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WO2023006049A1 - 一种穿刺器及腔镜机器人 - Google Patents

一种穿刺器及腔镜机器人 Download PDF

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Publication number
WO2023006049A1
WO2023006049A1 PCT/CN2022/108781 CN2022108781W WO2023006049A1 WO 2023006049 A1 WO2023006049 A1 WO 2023006049A1 CN 2022108781 W CN2022108781 W CN 2022108781W WO 2023006049 A1 WO2023006049 A1 WO 2023006049A1
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WO
WIPO (PCT)
Prior art keywords
puncture tube
tube
puncture
along
expansion
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/108781
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English (en)
French (fr)
Inventor
袁帅
何超
蒋友坤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Microport Medbot Group Co Ltd
Original Assignee
Shanghai Microport Medbot Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202110871872.5A external-priority patent/CN113413200B/zh
Priority claimed from CN202110874520.5A external-priority patent/CN113413201B/zh
Application filed by Shanghai Microport Medbot Group Co Ltd filed Critical Shanghai Microport Medbot Group Co Ltd
Publication of WO2023006049A1 publication Critical patent/WO2023006049A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots

Definitions

  • the invention relates to the field of medical instruments, in particular to a trocar and a laparoscopic robot.
  • Surgical robots have become a powerful tool to help doctors complete operations.
  • da Vinci surgical robots have been used in major hospitals around the world, bringing good news to patients because of their small injuries, less bleeding, and faster recovery.
  • the design concept of the surgical robot is to use a minimally invasive method to accurately perform complex surgical operations.
  • surgical robots have been developed to replace traditional surgery.
  • Surgical robots break through the limitations of the human eye and use stereoscopic imaging technology to present internal organs to the operator more clearly.
  • the robotic hand can complete 360-degree rotation, movement, swing, clamping, and avoid shaking.
  • the operation performed by the surgical robot has small wounds, less bleeding, and faster recovery, which greatly shortens the postoperative hospital stay of patients, and the postoperative survival rate and recovery rate can also be significantly improved. It is favored by the majority of doctors and patients.
  • Now as a high-end medical device It has been widely used in various clinical operations.
  • the surgical robot needs to establish a pneumoperitoneum on the patient's abdominal cavity through the insufflation machine to increase the volume of the abdominal cavity and separate the abdominal wall from the tissue that needs to be operated on, so as to facilitate the operation. Provide the necessary space.
  • the trocar also plays a vital role in robotic surgery.
  • the surgical instruments currently used often need to extend a certain distance inside the human body. On the one hand, there is also the risk of damaging internal tissues.
  • the working diameter of the surgical instrument that is, the maximum width or diameter of the part that enters the patient's body is different, and it is necessary to configure trocars with different channel inner diameters to match the use needs.
  • the replacement of the arm can only change the endoscope from the first used mechanical arm to another mechanical arm.
  • the diameter of the endoscope is generally larger than the diameter of the surgical instrument, it is also necessary to replace the supporting trocar from the rigid arm. Pull out the initial position and reinsert it into the newly planned position.
  • the extension end of the traditional puncture device is too long, so it is easy to separate from the human body during the operation, and the mucous membrane in the human body is easy to detach from the end of the puncture device.
  • the traditional trocar has a fixed inner diameter and cannot adapt to instruments and/or endoscopes with different working diameters. During the operation, it is necessary to increase the process of replacing the trocar, which may cause a series of accidental injuries and reduce the risk of surgical operation. efficiency and safety.
  • One of the objectives of the present invention is to provide a puncture device and a laparoscopic robot to solve the problem that in the prior art, the extension end in the human body of the traditional puncture device is too long, it is easy to be separated from the human body during the operation, and the mucous membrane in the human body is easy to Problems dislodging the trocar tip.
  • the second purpose of the present invention is to provide a trocar and endoscopic robot to solve the problem that the trocar cannot be adapted to instruments and/or endoscopes with different working diameters in the prior art, and to improve the efficiency and safety of surgical operations sex.
  • the present invention provides a puncture device, which includes a puncture tube and a diameter-reducing assembly; the diameter-reducing assembly is arranged at the distal end of the puncture tube; The radial expansion of the puncture tube protrudes from the outer contour of the puncture tube or shrinks along the radial direction of the puncture tube to not exceed the outer contour of the puncture tube; the puncture tube is switched between the first position and the second position to drive the variable diameter assembly to shrink or expand along the radial direction of the puncture tube; the first position and the second position are set along the circumferential direction of the puncture tube.
  • the trocar also includes an inner tube pierced in the puncture tube, and the variable diameter assembly includes at least one expansion piece, and the expansion piece is connected to one of the inner tube and the puncture tube ; when the puncture tube is in the first position, the expansion piece is limited by the other of the inner tube and the puncture tube without exceeding the outer contour of the puncture tube; When the first position is converted to the second position, the restriction of the puncture tube or the inner tube on the expansion sheet is released, and the expansion sheet protrudes from the outer contour of the puncture tube in the radial direction of the puncture tube .
  • the inner tube has a receiving hole opened radially outward, and when the puncture tube is converted from the second position to the first position, the inner wall of the puncture tube passes through against the The outer wall of the expansion sheet accommodates the expansion sheet to a position not exceeding the outer contour of the puncture tube, and accommodates the expansion sheet in the receiving hole; Compatible with the inner contour.
  • one end of the potential energy element is connected to the variable diameter assembly, and the other end of the potential energy element is connected to one of the inner tube and the puncture tube; the puncture tube starts from the first position when moving to the second position,
  • the potential energy element stores potential energy, and when the puncture tube moves from the second position to the first position, the potential energy element releases the potential energy and drives the variable diameter assembly to shrink to not exceed the outer contour of the puncture tube or, when the puncture tube moves from the second position to the first position, the potential energy element stores potential energy, and when the puncture tube moves from the first position to the second position, The potential energy element releases potential energy and drives the variable diameter assembly to protrude from the outer contour of the puncture tube along the radial direction of the puncture tube.
  • the expansion sheet is rotatably connected to one of the inner tube and the puncture tube around an expansion axis; when the puncture tube is converted from the first position to the second position, the The expansion piece rotates around the expansion axis, so that the end of the expansion piece away from the expansion axis radially protrudes from the outer contour of the puncture tube toward the puncture tube.
  • the expansion piece is connected to the inner tube, and when the puncture tube is converted from the second position to the first position, the inner wall of the puncture tube will be pressed against the outer wall of the expansion piece.
  • the expansion piece is accommodated to a position not exceeding the outer contour of the puncture tube.
  • the expansion axis is directed toward the axial direction of the puncture tube
  • the puncture tube has an expansion hole that opens radially outward toward the puncture tube
  • the puncture tube is converted from the first position to the In the second position, the expansion piece protrudes from the expansion hole to the outer contour of the puncture tube.
  • the trocar includes an operating part connected to the diameter reducing assembly for driving the diameter reducing assembly to expand radially of the puncture tube to protrude from the outer contour of the puncture tube Or contract along the radial direction of the puncture tube to not exceed the outer contour of the puncture tube.
  • the present invention also provides an endoscopic robot, which includes a robot body and the above trocar, and the trocar is relatively movably connected to the robot body.
  • the trocar includes a puncture tube and a variable diameter assembly; the variable diameter component is arranged at the distal end of the puncture tube; the variable diameter The component expands in the radial direction of the puncture tube to protrude from the outer contour of the puncture tube or shrinks in the radial direction of the puncture tube to not exceed the outer contour of the puncture tube.
  • the variable diameter assembly can protrude from the outer contour of the puncture tube along the radial direction of the puncture tube, and the protruding part can limit the puncture device from leaving the human body.
  • the length of the extension end inside the human body can be controlled within a very small range, which increases the working space available for surgical instruments, reduces the risk of accidental damage to normal tissues during use of the puncture device, and improves the efficiency and safety of surgical operations; solves the problem
  • the extension end in the human body of the traditional puncture device is too long, which is easy to be separated from the human body during the operation, and the mucous membrane in the human body is easily detached from the end of the puncture device.
  • the present invention also provides a puncture device, including a puncture tube, an instrument channel and a diameter reducing assembly, the instrument channel is arranged along the axial direction of the puncture tube and runs through the puncture tube, the At least a part of the reducing assembly is used to define a part of the instrument channel; the reducing assembly is arranged at the distal end of the puncture tube; the reducing assembly shrinks or expands along the radial direction of the puncturing tube, driving The radial inner dimension of the instrument channel changes; wherein, the direction of contraction is a direction away from the axis of the puncture tube, and the direction of expansion is a direction close to the axis of the puncture tube; the puncture device also includes a sleeve, The sleeve is sleeved on the outside of the puncture tube, and is movably arranged relative to the puncture tube along the axial direction of the puncture tube. The movement of the sleeve
  • the movement of the sleeve to the proximal end of the puncture tube drives the radial inner dimension of the instrument channel to increase; the movement of the sleeve to the distal end of the puncture tube drives the diameter of the instrument channel to increase. Inward size decreases.
  • the reducing assembly includes at least one connecting rod structure
  • the connecting rod structure includes a hinge part and at least two connecting rods, at least two connecting rods are hinged through the hinge part, and the connecting rod structure
  • the distal end of the puncture tube is hinged with the distal end of the puncture tube, and the proximal end of the link structure is hinged with the sleeve; the sleeve moves to the proximal end of the puncture tube, and the link structure is stretched ; the sleeve tube moves to the distal end of the puncture tube, the distal end of the connecting rod structure is close to the proximal end, so that at least one of the hinged parts is close to the axis of the puncture tube along the radial direction of the puncture tube .
  • the axes of the adjacent connecting rods of the same connecting rod structure form an included angle, and at least one of the included angles faces the axis of the puncture tube along the radial direction of the puncture tube; the sleeve When the tube moves to the proximal end of the puncture tube to a limit position, at least one of the included angles is less than 175°.
  • the difference between the radially outer dimension and the radially inner dimension of the variable diameter assembly increases along a reference direction, and the reference direction is along the axial direction of the puncture tube toward the distal end of the puncture tube direction, the variable diameter assembly is connected to the distal end of the puncture tube; the sleeve moves to the distal end of the puncture tube, the variable diameter assembly is gradually received inside the sleeve, and the inner wall of the sleeve is opposite to the
  • the outer profile of the reducing assembly imposes a constraint that drives a reduction in the radially inner dimension of the instrument channel at the distal port of the cannula.
  • the reducing assembly is connected to the puncture tube through an elastic element; the sleeve moves toward the distal end of the puncture tube, and the elastic element stores elastic potential energy; the sleeve moves toward the puncture tube The proximal end moves, the elastic element releases the elastic potential energy, driving the radial inner dimension of the instrument channel at the distal port of the cannula to increase.
  • the diameter reduction assembly includes at least one diameter reduction valve, and the diameter reduction valve includes an arc-shaped plate and a rib plate, and the shape of the arc-shaped plate is set to match the shape of the distal end of the puncture tube and Extending along the axial direction of the puncture tube, the ribs are arranged on the outer wall of the arc-shaped plate and extend along the axial direction of the puncture tube, and the size of the ribs along the radial direction of the puncture tube is along the The reference direction becomes gradually larger.
  • variable-diameter flap further includes a limiting portion, the limiting portion is arranged at the end of the arc-shaped plate away from the puncture tube and extends along the radial direction of the puncture tube, and the extending direction is away from the puncture tube.
  • the axial direction of the puncture tube when the cannula moves to the distal end of the puncture tube to a limit position, the stopper abuts against the distal end of the cannula.
  • variable diameter assembly includes at least one airbag, the airbag includes an air inlet and outlet, and the air inlet and outlet are used for sealing connection with the inflation and deflation device; at least a part of the outer surface of the airbag is fixedly connected with the sleeve , at least another part of the outer surface of the airbag is fixedly connected with the puncture tube, the sleeve moves toward the proximal end of the puncture tube, the airbag is stretched and shrinks outward along the radial direction of the puncture tube, the The cannula moves toward the distal end of the puncture tube, and the inflation and deflation device inflates the air bag, and the air bag is squeezed and expanded outward along the radial direction of the puncture tube.
  • the present invention also provides an endoscopic robot, which includes a robot body and the above trocar, and the trocar is relatively movably connected to the robot body.
  • the trocar includes a puncture tube, an instrument channel and a variable diameter assembly, and the instrument channel is arranged along the axial direction of the puncture tube and runs through all In the puncture tube, at least a part of the diameter reducing assembly is used to define a part of the instrument channel; the diameter reducing assembly shrinks or expands along the radial direction of the puncture tube, driving the radial inner dimension of the instrument channel Variation; wherein, the direction of contraction is a direction away from the axis of the puncture tube, and the direction of expansion is a direction close to the axis of the puncture tube.
  • Fig. 1 is a schematic diagram of the overall structure of the trocar involved in the present invention
  • Figure 2a is a schematic diagram of the overall structure of the trocar according to Embodiment 1 of the present invention.
  • Fig. 2b is a partially enlarged view of the distal end of the trocar according to Embodiment 1 of the present invention.
  • Fig. 3a is a schematic structural diagram of a variable diameter assembly according to Embodiment 1 of the present invention.
  • Fig. 3b is a partial enlarged view of the variable diameter assembly of Embodiment 1 of the present invention.
  • FIG. 4 is a schematic diagram of the overall structure of the trocar according to Embodiment 2 of the present invention.
  • Fig. 5 is a schematic structural diagram of the reducing assembly when the puncture tube is in the second position according to the second embodiment of the present invention
  • FIG. 6 is a schematic diagram of the overall structure of the trocar according to Embodiment 3 of the present invention.
  • Fig. 7 is a schematic structural view of the reducing assembly when the bushing is in the middle of moving from the first position to the second position according to the third embodiment of the present invention
  • Fig. 8 is a schematic diagram of the structure of the variable diameter assembly when the sleeve is in the second position according to the third embodiment of the present invention.
  • Fig. 9 is a cross-sectional view of the puncture tube of the third embodiment of the present invention.
  • Fig. 10a is a schematic diagram of a laparoscopic robot according to Embodiment 4 of the present invention.
  • Fig. 10b is a schematic diagram of the tool arm mechanism of Embodiment 4 of the present invention.
  • Figure 10c is an enlarged schematic view of part A in Figure 10a;
  • Fig. 11 is a schematic diagram of the overall structure of the trocar according to Embodiment 5 of the present invention.
  • Fig. 12 is a schematic diagram of the whole structure of another angle of the trocar according to the fifth embodiment of the present invention.
  • Fig. 13 is a structural schematic diagram of the connecting rod structure of Embodiment 5 of the present invention.
  • Fig. 14a is a schematic diagram of the cannula according to the fifth embodiment of the present invention when it is close to the proximal end of the puncture tube;
  • Fig. 14b is a schematic view viewed along the axial direction of the puncture tube when the cannula of the fifth embodiment of the present invention is close to the proximal end of the puncture tube;
  • Fig. 14c is a schematic diagram of the included angle formed by the connecting rod according to the fifth embodiment of the present invention.
  • Fig. 15a is a schematic diagram of the cannula according to Embodiment 5 of the present invention when it is close to the distal end of the puncture tube;
  • Fig. 15b is a schematic diagram of the cannula according to Embodiment 5 of the present invention viewed along the axial direction of the puncture tube when it is close to the distal end of the puncture tube;
  • Fig. 16a is a schematic diagram of the cannula according to the sixth embodiment of the present invention when it is close to the proximal end of the puncture tube;
  • Fig. 16b is a schematic view viewed along the axial direction of the puncture tube when the cannula of the sixth embodiment of the present invention is close to the proximal end of the puncture tube;
  • Fig. 17 is a schematic diagram of an intermediate state when the cannula of Embodiment 6 of the present invention moves from the proximal end of the puncture tube to the distal end of the puncture tube;
  • Fig. 18a is a schematic diagram of the cannula according to the sixth embodiment of the present invention when it is close to the distal end of the puncture tube;
  • Fig. 18b is a schematic diagram of the cannula according to the sixth embodiment of the present invention viewed along the axial direction of the puncture tube when it is close to the distal end of the puncture tube;
  • Fig. 19 is a schematic diagram of the reducing valve of Embodiment 6 of the present invention.
  • Fig. 20 is a schematic diagram of the overall structure of Embodiment 7 of the present invention.
  • Figure 21a is a schematic diagram of the compressed airbag of Embodiment 7 of the present invention.
  • Figure 21b is a schematic diagram of the airbag of the seventh embodiment of the present invention being stretched
  • Fig. 22a is a schematic diagram of an endoscopic robot according to Embodiment 8 of the present invention.
  • Fig. 22b is a schematic diagram of the tool arm mechanism of the eighth embodiment of the present invention.
  • Fig. 22c is an enlarged schematic view of part A in Fig. 22a.
  • 201-sealing base 202-puncture tube; 203-sleeve; 204-instrument channel; 205-covering layer; 211-puncture device; 212-tool arm mechanism; Connecting rod; 2312-hinge; 2313-extended rod; 232-reducing valve; 2321-arc plate;
  • the singular forms “a”, “an” and “the” include plural objects, the term “or” is usually used in the sense of including “and/or”, and the term “several” Usually, the term “at least one” is used in the meaning of “at least one”, and the term “at least two” is usually used in the meaning of "two or more”.
  • the terms “first”, “second “Two” and “third” are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features.
  • proximal end is usually the end close to the operator
  • distal end is usually the end close to the patient
  • one end and “other end” and “proximal end” and “distal end” usually refer to the corresponding two parts, which not only include the end point
  • installation should be understood in a broad sense, for example, it can be a fixed connection, or a detachable connection, or integrated; it can be a mechanical connection, or an electrical connection; it can be a direct connection or an indirect connection through an intermediary To be connected can be the internal communication of two elements or the interaction relationship between two elements.
  • an element is arranged on another element, usually only means that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the relationship between the two elements can be direct or indirect through an intermediate element.
  • connection, coupling, fit or transmission but should not be understood as indicating or implying the spatial positional relationship between two elements, that is, one element can be in any orientation such as inside, outside, above, below or on one side of another element, unless the content Also clearly point out.
  • the core idea of the present invention is to provide a puncture device and a laparoscopic robot to solve the problem that in the prior art, the extension end of the human body in the traditional puncture device is too long, and it is easy to detach from the human body during the operation, and the mucous membrane in the human body is easy to detach.
  • Figure 1 is a schematic diagram of the overall structure of the trocar according to the present invention
  • Figure 2a is a schematic diagram of the overall structure of the trocar according to Embodiment 1 of the present invention
  • Figure 2b is a schematic diagram of the trocar according to Embodiment 1 of the present invention Partial enlarged view of the distal end
  • FIG. 3 a is a schematic structural view of the diameter reducing assembly of Embodiment 1 of the present invention
  • FIG. 3 b is a partial enlarged view of the diameter reducing assembly of Embodiment 1 of the present invention.
  • the present embodiment provides a trocar 104
  • the trocar 104 includes a puncture tube 102 and a variable diameter assembly 103
  • the variable diameter component 103 is arranged at the distal end of the puncture tube
  • the diameter assembly 103 expands in the radial direction of the puncture tube 102 to protrude from the outer contour of the puncture tube 102 or shrinks in the radial direction of the puncture tube 102 to not exceed the outer contour of the puncture tube 102, wherein the expanded
  • the direction is a direction away from the axis of the puncture tube
  • the contracting direction is a direction close to the axis of the puncture tube.
  • variable diameter assembly 103 can be shrunk so that it does not exceed the outer contour of the puncture tube 102 along the radial direction of the puncture tube 102, thereby The piercing or taking out operation of the puncture tube 102 is not affected.
  • the diameter reducing assembly 103 protrudes from the outer contour of the puncture tube 102 along the radial direction of the puncture tube 102. The wound caused by 102 restricts the piercer 104 from leaving the human body.
  • the length of the extended end of the trocar 104 inside the human body can be controlled within a very small range, thereby increasing the available working space for surgical instruments and reducing accidental damage to the trocar 104 during use.
  • the risk of the organization can be improved, and the efficiency and safety of the operation can be improved; in the prior art, the extension end of the human body in the traditional puncture device is too long, and it is easy to detach from the human body during the operation, and the mucous membrane in the human body is easy to detach from the end of the puncture device. question.
  • the puncture tube 102 also includes an instrument channel passing through the puncture tube 102 along its axis, and the instrument channel is used for passing surgical instruments.
  • the piercer 104 also includes a base 101, the proximal end of the piercing tube 102 is fixedly connected to the base 101, and the base 101 is used to seal the instrument channel. Such a configuration enables the trocar 104 to realize the functions required by the surgery itself.
  • the puncture tube 102 is switched between a first position and a second position, and the puncture tube 102 is switched to the first position, driving the reducing assembly along the puncture tube 102
  • the radial direction of the puncture tube 102 does not exceed the outer contour of the puncture tube 102; the puncture tube 102 is converted to the second position, driving the variable diameter assembly to protrude outside the puncture tube 102 along the radial direction of the puncture tube 102 contour.
  • the operator can implement the operation by applying force to the outer wall 122 of the puncture tube 102 , and the first position and the second position are arranged along the circumference of the puncture tube 102 . That is, the operator can drive the variable diameter assembly 103 by rotating the puncture tube 102 .
  • Such a configuration firstly, simplifies the structure of the entire trocar 104; secondly, simplifies the operation process, which is beneficial for medical staff to understand intuitively; thirdly, it is also beneficial for medical staff to infer the current position by observing the outer wall 122
  • a scale or a pattern mark is provided on the outer wall 122, and the medical staff can infer that the current state of the variable diameter assembly 103 is by observing the relative positional relationship between the scale or pattern mark and the piercer 104. Whether it is in an expanded state or a contracted state, please refer to Figure 2a and Figure 2b.
  • the piercer 104 further includes an inner tube 121 pierced in the puncture tube 102, and the variable diameter assembly includes at least one expansion piece 131, and the expansion piece 131 is rotatably connected with the expansion axis 1311.
  • the inner tube 121 is connected to one of the puncture tubes 102 ; the specific position of the expansion axis 1311 can be understood with reference to FIG. 3 b , that is, the rotation axis of the expansion piece 131 .
  • the expansion sheet 131 When the puncture tube 102 is at the first position, the expansion sheet 131 is restricted by the other of the inner tube 121 and the puncture tube 102 without exceeding the outer contour of the puncture tube 102; When the tube 102 is converted from the first position to the second position, the restriction of the puncture tube 102 or the inner tube 121 on the expansion piece 131 is released, and the expansion piece 131 rotates around the expansion axis 1311 , protruding the outer contour of the puncture tube 102 toward the radial direction of the puncture tube 102 . With such a configuration, the expansion sheet 131 can be used to achieve the required diameter reduction effect, which simplifies the structure of the trocar 104 and has high reliability.
  • the outer contour of the expansion sheet 131 is adapted to the inner contour of the puncture tube 102 . Such a configuration is beneficial to save the internal space of the trocar 104 and makes the expansion piece 131 less likely to be worn during operation.
  • the piercer 104 includes a potential energy element, one end of the potential energy element is connected to the variable diameter assembly 103, and the other end of the potential energy element is connected to the inner tube 121 and the puncture tube 102. a connection; when the puncture tube 102 moves from the first position to the second position, the potential energy element stores potential energy, and when the puncture tube 102 moves from the second position to the first position , the potential energy element releases the potential energy and drives the variable diameter assembly 103 to shrink to a position that does not exceed the outer contour of the puncture tube 102; or, the puncture tube 102 moves from the second position to the first position, the potential energy element stores potential energy, and when the puncture tube 102 moves from the first position to the second position, the potential energy element releases the potential energy and drives the reducing assembly 103 along the puncture tube 102 radially protrude from the outer contour of the puncture tube 102 .
  • potential energy should be understood as at least one of elastic potential energy, electromagnetic field potential energy, and gravitational potential energy.
  • the specific form of the potential energy element can be reasonably configured by those skilled in the art according to the existing technology, and is not described in this specification. introduce in detail. Such a configuration is beneficial to further simplify the structure of the variable diameter assembly 103 and increase the degree of freedom of the variable diameter assembly 103, so that the variable diameter assembly 103 is not easily damaged by foreign objects during operation.
  • a spring or a shrapnel can be used to generate elastic potential energy, so that the potential energy element drives the variable diameter assembly 103 .
  • the expansion axis 1311 of the expansion piece 131 can be set.
  • a better solution is that the expansion axis 1311 faces the axial direction of the puncture tube 102 . It should be understood that, in other embodiments, the expansion axis 1311 may not be directed toward the axial direction of the puncture tube 102 .
  • the puncture tube 102 has an expansion hole 123 that opens radially outward toward the puncture tube, and the puncture tube 102 starts from the first position
  • the expansion piece 131 protrudes from the expansion hole 123 to the outer contour of the puncture tube 102 .
  • the inner tube 121 has a receiving hole 132 opened radially outward, and the receiving hole 132 can be set through or not through one end radially inward of the inner tube.
  • the expansion sheet 131 can also be connected to the puncture tube 102 by providing a receiving hole opened in the radial direction on the puncture tube 102 , and on the inner tube 121 Devices capable of exerting tension on the expansion sheet 131 through connecting rods, drawstrings, etc. are connected to the end of the expansion sheet 131 away from the expansion axis. With such a configuration, the relative movement between the puncture tube 102 and the inner tube 121 can also be used to drive the storage or expansion of the expansion piece 131 . Such a solution can also achieve similar effects, and should also be regarded as the protection scope of the claims of the present application.
  • the number of the expansion pieces 131 is not less than two, for example, it can be set to four, and the expansion axes can be evenly arranged along the circumference of the puncture tube 102, and the expansion pieces 131 can take the same shape. shape and size.
  • the number and shape of the expansion holes 123 and the receiving holes 132 are adapted to the number and shape of the expansion pieces 131 .
  • the diameter reduction effect is achieved by using the expansion piece 131 that can rotate along the expansion axis, and the expansion axis 1311 is parallel to the axis of the puncture tube 102;
  • the piercer 104 can be operated in a certain manner, and the variable-diameter assembly can be operated more conveniently under certain operating conditions.
  • the rotation direction of the expansion piece 131 is different from the force direction of the trocar 104 during the operation, and the fixing reliability is high.
  • Figure 1 is a schematic diagram of the overall structure of the trocar involved in the present invention
  • Figure 4 is a schematic diagram of the overall structure of the trocar according to Embodiment 2 of the present invention
  • Figure 5 is a schematic diagram of the overall structure of the trocar according to the embodiment of the present invention Schematic diagram of the structure of the reducing assembly when the second puncture tube is in the second position.
  • the expansion axis 1311 is oriented tangentially to the puncture tube 102 and distributed along the circumferential direction of the puncture tube 102, and the arrangement of the expansion axis 1311 can be made with reference to FIG. understand.
  • the first position and the second position are set along the axial direction of the puncture tube 102 , that is, the operator drives or pulls the outer wall 122 of the puncture tube 102 to drive the reducing assembly 103 . It should be understood that in other embodiments, the expansion axis 1311 may not be tangential to the puncture tube 102 .
  • the number of the expansion pieces 131 is not less than two, in one example, the number of the expansion pieces 131 is set to four, the expansion pieces 131 take the same shape and size, the expansion axis They may be evenly arranged along the circumference of the puncture tube 102 , and all the expansion axes 1311 are coplanar and at equal distances from the axis of the puncture tube 102 . It should be understood that in other embodiments, the expansion axis 1311 may not be coplanar, and the distance from the axis of the puncture tube 102 may also be unequal.
  • the expansion piece 131 is connected to the inner tube 121 through a pin shaft, and the expansion axis 1311 is the rotation axis of the pin shaft.
  • the expansion sheet 131 is also connected to the inner tube 121 through a torsion spring, and the potential energy element is the torsion spring.
  • the central axis of the torsion spring coincides with the expansion axis 1311 when it is set or coincides within the scope of engineering.
  • the outer contour of the puncture tube 102 not only includes the outer contour of the puncture tube 102 within the axial length range, but also includes the corresponding outer contour of the extension area of the puncture tube 102 within the predetermined length range toward the distal end.
  • the medical staff can operate the puncture device 104 in a translational manner, and can It is more convenient to operate the reducing assembly.
  • the extension end remaining in the human body is further compressed, leaving a larger operation space.
  • the diameter-changing mechanism 103 has a larger contact area in the force-bearing direction during the operation, less pressure on tissues around the wound, and higher safety.
  • Figure 1 is a schematic diagram of the overall structure of the trocar involved in the present invention
  • Figure 6 is a schematic diagram of the overall structure of the trocar according to Embodiment 3 of the present invention
  • Figure 7 is a schematic diagram of the overall structure of the trocar according to Embodiment 3 of the present invention
  • Figure 8 is a structural schematic diagram of the variable diameter assembly when the sleeve of the third embodiment of the present invention is in the second position
  • Figure 9 It is a sectional view of the puncture tube of the third embodiment of the present invention.
  • the piercer 104 provided in this embodiment is basically the same as the piercer 104 provided in Embodiment 1, the same parts will not be described, and only the differences will be described below.
  • the piercer 104 provided in Embodiment 3 includes an operating part, which is connected to the diameter-reducing assembly, and is used to drive the diameter-reducing assembly 103 to expand radially of the puncture tube 102 to protrude
  • the outer contour of the puncture tube 102 shrinks in the radial direction of the puncture tube 102 to not exceed the outer contour of the puncture tube 102 .
  • the operating part is a sleeve 124 sleeved on the outside of the puncture tube 102, and the sleeve 124 is movably arranged relative to the puncture tube 102 along the axial direction of the puncture tube 102 and is positioned at the first position and the second position, the sleeve 124 is switched to the first position, driving the reducing assembly along the radial direction of the puncture tube 102 not to exceed the outer contour of the puncture tube 102; The tube 124 is converted to the second position, and the reducing assembly is driven to protrude from the outer contour of the puncture tube 102 along the radial direction of the puncture tube 102 .
  • the reducing assembly 103 includes at least one connecting rod structure 133 , and the connecting rod structure 133 includes at least two connecting rods 134 hinged by hinges 135 , the far end of the connecting rod structure 134 end is hinged with the distal end of the puncture tube 102, and the proximal end of the link structure 133 is hinged with the sleeve 124; when the sleeve 124 is in the first position, the link structure 133 is pulled so that the connecting rod 134 does not exceed the outer contour of the puncture tube 102; The proximal end is gradually approached so that at least one hinge portion 135 protrudes from the outer contour of the puncture tube 102 toward the outside of the puncture tube 102 .
  • the connecting rod structure 133 is hinged to the sleeve 124 through an extension rod 136 fixed on the sleeve 124 .
  • the puncture tube 102 has an avoidance groove 125 extending in the axial direction, and when the pushing sleeve 124 moves axially, the joint between the connecting rod 134 and the extension rod 136 moves along the avoidance groove 125 .
  • a through hole 137 is formed on the side wall of the escape groove 125 near the extension rod 136 , and the extension rod 136 is connected to the connecting rod structure 133 through the through hole 137 .
  • the connecting rod structure 133 When the cannula 124 is at the first position, the connecting rod structure 133 is accommodated in the escape groove 125 provided at the distal end of the puncture tube 102 .
  • the setting of the avoidance groove can be used as a guiding device for the connecting rod structure 133 to limit the left and right shaking of the connecting rod structure 133 when moving, and can also be used as a protection device for the connecting rod structure 133, thereby avoiding During the process of the puncture tube being inserted into or pulled out of the human body, the connecting rod structure 133 may damage human tissue or be affected by human tissue, thus reducing the service life.
  • each hinge mentioned above includes both the The hinges also include hinges on the distal and proximal ends of the link structure.
  • the link structure 133 can also be used as the operating The limit structure with the end at the first position can omit the design of a limit step, which is conducive to simplifying the structure of the trocar 104 and making it easier for medical personnel to operate.
  • each connecting rod structure 133 includes two connecting rods 134 with the same axial dimension.
  • Such a configuration can simplify the structure, so that the connecting rod 134 can lean against when protruding. It should be understood that the scheme including three or more connecting rods 134 and the axial dimensions of the connecting rods 134 are not exactly the same can also achieve the effect of reducing the diameter, which should also be regarded as the scope of protection of the claims of the present application .
  • variable diameter assembly 103 includes at least two connecting rod structures 133.
  • the connecting rod structures 133 When the number of the connecting rod structures 133 is two, the connecting rod structures 133 will The axis of the tube 102 is symmetrically distributed, and when the number of the connecting rod structures 133 is more than three, the connecting rod structures are evenly distributed along the circumference of the puncture tube 102 .
  • Such a configuration can make the force around the wound more uniform, and it is not easy to damage the tissues outside the wound. It should be understood that in special cases, it may be necessary to apply an uneven force around the wound, so that the scheme in which the connecting rod structure 133 is not evenly distributed can also achieve the effect of changing the diameter, which should also be regarded as the claims of the present application. scope of protection.
  • the first position and the second position are oppositely arranged along the circumferential or axial direction of the puncture tube 102, when the operating end is between the first position and the second position
  • the motion form correspondingly only includes rotation or translation.
  • the first position and the second position can also be arranged obliquely along the puncture tube 102, that is, there is an axial relative relationship between the first position and the second position.
  • the positional relationship also has a relative positional relationship in the circumferential direction; when the operating end is switched between the first position and the second position, it can also adopt a compound movement method, such as performing translation while rotating, or First rotate, then translate, then rotate, and so on.
  • the expansion axis can also be set obliquely; if the diameter reduction assembly 103 realizes the diameter reduction through the connecting rod structure 133 When it is effective, both ends of the connecting rod structure 133 can also be arranged obliquely, and if the puncture tube 102 has an avoidance groove 125, the avoidance groove can also be arranged obliquely in an adaptive manner.
  • FIG. 10a is a schematic diagram of a laparoscopic robot in Embodiment 4 of the present invention
  • FIG. 10b is a schematic diagram of a tool arm mechanism in Embodiment 4 of the present invention
  • FIG. 10c is an enlarged schematic diagram of part A in FIG.
  • This embodiment provides an endoscopic robot, which includes a robot main body 106 and a trocar 104 , and the trocar 104 is relatively movably connected to the robot main body 106 .
  • Relatively movable means that the piercer 104 can produce translation, rotation and compound changes relative to the robot body 106 .
  • the piercer 104 is connected to the robot main body 106 through a tool arm mechanism 105, the tool arm mechanism 105 includes at least two relatively rotatable mechanical arms, and one end of the tool arm mechanism 105 is connected to the robot body 106.
  • the robot main body 106 is connected, and the other end of the tool arm mechanism 105 is fixedly connected with the piercer 104 .
  • the specific details of the piercer 104 in this embodiment can be understood with reference to the details of Embodiments 1-3.
  • the trocar 104 is positioned to a target position by the tool arm mechanism 105 .
  • the piercer 104 may also be connected to the robot main body 106 in other ways.
  • the endoscopic robot may include multiple trocars 104 , or only one trocar 104 , that is, the endoscopic robot includes at least one trocar 104 .
  • the laparoscopic robot includes the trocar 104 described above, it also has the beneficial effects of high surgical efficiency and safety.
  • the trocar 104 includes a puncture tube 102 and a diameter-reducing assembly 103; the diameter-reducing assembly 103 is arranged on the puncture tube 102 the distal end of the puncture tube 102; the diameter reducing assembly 103 expands along the radial direction of the puncture tube 102 to protrude from the outer contour of the puncture tube 102 or shrinks along the radial direction of the puncture tube 102 to not exceed the puncture tube 102 outline.
  • variable diameter assembly can protrude from the outer contour of the puncture tube 102 in the radial direction, and the protruding part can limit the trocar 104 from the human body, so
  • the length of the extended end of the trocar 104 inside the human body can be controlled within a very small range, which increases the available working space for surgical instruments, reduces the risk of accidental damage to normal tissues during use of the trocar 104, and improves surgical operation efficiency and Safety; it solves the problem that in the prior art, the extension end in the human body of the traditional puncture device is too long, and it is easy to separate from the human body during the operation, and the problem that the mucous membrane in the human body is easily detached from the end of the puncture device.
  • Figure 11 is a schematic diagram of the overall structure of the trocar according to Embodiment 5 of the present invention
  • Figure 12 is a schematic diagram of the overall structure of the trocar according to Embodiment 5 of the present invention from another angle
  • Figure 13 It is a structural schematic diagram of the connecting rod structure of Embodiment 5 of the present invention
  • FIG. 14a is a schematic diagram of the sleeve tube of Embodiment 5 of the present invention approaching the proximal end of the puncture tube;
  • FIG. 14b is the sleeve tube of Embodiment 5 of the present invention close to the puncture tube
  • Figure 14c is a schematic view of the included angle formed by the connecting rod in Embodiment 5 of the present invention
  • Figure 15a is a sleeve tube in Embodiment 5 of the present invention near the distal end of the puncture tube
  • Figure 15b is a schematic diagram of the fifth embodiment of the present invention when the cannula is close to the distal end of the puncture tube when viewed along the axial direction of the puncture tube.
  • this embodiment provides a trocar 211, including a puncture tube 202, an instrument channel 204, and a variable diameter assembly, and the instrument channel 204 is arranged along the axial direction of the puncture tube 202 and runs through In the puncture tube 202, at least a part of the reducing assembly is used to define a part of an instrument channel 204, and the instrument channel 204 is used for passing surgical instruments.
  • the diameter reducing assembly shrinks or expands along the radial direction of the puncture tube 202, driving the radial inner dimension of the instrument channel 204 to change; wherein, the direction of contraction is a direction away from the axis of the puncture tube 202, and the direction of expansion is The direction is a direction close to the axis of the puncture tube 202 . It can be understood that when the cross-section of the instrument channel 204 at the variable-diameter component is deformed similarly with the change of the variable-diameter component, any size of the cross-section (such as side length, between specific two points) The connection line, etc.) can be considered as the radial inner dimension.
  • the smaller radial inner dimension means that the area of the effective cross section after deformation is smaller than the effective cross section before deformation
  • the concept of effective cross-section refers to the part of the cross-section that can be used to pass surgical instruments. It can be understood that outward or external refers to a direction away from the axis of the puncture tube 202, and inward or internal refers to a direction close to the axis of the puncture tube 202. Understand the above ideas. So configured, when instruments or endoscopes with different working diameters pass through the instrument channel 204, the radial inner dimension of the instrument channel 204 is changed by the diameter reducing assembly, so that the instrument channel can be aligned with the instrument channel 204.
  • the endoscope is matched, and can provide support force when the instrument or the endoscope is stressed, thereby solving the problem of the fixed inner diameter of the traditional trocar, which cannot be adapted to instruments of different working diameters and/or endoscopic issues, and improve the efficiency and safety of surgical procedures.
  • the piercer 211 may further include a sealing base 201 , and the proximal end of the piercing tube 202 is connected to the sealing base 201 .
  • the sealing base 201 includes a sealing structure connected with the instrument channel 204, and the sealing structure is used to realize the closing and opening of the instrument channel 204, and when the sealing structure is closed, a gas seal can be formed.
  • the sealing structure may be a magnetic sheet sealing structure, a multi-diaphragm sealing structure, or a ball sealing structure.
  • the diameter-reducing assembly can be arranged at any position inside the puncture tube 202, but for the sake of convenient processing and making its clamping effect more stable, preferably, the diameter-reducing assembly is arranged on the puncture tube 202. the distal end of the tube 202.
  • the piercer 211 may further include a cover layer 205, the material of the cover layer 205 is, for example, a flexible material, and the cover layer 205 covers the inner surface of the variable diameter assembly. Configured in this way, the covering layer 205 can be adaptively deformed according to the movement of the variable diameter assembly, and play the role of isolating pollutants and protecting the surface of the device.
  • the piercer 211 further includes a sleeve 203, the sleeve 203 is sleeved on the outside of the piercing tube 202, and is movably arranged relative to the piercing tube 202 along the axial direction. , the sleeve 203 moves to drive the variable diameter assembly to contract or expand in the radial direction of the puncture tube 202 .
  • the moving direction of the cannula 203 is the axial direction of the puncture tube 202, which is more in line with the operating habits of medical personnel and simplifies the overall structure of the puncture device 211.
  • the cannula 203 can also be set to rotate along the circumferential direction of the puncture tube 202 , or can be compounded along the axial direction of the puncture tube 202 and the circumferential direction of the puncture tube 202 . Sports, such settings can also achieve the desired effect.
  • the movement of the cannula 203 to the proximal end of the puncture tube 202 drives the radial inner dimension of the instrument channel 204 to increase; the movement of the cannula 203 to the distal end of the puncture tube 202 drives The radial inner dimension of the instrument channel 204 is reduced.
  • Such a configuration is more in line with the operating habits of medical staff.
  • the reducing assembly includes at least one connecting rod structure 231
  • the connecting rod structure 231 includes a hinge portion 2312 and at least two connecting rods 2311, at least two connecting rods 2311 pass through the
  • the hinge part 2312 is hinged, the distal end of the link structure 231 is hinged with the distal end of the puncture tube 202 , and the proximal end of the link structure 231 is hinged with the sleeve 203 .
  • the proximal end of the link structure 231 is hinged to the distal end of an extension rod 2313 , and the proximal end of the extension rod 2313 is fixedly connected to the sleeve 203 .
  • the cannula 203 moves toward the proximal end of the puncture tube 202, and the link structure 231 is stretched.
  • the sleeve 203 moves toward the distal end of the puncture tube (in the direction of the arrow 15a in the figure), the distal end and the proximal end of the connecting rod structure 231 gradually approach, so that at least one of the The hinge part 2312 is close to the axis of the puncture tube along the radial direction of the puncture tube.
  • the axes of the adjacent connecting rods 2311 of the same connecting rod structure 231 form an included angle, and the included angle is along the radial direction of the puncture tube toward the direction of the puncture tube. axis; when the cannula moves to the proximal end of the puncture tube to a limit position, the included angle is less than 175°.
  • the included angle is the angle ⁇ in Fig. 14c.
  • the diameter reducing assembly includes four connecting rod structures 231 , and the connecting rod structures 231 are evenly distributed along the circumference of the puncture tube 202 .
  • Such a configuration is beneficial for the clamping force of the trocar 211 on the internal instruments to be more uniform, so that the phenomenon of internal instruments sliding under force is not easy to occur.
  • the number of the connecting rod structures 231 may also be two, three or greater than four; when the number of the connecting rod structures 231 is two, the connecting rod structures 231 are preferably distributed symmetrically about the axis of the puncture tube; when the number of the connecting rod structures 231 is more than three, the connecting rod structures 231 are preferably evenly distributed along the circumference of the puncture tube 202 .
  • the diameter reduction effect is realized through the connecting rod structure 231 , which has the advantages of high reliability and long service life.
  • Fig. 16a is a schematic diagram when the cannula of Embodiment 6 of the present invention is close to the proximal end of the puncture tube;
  • Figure 17 is a schematic view of the intermediate state when the cannula of Embodiment 6 of the present invention moves from the proximal end of the puncture tube to the distal end of the puncture tube;
  • Figure 18a is the sleeve of Embodiment 6 of the present invention The schematic diagram when the tube is close to the distal end of the puncture tube;
  • FIG. 18b is a schematic diagram of the cannula in Embodiment 6 of the present invention viewed along the axial direction of the puncture tube when it is close to the distal end of the puncture tube;
  • Fig. 19 is a modification of Embodiment 6 of the present invention Schematic diagram of the radial lobe.
  • the piercer 211 provided in this embodiment is basically the same as the piercer 211 provided in Embodiment 5, the same parts will not be described, and only the differences will be described below.
  • the specific implementation of the variable diameter assembly and the setting of the corresponding sleeve 202 are different from those in Embodiment 5, wherein the difference between the radially outer dimension and the radially inner dimension of the variable diameter assembly increases along the reference direction,
  • the reference direction is a direction along the axial direction of the puncture tube 202 toward the distal end of the puncture tube 202 .
  • the radial outer dimension can be understood as the distance between the point farthest from the central axis of the puncture tube 202 and the puncture tube 202 in the section perpendicular to the axial direction of the puncture tube 202 of the variable diameter assembly.
  • the difference increases along the reference direction, which can be understood as the change that occurs as the interception position of the section advances along the reference direction, for example, the radially outer dimension becomes larger along the reference direction, while the radially inner dimension remains unchanged along the reference direction; or, The radial outer dimension becomes larger along the reference direction, and the radial inner dimension becomes smaller along the reference direction; or, the radial outer dimension remains unchanged along the reference direction, and the radial inner dimension becomes smaller along the reference direction; or both change along the reference direction at the same time. large, but the radially outer dimension grows faster; and so on.
  • the diameter reducing assembly is connected to the distal end of the puncture tube 202.
  • the distal end of the sleeve tube 203 is close to the diameter reducing assembly.
  • the proximal end of the cannula 203 also needs to be close to the proximal end of the puncture tube 202, so in this embodiment, the preferred solution is that the length of the cannula 203 is close to the puncture tube 202. The length of the tube 202.
  • the cannula 203 moves toward the distal end of the puncture tube 202, and the inner wall of the cannula 203 imposes constraints on the outer contour of the variable diameter assembly, driving the instrument at the distal port of the cannula 203
  • the radially inner dimension of the channel 204 becomes gradually smaller.
  • the process of the bushing 203 driving the variable diameter assembly to move can be understood in conjunction with FIGS. 16a to 18b.
  • the reducing assembly is connected with the puncture tube 202 through an elastic element, the sleeve 203 moves toward the distal end of the puncture tube 202, the elastic element stores elastic potential energy, and the sleeve moves toward the puncture tube 202.
  • the elastic element releases the elastic potential energy, driving the internal dimension of the variable diameter assembly to become larger.
  • the said elastic element can be spring, torsion spring, nickel-titanium wire, memory alloy and other elastic devices.
  • the variable diameter assembly, the elastic element and the puncture tube 202 are integrally connected.
  • variable diameter assembly includes at least one variable diameter petal 232
  • the variable diameter petal 232 includes an arc plate 2321 and a rib plate 2322
  • the shape of the arc plate 2321 is consistent with the puncture
  • the distal end of the tube 202 is arranged in a form fit and extends along the axial direction of the puncture tube 202
  • the rib plate 2322 is arranged on the outer wall of the arc-shaped plate 2321 and extends along the axial direction of the puncture tube 202,
  • the size of the ribs 2322 along the radial direction of the puncture tube 202 gradually increases along the reference direction.
  • the shape of the rib plate 2322 is wedge-shaped, and in other embodiments, it can also be other shapes, for example, the rib plate 2322 has a section tangential to the puncture tube, and the above-mentioned section
  • the side away from the arc-shaped plate 2321 is in the shape of a circular arc or a broken line.
  • the reducing valve 232 further includes a stopper 2323, the stopper 2323 is arranged on the end of the arc-shaped plate 2321 away from the puncture tube 202 and extends along the radial direction of the puncture tube 202 , the extending direction is a direction away from the axis of the puncture tube 202 , so that the limiting portion 2323 has a portion that exceeds the inner contour of the cannula 202 outward.
  • the cannula 203 moves to a limit position toward the distal end of the puncture tube 202 , the limiting portion 2323 abuts against the distal end of the cannula 203 .
  • Such a configuration can further protect the patient's wound.
  • the diameter reducing assembly includes four diameter reducing petals 232 , and the diameter reducing petals 232 are evenly distributed along the circumference of the puncture tube 202 .
  • Such a configuration is beneficial for the clamping force of the trocar 211 on the internal instruments to be more uniform, so that the phenomenon of internal instruments sliding under force is not easy to occur.
  • the number of the variable-diameter petals 232 can also be two, three or greater than four, and when the number of the variable-diameter petals 232 is two, the variable-diameter petals 232 are distributed symmetrically with respect to the axis of the puncture tube 202 , and when the number of the reduced-diameter petals 232 is more than three, the reduced-diameter petals 232 are evenly distributed along the circumference of the puncture tube 202 .
  • the diameter reduction effect is realized through the diameter reduction flap 232, which has the advantages of simple structure and convenient processing.
  • Figure 20 is a schematic diagram of the overall structure of Embodiment 7 of the present invention
  • Figure 21a is a schematic diagram of the compressed airbag of Embodiment 7 of the present invention
  • Figure 21b is a schematic diagram of Embodiment 7 of the present invention A schematic diagram of the airbag being stretched.
  • the trocar 211 provided in this embodiment is basically the same as the trocar 211 provided in the fifth embodiment, the same parts will not be described again, and only the differences will be described below.
  • variable diameter assembly includes at least one air bag 233
  • the air bag 233 includes an air inlet and outlet
  • the inlet and outlet The air port is used for sealing connection with the inflation and deflation device; the air inlet and outlet and the inflation and deflation device can be set according to common knowledge, and will not be described here.
  • At least a part of the outer surface of the airbag 233 is fixedly connected to the sleeve 203, at least another part of the outer surface of the airbag 233 is fixedly connected to the puncture tube 202, and the sleeve 203 moves toward the proximal end of the puncture tube 203 , as the distance between the sleeve 203 and the balloon 233 increases, the balloon 233 is stretched and shrunk radially of the puncture tube 202, the sleeve 203 moves toward the distal end of the puncture tube 203 and thus The inflation and deflation device inflates the air bag 233 , and since the distance between the cannula 203 and the air bag 233 decreases, the air bag 233 is squeezed and expanded radially of the puncture tube 202 .
  • the directions of contraction and expansion mentioned above can be understood with reference to the description about them in Embodiment 5.
  • the way in which the outer surface of the airbag 233 is connected to the cannula 203 or the puncture tube 202 may be by adhesion, or by screw connection or by a limiting structure.
  • the air bag 233 is connected to the sleeve 203 through an extension rod 2313 .
  • the piercer 211 also includes a limiting groove 2331, the limiting groove 2331 is arranged in cooperation with the air bag 233, and is arranged on the inner wall of the instrument channel 204, please refer to FIG. 21a, the sleeve 203 is directed toward When the proximal end of the puncture tube 202 moves, the air bag 233 is stretched and shrinks into the limiting groove 2331 along the radial direction of the puncture tube 202. Even if the airbag 233 is inflated, the airbag 233 will not expand. Please refer to FIG.
  • the sleeve 203 moves toward the distal end of the puncture tube 202 and the inflation and deflation device inflates the air bag 233, and the air bag 233 is squeezed and moves along the radial direction of the puncture tube. Expand and protrude out of the limiting groove 2331 .
  • variable diameter assembly includes four air bags 233 , and the air bags 233 are evenly distributed along the circumference of the puncture tube 202 .
  • Such a configuration is beneficial for the clamping force of the trocar 211 on the internal instruments to be more uniform, so that the phenomenon of internal instruments sliding under force is not easy to occur.
  • the number of the airbags 233 can also be two, three or greater than four, and when the number of the airbags 233 is two, the airbags 233 will be related to the puncture tube. 202 is distributed symmetrically about the axis, and when the number of the airbags 233 is more than three, the airbags 233 are evenly distributed along the circumference of the puncture tube 202 .
  • the diameter-changing effect is realized through the air bag 233 , which also has the advantages of simple structure and convenient processing.
  • Figure 22a is a schematic diagram of the endoscopic robot according to Embodiment 8 of the present invention
  • Figure 22b is a schematic diagram of the tool arm mechanism according to Embodiment 8 of the present invention
  • Figure 22c is an enlarged schematic diagram of part A in Figure 22a.
  • This embodiment provides an endoscopic robot, which includes a robot main body 213 and a trocar 211 , and the trocar 211 is relatively movably connected to the robot main body 213 .
  • Relatively movable means that the piercer 211 can produce translation, rotation and compound changes relative to the robot body 213 .
  • the piercer 211 is connected to the robot main body 213 through a tool arm mechanism 212.
  • the tool arm mechanism 212 includes at least two relatively rotatable mechanical arms. One end of the tool arm mechanism 212 is connected to the robot body.
  • the robot main body 213 is connected, and the other end of the tool arm mechanism 212 is fixedly connected with the piercer 211 .
  • the specific details of the piercer 211 in this embodiment can be understood with reference to the details of the fifth to seventh embodiments.
  • the trocar 211 is positioned to a target position by the tool arm mechanism 212 .
  • the piercer 211 may also be connected to the robot main body 213 in other ways.
  • the endoscopic robot may include multiple trocars 211 , or only one trocar 211 , that is, the endoscopic robot includes at least one trocar 211 .
  • the endoscopic robot includes the trocar 211 described above, it also has the beneficial effect of adapting to various instruments with different working diameters.
  • the trocar 211 includes a puncture tube 202 and a variable diameter assembly, at least a part of the variable diameter assembly is used to define a part of the instrument channel 204;
  • the diameter reducing assembly shrinks or expands along the radial direction of the puncture tube 202, driving the radial inner dimension of the instrument channel 204 to change; wherein, the direction of contraction is a direction away from the axis of the puncture tube 202, and the direction of expansion is is a direction close to the axis of the puncture tube 202 .
  • the radial inner dimension of the instrument channel 204 is changed by the diameter reducing assembly, so that the instrument channel 204 can be aligned with the instrument channel. or the endoscope, and can provide support when the instrument or the endoscope is stressed, thereby solving the problem that the traditional trocar cannot be adapted to instruments and/or endoscopes of different working diameters , and improve the efficiency and safety of surgical operations.

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Abstract

一种穿刺器（104、211）及腔镜机器人，穿刺器（104）包括穿刺管（102）以及变径组件（103）；变径组件（103）设置于穿刺管（102）的远端并沿穿刺管（102）的径向扩张至突出穿刺管（102）的外轮廓或沿穿刺管（102）的径向收缩至不超出穿刺管（102）的外轮廓，由于缩小了穿刺器（104）在人体内部的延伸端长度，增加了手术器械可以利用的工作空间，并且降低穿刺器（104）在使用中意外损伤正常组织的风险，提高手术操作效率和安全性。或者，穿刺器（211）包括穿刺管（202）和变径组件，变径组件的至少一部分用于限定形成器械通道（204）的一部分；变径组件沿穿刺管（202）的径向收缩或扩张，驱使器械通道（204）的径向内尺寸变化，使得器械通道（204）能够与器械或内窥镜相配合，并可在器械或内窥镜受力时提供支持力，提高了手术操作的效率和安全性。

Description

一种穿刺器及腔镜机器人 技术领域
本发明涉及医疗器械领域，特别涉及一种穿刺器及腔镜机器人。
背景技术
手术机器人的出现符合精准外科的发展趋势。手术机器人成为帮助医生完成手术有力工具,如da Vinci手术机器人已经应用在全球各大医院,因其伤害小、出血少、恢复快，为患者带来福音。
手术机器人其设计理念是采用微创伤方式，精准地实施复杂的外科手术。在传统的手术面临种种局限的情况下，发展出了手术机器人来替代传统手术，手术机器人突破了人眼的局限，采用立体成像技术，将内部器官更加清晰的呈现给操作者。在原来人手无法伸入的区域，机器手能完成360度转动、挪动、摆动、夹持，并避免抖动。手术机器人实施的手术创口小、出血少、恢复快，大大缩短了患者术后住院时间，术后存活率和康复率也能明显提高，受到广大医患的青睐，现在作为一种高端医疗器械，已广泛运用于各种临床手术中。
与传统腹腔镜手术一样，手术机器人在手术时，需要通过气腹机对患者的腹腔部位建立气腹，增大腹腔空间的体积，并使得腹壁与需要进行手术的组织实现分离，从而为手术操作提供必要的空间。穿刺器作为建立气腹和保证手术器械能够进入人体病灶位置的关键器械，在机器人手术中也是起到了至关重要的作用。为了保证穿刺器能够穿透人体表皮，并且顺畅建立手术器械通道，目前使用的手术器械往往需要在人体内部延伸出来一段距离，该段距离的存在一方面会缩短手术器械能够有效操作的空间，另一方面，也存在损伤内部组织的风险。此外，由于不同器械的功能不一样，所以手术器械的工作直径，即进入到患者体内部分的最大宽度或直径是不一样的，也就需要配置不同通道内径的穿刺器来匹配使用需要。特别是在手术机器人手术中，由于一定的手术需要或术前的规划不够准确，有时需要将内窥镜的位置与手术器械的位置进行调换，但是由于机械臂的摆位设计，无法直接进行机械臂的调换，只能将内窥镜从开始使用的机械臂更换到另外一个机械臂上，但是由于内窥镜的直径一般比手术器械的直径要大，所以也需要将配套的穿刺器从刚开始的位置拔出并重新插入到新规划的位置处，这样的操作存在两个明显的弊端：一方面，穿刺器拔出来后，容易造成气腹的泄露乃至丧失，需要重新等到气腹的建立，并且还存在一定的安全风险；另一方面，穿刺器的插拔对创口存在二次伤害，并且在重新插入穿刺器的时候，也存在对腹内组织造成损伤的风险。
总之，现有技术中，传统穿刺器存在人体体内的延伸端过长，容易在手术过程中脱离人体，以及人体体内粘膜容易脱离穿刺器末端的问题。此外，传统穿刺器内径固定，无法适配不同工作直径的器械和/或内窥镜，在术中需要增加更换穿刺器的流程，并由此可能引发一系列的意外损伤，以及降低了手术操作的效率和安全。
发明内容
本发明的目的之一在于提供一种穿刺器及腔镜机器人，以解决现有技术中，传统穿刺器存在的人体体内的延伸端过长，容易在手术过程中脱离人体，以及人体体内粘膜容易脱离穿刺器末端的问题。
本发明的目的之二在于提供一种穿刺器及腔镜机器人，以解决现有技术中穿刺器无法适配不同工作直径的器械和/或内窥镜的问题，并提高手术操作的效率和安全性。
为了解决上述技术问题，本发明提供了一种穿刺器，所述穿刺器包括穿刺管以及变 径组件；所述变径组件设置于所述穿刺管的远端；所述变径组件沿所述穿刺管的径向扩张至突出所述穿刺管的外轮廓或沿所述穿刺管的径向收缩至不超出所述穿刺管的外轮廓；所述穿刺管在第一位置和第二位置间转换以驱使所述变径组件沿所述穿刺管的径向收缩或扩张；所述第一位置和所述第二位置沿所述穿刺管的周向设置。
可选的，所述穿刺器还包括穿设于所述穿刺管内的内管，所述变径组件包括至少一个扩张片，所述扩张片与所述内管和所述穿刺管中的一个连接；所述穿刺管位于所述第一位置时，所述扩张片被所述内管和所述穿刺管中的另一个限制而不超出所述穿刺管的外轮廓；所述穿刺管自所述第一位置转换至所述第二位置时，解除所述穿刺管或所述内管对所述扩张片的限制，所述扩张片朝所述穿刺管的径向突出所述穿刺管的外轮廓。
可选的，所述内管具有沿自身径向向外开设的收纳孔，所述穿刺管自所述第二位置转换至所述第一位置时，所述穿刺管的内壁通过抵靠所述扩张片的外壁将所述扩张片收纳至不超出所述穿刺管的外轮廓的位置，并将所述扩张片收纳于所述收纳孔中；所述扩张片的外轮廓与所述穿刺管的内轮廓相适配。
可选的，所述势能元件的一端与所述变径组件连接，所述势能元件的另一端与所述内管和所述穿刺管中的一个连接；所述穿刺管从所述第一位置移动至所述第二位置时，
所述势能元件存储势能，所述穿刺管从所述第二位置移动至所述第一位置时，所述势能元件释放势能并驱使所述变径组件收缩至不超出所述穿刺管的外轮廓的位置；或者，所述穿刺管从所述第二位置移动至所述第一位置时，所述势能元件存储势能，所述穿刺管从所述第一位置移动至所述第二位置时，所述势能元件释放势能并驱使所述变径组件沿所述穿刺管的径向突出所述穿刺管的外轮廓。
可选的，所述扩张片围绕扩张轴线可转动地与所述内管和所述穿刺管中的一个连接；所述穿刺管自所述第一位置转换至所述第二位置时，所述扩张片围绕所述扩张轴线转动，使所述扩张片远离所述扩张轴线的一端朝所述穿刺管径向突出所述穿刺管的外轮廓。
可选的，所述扩张片与所述内管连接，所述穿刺管自所述第二位置转换至所述第一位置时，所述穿刺管的内壁通过抵靠所述扩张片的外壁将所述扩张片收纳至不超出所述穿刺管的外轮廓的位置。
可选的，所述扩张轴线朝向所述穿刺管的轴向，所述穿刺管具有朝向所述穿刺管的径向向外开口的扩张孔，所述穿刺管自所述第一位置转换至所述第二位置时，所述扩张片自所述扩张孔中突出所述穿刺管的外轮廓。
可选的，所述穿刺器包括操作部，所述操作部与所述变径组件连接，用于驱动所述变径组件沿所述穿刺管的径向扩张至突出所述穿刺管的外轮廓或沿所述穿刺管的径向收缩至不超出所述穿刺管的外轮廓。
为了解决上述技术问题，本发明还提供了一种腔镜机器人，所述腔镜机器人包括机器人主体以及上述的穿刺器，所述穿刺器与所述机器人主体相对可移动地连接。
与现有技术相比，本发明提供的穿刺器及腔镜机器人中，所述穿刺器包括穿刺管以及变径组件；所述变径组件设置于所述穿刺管的远端；所述变径组件沿所述穿刺管的径向扩张至突出所述穿刺管的外轮廓或沿所述穿刺管的径向收缩至不超出所述穿刺管的外轮廓。如此配置，当穿刺器的远端刺入人体后，所述变径组件可沿所述穿刺管的径向突出所述穿刺管的外轮廓，突出部分能限制穿刺器脱离人体，所述穿刺器在人体内部的延伸端长度可以控制在非常小的范围内，增加了手术器械可以利用的工作空间，并且降低穿刺器在使用中意外损伤正常组织的风险，提高手术操作效率和安全性；解决了现有技术中，传统穿刺器存在的人体体内的延伸端过长，容易在手术过程中脱离人体，以及人体体内粘膜容易脱离穿刺器末端的问题。
为了解决上述的技术问题，本发明还提供了一种穿刺器，包括穿刺管、器械通道和变 径组件，所述器械通道沿所述穿刺管的轴向设置并贯穿所述穿刺管，所述变径组件的至少一部分用于限定形成所述器械通道的一部分；所述变径组件设置于所述穿刺管的远端；所述变径组件沿所述穿刺管的径向收缩或扩张，驱使所述器械通道的径向内尺寸变化；其中，收缩的方向为远离所述穿刺管的轴线的方向，扩张的方向为靠近所述穿刺管的轴线的方向；所述穿刺器还包括套管，所述套管套设于所述穿刺管的外侧，并沿所述穿刺管的轴向相对所述穿刺管可移动地设置，所述套管移动驱使所述变径组件沿所述穿刺管的径向收缩或扩张。
可选的，所述套管向所述穿刺管的近端移动驱使所述器械通道的径向内尺寸增大；所述套管向所述穿刺管的远端移动驱使所述器械通道的径向内尺寸减小。
可选的，所述变径组件包括至少一个连杆结构，所述连杆结构包括铰接部和至少两个连杆，至少两个所述连杆通过所述铰接部铰接，所述连杆结构的远端与所述穿刺管的远端铰接，所述连杆结构的近端与所述套管铰接；所述套管向所述穿刺管的近端移动，所述连杆结构被拉伸；所述套管向所述穿刺管的远端移动，所述连杆结构的远端与近端靠近，使至少一个所述铰接部沿所述穿刺管的径向靠近所述穿刺管的轴线。
可选的，同一个所述连杆结构的相邻的所述连杆的轴线形成夹角，至少一个所述夹角沿所述穿刺管的径向朝向所述穿刺管的轴线；所述套管向所述穿刺管的近端移动至极限位置时，至少一个所述夹角的角度小于175°。
可选的，所述变径组件的径向外尺寸与径向内尺寸的差值沿参考方向增大，所述参考方向是沿所述穿刺管的轴向朝向所述穿刺管的远端的方向，所述变径组件与所述穿刺管的远端连接；所述套管向所述穿刺管的远端移动，变径组件逐渐收纳入所述套管内部，所述套管的内壁对所述变径组件的外轮廓施加约束，驱使所述套管的远端端口处的所述器械通道的径向内尺寸减小。
可选的，所述变径组件通过弹性元件与所述穿刺管连接；所述套管向所述穿刺管的远端移动，所述弹性元件存储弹性势能；所述套管向所述穿刺管的近端移动，所述弹性元件释放弹性势能，驱使所述套管的远端端口处的所述器械通道的径向内尺寸增大。
可选的，所述变径组件包括至少一个变径瓣，所述变径瓣包括弧形板和肋板，所述弧形板的形状与所述穿刺管的远端的形状配合地设置并沿所述穿刺管的轴向延伸，所述肋板设置于所述弧形板的外壁上并沿所述穿刺管的轴向延伸，所述肋板沿所述穿刺管的径向的尺寸沿所述参考方向逐渐变大。
可选的，所述变径瓣还包括限位部，所述限位部设置于所述弧形板远离所述穿刺管的一端并沿所述穿刺管的径向延伸，延伸方向为远离所述穿刺管的轴线的方向，所述套管向所述穿刺管的远端移动至极限位置时，所述限位部与所述套管的远端相抵靠。
可选的，所述变径组件包括至少一个气囊，所述气囊包括进出气口，所述进出气口用于与充放气装置密封连接；所述气囊的至少一部分外表面与所述套管固定连接，所述气囊的至少另一部分外表面与穿刺管固定连接，所述套管向所述穿刺管的近端移动，所述气囊被拉伸并沿所述穿刺管的径向向外收缩，所述套管向所述穿刺管的远端移动且所述充放气装置向所述气囊充气，所述气囊被挤压并沿所述穿刺管的径向向外扩张。
为了解决上述技术问题，本发明还提供了一种腔镜机器人，所述腔镜机器人包括机器人主体以及上述的穿刺器，所述穿刺器与所述机器人主体相对可移动地连接。
与现有技术相比，本发明提供的穿刺器及腔镜机器人中，所述穿刺器包括穿刺管、器械通道和变径组件，所述器械通道沿所述穿刺管的轴向设置并贯穿所述穿刺管，所述变径组件的至少一部分用于限定形成所述器械通道的一部分；所述变径组件沿所述穿刺管的径向收缩或扩张，驱使所述器械通道的径向内尺寸变化；其中，收缩的方向为远离所述穿刺管的轴线的方向，扩张的方向为靠近所述穿刺管的轴线的方向。如此配置，当不同工作直 径的器械或内窥镜穿过所述器械通道时，通过所述变径组件改变所述器械通道的径向内尺寸，使得所述器械通道能够与所述器械或所述内窥镜相配合，并可在所述器械或所述内窥镜受力时提供支持力，从而解决了传统穿刺器无法适配不同工作直径的器械和/或内窥镜的问题，并提高手术操作的效率和安全性。
附图说明
本领域的普通技术人员将会理解，提供的附图用于更好地理解本发明，而不对本发明的范围构成任何限定。其中：
图1是本发明涉及的穿刺器的整体结构示意图；
图2a是本发明实施例一的穿刺器的总体结构示意图；
图2b是本发明实施例一的穿刺器远端的局部放大图；
图3a是本发明实施例一的变径组件的结构示意图；
图3b是本发明实施例一的变径组件的局部放大图；
图4是本发明实施例二的穿刺器的总体结构示意图；
图5是本发明实施例二的穿刺管处于第二位置时的变径组件结构示意图；
图6是本发明实施例三的穿刺器的总体结构示意图；
图7是本发明实施例三的套管处于从第一位置移动至第二位置的中间过程时的变径组件的结构示意图；
图8是本发明实施例三的套管处于第二位置时的变径组件结构示意图；
图9是本发明实施例三的穿刺管的截面图；
图10a是本发明实施例四的腔镜机器人的示意图；
图10b是本发明实施例四的工具臂机构的示意图；
图10c是图10a中A部的放大示意图；
图11是本发明的实施例五的穿刺器的整体结构示意图；
图12是本发明的实施例五的穿刺器的另一角度的整体结构示意图；
图13是本发明的实施例五的连杆结构的结构示意图；
图14a是本发明的实施例五的套管靠近穿刺管近端时的示意图；
图14b是本发明的实施例五的套管靠近穿刺管近端时的沿穿刺管轴向观察的示意图；
图14c是本发明的实施例五的连杆形成的夹角的示意图；
图15a是本发明的实施例五的套管靠近穿刺管远端时的示意图；
图15b是本发明的实施例五的套管靠近穿刺管远端时的沿穿刺管轴向观察的示意图；
图16a是本发明的实施例六的套管靠近穿刺管近端时的示意图；
图16b是本发明的实施例六的套管靠近穿刺管近端时的沿穿刺管轴向观察的示意图；
图17是本发明的实施例六的套管从穿刺管的近端向穿刺管的远端移动时的中间状态的示意图；
图18a是本发明的实施例六的套管靠近穿刺管远端时的示意图；
图18b是本发明的实施例六的套管靠近穿刺管远端时的沿穿刺管轴向观察的示意图；
图19是本发明的实施例六的变径瓣的示意图；
图20是本发明的实施例七的整体结构示意图；
图21a是本发明的实施例七的气囊被压缩时的示意图；
图21b是本发明的实施例七的气囊被拉伸时的示意图；
图22a是本发明实施例八的腔镜机器人的示意图；
图22b是本发明实施例八的工具臂机构的示意图；
图22c是图22a中A部的放大示意图。
附图中：
101-底座；102-穿刺管；103-变径组件；104-穿刺器；105-工具臂机构；106-机器人主体；121-内管；122-外壁；123-扩张孔；124-套管；125-避让槽；131-扩张片；1311-扩张轴线；132-收纳孔；133-连杆结构；134-连杆；135-铰接部；136-加长杆；137-贯穿孔；
201-密封基座；202-穿刺管；203-套管；204-器械通道；205-覆盖层；211-穿刺器；212-工具臂机构；213-机器人主体；231-连杆结构；2311-连杆；2312-铰接部；2313-加长杆；232-变径瓣；2321-弧形板；2322-肋板；2323-限位部；233-气囊；2331-限位槽。
具体实施方式
为使本发明的目的、优点和特征更加清楚，以下结合附图和具体实施例对本发明作进一步详细说明。需说明的是，附图均采用非常简化的形式且未按比例绘制，仅用以方便、明晰地辅助说明本发明实施例的目的。此外，附图所展示的结构往往是实际结构的一部分。特别的，各附图需要展示的侧重点不同，有时会采用不同的比例。
如在本发明中所使用的，单数形式“一”、“一个”以及“该”包括复数对象，术语“或”通常是以包括“和/或”的含义而进行使用的，术语“若干”通常是以包括“至少一个”的含义而进行使用的，术语“至少两个”通常是以包括“两个或两个以上”的含义而进行使用的，此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”的特征可以明示或者隐含地包括一个或者至少两个该特征，术语“近端”通常是靠近操作者的一端，术语“远端”通常是靠近患者的一端，“一端”与“另一端”以及“近端”与“远端”通常是指相对应的两部分，其不仅包括端点，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。此外，如在本发明中所使用的，一元件设置于另一元件，通常仅表示两元件之间存在连接、耦合、配合或传动关系，且两元件之间可以是直接的或通过中间元件间接的连接、耦合、配合或传动，而不能理解为指示或暗示两元件之间的空间位置关系，即一元件可以在另一元件的内部、外部、上方、下方或一侧等任意方位，除非内容另外明确指出外。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
本发明的核心思想在于提供一种穿刺器及腔镜机器人，以解决现有技术中，传统穿刺器存在的人体体内的延伸端过长，容易在手术过程中脱离人体，以及人体体内粘膜容易脱离穿刺器末端的问题；或者，解决现有技术中穿刺器无法适配不同工作直径的器械和/或内窥镜的问题，并提高手术操作的效率和安全性。
以下参考附图进行描述。
【实施例一】
请参考图1至图3b，其中图1是本发明涉及的穿刺器的整体结构示意图；图2a是本发明实施例一的穿刺器的总体结构示意图；图2b是本发明实施例一的穿刺器远端的局部放大图；图3a是本发明实施例一的变径组件的结构示意图；图3b是本发明实施例一的变径组件的局部放大图。
请参考图1，本实施例提供了一种穿刺器104，所述穿刺器104包括穿刺管102以及变径组件103；所述变径组件103设置于所述穿刺管的远端；所述变径组件103沿所述穿刺管102的径向扩张至突出所述穿刺管102的外轮廓或沿所述穿刺管102的径向收缩至不超出所述穿刺管102的外轮廓，其中，扩张的方向为远离所述穿刺管的轴线的方向，收缩的方向为靠近所述穿刺管的轴线的方向。
如此配置，首先，当穿刺管102需要刺入人体，或者从人体取出时，所述变径组件103可以收缩至沿所述穿刺管102的径向不超出所述穿刺管102的外轮廓，从而不影响所述穿刺管102的刺入或取出操作。其次，当穿刺管102刺入人体之后，所述变径组件103沿所述穿刺管102的径向突出所述穿刺管102的外轮廓，此时，由于突出部分的尺寸已经大于所述穿刺管102造成的创口，从而限制了所述穿刺器104脱离人体。与现有技术相比，所述穿刺器104在人体内部的延伸端长度可以控制在非常小的范围内，进而增加了手术器械可以利用的工作空间，并且降低穿刺器104在使用中意外损伤正常组织的风险，提高手术操作效率和安全性；解决了现有技术中，传统穿刺器存在的人体体内的延伸端过长，容易在手术过程中脱离人体，以及人体体内粘膜容易脱离穿刺器末端的问题。
进一步地，所述穿刺管102还包括沿自身的轴线方向贯穿所述穿刺管102的器械通道，所述器械通道用于通过手术用器械。所述穿刺器104还包括底座101，所述穿刺管102的近端与所述底座101固定连接，所述底座101用于密封所述器械通道。如此配置，使得所述穿刺器104能够实现手术本身所需的功能。
在一个示范性的实施例中，所述穿刺管102在第一位置和第二位置间转换，所述穿刺管102转换至所述第一位置，驱使所述变径组件沿所述穿刺管102的径向不超出所述穿刺管102的外轮廓；所述穿刺管102转换至所述第二位置，驱使所述变径组件沿所述穿刺管102的径向突出所述穿刺管102的外轮廓。操作人员可以通过对所述穿刺管102的外壁122施加作用力以实现操作，所述第一位置和所述第二位置沿所述穿刺管102的周向设置。即操作者通过转动穿刺管102，实现驱动变径组件103。如此配置，第一，简化了整个穿刺器104的结构；第二，简化了操作过程，有利于医护人员进行直观地理解；第三，还有利于医护人员通过观察所述外壁122的当前位置推断所述变径组件103的工作状态，例如，在所述外壁122上设置刻度或者图案标记，医护人员通过观察刻度或者图案标记与所述穿刺器104的相对位置关系推断所述变径组件103当前是处于扩张状态还是收缩状态，请参考图2a和图2b。
优选地，所述穿刺器104还包括穿设于所述穿刺管102内的内管121，所述变径组件包括至少一个扩张片131，所述扩张片131围绕扩张轴线1311可转动地与所述内管121和所述穿刺管102中的一个连接；所述扩张轴线1311的具体位置可以参考图3b进行理解，即所述扩张片131的旋转轴线。所述穿刺管102位于所述第一位置时，所述扩张片131被所述内管121和所述穿刺管102中的另一个限制而不超出所述穿刺管102的外轮廓；所述穿刺管102自所述第一位置转换至所述第二位置时，解除所述穿刺管102或所述内管121对所述扩张片131的限制，所述扩张片131围绕所述扩张轴线1311转动，朝所述穿刺管102的径向突出所述穿刺管102的外轮廓。如此配置，利用所述扩张片131实现所需的变径效果，简化了所述穿刺器104的结构，并具有较高的可靠性。
进一步地，所述扩张片131的外轮廓与所述穿刺管102的内轮廓相适配。如此配置，有利于节约所述穿刺器104的内部空间，并使得所述扩张片131在工作过程中不易磨损。
在一实施例中，所述穿刺器104包括势能元件，所述势能元件的一端与所述变径组件103连接，所述势能元件的另一端与所述内管121和所述穿刺管102中的一个连接；所述穿刺管102从所述第一位置移动至所述第二位置时，所述势能元件存储势能，在所述穿刺管102从所述第二位置移动至所述第一位置时，所述势能元件释放势能并驱使所述变径组件103收缩至不超出所述穿刺管102的外轮廓的位置；或者，所述穿刺管102从所述第二位置移动至所述第一位置时，所述势能元件存储势能，所述穿刺管102从所述第一位置移动至所述第二位置时，所述势能元件释放势能并驱使所述变径组件103沿所述穿刺管102的径向突出所述穿刺管102的外轮廓。需理解，“势能”应理解为弹性势能、电磁场势能、重力势能中的至少一种，所述势能元件的具体形式，本领域技术人员可以根据现有技术进 行合理的配置，在本说明书中不作详细地介绍。如此配置，有利于进一步简化所述变径组件103的结构，并增加了所述变径组件103的自由度，使得所述变径组件103在工作过程中不易被异物损坏。在一个较佳的实施例中，可利用弹簧或弹片产生弹性势能，来实现势能元件驱动所述变径组件103。
基于上述设计思路，可对所述扩张片131的扩张轴线1311进行设置，潜在的设置方案中，较优的方案是，所述扩张轴线1311朝向所述穿刺管102的轴向。需理解，在其他的实施例中，所述扩张轴线1311也可以不朝向所述穿刺管102的轴向。
请参考图2a至图3b，在一示范性的实施例中，所述穿刺管102具有朝向所述穿刺管的径向向外开口的扩张孔123，所述穿刺管102自所述第一位置转换至所述第二位置时，所述扩张片131自所述扩张孔123中突出所述穿刺管102的外轮廓。所述内管121具有沿自身径向向外开设的收纳孔132，所述收纳孔132沿所述内管的径向向内的一端可贯穿或不贯穿地设置。所述穿刺管102自所述第二位置转换至所述第一位置时，所述穿刺管102的内壁通过抵靠所述扩张片131的外壁将所述扩张片131收纳至不超出所述穿刺管102的外轮廓的位置，并将所述扩张片131收纳于所述收纳孔132中。
需理解，在其他实施例中，也可以将所述扩张片131与所述穿刺管102连接，通过在所述穿刺管102上设置沿径向开设的收纳孔，并在所述内管121上通过连杆、拉绳等可对所述扩张片131施加拉力的器件与所述扩张片131远离所述扩张轴线的一端连接。如此配置，也可以利用所述穿刺管102和所述内管121之间的相对运动以驱动所述扩张片131的收纳或者扩张。这样的方案，也可以取得类似的效果，也应当视为本申请权利要求的保护范围。
优选地，所述扩张片131的数量不少于两个，如可以设置为四个，所述扩张轴线可沿所述穿刺管102的周向均匀地布置，所述扩张片131可采取相同的形状和尺寸。相对应的，扩张孔123和收纳孔132的数量和形状与扩张片131的数量和形状相适配。
在本实施例中，利用了可沿所述扩张轴线转动的所述扩张片131实现了变径效果，并且，所述扩张轴线1311平行于所述穿刺管102的轴线；使得医护人员使用转动的方式对所述穿刺器104进行操作，在特定操作条件下能够更为方便地对所述变径组件进行操作。同时，所述扩张片131转动的方向和手术过程中所述穿刺器104的受力方向不同，固定可靠性较高。
【实施例二】
请参考图1、图4及图5，其中，图1是本发明涉及的穿刺器的整体结构示意图；图4是本发明实施例二的穿刺器的总体结构示意图；图5是本发明实施例二的穿刺管处于第二位置时的变径组件结构示意图。
本实施例与实施例一的区别在于，所述扩张轴线1311朝向所述穿刺管102的切向并沿所述穿刺管102的周向分布，所述扩张轴线1311的设置方式可以参考图5进行理解。所述第一位置和所述第二位置沿所述穿刺管102的轴向设置，即操作者通过推动或者拉动穿刺管102的外壁122，实现驱动变径组件103。需理解，在其他的实施例中，所述扩张轴线1311也可以不朝向所述穿刺管102的切向。
优选地，所述扩张片131的数量不少于两个，在一个示范例中，所述扩张片131的数量设置为四个，所述扩张片131采取相同的形状和尺寸，所述扩张轴线可沿所述穿刺管102的周向均匀地布置，所有所述扩张轴线1311共面且与所述穿刺管102的轴线的距离相等。需理解，在其他的实施例中，所述扩张轴线1311也可以不共面，与所述穿刺管102的轴线的距离也可以不相等。所述扩张片131通过销轴与所述内管121连接，所述扩张轴线1311为所述销轴的转动轴。所述扩张片131同时还通过扭力弹簧与所述内管121连接，所述势能元件为所述扭力弹簧。所述扭力弹簧的中心轴线在设置时与所述扩张轴线1311重合或 者在工程范畴内重合。所述穿刺管102自所述第二位置转换至所述第一位置时，所述穿刺管102的内壁通过抵靠所述扩张片131的外壁逐渐将所述扩张片131收纳至所述穿刺管102中。所述穿刺管102自所述第一位置转换至所述第二位置时，所述扩张片131从所述穿刺管102的远端开口处露出，并突出所述穿刺管102的外轮廓。需理解的，穿刺管102的外轮廓不仅包括穿刺管102轴向长度范围内的外轮廓，也应当包括穿刺管102朝向远端预定长度范围内的延伸区域所对应的外轮廓。
本实施例的其他细节，可参考实施例一进行理解。
本实施例通过将所述第一位置和所述第二位置沿所述穿刺管102的轴向设置，使得医护人员使用平动的方式对所述穿刺器104进行操作，在特定操作条件下能够更为方便地对所述变径组件进行操作。同时，所述扩张片131在完成变径运动后的静止状态下，留在人体体内的延伸端被进一步地压缩，留下的手术空间更大。另外，所述变径机构103在手术过程中受力方向上的接触面积较大，对创口周围组织的压强较小，安全性较高。
【实施例三】
请参考图1、图6至图9，其中图1是本发明涉及的穿刺器的整体结构示意图；图6是本发明实施例三的穿刺器的总体结构示意图；图7是本发明实施例三的套管处于从第一位置移动至第二位置的中间过程时的变径组件的结构示意图；图8是本发明实施例三的套管处于第二位置时的变径组件结构示意图；图9是本发明实施例三的穿刺管的截面图。
本实施例提供的穿刺器104与实施例一提供的穿刺器104基本相同，对于相同部分不再叙述，以下仅针对不同点进行描述。
请参考图6，实施例三提供的穿刺器104包括操作部，所述操作部与所述变径组件连接，用于驱动所述变径组件103沿所述穿刺管102的径向扩张至突出所述穿刺管102的外轮廓或沿所述穿刺管102的径向收缩至不超出所述穿刺管102的外轮廓。具体的，所述操作部为套设于所述穿刺管102外侧的套管124，所述套管124沿所述穿刺管102的轴向相对所述穿刺管102可移动地设置并在第一位置和第二位置间转换，所述套管124转换至所述第一位置，驱使所述变径组件沿所述穿刺管102的径向不超出所述穿刺管102的外轮廓；所述套管124转换至所述第二位置，驱使所述变径组件沿所述穿刺管102的径向突出所述穿刺管102的外轮廓。
请参考图6至图8，所述变径组件103包括至少一个连杆结构133，所述连杆结构133包括至少两个通过铰接部135铰接的连杆134，所述连杆结构134的远端与所述穿刺管102的远端铰接，所述连杆结构133的近端与所述套管124铰接；所述套管124位于所述第一位置时，所述连杆结构133被拉伸，以使所述连杆134不超出所述穿刺管102的外轮廓；所述套管124自所述第一位置转换至所述第二位置时，所述连杆结构133的远端与近端逐渐靠近，使至少一个所述铰接部135朝所述穿刺管102的外部方向突出所述穿刺管102的外轮廓。请参考图7，在一实施例中，所述连杆结构133通过固结于所述套管124上的加长杆136与所述套管124铰接。可选的，穿刺管102具有沿轴向延伸的避让槽125，在推动套管124沿轴向移动时，连杆134与加长杆136的连接处沿避让槽125移动。请参考图9，为避免干涉，所述避让槽125靠近所述加长杆136的侧壁上设置有一贯穿孔137，所述加长杆136通过所述贯穿孔137与所述连杆结构133连接。所述套管124位于所述第一位置时，所述连杆结构133被收纳于设置在所述穿刺管102远端的避让槽125内。所述避让槽的设置，即可以作为所述连杆结构133的导向装置，以限制所述连杆结构133在运动时左右晃动，也能够作为所述连杆结构133的保护装置，从而避免了在所述穿刺管刺入或拔出人体过程中，所述连杆结构133损伤人体组织或者被人体组织影响而减少使用寿命。
进一步地，所述套管124处于所述第一位置时，同一个所述连杆结构133的每一个铰链的旋转轴共面，需理解，上述的每一个铰链，既包括所述铰链部上的铰链，也包括所述 连杆结构的远端和近端上的铰链。当同一个所述连杆结构133的每一个铰链的旋转轴共面时，即所述连杆结构133被拉伸至最长状态，如此配置，所述连杆结构133同时可作为所述操作端在第一位置的限位结构，从而可以省略一个限位台阶的设计，有利于简化所述穿刺器104的结构，同时也使得医护人员更容易操作。
较优地，每个所述连杆结构133包括两个轴向尺寸相同的所述连杆134。如此配置，可以简化结构，使得所述连杆134在突出时能够贴靠。需理解，包括三个或以上的所述连杆134，以及所述连杆134的轴向尺寸不完全相同的方案，也能够实现变径效果，也应当视为本申请权利要求书的保护范围。
在一较优的实施例中，所述变径组件103包括至少两个所述连杆结构133，当所述连杆结构133的数量为两个时，所述连杆结构133关于所述穿刺管102的轴线对称分布，当所述连杆结构133的数量为三个以上时，所述连杆结构沿所述穿刺管102的周向均匀分布。如此配置，可以使创口四周的受力较为均匀，不易破坏创口外侧的组织。需理解，在特殊的情况下，可能需要对创口四周施加不均匀的力，从而选择所述连杆结构133不是均匀分布的方案，也可以达到变径效果，也应当视为本申请权利要求书的保护范围。
综上，在上述实施例中，所述第一位置和所述第二位置沿所述穿刺管102的周向或轴向相对设置，当所述操作端于所述第一位置和所述第二位置之间转换时，其运动形式也相对应地仅包括转动或者平动。在其他的一些实施例中，所述第一位置和所述第二位置也可以沿所述穿刺管102倾斜设置，即所述第一位置和所述第二位置之间既有轴向的相对位置关系，也有周向的相对位置关系；所述操作端于所述第一位置和所述第二位置之间转换时，也可以采用复合运动的方式，例如在转动的同时进行平动，或者先转动再平动再转动等等。相对应的，若所述变径组件103通过所述扩张片131实现变径效果时，所述扩张轴线也可以倾斜地设置；若所述变径组件103通过所述连杆结构133实现变径效果时，所述连杆结构133的两端也可以倾斜地设置，若所述穿刺管102具有避让槽125时，所述避让槽也可以适配地倾斜地设置。
【实施例四】
请参考图10a～图10c，图10a是本发明实施例四的腔镜机器人的示意图；图10b是本发明实施例四的工具臂机构的示意图；图10c是图10a中A部的放大示意图。
本实施例提供了一种腔镜机器人，所述腔镜机器人包括机器人主体106以及穿刺器104，所述穿刺器104与所述机器人主体106相对可移动地连接。相对可移动是指所述穿刺器104可以相对于所述机器人主体106产生平动、转动以及复合变化。在一实施例中所述穿刺器104通过工具臂机构105与所述机器人主体106连接，所述工具臂机构105包括至少两个可相对转动的机械臂，所述工具臂机构105的一端与所述机器人主体106连接，所述工具臂机构105的另一端与所述穿刺器104固定连接。本实施例中的穿刺器104的具体细节可以参考实施例1～3的细节进行理解。当所述腔镜机器人用于治疗时，通过所述工具臂机构105将所述穿刺器104定位至目标位置。
在其他的实施例中，所述穿刺器104也可以通过其他方式与所述机器人主体106连接。所述腔镜机器人可以包括多个所述穿刺器104，也可以仅包括一个所述穿刺器104，即所述腔镜机器人包括至少一个所述穿刺器104。
所述腔镜机器人的其他元件、连接关系、以及具体的工作原理可以根据本领域公知常识进行设置，在此不进行展开描述。由于所述腔镜机器人包括了上述的穿刺器104，因此也具有手术效率和安全性高的有益效果。
与现有技术相比，本实施例中提供的穿刺器104和腔镜机器人中，所述穿刺器104包括穿刺管102以及变径组件103；所述变径组件103设置于所述穿刺管102的远端；所述变径组件103沿所述穿刺管102的径向扩张至突出所述穿刺管102的外轮廓或沿所述穿刺 管102的径向收缩至不超出所述穿刺管102的外轮廓。如此配置，当穿刺器104的远端刺入人体后，所述变径组件可沿所述穿刺管102的径向突出所述穿刺管的外轮廓，突出部分能限制穿刺器104脱离人体，所述穿刺器104在人体内部的延伸端长度可以控制在非常小的范围内，增加了手术器械可以利用的工作空间，并且降低穿刺器104在使用中意外损伤正常组织的风险，提高手术操作效率和安全性；解决了现有技术中，传统穿刺器存在的人体体内的延伸端过长，容易在手术过程中脱离人体，以及人体体内粘膜容易脱离穿刺器末端的问题。
【实施例五】
请参考图11至图15b，其中，图11是本发明的实施例五的穿刺器的整体结构示意图；图12是本发明的实施例五的穿刺器的另一角度的整体结构示意图；图13是本发明的实施例五的连杆结构的结构示意图；图14a是本发明的实施例五的套管靠近穿刺管近端时的示意图；图14b是本发明的实施例五的套管靠近穿刺管近端时的沿穿刺管轴向观察的示意图；图14c是本发明的实施例五的连杆形成的夹角的示意图；图15a是本发明的实施例五的套管靠近穿刺管远端时的示意图；图15b是本发明的实施例五的套管靠近穿刺管远端时的沿穿刺管轴向观察的示意图。
如图11及图12所示，本实施例提供了一种穿刺器211，包括穿刺管202、器械通道204和变径组件，所述器械通道204沿所述穿刺管202的轴向设置并贯穿所述穿刺管202，所述变径组件的至少一部分用于限定形成器械通道204的一部分，所述器械通道204用于通过手术器械。所述变径组件沿所述穿刺管202的径向收缩或扩张，驱使所述器械通道204的径向内尺寸变化；其中，收缩的方向为远离所述穿刺管202的轴线的方向，扩张的方向为靠近所述穿刺管202的轴线的方向。可以理解，当所述器械通道204在所述变径组件处的横截面随着所述变径组件的变化而相似形变时，所述横截面的任意尺寸(例如边长、特定两点之间的连线等)都可以认为是径向内尺寸，当所述横截面的形变并非是相似形变时，径向内尺寸变小是指形变后的有效横截面的面积小于形变前的有效横截面的面积，有效横截面的概念是指所述横截面中可用于通过手术器械的部分。可以理解，向外或者外部是指远离所述穿刺管202的轴线的方向，向内或者内部是指靠近所述穿刺管202的轴线的方向，后续的内容中，若无特殊说明，也可以按照上述思路进行理解。如此配置，当不同工作直径的器械或内窥镜穿过所述器械通道204时，通过所述变径组件改变所述器械通道204的径向内尺寸，使得所述器械通道能够与所述器械或所述内窥镜相配合，并可在所述器械或所述内窥镜受力时提供支持力，从而解决了传统穿刺器存在的内径固定，无法适配不同工作直径的器械和/或内窥镜的问题，并提高手术操作的效率和安全性。
所述穿刺器211还可以包括密封基座201，所述穿刺管202的近端与所述密封基座201连接。其中，所述密封基座201包括与所述器械通道204连接的密封结构，所述密封结构用于实现器械通道204的封闭和打开，当所述密封结构关闭时，能够形成气体的封闭。所述密封结构可以是磁片密封结构、多膜片密封结构、球珠密封结构。
所述变径组件可以设置于所述穿刺管202的内部的任意部位，但是出于方便加工以及使得其夹持效果更为稳定的考虑，较优地，所述变径组件设置于所述穿刺管202的远端。
进一步的，所述穿刺器211还可以包括覆盖层205，所述覆盖层205的材料例如为柔性材料，所述覆盖层205包覆所述变径组件的内表面。如此配置，所述覆盖层205能够根据所述变径组件的运动适应性地变形，起到隔绝污染物和保护器械表面的作用。
较优地，所述穿刺器211还包括套管203，所述套管203套设于所述穿刺管202的外侧，并沿所述穿刺管202的轴向相对所述穿刺管可移动地设置，所述套管203移动驱使所述变径组件沿所述穿刺管202的径向收缩或扩张。
在本实施例中，所述套管203的移动方向为所述穿刺管202的轴向，更符合医护人员 的操作习惯，以及简化所述穿刺器211的整体结构。在其他的实施例中，也可以设置所述套管203沿所述穿刺管202的周向旋转运动，或者可同时沿所述穿刺管202的轴向以及所述穿刺管202的周向进行复合运动，如此设置也能达到预期的效果。
本实施例中，所述套管203向所述穿刺管202的近端移动驱使所述器械通道204的径向内尺寸增大；所述套管203向所述穿刺管202的远端移动驱使所述器械通道204的径向内尺寸减小。如此配置，更符合医护人员的操作习惯。在其他的一些实施例中，也可以设置为所述套管203向所述穿刺管202的远端移动驱使所述器械通道204的径向内尺寸增大；所述套管203向所述穿刺管202的近端移动驱使所述器械通道204的径向内尺寸减小。
请参考图13、图14a和图15a，所述变径组件包括至少一个连杆结构231，所述连杆结构231包括铰接部2312和至少两个连杆2311，至少两个连杆2311通过所述铰接部2312铰接，所述连杆结构231的远端与所述穿刺管202的远端铰接，所述连杆结构231的近端与所述套管203铰接。具体地，所述连杆结构231的近端与一加长杆2313的远端铰接，所述加长杆2313的近端与所述套管203固定连接。请参考图14a和图14b，所述套管203向所述穿刺管202的近端移动，所述连杆结构231被拉伸。请参考图15a和图15b，所述套管203向所述穿刺管的远端移动(如图中15a箭头方向)，所述连杆结构231的远端与近端逐渐靠近，使至少一个所述铰接部2312沿所述穿刺管的径向靠近所述穿刺管的轴线。
请参考图14c，较优地，同一个所述连杆结构231的相邻的所述连杆2311的轴线形成夹角，所述夹角沿所述穿刺管的径向朝向所述穿刺管的轴线；所述套管向所述穿刺管的近端移动至极限位置时，所述夹角的角度小于175°。所述夹角即图14c中的θ角。如此配置可以防止所述连杆结构231的两个相邻连杆2311因为共线而卡死。
本实施例中，所述变径组件包括四个所述连杆结构231，所述连杆结构231沿所述穿刺管202的周向均匀分布。如此配置，有利于所述穿刺器211对于内部的器械的夹持力更为均匀，从而不容易发生内部器械受力滑动的现象。
需理解，在其他的实施例中，所述连杆结构231的数量也可以是两个、三个或者大于四个；当所述连杆结构231的数量为两个时，所述连杆结构231优选关于所述穿刺管的轴线对称分布；当所述连杆结构231的数量为三个以上时，所述连杆结构231优选沿所述穿刺管202的周向均匀分布。
在本实施例中，通过所述连杆结构231实现变径效果，具有可靠性高，使用寿命长的优点。
【实施例六】
请参考图16a至图19，图16a是本发明的实施例六的套管靠近穿刺管近端时的示意图；图16b是本发明的实施例六的套管靠近穿刺管近端时的沿穿刺管轴向观察的示意图；图17是本发明的实施例六的套管从穿刺管的近端向穿刺管的远端移动时的中间状态的示意图；图18a是本发明的实施例六的套管靠近穿刺管远端时的示意图；图18b是本发明的实施例六的套管处于靠近穿刺管远端时的沿穿刺管轴向观察的示意图；图19是本发明的实施例六的变径瓣的示意图。
本实施例提供的穿刺器211与实施例五提供的穿刺器211基本相同，对于相同部分不再叙述，以下仅针对不同点进行描述。
在本实施例中，变径组件的具体实现方式及对应套管202的设置与实施例五不同，其中，变径组件的径向外尺寸与径向内尺寸的差值沿参考方向增大，所述参考方向是沿所述穿刺管202的轴向朝向所述穿刺管202的远端的方向。其中，径向外尺寸可以理解为所述变径组件沿垂直于所述穿刺管202的轴向的截面中，离所述穿刺管202的中心轴线的最远的点与所述穿刺管202的中心轴线的距离，或者是，离所述穿刺管202的中心轴线的最远的一边与所述穿刺管202的中心轴线的平均距离；径向内尺寸可以理解为所述变径组件沿 垂直于所述穿刺管202的轴向的截面中，离所述穿刺管202的中心轴线的最近的点与所述穿刺管202的中心轴线的距离，或者是，离所述穿刺管202的中心轴线的最近的一边与所述穿刺管202的中心轴线的平均距离。差值沿参考方向增大，可以理解为随着截面的截取位置沿参考方向前进而产生的变化，例如，径向外尺寸沿参考方向变大，径向内尺寸沿参考方向不变；或者，径向外尺寸沿参考方向变大，径向内尺寸沿参考方向变小；或者，径向外尺寸沿参考方向不变，径向内尺寸沿参考方向变小；或者两者同时沿参考方向变大，但是径向外尺寸变大得更快；等等。所述变径组件与所述穿刺管202的远端连接，当套管203靠近所述穿刺管202的近端时，所述套管203的远端靠近所述变径组件，如果同时考虑操作人员的便捷性，所述套管203的近端同时也需要靠近所述穿刺管202的近端，因此在本实施例中，较优的方案是，所述套管203的长度接近所述穿刺管202的长度。所述套管203向所述穿刺管202的远端移动，所述套管203的内壁对所述变径组件的外轮廓施加约束，驱使所述套管203的远端端口处的所述器械通道204的径向内尺寸逐渐变小。所述套管203驱动所述变径组件运动的过程，可结合图16a至图18b进行理解。
进一步地，所述变径组件通过弹性元件与所述穿刺管202连接，所述套管203向所述穿刺管202的远端移动，所述弹性元件存储弹性势能，所述套管向所述穿刺管202的近端移动，所述弹性元件释放弹性势能，驱使所述变径组件的内部尺寸变大。该所述弹性元件可以是弹簧、扭簧、镍钛丝、记忆合金等具有弹性的装置。在一实施例中，所述变径组件、弹性元件以及所述穿刺管202以一体成型的方式连接。
请参考图19，较优地，所述变径组件包括至少一个变径瓣232，所述变径瓣232包括弧形板2321和肋板2322，所述弧形板2321的形状与所述穿刺管202的远端的形状配合地设置并沿所述穿刺管202的轴向延伸，所述肋板2322设置于所述弧形板2321的外壁上并沿所述穿刺管202的轴向延伸，所述肋板2322沿所述穿刺管202的径向的尺寸沿所述参考方向逐渐变大。在本实施例中，所述肋板2322的形状为楔形，在其他的实施例中，也可以是其他的形状，例如，所述肋板2322具有朝向所述穿刺管切向的截面，上述截面中远离所述弧形板2321的一边为圆弧形或者折线形。
较优地，所述变径瓣232还包括限位部2323，所述限位部2323设置于所述弧形板2321远离所述穿刺管202的一端并沿所述穿刺管202的径向延伸，延伸方向为远离所述穿刺管202的轴线的方向，从而所述限位部2323具有向外超出所述套管202的内轮廓的部分。所述套管203向所述穿刺管202的远端移动至极限位置时，所述限位部2323与所述套管203的远端相抵靠。如此配置，可以进一步保护患者的创口。
较优地，所述变径组件包括四个所述变径瓣232，所述变径瓣232沿所述穿刺管202的周向均匀分布。如此配置，有利于所述穿刺器211对于内部的器械的夹持力更为均匀，从而不容易发生内部器械受力滑动的现象。
需理解，在其他的实施例中，所述变径瓣232的数量也可以是两个、三个或者大于四个，当所述变径瓣232的数量为两个时，所述变径瓣232关于所述穿刺管202的轴线对称分布，当所述变径瓣232的数量为三个以上时，所述变径瓣232沿所述穿刺管202的周向均匀分布。
本实施例的其他细节，可参考实施例五进行理解。
在本实施例中，通过所述变径瓣232实现变径效果，具有结构简单、加工方便的优点。
【实施例七】
请参考图20至图21b，其中，图20是本发明的实施例七的整体结构示意图；图21a是本发明的实施例七的气囊被压缩时的示意图；图21b是本发明的实施例七的气囊被拉伸时的示意图。
本实施例提供的穿刺器211与实施例五提供的穿刺器211基本相同，对于相同部分不 再叙述，以下仅针对不同点进行描述。
在本实施例中，变径组件的具体实现方式及对应套管203的设置与实施例五不同，其中，所述变径组件包括至少一个气囊233，所述气囊233包括进出气口，所述进出气口用于与充放气装置密封连接；所述进出气口和所述充放气装置可以根据公知常识进行设置，在此不进行展开描述。所述气囊233的至少一部分外表面与所述套管203固定连接，所述气囊233的至少另一部分外表面与穿刺管202固定连接，所述套管203向所述穿刺管203的近端移动，由于套管203与所述气囊233的距离增加，所述气囊233被拉伸并沿所述穿刺管202的径向收缩，所述套管203向所述穿刺管203的远端移动且所述充放气装置向所述气囊233充气，由于套管203与所述气囊233的距离减小，所述气囊233被挤压并沿所述穿刺管202的径向扩张。上述的收缩和扩张的方向可以参考实施例五中的关于两者的描述进行理解。所述气囊233的外表面与所述套管203或者所述穿刺管202连接的方式，可以是粘连，也可以是通过螺钉连接或者通过限位结构连接等。
如图21a和图21b所示，在一实施例中，所述气囊233通过一加长杆2313与所述套管203连接。
所述穿刺器211还包括限位槽2331，所述限位槽2331与所述气囊233配合地设置，并设置于所述器械通道204的内壁上，请参考图21a，所述套管203向所述穿刺管202的近端移动，所述气囊233被拉伸并沿所述穿刺管202的径向收缩至所述限位槽2331内，此时，无论所述充放气装置是否对所述气囊233进行充气，都不会使得所述气囊233扩张。请参考图21b，所述套管203向所述穿刺管202的远端移动且所述充放气装置向所述气囊233充气，所述气囊233被挤压并沿所述穿刺管的径向扩张并突出于所述限位槽2331外。
较优地，所述变径组件包括四个所述气囊233，所述气囊233沿所述穿刺管202的周向均匀分布。如此配置，有利于所述穿刺器211对于内部的器械的夹持力更为均匀，从而不容易发生内部器械受力滑动的现象。
需理解，在其他的实施例中，所述气囊233的数量也可以是两个、三个或者大于四个，当所述气囊233的数量为两个时，所述气囊233关于所述穿刺管202的轴线对称分布，当所述气囊233的数量为三个以上时，所述气囊233沿所述穿刺管202的周向均匀分布。
本实施例的其他细节，可参考实施例五进行理解。
在本实施例中，通过所述气囊233实现变径效果，同样也具有结构简单、加工方便的优点。
【实施例八】
请参考图22a～22c，图22a是本发明实施例八的腔镜机器人的示意图；图22b是本发明实施例八的工具臂机构的示意图；图22c是图22a中A部的放大示意图。
本实施例提供了一种腔镜机器人，所述腔镜机器人包括机器人主体213以及穿刺器211，所述穿刺器211与所述机器人主体213相对可移动地连接。相对可移动是指所述穿刺器211可以相对于所述机器人主体213产生平动、转动以及复合变化。在一实施例中所述穿刺器211通过工具臂机构212与所述机器人主体213连接，所述工具臂机构212包括至少两个可相对转动的机械臂，所述工具臂机构212的一端与所述机器人主体213连接，所述工具臂机构212的另一端与所述穿刺器211固定连接。本实施例中的穿刺器211的具体细节可以参考实施例五至七的细节进行理解。当所述腔镜机器人用于治疗时，通过所述工具臂机构212将所述穿刺器211定位至目标位置。
在其他的实施例中，所述穿刺器211也可以通过其他方式与所述机器人主体213连接。所述腔镜机器人可以包括多个所述穿刺器211，也可以仅包括一个所述穿刺器211，即所述腔镜机器人包括至少一个所述穿刺器211。
所述腔镜机器人的其他元件、连接关系、以及具体的工作原理可以根据本领域公知常 识进行设置，在此不进行展开描述。由于所述腔镜机器人包括了上述的穿刺器211，因此也具有适应多种不同工作直径的器械的有益效果。
综上，本实施例提供的穿刺器211和腔镜机器人中，所述穿刺器211包括穿刺管202和变径组件，所述变径组件的至少一部分用于限定形成器械通道204的一部分；所述变径组件沿所述穿刺管202的径向收缩或扩张，驱使所述器械通道204的径向内尺寸变化；其中，收缩的方向为远离所述穿刺管202的轴线的方向，扩张的方向为靠近所述穿刺管202的轴线的方向。如此配置，当不同工作直径的器械或内窥镜穿过所述器械通道时，通过所述变径组件改变所述器械通道204的径向内尺寸，使得所述器械通道204能够与所述器械或所述内窥镜相配合，并可在所述器械或所述内窥镜受力时提供支持力，从而解决了传统穿刺器无法适配不同工作直径的器械和/或内窥镜的问题，并提高手术操作的效率和安全性。
上述描述仅是对本发明较佳实施例的描述，并非对本发明范围的任何限定，本发明领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于权利要求书的保护范围。

Claims (19)

  1. 一种穿刺器，其特征在于，所述穿刺器包括穿刺管以及变径组件；所述变径组件设置于所述穿刺管的远端；
    所述变径组件沿所述穿刺管的径向扩张至突出所述穿刺管的外轮廓或沿所述穿刺管的径向收缩至不超出所述穿刺管的外轮廓；所述穿刺管在第一位置和第二位置间转换以驱使所述变径组件沿所述穿刺管的径向收缩或扩张；所述第一位置和所述第二位置沿所述穿刺管的周向设置。
  2. 根据权利要求1所述的穿刺器，其特征在于，所述穿刺器还包括穿设于所述穿刺管内的内管，所述变径组件包括至少一个扩张片，所述扩张片与所述内管和所述穿刺管中的一个连接；所述穿刺管位于所述第一位置时，所述扩张片被所述内管和所述穿刺管中的另一个限制而不超出所述穿刺管的外轮廓；所述穿刺管自所述第一位置转换至所述第二位置时，解除所述穿刺管或所述内管对所述扩张片的限制，所述扩张片朝所述穿刺管的径向突出所述穿刺管的外轮廓。
  3. 根据权利要求2所述的穿刺器，其特征在于，所述内管具有沿自身径向向外开设的收纳孔，所述穿刺管自所述第二位置转换至所述第一位置时，所述穿刺管的内壁通过抵靠所述扩张片的外壁将所述扩张片收纳至不超出所述穿刺管的外轮廓的位置，并将所述扩张片收纳于所述收纳孔中；所述扩张片的外轮廓与所述穿刺管的内轮廓相适配。
  4. 根据权利要求2所述的穿刺器，其特征在于，所述穿刺器包括势能元件，所述势能元件的一端与所述变径组件连接，所述势能元件的另一端与所述内管和所述穿刺管中的一个连接；
    所述穿刺管从所述第一位置移动至所述第二位置时，所述势能元件存储势能，所述穿刺管从所述第二位置移动至所述第一位置时，所述势能元件释放势能并驱使所述变径组件收缩至不超出所述穿刺管的外轮廓的位置；或者，所述穿刺管从所述第二位置移动至所述第一位置时，所述势能元件存储势能，所述穿刺管从所述第一位置移动至所述第二位置时，所述势能元件释放势能并驱使所述变径组件沿所述穿刺管的径向突出所述穿刺管的外轮廓。
  5. 根据权利要求2所述的穿刺器，其特征在于，所述扩张片围绕扩张轴线可转动地与所述内管和所述穿刺管中的一个连接；所述穿刺管自所述第一位置转换至所述第二位置时，所述扩张片围绕所述扩张轴线转动，使所述扩张片远离所述扩张轴线的一端朝所述穿刺管径向突出所述穿刺管的外轮廓。
  6. 根据权利要求2所述的穿刺器，其特征在于，所述扩张片与所述内管连接，所述穿刺管自所述第二位置转换至所述第一位置时，所述穿刺管的内壁通过抵靠所述扩张片的外壁将所述扩张片收纳至不超出所述穿刺管的外轮廓的位置。
  7. 根据权利要求6所述的穿刺器，其特征在于，所述扩张轴线朝向所述穿刺管的轴向，所述穿刺管具有朝向所述穿刺管的径向向外开口的扩张孔，所述穿刺管自所述第一位置转换至所述第二位置时，所述扩张片自所述扩张孔中突出所述穿刺管的外轮廓。
  8. 根据权利要求1所述的穿刺器，其特征在于，所述穿刺器包括操作部，所述操作部与所述变径组件连接，用于驱动所述变径组件沿所述穿刺管的径向扩张至突出所述穿刺管的外轮廓或沿所述穿刺管的径向收缩至不超出所述穿刺管的外轮廓。
  9. 一种腔镜机器人，其特征在于，所述腔镜机器人包括机器人主体以及如权利要求1～8中任一项所述的穿刺器，所述穿刺器与所述机器人主体相对可移动地连接。
  10. 一种穿刺器，其特征在于，包括穿刺管、器械通道和变径组件，所述器械通道沿所述穿刺管的轴向设置并贯穿所述穿刺管，所述变径组件的至少一部分用于限定形成 所述器械通道的一部分；所述变径组件设置于所述穿刺管的远端；
    所述变径组件沿所述穿刺管的径向收缩或扩张，驱使所述器械通道的径向内尺寸变化；其中，收缩的方向为远离所述穿刺管的轴线的方向，扩张的方向为靠近所述穿刺管的轴线的方向；
    所述穿刺器还包括套管，所述套管套设于所述穿刺管的外侧，并沿所述穿刺管的轴向相对所述穿刺管可移动地设置，所述套管移动驱使所述变径组件沿所述穿刺管的径向收缩或扩张。
  11. 根据权利要求10所述的穿刺器，其特征在于，所述套管向所述穿刺管的近端移动驱使所述器械通道的径向内尺寸增大；所述套管向所述穿刺管的远端移动驱使所述器械通道的径向内尺寸减小。
  12. 根据权利要求10所述的穿刺器，其特征在于，所述变径组件包括至少一个连杆结构，所述连杆结构包括铰接部和至少两个连杆，至少两个所述连杆通过所述铰接部铰接，所述连杆结构的远端与所述穿刺管的远端铰接，所述连杆结构的近端与所述套管铰接；所述套管向所述穿刺管的近端移动，所述连杆结构被拉伸；所述套管向所述穿刺管的远端移动，所述连杆结构的远端与近端靠近，使至少一个所述铰接部沿所述穿刺管的径向靠近所述穿刺管的轴线。
  13. 根据权利要求12所述的穿刺器，其特征在于，同一个所述连杆结构的至少两个相邻的所述连杆的轴线形成夹角，所述夹角沿所述穿刺管的径向朝向所述穿刺管的轴线；所述套管向所述穿刺管的近端移动至极限位置时，所述夹角的角度小于175°。
  14. 根据权利要求10所述的穿刺器，其特征在于，所述变径组件的径向外尺寸与径向内尺寸的差值沿参考方向增大，所述参考方向是沿所述穿刺管的轴向朝向所述穿刺管的远端的方向，所述变径组件与所述穿刺管的远端连接；所述套管向所述穿刺管的远端移动，所述变径组件逐渐收纳入所述套管内部，所述套管的内壁对所述变径组件的外轮廓施加约束，驱使所述套管的远端端口处的所述器械通道的径向内尺寸减小。
  15. 根据权利要求14所述的穿刺器，其特征在于，所述变径组件通过弹性元件与所述穿刺管连接；所述套管向所述穿刺管的远端移动，所述弹性元件存储弹性势能；所述套管向所述穿刺管的近端移动，所述弹性元件释放弹性势能，驱使所述套管的远端端口处的所述器械通道的径向内尺寸增大。
  16. 根据权利要求14所述的穿刺器，其特征在于，所述变径组件包括至少一个变径瓣，所述变径瓣包括弧形板和肋板，所述弧形板的形状与所述穿刺管的远端的形状配合地设置并沿所述穿刺管的轴向延伸，所述肋板设置于所述弧形板的外壁上并沿所述穿刺管的轴向延伸，所述肋板沿所述穿刺管的径向的尺寸沿所述参考方向逐渐变大。
  17. 根据权利要求16所述的穿刺器，其特征在于，所述变径瓣还包括限位部，所述限位部设置于所述弧形板远离所述穿刺管的一端并沿所述穿刺管的径向延伸，延伸方向为远离所述穿刺管的轴线的方向，所述套管向所述穿刺管的远端移动至极限位置时，所述限位部与所述套管的远端相抵靠。
  18. 根据权利要求10所述的穿刺器，其特征在于，所述变径组件包括至少一个气囊，所述气囊包括进出气口，所述进出气口用于与充放气装置密封连接；所述气囊的至少一部分外表面与所述套管固定连接，所述气囊的至少另一部分外表面与穿刺管固定连接，所述套管向所述穿刺管的近端移动，所述气囊被拉伸并沿所述穿刺管的径向收缩，所述套管向所述穿刺管的远端移动且所述充放气装置向所述气囊充气，所述气囊被挤压并沿所述穿刺管的径向扩张。
  19. 一种腔镜机器人，其特征在于，所述腔镜机器人包括机器人主体以及如权利要求10～18中任一项所述的穿刺器，所述穿刺器与所述机器人主体相对可移动地连接。
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