CN217310395U - Surgical attachment and surgical robot system - Google Patents

Abstract

The disclosure relates to the field of medical instruments and discloses a surgical accessory which comprises a shell and one or more sheath tubes. The casing includes near section and distal end, and near section includes the end mouth, and the distal end includes the distal end mouth, and at least a part of global of distal section includes radial inside sunken depressed area, and the depressed area extends to the distal end mouth by near-end to the distal end. The one or more sheath tubes include an inner sheath tube segment and an outer sheath tube segment, the inner sheath tube segment is positioned within the housing and is in communication with the distal port of the housing, and the outer sheath tube segment is positioned outside the proximal port of the housing. At least one part of the far section is sunken to increase the moving space of the auxiliary instrument positioned outside the far section and avoid the collision of the auxiliary instrument with the far end of the surgical instrument or surgical accessory.

Description

Surgical attachment and surgical robot system

Technical Field

The disclosure relates to the field of medical equipment, in particular to a surgical accessory and a surgical robot system.

Background

The single-port laparoscopic surgery is a surgery form which is gradually developed and widely applied in recent years, and has the advantages of small wound, quick postoperative recovery, low postoperative infection and complications and the like. During operation, one part of the sheath tube extends into the human body through a natural opening or incision, and the other part is positioned outside the human body. A plurality of mechanical arms of the surgical robot are fixedly connected with the part of the sheath tube, which is positioned outside the human body, the plurality of mechanical arms carry a plurality of surgical instruments with end tools, and the surgical instruments enter the corresponding positions, which need to be operated, in the human body through the sheath tube. Auxiliary instruments are often used near the sheath to cooperate with the surgical instruments to complete the surgical procedure.

Generally, when an auxiliary instrument enters a body through a sheath tube, the auxiliary instrument has a narrow movement space, and the auxiliary instrument is likely to collide with the sheath tube and a surgical instrument. Usually, an incision is additionally formed near the sheath or the size of the sheath is increased to increase the movement space of the auxiliary instrument, so as to facilitate the operation of the auxiliary instrument and avoid the collision of the auxiliary instrument with the sheath and the surgical instrument during use. However, this increases the number of incisions or increases the size of the incisions, which is detrimental to postoperative recovery.

SUMMERY OF THE UTILITY MODEL

Based on the above problems, it is an object of the present disclosure to provide a surgical attachment including:

a housing, comprising:

a proximal segment comprising a proximal port;

a distal segment comprising a distal port, at least a portion of a circumferential surface of the distal segment comprising a recessed region recessed radially inward, the recessed region extending from a proximal end to a distal end to the distal port;

one or more sheath tubes comprising an inner sheath tube segment and an outer sheath tube segment, the inner sheath tube segment positioned within the housing and in communication with the distal port of the housing, the outer sheath tube segment positioned outside the proximal port of the housing

In some embodiments, at least a portion of the recessed region comprises a groove extending from the proximal end to the distal port.

In some embodiments, further comprising:

a middle section located between the proximal section and the distal section, the middle section projecting radially outward along the housing.

In some embodiments, the recessed region extends from the middle section to the distal port.

In some embodiments, the distal section is D-shaped in cross-section.

In some embodiments, a portion of the distal segment proximal to the distal port includes a plurality of spaced apart through passages, the distal end of the inner sheath segment of the at least one sheath communicating with the at least one through passage.

In some embodiments, further comprising:

a seal, the seal comprising:

a proximal end portion for sealing connection with the midsection;

a transition portion extending gradually outward from a proximal end to a distal end;

a distal portion for sealing connection with the abdominal incision.

In some embodiments, the intermediate section comprises a circumferentially extending annular groove and the proximal section comprises a sealing ring on the inside, the sealing ring cooperating with the annular groove to sealingly connect the proximal section with the intermediate section.

In some embodiments, at least one crimped portion is formed between the proximal end of the transition portion and the distal end of the proximal portion; or

At least one pleated section is formed between the distal end of the transition section and the proximal end of the distal end section.

In some embodiments, at least one side tube is provided on the transition portion, the side tube passing through a sidewall of the transition portion and communicating with an outside of the distal end of the housing.

In some embodiments, the at least one side tube comprises a first side tube and a second side tube disposed on a side wall of the first side tube, the first side tube in communication with the second side tube.

In some embodiments, a choke seal is disposed in the one or more sheaths and the at least one side tube, the choke seal having an opening disposed therein.

In some embodiments, at least a portion of the outer sheath segment of at least one of the one or more sheath segments is deformable in a radial direction, an axial direction, or both the radial and axial directions of the outer sheath segment.

In some embodiments, at least a portion of the outer sheath segment of at least one of the one or more sheaths comprises a flexible material; or alternatively

At least a portion of the inner or outer sheath segments of the one or more sheath segments comprise a non-flexible material.

In some embodiments, the one or more sheaths comprise a plurality of sheaths, the inner sheath segments of the plurality of sheaths being drawn toward one another in a direction from the proximal port to the distal port; or alternatively

The inner sheath segments of the plurality of sheath tubes are arranged in parallel in a direction from the proximal port to the distal port; or alternatively

The outer sheath segments of the plurality of sheath tubes extend outwardly away from each other.

In some embodiments, the one or more sheaths comprise a first sheath, a second sheath, and a third sheath disposed between the first sheath and the second sheath, the outer sheath segments of the first, second, and third sheaths extending outwardly away from one another, the outer sheath segments of the first and second sheaths comprising a flexible material, the outer sheath segment of the third sheath being inflexible.

The present disclosure also provides a surgical robotic system, comprising:

at least one positioning arm;

at least one surgical instrument disposed at a distal end of the at least one positioning arm; and

the surgical attachment of any of the above embodiments, wherein the at least one surgical instrument passes through one or more sheaths of the surgical attachment.

In some embodiments, the surgical robotic system further comprises:

at least one auxiliary instrument passing through at least one lateral tube of the surgical attachment.

Some embodiments of the present disclosure include one or more of the following benefits: 1. at least one part of the far section of the shell is sunken to form a sunken area so as to increase the activity space of the auxiliary instrument positioned outside the far section and avoid the collision of the auxiliary instrument with the far end of the surgical instrument or surgical accessory; 2. the concave area of the far section is further provided with a groove, so that the movement space of the auxiliary instrument can be further increased; 3. the transition part of the sealing element gradually extends outwards from the near end to the far end, and a side tube for auxiliary instruments to pass through is arranged on the transition part, so that the distance between the side tube and at least one root sheath tube can be increased, and collision between the auxiliary instruments passing through the side tube and surgical instruments passing through the sheath tube is avoided; 4. the transition parts of the side tube and the sealing member can be deformed so as to increase the movement flexibility of the auxiliary instrument; 5. at least one fold portion is formed at the proximal end or the distal end of the sealing element, and the fold portion can be deformed to avoid enlarging the incision when being pulled, so that additional trauma is increased.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings used in the description of the embodiments of the present disclosure will be briefly described below. The drawings in the following description illustrate only some embodiments of the disclosure, and other embodiments will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein.

FIG. 1 illustrates a schematic structural view of a surgical attachment according to some embodiments of the present disclosure;

FIG. 2 illustrates a structural schematic view of another angle of a surgical attachment according to some embodiments of the present disclosure;

FIG. 3 illustrates a bottom view of a surgical attachment according to some embodiments of the present disclosure;

FIG. 4 illustrates a schematic structural view of a surgical attachment according to further embodiments of the present disclosure;

FIG. 5 illustrates a longitudinal cross-sectional view of a surgical attachment according to some embodiments of the present disclosure;

FIG. 6 shows a schematic structural view of a seal according to some embodiments of the present disclosure;

fig. 7 illustrates a structural schematic of a surgical robotic system according to some embodiments of the present disclosure.

List of reference numerals:

100. surgical accessories;

110. a housing; 111. a proximal segment; 1111. a proximal port; 112. a distal segment; 1121. a distal port; 1122. a recessed region; 1123. a through passage; 1124. a groove; 113. a middle section; 1131. an annular groove;

120. a sheath tube; 121. an inner sheath tube section; 122. an outer sheath tube section;

130. a seal member; 131. a proximal end portion; 1311. a seal ring; 132. a transition portion; 133. a distal portion; 134. a wrinkle part;

140. a side tube; 141. a first side tube; 142. a second side tube;

150. a gas barrier seal;

1000. a surgical robotic system; 10. a positioning arm; 20. a surgical instrument; 21. a surgical instrument arm; 22. and a terminal device.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only exemplary embodiments of the present disclosure, and not all embodiments.

In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing and simplifying the present disclosure, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present disclosure, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly and may include, for example, fixed and removable connections; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; there may be communication between the interiors of the two elements. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate. In the present disclosure, the end close to the operator (e.g. doctor) is defined as proximal, proximal or posterior, and the end close to the surgical patient is defined as distal, distal or anterior, anterior. One skilled in the art will appreciate that embodiments of the present disclosure may be used with medical instruments or surgical robots, as well as other non-medical devices.

Fig. 1-3 show a schematic structural view, a schematic structural view at another angle, and a bottom view, respectively, of a surgical attachment 100 according to some embodiments of the present disclosure. As shown in fig. 1 and 2, surgical attachment 100 may include a housing 110 and one or more sheaths 120. In some embodiments, the housing 110 may be tubular and may include a proximal section 111 and a distal section 112 in communication with one another. Proximal segment 111 includes a proximal port 1111 and distal segment 112 includes a distal port 1121. At least a portion of the circumference of the distal segment 112 is recessed radially inward to form a recessed region 1122, and the recessed region 1122 extends from the proximal end to the distal opening 1121. It should be understood that at least a portion of the circumferential surface may include, but is not limited to, a quarter arc length, a third arc length, a half arc length, a particular arc length, and the like. For example, the distal section 112 may be tubular, with at least a portion of the circumference being inwardly recessed or constricted, the recessed portion forming a living space outside the distal section 112. It is to be appreciated that the contour of recessed region 1122 can be designed according to the particular shape of distal opening 1121.

In some embodiments, as shown in FIG. 3, the distal section 112 may be generally D-shaped in cross-section. For example, the distal opening 1121 may be generally D-shaped. Thus, by recessing at least a portion of the distal section 112, the space outside the distal section 112 may be increased to increase the mobility space of auxiliary instruments (e.g., holding instruments for assisting a doctor or nurse, etc.) located outside the distal section 112. It should be understood that the distal segment 112 may also have other cross-sectional shapes, such as a crescent, etc.

As shown in fig. 1-3, the distal end of one or more sheaths 120 extend into housing 110 and communicate with distal port 1121 of housing 110, and the proximal end of sheath 120 extends out of housing 110 from proximal port 1111. In some embodiments, the sheath 120 may include an inner sheath segment 121 and an outer sheath segment 122 in communication with each other, see fig. 5. Inner sheath tube segment 121 is positioned within housing 110 and is in communication with distal port 1121 of housing 110, and outer sheath tube segment 122 is positioned outside proximal port 1111 of housing 110. It should be appreciated that in some embodiments, the inner sheath segment 121 may be a part of the housing 110 (e.g., the inner sheath segment 121 may be an internal channel of the housing 110) or may be integrally formed with the housing 110, with the outer sheath segment 122 communicating with the inner sheath segment 121.

In some embodiments, as shown in fig. 1 and 3, a portion of the housing 110 near the proximal port 1111 may include an inner lumen, a portion of the housing 110 near the distal port 1121 may include a plurality of through-passages 1123 (the portion of the distal passage near the distal port 1121 is shown in the figures) disposed at intervals, the inner sheath segment 121 of the at least one sheath tube 120 may be disposed in the at least one through-passage 1123, or an end of the inner sheath segment 121 of the at least one sheath tube 120 may be fixedly connected to the at least one through-passage 1123 to place the inner sheath segment 121 in communication with the through-passage 1123.

In some embodiments, as shown in fig. 3, at least a portion of recessed region 1122 can include a groove 1124 extending proximally to distally to distal port 1121. For example, a middle portion of the circumferential surface of recessed region 1122 may continue to be recessed radially inward to form groove 1124. For example, the cross-section of the groove 1124 may be semi-circular, semi-arcuate, or other regular or irregular shape, etc. The movement space of the auxiliary device can be further increased by providing the groove 1124.

In some embodiments, as shown in fig. 1, the housing 110 may further include an intermediate section 113. An intermediate segment 113 is located between the proximal segment 111 and the distal segment 112, and the intermediate segment 113 may project radially outward along the housing 110. It should be understood that the intermediate section 113 and the proximal and distal sections 111, 112 may be integrally formed and in communication with each other. In some embodiments, the recessed region 1122 extends from the intermediate section 113 to the distal orifice 1121.

Fig. 4 and 5 show a schematic view and a longitudinal cross-sectional view, respectively, of a surgical attachment 100 according to further embodiments of the present disclosure. In some embodiments, as shown in fig. 4, surgical attachment 100 may further include a seal 130. FIG. 6 illustrates a schematic structural view of a seal 130 according to further embodiments of the present disclosure. As shown in fig. 6, the seal 130 may be tubular in shape, including a proximal portion 131, a transition portion 132, and a distal portion 133. It should be appreciated that the proximal portion 131 is adapted to sealingly engage the intermediate segment 113 and the distal portion 133 is adapted to sealingly engage the abdominal incision. The sealing member 130 is deformable to better effect a sealing connection. In some embodiments, as shown in fig. 5 and 6, the intermediate section 113 can include a circumferentially extending annular groove 1131 and the proximal end 131 includes a sealing ring 1311 on the inside thereof, the sealing ring 1311 cooperating with the annular groove 1131 to sealingly connect the proximal end 131 with the intermediate section 113. Therefore, the sealing state in the abdominal cavity can be kept, the requirement of the operation process can be met, and the situation that the operation site collapses to influence the operation visual field due to air leakage can be avoided.

In some embodiments, the distal end 133 of the seal 130 may also be sealingly connected with a cylindrical seal (not shown) that extends into the abdominal incision. For example, one of the distal end portion 133 and the barrel seal may include a circumferentially extending groove, and the other of the distal end portion 133 and the barrel seal may include a sealing ring that fits into the groove, the sealing ring cooperating with the groove to sealingly connect the distal end portion 133 to the barrel seal. The cylindrical seal is adapted to extend through the incision into the abdominal cavity such that the distal portion 133 remains sealed to the access incision. It will be appreciated that the cartridge seal may be a cartridge of flexible deformable plastics film, the proximal and distal ends of which may be thicker than the intermediate portions to facilitate the provision of a sealing ring at the ends or a groove.

In some embodiments, as shown in fig. 6, the transition portion 132 may extend gradually outward from the proximal end to the distal end. For example, transition 132 may be flared. In some embodiments, as shown in FIG. 5, at least one side tube 140 is disposed on the transition portion 132, and the side tube 140 passes through a sidewall of the transition portion 132 and communicates with the outside of the distal end of the housing 110. In some embodiments, as shown in fig. 6, the at least one side tube 140 may include a first side tube 141 and a second side tube 142 disposed on a sidewall of the first side tube 141, the first side tube 141 being in communication with the second side tube 142. It should be understood that the side tube 140 may be passed through by an auxiliary instrument. The side tubes 140 can be used for passing a plurality of auxiliary instruments for operation auxiliary operation. The transition portion 132 extends gradually outward from the proximal end to the distal end, which may allow the side tube 140 to be spaced apart from the at least one sheath 120 to avoid collision between an auxiliary instrument passing through the side tube 140 and a surgical instrument passing through the sheath 120. It should be understood that the at least one side tube 140 and the transition portion 132 may be integrally formed or adhesively connected. The side tube 140 and the transition portion 132 are deformable to increase the mobility of the auxiliary instrument.

In some embodiments, as shown in fig. 5 and 6, the proximal end of the transition portion 132 is folded inward to connect with the distal end of the proximal portion 131, or the distal end of the proximal portion 131 is folded outward to connect with the proximal end of the transition portion 132 to form at least one pleated portion 134. Either the distal end of the transition portion 132 is folded outwardly to join the proximal end of the distal portion 133, or the proximal end of the distal portion 133 is folded inwardly to join the distal end of the transition portion 132 to form at least one pleated section 134. It should be appreciated that at least one of the crimp portions 134 may deform when subjected to a pulling force during movement of the auxiliary instrument. By deforming the fold 134 and transition 132, an increased incision upon pulling may be avoided, resulting in additional trauma.

In some embodiments, at least a portion of the outer sheath segment 122 of at least one of the one or more sheaths 120 is deformable, which deformation can include deformation (e.g., bending, telescoping, etc.) in a radial, axial, radial, and axial direction along the outer sheath segment 122.

In some embodiments, the sheath 120 may comprise a plurality of segments of different materials distributed along the length, wherein at least a portion of the outer sheath segment 122 of the sheath 120 is made of a flexible material. The flexible material may allow the outer sheath segment 122 of the sheath 120 to deform. The material of the remaining segments on the sheath 120 may be selected based on cost considerations or sheath diameter considerations or considerations optimized for contact with the surgical instruments of the surgical robot. For example, the outer sheath segment 122 may be made of a flexible material and the inner sheath segment 121 may be made of a non-flexible material. It should be understood that the outer sheath segment 122 may also be made of flexible material in one portion and non-flexible material in another portion, and the inner sheath segment 121 may also be made of flexible material in one portion and non-flexible material in another portion. In some embodiments, the sheath 120 may also be made of a flexible material as a whole, so that the sheath 120 has a simple structure and a large flexibility in deformation. In some embodiments, at least a portion of the inner sheath segment 121 of the sheath 120 may be attached (e.g., by adhesive, thermoplastic, or a connector) to the inner wall of the housing 110 or within the through-passage 1123 of the housing 110, or the inner sheath segment 121 may be integrally formed with the inner wall of the housing 110 or the through-passage 1123 of the housing 110. In this way, the structure of the surgical attachment 100 can be simplified, and the plurality of sheaths 120 can be prevented from moving relative to each other. In some embodiments, the inner and outer sheath segments 121, 122 may each include segments of flexible material and segments of inflexible material that may be alternately distributed along the lengths of the inner and outer sheath segments 121, 122 based on functional requirements and design requirements (i.e., process or cost considerations). The portion of the inner sheath tube segment 121 extending to the distal end 1121 is made of a non-flexible material, so that the centering property of the communication between one end of the sheath tube 120 and the distal end 1121 of the housing 110 can be ensured. At least a portion of the outer sheath segment 122 is made of a flexible material such that the outer sheath segment 122 of the sheath 120 is deformable.

It should be understood that in any embodiment of the present disclosure, the flexible material may be a thermoplastic elastomer (e.g., thermoplastic polyurethane, etc.), silicone, rubber, or the like. The non-flexible material may include plastic (e.g., polycarbonate, polypropylene, etc.) and metallic materials, among others.

In some embodiments, the at least one sheath 120 may comprise a plurality of sheaths. For example, the at least one sheath 120 may include, but is not limited to, two sheaths, three sheaths, or more sheaths, and the specific number of sheaths may be adjusted according to actual needs. The outer sheath segment 122 of at least one of the plurality of sheaths 120 is deformable. It should be appreciated that the outer sheath segment 122 of one, some or all of the plurality of sheaths 120 can deform. In some embodiments, as shown in fig. 2, the at least one sheath 120 may include sheaths 120a, 120b, and 120c, and sheath 120c may be disposed between sheaths 120a and 120 b. In some embodiments, as shown in fig. 2, the outer sheath segments of the sheaths 120a and 120b may be flexible and deformable, and the inner sheath segments thereof may be rigid and may be adapted for passage of a surgical instrument (e.g., a surgical tool). The outer and inner sheath segments of the sheath 120c may be inflexible. In some embodiments, the sheath 120c may be used for passage of a surgical instrument (e.g., an endoscope). It should be understood that the outer sheath segment of the sheath 120c may also be flexible and deformable.

The inner sheath segments of the sheaths 120a-c are disposed adjacent one another at an end proximate the distal port 1121 of the housing 110 and may be spaced apart at an end proximate the proximal port 1111 of the housing 110. In some embodiments, the inner sheath segments of the sheaths 120a-c may also be spaced apart and arranged in parallel along the length of the distal section 112 of the housing 110. In some embodiments, as shown in FIG. 2, the outer sheath segments of the sheaths 120a-c may also extend progressively outward away from each other. Therefore, interference and collision of a plurality of surgical instruments when passing through a plurality of sheaths can be better avoided. In some embodiments, the lengths of the sheaths 120a-c may be different. As shown in fig. 2, sheath 120c may be smaller in length than sheaths 120a and 120b to facilitate insertion of a surgical instrument (e.g., an endoscope) into a surgical site. It should be understood that the sheaths 120a-c may be the same length, or some of the sheaths may be the same length.

In some embodiments, as shown in fig. 5, the at least one sheath 120 and the at least one side tube 140 are further provided with a choke seal 150, the choke seal 150 in the at least one sheath 120 can be provided with an opening for passing the surgical instrument, and the choke seal 150 in the at least one side tube 140 can be provided with an opening for passing the auxiliary instrument. For example, as shown in fig. 5, the proximal ends of the outer sheath segment 122 and the side tube 140 of the sheath 120 may be provided with projections comprising an inner lumen, which may have a gas barrier seal 150 disposed therein. It should be understood that the protrusions may also be provided at other locations on the outer sheath segment 122 and the side tube 140. When the surgical instrument passes through the sheath 120 and moves relative to the sheath 120 by the choke seal 150, the sheath 120 can maintain a sealed state to prevent the surgical site from collapsing due to air leakage and affecting the surgical field.

Fig. 7 illustrates a structural schematic of a surgical robotic system according to some embodiments of the present disclosure. The present disclosure also provides a surgical robotic system 1000 that may include at least one positioning arm 10 and at least one surgical instrument 20 disposed at a distal end of the at least one positioning arm 10 and a surgical attachment (e.g., surgical attachment 100) of any of the embodiments described above. In some embodiments, as shown in fig. 7, the positioning arm 10 may include a multi-segmented arm body and a plurality of joints connecting the multi-segmented arm body for adjusting the position and posture of the surgical instrument 20. The surgical instrument 20 may include a surgical instrument arm 21 and a tip device 22 disposed at a distal end of the surgical instrument arm 21. It should be understood that the surgical instrument 20 may include a surgical tool and an endoscope. For surgical tools, tip device 22 may include an end-effector (e.g., forceps, electrotome, electrical hook, etc.), while for endoscopes, tip device 22 may include an imaging device and an illumination device. At least a portion of the surgical attachment (e.g., at least a portion of the distal section 112 of the housing 110 or the inner sheath segment 121 of the surgical attachment 100) is adapted to extend into the patient's body, and the portion of the surgical attachment 100 exposed outside the patient's body (e.g., the proximal section 111 of the outer housing 110 or the outer sheath segment 122) may be adapted to be coupled to the positioning arm 10.

It should be understood that the plurality of sheaths 120 of surgical attachment 100 may be used to pass a plurality of surgical instruments 20 (e.g., surgical tools or endoscopes) of positioning arm 10 to access a desired surgical site. The positioning accuracy of the positioning arm 10 is required to be high in order to align with the sheath 120 of the surgical attachment 100. For example, during pre-operative preparation, the plurality of positioning arms 10 need to be moved into position for automatic or manual connection with the plurality of sheaths 120. Or during operation, the positioning arm 10 may need to be adjusted along a certain fixed point (such as an abdominal point) to adjust the surgical field or adjust the pose of the surgical instrument 20, and the positioning arm 10 and the surgical attachment 100 may be shifted in position. Alternatively, due to relative relationship limitations of multiple surgical instruments 20 (e.g., sheath 120 distribution of surgical attachment 100, interference between surgical instruments 20, or joint limits of positioning arm 10), surgical instruments 20 may fail to reach the target pose as commanded by the system. Because the sheath 120 can be deformed radially and/or axially, the positioning arm positioning error or offset caused by the machine control accuracy or other reasons (including but not limited to the above) can be compensated, so that the distal end of the surgical device 20 can still smoothly pass through the sheath 120 and the inner cavity of the housing 110 to enter the predetermined surgical site in the presence of a certain positioning error or offset. During the operation, the auxiliary instrument enters the cavity through the side tube 140 of the surgical attachment 100 to perform the auxiliary operation, and since the sealing member 130 of the surgical attachment 100 is deformable, at least a portion of the circumference of the distal section 112 of the housing 110 is recessed inward, so that the movement space of the auxiliary instrument in the cavity is increased, and the collision with the distal end of the surgical instrument 20 or the surgical attachment 100 can be avoided.

It is noted that the foregoing is only illustrative of the embodiments of the present disclosure and the technical principles employed. Those skilled in the art will appreciate that the present disclosure is not limited to the particular embodiments illustrated herein and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the disclosure. Therefore, although the present disclosure has been described in greater detail with reference to the above embodiments, the present disclosure is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present disclosure, the scope of which is determined by the scope of the appended claims.

Claims (18)

1. A surgical attachment, comprising:

a housing, comprising:

a proximal segment comprising a proximal port;

a distal segment including a distal port, at least a portion of a circumferential surface of the distal segment including a recessed region that is radially inwardly recessed, the recessed region extending from a proximal end to a distal end to the distal port;

one or more sheath tubes comprising an inner sheath tube section and an outer sheath tube section, the inner sheath tube section positioned within the housing and in communication with the distal port of the housing, the outer sheath tube section positioned outside the proximal port of the housing.

2. A surgical attachment according to claim 1, wherein at least a portion of the recessed region includes a groove extending from a proximal end to a distal end to the distal port.

3. The surgical attachment of claim 1, further comprising:

a middle section located between the proximal section and the distal section, the middle section projecting radially outward along the housing.

4. A surgical attachment according to claim 3, wherein the recessed region extends from the intermediate section to the distal port.

5. A surgical attachment according to claim 1, wherein the distal section is D-shaped in cross-section.

6. A surgical attachment according to claim 1, wherein a portion of the distal segment adjacent the distal port includes a plurality of spaced apart through passages, the distal end of the inner sheath segment of the at least one sheath communicating with the at least one through passage.

7. A surgical attachment according to claim 3, further comprising:

a seal, the seal comprising:

a proximal end portion for sealing connection with the intermediate section;

a transition portion extending gradually outward from a proximal end to a distal end;

a distal portion for sealing connection with the abdominal incision.

8. A surgical attachment according to claim 7, wherein the intermediate section includes a circumferentially extending annular groove and the inner side of the proximal section includes a sealing ring which cooperates with the annular groove to sealingly connect the proximal section to the intermediate section.

9. A surgical attachment according to claim 7, wherein at least one fold portion is formed between a proximal end of the transition portion and a distal end of the proximal portion; or

At least one corrugated portion is formed between a distal end of the transition portion and a proximal end of the distal portion.

10. A surgical attachment according to claim 7, wherein the transition portion is provided with at least one side tube extending through a side wall of the transition portion and communicating with the distal exterior side of the housing.

11. A surgical attachment according to claim 10, wherein the at least one side tube includes a first side tube and a second side tube disposed on a side wall of the first side tube, the first side tube communicating with the second side tube.

12. A surgical attachment according to claim 10, wherein the one or more sheaths and the at least one side tube define a gas barrier seal having an opening therein.

13. The surgical attachment of any one of claims 1-12, wherein at least a portion of the outer sheath segment of at least one of the one or more sheaths is deformable in a radial direction, an axial direction, or both the radial and axial directions of the outer sheath segment.

14. The surgical attachment of any one of claims 1-12, wherein at least a portion of the outer sheath segment of at least one of the one or more sheaths comprises a flexible material; or

At least a portion of the inner or outer sheath segments of the one or more sheath tubes comprises a non-flexible material.

15. The surgical attachment of any one of claims 1-12, wherein the one or more sheaths comprise a plurality of sheaths, the inner sheath segments of the plurality of sheaths converging toward one another in a direction from the proximal port to the distal port; or

The inner sheath pipe sections of the plurality of sheath pipes are arranged in parallel along the direction from the proximal port to the distal port; or

The outer sheath segments of the plurality of sheaths extend outwardly away from each other.

16. The surgical attachment of claim 15, wherein the one or more sheaths comprise a first sheath, a second sheath, and a third sheath disposed between the first sheath and the second sheath, outer sheath segments of the first, second, and third sheaths extending outwardly away from one another, outer sheath segments of the first and second sheaths comprising a flexible material, an outer sheath segment of the third sheath being non-flexible.

17. A surgical robotic system, comprising:

at least one positioning arm;

at least one surgical instrument disposed at a distal end of the at least one positioning arm; and

the surgical attachment of any of claims 1-16, wherein the at least one surgical instrument passes through one or more sheaths of the surgical attachment.

18. The surgical robotic system as claimed in claim 17, further comprising:

at least one auxiliary instrument passing through at least one lateral tube of the surgical attachment.

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