CN114391918B

CN114391918B - Hepatobiliary surgery calculus removing equipment with scene construction effect and imaging system

Info

Publication number: CN114391918B
Application number: CN202210060283.3A
Authority: CN
Inventors: 戴小明
Original assignee: First Affiliated Hospital of University of South China
Current assignee: First Affiliated Hospital of University of South China
Priority date: 2022-01-19
Filing date: 2022-01-19
Publication date: 2022-11-01
Anticipated expiration: 2042-01-19
Also published as: CN114391918A

Abstract

The invention relates to the technical field of surgical calculus extraction, in particular to hepatobiliary surgery calculus extraction equipment with a scene construction effect and a hepatobiliary surgery calculus extraction system. It includes the head mechanism and holds and gets the mechanism, the head mechanism includes the head dustcoat and sets up the stone subassembly of getting inside the head dustcoat, it includes connecting plate and drive plate to get the stone subassembly, connecting plate and head dustcoat inner wall fixed connection, connecting plate and drive plate swing joint to support it, the top of drive plate articulates there is the slabstone of getting, it is the arc structure to get the slabstone, its tip is buckled downwards. According to the invention, the position of the stone is determined by the arranged head cover, and meanwhile, the whole stone taking arm is accommodated in the head cover, so that the stone taking arm cannot be contacted with an object outside the head cover in the moving process of the head mechanism, thereby protecting the external object, ensuring that the stone taking arm is not polluted by the external object, and further improving the sanitation degree of the stone taking arm.

Description

Hepatobiliary surgery calculus removing equipment with scene construction effect and imaging system

Technical Field

The invention relates to the technical field of surgical calculus extraction, in particular to hepatobiliary surgery calculus extraction equipment with a scene construction effect and a hepatobiliary surgery calculus extraction system.

Background

Liver and gall surgery mainly researches serious diseases which seriously threaten the health of Chinese people, such as hepatocellular carcinoma, hepatobiliary calculus, posthepatitic cirrhosis, acute liver failure caused by severe hepatitis and the like.

Therefore, the calculus is a main treatment object in hepatobiliary surgery, the calculus needs to be taken out by virtue of calculus taking equipment in the calculus operation, the holding end which can be opened and closed is usually used for stretching into the calculus in the prior art, then the calculus is taken out, but if the holding end (namely the calculus taking component) is stretched into the process, the external organ stretched into the process is easily contacted, and the calculus taking component always has a certain protruding shape, so that certain threat can be caused to the external organ, and certain pollution can be caused to the calculus taking component.

Disclosure of Invention

The invention aims to provide hepatobiliary surgery calculus removing equipment with a scene construction effect and a imaging system, so as to solve the problems in the background technology.

In order to achieve the above purpose, a hepatobiliary surgery stone extraction device with a scene construction effect is provided, which comprises a head mechanism and a holding mechanism, wherein the head mechanism comprises a head outer cover and a stone extraction assembly arranged inside the head outer cover, the stone extraction assembly comprises a connecting plate and a driving plate, the connecting plate is fixedly connected with the inner wall of the head outer cover, the connecting plate is movably connected with the driving plate and supports the driving plate, the top end of the driving plate is hinged with a stone extraction plate, the stone extraction plate is of an arc-shaped structure, the end part of the stone extraction plate is bent downwards, and a limiting assembly is arranged outside the stone extraction plate, wherein:

the connecting plate, the driving plate and the stone taking plate are matched to form a stone taking arm, the stone taking arm is arranged in the head outer cover in an annular array, and a support plate is arranged in the head outer cover and close to the opening end of the head outer cover;

the holding mechanism comprises a driving rod and a holding pipe, the driving rod is arranged in the holding pipe and is in sliding connection with the holding pipe, the holding pipe is arranged on one side, away from the opening end, of the head outer cover, and the driving rod is in hinged fit with the bottom end of the driving plate.

As a further improvement of the technical solution, a transmission groove is formed in the connecting plate, and a driving plate is movably connected in the transmission groove, wherein:

a support shaft is arranged in the transmission groove, a sliding groove is formed in the driving plate, and the support shaft is connected with the sliding groove in a sliding mode.

As a further improvement of the technical scheme, the opening sizes of the support plate and the stone taking plate are matched with the opening end of the head outer cover.

As the further improvement of this technical scheme, the restriction subassembly includes the slide bar, the slide bar is "U" shape structure to form switching portion and connecting portion, it is connected with a plurality of restriction wheels to rotate in its length direction on the switching portion of slide bar, the connecting portion and the head dustcoat sliding connection of slide bar, the connecting portion of slide bar are provided with slider and pressure disk outward, wherein:

the sliding block is fixedly connected with the head outer cover, the pressure plate is fixedly connected with the sliding rod, and a limiting spring is fixedly connected between the sliding block and the pressure plate;

the stone taking plate penetrates through a clamping groove formed between the sliding rod and the head outer cover.

As a further improvement of the technical scheme, the limiting wheel is of a flexible structure.

As a further improvement of the technical scheme, an end groove is formed in the outer edge of the opening end of the head outer cover, a front-end camera is installed in the end groove, and a built-in camera is installed on the outer wall of the support plate.

As a further improvement of the technical scheme, a movable camera is embedded in the outer wall of the sliding rod.

As a further improvement of the technical scheme, an observation camera is arranged at the inner end of the driving rod.

As a further improvement of the technical scheme, a handle is arranged at the outer end of the driving rod, and a sliding plate is arranged outside the driving rod in the holding pipe.

A system for a hepatobiliary surgery stone extraction device with scene building effect is provided, comprising a monitoring unit, a triggering unit and a display unit, wherein:

the monitoring unit is used for receiving image data of a built-in camera;

the trigger unit is used for sending a trigger instruction to the display unit according to the image data acquired by the built-in camera;

the display unit is used for receiving the trigger instruction and displaying the image of the scene acquired by the camera corresponding to the trigger instruction.

Compared with the prior art, the invention has the following beneficial effects:

1. in the hepatobiliary surgery calculus removing equipment with the scene construction effect and the imaging system, the position of calculus is determined by the arranged head outer cover, and meanwhile, the whole calculus removing arm is accommodated in the head outer cover, so that the calculus removing arm cannot be contacted with an object outside the head outer cover in the moving process of the head mechanism, and therefore the external object is protected, the calculus removing arm is guaranteed not to be polluted by the external object, and the sanitation degree of the calculus removing arm is further improved;

and a plurality of arms of getting the stone receive same drive end drive, a plurality of arms of getting the stone can synchronous movement like this, improve the stability of getting the stone.

2. In this hepatobiliary surgery stone extraction equipment and system of appearing with effect is found to scene, establish movable camera through the outer wall in-line at the slide bar, then at the in-process that head mechanism got into, utilize head mechanism to gather head dustcoat outlying image to when snatching, movable camera enters into the head dustcoat along with the lapse of slide bar in, realizes the collection to the interior image of head dustcoat, thereby realizes that a camera is multi-purpose.

3. In this hepatobiliary surgery stone extraction equipment and system of appearing with effect is built to scene, the monitoring of whole stone extraction environment is accomplished through the built-in camera of monitoring unit cooperation that sets up, then utilizes the trigger unit to send out the trigger command of corresponding camera at the node of every scene, and the display element just can accomplish the formation of image of process scene like this, avoids appearing the formation of image common display of a plurality of different scenes to prevent that other formation of image from disturbing current scene.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an exploded view of the overall structure of the present invention;

FIG. 3 is a schematic view of the head mechanism of the present invention;

FIG. 4 is a schematic view of a restraint assembly according to the present invention;

FIG. 5 is a schematic view of the head housing of the present invention;

FIG. 6 is a schematic view of the drive rod of the present invention;

FIG. 7 is a side view of the head mechanism of the present invention;

FIG. 8 is an enlarged view of the structure of FIG. 7 at A in accordance with the present invention;

FIG. 9 is an enlarged view of the structure of FIG. 7 at B in accordance with the present invention;

fig. 10 is a block diagram of the system unit structure of the present invention.

The various reference numbers in the figures mean:

100. a head mechanism; 110. a head housing; 111. an end slot; 112. a support plate; 113. a connecting ring; 120. a stone taking component; 121. a connecting plate; 1211. a transmission groove; 1212. a fulcrum; 122. a drive plate; 1221. a chute; 123. taking a stone plate; 130. a restraining component; 131. a slide bar; 1311. a slider; 1312. a platen; 132. a restraining spring; 133. a limiting wheel;

200. a gripping mechanism; 210. a drive rod; 211. a grip; 212. a slide plate; 2121. a roller; 220. a holding tube; 230. and (4) a threaded sleeve.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

In addition, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

Example 1

Referring to fig. 1 to fig. 3, one of the objects of the present embodiment is to provide a hepatobiliary surgery stone extraction apparatus with a scene building effect, including a head mechanism 100 and a holding mechanism 200, where the head mechanism 100 includes a head housing 110 and a stone extraction assembly 120 disposed inside the head housing 110, the stone extraction assembly 120 includes a connecting plate 121, the connecting plate 121 is fixedly connected to an inner wall of the head housing 110, a transmission groove 1211 is formed on the connecting plate 121, and a driving plate 122 is movably connected in the transmission groove 1211, specifically, as shown in fig. 9, a fulcrum 1212 is disposed in the transmission groove 1211, a sliding groove 1221 is formed on the driving plate 122, the fulcrum 1212 is slidably connected to the sliding groove 1221, and the driving plate 122 is supported, a stone extraction plate 123 is hinged to a top end of the driving plate 122, the stone extraction plate 123 is an arc-shaped structure, an end of the stone extraction plate 123 is bent downward, and a limiting assembly 130 is disposed outside the stone extraction plate 123, where:

the connecting plate 121, the driving plate 122 and the stone taking plate 123 are matched to form stone taking arms, the stone taking arms are arranged in the head cover 110 in an annular array, and as shown in fig. 5, a support plate 112 is arranged in the head cover 110 near the opening end;

the grasping mechanism 200 includes a driving rod 210 and a grasping tube 220, the driving rod 210 is disposed in the grasping tube 220 and slidably connected thereto, the grasping tube 220 is disposed on a side of the head cover 110 away from the open end, and the driving rod 210 is in hinged fit with a bottom end of the driving plate 122.

The working principle is as follows:

referring to fig. 7, firstly, the open end of the head housing 110 is opposite to the position of the stone, so that the stone enters the head housing 110, when the stone passes through the support plate 112, the driving rod 210 is pulled outwards, because the driving plate 122 is hinged with the driving rod 210, when the driving rod 210 moves outwards, the driving plate 122 rotates anticlockwise in the transmission groove 1211, the fulcrum 1212 slides adaptively in the sliding groove 1221, then the stone taking plate 123 moves forwards and is guided by the support plate 112, and the limiting component 130 limits the bent end of the stone taking plate 123 to retract, when the stone taking plates 123 of a plurality of stone taking arms are synchronously retracted, the stone is "grabbed", and then the whole structure formed by the head housing 110 and the stone taking arms is removed through the holding tube 220, so as to complete the stone taking operation.

It is noted that the openings of the plate 112 and the plate 123 are sized to fit the open end of the head housing 110 in order to facilitate passage of stones through the plate 112 and into the plate 123.

In the embodiment, the position of the stone is determined by the arranged head outer cover 110, and meanwhile, the whole stone taking arm is accommodated in the head outer cover 110, so that the stone taking arm does not contact with an object outside the head outer cover 110 in the moving process of the head mechanism 100, thereby protecting the external object, ensuring that the stone taking arm is not polluted by the external object, and further improving the sanitation degree of the stone taking arm;

Example 2

Referring to fig. 4, the limiting assembly 130 specifically discloses, the limiting assembly 130 includes a sliding rod 131, the sliding rod 131 is a "U" shaped structure, the purpose of the "U" shaped structure is to form an adapter at the bottom of the sliding rod 131, the adapter of the sliding rod 131 is rotatably connected with a plurality of limiting wheels 133 along the length direction thereof, in addition, the "U" shaped design forms two connecting portions, the connecting portion of the sliding rod 131 is slidably connected with the head cover 110, and a sliding block 1311 and a pressing plate 1312 are arranged outside the connecting portion of the sliding rod 131, wherein:

the sliding block 1311 is fixedly connected with the head outer cover 110, the pressure plate 1312 is fixedly connected with the sliding rod 131, and the limiting spring 132 is fixedly connected between the sliding block 1311 and the pressure plate 1312;

the stone pick-up plate 123 passes through a clip groove formed between the slide bar 131 and the head cover 110.

The working principle is as follows:

during the movement of the stone taking plate 123, the sliding rod 131 receives the elastic force of the limiting spring 132 to enable the limiting wheel 133 to contact with the stone taking plate 123 and form a pressing force on the stone taking plate 123, and then the supporting plate 112 is matched to enable the stone taking plate 123 to move downwards during the forward movement, so that the inward contraction of the bent end of the stone taking plate 123 is realized.

Furthermore, the limiting wheel 133 is a flexible structure, such as: rubber, etc., thereby reducing damage to the stone pick-up plate 123 from contact.

Example 3

In order to improve the accuracy in the process of removing stones, the embodiment specifically discloses the installation position of the camera, please refer to fig. 5, an end groove 111 is formed on the outer edge of the opening end of the head housing 110, a front-end camera is installed in the end groove 111, and a built-in camera is installed on the outer wall of the support plate 112, so that the image collected by the front-end camera assists the opening end of the head housing 110 to face stones, and the front-end camera is accommodated in the end groove 111 to protect the stone, and the built-in camera is used for assisting in observing the entering condition of stones.

In addition, as shown in fig. 8, a movable camera is embedded in the outer wall of the sliding rod 131, and when the head mechanism 100 enters, the movable camera is exposed outside the head housing 110, so that images on the periphery of the head housing 110 can be conveniently acquired, and a later-stage imaging scene can be conveniently constructed.

In addition, the inner end of the drive rod 210 is provided with an observation camera for observing the situation where the stone is "grabbed".

Example 4

Considering that the distance that the driving rod 210 is pulled or pushed is difficult to control, for this reason, as shown in fig. 6, a grip 211 is disposed at the outer end of the driving rod 210, and a sliding plate 212 is disposed at the outer portion of the driving rod 210 located inside the holding tube 220, so that the sliding distance of the driving rod 210 is limited by the cooperation of the sliding plate 212 and the grip 211, when the sliding plate 212 is attached to the inner wall of the holding tube 220, the pulling distance is indicated to be in place, and when the grip 211 is attached to the outer wall of the holding tube 220, the pushing distance is indicated to be in place.

Further, a plurality of rollers 2121 are provided outside the slide plate 212, and the friction force generated by the slide plate 212 sliding in the grip tube 220 is reduced by the rotation of the rollers 2121, and the grip 211 is made of rubber to improve the comfort of gripping.

In addition, the head housing 110 is provided with a connecting ring 113 at the side of the holding tube 220, and the connecting ring 113 and the holding tube 220 are connected with a threaded sleeve 230 through external threads, so that the holding tube 220 can be detachably connected, and the head mechanism 100 or the holding mechanism 200 can be replaced and cleaned conveniently in the later period.

Example 5

Considering that the number of cameras is large, the number of image frames formed in this way is large, so that the users cannot observe the images conveniently, and the effect of camera assistance is reduced, for this reason, please refer to fig. 10, this embodiment specifically discloses a system for a hepatobiliary surgery calculus removing apparatus with a scene constructing effect, which includes a monitoring unit, a triggering unit, and a display unit, wherein:

the monitoring unit is used for receiving image data of a built-in camera, and is specifically divided into the following conditions:

in the first posture, when the head mechanism 100 enters, the built-in camera does not monitor that stones enter the head housing 110, the trigger unit forms trigger instructions of the front-end camera and the movable camera, and then image data acquired by the front-end camera and the movable camera are displayed through the display unit to finish the imaging of the scene entering of the head mechanism 100;

in the second posture, when the stones enter the head housing 110, the built-in camera monitors the entering of the stones, so that the trigger unit forms trigger instructions of the built-in camera and the movable camera, and then image data acquired by the built-in camera and the movable camera are displayed through the display unit to finish the imaging of the stone entering scene;

and in the third posture, when the built-in camera monitors that no calculus can be monitored after passing through the second posture, the calculus is indicated to pass through the support plate 112, at the moment, the trigger unit forms a trigger instruction of the movable camera and the observation camera, and then image data acquired by the movable camera and the observation camera are displayed through the display unit so as to finish the imaging of a calculus grabbing scene.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. Hepatobiliary surgery stone extraction equipment with scene constructs effect, its characterized in that: including head mechanism (100) and holding and get mechanism (200), head mechanism (100) includes head dustcoat (110) and sets up at inside stone component (120) of getting of head dustcoat (110), it includes connecting plate (121) and drive plate (122) to get stone component (120), connecting plate (121) and head dustcoat (110) inner wall fixed connection, connecting plate (121) and drive plate (122) swing joint to support it, the top of drive plate (122) articulates there is stone board (123) of getting, it is the arc structure to get stone board (123), its tip is buckled downwards, it is provided with restriction subassembly (130) outward to get stone board (123), wherein:

the connecting plate (121), the driving plate (122) and the stone taking plate (123) are matched to form a stone taking arm, the stone taking arms are arranged in the head outer cover (110) in an annular array, and a support plate (112) is arranged in the head outer cover (110) close to the opening end of the head outer cover;

the holding mechanism (200) comprises a driving rod (210) and a holding pipe (220), the driving rod (210) is arranged in the holding pipe (220) and is in sliding connection with the holding pipe, the holding pipe (220) is arranged on one side, away from the opening end, of the head cover (110), and the driving rod (210) is in hinged fit with the bottom end of the driving plate (122);

a transmission groove (1211) is formed in the connecting plate (121), a driving plate (122) is movably connected in the transmission groove (1211), wherein:

a fulcrum shaft (1212) is arranged in the transmission groove (1211), a sliding groove (1221) is formed in the driving plate (122), and the fulcrum shaft (1212) is in sliding connection with the sliding groove (1221);

the limiting assembly (130) comprises a sliding rod (131), the sliding rod (131) is of a U-shaped structure and forms an adapter part and a connecting part, a plurality of limiting wheels (133) are rotatably connected to the adapter part of the sliding rod (131) along the length direction of the adapter part, the connecting part of the sliding rod (131) is connected with the head cover (110) in a sliding mode, a sliding block (1311) and a pressing plate (1312) are arranged outside the connecting part of the sliding rod (131), and the limiting assembly is characterized in that:

the sliding block (1311) is fixedly connected with the head cover (110), the pressing plate (1312) is fixedly connected with the sliding rod (131), and a limiting spring (132) is fixedly connected between the sliding block (1311) and the pressing plate (1312);

the stone taking plate (123) penetrates through a clamping groove formed between the sliding rod (131) and the head outer cover (110).

2. The hepatobiliary surgery lithotomy apparatus with scene construction effect according to claim 1, wherein: the openings of the support plate (112) and the stone taking plate (123) are matched with the opening end of the head outer cover (110).

3. The hepatobiliary surgery lithotomy apparatus with scene construction effect according to claim 1, wherein: the limiting wheel (133) is of a flexible structure.

4. Hepatobiliary surgery lithotomy apparatus with scene construction effect according to any of claims 1-3, characterized in that: an end groove (111) is formed in the outer edge of the opening end of the head outer cover (110), a front-end camera is mounted in the end groove (111), and a built-in camera is mounted on the outer wall of the support plate (112).

5. The hepatobiliary surgery lithotomy apparatus with scene construction effect according to claim 4, wherein: a movable camera is embedded in the outer wall of the sliding rod (131).

6. The hepatobiliary surgery lithotomy apparatus with scene construction effect according to claim 4, wherein: an observation camera is arranged at the inner end of the driving rod (210).

7. The hepatobiliary surgery lithotomy apparatus with scene construction effect according to claim 4, wherein: the outer end of the driving rod (210) is provided with a handle (211), and the outside of the driving rod (210) in the handle pipe (220) is provided with a sliding plate (212).