CN109223073B - Magnetic auxiliary piece and minimally invasive surgery auxiliary device with same - Google Patents

Abstract

The invention provides a magnetic auxiliary piece and a minimally invasive surgery auxiliary device, wherein the magnetic auxiliary piece comprises: the first limiting piece comprises a first limiting disc and a first through hole penetrating through the first limiting disc; the second limiting piece comprises a second limiting disc and a second through hole penetrating through the second limiting disc; at least one magnetic tube positioned between the first limiting piece and the second limiting piece, wherein a third through hole is formed in the magnetic tube; the connecting wire penetrates through the first through hole, the third through hole and the second through hole to connect the first limiting piece, at least one magnetic tube and the second limiting piece; the magnetic auxiliary piece is limited by the first limiting piece, the connecting wire and the second limiting piece, the number of the magnetic pipes can be adjusted randomly as required, the magnetic pipes in the middle are connected under the guidance of the magnetic attraction force and the connecting wire, and the magnetic auxiliary piece can still smoothly pass through the clamp channel under the condition that the endoscope body is highly bent, so that the clinical operation requirement of an ESD operation is met.

Description

Magnetic auxiliary piece and minimally invasive surgery auxiliary device with same

Technical Field

The invention relates to an auxiliary device for minimally invasive surgery, in particular to a magnetic auxiliary piece capable of assisting in expanding an operation field and a minimally invasive surgery auxiliary device with the magnetic auxiliary piece.

Background

Minimally invasive surgery, which is a treatment mode for changing the traditional surgical mode, has the advantages of less bleeding, small wound, small influence on functions of organs, quick recovery, less postoperative complications and the like, is popular with hospitals and doctors, and is substantially broken through and applied to various surgical operations. The advantages of minimally invasive surgery are increasingly recognized, and defects of the minimally invasive surgery are gradually revealed, such as prolonged learning time of doctors and higher operation accuracy requirements; the traditional surgical instruments cannot meet the requirements, and are required to be continuously improved and even completely innovated, and the related technical aspects are wide in range and need to be integrated by leading-edge technical innovation so as to meet the special requirements required by the minimally invasive surgery.

ESD (endoscopic submucosal dissection ) has made a number of clinical breakthroughs as a minimally invasive procedure in resecting early cancers of the digestive tract mucosa (cancerous cells are confined to the mucosal layer or submucosal layer, and a complete submucosal boundary should be seen between lesions and the muscularis), and has been widely accepted by hospitals.

However, the minimally invasive surgery has much higher requirements on the operation skills of doctors than the operation skills of the doctor simply by performing endoscopy, so that the professionals in the field are deficient in China. How to present clear visual field under the mucosa and convenient cutting becomes the key point of ensuring the success of the ESD operation by doctors and is a direct faced difficulty. At present, doctors often adopt means such as titanium clip hanging connecting wire traction, clamping traction, tissue forceps clip traction, transparent cap assistance and the like to solve the problem of poor cutting vision, but the method has no universal applicability.

For example, the pulling direction of the titanium clip-on connecting wire pulling method is limited, and the clip-on pulling method is not suitable for esophageal ESD treatment due to certain requirements on the operation space; the tissue forceps clamping pulling method needs to be completed by using a double forceps channel endoscope; the transparent cap aid method is effective only in the second half of the mucosal incision.

In view of the foregoing, it is desirable to provide a magnetic assist device and a minimally invasive surgical assist device having the same.

Disclosure of Invention

The invention aims at solving the problems existing in the prior art and aims at providing a magnetic auxiliary piece and a minimally invasive surgery auxiliary device with the magnetic auxiliary piece.

To achieve the above object, the present invention provides a magnetic assist member (11) comprising: a first limiting piece (111), wherein the first limiting piece (111) comprises a first limiting disc (1111) and a first through hole (1112) penetrating through the first limiting disc (1111); a second limiting piece (112), wherein the second limiting piece (112) comprises a second limiting disc (1121) and a second through hole (1122) penetrating through the second limiting disc (1121); at least one magnetic tube (113) positioned between the first limiting piece (111) and the second limiting piece (112), wherein a third through hole (1131) is formed in the magnetic tube (113); the connecting wire (114) passes through the first through hole (1112), the third through hole (1131) and the second through hole (1122) to connect the first limiting piece (111), at least one magnetic tube (113) and the second limiting piece (112).

As a further improvement of the present invention, the first limiting member (111) further includes a first limiting post (1113) protruding from the first limiting plate (1111) to one side, and the first through hole (1112) penetrates through the first limiting plate (1111) and the first limiting post (1113) along the extending direction of the first limiting post (1113); and/or the second limiting piece (112) further comprises a second limiting column (1123) protruding to one side from the second limiting disc (1121), and the second through hole (1122) penetrates through the second limiting disc (1121) and the second limiting column (1123) along the extending direction of the second limiting column (1123); and the sum of the lengths of the first spacing post (1113) and the second spacing post (1123) is not greater than the length of the at least one magnetic tube (113).

As a further improvement of the invention, an anti-slip structure is arranged on the outer wall of the first limit disk (1111).

As a further improvement of the invention, the anti-skid structure is a plurality of protrusions (1114) protruding outwards along the radial direction from the peripheral wall of the first limit disk (1111) and arranged at intervals along the circumferential direction; or the anti-skid structure is a plurality of grooves which are recessed inwards along the radial direction from the peripheral wall of the first limit disc (1111) and are arranged at intervals along the circumferential direction; or the peripheral wall of the first limit disk (1111) is wavy along the circumferential direction.

As a further development of the invention, the first limiting plate (1111) has a plurality of projections (1115) on a side facing away from the first limiting post (1113).

As a further improvement of the invention, one end of the connecting wire (114) is a node (1141), and the other end is a ring (1142) with adjustable diameter formed by adopting a knotting mode of swing knot, half-hook knot or sliding knot.

As a further improvement of the invention, one end of the connecting wire (114) is provided with a node (1141), and the other end is provided with a ring (1143) with a fixed diameter.

As a further improvement of the invention, one end of the connecting wire (114) is a ring (1142) with adjustable diameter formed by knotting a swing knot, a half-hook knot or a sliding knot, and the other end is a ring (1143) with fixed diameter; or the two ends of the connecting line (114) are rings (1142) with adjustable diameters formed by knotting swing knots, half-hook knots or sliding knots, or the two ends of the connecting line (114) are rings (1143) with fixed diameters.

As a further improvement of the invention, the first limiting piece 111 is provided with a containing cavity for containing the wire end of the connecting wire (114).

As a further improvement of the invention, the first limiting piece (111) and the second limiting piece (112) are made of plastics, stainless steel or magnets.

As a further improvement of the invention, the surface of the magnetic tube (113) is plated with a biocompatible film, and the biocompatible film is made of titanium, titanium nitride, titanium oxide, nickel oxide, parylene or fluoride.

In order to achieve the above object, the present invention also provides a minimally invasive surgery assistance device, comprising: an external device (2) comprising an external magnetic generating device providing a rotating magnetic field; an in-vivo device (1), the in-vivo device (1) comprising the magnetic auxiliary (11) and a fixation clamp (12) connected with the magnetic auxiliary (11).

The beneficial effects of the invention are as follows: according to the magnetic auxiliary piece, at least one magnetic tube is limited by the first limiting piece, the connecting wire and the second limiting piece, the number of the magnetic tubes can be adjusted randomly according to requirements, the magnetic tubes in the middle part are connected under the guidance of the magnetic attraction force and the connecting wire, the magnetic auxiliary piece can still pass through the clamp channel smoothly under the condition that the endoscope body is highly bent, and the clinical operation requirement of an ESD operation is met.

Drawings

FIG. 1 is a schematic view of a magnetic auxiliary member according to a preferred embodiment of the present invention;

FIG. 2 is a cross-sectional view of a magnetic assist member according to another preferred embodiment of the present invention;

FIG. 3 is a schematic view of a magnetic assist member according to another preferred embodiment of the present invention;

FIG. 4 is a schematic view of the magnetic accessory shown in FIG. 3 with the connecting wires removed;

FIG. 5 is a schematic view of a magnetic assist member according to another embodiment of the present invention;

FIG. 6 is a schematic view of the magnetic accessory shown in FIG. 5 with the connecting wires removed;

FIG. 7 is a schematic illustration of the use of the magnetic assist member of FIGS. 1-6;

FIG. 8 is a schematic view of a magnetic assist member according to another preferred embodiment of the present invention;

FIG. 9 is a schematic illustration of the use of the magnetic assist member of FIG. 8;

FIG. 10 is a schematic view of a magnetic assist member according to another preferred embodiment of the present invention;

FIG. 11 is a schematic illustration of the use of the magnetic assist member of FIG. 10;

fig. 12 is a schematic structural view of an extracorporeal device of the present invention.

Detailed Description

The present invention will be described in detail below with reference to the embodiments shown in the drawings. However, these embodiments are not intended to limit the present invention, and structural or functional modifications thereof by those skilled in the art are intended to be included within the scope of the present invention.

Referring to fig. 1 to 11, a magnetic assist member 11 according to a preferred embodiment of the present invention can be moved and/or rotated under the control of an external magnetic generating device. The magnetic auxiliary piece 11 is used for being fixed with the fixing clamp 12, and after the fixing clamp 12 is fixed with a focus to be pulled, the magnetic auxiliary piece 11 drives the fixing clamp 12 connected with the magnetic auxiliary piece under the control of the external magnetic generating device, and the mucous membrane 3 clamped by the fixing clamp 12 moves and/or rotates, so that the mucous membrane 3 can be pulled as required in an ESD operation, and the operation field is enlarged.

The fixation clamp 12 is typically a medical hemostatic clamp, hemostatic forceps, titanium clamp, etc., which clamp the lesion, etc., in a forceps-like manner, and the material is typically a medical material, such as pure titanium or a titanium alloy.

As shown in fig. 1 to 6, 8 and 10, the magnetic auxiliary member 11 includes a first stopper 111, a second stopper 112, at least one magnetic tube 113 located between the first stopper 111 and the second stopper 112, and a connection line 114 connecting the first stopper 111 and the at least one magnetic tube 113 and the second stopper 112. The magnetic tube 113 is a functional component of the magnetic auxiliary member 11, and the material may be a permanent magnetic material such as ferrite, neodymium iron boron, samarium cobalt, or alnico. In addition, the surface of the magnetic tube 113 can be coated with a biocompatible film for protection, and the magnetic tube can play a role in reducing friction and protecting the inner cavity of the forceps channel when passing through the forceps channel.

The biocompatible film is titanium, titanium nitride, titanium oxide, nickel oxide, parylene or fluoride, and the fluoride is preferably polytetrafluoroethylene.

Those skilled in the art will appreciate that: the "at least one magnetic tube 113" may be one magnetic tube 113 as shown in fig. 1, and is suitable for the case that the operation space is relatively narrow. In the case where the total size of the at least one magnetic tube 113 is the same as the magnetic force provided by the external device, the rolling moment of only one magnetic tube 113 is set to be larger than the rolling moment of a plurality of magnetic tubes 113.

The "at least one magnetic tube 113" may be a plurality of magnetic tubes 113 as shown in fig. 2 to 6, 8 and 10; the plurality of magnetic tubes 113 are organized into larger magnets, so that the magnetic auxiliary piece 11 can still smoothly pass through the clamp channel under the condition of high bending of the endoscope body, and the clinical operation requirement of the ESD operation can be met. The number of magnetic tubes 113 is determined by the size of the lesion to be pulled, the larger the lesion, the greater the number of magnetic tubes 113, and vice versa. The polarization direction of the magnetic tubes 113 is axial polarization, and at this time, the polarization directions of all the magnetic tubes 113 are the same. Of course, the polarization direction of the magnetic tubes 113 may be radial polarization, and in this case, the magnetic auxiliary member 11 includes an odd number of magnetic tubes 113 connected to each other in front and back by the magnetic force under the penetrating of the connecting wire 114, and the polarization directions of the two adjacent magnetic tubes 113 are opposite.

The first limiting member 111, the second limiting member 112 and the connecting wire 114 are used for connecting at least one magnetic tube 113 into a magnetic whole. The first and second limiting members 111 and 112 may be made of plastic, stainless steel, or a magnet.

Specifically, referring to fig. 2, the first limiting member 111 includes a first limiting plate 1111 and a first through hole 1112 penetrating the first limiting plate 1111; the second limiting member 112 includes a second limiting plate 1121 and a second through hole 1122 penetrating the second limiting plate 1121; the magnetic tube 113 is provided with a third through hole 1131; one end of the connecting wire 114 forms a first limiting structure with a diameter larger than that of the first through hole 1112 to enable the first limiting structure to be positioned on one side, away from the magnetic tube 113, of the first limiting member 111, the other end sequentially passes through the first through hole 1112, the third through hole 1131 of the at least one magnetic tube 113 and the second through hole 1122 to connect the first limiting member 111, the at least one magnetic tube 113 and the second limiting member 112, and then forms a second limiting structure with a diameter larger than that of the second through hole 1122 to enable the second limiting structure to be positioned on one side, away from the magnetic tube 113, of the second limiting member 112.

Further, the first limiting member 111 further includes a first limiting post 1113 protruding from the first limiting plate 1111 to one side, and the first through hole 1112 penetrates through the first limiting plate 1111 and the first limiting post 1113 along the extending direction of the first limiting post 1113; and/or the second limiting member 112 further includes a second limiting post 1123 protruding from the second limiting plate 1121 to one side, and the second through hole 1122 penetrates through the second limiting plate 1121 and the second limiting post 1123 along the extending direction of the second limiting post 1123; and the sum of the lengths of the first and second spacing posts 1113, 1123 is not greater than the length of the at least one magnetic tube 113. When assembled, the first and second spacing posts 1113, 1123 limit or guide the magnetic tube 113, but do not constrain the magnetic tube 113 in the middle portion.

As shown in fig. 1, when there is only one magnetic tube 113 between the first limiting member 111 and the second limiting member 112, the first limiting post 1113 and the second limiting post 1123 extend into the third through hole 1131 of the magnetic tube 113 from two ends of the magnetic tube 113 to limit the magnetic tube 113.

As shown in fig. 2, when a plurality of magnetic tubes 113 are disposed between the first spacing member 111 and the second spacing member 112, the first spacing columns 1113 and the second spacing columns 1123 respectively limit the magnetic tubes 113 at two ends, the magnetic tubes 113 in the middle part can cooperatively limit the magnetic tubes 113 through the magnetic attraction effect of the adjacent magnetic tubes 113 and the connecting wires 114, and the magnetic tubes 113 in the middle part are not constrained by the first spacing columns 1113 and the second spacing columns 1123, so that certain bending deformation can occur to adapt to the intestinal requirements of different bending degrees.

Referring to fig. 3 to 6, an anti-slip structure is disposed on the outer wall of the first limit plate 1111, so as to prevent slipping during use, enhance the acting force with the mucosa 3, and better pull the focus.

Referring specifically to fig. 3 and 4, the first limiting plate 1111 has a plurality of protrusions 1114 protruding radially outwards from the peripheral wall of the first limiting plate 1111 and spaced apart along the circumferential direction; and, the number, distribution interval, height, etc. of the protrusions 1114 can be adaptively modified as required. The protrusions 1114 form a kind of anti-slip structure, which reduces the possibility of slipping along the axis when the magnetic aid 11 abuts against the mucosa 3 to be pulled.

Or the first limiting plate 1111 has a plurality of grooves recessed inward along radial direction from the peripheral wall of the first limiting plate 1111 and arranged at intervals along circumferential direction; and the number, the distribution interval, the depth and the like of the grooves can be adaptively modified according to the needs. The grooves and/or the partition walls between adjacent grooves also constitute one kind of the anti-slip structure, which can reduce the possibility of slipping along the axis when the magnetic auxiliary 11 collides against the mucous membrane 3 to be pulled.

Or the outer peripheral wall of the first limiting plate 1111 is wavy along the circumferential direction, and the wavy outer peripheral wall is alternately provided with peaks protruding outwards and valleys recessed inwards along the radial direction of the first limiting plate 1111, and the peaks and/or the valleys also form the anti-slip structure, so that the possibility of slipping along the axial line when the magnetic auxiliary member 11 abuts against the mucosa 3 to be pulled can be reduced.

Referring to fig. 5 and 6, a plurality of protruding blocks 1115 are provided on a side of the first limiting plate 1111 away from the first limiting post 1113, and the protruding blocks 1115 also form the anti-slip structure, so that the magnetic auxiliary member 11 can more reliably abut against the mucosa 3 during the rolling process, and the fulcrum is more reliable.

The connecting wire 114 may be, but is not limited to, a medical suture such as nylon wire or polypropylene (pramine).

Specifically, referring to fig. 1 to 3 and 5, one end of the connecting wire 114 is a node 1141, and the other end is a ring 1142 with adjustable diameter formed by knotting a swing knot (scafford), a half-hook knot (midshipmans _ hitch) or a slip knot (slip knot); the knotting method of swing knot, half hook knot or sliding knot can refer to the Chinese patent application 201510661964.5.

The node 1141 and the diameter-adjustable ring 1142 may be used as the first limit structure or the second limit structure. And the diameter-adjustable ring 1142 has a tightening wire section, and the tightening wire section can be pulled to tighten the ring, so as to bind the magnetic auxiliary element 11 and the fixing clip 12 together. For example, the tightening line is connected with the first limiting member 111, the magnetic tube 113 and the second limiting member 112, the ring 1142 with adjustable diameter is sleeved on the fixing clip 12, and the ring 1142 formed by the connecting line 114 can be tightened by pulling the first limiting member 111, the magnetic tube 113 and the second limiting member 112, so that the fixing clip 12 and the magnetic auxiliary member 11 are formed into a whole.

Preferably, the first limiting member 111 is provided with a receiving cavity for receiving the wire end of the connecting wire 114, so as to avoid the wire end from being caught with the mucosa 3. Typically, the junction 1141 is not connected to the clip 12 and is received in the receiving cavity. In this embodiment, the node 1141 is used as a first limiting structure and is accommodated in the accommodating cavity; an adjustable diameter ring is located as a second stop on one side of the second stop 112.

Preferably, the second limiting member 112 is provided with a boss adapted to the endoscope attachment, and the boss is receivable in the clamping channel of the endoscope attachment. The endoscope accessory is used for fixing the magnetic auxiliary piece 11 and the fixing clamp 12 on the mucosa 3 to be pulled, and can be a hemostatic clamp releaser 4 or a titanium clamp releaser and the like.

Referring to fig. 7, a method for using the magnetic auxiliary member 11 shown in fig. 1 to 6 will be described by taking a hemostatic clip as the fixing clip 12: (a) Firstly, clamping the hemostatic clamp into a ring with a variable diameter, pulling the first limiting piece 111, the magnetic tube 113 and the second limiting piece 112 of the magnetic auxiliary piece 11, and tightening the ring and fixing the magnetic auxiliary piece 11 and the hemostatic clamp; (b) Closing the hemostatic clamp, and placing the hemostatic clamp into endoscopic accessories such as a hemostatic clamp releaser 4; (c) Placing the hemostatic clip and the magnetic auxiliary piece 11 into endoscopic accessories such as a hemostatic clip releaser 4; (d) Pushing the magnetic aid 11 and the hemostatic clip from the jaws through an endoscopic accessory such as a hemostatic clip releaser 4 to the edge of the mucosa 3 to be cut in the body cavity; (e) Releasing the hemostatic clip and the magnetic auxiliary member 11, and clamping the hemostatic clip to the edge of the mucosa 3; the movement and/or rotation of the magnetic auxiliary member 11 can be controlled by the external magnetic field device, so that the mucous membrane 3 is rolled up, and the operative field is enlarged.

The magnetic auxiliary piece 11 is connected with the fixing clamp 12 in the mode of the retractable coil, so that a doctor can conveniently and quickly operate the retractable coil.

In other embodiments, referring to fig. 8, the connecting wire 114 has a node 1141 at one end and a ring 1143 with a fixed diameter at the other end. The node 1141 and the fixed diameter ring 1143 are respectively retained on the sides of the first retaining member 111 and the second retaining member 112 facing away from the magnetic tube 113. When in use, one clamping arm on the fixing clamp 12 passes through the ring 1143 with fixed diameter and then is buckled with the other clamping arm, namely the magnetic auxiliary piece 11 is fixed with the fixing clamp 12, and normally, the two clamping arms clamp the mucosa 3 to be pulled at the same time when being buckled, so that the three parts are relatively fixed.

Referring to fig. 9, a method of using the hemostatic clip as the fixing clip 12 will be described as follows: (a) Firstly, the magnetic auxiliary piece 11 is pushed from the forceps channel to the body cavity by utilizing endoscopic accessories such as a hemostatic clip releaser 4; (b) The hemostatic clip extends from the jaw channel, and the clip arms open and pass through the fixed diameter ring 1143; (c) Moving the hemostatic clip that has passed through the fixed diameter ring 1143 to the edge of the mucosa 3 to be cut; (d) releasing the hemostatic clip from the edge of the mucosa 3; the movement and/or rotation of the magnetic auxiliary member 11 is controlled by an external device, so that the mucous membrane 3 is rolled up, and the operative field is enlarged.

Alternatively, referring to fig. 10, one end of the connecting wire 114 is a ring 1142 with adjustable diameter formed by knotting a swing knot, a half hook knot or a sliding knot, and the other end is a ring 1143 with fixed diameter; or the two ends of the connecting line 114 are respectively provided with a ring 1142 with adjustable diameter formed by knotting a swing knot, a half-hook knot or a sliding knot; or both ends of the connecting line 114 are fixed diameter rings 1143. Referring to fig. 11, both ends of the magnetic auxiliary member 11 can be fixed to the mucosa 3 by fixing clips 12, so that the degree of deviation from the ideal position is reduced and the success rate of the mucosa 3 rolling is improved during the rolling action of the magnetic auxiliary member 11. The two ends of the diameter-adjustable ring 1142 and the diameter-fixed ring 1143 are respectively fixed in the manners shown in fig. 7 and 9.

Referring to fig. 1 to 12, the present invention further provides a minimally invasive surgery assistance device, which includes an in-vivo device 1 that is located in the body for fixing to a lesion in use, and an in-vitro device 2 that is located outside the body for controlling movement of the in-vivo device 1.

Referring to fig. 12, the external device 2 includes an external magnetic generating device for providing a rotatable magnetic field; a homogeneous magnetic field is understood to mean a homogeneous magnetic field, an approximately homogeneous magnetic field, a magnetic field in part of the space being a homogeneous magnetic field; i.e. the extracorporeal device 2 may generate a uniform magnetic field acting on the in vivo device 1; the above object can be achieved by rotating a uniform magnetic field. The external magnetic generating device adopts a spherical magnet 21 or a Helmholtz coil to generate a uniform rotating magnetic field in any direction.

In particular, the spherical magnet 21 may be controlled to move and rotate by a person or a mechanical device.

The extracorporeal device 2 further comprises a motor (not shown), a three-axis linkage mechanical arm 22 driven by the motor, and the spherical magnet 21 is controlled by the mechanical arm 22 to perform three-dimensional movement and/or rotation in space. The three-axis linkage mechanical arm 22 refers to any mechanical device that can fix the spherical magnet 21 and drive the spherical magnet 21 to move and/or rotate in three dimensions in the external space, and the specific structure is not limited. For how the external device 2 controls the three-dimensional movement and/or two-dimensional rotation of the spherical magnet 21 in space, reference is made to chinese patent No. 201310136094.0.

The in-vivo device 1 comprises any one of the magnetic aids 11 described above, a fixation clamp 12 connected to the magnetic aid 11, the fixation clamp 12 being used for fixing the magnetic aid 11 to the mucosa 3 to be pulled. The magnetic aid 11 is movable and/or rotatable accordingly due to the change of direction of the rotatable magnetic field of the external magnetic generating means, so that the lesion can be moved at a controllable speed and/or can be rotated at a controllable angle with the change of direction of the rotatable magnetic field of the external magnetic generating means for wrapping around the internal device 1.

The auxiliary device for minimally invasive surgery is suitable for pulling focus in minimally invasive surgery such as endoscopic submucosal dissection, endoscopic submucosal excision and the like so as to enlarge the operative field. Specifically, an incision is firstly made on the mucosa upper layer tissue at one end of the focus, the in-vivo device 1 and the mucosa upper layer tissue at the incision are fixed through the fixing clamp 12, then the motion and/or rotation of the magnetic auxiliary piece 11 is controlled through the in-vitro device, so that the focus of incision or stripping overcomes the action of gravity, and the focus is pulled to be separated from the mucosa upper layer tissue or muscle, thereby enlarging the operative field and improving the excision efficiency.

In summary, according to the magnetic auxiliary member 11 of the present invention, at least one magnetic tube 113 is limited by the first limiting member 111, the connecting wire 114 and the second limiting member 112, and the auxiliary device for minimally invasive surgery is used for fixing a lesion by the fixing clip 12, and the in-vivo device 1 is driven by the action of the in-vitro magnetic generating device on the magnetic auxiliary member 11 to overcome the action of gravity on the incised lesion, so that the peeled visual field can be better exposed, and the excision efficiency can be improved. In addition, the control method of the auxiliary device for minimally invasive surgery enables the in-vivo magnet 21 to wrap the focus on the in-vivo device 1 under the drive of the in-vitro magnetic generating device through the uniform magnetic field of the in-vitro magnetic generating device, so that the visual field can be better enlarged.

It should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is for clarity only, and that the skilled artisan should recognize that the embodiments may be combined as appropriate to form other embodiments that will be understood by those skilled in the art.

The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.

Claims (11)

1. A magnetic aid (11), characterized in that the magnetic aid (11) comprises:

The first limiting piece (111), the first limiting piece (111) comprises a first limiting disc (1111), a first through hole (1112) penetrating through the first limiting disc (1111), and a first limiting column (1113) protruding to one side from the first limiting disc (1111), and the first through hole (1112) penetrates through the first limiting disc (1111) and the first limiting column (1113) along the extending direction of the first limiting column (1113);

The second limiting piece (112), the second limiting piece (112) comprises a second limiting disc (1121), a second through hole (1122) penetrating through the second limiting disc (1121), and a second limiting column (1123) protruding to one side from the second limiting disc (1121), and the second through hole (1122) penetrates through the second limiting disc (1121) and the second limiting column (1123) along the extending direction of the second limiting column (1123);

At least three magnetic tubes (113) positioned between the first limiting piece (111) and the second limiting piece (112), wherein a third through hole (1131) is formed in each magnetic tube (113);

The connecting wire (114) passes through the first through hole (1112), the third through hole (1131) and the second through hole (1122) to connect the first limiting piece (111), the at least three magnetic tubes (113) and the second limiting piece (112);

The length of the first limit post (1113) is not greater than the length of one magnetic tube (113) adjacent to the first limit piece (111), and the length of the second limit post (1123) is not greater than the length of one magnetic tube (113) adjacent to the second limit piece (112); namely, the first limit column and the second limit column limit the magnetic tubes (113) at the two ends respectively, and the other magnetic tubes (113) at the middle part cannot be restrained; therefore, certain bending deformation can be generated to adapt to intestinal tracts with different bending degrees.

2. The magnetic aid (11) according to claim 1, characterized in that: an anti-slip structure is arranged on the outer wall of the first limit disc (1111).

3. The magnetic aid (11) according to claim 2, characterized in that: the anti-skid structure is a plurality of protrusions (1114) protruding outwards from the outer peripheral wall of the first limit disc (1111) along the radial direction and arranged at intervals along the circumferential direction; or the anti-skid structure is a plurality of grooves which are recessed inwards along the radial direction from the peripheral wall of the first limit disc (1111) and are arranged at intervals along the circumferential direction; or the peripheral wall of the first limit disk (1111) is wavy along the circumferential direction.

4. The magnetic aid (11) according to claim 1, characterized in that: a plurality of protruding blocks (1115) are arranged on one side, away from the first limiting column (1113), of the first limiting disc (1111).

5. The magnetic aid (11) according to claim 1, characterized in that: one end of the connecting wire (114) is a node (1141), and the other end is a ring (1142) with adjustable diameter formed by knotting a swing knot, a half-hook knot or a sliding knot.

6. The magnetic aid (11) according to claim 1, characterized in that: one end of the connecting wire (114) is a node (1141), and the other end is a ring (1143) with a fixed diameter.

7. The magnetic aid (11) according to claim 1, characterized in that: one end of the connecting wire (114) is a ring (1142) with adjustable diameter formed by knotting a swing knot, a half-hook knot or a sliding knot, and the other end is a ring (1143) with fixed diameter; or the two ends of the connecting line (114) are rings (1142) with adjustable diameters formed by adopting a knotting mode of swing knots, half-hook knots or sliding knots; or both ends of the connecting line (114) are rings (1143) with fixed diameters.

8. The magnetic aid (11) according to claim 1, characterized in that: the first limiting piece (111) is provided with a containing cavity for containing the wire end of the connecting wire (114).

9. The magnetic aid (11) according to claim 1, characterized in that: the first limiting piece (111) and the second limiting piece (112) are made of plastics, stainless steel or magnets.

10. The magnetic aid (11) according to claim 1, characterized in that: the surface of the magnetic tube (113) is plated with a biocompatible film, and the biocompatible film is made of titanium, titanium nitride, titanium oxide, nickel oxide, parylene or fluoride.

11. A minimally invasive surgery auxiliary device, which is characterized in that: comprising the following steps:

An external device (2) comprising an external magnetic generating device providing a rotating magnetic field;

an in-vivo device (1), the in-vivo device (1) comprising the magnetic auxiliary (11) according to any one of claims 1 to 10, and a fixation clamp (12) connected to the magnetic auxiliary (11).