WO2021120464A1

WO2021120464A1 - Under-bed magnetic control device for minimally invasive surgery

Info

Publication number: WO2021120464A1
Application number: PCT/CN2020/084588
Authority: WO
Inventors: 彭国会; 张伟文; 王建平; 方皎
Original assignee: 深圳市资福医疗技术有限公司
Priority date: 2019-12-20
Filing date: 2020-04-14
Publication date: 2021-06-24
Also published as: CN211460328U

Abstract

An under-bed magnetic control device (10) for a minimally invasive surgery, comprises a bed body (11); armrests (12); an electric control cabinet (13) configured to accommodate a power supply unit; a linear transmission module and head assembly (14) which is configured to control the motion of the under-bed magnetic control device (10), may be achieved by using a transmission mechanism, such as a synchronous wheel, synchronous belt or screw rod or a linear motor, and further includes a magnet (2); and a base (15) configured to provide support for the under-bed magnetic control device (10). The device (10) integrates the linear transmission module and head assembly (14) in an under-bed space, and precise control of the magnet (2) is achieved by means of a servo motor, thereby achieving precise control over the traction direction of an anchor clamp having a magnet within the body of a subject (5) without affecting a space for a doctor to perform an ESD operation.

Description

Under-bed magnetic control equipment for minimally invasive surgery

Technical field

The invention relates to the field of medical equipment, in particular to an under-bed magnetic control device that can be used for minimally invasive surgery.

Background technique

At present, digestive endoscopic treatment technology in the medical field is developing rapidly, and endoscopy is widely used. In ESD (Endoscopic Submucosal Dissection, ESD) surgery, doctors need to cut the lesions more and more frequently. , But because cutting the lesion is operated by the external operating handle of the intubation gastroscope, the lesion is naturally relaxed. If there is no clamping and lifting device to fix it, it is not easy for the doctor to cut the lesion.

In view of the above problems, the current solution in the medical device industry is to use a wire to fix a magnetic ring on the arm of the anchor clamp. For example, Chinese Patent No. 2015106619645 discloses an auxiliary device for minimally invasive surgery and its control method. The auxiliary device includes an in-vivo device and an in-vitro magnetic generating device. After the pre-incision is completed around the ESD in the subject, the anchor clip with the magnetic ring is released through the endoscopic biopsy tube to one of the mucosal ends that need to be stripped. The subject uses permanent magnets to control the direction of the magnetic ring. The attractive force between the permanent magnets outside the body and the magnetic ring on the anchor clip inside the subject allows the mucosal layer to be removed when the submucosa is peeled off during the ESD operation. Pulling, the permanent magnet outside the body is clamped by a movable mechanical long arm device with locking function, so that the assistant can change the pulling direction of the mucosa according to the demand of the pulling force during the operation, so that the magnetic ring during ESD surgery The direction control is easier, the mucosal layer traction done by magnetic force makes the field of vision in ESD surgery clearer, and the preparation of the magnetron traction device is also relatively simple.

However, the above movable mechanical long arm device with locking function clamps the permanent magnet, and changes the direction of the pulling force by manual adjustment. The adjustment speed, strength and angle and other factors are greatly affected by humans, which may increase the risk of ESD surgery. Uncontrollable risks.

Therefore, it is necessary to develop a magnetic control device that is convenient for doctors to manipulate, move flexibly, and save space.

technical problem

The purpose of this aspect is to develop a magnetic control device that is convenient for doctors to manipulate, move flexibly, and save space.

Technical solutions

In order to solve the above problems, the present invention proposes an under-bed magnetron device for minimally invasive surgery, and its technical solution is as follows:

An under-bed type magnetic control device for minimally invasive surgery, including a bed body, a handrail, and:

Electric control cabinet for accommodating power supply components;

The linear transmission module and the magnetic head assembly are used to control the movement of the under-bed type magnetic control equipment. The linear transmission module and the magnetic head assembly further have a first moving part and a second moving part. The magnet realizes the horizontal direction of the X axis through the first moving part. Move left and right, or realize Y-axis horizontal forward and backward movement through the second moving part;

The base is used to provide support for the under-bed magnetron equipment.

Further, the armrest can be folded or turned over.

Further, the bed body can be moved in a horizontal direction.

Further, the base is further provided with a plurality of casters.

Further, the shape of the magnet can be any of spherical, cubic or cylindrical.

Further, the linear transmission module and the magnetic head assembly are driven by any one of a synchronous wheel timing belt, a screw rod or a linear motor, and the linear transmission module and the magnetic head assembly further include a magnet.

Further, the linear transmission module and the magnetic head assembly further have a first rotating part to realize a rotating movement in a first rotating axis, or a second rotating part to realize a rotating movement in a second rotating axis.

Further, the linear transmission module and the magnetic head assembly further have a movement mechanism in the Z-axis direction, and the magnet can move up and down in the Z-axis direction.

Further, the first moving part can also realize the horizontal movement of the Y-axis in the horizontal direction, and the second moving part can realize the horizontal forward and backward movement of the X-axis.

Beneficial effect

By adopting the under-bed magnetic control device for minimally invasive surgery of the present invention, the magnet is accurately controlled by a servo motor, realizing the precise control of the traction force of the anchor clamp with the magnet, such as the speed, force, and angle, which is convenient for the operator to operate. Save operation space and staffing, and improve the success rate of ESD operations.

Description of the drawings

Figure 1: The structure diagram of the under-bed magnetron equipment used in minimally invasive surgery of the present invention.

Figure 2: Schematic diagram of the composition of an under-bed magnetron device for minimally invasive surgery.

Figure 3: Schematic diagram of the working state of the under-bed magnetron equipment used for minimally invasive surgery of the present invention.

The best mode of the present invention

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not used to limit the present invention.

Please refer to FIG. 1 for a schematic structural diagram of an under-bed magnetron device for minimally invasive surgery of the present invention. The under-bed magnetron device 10 of the present invention includes a bed body 11 and armrests 12, which can be folded and turned in different storage forms, which is convenient for surgery. The subject lies in the bed, the electric control cabinet 13, the linear transmission module and the magnetic head assembly 14, the base 15 and the movement range 16 of the magnetic head assembly.

The present invention integrates the linear transmission module and the magnetic head assembly 14 into the lower part of the bed body 11. The bed body 11 can realize a certain range of movement in the horizontal direction, such as a telescopic structure or a hydraulic structure, and is driven by a motor or other power source. , It is convenient for examinees of different heights to perform examinations, so as to realize the control of the traction force direction of the anchor clamp with magnets in the examinee without affecting the doctor’s ESD operation space. Further, the magnetic control equipment The base can be further equipped with multiple casters to facilitate the overall movement, placement and transportation of the equipment.

The linear transmission module and the magnetic head assembly 14 can be realized by using transmission mechanisms such as a synchronous wheel, a synchronous belt, a screw rod, and a linear motor.

Please refer to FIG. 2 for a schematic diagram of the composition of an under-bed magnetron device for minimally invasive surgery. The magnet 2 of the magnetron device can realize the horizontal movement of the X axis through the first moving part 41, or realize the Y through the second moving part 42. The axis moves back and forth horizontally, and the movement of the magnet 2 along the X-axis and the Y-axis can be programmable through a servo motor to adjust the position of the magnet 2 of the magnetic control system. Further, the magnet 2 of the magnetic control system can also realize the rotation movement in the first rotation axis through the first rotation part 51, or realize the rotation movement in the second rotation axis through the second rotation part 52, and the first rotation axis and The rotation movement of the second rotation axis can be controlled by a servo motor. Further, the magnet 2 can also be moved in the Z-axis direction, for example, a telescopic device or a telescopic sleeve is provided to realize the height adjustment of the magnet 2. The rotational movement of the magnet 2 can change the magnetic field orientation of the magnet 2 and then adjust the traction direction of the anchor clamp with the magnet in the body. When the subject undergoes ESD surgery, the magnet 2 realizes the need to hold the anchor clamp in the body. Control of the direction of the pulling force on the side of the peeled mucosa.

Those skilled in the art can understand that the first moving part 41 may also be arranged to realize horizontal movement of the Y axis, and the second moving part 42 may also be arranged to realize horizontal movement of the X axis.

The shape of the magnet 2 may also be, for example, a cubic, cylindrical, or square permanent magnet.

Please refer to Figure 3 for a schematic diagram of the working state of the under-bed magnetron equipment used for minimally invasive surgery. Subject 5 is lying flat on top of the magnetic control system. After completing the ESD pre-incision in the subject's body, it will be equipped with magnets. The anchor clamp is released through the endoscopic biopsy tube to the side of the mucosal end that needs to be stripped. The magnetron device adjusts the position and posture of the magnet 2 through the position control device 3 and the magnetic field direction adjustment device 4, so as to accurately control the body of the subject 5. The traction force direction of the anchor clamp with magnets can be adjusted to the left side or the right side according to the operation needs, so as to obtain a better traction force direction, which is convenient for the doctor to perform the operation.

The above descriptions are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection of the present invention. Within range.

Claims

An under-bed magnetic control device for minimally invasive surgery, including a bed body and a handrail, and is characterized in that it also includes:

Electric control cabinet for accommodating power supply components;

The linear transmission module and the magnetic head assembly are used to control the movement of the under-bed type magnetic control equipment. The linear transmission module and the magnetic head assembly further have a first moving part and a second moving part. The magnet realizes the horizontal direction of the X axis through the first moving part. Move left and right, or realize Y-axis horizontal forward and backward movement through the second moving part;

The base is used to provide support for the under-bed magnetron equipment.
The under-bed magnetic control device according to claim 1, wherein the armrest can be folded or turned over.
The under-bed type magnetic control device according to claim 1, wherein the bed body can move in a horizontal direction.
The under-bed type magnetic control device according to claim 1, wherein the base is further provided with a plurality of casters.
The under-bed magnetron device according to claim 1, wherein the shape of the magnet can be any of spherical, cubic or cylindrical.
The under-bed magnetic control device according to claim 1, wherein the linear transmission module and the magnetic head assembly are driven by any one of a synchronous wheel, a synchronous belt, a screw, or a linear motor, and the linear transmission module and The magnetic head assembly further includes a magnet.
The under-bed type magnetic control device according to claim 1, wherein the linear transmission module and the magnetic head assembly further have a first rotating part to realize the rotational movement in the first rotating axis, or to realize the rotating movement in the first rotating axis. Rotational movement in the second axis of rotation.
The under-bed type magnetic control device according to claim 1, wherein the linear transmission module and the magnetic head assembly further have a movement mechanism in the Z-axis direction, and the magnet can move up and down in the Z-axis direction.
The under-bed type magnetic control device according to claim 1, wherein the first moving part can also realize the horizontal movement of the Y-axis in the horizontal direction, and the second moving part can realize the horizontal movement of the X-axis back and forth.