CN113876376B - Intelligent robot stoma appliance for abdominal cavity surgery - Google Patents
Intelligent robot stoma appliance for abdominal cavity surgery Download PDFInfo
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- CN113876376B CN113876376B CN202111436967.0A CN202111436967A CN113876376B CN 113876376 B CN113876376 B CN 113876376B CN 202111436967 A CN202111436967 A CN 202111436967A CN 113876376 B CN113876376 B CN 113876376B
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- main body
- needle
- ostomy appliance
- suture
- main part
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- 210000000683 abdominal cavity Anatomy 0.000 title claims abstract description 21
- 238000001356 surgical procedure Methods 0.000 title description 8
- 238000007789 sealing Methods 0.000 claims abstract description 18
- 239000002390 adhesive tape Substances 0.000 claims description 3
- 239000004816 latex Substances 0.000 claims description 3
- 229920000126 latex Polymers 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 8
- 208000015181 infectious disease Diseases 0.000 abstract description 3
- 208000027418 Wounds and injury Diseases 0.000 description 5
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 4
- 206010052428 Wound Diseases 0.000 description 4
- 210000003815 abdominal wall Anatomy 0.000 description 4
- 208000002847 Surgical Wound Diseases 0.000 description 2
- 229910002092 carbon dioxide Inorganic materials 0.000 description 2
- 239000001569 carbon dioxide Substances 0.000 description 2
- 229920000642 polymer Polymers 0.000 description 2
- 229910000861 Mg alloy Inorganic materials 0.000 description 1
- 229920000954 Polyglycolide Polymers 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000214 mouth Anatomy 0.000 description 1
- 229920000747 poly(lactic acid) Polymers 0.000 description 1
- 239000004633 polyglycolic acid Substances 0.000 description 1
- 239000004626 polylactic acid Substances 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/0491—Sewing machines for surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
- A61B17/06114—Packages or dispensers for needles or sutures
- A61B17/06119—Packages or dispensers for needles or sutures of cylindrical shape
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3209—Incision instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Molecular Biology (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Dentistry (AREA)
- Robotics (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The invention discloses an intelligent abdominal cavity operation robot stoma instrument, which comprises a left main body and a right main body, wherein the left main body and the right main body are of split structures and are butted to form an operation channel for a surgical robot to pass through; a tubular needle cylinder is arranged in the middle of the outer sides of the left main body and the right main body, a plurality of needle lattices are arranged in the needle cylinder, a needle and a suture are arranged in each needle lattice, one end of the suture is connected with the middle part of the needle, and the other end of the suture is fixed on the inner wall of the needle lattice; the far end positions of the left main body and the right main body are respectively provided with a pressure sensor. The invention can save the operation cost and procedures, keep the sealing of the abdominal cavity of the patient and avoid the infection in the operation.
Description
Technical Field
The application relates to an intelligent abdominal cavity operation robot stoma instrument, in particular to a stoma instrument which can conveniently enlarge an incision and can be used for suturing rapidly.
Background
When using abdominal cavity operation robot to carry out the operation, can use the ostomy instrument to lead into the patient with operation robot internal usually, form the operation passageway on the wound of patient is inserted to the ostomy instrument, and the use of the ostomy instrument can prevent operation robot's flexible arm touching incision, reduces the injury to the patient, also can keep the abdominal cavity of patient airtight in addition, avoids the abdominal cavity infection. However, existing ostomy instruments are typically designed for the surgeon's surgery and are not suitable for use with surgical robots. For example, when a surgical robot is performing a surgery, the ostomy appliance will typically block the movement of the robotic arms of the robot such that the movement of the robotic arms is limited, and in order to avoid this, it is often necessary to remove the ostomy appliance, enlarge the surgical incision, and replace the ostomy appliance with a larger diameter. In addition, the surgeon is required to perform manual suturing after the surgery is completed, which prolongs the surgery time.
Disclosure of Invention
The technical scheme of this application aims at solving the technical problem among the prior art, provides one kind and can not need to pull out the ostomy apparatus just can enlarge the incision of performing the operation and make the oral cavity apparatus, designs one kind simultaneously and can realize the quick sutural ostomy apparatus.
The specific scheme is that the intelligent abdominal cavity operation robot stoma instrument comprises a left main body and a right main body, wherein the left main body and the right main body are of split structures and are butted to form an operation channel for a surgical robot to pass through;
a tubular needle cylinder is arranged in the middle of the outer sides of the left main body and the right main body, a plurality of needle lattices are arranged in the needle cylinder, a needle and a suture are arranged in each needle lattice, one end of the suture is connected with the middle part of the needle, and the other end of the suture is fixed on the inner wall of the needle lattice;
the far end positions of the left main body and the right main body are respectively provided with a pressure sensor used for sensing the contact force between the abdominal cavity operation robot and the left main body and the right main body.
In a preferred embodiment, a cavity is arranged in the middle of the left main body, a sealing ring is arranged in the cavity, and one end of the sealing ring is connected with the right main body.
In a preferred embodiment, the sealing ring is made of an elastic latex which expands upon withdrawal.
In a preferred embodiment, both the needle and the suture are made of absorbable material.
In a preferred embodiment, the pressure sensor is an elastic strain gauge extending almost over the entire circumferential extent of the left and right main bodies.
In a preferred embodiment, the wall of the right body forms a circular arc wall at the opening.
In the preferred embodiment, a pusher rod is also included.
In a preferred embodiment, the bottom of the syringe is provided with a double-sided adhesive tape.
In a preferred embodiment, the proximal end of the rigid push rod forms a handle structure that is easy to grip.
An intelligent laparoscopic surgical robotic surgical system comprising an laparoscopic surgical robot and an ostomy appliance as claimed in any one of the preceding claims.
Through the technical scheme of the invention, the incision of the patient can be conveniently enlarged in practical use, so that an ostomy appliance does not need to be pulled out, the effects of saving the operation cost and procedures are achieved, and even if the wound is enlarged, the abdominal cavity of the patient can be kept sealed, and the infection in the operation is avoided. In addition, the suture and the needle are arranged, so that the suture for the surgical incision is convenient.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments of the present disclosure will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of the main structure of the present invention;
FIG. 2 is a schematic view of the connection relationship between the left and right main bodies and the sealing ring;
FIG. 3 is an enlarged view of portion A-A of FIG. 1;
FIG. 4 is a schematic view of a cutting assembly of the present invention;
fig. 5 is a schematic view of the structure of the needle of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present disclosure will be described in detail below, and in order to make objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative only and are not intended to be limiting of the disclosure. It will be apparent to one skilled in the art that the present disclosure may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present disclosure by illustrating examples of the present disclosure.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
As shown in fig. 1 to 5, an intelligent robot ostomy appliance for abdominal cavity surgery comprises a left body 1 and a right body 2, wherein the left body 1 and the right body 2 are of a split structure, the left body 1 and the right body 2 are butted to form a surgery channel for a surgical robot to pass through, the left body 1 and the right body 2 are butted in a tight thread joint under normal conditions and are inserted into a patient body together when in use, the formed ostomy appliance is the same as a common ostomy appliance, a sealing flap (not shown in the figure) is arranged at the near side of the left body 1 and the right body 2, and the sealing flap has a fold capable of being stretched as in the prior art, so that the sealing of the ostomy appliance can be maintained even if the left body 1 and the right body 2 are separated. The right side main part 2 is provided with a cavity in the middle position, the cavity forms an opening 3 on the surface of the right side main part 2, a cutting assembly 5 is arranged in the cavity, the cutting assembly 5 comprises an elastic blade 51 and a hard push rod 52, and the hard push rod 52 extends to the near side of the right side main part 2 to form a handle structure for the operation of a doctor. Since the side walls of the left body 1 and the right body 2 are made of substantially solid polymer, the wall of the right body 2 forms a circular arc wall 4 at the opening 3, so that when the doctor pushes the cutting assembly 5, the circular arc wall 4 can deflect the elastic blade 51, and part of the cutting edge of the elastic blade 51 is exposed out of the opening 3 to cut the abdominal wall of the patient.
A tubular needle cylinder 6 is arranged at the middle position of the outer sides of the left main body 1 and the right main body 2, when the medical needle is used, the left main body 1 and the right main body 2 are inserted into an incision of a patient, and the bottom of the needle cylinder is abutted against the skin of the patient. A plurality of needle lattices are arranged in the needle cylinder 6, a needle 61 and a suture 62 are arranged in each needle lattice, one end of the suture 62 is connected with the middle part of the needle 61, and the other end is fixed on the inner wall of the needle lattice. In a preferred embodiment, each set of components is provided with a pusher rod for insertion into the needle lattice to push the needle into the abdominal cavity of the patient.
The middle part of left side main part 1 is provided with the cavity, the symmetry is provided with two sealing rings 7 in the cavity, sealing ring 7 is made by elastic latex, its one end that is close to right side main part 2 is connected with right side main part 2, thereby when left side main part 1 and right side main part 2 divide and enlarge the notched diameter, left side main part can be taken out to sealing ring 7, the sealing ring can with the inflation of certain degree this moment, thereby fill the wound and left side main part 1 that enlarge, the space between the right side main part 2, keep the abdominal cavity of patient's airtight environment.
In a preferred embodiment, the bottom of the needle cylinder 6 is provided with a double-sided adhesive tape, so that the ostomy appliance can be stably fixed on the abdominal cavity wall of a patient when in use, and the operation of the surgical robot is convenient.
In a preferred embodiment, the needle 61 and suture 62 are made of absorbable materials, which can be absorbable polymers or absorbable alloys, such as polyglycolic acid, polylactic acid, magnesium alloys, etc., thereby eliminating the post-operative suture removal.
In another embodiment, a pressure sensor is respectively disposed at the distal end of the left body 1 and the right body 2 for sensing the pressure between the laparoscopic surgery robot and the left body 1 and the right body 2, and when the pressure exceeds a certain value, an alarm is given to remind the doctor of the need of enlarging the incision. The pressure sensor may be an elastic strain gauge embedded inside the distal ends of the left and right main bodies 1 and 2, the elastic strain gauge extending almost over the entire range in the circumferential direction of the left and right main bodies 1 and 2.
When the device is used, a doctor cuts the abdominal cavity of a patient according to the operation requirement to form an incision, then inserts the ostomy appliance to form an operation channel, fills carbon dioxide into the body of the patient through the operation channel to open the abdominal wall, and the sealing membrane flap at the near side of the ostomy appliance can ensure that the carbon dioxide is not discharged out of the body. The abdominal cavity operation robot is inserted into the body of a patient to perform an operation through the ostomy appliance, the pressure of the mechanical arm of the operation robot and the inner wall of the ostomy appliance is detected by adopting a pressure sensor, and when the pressure exceeds a certain value, an alarm is given. At this time, the doctor moves the ostomy appliance up and down, aligns the opening 3 with the abdominal wall of the patient, pushes the hard push rod 52, partially protrudes the elastic blade 51 out of the opening 3 to cut the abdominal wall of the patient, after the incision is enlarged, separates the left main body 1 and the right main body 2 of the ostomy appliance, at this time, the sealing ring 7 is drawn out from the left main body to fill the enlarged incision, and the sealing of the abdominal cavity is realized. After the operation is finished, the push needle rod is inserted into the needle lattice in sequence, the needle is completely inserted into the body of a patient, then the ostomy appliance is slowly pulled out, and one end of the suture is fixedly connected with the needle lattice, so that the suture outside the body of the patient is knotted as required, and the suture of the wound is realized.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiment shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides an intelligent abdominal cavity operation robot stoma apparatus, includes left side main part (1) and right side main part (2), and left side main part (1) and right side main part (2) are split type structure, and left side main part (1) and right side main part (2) dock, form the operation passageway that supplies operation robot to pass through, its characterized in that: a cavity is arranged at the middle position of the right main body (2), an opening (3) is formed on the surface of the right main body (2) by the cavity, a cutting assembly (5) is arranged in the cavity, and the cutting assembly (5) comprises an elastic blade (51) and a hard push rod (52);
a tubular needle cylinder (6) is arranged in the middle of the outer sides of the left main body (1) and the right main body (2), a plurality of needle lattices are arranged in the needle cylinder (6), a needle (61) and a suture (62) are arranged in each needle lattice, one end of the suture (62) is connected with the middle part of the needle (61), and the other end of the suture is fixed on the inner wall of the needle lattice;
the far end positions of the left main body (1) and the right main body (2) are respectively provided with a pressure sensor for sensing the contact force between the abdominal cavity operation robot and the left main body (1) and the right main body (2).
2. An ostomy appliance as claimed in claim 1, wherein: the middle part of left side main part (1) is provided with the cavity, is provided with sealing ring (7) in the cavity, and sealing ring (7) one end is connected with right side main part (2).
3. An ostomy appliance as claimed in claim 1, wherein: the sealing ring (7) is made of elastic latex and can expand when being extracted.
4. An ostomy appliance as claimed in claim 1, wherein: both the needle (61) and the suture (62) are made of absorbable material.
5. An ostomy appliance as claimed in claim 1, wherein: the pressure sensor is an elastic strain gauge which extends almost in the whole circumferential range of the left main body (1) and the right main body (2).
6. An ostomy appliance as claimed in claim 1, wherein: the wall of the right body (2) forms an arc wall (4) at the opening (3).
7. An ostomy appliance as claimed in claim 1, wherein: also comprises a push needle rod.
8. An ostomy appliance as claimed in claim 1, wherein: the bottom of the needle cylinder is provided with a double-sided adhesive tape.
9. An ostomy appliance as claimed in claim 1, wherein: the proximal end of the rigid push rod (52) forms a handle structure for easy gripping.
10. The utility model provides an intelligent abdominal cavity operation robot operation system which characterized in that: comprising a laparoscopic surgical robot and an ostomy appliance as claimed in any of the preceding claims.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111436967.0A CN113876376B (en) | 2021-11-29 | 2021-11-29 | Intelligent robot stoma appliance for abdominal cavity surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111436967.0A CN113876376B (en) | 2021-11-29 | 2021-11-29 | Intelligent robot stoma appliance for abdominal cavity surgery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113876376A CN113876376A (en) | 2022-01-04 |
| CN113876376B true CN113876376B (en) | 2022-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111436967.0A Expired - Fee Related CN113876376B (en) | 2021-11-29 | 2021-11-29 | Intelligent robot stoma appliance for abdominal cavity surgery |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1533258A (en) * | 2001-07-18 | 2004-09-29 | 住友电木株式会社 | Surgical treating instrument |
| CN101627293A (en) * | 2007-03-06 | 2010-01-13 | 伊西康内外科公司 | Hand assisted laparoscopic seal assembly with a ratchet mechanism |
| CN102688072A (en) * | 2011-03-23 | 2012-09-26 | Tyco医疗健康集团 | Surgical retractor including rotatable knobs |
| CN104582609A (en) * | 2012-08-16 | 2015-04-29 | 柯惠Lp公司 | Stabilizing port for surgery for facilitating concurrent introduction of multiple instruments |
| CN105342652A (en) * | 2015-12-29 | 2016-02-24 | 江苏芸迪医疗科技发展有限公司 | Incision dilator for single-hole thoracoscope |
| CN108670332A (en) * | 2018-04-27 | 2018-10-19 | 四川力智久创知识产权运营有限公司 | Assist the stitching devices of endoscope-assistant surgery wound suture |
| CN112957087A (en) * | 2021-05-19 | 2021-06-15 | 上海宇度医学科技股份有限公司 | Laparoscopic surgery retractor, laparoscopic surgery tissue taking-out assembly and taking-out method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7163510B2 (en) * | 2003-09-17 | 2007-01-16 | Applied Medical Resources Corporation | Surgical instrument access device |
| KR20100057560A (en) * | 2010-05-02 | 2010-05-31 | 이정삼 | The wound retractor used in single port laparoscopic surgery through umbilicus |
-
2021
- 2021-11-29 CN CN202111436967.0A patent/CN113876376B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1533258A (en) * | 2001-07-18 | 2004-09-29 | 住友电木株式会社 | Surgical treating instrument |
| CN101627293A (en) * | 2007-03-06 | 2010-01-13 | 伊西康内外科公司 | Hand assisted laparoscopic seal assembly with a ratchet mechanism |
| CN102688072A (en) * | 2011-03-23 | 2012-09-26 | Tyco医疗健康集团 | Surgical retractor including rotatable knobs |
| CN104582609A (en) * | 2012-08-16 | 2015-04-29 | 柯惠Lp公司 | Stabilizing port for surgery for facilitating concurrent introduction of multiple instruments |
| CN105342652A (en) * | 2015-12-29 | 2016-02-24 | 江苏芸迪医疗科技发展有限公司 | Incision dilator for single-hole thoracoscope |
| CN108670332A (en) * | 2018-04-27 | 2018-10-19 | 四川力智久创知识产权运营有限公司 | Assist the stitching devices of endoscope-assistant surgery wound suture |
| CN112957087A (en) * | 2021-05-19 | 2021-06-15 | 上海宇度医学科技股份有限公司 | Laparoscopic surgery retractor, laparoscopic surgery tissue taking-out assembly and taking-out method |
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| CN113876376A (en) | 2022-01-04 |
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