WO2022011884A1

WO2022011884A1 - Auxiliary device for minimally invasive surgery

Info

Publication number: WO2022011884A1
Application number: PCT/CN2020/125736
Authority: WO
Inventors: 张伟文; 彭国会; 王建平
Original assignee: 深圳市资福医疗技术有限公司
Priority date: 2020-07-15
Filing date: 2020-11-02
Publication date: 2022-01-20
Also published as: CN111772693A

Abstract

An auxiliary device for minimally invasive surgery, comprising a handle (03), a control part (02), and a releasable grasping part (01). The grasping part (01) is internally provided with an internal anchoring magnet (0107), used to mate an external magnetic control device with the control part (02) to achieve clamping of tissue. The control part (02) is internally provided with an attraction magnet (0201), the attraction magnet (0201) and the internal anchoring magnet (0107) acting on each other in order to control opening and clamping of the grasping part (01), and achieve magnetic adherence and separation of the grasping part (01). The grasping part (01) further comprises clamp arms (0101), a fixed rotation pin (0102), a trigger rod (0104), a connection rod (0103) transmission mechanism, a connection base (0106), and a clamp spring (0108). The control part (02) further comprises a control core rod (0202), a return spring (0203), a guide piece (0204), and a control rod (0205). The auxiliary device is able to facilitate abdominal cavity tissue operations by a doctor, and has one fewer openings than traditional surgery, while also working in coordination with a magnet outside of the body, making traction of the clamping part more flexible, and positioning more stable, thus greatly improving the surgical efficiency of the surgeon, and reducing the difficulty of surgery, reducing the risk of infection, and decreasing the pain experienced by the patient.

Description

An auxiliary device for minimally invasive surgery

technical field

The invention relates to the field of medical instruments, in particular to an auxiliary device that can be used for minimally invasive surgery.

Background technique

Minimally invasive surgery is a newly developed surgical method in recent years, and it is an inevitable trend in the development of future surgical methods. postoperative pain of the patient.

The traditional operation adopts the two to four hole operation method, that is, several small incisions with a diameter of 5 to 12 mm are made in different parts of the abdomen. The surgeon uses various surgical instruments to complete the operation outside the body through these small incisions. During the operation, the organs are In the natural falling state, in order to fully expose the diseased part or keep the surgical field clear, a clamping and pulling device is required to pull and position the organ to ensure the smooth operation.

For patients, one less incision means one less chance of infection and one less postoperative pain. Taking the most representative cholecystectomy as an example, the four-hole method was used in the earliest stage, and then it was improved to three-hole, or even Two holes, however, reducing the number of openings will increase the difficulty of the operation, put forward high requirements on the doctor's operating skills and proficiency, and thus increase the risk of the operation.

Therefore, it is necessary to develop new auxiliary devices for minimally invasive surgery, which can facilitate the operation, reduce the difficulty of surgery, reduce the risk of infection, improve the efficiency of surgery, and relieve the pain of patients while reducing the number of openings.

technical problem

In order to solve the above-mentioned contradiction between the number of openings and the difficulty of the operation, facilitate the minimally invasive operation, and reduce the risk of infection, the present invention provides an auxiliary device for the minimally invasive operation.

technical solutions

The technical scheme of the present invention is as follows:

An auxiliary device for minimally invasive surgery, comprising a handle, further comprising a control part and a releasable grasping forceps part, wherein the grasping forceps part has a built-in inner anchoring magnet, which is used to cooperate with an external magnetic control device and a control part to achieve tissue clamping , The control part has a built-in attracting magnet, wherein the attracting magnet interacts with the inner anchoring magnet to control the opening, closing and clamping of the grasping forceps, and realize magnetic attraction and separation with the grasping forceps.

Further, the grasping forceps part further comprises a forceps arm, a fixed rotating pin, a trigger rod, a connecting rod transmission mechanism, a connecting seat and a clamping spring, wherein,

The fixed rotation pin is used as the rotation axis of the clamp arm for the radial positioning connection of the clamp arm;

The trigger rod is connected with the connecting rod to form a hinge mechanism, which controls the opening and closing of the clamp arm;

The movable rotating pin connects the clamp arm and the connecting rod;

The connecting seat is connected to the inner anchoring magnet, which is used to fix the fixing of the rotating pin;

The clamping spring is used to reset the trigger rod, which urges the clamp arm to close.

Further, the clamping spring can also use elastic components.

Further, the connecting rod transmission mechanism is composed of a connecting rod and a movable rotating pin, and the connecting rod connects the trigger rod and the clamp arm through the movable rotating pin.

Further, the control part further comprises a control core rod, a return spring, a guide member and a control rod,

The control core rod is used to control the opening and closing of the grasping forceps and the clutching of the attracting magnet and the inner anchoring magnet.

Return spring, used to restore the initial position of the magnet;

Guides for guiding and positioning the return spring for the control core rod;

Lever, used to connect the control and handle.

Further, the return spring can also use elastic components.

Further, the inner anchoring magnet can be any one of permanent magnet material or magnetically permeable material.

Further, the number of the clamp arms is at least two, and at least one clamp arm is rotatable.

Further, the control part and the grasper part may adopt an integrated design.

Further, the control part and the handle can be designed integrally.

beneficial effect

Compared with the traditional operation, the invention reduces the number of openings, and at the same time, the traction of the clamping part is more flexible and the positioning is more stable, which greatly improves the operation efficiency of the operator, reduces the difficulty of the operation, reduces the risk of infection, and relieves the pain of the patient, and solves the above problems. Conflict between the number of openings and surgical risk.

Description of drawings

Fig. 1: Schematic diagram of the initial state of the minimally invasive surgical auxiliary device of the present invention.

FIG. 2 is a schematic diagram of the unfolded state of the minimally invasive surgery assisting device of the present invention.

Fig. 3 is a schematic diagram of the release state of the minimally invasive surgical auxiliary device of the present invention.

FIG. 4 is a schematic diagram of the grasping forceps part of the minimally invasive surgery assisting device of the present invention.

FIG. 5 is a schematic diagram of the control part of the minimally invasive surgery assisting device of the present invention.

FIG. 6 is a schematic diagram of different states of the handle of the minimally invasive surgical aid device of the present invention.

FIG. 7 is a schematic diagram of the initial state of the control part and the grasping forceps part of the minimally invasive surgery assisting device of the present invention.

FIG. 8 is a schematic diagram of the open state of the control part and the grasping forceps part of the minimally invasive surgery assisting device of the present invention.

FIG. 9 is a schematic diagram of the clamping state of the minimally invasive surgical auxiliary device of the present invention.

FIG. 10 is a schematic diagram of the release state of the minimally invasive surgical assisting device of the present invention.

Figure 11: Schematic diagram of extracorporeal traction of the minimally invasive surgical aid device of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

The serial numbers and corresponding names are:

01: Grasping forceps.

0101: Clamp Arm.

0102: Fixed swivel pin.

0103: Connecting rod.

0104: Trigger lever.

0105: Active swivel pin.

0106: Connector.

0107: Internal anchoring magnet.

0108: Clamping spring.

02: Control Department.

0201: Pull in the magnet.

0202: Control core rod.

0203: Return spring.

0204: Guides.

0205: Lever.

03: The handle.

04: Human abdominal wall.

05: Large magnet outside the body.

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

1 is a schematic diagram of the initial state of the assisting device for minimally invasive surgery of the present invention, FIG. 2 is a schematic diagram of an expanded state of the assisting device for minimally invasive surgery of the present invention, and FIG. A minimally invasive surgical auxiliary device, for example, a magnetic anchoring clip, during the operation, the magnetic anchoring clip can be anchored in the part that blocks the surgical field or the diseased part, and the external large magnet 05 pairs The built-in magnet at the end of the clip provides traction, allowing the operator to lift or position the designated area for the convenience of surgery.

The magnetic anchoring clip provided by the present invention has three working states: initial, open and released, and mainly includes a grasper part 01 , a control part 02 and a handle 03 .

4 is a schematic diagram of the grasping forceps part of the minimally invasive surgery auxiliary device of the present invention, the grasping forceps part 01 has two states of opening and closing, and is used for clamping and pulling the target site. The grasping forceps part 01 mainly includes:

The pliers arm 0101 has at least two relatively movable arms, and the two pliers arms can be opened and closed. The pliers arm 0101 can also use other clamping components with similar functions, such as grasping pliers parts, the present invention is for this No restrictions.

A fixed rotation pin 0102, which is used as the rotation axis of the clamp arm 0101, is used for the radial positioning connection of the clamp arm 0101;

The connecting rod 0103 is connected to the trigger rod 0104 and the end of the clamp arm 0101 through the movable rotating pin 0105 to form a connecting rod transmission mechanism;

The trigger rod 0104 is controlled in axial translation by the control part 02, and the clamp arm 0101 is opened through the connecting rod 0103. When the control part 02 is separated from the clamp part 01, the clamping spring 0108 can restore it to the original position, thereby making the clamp arm 0101 open. The clamp arm 0101 is closed;

The movable rotating pin 0105 is used to connect the clamp arm 0101 and the connecting rod 0103. The connecting rod 0103 and the trigger rod 0104 form a hinge mechanism and can rotate radially. The connecting rod and the movable rotating pin form a connecting rod transmission mechanism.

The connecting seat 0106 is used to fix the rotation pin 0102 and connect the inner anchoring magnet 0107;

The inner anchoring magnet 0107 can be a permanent magnet material, which is used to interact with the external large magnet 05, and cooperate with the external magnetron device and control unit to provide traction force to realize the clamping of the tissue. The inner anchoring magnet 0107 can also be a magnetically permeable material. , the present invention does not limit this;

The clamping spring 0108 is used to reset the trigger rod 0104 to close the clamp arm 0101, and other elastic components can also be used for the clamping spring.

Please refer to FIG. 5 , the schematic diagram of the control part of the minimally invasive surgery auxiliary device of the present invention. The control part 02 is used to connect the grasper part 01 and the handle 03 , and can transmit the action of the handle 03 to control the opening and closing or release of the grasper part 01 . mainly includes:

The attracting magnet 0201, which can be moved axially, is used for attracting and engaging with the inner anchoring magnet 0107, so as to connect the grasper part 01 with the control part 02, and is used to control the opening and closing and clamping of the grasper part 01, and realize the grasping Magnetic attraction and separation of jaw 01.

The control core rod 0202, which is controlled by the handle 3, can be axially extended and retracted. When extended, the trigger rod 0104 can be pushed to translate axially, thereby making the grasping forceps 01 open, and when retracted, the attracting magnet 0201 and the inner anchoring can be made. Magnet 0107 separate;

The return spring 0203 is used to restore the attracting magnet 0201 to the initial position, and the return spring can also use an elastic component;

The guide 0204 is used to control the guide of the core rod 0202, and at the same time locate one end of the return spring 0203;

The control rod 0205 is used to connect the control part 02 and the handle 03, and also serves as the casing of the control part mechanism.

The control part 02 and the grasper part 01 described above can be designed in an integrated manner, and the control part 02 and the handle 03 can also be designed in an integrated manner.

Please refer to FIG. 6 Schematic diagram of different states of the handle of the minimally invasive surgery auxiliary device of the present invention. The handle 03 is used as the hand-held part of the entire magnetic anchoring clip, and is connected to the control rod 0205 for the operator to hold and manipulate the clip. The handle 03 has three stops position, corresponding to the three states of initial, open, and released, respectively. Figure 6a shows that the handle 03 is in the initial position, and the initial state schematic diagram of the grasping part 01 and the control part 02 of the magnetic anchoring clip is shown in Figure 7, The grasper part 01 and the control part 02 are sucked together by the magnetic force between the inner anchoring magnet 0107 and the attracting magnet 0201, and the grasper arm 0101 is in a closed state at this time.

It should be noted that the control part 02 and the grasping forceps part 01 of the present invention can also adopt an integrated design solution, or the control part 02 and the handle 03 are integrated design solutions to reduce the design complexity. Correspondingly, the overall design of the present invention The constituent parts can be correspondingly simplified as a grip portion and a grip portion.

Further referring to FIG. 6b, the handle 03 is in the open position, and the schematic diagram of the open state of the control part 02 and the gripper part 01 is shown in FIG. 8. When the handle 03 is opened, the control core rod 0202 is manipulated to translate forward until the trigger rod 0104 is pushed. , further open the gripper arm 0101 through the connecting rod 0103, and the required thrust to push the trigger rod 0104 is less than the attraction force of the inner anchoring magnet 0107 and the attraction magnet 0201, preventing the accidental separation of the gripper part 01 and the control part 02, when When the grasper part 01 clamps or pulls the diseased tissue, the clamping state between the control part 02 and the grasper part 01 is shown in FIG. 9 .

Further referring to FIG. 6 c is a schematic diagram of the release state of the handle 03. When the grasper portion 01 needs to be released, the handle 03 pulls back the control core rod 0202 to retract, and then pulls the attracting magnet 0201 to retract, urging the attracting magnet 0201 and the inner anchor to retract. The distance between the fixed magnets 0107 is increased until the magnetic force between the two is significantly weakened, so that the grasper part 01 is separated from the control part 02 .

The working process of the minimally invasive surgical auxiliary device of the present invention is illustrated as follows:

Taking cholecystectomy as an example, after the doctor makes a hole at the patient's navel, the head of the magnetic anchoring clip in the initial state is inserted into the patient's body by pressing the card. gear, so that the grasper part 01 is opened; after further moving the grasper part 01 to a suitable position for clamping the gallbladder, the operating handle 03 returns to the initial position, the clamping spring 0108 pushes the trigger rod 0104 to reset, and the clamping spring The elastic force of 0108 is transformed into a clamping force, so that the clamp arm 0101 is closed and clamped on the gallbladder. The doctor continues to manipulate the handle 03 to the release position. After the control part 02 is separated from the grasping forceps part 01, the control part 02 is taken out from the patient's body .

11 is a schematic diagram of the external traction of the minimally invasive surgery auxiliary device of the present invention, the doctor further controls the traction direction of the grasping forceps 01 by moving the external large magnet 05 to different positions, and by controlling the distance between the external large magnet 05 and the abdominal wall 04, can Control the strength of the traction force. During the operation, the assistant can cooperate with the chief surgeon at any time. By controlling the external large magnet 05, the direction and strength of the traction force can be flexibly adjusted according to the progress of the operation, so that the gallbladder or other organs that block the view can be kept in a lifted state, avoiding The operative field is blocked, keeping the operative field clear, reducing the surgical risk and improving the surgical efficiency.

After the operation is completed, the doctor can re-insert the control part 02 into the patient's body, and after approaching the grasping forceps part 01, the control part 02 and the grasping forceps part 01 can be automatically sucked and connected by magnetic force, and the doctor can continue to manipulate the grasping forceps part 01 to open the jaws. , after releasing the clamping part, the grasper part 01 can be recovered from the original opening.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims

An auxiliary device for minimally invasive surgery, comprising a handle, and is characterized in that it also includes a control part and a releasable grasping forceps part, wherein the grasping forceps part has a built-in internal anchoring magnet for cooperating with an external magnetic control device and a control part to realize Holding the tissue, the control part has a built-in attracting magnet, wherein the attracting magnet interacts with the inner anchoring magnet to control the opening, closing and clamping of the grasper part, and realize the magnetic attraction and separation of the grasper part.
The auxiliary device according to claim 1, wherein the grasping forceps part further comprises a forceps arm, a fixed rotating pin, a trigger lever, a link transmission mechanism, a connecting seat and a clamping spring, wherein,

The fixed rotation pin is used as the rotation axis of the clamp arm for the radial positioning connection of the clamp arm;

The trigger rod is connected with the connecting rod to form a hinge mechanism, which controls the opening and closing of the clamp arm;

The movable rotating pin connects the clamp arm and the connecting rod;

The connecting seat is connected to the inner anchoring magnet, which is used to fix the fixing of the rotating pin;

The clamping spring is used to reset the trigger rod, which urges the clamp arm to close.
The auxiliary device according to claim 2, characterized in that, the clamping spring can also adopt an elastic member.
The auxiliary device according to claim 2, wherein the connecting rod transmission mechanism is composed of a connecting rod and a movable rotating pin, and the connecting rod connects the trigger rod and the clamp arm through the movable rotating pin.
The auxiliary device according to claim 1, wherein the control part further comprises a control core rod, a return spring, a guide member and a control rod,

The control core rod is used to control the opening and closing of the grasping forceps and the clutching of the attracting magnet and the inner anchoring magnet;

Return spring, used to restore the initial position of the magnet;

Guides for guiding and positioning the return spring for the control core rod;

Lever, used to connect the control and handle.
The auxiliary device according to claim 5, characterized in that, the return spring can also adopt an elastic member.
The auxiliary device according to claim 1, wherein the inner anchoring magnet can be any one of permanent magnet material or magnetically permeable material.
The auxiliary device according to claim 1, wherein the number of the clamp arms is at least two, and at least one clamp arm is rotatable.
The auxiliary device according to claim 1, characterized in that, the control part and the grasper part can adopt an integrated design.
The auxiliary device according to claim 1, wherein the control part and the handle can be designed in an integrated manner.