CN212816365U - Endoscope nailing device with angle deflection tracking guiding and ultrasonic positioning functions - Google Patents

Abstract

The utility model discloses an endoscope nailing device with angle deflection tracking guiding and ultrasonic positioning functions, which comprises a handle, a conical protective sleeve, an insertion tube, a rigid section, a bending part and a top end part, wherein a nail bin seat component is fixedly arranged on the side surface of the rigid section; a chopping board is fixedly arranged on the end face of the top end part; an angle tracking sensor is arranged on one side of the nail bin seat; an ultrasonic detector is arranged on the end face of the top end part; an ultrasonic reflector is arranged in the nail bin seat and corresponds to the ultrasonic detector; the ultrasonic reflector can judge whether the chopping block at the top end part is perfectly matched with the nail bin seat of the rigid section. The utility model discloses combine scope angle deflection tracking and supersound locate function together ingeniously, can confirm the position of nail close point and the relative position between a plurality of nail close points accurately to improve the treatment of operation.

Description

Endoscope nailing device with angle deflection tracking guiding and ultrasonic positioning functions

Technical Field

The utility model relates to a minimally invasive surgery treatment instrument, in particular to an endoscope nailing device with angle deflection tracking guiding and ultrasonic positioning functions.

Background

At present, with the continuous development of endoscope technology, the function of the endoscope has been changed greatly, and the function is gradually changed from a simple diagnosis tool to an advanced diagnosis and treatment tool. Minimally invasive surgery using an endoscope is favored by both doctors and patients due to the advantages of small trauma, short operation time, quick recovery after operation and the like, and becomes an indispensable tool in the diagnosis and treatment process of digestive system diseases.

Gastroesophageal reflux disease (GERD) refers to the reflux of excess contents of the stomach or duodenum into the esophagus, causing symptoms such as acid regurgitation, heartburn, and the like, and may cause esophagitis and tissue damage other than the esophagus, such as the pharynx, larynx, trachea, and the like. Gastroesophageal reflux disease (GERD) is a common disease in Western countries, and studies have shown that the incidence rate of gastroesophageal reflux disease in Western countries is about 10% -20%, Australia is about 11.6%, and Asian is about 5% in recent years. The incidence rate increases with the age, and the age of 40-60 years is the peak incidence age, and men and women have no difference, but patients with reflux esophagitis are more male than female. With the improvement of the living standard of residents, the requirements of people on the quality of life are continuously improved, and the gastroesophageal reflux prevalence rate is 5.77 percent in China according to the statistics of the digestive disease society of the Chinese medical society. Patients with gastroesophageal reflux disease in general can be cured by changing lifestyle or medication. However, some patients with cardia laxity or hiatal hernia have poor effects after drug treatment, some patients can only solve part of symptoms after drug treatment, and some patients need to insist on taking the medicine for a long time, and the patients need to be treated by surgical operation. Studies have shown that about 25% to 30% of patients with GERD have poor drug therapy or are intolerant of long-term medication and require surgical treatment.

The existing surgical treatment of gastroesophageal reflux disease generally adopts laparoscopic fundoplication or endoscopic suturing technology and radio frequency ablation technology, although the problem of repeated attack of symptoms can be solved, postoperative complications are often accompanied, and the postoperative quality of life is greatly influenced, so the mode of surgical treatment of gastroesophageal reflux disease is not popularized, and once the gastroesophageal reflux disease is suffered, the quality of life of a patient is obviously reduced.

In addition, in the traditional endoscopic surgery, a doctor needs to perform the surgery by means of other auxiliary visualization devices, the angle deflection is not convenient for visual judgment, and the blind subjectivity is brought to the surgery positioning process by relying on the individual surgical clinical experience and skill of the doctor and the familiar condition and the surgical experience of the doctor on tissues.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a scope nailing device with angle deflection tracking direction and supersound locate function is provided, it can improve the precision of operation in-process location to improve the accuracy of operation.

In order to solve the technical problem, the utility model discloses scope nailing device with angle deflection tracking direction and supersound locate function's technical solution does:

the front end of the handle 1 is fixedly connected with the insertion tube 3 through the conical protective sleeve 2, and the front end of the insertion tube 3 is sequentially and fixedly connected with the rigid section 4, the bending part 5 and the top end part 6; the side part of the rigid section 4 and the end part of the top end part 6 form a nailing mechanism; the handle 1 controls the bending angle of the bending part 5, so that the end surface of the top end part 6 corresponds to the side surface of the rigid section 4, and the top end part 6 is in a nailing state; a nail bin seat assembly is arranged on the side surface of the rigid section 4, and a plurality of titanium nail accommodating grooves 4-3-1 for accommodating titanium nails 4-4 are formed in the nail bin seat assembly; a chopping board 6-2 is fixedly arranged on the end face of the top end part 6; when the top end part 6 is in a nailing state, the titanium nails 4-4 on the cartridge seat component correspond to the chopping board 6-2 of the top end part 6; an angle tracking sensor 7 is arranged on one side of the nail bin seat component; the angle tracking sensor 7 is fixedly arranged on the side surface of the rigid section 4; the angle tracking sensor 7 and the nail bin seat component are positioned in the same circumferential direction of the rigid section 4; an ultrasonic detector 10 is arranged on the end face of the top end part 6; the nail bin seat assembly is provided with a reflector containing groove 4-3-2, an ultrasonic reflector 4-5 is contained in the reflector containing groove 4-3-2, and the ultrasonic reflector 4-5 corresponds to the ultrasonic detector 10; the ultrasonic reflector 4-5 can reflect the ultrasonic signal emitted by the ultrasonic detector 10 and send the reflected ultrasonic signal to the ultrasonic detector 10, so as to judge whether the anvil 6-2 at the top end part 6 is well matched with the cartridge holder assembly of the rigid section 4.

In another embodiment, the surface of the anvil 6-2 is curved to conform to the surface of the cartridge holder assembly; the length direction of the cutting board 6-2 corresponds to the circumferential direction of the nail bin seat component; when the top end part 6 is in a nailing state, the surface of the anvil 6-2 is matched with the side part of the rigid section 4, and the surface of the anvil 6-2 can provide bending reaction force for the titanium nail 4-4 ejected from the rigid section 4 so as to bend two nail legs of the titanium nail 4-4.

In another embodiment, an end positioning pin 11 is movably arranged on one side of the ultrasonic detector 10, and the end positioning pin 11 can perform telescopic motion relative to the top end part 6 under the action of a positioning pin driving motor; the nail bin seat component is provided with a positioning pin hole 4-3-3; the end positioning pin 11 corresponds to the positioning pin hole 4-3-3.

In another embodiment, the bending angle of the bending portion 5 is in a range of 0 to 270.

In another embodiment, the rigid section 4 comprises a rigid section shell 4-1, one end of the rigid section shell 4-1 is fixedly connected with a sensor positioning disc 4-2, a sensor positioning groove 4-2-1 is formed in the side part of the sensor positioning disc 4-2, and the angle tracking sensor 7 is fixedly arranged in the sensor positioning groove 4-2-1; the angle tracking sensor 7 is connected with an angle signal control system through an angle tracking sensor signal line 7-1.

In another embodiment, the sensor positioning slot 4-2-1 is located in the same circumferential direction of the rigid section 4 as the cartridge holder assembly.

In another embodiment, the end face of the top end portion housing 6-1 is provided with an ultrasonic detector mounting hole 6-1-7, and the ultrasonic detector mounting hole 6-1-7 corresponds to the reflector receiving groove 4-3-2 of the cartridge holder assembly.

In another embodiment, the outer diameters of the insertion tube 3, rigid section 4, bending section 5, and tip section 6 are smaller than the inner diameter of the esophagus 201.

The utility model discloses the technological effect that can reach is:

the utility model discloses be provided with angle tracking sensor in the rigidity section, when the handle was around axial rotation, the rigidity section took place the axial thereupon and deflected, then angle tracking sensor also took place to deflect thereupon together, and angle tracking sensor transmits the mainboard to the deflection angle signal in real time, and after this deflection angle signal was received to the mainboard, finally show in the display picture directly perceivedly. The utility model discloses a relative position of top portion and esophagus can accurately be confirmed to angle tracking sensor to confirm the concrete position at another stomach fundus, thereby confirm the relative position of each nail close point, provide accurate, audio-visual guide for the folding art at the bottom of the stomach.

The utility model discloses can deflect the angle of scope and carry out real-time tracking and the skew that the location target position takes place reminds to can accurately confirm the scope top.

The utility model discloses a position location of the nail storehouse seat of top portion and rigidity section is confirmed to the ultrasonic wave detection instrument to can accurately confirm the folding position of nailing with the esophagus hypomere at the bottom of the stomach, and the skew that the location target location takes place reminds, this just as provides third eyes and hand for the doctor, can treat at the patient is internal accurately, provides objective, accurate, directly perceived, scientific means for surgeon's operation scheme.

The utility model discloses combine scope angle deflection tracking and supersound locate function together ingeniously, can confirm the position of nail close point and the relative position between a plurality of nail close points accurately to and the skew that the location target location takes place reminds, thereby improve the treatment of operation. The utility model discloses can improve the operation quality effectively, ensure operation safety, reduce the operation in-process not measurable risk.

Drawings

It is to be understood by those skilled in the art that the following description is merely exemplary in nature and that the principles of the present invention may be applied in numerous ways to achieve many different alternative embodiments. These descriptions are only used to illustrate the general principles of the teachings of the present invention and are not meant to limit the inventive concepts disclosed herein.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the general description given above and the detailed description of the drawings given below, serve to explain the principles of the invention.

The invention will be described in further detail with reference to the following drawings and detailed description:

fig. 1 is a schematic view of the endoscope nailing device with the functions of angle deflection tracking guiding and ultrasonic positioning of the present invention;

fig. 2 to 8 are schematic views of the operation process of the present invention;

fig. 9 is a schematic view of a titanium nail according to the present invention, the titanium nail being shown in an original state;

FIG. 10 is a schematic view of a titanium nail according to the present invention, shown in a stapled state;

fig. 11 is a schematic view of a rigid section of the present invention;

fig. 12 is an exploded schematic view of the rigid section assembly of the present invention;

FIG. 13 is a schematic view of the cartridge seat of the present invention;

fig. 14 is a schematic view of the tip end portion of the present invention;

fig. 15 is a schematic end view of the tip end portion of the present invention;

FIG. 16 is a schematic sectional view A-A of FIG. 15;

figure 17 is a schematic view of the cutting board of the present invention;

fig. 18 is an exploded schematic view of the tip end portion of the present invention;

fig. 19 is a schematic sectional view of the tip end portion of the present invention;

fig. 20 is a schematic view of a top end mount of the present invention;

fig. 21 is a side schematic view of the top end mount of the present invention;

fig. 22 is a schematic sectional view taken along line B-B of fig. 21.

The reference numbers in the figures illustrate:

100 is an endoscope nailing device which comprises a nail head,

1 is a handle, 2 is a conical protective sleeve,

3 is an insertion tube, 4 is a rigid section,

5 is a bending part, 6 is a top end part,

an angle tracking sensor 7, a miniature camera 8,

9 is an LED lamp, 10 is an ultrasonic detector,

the positioning pin 11 is an end positioning pin,

4-1 is a rigid section shell, 4-2 is a sensor positioning disk,

4-3 is a nail bin seat, 4-4 is a titanium nail,

4-5 are ultrasonic wave reflecting mirrors,

4-2-1 is a sensor positioning groove,

4-3-1 is a titanium nail accommodating groove, 4-3-2 is a reflector accommodating groove,

4-3-3 is a positioning pin hole, 4-3-4 is a chopping board screw matching hole,

6-1 is a top seat, 6-2 is a chopping block,

6-3 is a chopping board screw, 6-4 is a chopping board driving shaft,

6-5 is a driven gear, 6-6 is a screw guide seat of the chopping board,

6-7 are driven gear positioning pins, 6-8 are chopping block positioning pins,

6-1-1 is a top seat body, 6-1-2 is a chopping block positioning groove,

6-1-3 is a cutting board driving shaft through hole, 6-1-4 is a driven gear shaft through hole,

6-1-5 is an LED lamp positioning hole, 6-1-6 is a micro camera positioning hole,

6-1-7 is an ultrasonic detector mounting hole, 6-1-8 is an end positioning pin accommodating hole,

6-1-9 is a driven gear positioning pin through hole, 6-1-10 is a limit boss,

6-2-0 is the chopping block body, 6-2-1 is the chopping block screw through hole,

6-2-2, 6-2-3, 6-2-4, 6-2-5 and 6-2-6 are titanium nail bending guide grooves,

6-2-7 is a first baffle lug, 6-2-8 is a second baffle lug,

7-1 is an angle tracking sensor signal line,

9-1 is an LED lamp shade,

the esophagus 201 and the stomach 202 are shown.

Detailed Description

In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined below to clearly and completely describe the technical solution of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.

As shown in fig. 1, the endoscope nailing device 100 with angle deflection tracking guiding and ultrasonic positioning functions of the present invention comprises a handle 1, a conical protection sleeve 2, an insertion tube 3, a rigid section 4, a bending portion 5 and a top end portion 6, wherein the front end of the handle 1 is fixedly connected with the insertion tube 3 through the conical protection sleeve 2, and the front end of the insertion tube 3 is fixedly connected with the rigid section 4, the bending portion 5 and the top end portion 6 in sequence; the side surface of the rigid section 4 and the end surface of the top end part 6 form a nailing mechanism;

the outer diameters of the insertion tube 3, the rigid section 4, the bending section 5 and the tip section 6 are smaller than the inner diameter of the esophagus 201, so that the front end of the endoscopic stapling apparatus can be inserted into the stomach 202 through the esophagus 201 through the oral cavity;

the handle 1 is provided with a bending angle control mechanism which can control the bending angle of the bending part 5, so that the included angle between the top end part 6 at the two ends of the bending part 5 and the rigid section 4 is changed within the range of 0-270 degrees, and the end surface of the top end part 6 is driven to move relative to the side surface of the rigid section 4;

in the initial state, the bending angle of the bending part 5 is 0 degrees, and then the top end part 6, the bending part 5 and the rigid section 4 are on the same straight line; the front end of the endoscopic stapling device 100 (i.e., the tip portion 6, the bending portion 5 and the rigid section 4) is inserted into the stomach 202 through the mouth via the esophagus 201, and the inside of the stomach 202 (e.g., mucosal structure) can be observed by the micro-camera 8 of the tip portion 6, as shown in FIG. 2;

when the rigid segment 4 is positioned at the bottom of the esophagus 201, as shown in fig. 3, the bending angle control mechanism of the handle 1 is manipulated to gradually bend the bending portion 5 to move the tip portion 6 relative to the rigid segment 4, thereby changing the relative position between the end surface of the tip portion 6 and the side surface of the rigid segment 4;

when the bending angle of the bending part 5 reaches 180 degrees, the end face of the top end part 6 is pressed against the inner wall of a part of the fundus stomach; in the course of increasing the bending angle of the bending portion 5 from 180 ° to 270 °, the portion of the fundus is pushed by the end face of the tip portion 6 to move toward the esophageal direction, as shown in fig. 4;

when the bending angle of the bending portion 5 is 270 °, the portion of the fundus is pushed by the end surface of the tip portion 6 to overlap with the lower section of the esophagus, thereby achieving folding of the portion of the fundus with the esophagus, as shown in fig. 5; when the side surface of the rigid section 4 is opposite to the end surface of the tip end portion 6, the ultrasonic reflector 4-5 of the rigid section 4 can reflect all ultrasonic signals emitted by the ultrasonic detector 10 of the tip end portion 6 and send the reflected ultrasonic signals to the ultrasonic detector 10, the bending portion 5 is bent to the position, and the tip end portion 6 is in the nailing state, as shown in fig. 6;

the end positioning pin 11 is driven by the positioning pin driving motor to extend outwards, so that the tip of the end positioning pin 11 of the top end part 6 passes through two layers of tissues of the fundus and esophagus and extends into the positioning pin hole 4-3-3 of the rigid section 4, the top end part 6 is kept in a nailing state, and the position positioning between the top end part 6 and the rigid section 4 is realized; because the hole depth of the positioning pin hole 4-3-3 is smaller than the extension length of the end positioning pin 11, when the end positioning pin 11 extends to the right position, a distance H1 is formed between the end surface of the top end part 6 and the side surface of the rigid section 4, and the distance H1 is the thickness of two layers of tissues;

then, the two chopping board screws 6-3 are driven by the chopping board screw driving mechanism to extend outwards, so that the tip ends of the chopping board screws 6-3 at the top end part 6 penetrate through the two layers of tissues and are screwed into the chopping board screw matching holes 4-3-4 of the nail bin seat 4-3 of the rigid section 4; in the process that the chopping board screws 6-3 are screwed inwards, the two chopping board screws 6-3 respectively penetrate through the two layers of tissues along the thickness direction and extrude the two layers of tissues together; because the hole depth of the anvil screw fitting hole 4-3-4 is smaller than the extension length of the anvil screw 6-3, when the anvil screw 6-3 extends in place, a distance H2 is formed between the end surface of the top end portion 6 and the side surface of the rigid section 4, and the distance H2 is the nailing thickness of the titanium nail 4-4; h1 > H2; after the chopping board screw 6-3 extends to the right position, the end positioning pin 11 can be retracted;

starting a titanium nail firing mechanism, simultaneously ejecting five titanium nails 4-4 (at the moment, the titanium nails 4-4 are in the shape shown in fig. 9, and the legs of the titanium nails 4-4 are outward) of the nail bin assembly, wherein the titanium nails 4-4 sequentially penetrate through the lower esophageal section and part of the fundus tissue after being ejected, and are subjected to the reaction force of the chopping board 6-2 at the end surface of the top end part 6, so that the two legs of the titanium nails 4-4 are bent inwards to form a B shape shown in fig. 10, at the moment, the titanium nails 4-4 can nail the lower esophageal section and part of the two layers of the fundus tissue together to form a folding nailing part 200, as shown in fig. 7, so that the part is nailed and fixed, at the moment, the titanium nails 4-4 can tightly fix the two layers of tissues together, thereby forming a new acute angle of His alpha;

replacing a new nail bin seat assembly, rotating the handle 1 by an angle around the axial direction to enable the end surface of the top end part 6 to contact the inner wall of the other stomach fundus, and realizing the folding and nailing of the other stomach fundus and the lower esophagus segment as shown in fig. 8; according to the practical situation, a plurality of (such as three) folds and staples are implemented around the circumference of the esophagus, so that the circle of His angle alpha around the esophagus is restored to an acute angle, the gastroesophageal flap valve is restored, and an effective barrier for preventing the gastroesophageal reflux is established.

The utility model discloses a tip locating pin 11 realizes the relative position location between top portion 6 and the rigidity section 4 before the stitching to can realize treating the preliminary location of the tissue of stitching, with avoid or reduce the skew that takes place the locating position at the in-process tissue of stitching, thereby improve the operation precision.

The utility model discloses a tissue that the chopping block screw 6-3 was treated to the nailing is extruded and is fixed a position to make the leg of a nail of titanium nail 4-4 in the nailing process after bending titanium nail 4-4 can closely fix two-layer tissue together and can not take place to separate, thereby can ensure that newly formed His angle (gastroesophageal angle) can not change for a long time. Furthermore, the utility model discloses a chopping block screw 6-3 confirms the nailing thickness of titanium nail 4-4 to ensure that titanium nail 4-4 can accurately launch to chopping block 6-2 titanium nail guide slot of bending, make the device can be applicable to different crowds, even the thickness that leads to individual stomach end and the two-layer tissue of esophagus is different because the physique is different, also can not produce the phenomenon that the nailing is not firm, the operation effect descends.

The utility model precisely controls the extending stroke of the chopping board screw 6-3 through the chopping board screw driving mechanism, so that the thickness of the two-layer tissue between the end surface of the top end part 6 and the side surface of the rigid section 4 is gradually reduced and reaches the nailing thickness of the titanium nail 4-4 which can carry out nailing; the thickness variation of the two layers of tissue can be monitored by the ultrasonic detector 10, so that the thickness of the stapled tissue can be accurately controlled.

The utility model discloses well bent angle control mechanism that is used for controlling flexion 5 is prior art, and is no longer repeated here.

As shown in fig. 11, the rigid section 4 includes a rigid section housing 4-1, one end of the rigid section housing 4-1 is fixedly connected with a sensor positioning plate 4-2, a sensor positioning groove 4-2-1 is formed in a side portion of the sensor positioning plate 4-2, and an angle tracking sensor 7 is fixedly arranged in the sensor positioning groove 4-2-1; the angle tracking sensor 7 is connected with one end of an angle tracking sensor signal line 7-1, and the other end of the angle tracking sensor signal line 7-1 is connected with the main board to realize synchronous transmission and feedback of signals;

a nail bin seat groove 4-1-1 extending along the axial direction is formed in the side part of the rigid section shell 4-1, a titanium nail firing part 4-7 is movably arranged in the nail bin seat groove 4-1-1, and the length of the titanium nail firing part 4-7 is smaller than that of the nail bin seat groove 4-1-1; one end of the titanium nail firing part 4-7 is fixedly connected with one end of the launching steel wire 4-8, and the other end of the launching steel wire 4-8 is connected with the handle 1; the launching steel wire 4-8 can be pulled through the control handle 1, so that the titanium nail firing part 4-7 is driven to move back and forth along the nail bin seat groove 4-1-1;

a nail bin seat assembly is arranged in the nail bin seat groove 4-1-1, five titanium nail accommodating grooves 4-3-1 are formed in the nail bin seat assembly, and the titanium nail accommodating grooves 4-3-1 are used for accommodating titanium nails 4-4 and a propeller 4-6; the propeller 4-6 is abutted against the bottom of the titanium nail 4-4;

the nail bin seat assembly comprises a nail bin seat 4-3, the surface of the nail bin seat 4-3 is part of the circumference of the rigid section shell 4-1 (namely the arc-shaped surface of the nail bin seat 4-3 is part of the circumference of the rigid section shell 4-1);

as shown in fig. 13, five titanium nail accommodating grooves 4-3-1 are formed in the nail bin seat 4-3, and titanium nails 4-4 and a propeller 4-6 are accommodated in the titanium nail accommodating grooves 4-3-1; the propeller 4-6 is positioned at the bottom of the titanium nail 4-4;

the nail bin seat 4-3 is also provided with a reflector containing groove 4-3-2, an ultrasonic reflector 4-5 is arranged in the reflector containing groove 4-3-2, and the ultrasonic reflector 4-5 is used for reflecting an ultrasonic signal emitted by the ultrasonic detector 10 and sending the reflected ultrasonic signal to the ultrasonic detector 10;

the nail bin seat 4-3 is also provided with a positioning pin hole 4-3-3 corresponding to the end positioning pin 11 and two chopping board screw matching holes 4-3-4 corresponding to the chopping board screws 6-3; the hole depth of the positioning pin hole 4-3-3 is smaller than the extension length of the end positioning pin 11, and the hole depth of the chopping board screw matching hole 4-3-4 is smaller than the extension length of the chopping board screw 6-3.

The utility model discloses set up ultrasonic reflector 4-5 in near titanium nail storage tank 4-3-1, set up ultrasonic detection instrument 10 in the terminal surface of top portion 6, under the assistance of ultrasonic detection instrument 10, can accurately confirm the nail close point to can improve the operation precision of stomach fundus fold art by a wide margin.

The utility model discloses be provided with angle tracking sensor 7 on rigidity section 4, when handle 1 pivoting when rotatory, rigidity section 4 takes place the axial deflection thereupon, then angle tracking sensor 7 also takes place the deflection thereupon together, and angle tracking sensor 7 transmits the mainboard with the deflection angle signal in real time, and after this deflection angle signal was received to the mainboard, finally show in the display picture directly perceivedly. The utility model discloses a relative position of top portion 6 and esophagus can accurately be confirmed to angle tracking sensor 7 to confirm the concrete position of another stomach fundus, provide accurate, audio-visual guide for the stomach fundus folding art.

As shown in fig. 14 to 16, the top end portion 6 comprises a top end seat 6-1, an end face of the top end seat 6-1 is provided with a cutting board 6-2, a micro camera 8, an LED lamp 9, an ultrasonic detector 10 and an end portion positioning pin 11, the cutting board 6-2 is fixedly arranged in the middle of the end face, the length of the cutting board 6-2 extends in the longitudinal direction, and the surface of the cutting board 6-2 protrudes out of the end face of the top end seat 6-1, so that a bending force can be provided for the titanium nails 4-4; the miniature camera 8 and the LED lamp 9 are positioned on one side of the chopping board 6-2, and the ultrasonic detector 10 and the end positioning pin 11 are positioned on the other side of the chopping board 6-2; the LED lamp 9 is used for providing an illumination light source, and the micro camera 8 is used for collecting images; the ultrasonic detector 10 is used for transmitting and receiving ultrasonic signals; the ultrasonic detector 10 is matched with the ultrasonic reflector 4-5 of the rigid section 4, the ultrasonic detector 10 emits an ultrasonic signal, the ultrasonic signal is reflected back to the ultrasonic detector 10 through the ultrasonic reflector 4-5, and the ultrasonic detector 10 judges whether the top end part 6 is perfectly matched with the position of the nail bin seat 4-3 of the rigid section 4 according to the strength change condition of the received signal; when the ultrasonic signal is stable, the end positioning pin 11 extends outwards and is matched with the positioning pin hole 4-3-3 of the rigid section 4, so that the tissue is positioned;

the middle part of the end part positioning pin 11 is provided with an external thread 11-1, and the end part positioning pin 11 is connected with the top end seat 6-1 through a thread; the free end of the end positioning pin 11 is a tip end, and the fixed end of the end positioning pin 11 is connected with a positioning pin driving motor; the end positioning pin 11 is driven to rotate by the positioning pin driving motor, so that the end positioning pin 11 can move in a telescopic manner relative to the top seat 6-1; the free end of the end positioning pin 11 is matched with the positioning pin hole 4-3-3 of the rigid section 4, so that tissue positioning can be carried out, and the deviation of the positioning position of the tissue in the operation process is avoided or reduced.

Since the side surface of the rigid segment 4 is opposed to the end surface of the distal end portion 6 in the stapled state, the view angle of the micro-camera 8 positioned at the distal end portion 6 is blocked by the fundus tissue, and therefore image information cannot be acquired, resulting in a blind area in the entire stapled state. The utility model discloses be provided with ultrasonic reflector 4-5 and ultrasonic wave detection instrument 10 respectively at the side of rigidity section 4 and the terminal surface of top portion 6, can monitor the relative position between rigidity section 4 and the top portion 6 in the process of nailing to make the operator still can observe the positional information between rigidity section 4 and the top portion 6 directly perceivedly under the state of nailing.

As shown in figure 17, the anvil 6-2 comprises an anvil body 6-2-0 having an arc-shaped surface, the arc-shaped surface of the anvil body 6-2-0 being fitted with the side of the rigid section 4; the length direction of the anvil body 6-2-0 corresponds to the circumferential direction (namely the arc length direction) of the nail bin seat 4-3; when the top end part 6 is in a nailed state, the surface of the chopping block body 6-2-0 is matched with the side part of the rigid section 4;

two ends of the anvil plate body 6-2-0 are respectively provided with anvil plate screw penetrating holes 6-2-1, anvil plate screws 6-3 are movably arranged in the anvil plate screw penetrating holes 6-2-1, and the anvil plate screws 6-3 are connected with an anvil plate screw driving mechanism arranged in the top seat 6-1; the chopping board screw 6-3 can perform telescopic motion relative to the chopping board body 6-2-0 under the action of the chopping board screw driving mechanism;

five groups of titanium nail bending guide grooves 6-2-2, 6-2-3, 6-2-4, 6-2-5 and 6-2-6 are distributed on the surface of the anvil plate body 6-2-0 (five different patterns are used for respectively representing the groove bottoms of the five groups of titanium nail bending guide grooves in the figure); each group of titanium nail bending guide grooves comprises two parallel bending guide grooves, and each bending guide groove corresponds to one nail leg of the titanium nail 4-4; the bottom of each bending guide groove is arc-shaped with two high ends and a low middle part, and the bottom of each group of titanium nail bending guide grooves is symmetrically arranged; the bending guide groove can guide the bending direction of the nail legs of the titanium nails 4-4.

Two stop lugs are arranged on the side part of the anvil plate body 6-2-0, and the first stop lug 6-2-7 is positioned on the outer side above the LED lamp 9 and right above the water outlet hole; the second stop lug 6-2-8 is positioned at the outer side above the miniature camera 8 and is positioned right above the air outlet; the bottom surfaces of the two baffle lugs are respectively vertical to the water outlet hole and the air outlet hole; when the water outlet hole sprays water, the first baffle lug 6-2-7 reflects water flow, so that the water flow is sprayed to the miniature camera 8 and the LED lamp 9, and the lens of the miniature camera 8 and the LED lamp 9 are washed; when the air outlet is exhausted, the second baffle lug 6-2-8 reflects the air flow, so that the air flow is sprayed to the micro-camera 8 and the LED lamp 9, and the lens of the micro-camera 8 and the LED lamp 9 are blown and swept.

As shown in fig. 18 and 19, the anvil screw driving mechanism comprises an anvil driving shaft 6-4, and the anvil driving shaft 6-4 can rotate under the driving of power; a driving gear is arranged on the chopping board driving shaft 6-4, and two sides of the driving gear are respectively meshed with a driven gear 6-5; two driven gears 6-5 are respectively fixedly connected with chopping board screws 6-3;

the bottom of the chopping board 6-2 is fixedly provided with two chopping board screw guide seats 6-6, and the chopping board screw guide seats 6-6 are connected with chopping board screws 6-3 through threads; the chopping board screw guide seats 6-6 and the driven gears 6-5 are in one-to-one correspondence and are coaxially arranged;

the bottom of the driven gear 6-5 is provided with a driven gear positioning pin 6-7; the driven gear positioning pin 6-7 is longitudinally arranged in a driven gear positioning pin hole 6-1-9 of the top seat 6-1 in a penetrating manner; the driven gear positioning pin 6-7 can limit the driven gear 6-5, so that the driven gear 6-5 is prevented from axial displacement, and the transmission precision of the chopping board screw driving mechanism is ensured;

the chopping board driving shaft 6-4 drives the two driven gears 6-5 to synchronously rotate, so as to drive the chopping board screw 6-3 to do telescopic motion relative to the chopping board 6-2; the anvil screw guide seat 6-6 can guide the anvil screw 6-3, thereby precisely controlling the stroke of the anvil screw 6-3.

As shown in fig. 20 to 22, the top seat 6-1 comprises a top seat body 6-1-1, a cutting board positioning groove 6-1-2 extending along the longitudinal direction is formed in the middle of the end surface of the top seat body 6-1-1, the cutting board positioning groove 6-1-2 is matched with the bottom of the cutting board 6-2, and the cutting board 6-2 is fixedly arranged in the cutting board positioning groove 6-1-2; the two ends of the chopping block positioning groove 6-1-2 are respectively provided with a limiting boss 6-1-10, the width of the limiting boss 6-1-10 is matched with the width of the chopping block 6-2, so that the chopping block 6-2 is limited in the width direction (namely in the transverse direction);

a cutting board driving shaft through hole 6-1-3 and two driven gear shaft through holes 6-1-4 are formed in the cutting board positioning groove 6-1-2; the cutting board driving shaft through hole 6-1-3 and the driven gear shaft through hole 6-1-4 extend along the axial direction;

one side of the top end seat body 6-1-1 is provided with a micro camera positioning hole 6-1-6 and an LED lamp positioning hole 6-1-5, a micro camera 8 is fixedly arranged in the micro camera positioning hole 6-1-6, the end part of the LED lamp positioning hole 6-1-5 is fixedly provided with an LED lamp shade 9-1, and an LED lamp 9 is fixedly arranged in the LED lamp positioning hole 6-1-5;

an end positioning pin accommodating hole 6-1-8 and an ultrasonic detector mounting hole 6-1-7 are formed in the other side of the top end seat body 6-1-1, and an ultrasonic detector 10 is fixedly arranged in the ultrasonic detector mounting hole 6-1-7; the lower part of the end positioning pin accommodating hole 6-1-8 forms an internal threaded hole 6-1-8 ', and the lower internal threaded hole 6-1-8' of the end positioning pin accommodating hole 6-1-8 is connected with the end positioning pin 11 through threads;

the end surface of the top seat 6-1 forms an arc 6-20 which is inosculated with the side part of the rigid section 4 along the longitudinal direction; the end face of the top seat 6-1 is transversely provided with a conical surface with a small upper part and a large lower part, so that a first inclined surface 6-31 and a second inclined surface 6-32 are formed on two sides of the end face, the positioning hole 6-1-6 of the miniature camera and the positioning hole 6-1-5 of the LED lamp are positioned on the first inclined surface 6-31, and the positioning pin accommodating hole 6-1-8 of the end part and the mounting hole 6-1-7 of the ultrasonic detector are positioned on the second inclined surface 6-32;

the connecting part of the top seat 6-1 and the two ends of the chopping block 6-2 is transversely provided with a chopping block positioning pin hole 6-11, and a chopping block positioning pin 6-8 is arranged in the chopping block positioning pin hole 6-11 in a penetrating way; the length-wise (i.e. longitudinal) positioning between the anvil 6-2 and the top seat 6-1 can be achieved by means of two anvil positioning pins 6-8.

The utility model discloses the miniature camera machine 8, LED lamp 9, tip locating pin 11 and the ultrasonic wave detection instrument 10 that will be located top portion terminal surface all set up on the inclined plane of chopping block 6-2 both sides to avoid receiving the interference of the action of stitching, no matter whether equipment is in the stitching state, respective operating condition can be guaranteed to miniature camera machine 8, LED lamp 9, tip locating pin 11 and ultrasonic wave detection instrument 10.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications of the present invention fall within the scope of the claims and their equivalent technologies, the present invention is also intended to include such modifications and variations.

Claims (8)

1. An endoscope nailing device with angle deflection tracking guiding and ultrasonic positioning functions is characterized by comprising a handle (1), a conical protective sleeve (2), an insertion tube (3), a rigid section (4), a bending part (5) and a top end part (6), wherein the front end of the handle (1) is fixedly connected with the insertion tube (3) through the conical protective sleeve (2), and the front end of the insertion tube (3) is sequentially and fixedly connected with the rigid section (4), the bending part (5) and the top end part (6); the side part of the rigid section (4) and the end part of the top end part (6) form a nailing mechanism; the bending angle of the bending part (5) is controlled by the handle (1), so that the end surface of the top end part (6) corresponds to the side surface of the rigid section (4), and the top end part (6) enters a nailing state;

a nail bin seat assembly is arranged on the side surface of the rigid section (4), and a plurality of titanium nail accommodating grooves (4-3-1) for accommodating titanium nails (4-4) are formed in the nail bin seat assembly; a chopping board (6-2) is fixedly arranged on the end surface of the top end part (6); when the top end part (6) is in a nailing state, the titanium nails (4-4) on the nail bin seat component correspond to the chopping board (6-2) at the top end part (6);

an angle tracking sensor (7) is arranged on one side of the nail bin seat component; the angle tracking sensor (7) is fixedly arranged on the side surface of the rigid section (4); the angle tracking sensor (7) and the nail bin seat assembly are positioned in the same circumferential direction of the rigid section (4);

an ultrasonic detector (10) is arranged on the end face of the top end part (6); the nail bin seat assembly is provided with a reflector accommodating groove (4-3-2), an ultrasonic reflector (4-5) is accommodated in the reflector accommodating groove (4-3-2), and the ultrasonic reflector (4-5) corresponds to the ultrasonic detector (10); the ultrasonic reflector (4-5) can reflect the ultrasonic signal emitted by the ultrasonic detector (10) and send the reflected ultrasonic signal to the ultrasonic detector (10), so that whether the anvil plate (6-2) at the top end part (6) is perfectly matched with the position of the nail bin seat assembly of the rigid section (4) or not is judged.

2. An endoscopic stapling device with angular deflection tracking guiding and ultrasonic positioning function according to claim 1, characterized in that the surface of said anvil plate (6-2) is arc-shaped to match the surface of the cartridge holder assembly; the length direction of the cutting board (6-2) corresponds to the circumferential direction of the nail bin seat component; when the top end part (6) is in a nailing state, the surface of the chopping board 6-2 is matched with the side part of the rigid section (4), and the surface of the chopping board (6-2) can provide bending reaction force for the titanium nail (4-4) ejected from the rigid section (4) so as to bend two nail legs of the titanium nail (4-4).

3. An endoscope nailing device with angular deflection tracking guiding and ultrasonic positioning functions according to claim 1, characterized in that one side of the ultrasonic detecting instrument (10) is movably provided with an end positioning pin (11), and the end positioning pin (11) can perform telescopic motion relative to the top end part (6) under the action of a positioning pin driving motor; the nail bin seat component is provided with a positioning pin hole (4-3-3); the end positioning pin (11) corresponds to the positioning pin hole (4-3-3).

4. An endoscopic stitching device with angular deflection tracking guidance and ultrasonic positioning function according to claim 1, characterized in that the bending angle of the bending portion (5) ranges from 0 ° to 270 °.

5. An endoscope nailing device with angular deflection tracking guiding and ultrasonic positioning functions as claimed in claim 1, wherein the rigid section (4) comprises a rigid section shell (4-1), one end of the rigid section shell (4-1) is fixedly connected with a sensor positioning disc (4-2), a sensor positioning groove (4-2-1) is formed in the side part of the sensor positioning disc (4-2), and the angle tracking sensor (7) is fixedly arranged in the sensor positioning groove (4-2-1); the angle tracking sensor (7) is connected with an angle signal control system through an angle tracking sensor signal wire (7-1).

6. An endoscopic stapling device with angular deflection tracking guiding and ultrasonic positioning function according to claim 5, characterized in that said sensor positioning slot (4-2-1) and cartridge holder assembly are located in the same circumferential direction of the rigid section (4).

7. An endoscope nailing device with angular deflection tracking guiding and ultrasonic positioning functions according to claim 1, wherein the end face of the tip portion housing (6-1) is provided with an ultrasonic probe mounting hole (6-1-7), the ultrasonic probe mounting hole (6-1-7) corresponding to the mirror receiving groove (4-3-2) of the cartridge deck assembly.

8. An endoscopic stapling device with angular deflection tracking guiding and ultrasonic positioning function according to claim 1, characterized in that the outer diameter of said insertion tube (3), rigid section (4), bending section (5), apical section (6) is smaller than the inner diameter of esophagus (201).

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