CN115363776A - Mounting structure of surgical robot instrument arm and poking card - Google Patents

Abstract

The invention relates to a mounting structure of an instrument arm and a poking card of a surgical robot, which comprises the poking card, the instrument arm and a sterile isolation plate positioned between the poking card and the instrument arm, wherein the poking card comprises a sleeve part and a mounting part, a cavity is formed in the mounting part in a hollow mode, an inserting part capable of being inserted into the cavity is arranged at the front end of the instrument arm, the poking card is detachably connected with the instrument arm through a first locking mechanism, and the sterile isolation plate is detachably connected with the instrument arm through a second locking mechanism. This application can realize stabbing quick installation or the dismantlement of card and aseptic division board and instrument arm, stabs the connection structure safe and reliable of card, and this application simple structure, workable.

Description

Mounting structure of surgical robot instrument arm and poking card

Technical Field

The invention relates to the field of medical instruments, in particular to an instrument arm and poking card mounting structure for a surgical robot.

Background

In the operation of the surgical robot, a doctor sends an instruction through the master control end, and the multiple instrument arms at the slave end are operated to cooperate with each other to complete the operation at a specified position. During surgery, the surgical instruments are often extended into the patient's body to work with a stab card inserted into the patient's body, for example, in teleoperated surgical systems, the stab card and the surgical instruments can be mounted at a handling robot arm of a patient side cart and remotely handled via teleoperation at a surgeon console. The stab card may have different configurations useful for various types of surgical procedures, and the stab card requires a fitting connection with an instrument arm.

Please refer to CN114098924A, which discloses a cannula adaptor and a surgical robot, wherein a sterile adaptor is first mounted on the cannula adaptor and locked, and then a cannula is mounted on the sterile adaptor and locked, wherein the cannula adaptor comprises an adaptor body, clamping jaws, an elastic assembly, a movable member, and the like, and clamping and releasing actions of a pair of clamping jaws can be completed by operating a handle with a single hand, thereby fixing the sterile adaptor and the cannula. However, the sleeve in the structure is not directly locked by the clamping jaw, and is easy to fall off accidentally after being impacted by external force, and the structure is easy to bring large fit clearance after being inserted and pulled for many times, so that the three parts slightly shake under the connection condition, thereby affecting the operation precision.

Disclosure of Invention

In order to solve the above problems, an object of the present application is to provide a mounting structure for a surgical robot instrument arm and a stab card, which can achieve quick and stable connection of the stab card, a sterile isolation plate, and the instrument arm.

In order to achieve the above object, the present invention provides the following technical solutions: the utility model provides a surgical robot instrument arm and mounting structure who stabs the card, includes and stabs card, instrument arm and be located stab card and instrument arm between aseptic division board, the card of stabbing include bushing portion and installation department, the inside cavity of installation department form the cavity, the end of instrument arm have and to insert the portion of inserting in the cavity, the card of stabbing with instrument arm between connect through first locking mechanical system detachably, aseptic division board with instrument arm between connect through second locking mechanical system detachably.

In one embodiment, the distal end of the arm includes a connection end, and the insertion portion is located at the front side of the connection end; the middle part of the sterile isolation plate is also provided with a central hole through which the insertion part can pass, when the second locking mechanism is in a locking state, the sterile isolation plate is covered on the front part of the connecting end of the instrument arm and is fixedly connected with the connecting end, and part of the insertion part passes through the sterile isolation plate; when the first locking mechanism is in a locked state, part of the insertion part is inserted into the mounting part of the poking card and is fixedly connected with the mounting part of the poking card.

In one embodiment, the first locking mechanism includes at least one pair of first locking hooks pivotally connected to the mounting portion, and at least one pair of first return springs disposed between the first locking hooks and the mounting portion, each of the first locking hooks has a first pressing portion exposed on an outer surface of the mounting portion for manual unlocking, the insertion portion of the instrument arm is provided with at least one pair of first locking notches, and when the first locking mechanism is in a locked state, hook portions of the first locking hooks respectively extend into the cavities and hook at the first locking notches.

In one embodiment, the hook portion of the first latch hook further has a first guide surface inclined inward gradually from the rear to the front, and the front end of the insertion portion has a tapered guide portion having an outer diameter gradually decreasing from the rear to the front.

In one embodiment, the first latch hook is pivotally connected to the mounting portion through a first rotating shaft, the first pressing portion and the hook portion of the first latch hook are respectively located on two sides of the first rotating shaft, the first return springs are respectively located on inner sides of the first pressing portions, when the first latch mechanism is in an unlocked state, the first return springs are compressed, and the at least one pair of first latch hooks are opened outwards.

In one embodiment, the second locking mechanism includes at least one pair of second locking hooks pivotally connected to the connecting end, and at least one pair of second return springs disposed between the second locking hooks and the connecting end, each of the second locking hooks has a second pressing portion exposed on an outer surface of the instrument arm for manual unlocking, the sterile barrier plate has at least one pair of second bayonets formed on a sidewall thereof surrounding the connecting end, and when the second locking mechanism is in a locking state, each of the second locking hooks is hooked at each of the second bayonets from an inner side of the sterile barrier plate.

In one embodiment, the second latch hook is pivotally connected to the connecting end through a second rotating shaft, the second pressing portion and the hook portion of the second latch hook are both located on the same side of the second rotating shaft, the second return spring is located inside the second pressing portion, when the second locking mechanism is in the unlocking state, each second return spring is compressed, and the hook portion of each second latch hook is retracted inward within the connecting end.

In one embodiment, the second latch hook has a second guide surface extending gradually outward from front to back.

In one embodiment, a part of the sterile isolation plate is folded forwards to form a folded edge surrounding the center hole for one circle, and a sterile bag to be fixed is sleeved between the sterile isolation plate and the mounting part of the poking card and covers the insertion part of the instrument arm.

In one embodiment, the mounting structure of the surgical robotic arm and the stab card further comprises a sealing mechanism detachably connected to the upper end of the sleeve portion, the sealing mechanism has an inner hole communicated with the sleeve portion and allowing the stab needle to be inserted therein, a magnetic attraction sheet movably blocked on the lower end surface of the inner hole, and a magnet located outside the circumference of the inner hole, the magnet is unevenly distributed in the circumferential direction, so that a magnetic dominant side and a magnetic non-dominant side are formed on the magnetic attraction sheet, when the stab needle is inserted into the sealing mechanism, the dominant side of the magnetic attraction sheet is tightly attracted to the lower end surface of the inner hole, and the non-dominant side of the magnetic attraction sheet is away from the lower end surface of the inner hole; when the poking needle leaves the sealing mechanism, the dominant side and the non-dominant side of the magnetic suction piece are tightly sucked on the lower end surface of the inner hole.

In one embodiment, the magnets are distributed on the outer circumferential side of the inner hole in a semi-ring shape.

Compare in prior art, this application provides a new surgical instruments subassembly, can realize stabbing the quick installation or the dismantlement of card and aseptic division board and instrument arm, stabs the connection structure safe and reliable of card, and this application has simple structure, workable, connects stable advantage.

Drawings

FIG. 1 is a perspective view of an exemplary embodiment surgical instrument assembly provided herein;

FIG. 2 is an exploded view of an exemplary embodiment of a surgical instrument assembly provided herein;

FIG. 3 is a front view of an example embodiment surgical instrument assembly provided herein;

FIG. 4 is a schematic illustration of a disassembled configuration of a surgical instrument assembly according to an exemplary embodiment provided herein;

FIG. 5 isbase:Sub>A schematic cross-sectional view taken along A-A of FIG. 4;

FIG. 6 is a side view of an example embodiment surgical instrument assembly provided herein;

FIG. 7 is a schematic cross-sectional view taken along line B-B of FIG. 6;

FIG. 8 is a cross-sectional view taken along line C-C of FIG. 3 (with the first locking mechanism in a locked state);

FIG. 9 is a cross-sectional view taken along line C-C of FIG. 3 (with the first locking mechanism in an unlocked condition);

FIG. 10 is a schematic view of an exemplary embodiment of a sealing mechanism provided herein;

fig. 11 is a schematic view of the sealing mechanism of an exemplary embodiment of the present application in cooperation with a lancet.

Wherein: 10. punching a card; 11. an installation part; 12. a sleeve portion; 13. a first locking mechanism; 131. a first latch hook; 132. a first pressing part; 133. a first spring; 134. a first rotating shaft; 135. a first guide surface; 14. a cavity;

20. a sterile barrier sheet; 21. a body; 211. A receiving cavity; 22. a central bore; 23. a second bayonet; 24. clamping the strip; 25. folding edges;

30. an instrument arm; 31. a connecting end; 311. a groove; 32. an insertion portion; 321. a guide portion; 322. a first bayonet; 33. a second locking mechanism; 331. a second latch hook; 332. a second pressing part; 333. a second spring; 334. a second rotating shaft; 335. a second guide surface; 34. an operating button;

40. aseptic bags;

51. a Hall element; 52. a magnetic element;

60. a sealing mechanism; 61. an inner sleeve; 62. an outer sleeve; 63. an inner bore; 64. a magnet; 65. a magnetic attraction sheet; 66. a silica gel sheath cap; 67. a seal ring; 70. and (6) pricking a needle.

Detailed Description

To explain the technical content, structural features, attained objects and effects of the invention in detail, the technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a detailed description of various exemplary embodiments or implementations of the invention. However, various exemplary embodiments may be practiced without these specific details or with one or more equivalent arrangements. Moreover, the various exemplary embodiments may be different, but are not necessarily exclusive. For example, the particular shapes, configurations and characteristics of the exemplary embodiments can be used or implemented in another exemplary embodiment without departing from the inventive concepts of the present application.

In the following, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.

In addition, in the present application, such as "under 8230; \\ 8230;," ' under 8230; "\8230;," ' under 8230; "," ' under 8230;, "\8230;," ' over ' upper "side" (for example, as in "a sidewall"), etc., thereby describing the relationship of one element to another (or other) element as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "at 8230 \8230; below" may include both an orientation of above and below. Further, the devices may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The "horizontal direction mentioned below" is a direction substantially in the horizontal direction, for example, a direction having an angle in the range of 0 or a single digit angle with respect to the horizontal plane. The same applies to the vertical direction, which is a direction substantially perpendicular to the horizontal direction.

The directions "front" and "rear" mentioned below are relative positional relationships, where "front" refers to the left side in the horizontal direction in fig. 3, and "rear" refers to the right side in the horizontal direction in fig. 3.

Referring to fig. 1-9, there is shown an example of a surgical robotic instrument arm and stab card mounting arrangement comprising a stab card 10, a sterile barrier 20, and a instrument arm 30. Sterile barrier 20 is removably attached to the front side of robotic arm 30, sterile bag 40 is then secured to the front side of sterile barrier 20, and finally stab card 10 is mounted on and lockingly secured to robotic arm 30. Wherein the fixed sterile bag is sandwiched between the stab card and the sterile barrier, isolating the instrument arm 30 from the stab card and the surgical site.

Referring to fig. 1-5, a poke-card 10 includes a mounting portion 11 and a sleeve portion 12. The mounting portion 11 is used for clamping the sterile bag 40 by matching with the connector arm 30 and the sterile isolation plate 20. The mounting portion 11 has a hollow cavity 14 formed therein, and has an open rear side for receiving the insertion portion 32 of the robot arm 30. Cannula portion 12 has a hollow tubular configuration and a surgical instrument may be inserted through a puncture in the center of cannula portion 12 and into the body of a patient for a surgical procedure. After the mounting portion 11 is assembled with the sterile barrier 20 and the arm 30, the stab card 10 can stably follow the arm 30.

Wherein the mounting portion 11 of the stab card is substantially square and cooperates with the instrument arm and the sterile barrier. The mounting portion 11 is provided with a first locking mechanism 13, and referring to fig. 5, 7, 8 and 9, the first locking mechanism 13 includes a first locking hook 131 pivotally connected to the mounting portion 11 by a pair of first rotating shafts 134, and a pair of first return springs 133 disposed between the first locking hook 131 and the mounting portion 11. The first latch hook 131 has a hook portion capable of protruding into the cavity 14 and a first pressing portion 132 exposed on the outer surface of the mounting portion 11 for manual unlocking. The first return spring 133 in the present embodiment is a compression spring, and the first return spring 133 is provided inside the first pressing portion 132. Since the hook portion of the first lock hook 131 and the first pressing portion 132 are respectively located on both sides of the first rotating shaft 134, the first lock mechanism is normally in a locked state in which the hook portion of the first lock hook 131 is located in the cavity 14; when the first pressing part 132 is pressed to unlock, the hook part of the first locking hook 131 is spread outward and separated from the cavity 14, the first return spring 133 is compressed, and the poke card 10 is separated from the instrument arm 30.

Referring to fig. 2, 4, 5, 8, and 9, the sterile barrier 20 is slightly larger than the outer diameter of the connection end 31 of the mechanical arm 30, and is adapted to the connection end 31. The sterile barrier 20 comprises a disc-shaped body 21, the center of the body 21 being provided with a central hole 22 adapted to the outer diameter of the insertion portion 32 of the instrument arm 30. The rear side surface of the body 21 is recessed inwards to form a receiving cavity 211 matched with the outer diameter of the connecting end 31 of the instrument arm 30, a pair of second bayonets 23 are formed in the circumferential side wall of the body 21, and a clamping strip 24 protruding out of the outer surface of the body 21 is further arranged on the rear side of each second bayonet 23.

Part of the material on the sterile barrier 20 forms a flap 25 around the central hole 22, and the sterile bag 40 to be fixed is fitted between the sterile barrier 20 and the mounting portion 11 of the stab card 10 and over the insertion portion 32 of the instrument arm 30.

Referring to fig. 2, 4, 5-9, the instrument arm 30 has a connection end 31 and an insertion portion 32 located at the front side of the connection end 31, and an operation knob 34 that can perform fixed point adjustment is provided at the rear of the instrument arm 30. The insertion portion 32 can be inserted through the central hole 22 of the sterile barrier 20 and into the cavity 14 of the stamp card 10, the dimensions of the connection end 31 being adapted to the dimensions of the inner wall of the housing cavity 211 of the sterile barrier 20, so that the sterile barrier can just cover the front side of the connection end. The insertion portion 32 is provided with a pair of first bayonets 322, and when the first locking mechanism 13 is in a locked state, hook portions of the pair of first locking hooks 131 respectively extend into the cavity 14 and hook at the pair of first bayonets 322.

A pair of second locking mechanisms 33 is provided on a pair of outer peripheral surfaces of the connecting end 31, respectively. The second locking mechanism 33 includes a second locking hook 331 pivotally coupled to the coupling end 31 by a second rotating shaft 334, and a second return spring 333 disposed between the second locking hook 331 and the coupling end 31. The second locking hook 331 has a hook portion opening outward and a second pressing portion 332 exposed on the outer surface of the instrument arm for manual unlocking, in this embodiment, the hook portion and the second pressing portion 332 are located on the front side of the second rotating shaft 334, and the second return spring 333 is located on the inner side of the second pressing portion 332. The outer peripheral surface of the connecting end 31 is provided with a pair of recesses 311, the second locking hook 331 is partially received in the recesses 311, when the second pressing portion 332 is pressed to unlock the second locking hook 331, the second return spring 333 is in a compressed state, and the front end portion of the second locking hook 331 can be inwardly sunk into the recesses 311.

In a normal state, the second locking mechanism 33 is in a locked state, and when the sterile barrier 20 needs to be connected to the arm 30, the second pressing portion 332 is pressed first to sink the hook portion at the front end into the recess 311, the sterile barrier 20 is pushed into the connection end 31 from the front side, then the second pressing portion 332 is released, the hook portion is outwardly engaged with the second bayonet 23 of the sterile barrier 20 by the second return spring 333, and the hook portion of the second locking hook 331 is blocked by the hook strip 24 at the rear side.

In a preferred embodiment, in order to facilitate and facilitate installation of the stamp card, the sterile isolation plate and the instrument arm, the first locking mechanism, the second locking mechanism and the insertion portion are respectively designed with a guide structure.

Referring to fig. 4 and 5, the stab card, the sterile barrier and the instrument arm are installed along the horizontal direction, the front end of the insertion portion 32 is provided with a tapered guide portion 321 with a gradually decreasing outer diameter, and the inclination angle of the guide portion and the horizontal direction form an included angle of about 40-50 degrees, so that the insertion portion can be smoothly inserted into the cavity of the stab card, meanwhile, the insertion portion 32 is substantially rectangular and comprises a pair of vertical outer peripheral surfaces, the cavity of the stab card is also rectangular, and when the insertion portion 32 extends into the cavity 14 and is locked by the locking mechanism, the stab card and the instrument arm cannot rotate to be disengaged.

Referring to fig. 5, 8 and 9, the hook portion of the first locking hook 131 is located at the rear end, and the rear end of the first locking hook 131 is further provided with a first guide surface 135 which is gradually inclined inward from the rear to the front, so that when the insertion portion 32 of the instrument arm 30 is inserted forward into the cavity 14 of the poking card 10, the pair of first locking hooks 131 can be pushed open by the insertion portion 32 and automatically slid into the first bayonet 322 without pressing the first pressing portion 132. Similarly, the hook portion of the second locking hook 331 opens upward, and the foremost end of the hook portion has a second guide surface 335 extending gradually outward from the front to the rear. When the sterile partition board is pushed into the connecting end 32 from the front side, the body 21 of the sterile partition board can compress the second locking hook 331 inward by the second guiding surface 335, and the second locking hook 331 can slide into the second bayonet 23 smoothly without pressing the second pressing portion 332.

As described above, when mounting, the sterile barrier 20 is pushed into the front side of the instrument arm 30, the sterile bag 40 is placed, the sterile barrier 20 and the instrument arm 30 are connected to the stab card 10, the insertion portion 32 and the mounting portion 11 are locked by the first locking mechanism 13, and the sterile barrier 20 and the instrument arm 30 are locked by the second locking mechanism 33. Therefore, the sterile isolation plate and the poking card are respectively arranged on the mechanical arm. When the stab card needs to be separated from the sterile isolation plate and the instrument arm, the first locking mechanism and the second locking mechanism need to be unlocked manually. In this embodiment, the first latch hook and the second latch hook are a pair and are symmetrically disposed on two opposite surfaces, respectively, but in other embodiments, the number of the first latch hook and the second latch hook may be other numbers.

Referring to fig. 7, a hall element 51 is embedded at the front end surface of the connection end 31 of the instrument arm 30, and a magnetic element 52 is embedded at the rear end surface of the mounting portion 11 of the card 10, so that the hall element 51 can detect the connection or disconnection of the card 10 to the instrument arm 30 and send a signal to a control system.

In addition, to prevent gas leakage from the patient's pneumoperitoneum during the procedure, the surgical instrument assembly of the present application further includes a sealing mechanism 60 removably attached to the upper end of cannula portion 12, as shown with reference to FIGS. 10 and 11. The sealing mechanism 60 comprises an inner sleeve 61 which is in threaded connection with the upper end part of the sleeve part 12 and an outer sleeve 62 which is sleeved outside the inner sleeve 61, the inner sleeve 61 is provided with an inner hole 63 which is communicated with the sleeve part 12 and can be used for inserting the puncture needle 70 or a surgical instrument, a magnet 64 is arranged between the inner sleeve 61 and the outer sleeve 62, a magnetic attraction piece 65 is arranged on the lower end face of the inner hole 63, and the magnetic attraction piece 65 is movably plugged on the lower end face of the inner hole under the action of magnetic force. The magnets 64 are arranged in a semi-ring shape around the inner hole 63, so that the magnetic force is not uniformly distributed in the circumferential direction, and a magnetic force dominant side and a magnetic force non-dominant side are formed on the magnetic sheet. When the pricking needle 70 is inserted into the sealing mechanism, the non-dominant side of the magnetic attraction piece 65 leaves the lower end surface of the inner hole, and the dominant side of the magnetic attraction piece 65 is tightly attracted to the lower end surface of the inner hole, so that the magnetic force piece is not easy to fall off; when the lancet 70 is separated from the sealing mechanism, the dominant side and the non-dominant side of the magnetic attraction piece 65 are tightly attracted to the lower end surface of the inner hole, thereby preventing gas leakage or disappearance of the pneumoperitoneum.

It will be understood by those skilled in the art that the present application is not limited to the embodiments described above, which are included to illustrate the principles of the application and that various changes and modifications may be made without departing from the spirit and scope of the invention, the scope of which is defined by the appended claims, specification and equivalents thereof.

Claims (11)

1. The utility model provides a surgical robot apparatus arm and mounting structure who stabs the card, includes to stab card, apparatus arm and be located stab card and apparatus arm between aseptic division board, its characterized in that: the poking card comprises a sleeve part and a mounting part, a hollow cavity is formed in the mounting part, the tail end of the instrument arm is provided with an insertion part which can be inserted into the cavity, the poking card is detachably connected with the instrument arm through a first locking mechanism, and the sterile isolation plate is detachably connected with the instrument arm through a second locking mechanism.

2. A mounting structure of an instrument arm and a stab card of a surgical robot according to claim 1, wherein: the tail end of the instrument arm comprises a connecting end, and the inserting part is positioned on the front side of the connecting end; the middle part of the sterile isolation plate is also provided with a central hole through which the insertion part can pass, when the second locking mechanism is in a locking state, the sterile isolation plate is sealed at the front part of the connecting end of the instrument arm and is fixedly connected with the connecting end, and part of the insertion part passes through the sterile isolation plate; when the first locking mechanism is in a locked state, part of the insertion part is inserted into the mounting part of the poking card and is fixedly connected with the mounting part of the poking card.

3. A surgical robotic instrument arm and stab card mounting structure as claimed in claim 2, wherein: first locking mechanism include at least a pair of pivot rotate connect be in the installation department on first latch hook, set up be in first latch hook with the installation department between at least a pair of first reset spring, each first latch hook all have expose the installation department surface in order to supply the first splenium of manual unblock, instrument arm's the portion of inserting on seted up at least a pair of first bayonet socket, work as when first locking mechanism be in lock status, each first latch hook the hook portion stretch into respectively the cavity and hook at each first bayonet socket department.

4. A surgical robotic instrument arm and poking card mounting structure according to claim 3, wherein: the hook part of the first locking hook is also provided with a first guide surface which is gradually inclined inwards from back to front, and the front end of the insertion part is provided with a conical guide part of which the outer diameter is gradually reduced from back to front.

5. A surgical robotic instrument arm and poking card mounting structure according to claim 3, wherein: first latch hook pass through first pivot rotation and connect the installation department on, first press the splenium with the hook portion of first latch hook be located the both sides of first pivot respectively, each first reset spring be located respectively first press the splenium inboard, work as first locking mechanical system be in the unblock state, each first reset spring compressed, at least a pair of first latch hook outwards open.

6. A surgical robotic instrument arm and stab card mounting structure as claimed in claim 2, wherein: the second locking mechanism comprises at least one pair of second locking hooks and at least one pair of second return springs, the second locking hooks are pivotally connected to the connecting ends, the at least one pair of second return springs are arranged between the second locking hooks and the connecting ends, each second locking hook is provided with a second pressing portion exposed on the outer surface of the instrument arm for manual unlocking, the sterile isolating plate is provided with at least one pair of second clamping openings on the side wall surrounding the connecting ends, and when the second locking mechanism is in a locking state, each second locking hook is hooked at each second clamping opening from the inner side of the sterile isolating plate.

7. A surgical robotic instrument arm and stab card mounting structure as claimed in claim 6, wherein: the second latch hook is pivotally connected to the connecting end through a second rotating shaft, the second pressing portion and the hook portion of the second latch hook are both located on the same side of the second rotating shaft, the second return spring is located on the inner side of the second pressing portion, when the second locking mechanism is in an unlocking state, the second return springs are compressed, and the hook portion of each second latch hook is retracted inwards into the connecting end.

8. A surgical robotic instrument arm and stab card mounting structure as claimed in claim 7, wherein: the second latch hook is provided with a second guide surface which gradually extends outwards from front to back.

9. A surgical robotic instrument arm and stab card mounting structure as claimed in claim 2, wherein: and part of the sterile partition plate is folded forwards to form a folded edge which surrounds the center hole for one circle.

10. A surgical robotic instrument arm and stab card mounting structure as claimed in claim 1, wherein: the poking card is characterized by further comprising a sealing mechanism detachably connected to the upper end of the sleeve part of the poking card, wherein the sealing mechanism is provided with an inner hole communicated with the sleeve part and allowing a poking needle to be inserted into, a magnetic suction sheet movably blocked on the lower end face of the inner hole and a magnet positioned on the outer side of the circumference of the inner hole, the magnet is unevenly distributed in the circumferential direction, so that a magnetic dominant side and a magnetic non-dominant side are formed on the magnetic suction sheet, when the poking needle is inserted into the sealing mechanism, the dominant side of the magnetic suction sheet is tightly sucked on the lower end face of the inner hole, and the non-dominant side of the magnetic suction sheet is separated from the lower end face of the inner hole; when the poking needle leaves the sealing mechanism, the dominant side and the non-dominant side of the magnetic suction piece are tightly attracted on the lower end surface of the inner hole.

11. A surgical robotic instrument arm and poking card mounting structure according to claim 10, wherein: the magnets are distributed on the outer circumference side of the inner hole in a semi-ring shape.

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