CN219289692U - Sheath tube device and surgical robot system - Google Patents

Abstract

The present disclosure relates to the field of medical instruments, and discloses a sheath device and a surgical robot system. The sheath device comprises a shell and a plurality of sheath channels, wherein the shell comprises a proximal port and a distal port, the distal port is flat, the plurality of sheath channels comprise an external channel and an internal channel which are communicated with each other, the external channel is positioned outside the shell and is communicated with the proximal port of the shell, and the internal channel is positioned in the shell and is communicated with the distal port of the shell. The distal port of the sheath tube device is designed to be flat, so that the sheath tube device can be better suitable for pulmonary surgery, and the flat structure can conveniently enter a body cavity through a rib clearance, so that the large trauma to a human body is avoided.

Description

Sheath tube device and surgical robot system

Technical Field

The present disclosure relates to the field of medical devices, and more particularly, to a sheath device and surgical robotic system.

Background

Laparoscopic surgery is a surgical form which has been developed and widely used in recent years, and has the advantages of small wound, quick postoperative recovery, low postoperative infection and complications, and the like. In recent two years, a batch of surgical robot products, particularly from the da vinci company in the united states, optimizes the surgical form by means of a computer remote control technique, and realizes surgical operations with higher stability and accuracy by means of a mechanical arm. In the operation process, a plurality of mechanical arms penetrate into a human body through a sheath tube, and surgical operations of different positions are realized by controlling mechanical arm joints and terminal surgical instruments.

Before operation, the assistant (assistant doctor or doctor) adjusts the mechanical arm to proper position according to the operation type and operation position, and stretches one part of the sheath tube into the human body through the natural opening or incision, and the other part is outside the human body. The mechanical arm is fixedly connected with the part of the sheath tube outside the human body, and a surgical instrument with an end device at the end is arranged on the mechanical arm, so that the end device enters the corresponding position of the human body needing surgery through the sheath tube.

Existing sheaths typically consist of a sheath body and a sheath channel assembly. Wherein the sheath body is generally circular to achieve a good seal with the stoma. However, the circular sheath is not beneficial to pulmonary surgery, which has rib blocking, has a larger diameter, and cannot smoothly enter the body cavity through the ribs unless rib removal operation is performed, so that larger wounds are caused.

Disclosure of Invention

An object of the present disclosure is to provide a sheath device comprising:

a housing comprising a proximal port and a distal port, the distal port being flat;

a plurality of sheath channels including an outer channel and an inner channel in communication with each other, the outer channel being located outside the housing and in communication with the proximal port of the housing, the inner channel being located within the housing and in communication with the distal port of the housing.

In some embodiments, the internal channels of the plurality of sheath channels are arranged side-by-side along the cross-sectional long axis at the distal port.

In some embodiments, the internal channels of the plurality of sheath channels are drawn toward each other in a direction from the proximal port to the distal port; or alternatively

The internal channels of the sheath channels are arranged in parallel along the direction from the proximal port to the distal port; or alternatively

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

In some embodiments, further comprising:

at least one purge channel extending in a direction from the proximal port to the distal port.

In some embodiments, the at least one purge channel comprises a first purge channel for delivering a liquid and a second purge channel for delivering a gas.

In some embodiments, the diameter of the purge channel is less than the diameter of the internal channel.

In some embodiments, the plurality of sheath channels includes a first sheath channel, a second sheath channel, a third sheath channel, and a fourth sheath channel, the internal channels of the first sheath channel, the second sheath channel, the third sheath channel, and the fourth sheath channel being arranged side-by-side along a cross-sectional long axis direction at the distal port.

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

In some embodiments, at least a portion of the outer channels of the plurality of sheath channels comprise a flexible material.

In some embodiments, the outer channel of the plurality of sheath channels comprises a telescoping tube that is capable of telescoping movement in an axial direction of the outer channel to axially deform the outer channel.

In some embodiments the telescoping tube comprises an upper tube and a lower tube that are nested within each other and are capable of sliding relative to each other, the lower tube comprising a radially outwardly extending projection comprising an inner cavity and a seal disposed in the inner cavity, the seal comprising a slit; or alternatively

The outer channel includes a radially outwardly extending projection including an inner lumen and a seal disposed in the inner lumen, the seal including a slit.

In some embodiments, at least one connector is further included, the connector being disposed on the housing and/or the sheath channel.

In some embodiments, the connector includes at least one of a protrusion, a clamp, a snap-fit structure, an adhesive structure, a plug-in structure, or a snap-in structure.

The present disclosure also provides a surgical robotic system comprising:

the mechanical arm comprises a plurality of arm bodies and a plurality of joints connected with the arm bodies, wherein the arm bodies comprise tail end arms;

a plurality of surgical instruments detachably disposed on the distal arm of the at least one mechanical arm, the surgical instruments including a distal device disposed at a distal end of the surgical instruments;

the sheath device of any of the above embodiments, wherein the sheath device is removably coupled to the distal arm, and wherein at least a portion of the plurality of surgical instruments are capable of passing through a sheath channel of the sheath device and moving relative to the sheath device.

Some embodiments of the present disclosure have one or more of the following benefits: 1. the distal port of the sheath tube device is designed to be flat, so that the sheath tube device can be better suitable for pulmonary surgery, and the flat structure can conveniently enter a body cavity through a rib clearance, so that the large trauma to a human body is avoided; 2. the size of the proximal port of the sheath tube device is larger than that of the distal port, so that the external channels of the sheath tube channels are conveniently arranged, a plurality of surgical instruments can enter from the sheath tube channels respectively and are not interfered with each other, and the distal port is smaller in size, so that the surgical instruments can extend into the human body from a smaller incision, and the trauma is reduced; 3. by arranging the cleaning channel, the endoscope or the surgical tool can be cleaned rapidly in the operation, so that the clear surgical field or the cleaning of the surgical tool is ensured, the endoscope or the surgical tool is prevented from being pulled out of a body cavity to be wiped, and the operation time is shortened; 4. the sheath channel can be deformed radially and/or axially, so that the surgical instrument can conveniently pass through the sheath channel, and the pulling of the surgical instrument to the incision when passing through the sheath channel is reduced, so that the tail end of the surgical instrument can still smoothly pass through the sheath channel and the shell to enter a preset surgical site under the condition of certain positioning error or offset.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly describe the drawings that are required to be used in the description of the embodiments of the present disclosure. The drawings in the following description illustrate only some embodiments of the disclosure and other embodiments may be obtained by those of ordinary skill in the art from the disclosure's contents and drawings without inventive effort.

Fig. 1 illustrates a schematic structural view of a sheath device according to some embodiments of the present disclosure;

FIG. 2 illustrates a schematic view of another angle of a sheath device according to some embodiments of the present disclosure;

fig. 3 illustrates a top view of a sheath device according to some embodiments of the present disclosure;

fig. 4 illustrates a schematic structural view of a distal port of a sheath device according to some embodiments of the present disclosure;

FIG. 5A illustrates a schematic view of a partial cross-sectional structure of a sheath device according to some embodiments of the present disclosure;

fig. 5B illustrates a schematic partial cross-sectional structure of a telescoping tube of a sheath device according to some embodiments of the present disclosure.

Detailed Description

In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, 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 obvious that the described embodiments are merely exemplary embodiments of the present disclosure, and not all embodiments.

In the description of the present disclosure, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and the like, 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 specified and limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be either a fixed connection or a removable connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; may be a communication between the interiors of the two elements. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be. In this disclosure, the end proximal to the operator (e.g., physician) is defined as proximal, or posterior, and the end proximal to the surgical patient is defined as distal, or anterior, anterior. Those skilled in the art will appreciate that embodiments of the present disclosure may be used with medical instruments or surgical robots, as well as with other non-medical devices.

Fig. 1 and 2 illustrate schematic structural views of a sheath device 100 according to some embodiments of the present disclosure at different angles, fig. 3 illustrates a top view of the sheath device 100 according to some embodiments of the present disclosure, and fig. 4 illustrates a schematic structural view of a distal port 112 of the sheath device 100 according to some embodiments of the present disclosure. As shown in fig. 1-4, the sheath apparatus 100 may include a housing 110 and a plurality of sheath channels 120. The housing 110 may include a proximal port 111 and a distal port 112, with the distal port 112 being flat. The cross-section of the flattened distal port 112 may include a major axis extending along the length of the cross-section and a minor axis perpendicular to the major axis. As shown in fig. 1, the housing 110 may be tubular, may include a proximal portion that tapers (e.g., is generally funnel-shaped, tapered, etc.), and may include a proximal opening and a distal constriction. As shown in fig. 1 and 2, the plurality of sheath channels 120 (e.g., sheath channel 120a, sheath channel 120b, sheath channel 120c, sheath channel 120d, which may be collectively referred to as sheath channel 120) may include an outer channel 122 and an inner channel 121 in communication with each other, the outer channel 122 being located outside of the housing 110 and in communication with the proximal port 111 of the housing 110. For example, the external channel 122 may extend outwardly from the proximal end of the housing 110, outside of the housing 110. An internal passageway 121 is located within the housing 110 and communicates with the distal port 112 of the housing 110. It will be appreciated that in some embodiments, the internal passageway may be part of the housing 110, for example, the interior of the housing 110 may form an internal passageway, or the internal passageway may be integrally formed with the housing 110, with the external passageway 122 communicating with the internal passageway. By designing the distal port 112 to be flat, the sheath apparatus 100 can be better adapted to pulmonary surgery or similar surgical procedures requiring a flat incision, and the flat structure can be conveniently passed through the rib clearance to enter the body cavity, avoiding significant trauma to the human body. The existing circular sheath tube cannot smoothly enter the body cavity through the ribs due to the large diameter, or can enter the body cavity after rib removal operation, so that large wounds are caused.

In some embodiments, the radial dimension of the proximal port 111 may be greater than the radial dimension (e.g., cross-sectional length) of the distal port 112, and the radial dimension of the housing 110 gradually decreases in the direction from the proximal port 111 to the distal port 112. In some embodiments, as shown in fig. 1 and 2, the housing 110 includes a radially reduced portion and a radially unchanged portion. The housing 110 tapers in radial dimension from the proximal port 111 in a proximal to distal direction and begins at an intermediate location to the distal port 112, with the radial dimension remaining unchanged. The proximal port 111 is sized larger than the distal port 112 to facilitate placement of the outer channels 122 of the plurality of sheath channels 120 to facilitate access of the plurality of surgical instruments from the plurality of sheath channels 120, respectively, without interference from one another. The distal port 112 is smaller in size to ensure that it extends from a smaller incision into the interior of the body, reducing trauma.

In some embodiments, as shown in fig. 2 and 4, the internal channels 121 of the plurality of sheath channels 120 are arranged side-by-side, e.g., in a straight line, along the long axis of the cross-section at the distal port 112. The arrangement along the longitudinal axis of the cross section means that the cross sections are substantially spaced apart along the longitudinal axis of the cross section and may be in a straight shape or slightly offset from the longitudinal axis of the cross section.

In some embodiments, the internal channels 121 of the plurality of sheath channels 120 are drawn toward each other in the direction from the proximal port 111 to the distal port 112. In some embodiments, the internal channels 121 of the plurality of sheath channels 120 may be disposed in parallel in the direction of the proximal port 111 to the distal port 112. The outer channels 122 of the plurality of sheath channels 120 extend outwardly away from each other. In this way, interference collisions between multiple surgical instruments passing through multiple sheath channels 120 may be better avoided.

In some embodiments, as shown in fig. 1, 2, and 4, the sheath device 100 further includes at least one purge channel 140 (e.g., purge channel 141, purge channel 142, which may be collectively referred to as purge channel 140) extending in a direction from the proximal port 111 to the distal port 112. It should be appreciated that the purge channel 140 may include an internal purge channel located within the housing 110. The internal cleaning channel may extend from the proximal port 111 to the distal port 112 of the housing 110. The purge channel 140 may also include an external purge tube located outside of the housing 110 in communication with the internal purge channel, extending outwardly from the proximal end of the housing 110 for connection to an external purge source (e.g., water pump, air pump, etc.). It should be appreciated that the cleaning channel 140 may include only an internal cleaning channel, which may include a connection fitting at the proximal port 111 for connection to an external cleaning source. The purge channel 140 may also include a nozzle at the distal end of the internal purge channel. As shown in FIG. 4, the nozzle may protrude from the end face of the distal port 112 to facilitate cleaning of the surgical instrument. The nozzles may be disposed in the interstices of the distal ports of the plurality of internal channels 121.

In some embodiments, as shown in fig. 2 and 4, the at least one purge channel 140 may include a first purge channel 141 and a second purge channel 142, the first purge channel 141 may be used to transport a liquid and the second purge channel 142 may be used to transport a gas. It should be appreciated that the first purge channel 141 may also be used to deliver gas and the second purge channel 142 used to deliver liquid. As shown in fig. 2 and 4, the first washing channel 141 and the second washing channel 142 may be spaced apart from each other at one side of the distal port 112 in the cross-sectional short axis direction. It should be appreciated that the first and second purge channels 141 and 142 may also be located on either side of the distal port 112 in the cross-sectional minor axis direction. In some embodiments, the diameter of the purge channel 140 may be smaller than the diameter of the interior channel 121. By delivering the liquid, the surgical instrument, such as an endoscope lens, is flushed clean. Residual liquid on the endoscope head is removed by delivering gas. Through setting up the cleaning channel, can clean endoscope or operation instrument fast in the art, guarantee the clear or operation instrument cleanness of operation field of vision, avoid pulling out the body cavity with endoscope or operation instrument and clean, show the shortened operation time.

In some embodiments, as shown in fig. 1, the plurality of sheath channels 120 may include a first sheath channel 120a, a second sheath channel 120b, a third sheath channel 120c, and a fourth sheath channel 120d. The internal passages 121 of the first, second, third and fourth sheath passages 120a, 120b, 120c and 120d are arranged side by side, for example, in a straight line, in the cross-sectional long axis direction at the distal port 112. It should be appreciated that the plurality of sheath channels 120 may also include two sheath channels. The above is merely an example, and the specific number of sheath channels may be adjusted according to actual requirements.

In some embodiments, the lengths of the plurality of sheath channels 120 may be different. As shown in FIG. 1, the sheath channel 120c may have a length less than the sheath channel 120a, the sheath channel 120b, and the sheath channel 120d to facilitate insertion of a surgical instrument (e.g., an endoscope) into a surgical site. It should be understood that the lengths of the sheath channels 120a-d may also be the same, or portions of the sheath channels 120 may be the same. The diameters of the plurality of sheath channels 120 may also be varied, and may be specifically adjusted according to the size of the surgical instrument.

In some embodiments, at least a portion of at least one outer channel 122 of the plurality of sheath channels 120 is deformable (e.g., curved, telescoping, etc.) radially, axially, or both radially and axially of the outer channel 122. Because the sheath channel 120 can be deformed radially and/or axially, the surgical instrument can pass through the sheath channel 120 conveniently, and the pulling of the surgical instrument to the incision when passing through the sheath channel 120 is reduced, so that the tail end of the surgical instrument can still pass through the sheath channel 120 and the shell 110 to enter the preset surgical site smoothly under the condition that a certain positioning error or offset exists.

In some embodiments, at least a portion of at least one outer channel 122 of the plurality of outer channels 122 of the sheath channel 120 comprises a flexible material. For example, the sheath channel 120 may include lengths of tubing of different materials distributed along the length. The flexible material may allow the outer channel 122 of the sheath channel 120 to deform. The materials of the remaining tube segments on the sheath channel 120 may be selected based on cost considerations or sheath channel 120 diameter considerations or contact optimization with the robotic arm. For example, the outer channel 122 may be made of a flexible material and the inner channel 121 may be made of a non-flexible material. It should be appreciated that the outer channel 122 may also be made in part of a flexible material and in part of a non-flexible material. The internal passage 121 may also be made in part of a flexible material and in part of a non-flexible material. In some embodiments, the sheath channel 120 may also be integrally made of a flexible material, so that the sheath channel 120 has a simple structure and a large flexibility in deformation. In some embodiments, at least a portion of the interior channel 121 of the sheath channel 120 may be attached (e.g., glued, thermoplastic, or attached) to the interior wall of the housing 110 or within the through-channel of the housing 110, or the interior channel 121 may be integrally formed with the interior wall of the housing 110 or the through-channel of the housing 110. In this way, both the structure of the sheath apparatus 100 and the avoidance of movement between the plurality of sheath channels 120 can be simplified. In some embodiments, the inner and outer channels 121, 122 may include tube segments made of flexible material and tube segments made of non-flexible material, respectively, which may be alternately distributed along the length of the inner and outer channels 121, 122 based on functional and design requirements (i.e., process or cost considerations). The portion of the interior channel 121 extending toward the distal port 112 is made of a non-flexible material to ensure centering of communication between one end of the sheath channel 120 and the distal port 112 of the housing 110. At least a portion of the outer channel 122 is made of a flexible material such that the outer channel 122 of the sheath channel 120 is deformable. For example, the outer channels of sheath channel 120a, sheath channel 120b, and sheath channel 120d may comprise a flexible material, may be deformable, while the outer channels of sheath channel 120c comprise a non-flexible material, may not be deformable.

It should be appreciated that in any of the embodiments of the present disclosure, the flexible material may employ a thermoplastic elastomer (e.g., thermoplastic polyurethane, etc.), silicone rubber, or rubber, etc. The inflexible material may include plastics (e.g., polycarbonate, polypropylene, etc.), metallic materials, and the like.

In some embodiments, the outer channel 122 of the plurality of sheath channels 120 may include a telescoping tube 130, as shown in fig. 2 and 3. The telescoping tube 130 is capable of telescoping movement in the axial direction of the outer channel 122 to provide for axial deformation of the outer channel 122, increasing the flexibility of the sheath channel 120 in the axial direction. Fig. 5A illustrates a partial cross-sectional structural schematic view of a sheath device 100 according to some embodiments of the present disclosure, and fig. 5B illustrates a partial cross-sectional structural schematic view of a telescoping tube 130 of the sheath device 100 according to some embodiments of the present disclosure. Of these, only a partial cross-sectional structure of the sheath channel 120B and the sheath channel 120d is shown in fig. 5A, and only a partial cross-sectional structure of the telescoping tube 130 of one sheath channel 120 (sheath channel 120a, sheath channel 120B, or sheath channel 120 d) is shown in fig. 5B. In some embodiments, as shown in fig. 5A and 5B, the telescoping tube 130 is tubular and may include an upper tube 131 and a lower tube 132 that are relatively slidable along the axial direction of the outer channel 122. The upper pipe member 131 and the lower pipe member 132 may have different diameters, and the upper pipe member 131 and the lower pipe member 132 are movably sleeved together to realize axial expansion and contraction of the expansion pipe member 130. It should be appreciated that the telescoping tube 130 may be placed in communication with any location of the outer channel 122 of the sheath channel 120. For example, as shown in fig. 5A and 5B, a telescoping tube 130 may be disposed at the proximal end of the outer channel 122. The diameter of the upper pipe member 131 is larger than that of the upper end portion of the lower pipe member 132, so that the upper pipe member 131 can be movably sleeved on the upper end portion of the lower pipe member 132 to realize relative sliding of the upper pipe member 131 and the lower pipe member along the axial direction of the outer channel 122. In some embodiments, a back-off (not shown) may be provided on the upper tube 131 and/or the lower tube 132 to prevent the upper tube 131 and the lower tube 132 from slipping during relative sliding.

In some embodiments, as shown in fig. 5A and 5B, a lower end portion of the lower tubular member 132 may include a radially outwardly extending protrusion 1321, the protrusion 1321 having a diameter that is greater than a diameter of other portions of the lower tubular member 132. It will be appreciated that although fig. 2-5B illustrate the tab 1321 as being disposed on the lower tubular member 132, the tab 1321 may be disposed at other locations on the external passage. In some embodiments, the protrusion 1321 of the lower tube 132 may include a lumen in which a seal 1322 may be disposed, the seal 1322 having an incision for the passage of a surgical instrument. The seal 1322 allows the sheath channel 120 to be maintained in a sealed condition while the surgical instrument is moved through the sheath channel 120 and relative to the sheath channel 120 to meet the surgical procedure requirements.

In some embodiments, as shown in fig. 2 and 3, the sheath apparatus 100 may further include at least one connector 150. A connector 150 may be provided on the housing 110 and/or the sheath channel 120, the connector 150 being used to connect a robotic arm or a surgical instrument clamped to the robotic arm with the sheath apparatus 100. In some embodiments, the connector 150 may include a protrusion for mating with a clamp mounted on the robotic arm. In some embodiments, the connector 150 may further include clamps, snap-in structures, adhesive structures, plug-in structures, snap-in structures, and the like. The robotic arm may include structure thereon that mates with the connector 150. The connector 150 may be disposed on the sheath channel 120 (e.g., on the outer channel 122), and the connector 150 may be detachably and fixedly connected to the manipulator such that a surgical instrument disposed on the manipulator may smoothly pass through the sheath channel 120 at a predetermined angle and may move along the sheath channel 120. In some embodiments, the connection member 150 may also be disposed on the telescopic tube 130 (e.g., the upper tube 131), and the connection member 150 may be capable of telescopic movement along with the telescopic tube 130 along the axial direction of the sheath channel 120, so that the flexibility of the position of the connection member 150 on the sheath channel 120 may be improved, so as to facilitate the connection of the connection member 150 with the mechanical arm. It should be appreciated that the connector 150 may also be provided on the lower tubular member 132 of the telescoping tube member 130, or that a portion of the upper connector 150 of the sheath channel 120 may be provided on the upper tubular member 131 of the telescoping tube member 130 and another portion of the connector 150 may be provided on the lower tubular member 132 of the telescoping tube member 130. The above is merely an example, and is not limited thereto.

The present disclosure also provides for a surgical robotic system including at least one robotic arm and a plurality of surgical instruments disposed at a distal end of the at least one robotic arm and a sheath apparatus in any of the above embodiments. In some embodiments, the robotic arm may include a multi-section arm body including a distal arm and a plurality of joints connecting the multi-section arm body. The surgical instrument is detachably disposed on the distal arm of the at least one robotic arm. The surgical instrument may include a surgical instrument arm and an end device disposed at a distal end of the surgical instrument arm. The end devices may include, but are not limited to, forceps, scalpels, electrical hooks, imaging devices, illumination devices, and the like. Sheath assembly 100 is removably attached to the distal arm. For example, at least a portion of the sheath device (e.g., at least a portion of the distal end portion of the housing 110 or the internal passageway 121 of the sheath device 100) is configured to extend into the patient, and a portion of the sheath device 100 exposed outside the patient (e.g., the proximal end portion of the housing 110 or the external passageway 122) may be removably coupled to the robotic arm via the coupling 150. At least a portion of the plurality of surgical instruments is capable of passing through the sheath channel 120 of the sheath apparatus 100 and moving relative to the sheath apparatus 100.

In operation, the surgical robotic system controls the movement of the plurality of robotic arms to move the plurality of robotic arms to a suitable position (e.g., target pose) for connection with the sheath apparatus 100. The surgical instrument may be slid along the length of the distal arm to move the surgical instrument along the sheath channel 120 of the sheath apparatus 100. Each of the plurality of robotic arms is removably attachable to a sheath device (e.g., connector 150 of sheath device 100) to secure sheath device 100 at the incision, and at least a portion of the plurality of surgical instruments (e.g., distal end device and distal end portion of the surgical instrument arms) are capable of passing through the plurality of sheath channels 120 of sheath device 100 and moving relative to sheath device 100 or moving with sheath device 100 in a constant relative pose. Because the distal port 112 of the sheath device 100 is designed to be flat, the sheath device 100 can be better suitable for the surgical scene of pulmonary surgery or flat incision, and the flat structure can conveniently enter the body cavity through the rib clearance, so that the large trauma to the human body is avoided.

Note that the above is merely exemplary embodiments of the present disclosure and the technical principles applied. Those skilled in the art will appreciate that the present disclosure is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the disclosure. Therefore, while the present disclosure has been described in connection with the above embodiments, the present disclosure is not limited to the above embodiments, but may include many 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 (14)

1. A sheath device, comprising:

a housing comprising a proximal port and a distal port, the distal port being flat;

a plurality of sheath channels including an outer channel and an inner channel in communication with each other, the outer channel being located outside the housing and in communication with the proximal port of the housing, the inner channel being located within the housing and in communication with the distal port of the housing.

2. The sheath device of claim 1, wherein the internal channels of the plurality of sheath channels are aligned side-by-side along the cross-sectional long axis at the distal port.

3. The sheath device of claim 1, wherein the internal channels of the plurality of sheath channels are drawn toward each other in a direction from the proximal port to the distal port; or alternatively

The internal channels of the sheath channels are arranged in parallel along the direction from the proximal port to the distal port; or alternatively

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

4. The sheath device of claim 1, further comprising:

at least one purge channel extending in a direction from the proximal port to the distal port.

5. The sheath device of claim 4, wherein the at least one purge channel comprises a first purge channel and a second purge channel, the first purge channel for delivering a liquid and the second purge channel for delivering a gas.

6. The sheath device of claim 4, wherein the diameter of the purge channel is smaller than the diameter of the internal channel.

7. The sheath device of claim 1, wherein the plurality of sheath channels comprises a first sheath channel, a second sheath channel, a third sheath channel, and a fourth sheath channel, the internal channels of the first sheath channel, the second sheath channel, the third sheath channel, and the fourth sheath channel being arranged side-by-side along a cross-sectional long axis direction at the distal port.

8. The sheath device of any one of claims 1-7, wherein at least a portion of at least one of the outer channels of the plurality of sheath channels is deformable in a radial direction, an axial direction, or both radial and axial directions of the outer channel.

9. The sheath device of claim 8, wherein at least a portion of at least one of the outer channels of the plurality of sheath channels comprises a flexible material.

10. The sheath device of claim 8, wherein the outer channel of the plurality of sheath channels comprises a telescoping tube that is capable of telescoping movement in an axial direction of the outer channel to axially deform the outer channel.

11. The sheath device of claim 10, wherein the telescoping tube comprises an upper tube and a lower tube that are nested within each other and are capable of sliding relative to each other, the lower tube comprising a radially outwardly extending projection comprising an inner lumen and a seal disposed within the inner lumen, the seal comprising a slit; or alternatively

The outer channel includes a radially outwardly extending projection including an inner lumen and a seal disposed in the inner lumen, the seal including a slit.

12. The sheath device of any one of claims 1-7, further comprising at least one connector disposed on the housing and/or the sheath channel.

13. The sheath device of claim 12, wherein the connector comprises at least one of a protrusion, a clamp, a snap-fit structure, an adhesive structure, a plug-in structure, or a snap-in structure.

14. A surgical robotic system, comprising:

the mechanical arm comprises a plurality of arm bodies and a plurality of joints connected with the arm bodies, wherein the arm bodies comprise tail end arms;

a plurality of surgical instruments detachably disposed on the distal arm of the at least one mechanical arm, the surgical instruments including a distal device disposed at a distal end of the surgical instruments;

the sheath device of any one of claims 1-13, detachably connected to the end arm, at least a portion of the plurality of surgical instruments being capable of passing through a sheath channel of the sheath device and moving relative to the sheath device.

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