WO2021189858A1 - 一种微创手术磁锚定系统、控制模块及微创手术辅助装置 - Google Patents

一种微创手术磁锚定系统、控制模块及微创手术辅助装置 Download PDF

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Publication number
WO2021189858A1
WO2021189858A1 PCT/CN2020/125739 CN2020125739W WO2021189858A1 WO 2021189858 A1 WO2021189858 A1 WO 2021189858A1 CN 2020125739 W CN2020125739 W CN 2020125739W WO 2021189858 A1 WO2021189858 A1 WO 2021189858A1
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Prior art keywords
minimally invasive
magnet
invasive surgery
magnetic
control
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PCT/CN2020/125739
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English (en)
French (fr)
Inventor
王建平
彭国会
吴良信
张伟文
欧宏伟
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深圳市资福医疗技术有限公司
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Publication of WO2021189858A1 publication Critical patent/WO2021189858A1/zh

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    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/04—Endoscopic instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/06—Biopsy forceps, e.g. with cup-shaped jaws
    • 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
    • A61B17/32—Surgical cutting instruments
    • A61B17/320016—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A61B2034/731—Arrangement of the coils or magnets

Definitions

  • the invention relates to the field of medical equipment, in particular to a minimally invasive surgery magnetic anchoring system, a control module and a minimally invasive surgery auxiliary device.
  • ESD Endoscopic Submucosal Dissection
  • ESD surgery can perform en bloc resection of lesions larger than 2 cm in diameter, thereby avoiding local recurrence.
  • ESD has disadvantages such as long operation time, high risk, and difficult operation.
  • the lesions with a diameter of more than 3 cm are completely peeled off, complications such as bleeding and perforation are prone to occur.
  • ESD ulcerative colitis
  • Magnetic anchor assisted endoscopic mucosal dissection Magnetic anchor-guided ESD, MAG-ESD.
  • This technical solution uses the endoscopic channel to fix the anchor clamp with a magnetic ring on the edge of the intracavitary lesion tissue, and the extracorporeal magnet fully draws and exposes the operation area at different angles, which effectively assists the endoscopist in the operation and reduces the difficulty of operation and the risk of perforation.
  • 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. It moves and/or rotates accordingly, so that 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 permanent magnet serving as the external anchoring magnet is usually held by the assistant during the whole operation, or clamped by a movable mechanical long arm device with locking function. Both methods are manually adjusted by humans. The traction force, its adjustment speed, strength, angle and other factors are greatly affected by man-made factors, which may increase the uncontrollable risk of minimally invasive surgery, and usually these two methods occupy a large surgical space, resulting in crowded surgical space , To a certain extent, affect the smooth progress of the operation; and the anchor clip that acts as an internal anchor, usually fixes the magnetic ring to the titanium clip with a special medical wire, which is not only complicated to operate, but also has low anchoring accuracy. It is suitable for minimally invasive surgery of narrow cavities such as the esophagus.
  • the present invention proposes a minimally invasive surgical magnetic anchoring system, a control module and a minimally invasive surgery auxiliary device.
  • the minimally invasive surgical magnetic anchoring system controls the magnet of the under-bed type magnetic control device through the magnetic control device control device. Free translation and rotation, through the mutual attraction between the magnet and the magnetic anchor clamp, the traction direction of the magnetic anchor clamp is controlled.
  • the present invention provides a minimally invasive surgery assisting device, and the minimally invasive surgery assisting device includes: Anchor clamp, used to grasp and lift diseased tissue; A small magnet, connected to the end of the anchor clip, 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; The control wire is connected to the end of the anchor clip and is used to control the opening and closing of the anchor clip; the bendable catheter 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 to bendable The folding catheter and anchor clamp are used to control the opening and closing of the anchor clamp through the control line.
  • Anchor clamp used to grasp and lift diseased tissue
  • a small magnet connected to the end of the anchor clip, 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
  • the control wire is connected to the end of the anchor clip and is used to control the opening and closing of the anchor clip
  • the bendable catheter is used to house the
  • the control line can be separated from the anchor clamp in a locked state.
  • the minimally invasive surgery auxiliary device further includes a spare magnet, and the spare magnet is a permanent magnet.
  • the spare magnet is a permanent magnet.
  • the spare magnet has two sizes, long and short.
  • the present invention provides a minimally invasive surgery magnetic anchoring system, including the minimally invasive surgery assisting device according to any one of the first aspects, characterized in that it further comprises an under-bed magnetic control device,
  • the magnetic control device further includes: a bed, used to carry the subject; a base, used to support the entire magnetic control device, install transmission components; the shape of the magnet can be any of spherical, cubic or cylindrical;
  • the linear transmission module and the magnetic head assembly are used to control the movement of the magnet.
  • the movement of the magnet includes any combination of translation, lifting and rotation.
  • the under-bed type magnetic control equipment may also be a four-axis, six-axis, seven-axis industrial or assisted robot.
  • the magnet is a permanent magnet.
  • the magnet can also be an electromagnet.
  • the present invention provides a minimally invasive surgery magnetic anchoring control module, including the minimally invasive surgery magnetic anchoring system described in the second aspect, further comprising: a subject information management module for managing the subject’s Personal information; operation area location database, used to store the X and Y coordinates of the corresponding operation area positions of different body types; operation area selection module, according to the information obtained by the recipient information management module, select the corresponding operation area in the operation area location database, And move the magnet to the preset position of the corresponding operation area;
  • the magnetic control module is used to control the distance between the magnet of the under-bed magnetron equipment and the anchor clamp of the minimally invasive surgery auxiliary device; the magnet control module is used to control the movement of the magnet.
  • the movement of the magnet includes any combination of translation, lifting and rotation.
  • control module and minimally invasive surgery auxiliary device of the present invention can make the diseased tissue fully traction and reveal as required, effectively expose the surgical field, save space, and solve the current inconvenience for doctors to cut biological tissues and diseased tissues.
  • the boundary is not easy to distinguish, the cutting of the diseased tissue is not accurate, and the operation efficiency is not high, which improves the operation efficiency and the convenience of the operator.
  • Fig. 1 is a schematic diagram of different states of the minimally invasive surgery auxiliary device.
  • Figure 2 is a schematic diagram of the structure of the minimally invasive surgery auxiliary device.
  • Fig. 3 is a schematic diagram of the combination of a minimally invasive surgery auxiliary device and a spare magnet.
  • Figure 4 is a schematic diagram of the working state of the magnetic anchoring system for minimally invasive surgery.
  • Figure 5 is a schematic diagram of the composition of a magnetic anchoring system for minimally invasive surgery.
  • Figure 6 is a schematic diagram of the operation of the magnetic anchoring system for minimally invasive surgery.
  • Figure 7 is a schematic diagram of a magnetic anchor control module for minimally invasive surgery.
  • Fig. 1 is a comparison diagram of the initial state, the opened state, and the locked state of the anchor clamp 0401 of the minimally invasive surgery auxiliary device 04.
  • Figure 2 is a schematic diagram of the structure of the minimally invasive surgery auxiliary device 04, including: an anchor clamp 0401, which has three states of initial, open jaw, and locked, used to grasp and lift diseased tissue; small magnet 0402, a strong magnetic permanent Magnet, connected to the end of the anchor clamp 0401, used to generate a magnetic field in the body, and interact with the external magnetic field to provide force to pull biological tissue; control line 0403, connected to the end of the anchor clamp 0401, used to control anchoring Opening and closing of the clip 0401; further, the control line 0403 can be separated from the anchor clip 0401 in the locked state;
  • the bendable conduit 0404 is used to house the control wire 0403 and provide an axial sliding channel for the control wire 0403; the control part 0405, which connects the bendable conduit 0404 and the anchor clamp 0401, is used to control the anchoring through the control wire 0403 Clamp 0401 for biological tissue operations; spare magnet 0406, a strong magnetic permanent magnet, is used to attach to the small magnet 0402 when the magnetic field
  • the spare magnet 0406 can be singular or plural, and its shape can be Either long, cylindrical, or prismatic. Spare magnets of long and short sizes can be provided. When using multiple spare magnets, the long and short ones are alternately used. Affected by the force of the magnetic field, there are two spare magnets adjacent to each other. The magnets 0406 can be tilted at a certain angle to each other without side attraction and folding, and they are not easy to attract each other to stack. Then a plurality of spare magnets can form a flexible magnetic chain. When passing through a narrow cavity, the flexible magnetic chain is compressed by the cavity wall and bends accordingly. The anchoring clip 0401 can be pulled through the narrow cavity smoothly. Take minimally invasive esophageal surgery as an example.
  • the minimally invasive surgery of the esophagus of the subject 02 is completed, the minimally invasive surgery around the tissue is pre-dissected, and the anchoring clip 0401 of the minimally invasive surgery auxiliary device 04 is sent to the location of the lesion through the endoscopic biopsy pipeline.
  • the minimally invasive surgery assisting device 04 is in the initial state; the control unit 0405 is further manipulated, and the anchor clamp 0401 is opened by pushing the control wire 0403.
  • the minimally invasive surgery assisting device 04 is in the open state; continue to control the endoscope and The bendable catheter 0404 moves the anchoring clip 0401 to the edge of the lesion tissue; the manipulation control part 0405 pulls the control line 0403 to close the anchor clip 0401 and fix it to the edge of the lesion tissue.
  • the minimally invasive surgery assisting device 04 is in position In the locked state, the control wire 0403 is separated from the anchor clamp 0401; the bendable catheter 0404 and the control wire 0403 are taken out of the endoscopic tube.
  • Figure 3 is a schematic diagram of the combination of a minimally invasive surgery auxiliary device and a spare magnet.
  • FIG. 4 is a schematic diagram of the working state of the minimally invasive surgical magnetic anchoring system
  • Figure 5 is a schematic diagram of the composition of the minimally invasive surgical magnetic anchoring system.
  • the minimally invasive surgical magnetic anchoring system includes: under-bed magnetic control device 01, minimally invasive surgery assistant Device 04, magnetic control equipment control software, console 05, under-bed magnetic control equipment 01 includes: bed body 0101, used to carry the subject; base 0102, used to support the entire magnetic control equipment, installation of transmission parts; magnet 0103 , It is a strong magnetic permanent magnet, and the shape can be any of spherical, cubic or cylindrical.
  • the magnet 0103 can also be an electromagnet; the linear transmission module and the magnetic head assembly 0104 are used To control the movement of the under-bed magnetic control device 01, the linear transmission module and the magnetic head assembly 0104 further have a first moving part (not shown in the figure) and a second moving part (not shown in the figure), and the magnet moves through the first The part realizes the horizontal movement of the X axis in the horizontal direction, or realizes the horizontal movement of the Y axis through the second moving part. Further, the linear transmission module and the magnetic head assembly 0104 further have a first rotating part (not shown in the figure) to realize the rotational movement of the first rotating axis, or a second rotating part (not shown in the figure) to realize the second rotating movement.
  • the linear transmission module and the magnetic head assembly 0104 further have a movement mechanism in the Z-axis direction (not shown in the figure), and the magnet can move up and down in the Z-axis direction.
  • the console 05 is used to operate the under-bed magnetic control device 01, and can be placed with a computer for installing and using control software. Furthermore, the console can be equipped with two rockers 0501, through the tilt or rotation of the rocker 0501, the motion control of each axis of the under-bed magnetic control device 01 can be realized.
  • the doctor 03 instructs the subject 02 to lie down on the bed 0101 of the under-bed magnetic control device 01 according to the specific conditions of the location of the lesion.
  • the linear transmission module and magnetic head assembly 0104 mounted on the base 0102.
  • the linear transmission module and magnetic head assembly 0104 can drive the magnet 0103 for any combination of translation, lifting and rotation.
  • the under-bed magnetic control device may also be a four-axis, six-axis, seven-axis industrial or assisted robot with magnets installed at the end.
  • 6 is a schematic diagram of the operation of the magnetic anchoring system for minimally invasive surgery. Further refer to FIG. 7 for a schematic diagram of the magnetic anchoring control module for minimally invasive surgery of the present invention.
  • the magnetic anchoring control module for minimally invasive surgery includes: a subject information management module 701, To manage the personal information of the subject 02, you can input and store the subject's body type related data, such as height, weight, etc.; the operation area selection module 702, according to the location of the subject 02, select the corresponding operation area, such as the esophagus, Stomach, rectum, sigmoid colon, etc., after selection, magnet 0103 automatically and quickly translates to the preset position of the corresponding operation area; operation area position database 703 is used to store the X and Y coordinates of the operation area position corresponding to different body types. It can be directly called and quickly reached the preset position.
  • a subject information management module 701 To manage the personal information of the subject 02, you can input and store the subject's body type related data, such as height, weight, etc.
  • the operation area selection module 702 according to the location of the subject 02, select the corresponding operation area, such as the esophagus, Stomach, rectum,
  • the magnetic control module 704 can control the distance between the magnet 0103 and the anchor clamp 0401 by controlling the magnet 0103 to lift, so as to control the magnetic strength and weak magnet control module 705, which can control the magnet to move freely along the X and Y horizontal axes, And the rotation movement with the Z axis or any horizontal axis as the axis.
  • the magnetic control device operator 06 operates the minimally invasive surgery magnetic anchoring control module through the computer set on the operating table 05, inputs the height, weight and other information of the recipient, and selects the surgical area for minimally invasive surgery
  • the magnetic anchor control module automatically compares the input information with the surgical area location database to quickly determine the coordinates of the preset position for esophageal surgery, and then the magnet control module 705 controls the magnet to quickly move to the coordinate position, and the computer-configured display can display in real time.
  • the image taken by the mirror can observe the current position and posture of the anchor clamp.
  • the operator of the magnetic control device 06 operates the magnetic anchor device or directly operates the joystick 0501 to fine-tune the position, posture and magnetic strength of the magnet , Adjust the posture of the anchor clip by the traction force of the magnet to the anchor clip, and adjust the direction of the traction force in time with the progress of the lesion tissue peeling, so that the lesion tissue can be kept in a lifted state, avoiding the occlusion of the surgical field by the falling tissue, keeping the surgical field clear and lowering Surgical risk, improve the efficiency of the operation, after the lesion tissue is completely peeled off, it can be taken out together with the anchor clamp with biopsy forceps.
  • 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.

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Abstract

一种微创手术磁锚定系统、控制模块（70）及微创手术辅助装置（04），微创手术辅助装置（04）包括锚定夹（0401）、小磁体（0402）、控制线（0403）、可弯折导管（0404）及控制部（0405）；微创手术磁锚定系统进一步包括床下式磁控设备（01），控制模块（70）包括受术者信息管理模块（701），手术区域选择模块（702），手术区域位置数据库（703），磁力控制模块（704）及磁体控制模块（705）。操作者（06）通过控制模块（70）操控床下式磁控设备（01）的磁体（0103），对微创手术辅助装置（04）的锚定夹（0401）牵引力进行调整，进而调整锚定夹（0401）姿态，随病灶组织剥离进度及时调整牵引力方向，使病灶组织保持提拉掀起的状态，避免术野受垂落组织的遮挡，保持术野清晰，节省空间，降低手术风险，方便操作，提高手术效率。

Description

一种微创手术磁锚定系统、控制模块及微创手术辅助装置 技术领域
本发明涉及医疗器械领域，具体涉及到一种微创手术磁锚定系统、控制模块及微创手术辅助装置。
 背景技术
随着医疗领域微创内镜技术的迅猛发展，越来越多的早期胃癌、肠癌、癌前病变及胃肠黏膜下疾病可通过微创手术在内镜下予以切除，免除了更大的手术创伤。例如内镜黏膜下剥离术（Endoscopic Submucosal Dissection，ESD），与传统内镜手术相比，ESD手术可对直径大于2cm的病灶进行整块切除，从而避免局部复发。但是同时ESD存在操作时间长、风险大、难操作等缺陷，尤其在对直径3cm以上病变完整剥离时，容易出现出血、穿孔等并发症，避免术中发生消化道穿孔最重要的一点是在ESD手术中始终保持操作视野清晰。通常ESD手术是在有限空间内对薄壁空腔脏器操作，只能通过内镜本身有限地调节角度，缺乏有效术野暴露，操作难度大，技术要求高。
为解决上述问题，目前国际上出现了磁锚定辅助内镜粘膜剥离术（Magnetic anchor-guided ESD，MAG-ESD）。该技术方案利用内镜通道将带磁环锚定夹固定于腔内病变组织边缘，体外磁体以不同角度对术区充分牵引显露，有效协助内镜医生操作，降低操作难度及穿孔风险。
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。
上述技术方案中，充当外锚定磁体的永磁铁通常是由助手在手术过程中全程手持，或者是通过带锁紧功能的可活动机械长臂装置夹持，两种方式都是通过人为手动调节牵拉力，其调节速度、力度和角度等多方面因素受人为影响较大，潜在增加微创手术手术的不可控风险，且通常这两种方式都占据较大的手术空间，造成手术空间拥挤，一定程度上影响手术顺利进行；而充当内锚定的锚定夹，通常是将磁环用医疗专用丝线固定于钛夹上，不仅操作复杂，锚定准确度低，而且体积较大，不适用于食道等狭窄腔道的微创手术手术。
    因此，有必要开发一种方便操作，能稳定控制，节省空间，适用范围广的ESD磁锚定系统。
 技术问题
[援引加入(细则20.6) 20.11.2020]　
为了解决上述问题，本发明提出一种微创手术磁锚定系统、控制模块及微创手术辅助装置，该微创手术磁锚定系统通过磁控设备控制装置，操控床下式磁控设备的磁体自由平移、旋转，通过磁体与磁锚定夹相互之间的吸引力，控制磁锚定夹的牵引力方向。
 技术解决方案
[援引加入(细则20.6) 20.11.2020]　
本发明的技术方案如下:第一方面，本发明提供一种微创手术辅助装置，所述的微创手术辅助装置包括:
锚定夹，用于抓取和提拉病变组织；
小磁体，连接于锚定夹的末端，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，连接于锚定夹的末端，用于控制锚定夹的开合；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，连接可弯折导管及锚定夹，用于通过控制线控制锚定夹的开合。
进一步的，所述的控制线可与锚定夹在锁止状态下分离。
进一步的，所述的微创手术辅助装置进一步还包括备用磁体，该备用磁体为永磁体。
进一步的，所述的备用磁体为复数个，其形状可以为长条形、圆柱形、棱形的任一种。
进一步的，所述的备用磁体有长、短两种尺寸。
第二方面，本发明提供一种微创手术磁锚定系统，包括第一方面任一项所述的微创手术辅助装置，其特征在于，进一步还包括床下式磁控设备，所述的床下式磁控设备进一步包括:床体，用于承载受术者;底座，用于支撑整台磁控设备，安装传动部件;磁体，其形状可以为球形、立方形或圆柱形的任一种;线性传动模组及磁头组件，用于控制磁体的运动。
进一步的，所述磁体的运动包括平移、升降及旋转的任意组合。
进一步的，所述的床下式磁控设备也可以是四轴、六轴、七轴工业型或协助型机器人。
进一步的，所述的磁体为永磁体。
进一步的，所述的磁体还可以为电磁体。
第三方面，本发明提供一种微创手术磁锚定控制模块，包括第二方面所述的微创手术磁锚定系统，进一步包括：受术者信息管理模块，用于管理受术者的个人信息；手术区域位置数据库，用于存储不同体型人体对应手术区域位置的X、Y坐标;手术区域选择模块，根据受术者信息管理模块获得的信息，在手术区域位置数据库选择对应手术区域，并将磁体平移至对应手术区域预设位置；
磁力控制模块，用于控制床下式磁控设备的磁体和微创手术辅助装置的锚定夹之间的距离；磁体控制模块，用于控制磁体的运动。
进一步的，所述的磁体的运动包括平移、升降及旋转的任意组合。

 有益效果
[援引加入(细则20.6) 20.11.2020]　
采用本发明的微创手术磁锚定系统、控制模块及微创手术辅助装置，可以使病变组织根据需要充分牵引显露，有效暴露术野，节省空间，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，提高手术效率和操作者的便利度。
 附图说明
[援引加入(细则20.6) 20.11.2020]　
图1为微创手术辅助装置的不同状态示意图。
图2为微创手术辅助装置的结构示意图。
图3为微创手术辅助装置与备用磁体的组合示意图。
图4为微创手术磁锚定系统的工作状态示意图。
图5为微创手术磁锚定系统的组成示意图。
图6为微创手术磁锚定系统的操作示意图。
图7为微创手术磁锚定控制模块示意图。
各序号及对应的名称列表:01:床下式磁控设备;0101:床体;0102:底座;0103:磁体;0104:线性传动模组及磁头组件;
02:受术者;
03:医生;
04:微创手术辅助装置;
0401:锚定夹;
0402:小磁体;
0403:控制线;
0404:可弯折导管;
0405:控制部;
0406:备用磁体;
05:操作台;
0501:摇杆;
06:磁控设备操作者。
 本发明的最佳实施方式
[援引加入(细则20.6) 20.11.2020]　
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。
图1为微创手术辅助装置04的锚定夹0401初始状态、开爪状态、锁止状态的对比图。
图2为微创手术辅助装置04的结构示意图，包括：锚定夹0401，有初始、开爪、锁止三种状态，用于抓取和提拉病变组织；小磁体0402，为强磁永磁体，连接于锚定夹0401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0403，连接锚定夹0401的末端，用于控制锚定夹0401的开合；进一步的，控制线0403可与锚定夹0401在锁止状态下分离；
可弯折导管0404，用于容置控制线0403，并为控制线0403提供轴向滑动通道;控制部0405，连接可弯折导管0404及锚定夹0401，用于通过控制线0403控制锚定夹0401进行生物组织操作；备用磁体0406，为强磁永磁体，用于在磁场牵引力不足时，附加在小磁体0402上，提供额外牵引力，备用磁体0406可为单数或复数个，其形状可以为长条形、圆柱形、棱形的任一种，可提供长短两款尺寸的备用磁体，在使用复数个备用磁体时，长短两款交替叠加使用，受磁场作用力影响，相临两个备用磁体0406之间可相互倾斜一定角度而不发生侧吸折叠现象，不易互相吸引堆叠，进而复数个备用磁体可组成柔性磁链，在通过狭窄腔道时，柔性磁链受腔壁压迫相应弯曲，可牵引锚定夹0401顺利通过狭窄腔道。
以食道微创手术手术为例，在受术者02的食道内完成病灶组织微创手术四周预切开后，将微创手术辅助装置04的锚定夹0401通过内镜活检管道送入病灶位置附近，此时，微创手术辅助装置04处于初始状态；进一步操纵控制部0405,通过推动控制线0403打开锚定夹0401，此时微创手术辅助装置04处于开爪状态；继续控制内镜及可弯折导管0404,移动锚定夹0401至病灶组织边緣；操纵控制部0405拉动控制线0403，使锚定夹0401闭合并固定于病灶组织边緣，此时，微创手术辅助装置04处于锁止状态，同时控制线0403与锚定夹0401分离；将可弯折导管0404连同控制线0403从内镜管道中取出。
图3为微创手术辅助装置与备用磁体的组合示意图，当病灶组织体积较大，小磁体0402牵引力不足时，可通过内镜管道将若干个备用磁体0406按一长一短的顺序依次送入体内，叠加于锚定夹0401末端的小磁体0402上，数量视所需牵引力大小而定，从而组成柔性磁链，给微创手术辅助装置提供足够的牵引力。
图4为微创手术磁锚定系统的工作状态示意图，图5为微创手术磁锚定系统的组成示意图，该微创手术磁锚定系统包括：床下式磁控设备01、微创手术辅助装置04、磁控设备控制软件、操作台05，床下式磁控设备01包括：床体0101，用于承载受术者；底座0102，用于支撑整台磁控设备，安装传动部件;磁体0103，其为强磁永磁体，形状可以为球形、立方形或圆柱形的任一种，本领域技术人员可以理解的是，磁体0103也可以为电磁体；线性传动模组及磁头组件0104,用于控制床下式磁控设备01的运动，线性传动模组及磁头组件0104进一步具有第一移动部（图中未示出）和第二移动部（图中未示出），磁体通过第一移动部实现X轴水平方向的左右运动，或者通过第二移动部实现Y轴水平前后运动。
进一步的，线性传动模组及磁头组件0104进一步具有第一转动部（图中未示出）实现第一转动轴向的旋转运动，或者通过第二转动部（图中未示出）实现第二转动轴向的旋转运动。
进一步的，线性传动模组及磁头组件0104进一步具有Z轴方向的运动机构（图中未示出），磁体可以在Z轴方向上下移动。
操作台05用于操作床下式磁控设备01，可放置计算机，用于安装、使用控制软件。
进一步的，操作台可配置两摇杆0501，通过摇杆0501的倾斜或旋转，可实现对床下式磁控设备01各轴的运动控制。
当进行微创手术时，医生03根据病灶位置具体情况，指示受术者02采取平躺、侧卧、俯卧的任一种姿态躺卧于床下式磁控设备01的床体0101上，床体0101的正下方为安装在底座0102上的线性传动模组及磁头组件0104，线性传动模组及磁头组件0104可驱动磁体0103做平移、升降及旋转运动的任意组合。
本领域技术人员可以理解的是，床下式磁控设备也可以是末端安装磁铁的四轴、六轴、七轴工业型或协助型机器人。
图6为微创手术磁锚定系统的操作示意图，进一步参考图7本发明微创手术磁锚定控制模块示意图，该微创手术磁锚定控制模块包括：受术者信息管理模块701，用于管理受术者02的个人信息，可输入、存储受术者体型相关数据，如身高、体重等；手术区域选择模块702，根据受术者02的病灶位置，选择对应手术区域，如食道、胃、直肠、乙状结肠等，选择后磁体0103自动快速平移至对应手术区域预设位置；手术区域位置数据库703，用于存储不同体型人体对应手术区域位置X、Y坐标，可直接调用，快速到达预设位置；磁力控制模块704，可通过控制磁体0103升降，控制磁体0103和锚定夹0401之间的距离，从而控制磁力强弱磁体控制模块705，可控制磁体沿X、Y水平轴自由移动，以及以Z轴或任一水平轴为轴心的旋转运动。
以食道微创手术为例：磁控设备操作者06通过操作台05上设置的计算机操作微创手术磁锚定控制模块，输入受术者身高、体重等信息后，选择手术区域，微创手术磁锚定控制模块自动将输入的信息与手术区域位置数据库进行比对，快速确定食道手术预设位置坐标，随即磁体控制模块705控制磁体快速移动至该坐标位置，计算机配置的显示器可实时显示内镜拍摄的影像，从而可观测到锚定夹的当前位置和姿态，磁控设备操作者06根据观测结果，操作磁锚定设备或直接操作摇杆0501，微调磁体的位置、姿态及磁力强弱，通过磁体对锚定夹的牵引力调整锚定夹姿态，随病灶组织剥离进度及时调整牵引力方向，使病灶组织保持提拉掀起的状态，避免术野受垂落组织的遮挡，保持术野清晰，降低手术风险，提高手术效率，病灶组织完整剥离后可连同锚定夹用活检钳一同取出。
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。
 本发明的实施方式
在此处键入本发明的实施方式描述段落。
 工业实用性
在此处键入工业实用性描述段落。
 序列表自由内容
在此处键入序列表自由内容描述段落。

Claims (12)

  1. 一种微创手术辅助装置，其特征在于，所述的微创手术辅助装置包括：
    锚定夹，用于抓取和提拉病变组织；
    小磁体，连接于锚定夹的末端，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，连接于锚定夹的末端，用于控制锚定夹的开合；
    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，连接可弯折导管及锚定夹，用于通过控制线控制锚定夹的开合。
  2. 如权利要求1所述的微创手术辅助装置，其特征在于，所述的控制线可与锚定夹在锁止状态下分离。
  3. 如权利要求1所述的微创手术辅助装置，其特征在于，所述的微创手术辅助装置进一步还包括备用磁体，该备用磁体为永磁体。
  4. 如权利要求3所述的微创手术辅助装置，其特征在于，所述的备用磁体为复数个，其形状可以为长条形、圆柱形、棱形的任一种。
  5. 如权利要求4所述的微创手术辅助装置，其特征在于，所述的备用磁体有长、短两种尺寸。
  6. 一种微创手术磁锚定系统，包括权利要求1至5任一项所述的微创手术辅助装置，其特征在于，进一步还包括床下式磁控设备，所述的床下式磁控设备进一步包括：
        床体，用于承载受术者；
        底座，用于支撑整台磁控设备，安装传动部件；
        磁体，其形状可以为球形、立方形或圆柱形的任一种；
        线性传动模组及磁头组件，用于控制磁体的运动。
  7. 如权利要求6所述的微创手术磁锚定系统，其特征在于，所述磁体的运动包括平移、升降及旋转的任意组合。
  8. 如权利要求6所述的微创手术磁锚定系统，其特征在于，所述的床下式磁控设备也可以是四轴、六轴、七轴工业型或协助型机器人。
  9. 如权利要求6所述的微创手术磁锚定系统，其特征在于，所述的磁体为永磁体。
  10. 如权利要求6所述的微创手术磁锚定系统，其特征在于，所述的磁体还可以为电磁体。
  11. 一种微创手术磁锚定控制模块，包括权利要求6所述的微创手术磁锚定系统，其特征在于，进一步包括：
    受术者信息管理模块，用于管理受术者的个人信息；
    手术区域位置数据库，用于存储不同体型人体对应手术区域位置的X、Y坐标；
    手术区域选择模块，根据受术者信息管理模块获得的信息，在手术区域位置数据库选择对应手术区域，并将磁体平移至对应手术区域预设位置；
    磁力控制模块，用于控制床下式磁控设备的磁体和微创手术辅助装置的锚定夹之间的距离；
        磁体控制模块，用于控制磁体的运动。
  12. 如权利要求11所述的微创手术磁锚定控制模块，其特征在于，所述的磁体的运动包括平移、升降及旋转的任意组合。
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CN110897663A (zh) * 2019-12-20 2020-03-24 深圳市资福医疗技术有限公司 一种微创手术的辅助装置
CN211985525U (zh) * 2019-12-20 2020-11-24 深圳市资福医疗技术有限公司 一种微创手术的辅助装置
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

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CN113925546A (zh) * 2021-10-25 2022-01-14 深圳市资福医疗技术有限公司 一种自锁型刹车装置及应用其的磁锚定设备
CN113974860A (zh) * 2021-10-25 2022-01-28 深圳市资福医疗技术有限公司 一种楔块自锁型刹车装置及磁锚定设备
CN113974860B (zh) * 2021-10-25 2023-09-29 深圳市资福医疗技术有限公司 一种楔块自锁型刹车装置及磁锚定设备
CN115517720A (zh) * 2022-10-25 2022-12-27 湖南省人民医院(湖南师范大学附属第一医院) 一种减少心肌损伤的心肌活检装置

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