimally invasive surgery robot, a surgeon sits at a doctor control platform, and the slave operation device is controlled by two master hands and two foot pedals with eyes, hands and feet.

The slave operation equipment is an execution part of the minimally invasive surgery robot and is used for converting a doctor instruction into an operation action of a surgical instrument, and the slave operation equipment comprises a base 60, wherein a lifting upright post 40 and a cart handle 50 are arranged on one side, away from the bottom surface, of the base 60, a lifting mechanical holding arm 30 is arranged on the lifting upright post 40, an instrument connecting part is arranged at one end, away from the lifting upright post 40, of the mechanical holding arm 30, and the instrument connecting part comprises an instrument motion platform 20 and a poking and clamping sealing device 10 arranged on the instrument motion platform 20.

It is understood that the slave operation device comprises a plurality of holding arms 30 and a mirror holding arm, that is, the holding arms 30 and the instrument connecting part of the general slave operation device are provided with a plurality of arms, and only one holding arm 30 is shown in fig. 1 for concisely expressing specific technical features of the minimally invasive surgical robot.

As shown in fig. 2 to 16, an embodiment of the present application provides a sealing device 10 for a poking card, which includes a channel assembly 12 and a poking card sealing portion 11 detachably disposed on the channel assembly 12, wherein a locking assembly for connecting the poking card sealing portion 11 with the channel assembly 12 is disposed on the poking card sealing portion 11.

The seal part 11 of the poking card comprises a seal plate, the seal plate comprises a seal upper plate 111 and a seal lower plate 112 connected with the seal upper plate 111, the seal upper plate 111 comprises an upper plate main body 1110, the upper plate main body 1110 is far away from one side end face of the seal lower plate 112 and is provided with a connecting bulge 1111, the connecting bulge 1111 is provided with a first instrument through hole 1112 penetrating through the upper plate main body 1110, the seal lower plate 112 comprises a lower plate main body 1120, the lower plate main body 1120 is provided with a second instrument through hole 1124 communicating with the first instrument through hole 1112 in a penetrating manner, the lower plate main body 1120 is close to one side end face of the seal upper plate 111 and is provided with a first annular seal groove 1125 surrounding the corresponding side opening of the second instrument through hole 1124, and an upper seal ring 115 capable of abutting against the side end face of the seal lower plate 112 and is arranged in the first annular seal groove 1125.

It can be understood that the sealing plate is composed of the upper sealing plate 111 and the lower sealing plate 112 for reducing the processing difficulty, and if the sealing plate is set as a whole, the first annular sealing groove 1125 and the upper sealing ring 115 are not required to be set, the sealing performance can be ensured by the whole structure of the sealing plate, but the manufacturing difficulty can be greatly improved, thereby improving the manufacturing cost.

In the embodiment of the present application, the sealing device 10 for poking card is adopted, the sealing portion 11 of poking card is composed of the upper sealing plate 111 and the lower sealing plate 112, the structure is simple, the number of parts is small, the requirements for processing, manufacturing and assembling are low, the sealing performance between the upper sealing plate 111 and the lower sealing plate 112 can be ensured through the upper sealing ring 115, and when the pneumoperitoneum is applied in the minimally invasive surgery process, the air leakage can be prevented, and the air pressure in the abdomen can be ensured.

In a preferred embodiment, the upper sealing plate 111 and the lower sealing plate 112 are integrated by ultrasonic welding, it is understood that the connection manner of the upper sealing plate 111 and the lower sealing plate 112 is not limited to the above, for example, the upper sealing plate 111 and the lower sealing plate 112 may be connected by bolts, or the upper sealing plate 111 and the lower sealing plate 112 may be fixed by adhesion, as long as the sealing performance between the upper sealing ring 115 and the upper sealing plate 111 and the lower sealing plate 112 can be ensured, and the ultrasonic welding manner in the above scheme is to further improve the firmness and the sealing performance between the upper sealing plate 111 and the lower sealing plate 112.

In a preferred embodiment, as shown in fig. 9, the upper plate body 1110 is disc-shaped, the upper plate body 1110 has four positioning pillars 1113 fixed on the sealing lower plate 112 and arranged in a circular array around its axis on one side end surface, and the lower plate body 1120 has four positioning holes 1123 for inserting the positioning pillars 1113 on the sealing upper plate 111 and arranged on the side end surface, corresponding to the four positioning pillars 1113, on the side end surface, it is understood that the inserting fit between the positioning pillars 1113 and the positioning holes 1123 is to position the sealing upper plate 111 and the sealing lower plate 112 when they are connected, so the four positioning pillars 1113 may be in a uniform array or in a non-uniform array, and the number of the positioning pillars 1113 and the positioning holes 1123 is not limited as long as the connecting positioning between the sealing upper plate 111 and the sealing lower plate 112 can be realized.

In a preferred embodiment, as shown in fig. 5, the poke card sealing portion 11 further includes a sealing seat 110 sleeved on the connection protrusion 1111 and a sealing plate 113 movably disposed in the first instrument through hole 1112 or the second instrument through hole 1124, wherein the sealing seat 110 and the connection protrusion 1111 can be connected by screw, welding or other fixed connection methods, a limit step 1116 is disposed on an inner wall of the first instrument through hole 1112, a ferromagnetic portion 1115 is embedded on an end surface of the limit step 1116 near the sealing lower plate 112, and the sealing plate 113 can be magnetically attracted to the ferromagnetic portion 1115.

The sealing upper plate 111 and the sealing lower plate 112 are made of plastic material, the sealing piece 113 and the ferromagnetic part 1115 are made of ferromagnetic material and can be magnetically adsorbed, and the specific working principle of the sealing piece 113 and the ferromagnetic part 1115 can refer to the corresponding structures in the sleeve sealing device, the sleeve assembly and the minimally invasive surgery robot of the prior patent application CN 114098924A. It can be understood that the whole limiting step can be made of ferromagnetic material.

It will be appreciated that instead of the sealing plate 113 engaging the ferromagnetic portion 1115, the entire retention step 1116 may be provided as a ferromagnetic material, with the sealing plate 113 being capable of magnetically engaging the retention step 1116.

In a preferred embodiment, as shown in fig. 15 and 16, an inflation interface 1121 which is communicated with the second instrument through hole 1124 is disposed on the lower plate main body 1120, and a valve body 1122 is disposed on the inflation interface 1121, wherein the inflation interface 1121 is used for inflating the abdomen of the patient to form pneumoperitoneum and continuously inflating air during the operation to prevent pneumoperitoneum failure, since a large air flow rate is required in the pneumoperitoneum preparation stage before the operation starts, and a small air flow rate is required during the operation, the opening and closing of the inflation interface 1121 can be controlled by the valve body 1122 to adjust the air flow rate of the inflation interface 1121.

It is understood that the inflation port 1121 may also be disposed on the upper plate body 1110 and connected to the first instrument through hole 1112, or directly disposed on the channel assembly 12, and is mainly used for inflating the abdomen of the patient to form pneumoperitoneum and continuously supplying air during the operation to prevent pneumoperitoneum failure, as long as the above functions are satisfied, and the disposition position thereof is not limited.

In a preferred embodiment, as shown in fig. 5, the channel assembly 12 includes a transition sleeve 121 for connecting to the poke seal 11, a clamping seat 122 for connecting to the instrument movement platform 20 is fixedly disposed on the transition sleeve 121, and a sleeve 123 is further connected to an end of the transition sleeve 121 far from the poke seal 11.

The lower plate main body 1120 is disc-shaped, as shown in fig. 2 and 3, the transition sleeve 121 is sleeved on the lower plate main body 1120, a second annular sealing groove 1128 is arranged on an outer circumferential surface of a matching portion of the lower plate main body 1120 and the transition sleeve 121, a lower sealing ring 116 is arranged in the second annular sealing groove 1128, and when the transition sleeve 121 is sleeved on the lower plate main body 1120, the lower sealing ring 116 abuts against an inner circumferential surface of the transition sleeve 121.

In the embodiment of the present application, the sealing performance between the transition sleeve 121 and the lower plate main body 1120 is ensured by the lower sealing ring 116 disposed between the transition sleeve 121 and the lower plate main body 1120, so that when pneumoperitoneum is applied in a minimally invasive surgery process, air leakage is further prevented, and air pressure in the abdomen is ensured.

It is understood that the manner of engaging the lower plate body 1120 with the transition sleeve 121 is not limited to the above-mentioned one, and in the case that the dimensions of the second instrument through hole 1124 and the transition sleeve 121 allow, the lower plate body 1120 may be sleeved on the transition sleeve 121, and the second annular seal groove 1128 may be disposed on the inner wall of the second instrument through hole 1124 or on the outer surface of the transition sleeve 121, and this embodiment adopts the above-mentioned structure in order to engage the locking assembly structure between the card seal 11 and the channel assembly 12.

The embodiment of the application provides a locking assembly, as shown in fig. 8, including symmetry and can press elasticity and rotate two locking button 114 that set up on stabbing card sealing 11, transition sleeve 121 is close to and fixedly is equipped with flange limit 120 on 11 a side terminal surface, locking button 114 can with flange limit 120 lock in order to realize stabbing card sealing 11 and being connected of passageway subassembly 12.

The locking assembly comprises two groups of connecting lugs 1126 symmetrically arranged on the lower plate main body 1120, each group of connecting lugs 1126 comprises two lugs which are parallel to each other and fixedly arranged on the outer circular surface of the lower plate main body 1120, a first shaft hole 1127 is vertically arranged on each corresponding group of two connecting lugs 1126 in a penetrating manner, the locking button 114 comprises a rotating shaft 1141 which is elastically and rotatably arranged in the corresponding first shaft hole 1127, a button main body 1140 which is arranged between the two connecting lugs 1126 in the corresponding position is fixedly arranged on the rotating shaft 1141, a second shaft hole 1142 is arranged on the button main body 1140 in a penetrating manner, the rotating shaft 1141 is fixedly arranged in the second shaft hole 1142 in a penetrating manner, a buckling body 1143 is arranged at one side end, close to the channel assembly 12, of the button main body 1140, and the buckling body 1143 is hook-shaped and can be abutted against the end surface of one side, far away from the poking sealing part 11, of the flange edge 120 under the rotating elasticity of the button main body 1140 so as to realize buckling with the channel assembly 12.

In the embodiment of the present application, the poking card sealing device 10 described above is adopted, and the locking button 114 capable of elastically rotating is matched and fastened with the flange edge 120, so as to realize the connection between the poking card sealing part 11 and the channel assembly 12, wherein the acting force for unlocking by pressing the locking button 114 is smaller than that of a latch structure, and the locking and unlocking are simple and convenient.

The locking assembly further comprises a marble ejector rod 117 for providing rotation elasticity for the locking button 114, as shown in fig. 11 and 12, the marble ejector rod 117 comprises two mounting holes 1114 arranged on the outer circular surfaces of the corresponding positions of the upper plate body 1110 relative to the two locking buttons 114, an ejector rod body 1171 is embedded in the mounting holes 1114, a stroke cavity 1174 with an opening facing to one side far away from the upper plate body 1110 is arranged in the ejector rod body 1171, an unlocking marble 1173 is arranged in the stroke cavity 1174 in a sliding mode, a return spring 1175 is arranged between the outer surface of one side, close to the upper plate body 1110, of the unlocking marble 1173 and the inner wall of one side, close to the upper plate body 1110, of the stroke cavity 1174, the end, far away from the upper plate body 1110, of the ejector rod body 1171 protrudes out of the upper plate body 1110, and is provided with a limit sleeve 1172 in a threaded connection mode, wherein the return spring 1175 is in a compression state, and the limit sleeve 1172 is used for limiting the unlocking marble 1173.

It can be understood that the stroke cavity 1174 can also be directly formed in the upper plate body 1110, but since the unlocking marble 1173 needs to be limited, if the stroke cavity 1174 is directly formed in the upper plate body 1110, the limit sleeve 1172 cannot be directly installed, and a thread protrusion or other connecting structures for installing the limit sleeve 1172 need to be additionally arranged on the upper plate body 1110, so that the manufacturing cost of the upper plate body 1110 is increased, and the marble ejector rod 117 can be conveniently installed and replaced by adopting the matching structure of the ejector rod body 1171 and the upper plate body 1110.

An abutting body 1144 is arranged at one side end of the button main body 1140, which is far away from the channel assembly 12, and the abutting body 1144 is positioned at one side end face of the button main body 1140, which is close to the sealing upper plate 111 and can abut against the unlocking marble 1173 at the corresponding position.

As shown in fig. 13, when the fastening body 1143 is fastened to the flange 120, the seal portion 11 of the poking card is fixedly connected to the channel assembly 12, the abutting body 1144 is just abutted to the unlocking ball 1173, the return spring 1175 is in a compressed state, the unlocking ball 1173 is protruded 1474 by the limiting portion of the limiting sleeve 1172, when the button main body 1140 is pressed to enable the abutting body 1144 to press the unlocking ball 1173, the unlocking ball 1173 moves to a side close to the upper plate main body 1110, the return spring 1175 is further compressed to accumulate elastic potential energy, the button main body 1140 rotates to drive the fastening body 1143 to be detached from the flange 120, so that the seal portion 11 of the poking card is detached from the channel assembly 12, and when the button main body 1140 is released, the unlocking ball 1173 is reset under the elastic force of the return spring 1175, so as to push the button main body 1140 to reset, and the fastening body 1143 and the flange 120 are fastened to the button main body 1140.

In the embodiment of the present application, the card poking sealing device 10 is adopted, and the unlocking marble 1173 which is abutted against the locking button 114 and can elastically slide provides elastic potential energy for the locking button 114, so that the matching structure is stable, the stability of the elastic force can be maintained in the long-term use process, the locking stability of the locking button 114 is effectively prevented from being reduced, and the reliability is high.

It can be understood that, when the fastening body 1143 is fastened to the flange 120, the return spring 1175 may also be set to have no elastic potential energy, and at this time, the above purpose can be achieved, but the return spring 1175 is compressed in advance to increase the pressing force for moving the unlocking marble 1173, so as to prevent the fastening body 1143 from being accidentally disengaged from the flange 120, and improve the fastening strength and stability of the fastening body 1143 and the flange 120.

In a preferred embodiment, as shown in fig. 10, the abutting body 1144 includes a locking plane 1144b disposed on a side of the abutting body 1144 close to the upper sealing plate 111, a transition curved surface 1144c connected to the locking plane 1144b and located on a side of the locking plane 1144b close to the channel assembly 12, and an unlocking plane 1144a connected to the locking plane 1144b and located on a side of the locking plane 1144b away from the channel assembly 12, wherein, as shown in fig. 13, the locking plane 1144b abuts against the unlocking ball 1173 in the locking state, a connecting line between the abutting point of the locking plane 1144b and the abutting point of the unlocking ball 1173 and the ball center of the unlocking ball 1173 is perpendicular to the locking plane 1144b, the unlocking plane 1144a deflects to the side close to the button body 1140 relative to the locking plane 1144b, and in the unlocking state, the unlocking plane 1144a connecting line between the abutting point of the unlocking ball 1173 and the ball center of the unlocking ball 1173 is perpendicular to the locking plane 1144a connecting line between the unlocking ball 1144a abutting point and the unlocking ball center in the unlocking ball 1173 in a certain state.

It can be understood that the above-mentioned certain state refers to a certain time state when the unlocking plane 1144a abuts against the unlocking marble 1173 in the unlocking process, and since the button main body 1140 is pressed and rotated, the abutting point between the unlocking plane 1144a and the unlocking marble 1173 is also constantly changed, and at a certain abutting point, for example, when the fastening body 1143 is just separated from the flange edge 120 or the movement of the unlocking marble 1173 is limited, the abutting point can satisfy the positional relationship between the unlocking plane 1144a and the unlocking marble 1173.

Of course, in a certain state of the unlocking process, the intersection line of the unlocking plane 1144a and the locking plane 1144b may abut against the unlocking ball 1173.

In the embodiment of the present application, with the above-mentioned sealing device 10 for a poking card, by the matching of the unlocking plane 1144a and the locking plane 1144b, when the button body 1140 rotates, the abutting point of the abutting body 1144 and the unlocking ball 1173 is always approximately located at the intersection point of the outer circular surface of the unlocking ball 1173 far away from the upper plate body 1110 and the moving axis of the unlocking ball 1173, so that the direction of the acting force of the abutting body 1144 on the unlocking ball 1173 is always approximately the moving direction of the unlocking ball 1173 (i.e. the moving direction of the unlocking ball 1173 in the stroke cavity 1174), as shown in fig. 14, if the above-mentioned structure is not adopted, for example, the matching part of the abutting body 1144 and the unlocking ball 1173 is set to be a circular arc surface, then when the unblock, along with the rotation of button main part 1140, the butt body 1144 and the butt position change of unblock marble 1173 cooperation arc surface and unblock marble 1173 sphere, because the atress direction of unblock marble 1173 is the directional centre of a circle of self for the stress point all the time, thereby lead to butt body 1144 to have an contained angle to the effort direction of unblock marble 1173 and unblock marble 1173 direction of motion, this contained angle can make the motion performance of unblock marble 1173 not good, easily make and produce the friction between unblock marble 1173 and the stroke chamber 1174 inner wall, or make and produce the friction between ejector pin main part 1171 and the mounting hole 1114 inner wall, long-term use easily causes the damage, lead to the locking or the unblock inefficacy of lock button 114.

It can be understood that the angle between the unlocking plane 1144a and the locking plane 1144b is set based on the combination of the rotation track of the abutting body 1144 and the movement track corresponding to the unlocking marble 1173, if the optimal matching mode of the abutting body 1144 and the unlocking marble 1173 is desired, the rotation track of the abutting body 1144 and the movement track corresponding to the unlocking marble 1173 need to be completely combined, and the obtained curve is a curve with a changed curvature, which is applied to the abutting surface of the abutting body 1144 and the unlocking marble 1173, so that the direction of the acting force of the abutting body 1144 on the unlocking marble 1173 is always the same as the movement direction of the unlocking marble 1173.

Of course, based on the above further adjustment of the abutting surface structures of the abutting body 1144 and the unlocking marble 1173, for example, the matching lengths between the unlocking plane 1144a and the unlocking marble 1173 may be reduced on the basis of the relative positions of the unlocking plane 1144b and the locking plane 1144a, and one or more planes are further sequentially connected to one side of the unlocking plane 1144a away from the locking plane 1144b, so that it is only necessary to ensure that the angle of the plane is increased to match the rotation trajectory of the abutting body 1144 and the movement trajectory corresponding to the unlocking marble 1173.

It will be appreciated that the ball plunger 117 is only used to provide a rotational spring force to the locking button 114, and that other configurations may be used to achieve the above objectives, such as replacing the unlocking ball 1173 with a cylinder, replacing the return spring 1175 with another resilient material, or replacing the ball plunger 117 entirely with a resilient material, or providing a torsion spring between the shaft 1141 and the first shaft hole 1127.

In a preferred embodiment, as shown in fig. 8, two limiting lugs 1117 are symmetrically arranged on the outer circumferential surface of the upper plate body 1110 with respect to the marble top bar 117, and the two limiting lugs 1117 are parallel to each other at corresponding positions and have a distance between them matching the width of the button body 1140, i.e. the button body 1140 is located between the two limiting lugs 1117 at corresponding positions, and the limiting lugs 1117 can guide the rotation of the button body 1140, thereby further improving the rotation precision of the button body 1140.

It can be understood that, when the upper sealing plate 111 is connected to the lower sealing plate 112, the stop lugs 1117 abut against the corresponding position engaging lugs 1126, and at this time, the two are fixed by welding or the like, so as to further improve the connection reliability of the upper sealing plate 111 and the lower sealing plate 112.

In the embodiment of the application, the minimally invasive surgery robot adopts the poking card sealing device 10, so that the sealing performance of the poking card sealing device 10 can be guaranteed when pneumoperitoneum is applied in the minimally invasive surgery process, gas leakage is avoided, and the gas pressure in the abdomen is guaranteed.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one of 8230, and" comprising 8230does not exclude the presence of additional like elements in a process, method, article, or apparatus comprising the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the present embodiments are not limited to those precise embodiments, which are intended to be illustrative rather than restrictive, and that various changes and modifications may be effected therein by one skilled in the art without departing from the scope of the appended claims.

Claims (10)

1. The sealing device for the stab card is characterized by comprising a channel assembly, a stab card sealing part and a locking assembly, wherein the stab card sealing part is detachably arranged on the channel assembly;

the poking and clamping sealing part comprises a sealing plate and an instrument through hole communicated with the sealing plate, the channel assembly is sleeved on the sealing plate, and a lower sealing ring which is respectively abutted to the inner peripheral surface of the sealing plate and the inner peripheral surface of the channel assembly is arranged between the sealing plate and the channel assembly.

2. The poking card sealing device according to claim 1, wherein the sealing plate comprises a sealing upper plate, a sealing lower plate fixedly connected with the sealing upper plate;

the channel assembly is sleeved on the sealing lower plate, and the lower sealing ring is located between the sealing lower plate and the channel assembly.

3. The poking card sealing device according to claim 2, wherein an upper sealing ring is arranged between the upper sealing plate and the lower sealing plate, and the upper sealing ring and the lower sealing ring are respectively abutted against the upper sealing plate and the lower sealing plate.

4. The poke card sealing device of claim 2 or 3, wherein the seal upper plate comprises:

an upper plate main body;

the connecting bulge is fixedly arranged on the end face of one side of the upper plate main body, which is far away from the lower sealing plate;

the instrument via hole is communicated with the connecting protrusion, and the poking card sealing part is further sleeved with the detachable sealing seat on the connecting protrusion.

5. The poke card sealing device of claim 2 or 3, wherein the sealing upper plate comprises:

the positioning column is fixedly arranged on the end face of one side, close to the lower sealing plate, of the upper plate main body and is used for connecting and positioning the upper sealing plate and the lower sealing plate;

and the sealing lower plate is provided with a positioning hole which is matched and spliced with the positioning column.

6. The seal of claim 1, wherein the seal further comprises:

the inflation interface is fixedly arranged on the sealing plate, is communicated with the instrument through hole and is used for inflating the instrument through hole;

the valve body is arranged on the inflation connector and used for controlling the gas flow of the inflation connector.

7. The sealing arrangement of claim 1, wherein the sealing arrangement further comprises:

a ferromagnetic portion disposed on an inner wall of the instrument via;

the gasket, the activity sets up in the apparatus cross-hole and can with ferromagnetic portion actuation.

8. The poke-card sealing device of claim 1, wherein the channel assembly comprises a transition sleeve for connecting the poke-card sealing portion, a snap seat fixedly disposed on the transition sleeve for connecting an instrument motion platform, a sleeve fixedly disposed on the transition sleeve and in communication with the transition sleeve;

the locking assembly comprises a locking button and a flange edge, the locking button is elastically and rotatably arranged on the sealing part of the poking card, and the flange edge is fixedly arranged on the transition sleeve;

wherein, the locking button can be buckled with the flange edge.

9. The poke-card sealing device of claim 8, wherein the locking buttons are symmetrically provided in two on the poke-card sealing portion.

10. A minimally invasive surgery robot is characterized in that the poking card sealing device according to any one of claims 1 to 9 is adopted, and the minimally invasive surgery robot further comprises a doctor master control console and a slave operation device, wherein the slave operation device comprises a base and a mechanical holding arm which is arranged on the base and can move in multiple degrees of freedom, an instrument moving platform is arranged on the mechanical holding arm, and the poking card sealing device is arranged on the instrument moving platform.

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