Minimally invasive surgery assisting device and control method thereof

Abstract

The invention provides a minimally invasive surgery assisting device. The minimally invasive surgery assisting device comprises an in-vitro device, an in-vivo device, a positioning probe and a controlsystem, wherein the in-vitro device comprises an in-vitro magnetism generating device and a driving mechanism, the in-vitro magnetism generating device provides a rotating magnetic field, and the driving mechanism drives the in-vitro magnetism generating device to move and / or rotate; the in-vivo device comprises a magnetic assisting part and a fixing clamp connected with the magnetic assisting part; the positioning probe comprises a magnetic field sensor detecting the magnetic field intensity of the in-vitro magnetism generating device; the control system is directly or indirectly communicated with the driving mechanism and the positioning probe. The minimally invasive surgery assisting device has the advantages that the rolling angle of the to-be-stripped mucosa in any spatial facing direction can be easy to control, operation repeatability is high, speed is high, and safety and reliability are realized.

Description

technical field [0001] The invention relates to an auxiliary device for minimally invasive surgery, in particular to an auxiliary device for minimally invasive surgery that can assist in expanding the surgical field and a control method thereof. Background technique [0002] Minimally invasive surgery, as a treatment method to change the traditional surgical mode, has won the favor of hospitals and doctors for its advantages of less bleeding, small wounds, less impact on organ functions, quick recovery, and fewer postoperative complications. Substantial breakthroughs and applications have been achieved in many surgical operations. While the advantages of minimally invasive surgery are being recognized more and more, its defects are also gradually revealed, such as extended learning time for doctors and higher requirements for operational accuracy; traditional surgical instruments can no longer meet the needs, and need to be continuously improved or even completely Innovatio...

AI Technical Summary

Problems solved by technology

However, the specific spatial position and orientation information of the mucosa cannot be obtained only through endoscopic image feedback, making it difficult for an external magnet to precisely control the rolling of the mucosa in the desired direction, and only rely on the operator to observe the movement direction of the magnetic column in the body relative to the mucosa Continuous trial and error, controlling the direction of the magnetic field outside the body to roll over the mucosa, such an operation method is difficult, with low operation repeatability, long time, and low safety, which is not conducive to the promotion and application of magnetically controlled stretching technology in ESD clinical practice

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