CN220142258U - Intracavity aspirator for surgical robot - Google Patents

Abstract

The utility model provides an endoluminal aspirator for a surgical robot, comprising: the suction end, the drainage hose and the controller are sequentially connected; the suction end is provided with a traction part which is matched with the instrument clamping assembly; the drainage hose comprises a first section of hose at the front part and a second section of hose connected with the first section of hose, the distal end of the first section of hose is connected with the suction end, the diameter of the second section of hose is larger than that of the first section of hose, the second section of hose can penetrate through the cartoon hole and seal the through hole to realize a sealed cavity, and the rear end of the drainage hose is connected with the controller; the controller can control the external flushing and sucking mechanism to be selectively communicated with the drainage hose so as to realize sucking gas or residual substances in the cavity or water injection flushing; the suction end adapter mechanical clamping assembly can reach deep effusion or bleeding positions, and the drainage hose can bypass organs to perform operation more accurately.

Description

Intracavity aspirator for surgical robot

Technical Field

The utility model relates to the medical field, in particular to an aspirator suitable for surgical robots to operate from the abdominal cavity of equipment.

Background

Minimally invasive medical technology refers to a medical mode of performing surgery or performing biopsy inside a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive medical technology has the advantages of small wound, light pain, quick recovery, less discomfort of patients, less harmful side effects and the like. Such minimally invasive medical techniques may be performed through natural orifices or surgical incisions in the patient's anatomy to allow the medical instrument to reach the target tissue location under the control of a controller. Minimally invasive medical robotic systems typically include a medical instrument, which is typically a flexible and/or steerable elongate device, that is capable of being inserted into an anatomic through-hole and navigated toward a target region within a patient's anatomy.

The commonly used medical instruments of the minimally invasive medical robot comprise a thoracic endoscope, an abdominal endoscope, bipolar grasping forceps, bipolar separating forceps, needle forceps and other instruments; in the pleuroperitoneal cavity operation process, residual tissue liquid is required to be washed away by sucking some effusion and blood in the cavity or injecting clear water through the aspirator, so that bleeding points and focus are exposed, the operation vision is cleaned, the follow-up operation is convenient, the traditional hard handheld aspirator can not reach the effusion or bleeding positions under the interference of the existing viscera, the operation effect is seriously affected and the operation duration is prolonged, and the aspiration tube is suitable for auxiliary products of an operation robot system of a pleuroperitoneal endoscope control system and is usually used together with other operation instruments. For patients requiring surgical robotic control systems for surgery, the use of soft aspiration devices by medical personnel to bypass these organs may allow for more accurate, efficient and safe performance of the surgery.

Disclosure of Invention

The utility model aims to provide an endoluminal aspirator for a surgical robot, which aims to solve the problem that a traditional hard handheld aspirator cannot reach a effusion or bleeding position under the interference of the existing viscera.

Based on the above, the endoluminal aspirator for surgical robot of the present utility model adopts the following technical scheme that:

the suction end, the drainage hose and the controller are sequentially connected;

the suction end is provided with a traction part which can be matched with the instrument clamping assembly and moves in the cavity under the drive of the instrument clamping assembly;

the drainage hose comprises a first section of hose at the front part and a second section of hose connected with the first section of hose, the diameter of the second section of hose is larger than that of the first section of hose, the front end of the first section of hose is connected with the suction end head, the second section of hose can penetrate through the through hole of the poking card and seal the through hole to realize a sealed cavity, and the rear end of the drainage hose is connected with the controller;

the controller is used for controlling the external flushing and sucking mechanism to be selectively communicated with the drainage hose so as to suck the gas or residual substances in the cavity or fill water into the cavity for flushing.

In a specific embodiment, the body of the suction end is a hollow cylinder, and the hollow cylinder is a diameter-variable cylinder with equal diameter or thin front and thick rear; the traction part is arranged on the body in a protruding way, and the radial maximum outer diameter of the traction part at the arrangement position is smaller than the inner diameter of the through hole of the poking card;

in another embodiment, the body of the suction end head is a hollow cylinder with a cutting surface on the outer surface, and the hollow cylinder is a diameter-variable cylinder with equal diameter or thin front and thick rear; the traction part is convexly arranged on the cutting surface of the body, and the radial maximum outer diameter of the traction part at the position of the traction part is smaller than the inner diameter of the through hole of the poking card; alternatively, the maximum radial outer diameter of the pull-out portion at the setting position is smaller than the outer diameter of the second hose section.

In another embodiment, at the position where the traction portion is provided, a maximum outer diameter directed in a radial direction of the traction portion is equal to or smaller than a maximum outer diameter of the suction tip; or, greater than the maximum outer diameter of the suction tip and less than the outer diameter of the second length of hose.

In a specific embodiment, the traction portion is assembled to the suction tip or integrally formed with the suction tip, and at least a portion of the traction portion has a T-shaped or inverted trapezoidal radial cross section to enable firm clamping with the instrument clamping assembly.

In a specific embodiment, the T-shape or inverted trapezoid is curved on the outer surface along the radially distal end of the suction tip.

In a specific embodiment, the distance between the foremost end of the traction part and the foremost end of the suction head is zero or a certain distance, and the distance between the foremost end of the traction part and the maximum outer diameter of the traction part is linearly increased in the axial direction of the suction head.

In another specific embodiment, the body of the suction end is a hollow cylinder, the traction part is concavely arranged on the back or the cutting surface of the body, and preferably, the traction part is a clamping groove; or the body of the suction end head is a hollow cylinder with a cutting surface on the outer surface, the traction part is a clamping groove arranged on the cutting surface of the body, and the clamping groove is matched with the instrument clamping assembly to realize firm clamping.

In a specific embodiment, the instrument holder assembly is an intra-abdominal instrument holder assembly carried by a robotic arm of a surgical robot.

In a specific embodiment, the instrument clamp assembly comprises a bipolar grasping forceps, a bipolar separating forceps, or a needle holder.

In a specific embodiment, the drainage hose further comprises a third section of hose located at the rear of the second section of hose; the controller is connected to the proximal end of the third section of hose;

the first section of hose, the second section of hose and the third section of hose are connected in sequence, wherein the outer diameter of the second section of hose is larger than the outer diameters of the first section of hose and the third section of hose;

or, the drainage hose is integrally formed;

or, the second section of hose is sleeved outside the first section of hose, and the proximal end of the first section of hose is connected with the distal end of the third section of hose.

In a specific embodiment, the first length of hose and the third length of hose have a diameter dimension of 3 x 5mm in inner diameter x outer diameter and the second length of hose has a diameter dimension of 5 x 8mm in inner diameter x outer diameter.

In a specific embodiment, the outer diameter of the second length of hose is an interference fit with the inner diameter of the through hole through which the stab is passed; or, a sealing part capable of sealing the through hole passing through the poking card is arranged on the second section of hose.

In a specific embodiment, the sealing portion is at least one annular protrusion or sealing piece provided on the second length of hose, which seals at least one end of the through hole passing therethrough.

In a specific embodiment, one channel of the controller is communicated with the tail end of the drainage hose, the controller is a multi-way switch valve, and at least two channels of the multi-way switch valve are respectively communicated with a negative pressure pipeline and a cleaning liquid pipeline of the external flushing and sucking mechanism; specifically, the controller is a three-way switch valve.

In a specific embodiment, the inner diameter of the inner axial through hole of the suction end is 2-3mm, the outer diameter is 5-6mm, and small through holes are distributed on the radial side wall of the suction end and are uniformly distributed on the circumference; the inner axial through hole has a size of 2-3mm and the outer diameter has a size of 5-6mm; the periphery of the device is surrounded by 12 small through holes which are uniformly distributed, and the efficiency of water inlet and outlet can be effectively increased by uniformly distributing a plurality of through holes on the periphery, so that the blocking phenomenon can be relieved to a certain extent; or one or more small through holes are arranged on the radial side wall of part of the suction end body to realize the functions of directional suction or directional water injection flushing;

in a specific embodiment, the suction tip is fixedly connected with the drainage hose by means of a pagoda joint and/or an adhesive.

The utility model has the beneficial effects that:

the suction end of the suction device for the cavity is an auxiliary product of a medical instrument applicable to a surgical robot, and the traction part arranged on the suction end can be used in a matching way with a medical instrument clamping assembly to reach a effusion or bleeding position deeper in the cavity; and the traction part is specially arranged at the back of the suction end, which is convenient for the clamping component of the medical instrument of the robot mechanical arm, the suction end is not completely connected with the hose, the clamping component is convenient for traction of the suction end in the cavity for flexible operation, and the flexible drainage hose increases the movable range of the suction device in the cavity, and can bypass the viscera to implement the operation more accurately, efficiently and safely. In addition, the drainage hose comprises a plurality of hoses with different diameters, so that the volume occupied by the hoses in the cavity is as small as possible, and the hose with larger diameter passing through the poking part is matched with the poking part to form a sealable cavity so as to ensure the pneumoperitoneum pressure required by the operation; the controller is also adjustable in function, a negative pressure liquid suction channel, an air suction channel and a cleaning liquid injection channel are arranged on the controller valve, the switching of the channels can be realized through the control valve, and different required functions are finally realized: aspiration, pipetting and injection of cleaning fluid. The designed structure and the operation mode thereof for solving the technical problems are derived along with the development of the modern operation robot; in the traditional intracavity operation, the operation carried out by the robot from the operation arm is not carried out by a hand-held tool, and the implementation of the technical means is that the control system of the main operation device of the operation robot completes the operation movement under the control of the control instruction, the clamping does not need to be manually participated, the technical innovation which can be derived along with the development of medical science and technology is the technical innovation which can not be thought and inspired when the traditional intracavity operation is carried out for suction.

That is, the utility model makes the special structural design of the aspirator tip, so that in the robot operation process, a doctor operator can operate the surgical instrument clamp to fetch the aspirator through the console, and the utility model achieves the position in the cavity which the operator wants to specify, and has the main advantages: 1. the doctor operator can control the suction position without auxiliary operation of an assistant, so that the operation is simple and convenient; 2. the flexible aspirator for the robot surgery is realized to simplify the structure of the aspirator, so that the aspirator can be easily adjusted according to the needs, thereby improving the working efficiency; 3. the soft aspirator is controlled in the abdominal cavity, so that the injury of organs in the abdominal cavity can not be caused, in addition, the aspiration tube is a disposable product, the secondary injury to a patient can not be caused, and the pollution to the operation of the patient can not be caused; 4. the suction tube can be compatible with multiple functions of suction and flushing, and can be conveniently switched by a controller such as a control valve, a three-way valve and the like.

In the operation process, on one hand, the endoscope has clear vision, can ensure that the operation is carried out smoothly, and on the other hand, the aspirator timely extracts redundant or harmful gases, liquid, residual substances and the like in the cavity, can reduce adverse influence factors on the health of patients and increase the success rate of the operation.

Drawings

FIG. 1 is a schematic view of an endoluminal aspirator for a surgical robot according to one embodiment of the present utility model;

FIG. 2 is a front view, top view and bottom view of an endoluminal aspirator for a surgical robot according to one embodiment of the present utility model;

FIG. 3 is a schematic diagram of a controller according to an embodiment of the present utility model;

FIG. 4 is a schematic illustration of a drainage hose passing through a tamper evident card according to one embodiment of the present utility model;

FIG. 5 is a schematic view of an aspiration tip according to one embodiment of the present utility model;

FIG. 6 is a schematic view of a clip-on suction tip of a clip-on medical device according to one embodiment of the present utility model;

FIG. 7 is a schematic view of a groove tractor according to one embodiment of the present utility model;

FIG. 8 is a schematic view of a tractor portion on one cutting face of a body according to one embodiment of the utility model;

fig. 9 is a schematic view of a part of a side surface of an embodiment of the present utility model provided with a small water inlet and outlet hole.

In the figure: the suction end head 1, the small through hole 11, the front half cylinder 12, the rear half cylinder 13, the gradual shoulder 14, the traction part 15, the pagoda joint 16, the clamping groove 17 and the cutting surface 18; a drainage hose 2, a first section of hose 21, a second section of hose 22, a third section of hose 23; a controller 3, a first channel 31, a second channel 32, a third channel 33; a card 4 and a through hole 41; an instrument clamp assembly 5.

Detailed Description

In order that the utility model may be readily understood, a more complete description of the utility model will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the utility model. This utility model may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and not limiting.

It should be noted that, as used herein, the terms "front", "distal", "front", "rear", "distal" and "proximal" are used as terms of orientation which are conventional in the art of interventional medical devices, wherein "front", "distal" refer to the end of the procedure that is remote from the surgeon and "distal", "rear" and "proximal" refer to the end of the procedure that is proximal to the surgeon; "plurality" means two or more.

The term "instrument" is used herein to describe a medical device for insertion into a patient's body and for performing a surgical or diagnostic procedure, the instrument comprising an end effector, which may be a surgical instrument for performing surgical procedures, such as a biopsy needle, an electrocautery, a forceps, a stapler, a cutter, an imaging device (e.g., an endoscope or ultrasound probe), and the like. Some of the instruments used in embodiments of the present utility model further include a traction portion configured to grip the aspirator, carrying the aspiration tip of the aspirator to a fluid accumulation or bleeding site deep within the cavity.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

An intra-cavity suction device for a surgical robot according to an embodiment of the present utility model, as shown in fig. 1 and 2, includes:

the suction end head 1, the drainage hose 2 and the controller 3 are sequentially connected;

the suction end head 1 is provided with a traction part 15, the traction part 15 is matched with the instrument clamping assembly 5 for use, and the traction part 15 moves in the cavity under the drive of the instrument clamping assembly;

the drainage hose 2 comprises a first section of hose 21 at the front part and a second section of hose 22 connected to the first section of hose 21, wherein the diameter of the second section of hose 22 is larger than that of the first section of hose 21, the front end of the first section of hose 21 is connected to the suction end head 1, the second section of hose 22 can pass through a through hole 41 of a poking card and seal the through hole at the through hole so as to realize a sealed cavity, and the rear end of the drainage hose 2 is connected to the controller;

the controller 3 is used for controlling the external flushing and sucking mechanism to be selectively communicated with the drainage hose 2 so as to suck the gas or residual substances in the cavity or fill water into the cavity for flushing.

In one embodiment, the main material of the drainage tube 2 is a medical silicone tube.

In a specific embodiment, the drainage hose 2 further comprises a third length of hose 23 located at the rear of the second length of hose 22; the controller 3 is connected to the proximal end of the third length of hose 23;

the first section of hose 21, the second section of hose 22 and the third section of hose 23 are connected in sequence, wherein the outer diameter of the second section of hose is larger than the outer diameters of the first section of hose and the third section of hose;

in another embodiment, the drainage hose 2 is integrally formed;

in another embodiment, the second section of hose 22 is sleeved outside the first section of hose 21, the distal end of the first section of hose 21 is connected to the suction tip 1, the proximal end thereof is connected to the distal end of the third section of hose 23, and the outer diameter of the second section of hose 22 is larger than the first section of hose 21 and the third section of hose 23.

In one embodiment, the first length of hose 21 and the third length of hose 23 have a diameter dimension of 3 x 5mm in inner diameter x outer diameter, and the second length of hose 22 has a diameter dimension of 5 x 8mm in inner diameter x outer diameter.

In one embodiment, the body of the suction tip 1 is a hollow cylinder, as shown in fig. 9, the traction portion 15 is disposed at the back of the body, and is convexly disposed on the body, and the maximum radial outer diameter of the traction portion at the disposed position is smaller than the inner diameter of the through hole of the stabber 4 through which the cavity operation is performed; the "maximum outer diameter" refers to the maximum outer diameter of the traction portion 15 and the rear half cylinder 13 of the body as a whole, which is shown in fig. 9, and which is directed in the radial direction of the traction portion 15, and which is smaller than the inner diameter of the through hole 41 through which the punch 4 passes;

in some embodiments, in order to make the suction tip 1 enter into deeper slits, the body of the suction tip 1 is configured as two cylinders with different diameters, namely a front half cylinder 12 and a rear half cylinder 13 with larger diameters, as shown in fig. 5, and the traction part 15 is arranged on the outer side wall of the rear cylinder, as shown in fig. 5, or other hollow body structures with multiple steps of diameter changing, and the like, which meet the requirements;

in one embodiment, the body of the suction tip 1 is a hollow cylinder with a cutting surface on the side wall or at the end, as shown in fig. 5 and 8, the traction part is convexly arranged on the cutting surface of the body, the radial maximum outer diameter of the traction part at the arranging position is smaller than the inner diameter of the through hole of the poking card for cavity operation, and the maximum outer diameter refers to the radial maximum outer diameter of the traction part 15 and the body with the cutting surface 18 as a whole as shown in fig. 5 and 8; or, the traction part 15 and the body at the cutting surface 18 are integrated, and the maximum radial outer diameter of the traction part 15 is smaller than the outer diameter of the second section of hose 22, so that the distal end of the aspirator can smoothly pass through the poking card 4.

In another embodiment, as shown in fig. 8, the traction portion 15 is integrated with the body of the cutting surface 18, and the maximum radial outer diameter of the traction portion 15 is smaller than or equal to the outer diameter of the rear half cylinder 13 of the suction head 1; or, slightly larger than the maximum outer diameter of the suction head 1 and smaller than the outer diameter of the second section of hose 22, that is, the traction portion 15 is integrated with the body of the cutting face 18, and the maximum outer diameter of the traction portion in the radial direction is larger than the outer diameter of the rear half cylinder 13 of the suction head 1 and smaller than the outer diameter of the second section of hose 22.

In a specific embodiment, the traction portion 15 is assembled and connected to the suction end 1 or is integrally formed with the suction end 1, at least a portion of the traction portion 15 has a T-shaped or inverted trapezoid shape in radial cross section so as to be adapted to the instrument clamping assembly 5 to achieve firm clamping, and the T-shaped or inverted trapezoid shape has a certain length in the axial direction of the suction end 1 so as to completely adapt to the clampable length of the instrument clamping assembly 5, so that the instrument clamping assembly 5 is prevented from sliding or loosening when clamping the suction end 1, as shown in fig. 6.

In one embodiment, according to practical application requirements, the damage of the suction end 1 to the tissue in the cavity is reduced when the suction apparatus is inserted into the abdominal cavity, the T-shaped or inverted trapezoid of the traction portion 15 is arranged to be arc-shaped along the outer surface of the radial distal end of the suction end 1, i.e. the radial outer surface of the traction portion 15 is an arc-shaped surface; in another embodiment, the distance between the foremost end of the traction part 15 and the foremost end of the suction head 1 can be set to be zero or a certain distance, and the distance from the foremost end of the traction part 15 to the maximum outside diameter of the traction part is linearly increased along the axial direction of the suction head 1, such as the gradual shoulder 14 of the traction part shown in fig. 5, so as to further reduce the damage to the tissues in the cavity when the aspirator is inserted into the abdominal cavity.

In another embodiment, the body of the suction head is a hollow cylinder, the traction part is concavely arranged on the back or the cutting surface of the body, and preferably, the traction part is a clamping groove 17 as shown in fig. 7; or, the body of the suction end head 1 is a hollow cylinder with a cutting surface on the outer surface, and the traction part 15 is a clamping groove arranged on the cutting surface of the body; the clamping groove is matched with the clamping assembly of the instrument clamping assembly to realize firm clamping.

In a specific embodiment, the instrument holder assembly 5 is a chest, intra-abdominal instrument holder assembly driven by a slave operating device of a surgical robot, such as a bipolar grasping forceps, a bipolar separating forceps, or a needle holder, etc., and the instrument holder assembly 5 is shown to hold the traction portion 15 as shown in fig. 6.

In a specific embodiment, the outer diameter in the second length of hose 22 is an interference fit with the inner diameter of the aforementioned through-hole of the punch 4; or, the second section of hose 22 is provided with a sealing part, such as at least one annular bulge or sealing sheet, capable of sealing the through hole passing through the poking card 4, and when the second section of hose 22 is inserted into the poking card through hole to be located at a required position, the annular bulge or sealing sheet is located at an inner end face and/or an outer end face which are clung to the through hole, so as to realize a sealing cavity to ensure pneumoperitoneum pressure required by an operation.

In a specific embodiment, the inner diameter of the inner axial through hole of the suction end head 1 is 2-3mm, the outer diameter is 5-6mm, small through holes 11 are distributed on the radial side wall of the suction end head, and a plurality of small through holes are uniformly distributed on the circumference; as shown in fig. 5, the suction end 1 is mainly made of stainless steel, the inner axial through hole is 2-3mm in size, the outer diameter is 5-6mm, and 12 small through holes which are uniformly distributed are circumferentially and circumferentially distributed, so that the water inlet and outlet efficiency can be effectively improved, and the blocking phenomenon can be relieved to a certain extent; or one or more small through holes 11 are arranged on the radial side wall of part of the suction end body to realize the functions of directional suction or directional water injection flushing;

in a specific embodiment, the suction tip 1 is fixedly connected to the drainage tube 2 by means of a pagoda joint 16 and/or adhesive bonding, as shown in fig. 5.

In a specific embodiment, the controller is connected to the end of the drainage hose 2, the controller 3 is a multi-way switch valve, and at least two channels of the multi-way switch valve are respectively connected with a negative pressure pipeline and a cleaning liquid pipeline of the external flushing and sucking mechanism and are used for controlling the external flushing and sucking mechanism to be selectively communicated with the drainage hose; specifically, the controller is a three-way switch valve, which can be a standard product existing in the market, a first channel 31 of the controller is communicated with the drainage hose 2, the other two channels are connected with an external flushing and sucking mechanism, as shown in fig. 3, the first channel 31 of the controller is connected with a third section of hose 23 in an interference fit manner, a second channel 32 of the controller is connected with a negative pressure air source of the flushing and sucking mechanism, a third channel 33 of the controller is connected with an injection cleaning water source of the flushing and sucking mechanism, and the channel interfaces are standard interfaces and are relatively simple and easy to operate in connection with the outside; the switching of the channels can be realized by rotating the valve plug of the three-way switch valve, and finally the switching of the sucking and flushing functions is realized, and the related main functions are used:

when the valve plug is rotated to enable the first channel 31 and the second channel 32 to be communicated, the position is used for sucking, and the negative pressure air source of the external flushing and sucking mechanism can be abutted, so that harmful gas generated in the abdominal cavity of a laparoscope or residual liquid or tissues in the abdominal cavity can be sucked in the operation process, the smooth operation is ensured, and on the other hand, the harmful gas is prevented from adversely affecting the health of a patient or a doctor who is dispersed into the air;

when the rotary valve plug is used for communicating the first channel 31 and the third channel 33, the cleaning liquid is injected at the position, so that clean water can be injected and washed to clean the operation position, and the operation field is convenient to clear.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims (12)

1. An endoluminal aspirator for a surgical robot, comprising:

the suction end, the drainage hose and the controller are sequentially connected;

the suction end is provided with a traction part which can be matched with the instrument clamping assembly and moves in the cavity under the drive of the instrument clamping assembly;

the drainage hose comprises a first section of hose at the front part and a second section of hose connected with the first section of hose, the diameter of the second section of hose is larger than that of the first section of hose, the front end of the first section of hose is connected with the suction end head, the second section of hose can penetrate through the through hole of the poking card and seal the through hole to seal the cavity, and the rear end of the drainage hose is connected with the controller;

the controller can control the external flushing and sucking mechanism to be selectively communicated with the drainage hose so as to suck the gas or residual substances in the cavity or fill water into the cavity for flushing.

2. An endoluminal aspirator for a surgical robot according to claim 1, wherein the body of the aspiration tip is a hollow cylinder which is a constant diameter or a front thin and rear thick reducing cylinder; the traction part is arranged on the body in a protruding mode, and the maximum outer diameter of the traction part is smaller than the inner diameter of the through hole of the poking card.

3. An endoluminal aspirator for a surgical robot according to claim 1, wherein the body of the aspiration tip is a hollow cylinder which is a constant diameter or a front thin and rear thick reducing cylinder; the body of the suction end head is a hollow cylinder with a cutting surface on the outer surface, the traction part is arranged on the cutting surface of the body in a protruding mode, and the maximum outer diameter of the traction part is smaller than the inner diameter of the through hole of the poking card.

4. An endoluminal aspirator for a surgical robot according to any of claims 2-3 wherein the maximum outer diameter at the traction portion is set smaller than the outer diameter of the second section of hose;

or, setting the maximum outer diameter at the traction part to be larger than the maximum outer diameter of the suction end head and smaller than the outer diameter of the second section of hose;

or, the maximum outer diameter of the traction part is smaller than or equal to the maximum outer diameter of the suction end.

5. An endoluminal aspirator for a surgical robot according to any one of claims 1-3 wherein the traction portion is fitted to or integrally formed with the suction tip, at least a portion of the traction portion has a T-shaped or inverted trapezoidal radial cross section to be adapted to the instrument clamping assembly for firm clamping, and the T-shaped or inverted trapezoidal radial cross section has an arc shape on an outer surface along a radial distal end of the suction tip.

6. An endoluminal aspirator for a surgical robot according to claim 5 wherein the distance between the foremost end of the traction portion and the foremost end of the suction tip is zero or a certain distance, and the distance between the foremost end of the traction portion and the maximum outer diameter thereof is linearly increased in the axial direction of the suction tip.

7. An endoluminal aspirator for a surgical robot according to claim 1, wherein the body of the aspiration tip is a hollow cylinder which is a constant diameter or a front thin and rear thick reducing cylinder; the traction part is a clamping groove arranged at the back of the body;

or the hollow cylinder is a hollow cylinder with the same diameter or the front thin and the rear thick and provided with a cutting surface on the outer surface, and the traction part is a clamping groove arranged on the cutting surface of the body;

the clamping grooves are all matched with the instrument clamping assembly to realize firm clamping.

8. An endoluminal aspirator for a surgical robot according to claim 1 wherein the instrument holding assembly is an intra-abdominal instrument holding assembly carried by a robotic arm of a surgical robot.

9. An endoluminal aspirator for a surgical robot according to any of claims 1-3, 6-8 wherein the drainage hose further comprises a third section of hose at the rear of the second section of hose, the controller being connected to the proximal end of the third section of hose;

the first section of hose, the second section of hose and the third section of hose are connected in sequence, wherein the outer diameter of the second section of hose is larger than the outer diameters of the first section of hose and the third section of hose;

or, the drainage hose is integrally formed;

or, the second section of hose is sleeved outside the first section of hose, and the proximal end of the first section of hose is connected with the distal end of the third section of hose.

10. An endoluminal aspirator for a surgical robot according to any one of claims 1-3, 6-8 wherein the outer diameter of the second length of hose is an interference fit with the inner diameter of the through-hole through which the stab card is passed;

or, the second section of hose is provided with an annular bulge type sealing part capable of sealing the through hole through which the poking card passes, and the sealing part seals at least one end through which the poking card passes.

11. An endoluminal aspirator for a surgical robot according to claim 9 wherein one channel of the controller is in communication with the end of the drainage hose, the controller is a three-way switch valve, and the other two channels of the three-way switch valve are in communication with the negative pressure conduit and the cleaning fluid conduit of the external irrigation suction mechanism, respectively.

12. An endoluminal aspirator for a surgical robot according to any one of claims 1-3, 6-8, 11 wherein a plurality of small through holes are uniformly distributed on the circumference of the radial sidewall of the aspiration tip;

or, one or more small through holes are formed in the radial side wall of the part of the suction end body, so that directional suction or directional water injection flushing is realized.