WO2021120462A1 - 一种微创手术的辅助装置 - Google Patents

一种微创手术的辅助装置 Download PDF

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Publication number
WO2021120462A1
WO2021120462A1 PCT/CN2020/084577 CN2020084577W WO2021120462A1 WO 2021120462 A1 WO2021120462 A1 WO 2021120462A1 CN 2020084577 W CN2020084577 W CN 2020084577W WO 2021120462 A1 WO2021120462 A1 WO 2021120462A1
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WO
WIPO (PCT)
Prior art keywords
auxiliary device
minimally invasive
invasive surgery
clamping part
control
Prior art date
Application number
PCT/CN2020/084577
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English (en)
French (fr)
Inventor
彭国会
欧宏伟
王建平
宁浩
Original Assignee
深圳市资福医疗技术有限公司
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Application filed by 深圳市资福医疗技术有限公司 filed Critical 深圳市资福医疗技术有限公司
Publication of WO2021120462A1 publication Critical patent/WO2021120462A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
    • A61B17/0218—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00269—Type of minimally invasive operation endoscopic mucosal resection EMR

Definitions

  • the invention relates to the field of medical equipment, and in particular to an auxiliary device for ESD minimally invasive surgery.
  • ESD endoscopic submucosal dissection, Endoscopic Submucosal Dissection
  • the magnetic beads themselves are not permanently fixed to the titanium clamps, but when the titanium clamps are used to clamp biological tissues, the independent magnetic beads are hung on a closed loop formed by the front section of the clamp.
  • the doctor has slightly improper operation , It may not be possible to clamp the magnetic beads on the titanium clamp, and the magnetic beads must be considered when clamping biological tissues, which is difficult to operate.
  • the size of the biological tissue in the body is large and a large traction force is required, it is inconvenient to transport the magnetic beads into the body multiple times.
  • Chinese patent application 2015106619645 discloses an auxiliary device for minimally invasive surgery and a control method thereof. It provides an auxiliary device for minimally invasive surgery for pulling the lesion.
  • the auxiliary device for minimally invasive surgery includes a body The device and the extracorporeal device.
  • the extracorporeal device includes an extracorporeal magnetism generating device that can provide a rotatable magnetic field.
  • the intracorporeal device includes an intracorporeal magnet that can be connected to the lesion by a fixing method. The intracorporeal magnet can be due to the direction of the rotatable magnetic field of the extracorporeal magnetism generating device.
  • the lesion can move at a controllable speed and/or at a controllable angle as the direction of the rotatable magnetic field of the external magnetic generating device changes.
  • the device can be operated by doctors to a certain extent, the solution of the device still uses swing knot, semi-collusion or slip knot to anchor biological tissues, the accuracy of anchoring is relatively low, and the practicability is not strong.
  • the purpose of the present invention is to develop a minimally invasive surgical auxiliary device capable of accurately anchoring biological tissues, which is convenient for doctors to operate and improves surgical efficiency.
  • the present invention mainly relates to an auxiliary device for minimally invasive surgery.
  • the magnet and clip of the auxiliary device are permanently fixed.
  • the magnet can be delivered multiple times according to the actual traction force, so that the biological tissue can be pulled by an appropriate external force, which solves the problem of current doctors cutting Biological tissue is inconvenient, the boundary of the diseased tissue is difficult to distinguish, the cutting of the diseased tissue is inaccurate, and the operation efficiency is not high.
  • An auxiliary device for minimally invasive surgery comprising a clamping part, a locking part, a control wire, a bendable catheter, and a control part, wherein
  • the clamping part is arranged at the front end of the auxiliary device, and the front end of the clamping part is equipped with an opening and closing device for grasping and pulling the diseased tissue;
  • the locking part is connected to the clamping part. It is provided with a locking groove for locking the clamping part.
  • the locking part further includes a small magnet arranged at the end of the locking part for generating a magnetic field in the body and interacting with the external magnetic field , Provide force to pull biological tissue;
  • Control line connected to the locking part, used to control the opening and closing of the clamping part
  • the bendable conduit is used to house the control wire, and is used to provide an axial sliding channel for the control wire;
  • the control part is connected with the bendable catheter and the locking part, and is used to control the locking part and the clamping part to perform biological tissue operations through the control line.
  • the clamping portion includes at least two pliers arms, and at least one of the pliers arms can rotate.
  • the small magnet is elongated or cylindrical.
  • clamping part can be made of a magnetically conductive material.
  • the locking part can also be made of magnetically conductive material.
  • control part further includes a handle body, a handle sliding body and a front end of the handle, wherein
  • the handle body is provided with a guide groove, which is used to restrict the movement of the handle sliding body in the guide groove;
  • the handle sliding body is connected with the rear end of the control line, and is used to control the opening and locking of the clamping part.
  • the handle sliding body can be a push-pull type or a scissors type;
  • the front end of the handle is used to fix the rear end of the bendable catheter, which is connected with the handle body to realize axial rotation.
  • clamping portion is further provided with a connecting rod and a hinge pin, the connecting rod has a protrusion, and the connecting rod and the hinge pin can be integrally formed.
  • control line is further provided with a wishbone, and the wishbone can be arranged on one side or on both sides.
  • the small magnet is a permanent magnet, and its shape can be a long strip or a cylindrical shape.
  • the locking groove may have a stepped structure.
  • an open circular groove is further provided at the end of the control line, and the circular groove may be closed or open.
  • control wire is also provided with an oblong groove, which is used to cooperate with the elastic buckle provided at the front end of the bendable catheter.
  • the front end of the bendable catheter has weak magnetism.
  • the auxiliary device for minimally invasive surgery of the present invention can accurately anchor biological tissues, facilitate the operation of doctors, improve the efficiency of surgery, and increase the success rate of ESD surgery, and can deliver spare magnets through the endoscopic channel when the magnetic force of the small magnet is insufficient
  • the spare magnet is connected in series with the small magnet of the clamping part by magnetic force to further improve the magnetic force and grasping force.
  • Figure 1 Schematic diagram of the initial state of the auxiliary device for minimally invasive surgery of the present invention.
  • Figure 2 Schematic diagram of the open state of the auxiliary device for minimally invasive surgery of the present invention.
  • Figure 3 Schematic diagram of the locked state of the auxiliary device for minimally invasive surgery of the present invention.
  • Figure 4 A cross-sectional view of the front end of the clip of the auxiliary device for minimally invasive surgery of the present invention.
  • Figure 5 A schematic diagram of the clamping part of the auxiliary device for minimally invasive surgery of the present invention.
  • Fig. 6 A schematic diagram of the connecting rod of the auxiliary device for minimally invasive surgery of the present invention.
  • Figure 7 Schematic diagram of the clip cylinder of the auxiliary device for minimally invasive surgery of the present invention.
  • Figure 8 Schematic diagram of the control line of the auxiliary device for minimally invasive surgery of the present invention.
  • Fig. 9 A schematic diagram of the front end of the bendable catheter of the auxiliary device for minimally invasive surgery of the present invention.
  • Figure 10 Schematic diagram of the spare magnet of the auxiliary device for minimally invasive surgery of the present invention.
  • Figure 11 A schematic diagram of the combination of a spare magnet and a clip of the auxiliary device for minimally invasive surgery of the present invention.
  • Figure 12 A schematic diagram of the working process of the auxiliary device for minimally invasive surgery of the present invention.
  • Figures 1 to 3 are a schematic diagram of the initial state, a schematic diagram of an open state, and a schematic diagram of a locked state of the auxiliary device for minimally invasive surgery of the present invention.
  • Figure 4 is a cross-sectional view of the front end of the clip of the auxiliary device for minimally invasive surgery of the present invention.
  • 5 Schematic diagram of the clamping part of the auxiliary device.
  • the auxiliary device for minimally invasive surgery includes:
  • the clamping part 01 is equipped with an opening and closing device at its front end for grasping and pulling the diseased tissue.
  • the clamping part 01 has at least two clamp arms, and at least one of the two clamp arms can rotate and move through the body.
  • the operation realizes opening and closing.
  • the clamping part 01 is provided with a sliding groove 0101 and a hinge hole 0102 for locking.
  • the sliding groove 0101 has a sliding groove front end 0103 and a sliding groove rear end 0104.
  • the auxiliary device has at least one connecting rod 02.
  • the connecting rod 02 is further provided with a front hinge hole 0201, a rear hinge hole 0202, and a connecting rod protrusion 0203.
  • the connecting rod protrusion 0203 can also be provided on the clamping part 01, or Both the connecting rod 02 and the clamping portion 01 are provided with protrusions, and the clamping portion can also be made of a magnetically conductive material.
  • the locking part is composed of a clip cylinder 03.
  • the locking part can be made of a magnetically conductive material for locking the clamping part 01.
  • the clip cylinder 03 is provided with a number of round holes and openings.
  • the groove includes a locking groove 0301, a locking groove 0302, a connecting rod protrusion 0303, and a locking groove surface 0304.
  • the locking groove can be a general through hole with an unlimited shape or a stepped structure.
  • the locking portion can further include a locking portion provided The small magnet 04 at the end is used to generate a magnetic field in the body and interact with the external magnetic field to provide a force to pull biological tissues.
  • control line 08 is used to control the opening and closing of the clamping part 01.
  • the front end of the control line 08 is an open circular groove 0801, which is directly physically connected to the rear pin 07 Connection, the open circular groove 0801 can also be a closed circular groove, the rear end of the control line 0804 is connected to the handle sliding body 11, and the opening and closing of the clamping part 01 is controlled by the sliding handle sliding body 11.
  • the control line 08 is further provided with an oblong groove 0802, the oblong slot front end 0803 and the wishbone 0805, the wishbone 0805 can also be unilaterally arranged on the appropriate part of the control line 08, or the control line 08 can be directly passed through the central through hole of the small magnet 04.
  • the bendable conduit 09 is used to provide an axial sliding channel for the control line.
  • the bendable conduit 09 is processed by a spring-type winding method, which is easy to achieve certain bending.
  • the front end of the spring wire 0901 is composed of a concave-convex spring body.
  • the front end of the concave-convex part has a spring buckle, which is connected to the clip cylinder 03.
  • the back end of the concave-convex part is connected to the bendable catheter body through a ring-shaped concave-convex structure, which can realize the shaft
  • the front end of the spring wire 0901 is pre-magnetized to make it have N pole and S pole.
  • the front end of the spring wire 0901 further includes a spring buckle oblique arm 09011, a spring buckle mating surface 09012, a spring buckle 09013 and elastic components 09014, the rear end of the bendable pipe 09 is fixedly connected with the front end of the control handle 12, and the oblong groove 0802 and the spring buckle 09013 are distributed in a staggered manner.
  • the control part is composed of the handle body 10, the handle sliding body 11 and the front end 12 of the handle. It has a guide groove structure to restrict the movement of the handle sliding body in the guide groove.
  • the control part has a handshake part to facilitate the operator's hand-held operation.
  • handle The sliding body 11 is fixedly connected to the rear end 0804 of the control line, and is used to control the opening and closing of the clamping part 01 and lock the clamping part.
  • the shape of the handle sliding body 11 can be a push-pull type, a scissors type or other types.
  • a spring 13 is arranged between the front end of the handle sliding body 11 and the sliding groove of the handle body 10, and its initial state is in a moderately compressed state, which can provide a certain rebound force to promote the clamping portion 01 in a pre-tensioned state.
  • the front end 12 of the handle is used to fix the rear end of the spring wire and is connected to the main body 10 of the control handle.
  • the front end 12 of the handle can be constrained to translate around the axial direction and rotate freely in the axial direction.
  • the small magnet 04 is set at the end of the locking part and is used to generate a magnetic field in the body and interact with the external magnetic field to provide a force to pull biological tissues.
  • Its cross-sectional shape can be round or polygonal.
  • the shape of the small magnet It can be elongated or cylindrical or other suitable shapes, and the present invention does not limit this.
  • the front end pin 05 is used to guide the sliding groove 0101 at the front end of the clamping part 01.
  • the hinge pin 06 is used for the hinge connection between the connecting rod 02 and the clamping part 01.
  • the connecting rod 02 and the hinge pin 06 can be two independent parts, or they can be integrally formed parts.
  • the rear end pin 07 is used to connect the control line 08 and the connecting rod 02.
  • the collar 14 is used to restrict the fork of the front end of the spring wire 0901 from sliding axially along the rear end pin 07, and at the same time, it can improve the rigidity of the rear end pin 07, which is beneficial to the separation of the fork of the front end of the spring wire 0901 from the short pin.
  • the spare magnet 15 can be a small magnet, which can be attached to the tail of the auxiliary device as required to enhance the auxiliary device in the body.
  • the magnetic traction force, the number of spare magnets 15 and the length of a single spare magnet 15 are not limited.
  • the auxiliary device can be pulled by a suitable external force under the force of an external magnetic field, which is convenient for the doctor to lift and cut the diseased mucosal tissue and accurately cut the biological tissue. Improve the efficiency of surgery.
  • the sliding groove 0101 of the clamping part 01 is connected by the front pin 05, the hinge hole 0102 of the clamping part 01 is hinged with the front hinge hole 0201 of the connecting rod 02 through the hinge pin 06, and then the rear hinge hole 0202 of the connecting rod 02 They are respectively connected to the open circular groove 0801 at the front end of the control line through the back end pin 07, the back end of the control line 0804 is clamped into the handle sliding body 11, and the bendable conduit 09 provides a channel for the control line 08 and the front end of the spring line 0901 buckle Clamp into the clamping groove 0302 of the clip cylinder 03, the elastic buckle mating surface 09012 is attached to the clamping groove surface of the clip cylinder 03, and the connecting rod protrusion 0303 is attached to the elastic member 09014 on both sides to complete the bendable conduit 09 and the clip cylinder The initial state of the body 03 is connected.
  • the auxiliary device of the present invention is integrated with the handle through the control line 08 and the bendable conduit 09, and the clamping part of the auxiliary device is in a closed state.
  • the clamping part 01 reaches the biological tissue through the endoscopic channel, push the handle sliding body 11 to the front end, and the clamping part 01 will open. At this time, pull the handle sliding body 11 to the rear end, and the clamping part 01 starts to close.
  • the clamping part 01 accurately clamps the biological tissue
  • continue to pull the handle sliding body 11 to the rear end drive the connecting rod 02 through the control line 08, and then drive the clamping part 01 to continue through the guide of the slide groove 0101 and the front pin 05 The rear end slides.
  • the rear-end pin 07 is driven by the control line 08 to continue to move to the rear end.
  • the clamping part 01 can no longer move back.
  • the rear pin 07 is separated from the open circular groove 0801 of the control wire 08; further pulling the handle sliding body 11, the front end 0803 of the long circular groove of the control wire 08 will be with the spring The spring buckle oblique arm 09011 at the front end of the line 0901 is in contact.
  • control line 08 when the control line 08 continues to move to the rear end, it will further press the spring buckle oblique arm 09011, and then drive the spring buckle mating surface 09012 and the clip cylinder 03 to lock
  • the groove 0302 separates, and the control wire 08 continues to move to the rear end, pressing the entire spring buckle 09013 on the front end of the spring wire 0901 to plastically deform until it is pulled into the cavity of the front end of the spring wire 0901.
  • the bendable catheter 09 is separated from the clip cylinder 03, and the bendable catheter 09 will be taken out of the body through the endoscopic channel.
  • the clamping part 01 and other parts will remain in the body. Under the traction force of the external magnetic field, the clamping part The mucosal tissue of the clamped part will be lifted so that the doctor can efficiently, accurately and conveniently complete the operation of grasping and resecting the diseased tissue.
  • a suitable spare magnet 15 can be adsorbed on the front end of the spring wire 0901, and sent to the previously anchored clip through the endoscopic channel, and the spare magnet 15 will be a small magnet 04 in the body. Under the action of the attractive force, it is superimposed on the tail of the clamp cylinder 03 to provide a suitable magnetic field traction force to pull the clamped mucosal tissue.
  • the auxiliary device for minimally invasive surgery of the present invention can be anchored to biological tissues during ESD surgery, and can grasp, pull, and traction biological tissues by external force, thereby further facilitating doctors to remove diseased tissues.

Abstract

一种微创手术的辅助装置，包括夹持部（01），锁定部，控制线（08），可弯折导管（09），控制部，锁定部后端进一步可以设置小磁体（04），控制线（08）通过小磁体（04）两侧与锁定部的内壁形成的间隙作为通道控制夹持部（01）开合，控制线（08）前端的开放式圆槽（0801）与后端销钉（07）连接，通过连杆（02）带动夹持部（01），当控制线（08）向后端移动时夹持部（01）被锁止，连杆凸起（0303）卡入夹子筒体（03）的锁定槽（0301），接着控制线（08）再与后端销钉（07）脱离，最后控制线（08）压迫弹簧线前端（0901）的弹扣（09013），使可弯折导管（09）与夹子筒体（03）分离，该辅助装置进一步还可以附加备用磁铁（15）提高磁力。该微创手术辅助装置能准确锚定和提拉生物组织，方便医生操作，提高手术效率和成功率。

Description

一种微创手术的辅助装置 技术领域
本发明涉及医疗器械领域，具体涉及到一种用于ESD微创手术的辅助装置。
 背景技术
目前，在医疗领域，消化内镜治疗技术发展迅猛，内镜使用极为广泛，内镜技术也发展迅速，消化道病变检出率也越来越高，在ESD(内镜粘膜下剥离术,Endoscopic Submucosal Dissection）手术中，切割病变的频率也越来越高，但在切割生物组织时，是通过插管胃镜的外部操作手柄操作，生物组织处于自然状态，在ESD手术操作过程中，由于切开的粘膜上层组织的病灶部位在重力的作用下不断往下沉，造成剥离视野越来越小，在一定程度上影响了ESD手术的成功率，如果生物组织没有夹持与提拉装置将其固定，使得医生做切割生物组织时操作不易。
针对上述问题，目前医疗器械行业中有出现过使用独立串状磁珠套在内镜钛夹上，利用外部磁场牵引的产品，但此产品操作时不便，医生需要分两次，先将磁珠通过内镜通道送至体内，然后再将钛夹送至体内，通过体外手柄操作，在同时夹住生物组织时还需要夹住先去送去体内的磁珠，等效于将磁珠挂在钛夹上。此类产品存在如下缺陷，由于磁珠本身并未与钛夹永久固定，只是利用钛夹夹持生物组织时，将独立的磁珠串挂于夹子前段形成的一闭合环，医生稍有操作不当，可能就不能将磁珠夹在钛夹上，且在夹生物组织的同时还要兼顾考虑磁珠，操作困难。并且当体内生物组织尺寸较大，需要较大牵引力时，不方便多次输送磁珠进入体内。
    中国专利申请2015106619645揭示了一种用于微创手术的辅助装置及其控制方法，提供了一种用于微创手术的辅助装置，用于牵拉病灶，所述微创手术的辅助装置包括体内装置和体外装置，体外装置包括可提供可转动磁场的体外磁产生装置，体内装置包括可通过固定方法与病灶相连接的体内磁体，体内磁体可由于所述体外磁产生装置的可转动磁场的方向变化而相应的移动和/或转动，以致于病灶可以随着体外磁产生装置的可转动磁场的方向变化而以可以控制的速度移动和/或亦可以控制的角度转动。该装置虽然可以一定程度上方便医生操作，但该装置的方案仍然采用秋千结、半勾结或滑结的方式进行生物组织的锚定，锚定的准确度比较低，实用性不强。
    因此，有必要开发一种能准确锚定生物组织的微创手术辅助装置，方便医生操作，提高手术效率。
 技术问题
本发明的目的在于开发一种能准确锚定生物组织的微创手术辅助装置，方便医生操作，提高手术效率。
技术解决方案
本发明主要涉及一种微创手术的辅助装置，该辅助装置的磁体与夹子永久固定，磁体可根据实际牵引力需要，多次输送磁体，使得生物组织能被合适的外力提拉，解决目前医生切割生物组织不方便，病变组织边界不易分辨，切割病变组织不精准，手术效率不高的问题。
本发明的技术方案如下：
一种微创手术的辅助装置，包括夹持部，锁定部，控制线，可弯折导管，控制部，其中
夹持部，设置于辅助装置前端，夹持部前端设置开合装置，用于抓取和提拉病变组织；
锁定部，连接夹持部，其设置锁定槽，用于锁止夹持部，锁定部进一步还包括小磁体，其设置于锁定部的末端，用于在体内产生磁场，并与体外磁场相互作用，提供牵引生物组织的作用力；
控制线，连接锁定部，用于控制夹持部的开合；
可弯折导管，用于容置控制线，用于为控制线提供轴向滑动通道；
控制部，连接可弯折导管及锁定部，用于通过控制线控制锁定部及夹持部进行生物组织操作。
进一步的，所述的夹持部包括至少两个钳臂，其中至少一个钳臂能旋转运动。
进一步的，所述的小磁体为长条形或圆柱形。
进一步的，所述的夹持部可以采用导磁材料制成。
进一步的，所述的锁定部还可以用导磁材料制作。
进一步的，所述的控制部进一步包括手柄主体，手柄滑动体及手柄前端，其中
手柄主体设置导槽，用于约束手柄滑动体在导槽内运动；
手柄滑动体与控制线后端连接，用于控制夹持部的开合并锁止夹持部，手柄滑动体可以为推拉式或剪刀式；
手柄前端用于固定可弯折导管的后端，其与手柄主体连接，实现轴向转动。
进一步的，所述的夹持部还设置有连杆及铰接销钉，连杆具有凸起部，连杆与铰接销钉可以一体成型。
进一步的，所述的控制线进一步设置叉臂，叉臂可以单侧或双侧设置。
进一步的，小磁体为永磁体，其形状可以为长条形或圆柱形。
进一步的，所述的锁定槽可以是台阶状结构。
进一步的，所述控制线的末端进一步设置开放式圆槽，圆槽可以为封闭或开放式。
进一步的，所述的控制线的末端还设置长圆槽，其用于配合可弯折导管前端设置的弹扣。
    进一步的，所述的可弯折导管前端具有弱磁性。
 有益效果
采用本发明的微创手术的辅助装置，能准确锚定生物组织，方便医生操作，提高手术效率，提高ESD手术的成功率，并且可以在小磁体磁力不足时，通过内镜通道输送备用磁铁至辅助装置锚定处，备用磁铁依靠磁力与夹持部的小磁体串接，进一步提高磁力和抓取力。
 附图说明
图1：本发明微创手术的辅助装置初始状态示意图。
图2：本发明微创手术的辅助装置张开状态示意图。
图3：本发明微创手术的辅助装置锁止状态示意图。
图4：本发明微创手术的辅助装置的夹子前端剖视图。
图5：本发明微创手术的辅助装置的夹持部示意图。
图6：本发明微创手术的辅助装置的连杆示意图。
图7：本发明微创手术的辅助装置的夹子筒体示意图。
图8：本发明微创手术的辅助装置的控制线示意图。
图9：本发明微创手术的辅助装置的可弯折导管前端示意图。
图10：本发明微创手术的辅助装置的备用磁铁示意图。
图11：本发明微创手术的辅助装置的备用磁铁与夹子组合示意图。
图12：本发明微创手术的辅助装置的工作过程示意图。
 本发明的最佳实施方式
为了使本发明所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
    请参考图1至图3，分别是本发明微创手术的辅助装置初始状态示意图、张开状态示意图及锁止状态示意图，图4是本发明微创手术的辅助装置夹子前端剖视图，进一步参考图5辅助装置的夹持部示意图，该微创手术的辅助装置包括：
夹持部01，锁定部，控制线08，可弯折导管09及控制部，其中
夹持部01，其前端设置开合装置，用于抓取和提拉病变组织，该夹持部01至少有两个钳臂，两个钳臂中至少有一个钳臂能旋转运动，通过体外操作实现开合，夹持部01上设置有用于锁定的滑槽0101及铰接孔0102，滑槽0101分别具有滑槽前端0103及滑槽后端0104，参考图6辅助装置的连杆示意图，该辅助装置至少有一个连杆02，连杆02进一步设置有前端铰接孔0201、后端铰接孔0202及连杆凸起部0203，连杆凸起部0203也可以设置在夹持部01上，或者连杆02与夹持部01均设置凸起部，夹持部还可以采用导磁材料制成。
参考图7辅助装置的夹子筒体示意图，锁定部由夹子筒体03组成，锁定部可以用导磁材料制作而成，用于锁定夹持部01，夹子筒体03设置有若干圆孔与开槽，包括锁定槽0301、卡槽0302，连杆凸起0303及卡槽面0304，锁定槽可以是可以是形状不限的一般通孔或台阶状结构，锁定部进一步还可以包括设置在锁定部末端的小磁体04，小磁体04用于在体内产生磁场，并与体外磁场相互作用，提供牵引生物组织的作用力。
参考图8辅助装置的控制线示意图，控制线08，用于控制夹持部01的开合，控制线08的前端是开放式圆槽0801，该开放式圆槽0801直接与后端销钉07物理连接，开放式圆槽0801也可以为封闭式圆槽，控制线后端0804与手柄滑动体11连接，通过滑动手柄滑动体11控制夹持部01的开合，该控制线08进一步设置长圆槽0802、长圆槽前端0803及叉臂0805，叉臂0805也可以是单侧设置在控制线08的适当部位，或者采用控制线08直接从小磁体04的中心通孔穿过的方案。
参考图9辅助装置的可弯折导管前端示意图，可弯折导管09，用于为控制线提供轴向滑动通道，可弯折导管09使用弹簧式的环绕方式加工而成，容易实现一定的弯曲，弹簧线前端0901由凹凸部弹簧体组成，其中的凹凸部前端有弹扣，与夹子筒体03连接，凹凸部后端通过环状凹凸结构与可弯折导管体连接而成，能实现轴向连接并绕轴向转动，弹簧线前端0901预先进行弱磁化，使其具备N极和S极，弹簧线前端0901进一步包括弹扣斜臂09011、弹扣配合面09012、弹扣09013及弹性部件09014，可弯折导管09的后端与控制手柄12的前端固定连接，长圆槽0802与弹扣09013错位分布。
控制部，由手柄主体10，手柄滑动体11及手柄前端12共同组成，其具有导槽结构，约束手柄滑动体在导槽内运动，控制部具有握手部位，方便操作者手持操作，其中：手柄滑动体11，其与控制线后端0804固定连接，用于控制夹持部01的开合，并锁止夹持部，手柄滑动体11的形状可以是推拉式，也可以是剪刀式或者其他等效形式，手柄滑动体11的前端与手柄主体10的滑槽之间设置弹簧13，其初始状态处于适度受压状态，可以提供一定的反弹力，促使夹持部01处于预紧状态。
手柄前端12，其用于固定弹簧线后端，并与控制手柄主体10连接，该手柄前端12可以绕轴向平移约束，在轴向上自由转动。
小磁体04，设置于锁定部的末端，用于在体内产生磁场，并与体外磁场相互作用，提供牵引生物组织的作用力，其截面形状可为圆形、多边形，相应的，小磁体的形状可以为长条形或圆柱形或其他适宜的形状，本发明对此不做限制。
前端销钉05，用于夹持部01前端的滑槽0101的导向。
铰接销钉06，用于连杆02与夹持部01的铰接，连杆02与铰接销钉06可以是独立的两个零件，也可以是一体成型的零件。
后端销钉07，用于控制线08与连杆02的连接。
套环14用于限制弹簧线前端0901的叉子沿后端销钉07轴向滑动，同时也能提高后端销钉07的刚度，有利于弹簧线前端0901的叉子与短销钉的分离。
参考图10及图11，分别是本发明的辅助装置的备用磁铁示意图及其与夹子的组合示意图，备用磁铁15可以为小磁体，可按需求附加于辅助装置的尾部，用于增强体内辅助装置的磁场牵引力，备用磁铁15的数量及单个备用磁铁15的长度均不受限制。
请参考图12辅助装置的工作过程示意图，该辅助装置可以在体外磁场的作用力下，使得生物组织能被合适的外力提拉，方便医生进行提拉和切割病变粘膜组织，准确切割生物组织，提高了手术效率。
本发明的辅助装置工作过程简要描述如下：
    夹持部01的滑槽0101通过前端销钉05连接，夹持部01的铰接孔0102通过铰接销钉06，分别与连杆02的前端铰接孔0201铰接好，然后连杆02的后端铰接孔0202分别通过后端销钉07与控制线前端的开放式圆槽0801连接好，控制线后端0804卡入手柄滑动体11，可弯折导管09提供通道给控制线08，弹簧线前端0901的卡扣卡入夹子筒体03的卡槽0302，弹扣配合面09012与夹子筒体03的卡槽面贴合，连杆凸起0303与弹性部件09014两面贴合，完成可弯折导管09与夹子筒体03的初始状态的连接，至此，本发明的辅助装置通过控制线08、可弯折导管09与手柄连为一体，辅助装置的夹持部处于闭合状态。当夹持部01通过内镜通道到达生物组织时，向前端推动手柄滑动体11，夹持部01将张开，此时再向后端拉动手柄滑动体11，夹持部01开始闭合，当判断夹持部01准确夹住生物组织时，继续用力往后端拉动手柄滑动体11，通过控制线08带动连杆02，继而带动夹持部01通过滑槽0101与前端销钉05的导向继续往后端滑动，当连杆凸起部0203到达夹子筒体03的锁定槽0301时，在两个夹持部01的相互反弹力作用下，两个连杆02将以后端销钉07为旋转轴，产生相对的向外侧旋转运动的趋势，继而使连杆凸起部0203弹入锁定槽0301，前端销钉05与滑槽前端0103接触，完成夹子的闭合动作。
    当继续往后拉动手柄滑动体11时，通过控制线08带动后端销钉07继续向后端移动，此时，因前端销钉05已与滑槽前端0103接触，夹持部01不能再继续往后移动，进一步的当手柄滑动体11的拉力加大时，后端销钉07与控制线08的开放式圆槽0801分离；进一步继续拉动手柄滑动体11，控制线08的长圆槽前端0803将与弹簧线前端0901的弹扣斜臂09011接触，此时控制线08继续往后端移动时，会进一步的压迫弹扣斜臂09011，进而带动弹扣的弹扣配合面09012与夹子筒体03的卡槽0302分离，控制线08继续向后端运动，压迫弹簧线前端0901上的整个弹扣09013发生塑性变形，直至被拉至藏于弹簧线前端0901的腔体内。至此，可弯折导管09与夹子筒体03分离，可弯折导管09将通过内镜通道取出至体外，夹持部01等零件将留于体内，在体外磁场的牵引力作用下，夹持部将提拉被夹部位的粘膜组织，以便医生能高效、准确、便捷的完成病变组织的抓取和切除等操作。
    进一步的，当夹持部01的磁力不够时，可将合适的备用磁铁15吸附在弹簧线前端0901上，通过内镜通道送至先前锚定夹子的部位，备用磁铁15将在体内小磁体04的吸引力作用下，叠加在夹子筒体03的尾部，提供合适的磁场牵引力提拉被夹持的粘膜组织。
    本发明微创手术的辅助装置在进行ESD手术时，能锚定在生物组织，并能通过外力抓取、提拉、牵引生物组织，进一步方便医生切除病变组织。
    以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (12)

  1. 一种微创手术的辅助装置，其特征在于，包括夹持部，锁定部，控制线，可弯折导管，控制部，其中
    夹持部，设置于辅助装置前端，夹持部前端设置开合装置，用于抓取和提拉病变组织；
    锁定部，连接夹持部，其设置锁定槽，用于锁止夹持部, 锁定部内含有小磁体，小磁体用于在体内产生磁场，并与体外磁场相互作用，提供牵引生物组织的作用力；
    控制线，连接锁定部，用于控制夹持部的开合；
    可弯折导管，用于容置控制线，用于为控制线提供轴向滑动通道；
    控制部，连接可弯折导管及锁定部，用于通过控制线控制锁定部及夹持部进行生物组织操作。
  2. 根据权利要求1所述的微创手术的辅助装置，其特征在于，所述的夹持部包括至少两个钳臂，其中至少一个钳臂能旋转运动。
  3. 根据权利要求1所述的微创手术的辅助装置，其特征在于，所述的小磁体为永磁体，其形状为长条形或圆柱形。
  4. 根据权利要求1所述的微创手术的辅助装置，其特征在于，所述的夹持部可以采用导磁材料制作。
  5. 根据权利要求1所述的微创手术的辅助装置，其特征在于，所述的锁定部还可以用导磁材料制作。
  6. 根据权利要求1所述的微创手术的辅助装置，其特征在于，所述的控制部进一步包括手柄主体，手柄滑动体及手柄前端，其中
    手柄主体设置导槽，用于约束手柄滑动体在导槽内运动；
    手柄滑动体与控制线后端连接，用于控制夹持部的开合并锁止夹持部，手柄滑动体可以为推拉式或剪刀式；
    手柄前端用于固定可弯折导管的后端，其与手柄主体连接，实现轴向转动。
  7. 根据权利要求1所述的微创手术的辅助装置，其特征在于，所述的夹持部还设置有连杆及铰接销钉，连杆具有凸起部，连杆与铰接销钉可以一体成型。
  8. 根据权利要求1所述的微创手术的辅助装置，其特征在于，所述的控制线进一步设置叉臂，叉臂可以单侧或双侧设置。
  9. 根据权利要求1所述的微创手术的辅助装置，其特征在于，所述的锁定槽可以是台阶状结构。
  10. 根据权利要求1所述的微创手术的辅助装置，其特征在于，所述控制线的末端进一步设置开放式圆槽，圆槽可以为封闭或开放式。
  11. 根据权利要求1所述的微创手术的辅助装置，其特征在于，所述的控制线的末端还设置长圆槽，其用于配合可弯折导管前端设置的弹扣。
  12. 根据权利要求1所述的微创手术的辅助装置，其特征在于，所述的可弯折导管前端具有弱磁性。
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CN111265297A (zh) * 2020-03-21 2020-06-12 深圳市资福医疗技术有限公司 一种微创手术磁锚定系统、控制模块及微创手术辅助装置
CN111772694A (zh) * 2020-07-15 2020-10-16 深圳市资福医疗技术有限公司 一种微创手术的辅助装置
CN111772695A (zh) * 2020-07-15 2020-10-16 深圳市资福医疗技术有限公司 一种微创手术的辅助装置
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