CN114533272A - Intracavity soft aspirator for robotic surgery - Google Patents
Intracavity soft aspirator for robotic surgery Download PDFInfo
- Publication number
- CN114533272A CN114533272A CN202210050051.XA CN202210050051A CN114533272A CN 114533272 A CN114533272 A CN 114533272A CN 202210050051 A CN202210050051 A CN 202210050051A CN 114533272 A CN114533272 A CN 114533272A
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- Prior art keywords
- suction hose
- controller
- sliding block
- aspirator
- suction
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- 238000002432 robotic surgery Methods 0.000 title claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 27
- 239000007787 solid Substances 0.000 claims description 17
- 238000000465 moulding Methods 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 6
- 229920002379 silicone rubber Polymers 0.000 claims description 4
- 239000004945 silicone rubber Substances 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 238000001356 surgical procedure Methods 0.000 claims description 3
- 239000003053 toxin Substances 0.000 claims description 3
- 231100000765 toxin Toxicity 0.000 claims description 3
- 238000003491 array Methods 0.000 claims description 2
- 238000013022 venting Methods 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000007547 defect Effects 0.000 abstract description 2
- 238000001125 extrusion Methods 0.000 description 13
- 238000007599 discharging Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 208000032843 Hemorrhage Diseases 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 3
- 239000008280 blood Substances 0.000 description 3
- 210000004369 blood Anatomy 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000000740 bleeding effect Effects 0.000 description 2
- 239000012634 fragment Substances 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005755 formation reaction Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Images
Classifications
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2217/00—General characteristics of surgical instruments
- A61B2217/002—Auxiliary appliance
- A61B2217/005—Auxiliary appliance with suction drainage system
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- External Artificial Organs (AREA)
Abstract
The invention discloses an intracavity soft aspirator for a robot operation, aiming at solving the defects that the existing intracavity soft aspirator for the robot operation is inconvenient to assemble and disassemble and cannot be simply adjusted in length. The suction hose comprises a suction hose and a controller, wherein a plurality of suction holes which are arranged in an array are formed in the end part of the suction hose, the controller comprises a front shell, a rear shell and a sliding block, sliding cavities are formed in the front shell and the rear shell, the sliding block is arranged in the sliding cavities, a spring is arranged between the sliding block and the sliding cavities, an open window is formed in the sliding cavities, the sliding block is exposed through the open window, a limiting model is arranged in the sliding cavities corresponding to the sliding block, a limiting block is arranged on the sliding block, and the limiting model and the limiting block are matched to limit the axial movement of the suction hose in the controller. The flexible suction apparatus has the advantages that the extending length of the flexible suction apparatus can be easily adjusted, the operation is convenient, and the working efficiency is improved.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an intracavity soft aspirator for robotic surgery.
Background
In the process of the pleuroperitoneal cavity operation, some effusion and blood in the cavity need to be absorbed by the suction apparatus, so that bleeding points and focuses are exposed, and the follow-up operation is convenient.
For thoracoabdominal surgery, the conventional hard aspirator sometimes cannot reach the position of effusion or hemorrhage under the interference of the existing viscera. For patients requiring robotic surgery, medical personnel use a soft aspirator to bypass these organs.
However, the existing soft suction apparatus has a relatively complicated structure, is difficult to assemble and disassemble, is difficult for operators and assistants to coordinate, cannot adjust to a proper length in time, is easy to cause unnecessary bleeding, reduces the working efficiency and increases the operation difficulty.
In view of this, the present application aims to provide a flexible suction apparatus for use in a cavity in a robotic surgery, which simplifies the structure of the suction apparatus, so that the suction apparatus can be easily adjusted as required, thereby improving the work efficiency.
Disclosure of Invention
The invention overcomes the defects that the existing flexible aspirator in the cavity for the robot operation is inconvenient to disassemble and assemble and cannot simply adjust the length, and provides the flexible aspirator in the cavity for the robot operation, which has the advantage of convenient disassembly and assembly, can conveniently adjust the extension of the aspirator and improve the working efficiency.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a soft aspirator of intracavity for robot operation, includes to attract hose and controller, the tip that attracts the hose is equipped with the attraction hole that a plurality of arrays were arranged, the controller includes preceding shell, backshell and sliding block, preceding shell and backshell are formed with the slip chamber, the sliding block sets up in the slip chamber, be equipped with the spring between sliding block and the slip chamber, the slip chamber is equipped with open window, the sliding block exposes through open window, the slip chamber corresponds the sliding block and is equipped with spacing molding, be equipped with the stopper on the sliding block, spacing molding and the stopper cooperation restriction attract the axial displacement of hose in the controller.
The controller is used for controlling the suction intensity of the suction hose. The suction hose includes a suction head, a connecting device, and a suction tube, and the suction hose absorbs the accumulated liquid or blood through a suction hole at an end thereof. The sliding block is used for adjusting the length of the suction hose extending out of the controller, and the purpose of the invention is achieved. Specifically, when the sliding block is not stressed, the sliding block is pressed on the limiting modeling under the action of the spring, and the limiting block and the limiting modeling on the sliding block realize the limiting of the suction hose. Thus, the length of the suction hose extending out of the controller is limited. When the extension length of the suction hose needs to be adjusted, the sliding block is pressed down through the exposed opening window, so that the limiting block and the limiting model are separated, the suction pipe is directly pulled at the moment, and the suction hose is adjusted to a required position as required. In order to further limit the axial movement of the suction hose, a friction plate can be attached to the limit molding.
Preferably, the controller is provided with a self-passing discharging structure which discharges solids accumulated on the suction hose by applying pressure to an outer wall of the suction hose. In order to prevent the leakage from affecting the operation as much as possible, the tip of the hollow tube of the aspirator tip, which is a part directly contacted with the leakage, is designed to be narrow, so that solid matters such as human tissue fragments generated in the operation are difficult to be accommodated, and sometimes the solid matters enter the hollow tube even under the suction force of the aspirator and then are clamped in the aspirator tip, so that the aspirator is blocked, and the operation of sucking the leakage cannot be continued. Therefore, the design does not need the structure of poking out the solid from the outside, which is greatly convenient for medical staff. The structure is used for discharging the solid blocking the suction hose by adjusting the distance between the suction hose and the controller.
Preferably, the controller is provided with a blockage removing cavity, the toxin removing cavity comprises an extrusion rod and a displacement cap which are symmetrically arranged, the end part of the extrusion rod is hinged to the side wall of the blockage removing cavity, a first groove is formed in the length direction of the extrusion rod, an adjusting rod is connected to the first groove in a sliding mode, the controller is provided with a second groove corresponding to the adjusting rod, the adjusting rod extends out of the second groove, the parts, extending out of the controller, of the two adjusting rods are inserted into the displacement cap, the displacement cap is provided with a waist groove for enabling the end part of the adjusting rod to slide along the length direction of the displacement cap, and the free end of the extrusion rod is provided with a guide wheel.
The position of the end of the extrusion rod is limited by two structures, one is the hinged part, the other is the position of the adjusting rod, and the position of the adjusting rod in the length direction can be adjusted and the position of the adjusting rod in the width direction can be determined simultaneously by the axial movement of the displacement cover cap. Therefore, the position of the free end of the pressing rod can be adjusted by pushing the displacement cap in the length direction. And pushing the displacement cap, enabling the extrusion rod to be close to and abutted against the suction hose and enabling the suction hose to deform, and then pulling the suction hose, so that the guide wheel continuously pushes the solid to move along the suction hose until the solid is discharged from the end part.
Preferably, the side of the extrusion rod close to the suction hose is provided with a small in-place branch, when the two guide wheels abut against the suction hose, a space is arranged between the tail end of the small guide branch and the suction hose, and when the two guide wheels abut against each other, the small in-place branch clamps the suction hose. The solid is discharged through the axial movement of the suction hose, and the suction hose is likely to fall off from the controller, so that the in-place small branch is arranged, when the guide wheel does not clamp the suction hose any more, the guide wheel and the suction hose are further folded, and the in-place small branch can be clamped on the suction hose at the moment, so that the suction hose is prevented from falling off from the guide wheel.
Preferably, the end of the positioning small support is provided with a friction plate. The friction plate improves the friction force of the in-place small branch on the wall of the suction hose.
Preferably, the material of the suction hose is silicone rubber. The material of the silica gel enables the suction hose to have flexibility, and the position which is difficult to reach by the hard hose can be reached.
Preferably, the displacement cap is provided with a handle body protruding in the direction of the opening window, and the handle body covers the opening window. Promote the handle body, press the sliding block again, only need a finger just can realize, the palm that the finger corresponds holds the controller, and another hand is used for pulling the attraction hose, and this characteristic makes only need just can adjust alone.
Preferably, the limiting modeling is U-shaped, the limiting modeling is excellent bow-shaped, and the opening length of the limiting modeling is smaller than the diameter of the suction hose. The structure limits the suction hose and prevents the suction hose from being separated from the limit model.
Preferably, the side wall of the controller is also rotatably connected with an eccentric wheel, and the eccentric wheel abuts against the suction hose to deform the suction hose so as to change the suction amount of the suction hose. The radial deformation degree of the suction hose is adjusted through the eccentric wheel, so that an operator can conveniently adjust the suction force of the hose.
Compared with the prior art, the invention has the beneficial effects that: (1) the extension length of the soft suction apparatus can be easily adjusted, the operation is convenient, and the working efficiency is improved; (2) the solid blocked in the suction hose is discharged in a mode of pulling the suction hose, so that the self-passing is realized, the intervention of other tools is avoided, and the single-person operation is supported.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a schematic sectional view of the telescopic structure of the suction hose according to the present invention;
FIG. 3 is a cross-sectional view of the self-venting feature of the present invention;
FIG. 4 is a partial view of the controller of the present invention with the displacement cap and handle removed;
FIG. 5 is a schematic view of the displacement cap and the shank of the present invention;
in the figure:
the suction device comprises a suction hose 1, a controller 2, a suction hole 3, a front shell 4, a rear shell 5, a sliding block 6, a sliding cavity 7, a spring 8, an open window 9, a limiting model 10, a limiting block 11, a blocking removal cavity 12, an extrusion rod 13, a first open groove 14, an adjusting rod 15, a second open groove 16, a displacement cover cap 17, a waist groove 18, a guide wheel 19, a positioning small support 20, a handle body 21 and an eccentric wheel 22.
Detailed Description
The present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
Example 1:
an intracavity soft aspirator for a robot operation comprises an aspiration hose 1 and a controller 2.
The material of the suction hose 1 is silicone rubber. The material of the silicone rubber makes the suction hose 1 flexible and can reach positions difficult to reach by hard hoses.
As shown in fig. 1 and 2, the end of the suction hose 1 is provided with a plurality of suction holes 3 arranged in an array, the controller 2 comprises a front shell 4, a rear shell 5 and a sliding block 6, the front shell 4 and the rear shell 5 are formed with a sliding cavity 7, the sliding block 6 is arranged in the sliding cavity 7, a spring 8 is arranged between the sliding block 6 and the sliding cavity 7, the sliding cavity 7 is provided with an open window 9, the sliding block 6 is exposed through the open window 9, the sliding cavity 7 is provided with a limit model 10 corresponding to the sliding block 6, the sliding block 6 is provided with a limit block 11, and the limit model 10 is matched with the limit block 11 to limit the axial movement of the suction hose 1 in the controller 2. The limiting modeling 10 is U-shaped, the limiting modeling 10 is excellent bow-shaped, and the opening length of the limiting modeling 10 is smaller than the diameter of the suction hose 1. The structure limits the suction hose 1 and prevents the suction hose 1 from falling out of the limit molding 10.
The side wall of the controller 2 is also rotatably connected with an eccentric wheel 22, and the eccentric wheel 22 is abutted against the suction hose 1 to deform the suction hose 1 so as to change the suction amount of the suction hose 1. The radial deformation degree of the suction hose 1 is adjusted through the eccentric wheel 22, so that the operator can conveniently adjust the suction force of the hose.
The controller 2 is used to control the suction strength of the suction hose 1. The suction hose 1 includes a suction head, a connection device, and a suction tube, and the suction hose 1 absorbs the effusion or blood through the suction holes 3 at the end portion thereof. The slide block 6 is used to adjust the length of the suction hose 1 extending out of the controller 2, and the object of the present invention is achieved. Specifically, when the sliding block 6 is not stressed, the sliding block 6 is pressed on the limiting modeling 10 under the action of the spring 8, and the limiting block 11 and the limiting modeling 10 on the sliding block 6 limit the suction hose 1. Thus, the length of the suction hose 1 extending out of the controller 2 is limited. When the extending length of the suction hose 1 needs to be adjusted, the sliding block 6 is pressed down through the exposed opening window 9, so that the limiting block 11 and the limiting modeling 10 are separated, the suction pipe is directly pulled at the moment, and the position is adjusted to a required position as required. To further limit the axial displacement of the suction hose 1, friction disks can be applied to the stop formations 10.
Example 2:
in the present embodiment, there is also a self-priming discharge structure for discharging solids clogged in the suction hose 1 by pulling the suction hose 1.
As shown in fig. 3, 4 and 5, the controller 2 is provided with a self-feeding structure for discharging solids accumulated on the suction hose 1 by applying pressure to the outer wall of the suction hose 1. In order to prevent the leakage from affecting the operation as much as possible, the part directly contacting with the leakage, that is, the end of the hollow tube of the aspirator tip is often designed to be narrow, so that it is difficult to accommodate solid substances such as fragments of human tissues generated during the operation. Therefore, the design does not need the structure of poking out the solid from the outside, which is greatly convenient for medical staff. The above structure is to discharge the solid blocking the suction hose 1 by adjusting the distance of the suction hose 1 from the controller 2. Be equipped with on controller 2 and arrange stifled chamber 12, the chamber of expelling toxin includes the extrusion stem 13 and the displacement block 17 that the bisymmetry set up, extrusion stem 13 tip articulates on arranging the lateral wall in stifled chamber 12, and the length direction of extrusion stem 13 is equipped with first fluting 14, and sliding connection has an adjusting lever 15 on first fluting 14, and controller 2 corresponds adjusting lever 15 and is equipped with second fluting 16, and adjusting lever 15 stretches out from second fluting 16, and the part cartridge that two adjusting levers 15 stretched out controller 2 is in displacement block 17, displacement block 17 is equipped with and supplies adjusting lever 15 tip along the gliding waist groove 18 of displacement block 17 length direction, and the free end of extrusion stem 13 is equipped with leading wheel 19.
The displacement cap 17 is provided with a handle body 21 projecting in the direction of the opening window 9, and the handle body 21 covers the opening window 9. Promote the handle body 21, press down sliding block 6 again, only need a finger just can realize, the palm that the finger corresponds holds controller 2, and the other hand is used for pulling attraction hose 1, and this characteristic makes only need alone just can adjust.
The position of the end of the pressing rod 13 is restricted by two structures, one is its hinge and the other is the position of the adjusting rod 15, and by the axial movement of the displacement cap 17, the position of the adjusting rod 15 in the length direction can be adjusted while determining its position in the width direction. Therefore, the position of the free end of the pressing rod 13 can be adjusted by pushing the displacement cap 17 in the length direction. Pushing the displacement cap 17, the squeezing stem 13 closes and abuts the suction hose 1 and deforms the suction hose 1, and then pulling the suction hose 1, so that the guide wheel 19 constantly pushes the solids along the suction hose 1 until they are discharged from the end.
The side of the extrusion rod 13 close to the suction hose 1 is provided with a small in-place branch 20, when the two guide wheels 19 abut against the suction hose 1, a space is arranged between the tail end of the small guide branch and the suction hose 1, and when the two guide wheels 19 abut against, the small in-place branch 20 clamps the suction hose 1. Since the solids are discharged by the axial movement of the suction hose 1, the suction hose 1 may come off the controller 2, and therefore, the position-setting small arm 20 is provided, and when the guide wheel 19 no longer holds the suction hose 1 and the two are further closed, the position-setting small arm 20 is held on the suction hose 1, and the suction hose 1 is prevented from coming off the position-setting small arm. The end of the positioning small support 20 is provided with a friction plate. The friction lining increases the friction of the pilot pin 20 against the wall of the suction hose 1.
The above-described embodiments are merely preferred embodiments of the present invention, which is not intended to be limiting in any way, and other variations and modifications are possible without departing from the scope of the invention as set forth in the appended claims.
Claims (9)
1. The utility model provides a soft aspirator of intracavity for robot operation, characterized by, including attracting hose and controller, the tip that attracts the hose is equipped with the attraction hole that a plurality of arrays were arranged, the controller includes preceding shell, backshell and sliding block, preceding shell and backshell are formed with the slip chamber, the sliding block sets up in the slip chamber, be equipped with the spring between sliding block and the slip chamber, the slip chamber is equipped with open window, the sliding block exposes through open window, the slip chamber corresponds the sliding block and is equipped with spacing molding, be equipped with the stopper on the sliding block, spacing molding and stopper cooperation restriction attract the axial displacement of hose in the controller.
2. The robotic surgical endoluminal soft aspirator of claim 1, wherein the controller is provided with a self-venting drain structure for draining solids accumulated on the suction hose by applying pressure to an outer wall of the suction hose.
3. An intracavity soft aspirator for robot operation as claimed in claim 2, wherein the controller is provided with a blockage removing chamber, the toxin expelling chamber comprises two symmetrically arranged extruding rods and a displacement cap, the ends of the extruding rods are hinged on the side walls of the blockage removing chamber, the extruding rods are provided with first slots along the length direction, adjusting rods are slidably connected with the first slots, the controller is provided with second slots corresponding to the adjusting rods, the adjusting rods extend out of the second slots, the parts of the two adjusting rods extending out of the controller are inserted into the displacement cap, the displacement cap is provided with a waist slot for the ends of the adjusting rods to slide along the length direction of the displacement cap, and the free ends of the extruding rods are provided with guide wheels.
4. A flexible intraluminal aspirator for robotic surgery according to claim 3, wherein the side of the squeeze bar adjacent to the suction hose is provided with a positioning leg, the end of the guiding leg being spaced from the suction hose when the two guide wheels abut against the suction hose, the positioning leg clamping the suction hose when the two guide wheels abut against.
5. The flexible intracavity aspirator for robot surgery, according to claim 4, wherein a friction plate is provided at the end of the arrival place holder.
6. The flexible intracavity aspirator for robot surgery as claimed in claim 1, wherein the suction hose is made of silicone rubber.
7. The robotic surgical endoluminal soft aspirator of any one of claims 3 to 5, wherein the displacement cap is provided with a handle extending in the direction of the open window, the handle covering the open window.
8. The flexible endoluminal aspirator for robotic surgery according to claim 1, wherein the limiting profile is U-shaped, the limiting profile is preferably bow-shaped, and the opening length of the limiting profile is smaller than the diameter of the suction hose.
9. A flexible robot surgical endoluminal aspirator according to claim 1 or 8, wherein the side wall of the controller is further rotatably connected with an eccentric wheel which abuts against and deforms the suction hose to change the suction amount of the suction hose.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210050051.XA CN114533272B (en) | 2022-01-17 | 2022-01-17 | Intracavity soft aspirator for robot operation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210050051.XA CN114533272B (en) | 2022-01-17 | 2022-01-17 | Intracavity soft aspirator for robot operation |
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| CN114533272B CN114533272B (en) | 2023-12-01 |
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| Publication number | Publication date |
|---|---|
| CN114533272B (en) | 2023-12-01 |
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