CN222816111U

CN222816111U - Aspirator, mountable aspirator assembly and surgical robot

Info

Publication number: CN222816111U
Application number: CN202420588658.8U
Authority: CN
Inventors: 徐凯; 任义唐
Original assignee: Shurui Shanghai Technology Co ltd
Current assignee: Shurui Shanghai Technology Co ltd
Priority date: 2024-03-26
Filing date: 2024-03-26
Publication date: 2025-05-02
Anticipated expiration: 2034-03-26

Abstract

The present disclosure relates to the field of medical devices, and discloses an aspirator, an assembleable aspirator assembly, and a surgical robot. In the present disclosure, the aspirator includes: a suction tube, a head, and an assembly structure; the head is arranged at the distal end of the suction tube, the head includes a main body and an internal cavity penetrating the main body, and the internal cavity is connected to the suction tube; the assembly structure is connected to the head, and the assembly structure is used to assemble or disassemble the aspirator. Based on the present disclosure, the aspirator can be assembled with a clamp tool and perform surgical operations at the same time, which is conducive to reducing the switching of surgical tools and improving the efficiency of performing surgical operations.

Description

Aspirator, mountable aspirator assembly and surgical robot

Technical Field

The present disclosure relates to the field of medical devices, and more particularly, to an aspirator, an attachable aspirator assembly, and a surgical robot.

Background

The endoscopic surgery is a surgery form which is gradually developed in recent years and widely applied, has the advantages of small wound and the like, and greatly reduces the rehabilitation time, uncomfortable experience and side effects of a patient after healing. Endoscopic surgery, particularly single hole endoscopic surgery, is performed by a surgical robotic system, and the surgical modality can be optimized by computer tele-manipulation techniques.

In surgery, it is necessary to use an aspirator to remove bleeding, exudates, pus, contents of organs, etc. from a patient, so as to make the surgical field clearer and reduce the possibility of contamination. When performing surgery, the user needs to switch between the surgical instrument and the aspirator, and the switching step is complicated.

Disclosure of utility model

In some embodiments, the present disclosure provides an aspirator comprising:

A suction tube;

A head disposed at the distal end of the suction tube, the head comprising a main body and an internal cavity extending through the main body, the internal cavity being in communication with the suction tube, and

And the assembling structure is connected with the head and is used for assembling or disassembling the aspirator.

In some embodiments, the body of the head comprises:

a proximal portion connected to the distal end of the suction tube, and

A distal portion, distal to the proximal portion, the distal portion including at least one suction aperture.

In some embodiments, the mounting structure comprises:

A handle disposed above the proximal end portion, the handle for assembling or disassembling the aspirator, the handle including an assembling hole.

In some embodiments, the mounting structure further comprises:

And a boss located at a distal end of the fitting hole of the shank, a proximal end portion of the boss being disposed above the proximal end portion.

In some embodiments, the boss comprises:

a ramp structure located proximal to the proximal portion of the boss, and/or

And the chamfer is positioned at the upper part of the boss and is arranged along the circumferential direction of the upper surface of the boss.

In some embodiments, the mounting structure further comprises:

An insulating sleeve sleeved on the proximal end of the main body, the distal end of the main body being exposed from the insulating sleeve;

the proximal end portions of the stem and boss are disposed on the insulating sleeve.

In some embodiments, the mounting structure further comprises:

And the supporting part is arranged on the insulating sleeve, and the proximal end part of the boss is connected with the distal end of the supporting part.

In some embodiments, the support includes a ramp at a proximal end of the support and a step structure at a distal end of the support, the proximal end of the boss is recessed into the step structure, and the distal end of the boss extends beyond the step structure of the support.

In some embodiments, the aspirator further comprises:

a first connecting arm provided on the insulating sleeve and extending laterally of the insulating sleeve, and

The second connecting arm is arranged on the insulating sleeve and extends to the side of the insulating sleeve, and the second connecting arm is arranged opposite to the first connecting arm.

In some embodiments, the present disclosure also provides a mountable aspirator assembly comprising:

An aspirator according to any one of the embodiments of the present disclosure, and

The clamp instrument is detachably connected with the aspirator, and the clamp instrument is used for driving the aspirator motion, and the clamp instrument includes:

arm body, and

The clamp head is arranged at the far end of the arm body and is detachably connected with the aspirator.

In some embodiments, a clamping head of a clamping tool includes:

A first binding clip for detachably connecting with the assembling structure of the aspirator, and

The second binding clip is matched with the first binding clip.

In some embodiments, the clip head further comprises:

the clamp base is connected to the distal end of the arm body;

The first binding clip is fixedly arranged at the distal end of the clamp base, and the proximal end of the second binding clip is hinged with the clamp base to be matched with the first binding clip.

In some embodiments, the first binding clip comprises:

A clamping part positioned at the distal end of the first clamp head, and

And a transverse groove arranged at the proximal end of the clamping part and used for being connected with at least one part of the assembling structure of the aspirator.

In some embodiments, the first binding clip further comprises:

and a hole structure provided on the holding portion, the hole structure being engageable with at least a part of the attachment structure of the suction device.

In some embodiments, the first and second binding heads are configured as first and second electrodes, respectively.

In some embodiments, the present disclosure also provides a surgical robot comprising:

a surgical trolley comprising at least one mechanical arm, and

An attachable aspirator assembly according to any of the embodiments of the present disclosure, a clamping tool of the attachable aspirator assembly being disposed at a distal end of the at least one robotic arm.

In some embodiments, the surgical robot further comprises:

The auxiliary clamp tool is arranged at the distal end of at least one mechanical arm and is used for clamping the aspirator capable of assembling the aspirator assembly and driving the aspirator to move so as to assemble or disassemble the aspirator.

Some embodiments of the present disclosure have one or more of the technical effects of a suction apparatus being capable of being assembled with and performing a surgical operation together with another surgical tool (e.g., a clamp tool) to facilitate reduced switching of the surgical tool and to enhance efficiency of performing the surgical operation, being capable of sucking blood stains in a patient while electrically coagulating tissue of the patient, facilitating assembly and disassembly of the clamp tool and the suction apparatus, and being capable of establishing a tight connection of the clamp tool and the suction apparatus, the clamp tool being capable of moving the suction apparatus in the patient.

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 an aspirator according to some embodiments of the present disclosure;

Fig. 2 illustrates a structural side view of an attachable aspirator assembly in an assembled state according to some embodiments of the present disclosure;

FIG. 3 illustrates a schematic view of a surgical robotic system according to some embodiments of the present disclosure;

Fig. 4 illustrates a schematic view of the aspirator at another angle according to some embodiments of the present disclosure;

FIG. 5 illustrates a side view of a clamping tool according to some embodiments of the present disclosure;

fig. 6 illustrates a schematic structural view of an attachable aspirator assembly in a detached state according to some embodiments of the present disclosure;

FIG. 7 illustrates a schematic structural view of an arm of a clamping tool according to some embodiments of the present disclosure;

FIG. 8 illustrates a structural schematic of a first continuum structure of an arm according to some embodiments of the present disclosure;

Fig. 9 illustrates a schematic structural view of a driving apparatus 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, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may, for example, be fixedly connected or detachably connected, mechanically connected or electrically connected, directly connected or indirectly connected through intermediaries, or communicate between 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. The end opposite to the proximal, proximal or rear end, rear portion is the distal, distal or front end, front portion. Or defines the end proximal to the operator (e.g., the surgical patient) as distal, or front, and the end opposite the distal, or front, front as proximal, or rear, rear. 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 illustrates a schematic structural diagram of an aspirator 100 according to some embodiments of the present disclosure. Fig. 2 illustrates a structural side view of the mountable aspirator assembly 10 in an assembled state, according to some embodiments of the present disclosure. As shown in fig. 2, the assemblable aspirator assembly 10 can include an aspirator 100 and a clamping tool 200. In some embodiments, the mountable suction assembly 10 including the suction 100 and the clamping tool 200 may be used in a surgical robotic system. The clamping tool 200 in the assemblable aspirator assembly 10 can be disposed distally of a robotic arm of a surgical robotic system (e.g., a positioning arm of a surgical robotic system). The clamping tool 200 may be moved under the control (e.g., teleoperation) of a user.

The surgical robotic system may be a variety of suitable surgical robotic systems including endoscopic surgical robotic systems. Fig. 3 illustrates a schematic diagram of a surgical robotic system 300 according to some embodiments of the present disclosure. As shown in fig. 3, surgical robotic system 300 may include a surgical trolley 310 and a master trolley 320. The surgical trolley 310 may include at least one robotic arm 311. The master trolley 320 may include at least one master manipulator 321. As shown in fig. 3, at least one robotic arm 311 may be movably disposed on the surgical trolley 310. In some embodiments, the at least one mechanical arm 311 may be a positioning arm of a surgical robot, and a distal end of the at least one mechanical arm 311 may carry at least one surgical instrument 312 (e.g., a scissors, an endoscope, a clamp tool 200, etc.). At least one main operator 321 is provided on the main control dolly 320 for receiving a user's operation of the at least one main operator 321. Master trolley 320 may be communicatively coupled to surgical trolley 310. In operation, the operation cart 310 is usually located on the patient side, and a user can control at least one surgical instrument 312 mounted on the operation cart 310 to perform an operation on the patient by operating at least one main operator 321 of the main control cart 320.

As shown in fig. 1, the aspirator 100 can include a suction tube 110, a head 120, and a mounting structure 130. Those skilled in the art will appreciate that fig. 1 only shows a partial structure of the distal end of the suction tube 110. The head 120 may be disposed at a distal end of the suction tube 110, the head 120 may include a body 121 and an internal cavity 122 extending through the body 121, and the internal cavity 122 may be in communication with the suction tube 110.

Those skilled in the art will appreciate that fig. 1 illustrates only a partial structure of the aspirator 100, and in some embodiments, the aspirator 100 may further include a negative pressure device that may be in communication with the aspiration tube 110, such as with the proximal end of the aspiration tube 110, to create a negative pressure environment inside the aspiration tube 110 and the interior cavity 122 to enable blood, exudates, etc. of a patient to be aspirated by the aspirator 100.

In some embodiments, the aspirator 100 can further include a first connection tube and a second connection tube (not shown) connected to the proximal end of the aspiration tube 110. Wherein the proximal end of the first connecting tube may be in communication with the negative pressure device. In some embodiments, the aspirator 100 may further include a liquid collection device, the liquid collection port of which may be in communication with the proximal port of the first connection tube to store blood, exudates, etc. that are aspirated through the aspiration tube 110. The proximal end of the first connecting tube is in communication with the negative pressure device, and the proximal end port of the first connecting tube may extend from the negative pressure device to connect to the liquid collecting device. Based on this, during surgery, blood, exudates, etc. drawn by the aspirator 100 may enter the aspirator 100 from the head 120 and along the interior cavity 122 and the aspiration tube 110 in communication therewith, via the first connection tube, into the fluid collection device.

The proximal end of the second connecting tube may be in communication with a positive pressure device to pump fluid (e.g., saline) for flushing the aspirator 100 into the aspirator 100. Saline may flow through the suction tube 110 and the interior cavity 122 along the second connection tube, thereby effecting flushing of the aspirator 100, facilitating subsequent use of the aspirator 100. In some embodiments, the proximal port of the second connecting tube may be connected to a device for storing saline.

In some embodiments, the suction tube 110 may be integrally formed with the first and second connection tubes.

In some embodiments, as shown in fig. 1, the body 121 of the head 120 can include a proximal portion 1211 and a distal portion 1212. The proximal end 1211 may be connected to the distal end of the suction tube 110. Distal portion 1212 may be distal to proximal portion 1211. As shown in fig. 1, the distal end portion 1212 may include at least one suction hole, for example, the suction hole 11 located at the distal end of the inner cavity 122, and the suction hole 12 provided at the circumferential side of the distal end portion 1212. In some embodiments, the distal end 1212 may include a plurality of suction holes 12 disposed on the circumferential side, and the plurality of suction holes 12 may be uniformly distributed. Those skilled in the art will appreciate that the suction holes 11 and 12 may be complementary to each other, avoiding that one of the suction holes is blocked by exudates from the patient and the like and is difficult to continue suction.

A mounting structure 130 may be coupled to the head 120, and the mounting structure 130 may be used to mount or dismount the aspirator 100. In some embodiments, the aspirator 100 can be assembled with another surgical tool (e.g., a clamping tool 200) via the assembly structure 130 to form an assemblable aspirator assembly 10 (see fig. 2). Based on this, in the operation, the aspirator 100 and the clamp tool 200 can simultaneously perform the operation, for example, the aspirator 100 can aspirate the blood or the like of the patient while the clamp tool 200 performs the electrocoagulation of the tissue of the patient. The user does not need to switch the surgical tool and aspirator 100 any more, thereby facilitating an increase in efficiency of performing the surgery.

In operation, the head 120, mounting structure 130, and a portion of the distal end of the suction tube 110 of the aspirator 100 can extend into the patient, for example, through a natural opening or incision in the patient, or through a passageway provided by an instrument such as a sheath (the distal end can extend into the patient). In some embodiments, the aspirator 100 and the clamping tool 200 can be assembled or disassembled within the patient.

Fig. 4 illustrates a schematic structural view of the aspirator 100 at another angle according to some embodiments of the present disclosure. As shown in fig. 4, the mounting structure 130 may include a handle 131, and the handle 131 may be used to mount or dismount the aspirator 100. The stem 131 may be disposed above the proximal end 1211 of the body 121 to facilitate assembly of the clamping tool 200 with the aspirator 100 via the stem 131. As shown in fig. 4, stem 131 may include a stem body 1311 and a mounting hole (e.g., a through hole, an open hole, etc.) 1312 provided on body 1311. During assembly, the tip of the clamping tool 200 can be assembled with the aspirator 100 through the assembly hole 1312.

Those skilled in the art will appreciate that the mounting holes 1312 may take any suitable configuration, such as through holes through the portal shaped stem body 1311 as shown in fig. 4. In some embodiments, the stem body 1311 may be inverted L-shaped, with the mounting aperture 1312 being an open aperture located below the inverted L-shape.

As shown in fig. 1 or 4, the mounting structure 130 may further include a boss 132, and a proximal portion 1321 of the boss 132 may be disposed above the proximal portion 1211. Boss 132 may be located distally of mounting hole 1312 of stem 131, whereupon the head of clamping tool 200 may extend from mounting hole 1312 of stem 131 and be coupled to boss 132, e.g., snapped into boss 132. As shown in fig. 4, boss 132 may further include a ramp feature 1322 located proximal to a proximal portion 1321 of boss 132 to facilitate connection with boss 132 when the head of clamp tool 200 is extended from mounting hole 1312. As shown in fig. 4, the boss 132 may further include a chamfer 1323 provided at an upper portion of the boss 132 and along a circumferential direction of an upper surface of the boss 132 to facilitate assembly and disassembly of the suction apparatus 100 with the clamping tool 200.

Stem 131 and boss 132 may be disposed above proximal end 1211 in a variety of ways. In some embodiments, stem 131 may be attached to proximal portion 1211 by means of adhesive or the like. For example, the longitudinal portion of the door-shaped handle body 1311 shown in fig. 4 may be attached to both sides of the proximal end portion 1211 by means of adhesion or the like, so that the fitting hole 1312 of the handle 131 may be located above the proximal end portion 1211 to facilitate passage of the tip of the clamp tool 200. In some embodiments, stem 131 and proximal end 1211 of the body of the head may be connected by cooperating connection structures. For example, the proximal end 1211 may include ribs disposed on both sides, and the longitudinal portion of the stem body 1311 of the stem 131 may include structures capable of engaging with the ribs, such as snap-fit grooves, and the stem 131 and proximal end 1211 may be connected by cooperating ribs and grooves.

In some embodiments, the proximal portion 1321 of the boss 132 may be disposed above the proximal portion 1211 by way of adhesive or the like. In some embodiments, the proximal end 1211 may include an upper disposed ledge, the boss 132 may include a bottom disposed recess that is configured to engage the ledge, and the boss 132 and proximal end 1211 may be coupled by the cooperating ledge and recess.

In some embodiments, the mounting structure 130 may also include an insulating sleeve 133. As shown in fig. 1, the insulating sleeve 133 may be sleeved over the proximal end 1211 of the body 121. Stem 131 and boss 132 may be coupled to insulating sleeve 133 so as to be disposed over proximal portion 1211. In some embodiments, a proximal portion 1321 of the boss 132 may be disposed on the insulating sleeve 133. As shown in fig. 1, a distal portion 1324 of the boss 132 may extend distally from the insulating sleeve 133, overhanging the distal end 1212 of the head 120. In some embodiments, the stem 131, boss 132, and insulating sleeve 133 may be fixedly connected or integrally formed. Those skilled in the art will appreciate that the manner in which stem 131 and boss 132 are coupled to proximal portion 1211 is not limited to the just-listed few, and may include any suitable coupling means.

In some embodiments, the insulating sleeve 133 may be attached to the proximal end 1211 by any suitable means, such as gluing. The distal end 1212 of the head 120 may be exposed from the insulating sleeve 133 to facilitate aspiration of blood, exudates, and the like from the patient. The insulating sleeve 132 prevents the tip of the clamping tool 200 from making electrical connection with the head 120 of the aspirator 100, thereby preventing the aspirator 100 from accidentally injuring the patient's tissue, and improving the safety of the mountable aspirator assembly 10 (see FIG. 2).

In some embodiments, the mounting structure 130 may also include a support 134. As shown in fig. 1 or 4, the support 134 may be coupled to the insulating sleeve 133 (e.g., fixedly coupled or integrally formed), and the proximal portion 1321 of the boss 132 may be coupled to the support 134. The support 134 may include a ramp at the proximal end to facilitate insertion of the head of the clamping tool 200 into the mounting hole 1312 of the stem 131. In some embodiments, the support 134 may further include a stepped structure at the distal end, the proximal end of the boss 132 may be embedded in the stepped structure and the distal end of the boss 132 may extend beyond the support 134. As shown in fig. 2, in the assembled state, the support 134 may provide support for another surgical tool (e.g., a clamping tool 200) in the attachable aspirator assembly 10 to reduce slippage between the aspirator 100 and the clamping tool 200. Further, based on the support 134, the distal ends of the aspirator 100 and the clamp tool 200 are facilitated to maintain a suitable distance for performing the operations thereof, respectively.

As shown in fig. 4, the aspirator 100 may further include a first connection arm 140 and a second connection arm 150. The first connection arm 140 may be provided on the insulating sleeve 133 and extend laterally of the insulating sleeve 133. The second connection arm 150 may be disposed on the insulating sleeve 133 and extend laterally of the insulating sleeve 133, and the second connection arm 150 may be disposed opposite to the first connection arm 140. In some embodiments, the attachment of the suction apparatus 100 to the clamping tool 200 may be accomplished by grasping either the first or second connection arms 140, 150 of the suction apparatus 100 with an auxiliary clamping tool and establishing a connection between the distal end of the suction apparatus 100 (e.g., the head 120 and the attachment structure 130) and the distal end of the clamping tool 200 by operating the auxiliary clamping tool, or the detachment of the suction apparatus 100 from the distal end of the clamping tool 200 may be accomplished by operating the auxiliary clamping tool to detach the distal end of the suction apparatus 100 from the distal end of the clamping tool 200.

Some embodiments of the present disclosure also provide an attachable aspirator assembly 10. Fig. 2 illustrates a schematic structural view of an attachable aspirator assembly 10 in accordance with some embodiments of the present disclosure. As shown in fig. 2, the assemblable aspirator assembly 10 can include an aspirator 100 and a clamping tool 200. The aspirator 100 may be any of the embodiments of the present disclosure, and is not described in detail to reduce repetition. The clamping tool 200 may be removably attachable to the aspirator 100. The clamping tool 200 may be used to move the aspirator 100, e.g., to move the aspirator 100 in a patient's body to feed, retract, pitch, yaw, etc.

As shown in fig. 2, the clamping tool 200 may include an arm 210 and a clamping head 220. The clamp head 220 may be disposed at the distal end of the arm 210 and fixedly coupled to the distal end of the arm 210, such as by welding. The clamp head 220 may be removably attachable to the aspirator 100.

In the operation, blood, exudates and the like are generated while the operation is performed, and if the blood, exudates and the like are not treated in time, the vision of a doctor is blocked, and even pollution is possibly caused. Therefore, in surgery, it is necessary to suck out blood, exudates, etc. using an aspirator during the performance of a surgical operation. This requires the doctor to repeatedly perform the suction operation by switching to the operation aspirator after performing a certain operation by the operation tool, and to continue the operation by switching to the operation tool after performing the suction operation by the operation aspirator. The above procedure is cumbersome, resulting in prolonged procedure time. Based on the assemblable aspirator assembly 10 (see fig. 2) provided in some embodiments of the present disclosure, during surgery, the aspirator 100 can be aspirated while the clamping tool 200 performs surgical operations such as electrocoagulation, clamping tissue, etc., reducing switching operations of surgical instruments that a doctor needs to perform, and helping to improve surgical efficiency.

As shown in fig. 2, the clamp head 220 may include a first clamp head 221 and a second clamp head 222. The first binding clip 221 can be adapted to be removably coupled to the mounting structure 130 of the aspirator 100. The first binding clip 221 and the mounting structure 130 of the aspirator 100 can be detachably coupled by a variety of cooperating structures.

Fig. 5 illustrates a side view of a clamping tool 200 according to some embodiments of the present disclosure. As shown in fig. 5, in some embodiments, the first head 221 can include a grip portion 2211 at a distal end of the first head 221 and a transverse groove 2212 disposed at a proximal end of the grip portion 2211. The transverse groove 2212 may be used in connection with at least a portion of the mounting structure 130 of the aspirator 100. For example, as shown in fig. 2, the transverse groove 2212 of the first binding head 221 of the pliers tool 200 may be coupled to the stem 131 of the aspirator 100. As shown in fig. 2, in the coupled state, the clamping portion 2211 of the first binding clip 221 protrudes from the fitting hole 1312 of the handle 131, and the lateral groove 2212 of the first binding clip 221 is engaged with the lateral portion of the body 1311 of the handle 131.

Fig. 6 illustrates a schematic structural view of an attachable aspirator assembly 10 in a detached state according to some embodiments of the present disclosure. Those skilled in the art will appreciate that in fig. 6, the fittable aspirator assembly 10 is in a detached or to-be-fitted state. In some embodiments, as shown in fig. 6, in the pliers tool 200, the first pliers head 221 may further include a hole-like structure 2213. As shown in fig. 6, the hole-like mechanism 2213 may be provided on the holding portion 2211, and the hole-like mechanism 2213 may be engaged with at least a part of the fitting structure 130 of the aspirator 100. For example, in the connected state, the hole-like structure 2213 may be engaged with the boss 132 of the aspirator 100, and the boss 132 may be embedded in the hole-like structure 2213. Based on the cooperating connection structures on the suction apparatus 100 and the clamping tool 200 (e.g., the stem 131 of the suction apparatus 100 and the transverse groove 2212 of the clamping tool 200, the boss 132 of the suction apparatus 100 and the hole-like structure 2213 of the clamping tool 200), it is advantageous to make the connection between the suction apparatus 100 and the clamping tool 200 more stable, and to facilitate the movement of the clamping tool 200 with the suction apparatus 100.

The second binding clip 222 may cooperate with the first binding clip 221, for example, to perform a clamping operation in cooperation with the first binding clip 221. In some embodiments, as shown in fig. 2, the clamp head 220 may further include a clamp base 223. The clamp base 223 may be attached to the distal end of the arm 210, for example, by welding or the like. The first binding clip 221 can be fixedly disposed (e.g., fixedly attached or integrally formed) at a distal end of the clamp base 223. The proximal end of the second binding clip 222 can be hinged to the clamp base 223 to mate with the first binding clip 221. For example, the clamp base 223 is hinged with a point a shown in fig. 5 as a hinge point. One skilled in the art will appreciate that the opening and closing of the actuated clamp tool 200 can be accomplished by actuating the second clamp head 222 to rotate about point a. In some embodiments, as shown in fig. 5, the second binding clip 222 can include a grip 2221. The clamping portion 2211 of the first binding clip 221 cooperates with the clamping portion 2221 of the second binding clip 222 to clamp tissue of a patient.

In some embodiments, the first and second binding heads 221, 222 may also be configured as first and second electrodes, respectively. Based on this, the clamp tool 200 may be used as a bipolar electrosurgical tool to electrocoagulation patient tissue. In some embodiments, the first and second jaws 221, 222 may be connected to a bipolar electrosurgical generator to be configured as first and second electrodes, respectively. In some embodiments, as shown in fig. 5, the clamp tool 200 can further include an insulating structure 230, and the insulating structure 230 can be disposed between the clamp base 223 and the first clamp head 221. As will be appreciated by those skilled in the art, the electrically conductive connection between the second binding clip 222 and the clamp base 223, and the insulating structure 230 can isolate the electrical connection between the clamp base 223 and the first binding clip 221, thereby insulating the first binding clip 221 and the second binding clip 222 from each other.

Prior to performing a surgical procedure using the assemblable suction set 10, the suction set 100 and the clamping tool 200 may be assembled by the following procedure.

The distal end of the aspirator 100 is placed into the patient. For example, a user may hold the suction tube 110 of the aspirator 100 and place the distal end of the aspirator 100 (e.g., the distal end of the head 120, the mounting structure 130, and the suction tube 110) through an opening (e.g., a natural opening or incision) of the patient.

The distal ends of the clamping tool 200 and an auxiliary clamping tool (not shown) for auxiliary assembly are placed into the patient. In some embodiments, the distal end of the sheath may be advanced into the patient, and the clamp tool 200 and the auxiliary clamp tool may be advanced into the patient through the passage provided by the sheath, in order to improve the stability of the procedure. In some embodiments, the distal end of the sheath may extend into the patient through another incision in the patient's body (other than the incision through which aspirator 100 extends into the patient). In some embodiments, the clamp tool 200 and the auxiliary clamp tool may be disposed at distal ends of a robotic arm of a surgical robotic system (e.g., robotic arm 311 of surgical robotic system 300), respectively, and the distal ends of the clamp tool 200 and the auxiliary clamp tool may be controlled by the surgical robotic system (e.g., a drive device in the surgical robotic system for driving movement of the clamp tool 200 and the auxiliary clamp tool), respectively, through a sheath into the patient.

The clamp tool 200 is operated to move the clamp tool 200 to a position that facilitates assembly. For example, the clamp tool 200 is moved to a suspended position within the patient. In some embodiments, the user may control movement of the jaw tool 200 to the appropriate position by manipulating a master trolley of the surgical robotic system (e.g., master trolley 320 shown in fig. 3) to issue control instructions.

The auxiliary clamping tool is operated to clamp the distal end of the aspirator 100. For example, the first connecting arm 140 or the second connecting arm 150 of the aspirator 100 is gripped by an auxiliary gripping tool. In some embodiments, the user may control the auxiliary clamping tool to clamp the distal end of the aspirator 100 by issuing a control command through a master trolley of the surgical robotic system (e.g., master trolley 320 shown in fig. 3).

The auxiliary clamping tool is operated to assemble the distal end of the aspirator 100 and the distal end of the clamping tool 200. For example, in the case where the auxiliary jaw tool grips the aspirator 100, the user may control the auxiliary jaw tool to move to bring the aspirator 100 to the distal end of the jaw tool 200, and put the stem 131 of the aspirator 100 over the first jaw 221 of the jaw tool 200 such that the distal end of the first jaw 221 protrudes from the fitting hole 1312 of the stem 131. In some embodiments, the aspirator 100 and the pliers tool 200 can be controlled to move cooperatively such that a lateral portion of the body 1311 of the stem 131 engages the lateral groove 2212 of the first head 221 of the pliers tool 200. In some embodiments, the boss 132 of the aspirator 100 can be inserted into the hole-like structure 2213 of the first binding head 221 of the pliers tool 200 when the aspirator 100 is moved to the assembled position.

After the above state is reached, the user can release the auxiliary clamping tool. In some embodiments, the user may control the withdrawal of the auxiliary gripping tool from the patient. Based on the above procedure, in vivo assembly of the aspirator 100 and the clamp tool 200 can be completed, both of which can establish a rigid connection as shown in fig. 2, thereby completing the preparation of the assemblable aspirator assembly 10. It will be appreciated by those skilled in the art that the steps involved in preparing the mountable aspirator assembly 10 are not limited to the steps or sequence of steps described above.

In some embodiments, the clamping tool 200 may be carried on a distal end of a robotic arm 311 of a surgical trolley 310 of the surgical robotic system 300. Based on this, the user can control the movement of the clamping tool 200 by controlling the main manipulator 321 of the master trolley 320, thereby moving the suction apparatus 100 in the patient, facilitating the movement of the assemblable suction apparatus assembly 10 to different positions in the patient, and performing operations on tissues at the different positions. The user can also control the opening and closing of the clamp tool 200 by operating the main operator 321, so that the tissue of the patient can be clamped, electrically coagulated and the like.

Fig. 7 illustrates a schematic structural view of an arm 210 of a clamping tool 200 according to some embodiments of the present disclosure. In some embodiments, the arm body 210 may be a flexible arm to increase the degree of freedom of the clamping tool 200, to increase the flexibility of the clamping tool 200 in performing surgical procedures in the body, and thus to increase the flexibility of the aspirator 100 assembled with the clamping tool 200 in the body.

As shown in fig. 7, in some embodiments, the arm 210 of the clamping tool 200 may include a first continuum structure 211. Fig. 8 illustrates a schematic structural view of a first continuous body structure 211 of an arm 210 according to some embodiments of the present disclosure. As shown in fig. 8, the first continuum structure 211 may include a first base plate 211a, a plurality of first spacer plates (e.g., first spacer plates 211b-1, 211b-2, 211b-3 shown in fig. 8), and a plurality of first structural bones (e.g., first structural bones 211c-1, 211c-2, etc. shown in fig. 8). The first plurality of structural bones pass through the first plurality of spacer disks and the first base disk 211a, and the proximal ends of the first plurality of structural bones are used for receiving pushing or pulling drive to drive the first continuous structure 211 to move. In some embodiments, as shown in fig. 8, the first continuum structure 211 may also include a first fixed disk 211d. Distal ends of the plurality of first structural bones are fixedly connected with the first fixing plate 211d.

As shown in fig. 8, a plurality of first spacer disks may be spaced apart to enhance stability of the plurality of first structural bones when pushed or pulled. The first continuum structure 211 shown in fig. 8 includes three first spacer disks, and it will be understood by those skilled in the art that the number of first spacer disks included in the first continuum structure 211 is not limited to three, and that the first continuum structure 211 may include any suitable number of first spacer disks.

In some embodiments, the shapes of the first base plate 211a, the first spacer plate, and the first fixing plate 211d may be a ring-shaped structure, a disk-shaped structure, or the like, and the cross section may be various shapes such as a circle, a rectangle, a polygon, or the like.

In some embodiments, as shown in fig. 7, the arm 210 may also include a second continuum structure 212. The structure of the second continuum structure 212 may be similar to the structure of the first continuum structure 211 as shown in fig. 8. As shown in fig. 7, the second continuum structure may include a second base plate 212a, a plurality of second spacer plates (e.g., second spacer plates 212b shown in fig. 7), and a plurality of second structural bones (e.g., second structural bones 212c shown in fig. 7), the plurality of second structural bones 212c passing through the plurality of second spacer plates 212b and the second base plate 212a, a proximal end of the plurality of second structural bones 212c for receiving a push or pull drive to move the second continuum structure. As shown in fig. 7, the first continuum structure 211 is located distally of the second continuum structure 212, and a plurality of first structural bones 211c pass through a plurality of second spacer disks 212b and second base disks 212a. In some embodiments, as shown in fig. 7, the second continuum structure 212 may also include a second fixed disk 212d. Distal ends of the plurality of second structural bones 212c are fixedly coupled to the second fixation plate 212d.

As shown in fig. 7, a plurality of second spacer disks 212b may be spaced apart to enhance the stability of the plurality of second structural bones 212c when pushed or pulled. Similar to the first continuum structure 211, the second continuum structure may include any suitable number of second spacer disks 212b.

In some embodiments, the shapes of the second base plate 212a, the second spacer plate 212b, and the second fixing plate 212d may be a ring-shaped structure, a disk-shaped structure, or the like, and the cross-section may be various shapes such as a circle, a rectangle, a polygon, and the like.

In some embodiments, the arm 210 may further include a first straight rod segment 213 disposed between the first and second continuum structures 211, 213. In some embodiments, as shown in fig. 7, a second fixed disk 212d of the second continuum structure may be fixedly coupled to the proximal end of the first straight shaft segment 213. In some embodiments, the arm 210 may further include a second straight rod segment 214 connected to the proximal end of the second continuum structure. For example, in a surgical robotic system, during a surgical procedure performed with the clamp tool 200, the clamp tool 200 may extend into the body from an opening (e.g., an incision or natural opening, etc.) in the patient's body, where the second straight rod segment 214 may pass.

Those skilled in the art will appreciate that the structure for increasing the degree of freedom of the arm 210 is not limited to a continuous structure, but may be a suitable structure such as a snake bone structure, a combined structure of a rod and a joint, or the like.

The proximal ends of the plurality of first structural bones 211c and the plurality of second structural bones 212c may be coupled to a driving device. Fig. 9 illustrates a schematic structural diagram of a driving apparatus 900 according to some embodiments of the present disclosure. In some embodiments, the drive device 900 may include a first drive mechanism 910. As shown in fig. 9, a first drive mechanism 910 is coupled to the proximal end of the clamping tool 200. Those skilled in the art will appreciate that fig. 9 illustrates only a portion of the structure of the pliers tool 200. In some embodiments, a plurality of first structural bones (not shown in fig. 9, e.g., first structural bone 211c in fig. 8) and/or a plurality of second structural bones (not shown in fig. 9, e.g., second structural bone 212c in fig. 7) connect first drive mechanism 910 through a plurality of second spacer discs 212b and second base discs 212 a. The first driving mechanism 910 drives the first continuous body structure 211 to bend in different directions in space by pushing and pulling the plurality of first structural bones 211c, and drives the second continuous body structure to bend in different directions in space by pushing and pulling the plurality of second structural bones 212 c.

In some embodiments, the first drive mechanism 910 may include a plurality of double-ended screw assemblies, each of which may include a double-ended screw and a pair of slides threadably coupled to two threaded sections of the double-ended screw. The double-ended screw can be driven to rotate, thereby driving a pair of sliders to move in opposite directions at the same speed. A pair of slides may be coupled to the first or second symmetrical structural bone 211c or 212c to push and pull the first or second symmetrical structural bone 211c or 212c to cause the first or second continuum structure 211 or 212 to bend.

In some embodiments, the first drive mechanism 910 may include a proximal continuum, and the first continuum structure 211 or the second continuum structure 212 may be coupled to the proximal continuum to form a ganged dual continuum. The proximal continuum may be driven to bend by the double-ended screw assembly, thereby driving either the first continuum structure 211 or the second continuum structure 212 to bend.

In some embodiments, as shown in fig. 9, the drive apparatus may further include a second drive mechanism 920, where the second drive mechanism 920 is coupled to the arm 210 (e.g., arm 210 in fig. 7) of the clamp tool 200 via the first drive mechanism 910 for driving the arm 210 in either advancement or retraction, thereby enabling the clamp tool 200 to be advanced or retracted within or into or out of the patient. In some embodiments, the second drive mechanism 920 may be a linear drive mechanism to drive the linear motion of the arm body 210.

In some embodiments, the second drive mechanism 920 may include a stage that may be used to support the first drive mechanism 910, and a drive portion that is used to drive the stage forward or backward. In some embodiments, the second drive mechanism 920 may include a bracket 921 with a chute, and a lead screw 922 is rotatably disposed on the bracket 921. A slider 923 is provided on the screw 922 as a pedestal, and the slider 923 is screwed with the screw 922 and slidably provided in a slide groove of the bracket 921. A motor 924 as a second driving unit may be provided at one end of the bracket 921, and an output shaft of the motor 924 may be fixedly connected with the lead screw 922 through a coupling 925.

In some embodiments, the second drive mechanism 920 may further include a sleeve 9231 for mounting the first drive mechanism 910. The sleeve 9231 may be mounted on the slider 923, or the sleeve 9231 may be integrally formed with the slider 923. The motor 924 drives the lead screw 922, thereby driving the slider 923 and the sleeve 9231 to move linearly along the chute, thereby enabling the feed motion of the pliers tool 200. It will be appreciated by those skilled in the art that the second drive mechanism 920 is not limited to the above-described configuration, and that any drive mechanism capable of effecting the feed motion of the surgical tool may be used without departing from the scope of the present disclosure.

A surgical robot is also provided in some embodiments of the present disclosure. Fig. 3 illustrates a schematic structural diagram of a surgical robotic system 300 according to some embodiments of the present disclosure. As shown in fig. 3, a surgical robotic system 300 may include a surgical trolley 310 and at least one mountable aspirator assembly 10, such as the mountable aspirator assembly 10 shown in fig. 2, as in any of the embodiments of the present disclosure. The surgical trolley 310 may include at least one robotic arm 311. The at least one robotic arm 311 may be a positioning arm of a surgical robot as shown in fig. 3. The clamping tool 200 of the mountable aspirator assembly 10 can be disposed distally of the at least one robotic arm 311.

In some embodiments, surgical robotic system 300 may also include a master trolley 320. The operation trolley 310 and the master trolley 320 can be connected by wire transmission or wireless transmission. In operation, a user controls surgical tools (e.g., clamp tool 200, clamps, scissors, etc.) and/or imaging tools (e.g., endoscope) included in the operation cart 310 to perform operations by operating a main operator 321 included in the main control cart 320. The surgical trolley 310 is typically located on the patient side and performs surgical procedures on the patient in response to control commands from the master trolley 320. In some embodiments, the user can also adjust the pose of the jaw tool 200 by manipulating the main operator 321, thereby adjusting the pose of the attachable aspirator assembly 10.

In some embodiments, surgical robotic system 300 may also include an equipment trolley 330. The instrument trolley 330 may include a power source (not shown) that may be used to power the first and second binding heads 221, 222 of the grasping tool 200 to enable the grasping tool 200 to perform surgical procedures such as electrocoagulation on patient tissue.

In some embodiments, the surgical trolley 310 of the surgical robotic system 300 may further comprise at least one drive 313. At least one driving device 313 may be disposed between the at least one surgical tool 312 and the at least one robotic arm 311. As shown in fig. 3, the surgical trolley 310 may include a single robot arm 311, and a plurality of driving devices 313 may be provided on the robot arm 311. Those skilled in the art will appreciate that the surgical trolley of the surgical robotic system 300 may also include a plurality of robotic arms.

It will be appreciated by those skilled in the art that the surgical robot 300 provided by the present embodiment may be any suitable surgical robot including a laparoscopic surgical robot.

In the operation, blood, exudates and the like are generated while the operation is performed, and if the blood, exudates and the like are not treated in time, the vision of a doctor is blocked, and even pollution is possibly caused. Therefore, in surgery, it is necessary to suck out blood, exudates, etc. using an aspirator during the performance of a surgical operation. This requires the doctor to repeatedly perform the suction operation by switching to the operation aspirator after performing a certain operation by the operation tool, and to continue the operation by switching to the operation tool after performing the suction operation by the operation aspirator. The above procedure is cumbersome, resulting in prolonged procedure time. Based on the assemblable aspirator assembly (see fig. 2) provided in some embodiments of the present disclosure, during surgery, the aspirator 100 can be aspirated while the clamp tool 200 performs the surgical operations of electrocoagulation, clamping tissue, etc., reducing the switching operations of surgical instruments that a doctor needs to perform, and helping to improve the surgical efficiency.

In some embodiments, the distal portion of the head of the aspirator may include a plurality of aspiration holes that may be complementary to one another, avoiding one of the aspiration holes from being blocked by exudates from the patient, etc., and making continued aspiration difficult.

In some embodiments, the mounting structure may further comprise an insulating sleeve. Based on the insulating sleeve, the electrical connection between the tip of the clamping tool and the head of the aspirator can be avoided. Therefore, the tissue of a patient can be prevented from being accidentally injured by the aspirator, and the safety of the assembled aspirator assembly is improved.

In some embodiments, the first and second jaws of the clamping tool are configured as first and second electrodes, respectively, upon which the aspirator assembly can be assembled to perform a coagulation operation on patient tissue and simultaneously perform a aspiration operation on blood, exudates, and the like within the patient.

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

1. An aspirator for a suction device, which comprises a suction tube, characterized by comprising the following steps:

A suction tube;

a head disposed at a distal end of the suction tube, the head including a main body and an internal cavity extending through the main body, the internal cavity being in communication with the suction tube, and

And the assembling structure is connected with the head part and is used for assembling or disassembling the aspirator.

2. The aspirator according to claim 1, characterized in that the main body comprises:

a proximal end connected to the distal end of the suction tube, and

A distal portion distal to the proximal portion, the distal portion including at least one suction aperture.

3. The aspirator according to claim 2, characterized in that the fitting structure comprises:

A handle disposed above the proximal portion, the handle for assembling or disassembling the aspirator, the handle including an assembly hole.

4. An aspirator according to claim 3, characterized in that the fitting structure further comprises:

a boss is located at a distal end of the mounting hole of the stem, a proximal end portion of the boss being disposed above the proximal end portion.

5. The aspirator according to claim 4, characterized in that the boss comprises:

a ramp structure located proximal to the proximal portion of the boss, and/or

6. The aspirator according to claim 4, characterized in that the fitting structure further comprises:

7. The aspirator according to claim 6, characterized in that the fitting structure further comprises:

8. The aspirator according to claim 7 wherein the support portion includes a ramp at a proximal end of the support portion and a step structure at a distal end of the support portion;

The proximal end of the boss is embedded in the step structure, and the distal end of the boss extends out of the step structure of the support portion.

9. The aspirator according to claim 6, further comprising:

And the second connecting arm is arranged on the insulating sleeve and extends to the side of the insulating sleeve, and the second connecting arm is arranged opposite to the first connecting arm.

10. A mountable aspirator assembly, comprising:

an aspirator according to any one of claims 1-9, and

A clamp tool detachably connected to the aspirator, the clamp tool for driving the aspirator to move, the clamp tool comprising:

arm body, and

11. The mountable aspirator assembly of claim 10, wherein the clamp head comprises:

The second clamp head is matched with the first clamp head.

12. The mountable aspirator assembly of claim 11, wherein the clamp head further comprises:

The clamp base is connected to the distal end of the arm body;

13. The mountable aspirator assembly according to claim 11, wherein said first clip comprises:

a clamping part positioned at the far end of the first clamp head, and

And the transverse groove is arranged at the proximal end of the clamping part and is used for being connected with at least one part of the assembling structure of the aspirator.

14. The mountable aspirator assembly according to claim 13, wherein said first head further comprises:

15. The mountable aspirator assembly according to claim 11, wherein the first and second jaws are configured as first and second electrodes, respectively.

16. A surgical robot, comprising:

a surgical trolley comprising at least one mechanical arm, and

The mountable aspirator assembly of any of claims 10-15, a clamping tool of the mountable aspirator assembly disposed distally of the at least one robotic arm.

17. The surgical robot of claim 16, further comprising:

The auxiliary clamp tool is arranged at the far end of the at least one mechanical arm and is used for clamping the aspirator of the mountable aspirator assembly and driving the aspirator to move so as to assemble or disassemble the aspirator.