An in vivo self-assembled magnetic anchoring device for laparoscopic cholecystectomy with reduced puncture

Abstract

An in vivo self-assembly magnetic anchoring device for laparoscopic cholecystectomy with reduced puncture and card, comprising: a permalloy sub-magnet group, which is composed of N permalloy cylinders connected in sequence through a rotating shaft, wherein the axial direction of the rotating shaft is parallel to the axial direction of the permalloy cylinder, and the permalloy cylinders at both ends are provided with hooks for laparoscopic grasping forceps to clamp; a fishing net device, which is composed of N-1 nylon lines and a non-magnetic ring, wherein one end of each nylon line is connected to one of the rotating shafts, and the other end is fixed to the ring; a traction line group, which is composed of three traction lines and three soft clips, wherein each soft clip is linked to the front end of a traction line, and each traction line end passes through the ring and then passes out through the puncture and card; an in vitro magnet, which is located outside the body, provides magnetic guidance for the self-assembly of the permalloy sub-magnet group, and is anchored to the abdominal wall with the self-assembled permalloy sub-magnet group, and is adjusted to move the gallbladder in the body in different directions by manual traction outside the body.

Description

Technical Field

[0001] The invention belongs to the technical field of surgical medical instruments, and in particular relates to an in vivo self-assembled magnetic anchoring device for laparoscopic cholecystectomy with reduced puncture points. Background Art

[0002] Since Mouret P of France completed the first laparoscopic cholecystectomy in 1987, laparoscopic technology has been widely used in surgical clinical diagnosis and treatment, and has gradually replaced traditional open surgery. As a minimally invasive surgery, it uses a card to send small lighting and imaging equipment and surgical tools through the abdominal wall into the abdominal cavity to complete the operation. It has the characteristics of small surgical trauma, short time and fast postoperative recovery.

[0003] The most widely used method at present is still the three-hole laparoscopic cholecystectomy, which requires the establishment of three holes in the abdominal wall for observation, main operation and auxiliary operation. In recent years, considering the patient's demand for "reducing scars" and the fact that many studies have shown that reducing the number of puncture holes can reduce surgical bleeding and complications, two-hole laparoscopic cholecystectomy and single-hole laparoscopic cholecystectomy have developed rapidly. Reduced-puncture laparoscopic cholecystectomy refers to surgical treatment of patients with the help of 1-2 holes, but due to the limitation of the intra-abdominal surgical tool model, the number of holes is reduced while the hole diameter is increased accordingly, from the standard 10-12mm to 30mm, which is still limited in reducing trauma. At the same time, the reduction in the number of puncture holes also means that visibility is reduced and the difficulty of avoiding collision of intra-abdominal instruments is further increased.

[0004] The magnetic anchoring navigation system refers to the in-body magnetic device being pulled or positioned on the abdominal wall under the action of an external magnetic field, thereby completing intra-abdominal operations that are difficult to perform with traditional methods. Its application in laparoscopic surgery is one of the most meaningful innovations in minimally invasive surgery. The sub-magnet and the instruments required for the operation are sent into the body through the channel established by the laparoscope puncture hole. The instruments and sub-magnets are combined by a specific method. The sub-magnets match the external mother magnets through mutual magnetic attraction. By moving the mother magnet on the patient's abdominal wall, the internal instruments can be moved unrestrictedly in the abdominal cavity until they are positioned at the corresponding position required for the operation. As an auxiliary, the magnetic anchoring navigation system has further developed the laparoscopic surgery with reduced puncture holes and made it possible to reduce the aperture of the puncture holes. However, in clinical promotion, the operating capacity of the mother magnet is limited, and the use of surgical instruments (grasping forceps, ultrasonic scalpel) still requires manual control outside the body, which is also the limitation that the puncture holes of the laparoscopic technology with reduced puncture holes cannot be effectively reduced. Summary of the invention

[0005] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide an in vivo self-assembled magnetic anchoring device for laparoscopic cholecystectomy with reduced poking card. The Permalloy sub-magnet group self-assembles in vivo to form a hexagonal "fishing net" device and connects the gallbladder clamp traction line. The traction line group is led out of the body through the poking card, and the gallbladder in the body is adjusted to move in different directions by manual traction outside the body.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] An in vivo self-assembled magnetic anchoring device for laparoscopic cholecystectomy with reduced puncture card, comprising:

[0008] The Permalloy magnet group 1 is composed of N Permalloy cylinders connected in sequence by a rotating shaft, wherein the axis of the rotating shaft is parallel to the axis of the Permalloy cylinders, and hooks 8 for laparoscope grasping forceps are provided on the Permalloy cylinders at both ends;

[0009] The fishing net device 2 is composed of N-1 nylon lines 9 and a non-magnetic ring 5, one end of each nylon line 9 is connected to one of the rotating shafts, and the other end is fixed to the ring 5;

[0010] The traction line group 3 is composed of three traction lines and three soft clips 6. Each soft clip 6 is connected to the front end of a traction line. The end of each traction line passes through the ring 5 and then passes through the card.

[0011] The extracorporeal magnet 4 is located outside the body, provides magnetic guidance for the self-assembly of the Permalloy sub-magnet group 1 , and is anchored to the abdominal wall 7 of the self-assembled Permalloy sub-magnet group 1 .

[0012] The permalloy cylinder has a diameter of 7.07 mm and a height of 7.07 mm.

[0013] The N=7, the first permalloy cylinder 11 has a first rotating shaft female axis 111 on one side, the second permalloy cylinder 12 has a second rotating shaft female axis 121 and a second rotating shaft male axis 122 on the side, the third permalloy cylinder 13 has a third rotating shaft female axis 131 and a third rotating shaft male axis 132 on the side, the fourth permalloy cylinder 14 has a fourth rotating shaft female axis 141 and a fourth rotating shaft male axis 142 on the side, the fifth permalloy cylinder 15 has a fifth rotating shaft female axis 151 and a fifth rotating shaft male axis 152 on the side, the sixth permalloy cylinder 16 has a sixth rotating shaft female axis 161 and a sixth rotating shaft male axis 162 on the side. The seventh rotating shaft male shaft 162, the side of the seventh Permalloy cylinder 17 has a seventh rotating shaft male shaft 172, the second rotating shaft male shaft 122 is connected to the first rotating shaft female shaft 111 to realize rotation, the third rotating shaft male shaft 132 is connected to the second rotating shaft female shaft 121 to realize rotation, the fourth rotating shaft male shaft 142 is connected to the third rotating shaft female shaft 131 to realize rotation, the fifth rotating shaft male shaft 152 is connected to the fourth rotating shaft female shaft 141 to realize rotation, the sixth rotating shaft male shaft 162 is connected to the fifth rotating shaft female shaft 151 to realize rotation, and the seventh rotating shaft male shaft 172 is connected to the sixth rotating shaft female shaft 161 to realize rotation, and self-assembles to form a hexagonal structure.

[0014] The first rotating shaft female shaft 111, the second rotating shaft female shaft 121, the third rotating shaft female shaft 131, the fourth rotating shaft female shaft 141, and the fifth rotating shaft female shaft 151 have the same structure, and are all composed of two coaxial end cylinders with a spacing. The second rotating shaft male shaft 122, the third rotating shaft male shaft 132, the fourth rotating shaft male shaft 142, the fifth rotating shaft male shaft 152, and the sixth rotating shaft male shaft 162 have the same structure, and are all a middle cylinder. The middle cylinder is stuck between the corresponding two end cylinders and connected by a rotating part to achieve rotation; the sixth rotating shaft female shaft 161 is an arc sleeve, and its axial direction is parallel to the axial direction of the sixth Permalloy cylinder 16. The seventh rotating shaft male shaft 172 is inserted into the arc sleeve to achieve connection and rotate along the arc direction.

[0015] The included angle between the second rotating shaft female axis 121 and the second rotating shaft male axis 122 on the cross section of the second Permalloy cylinder 12 is 120°, the included angle between the third rotating shaft female axis 131 and the third rotating shaft male axis 132 on the cross section of the third Permalloy cylinder 13 is 120°, the included angle between the fourth rotating shaft female axis 141 and the fourth rotating shaft male axis 142 on the cross section of the fourth Permalloy cylinder 14 is 120°, the included angle between the fifth rotating shaft female axis 151 and the fifth rotating shaft male axis 152 on the cross section of the fifth Permalloy cylinder 15 is 120°, and the included angle between the arc midpoint of the sixth rotating shaft female axis 161 and the sixth rotating shaft male axis 162 on the cross section of the sixth Permalloy cylinder 16 is 60°.

[0016] The tissue-adhering surface of the soft clamp 6 is made of materials such as rubber to avoid tissue damage.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The in vitro manual control of gallbladder traction during laparoscopic cholecystectomy is realized, and the direction and strength of the gallbladder surgery can be freely adjusted through three traction lines.

[0019] 2. It reduces the difficulty of mutual interference between instruments during surgery. The three traction wires in the traction wire group are soft nylon wires and will not interfere with hard surgical instruments.

[0020] 3. The diameter of the traction wire can be ignored and it takes up almost no space for the card, which is conducive to reducing the diameter of the hole.

[0021] 4. The self-assembly function of the sub-magnet group increases the magnetic attraction between it and the mother magnet outside the abdominal wall, realizing the real reduction of the stamp card without increasing the diameter of the stamp card.

[0022] 5. The circular ring structure changes the direction of force applied by medical workers to lift the gallbladder, thereby improving the comfort and convenience of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram (top view) of the structure of the permalloy sub-magnet group after self-assembly of the present invention.

[0024] Figure 2 It is a schematic diagram of the structure of the first Permalloy cylinder of the present invention.

[0025] Figure 3 It is a schematic diagram of the second, third, fourth and fifth Permalloy cylinder structures of the present invention.

[0026] Figure 4 It is a schematic structural diagram (side view) of the first permalloy cylinder and the second permalloy cylinder of the present invention after being connected.

[0027] Figure 5 It is a schematic structural diagram (side view) of the sixth permalloy cylinder and the seventh permalloy cylinder after being assembled according to the present invention.

[0028] Figure 6 It is a schematic structural diagram (top view) of the sixth permalloy cylinder and the seventh permalloy cylinder after being assembled according to the present invention.

[0029] Figure 7 This is a schematic diagram of the manual operation hook connection.

[0030] Figure 8 It is a schematic diagram (side view) of the structure after all the Mo alloy cylinders of the present invention are connected.

[0031] Fig. 9 It is a schematic diagram of the connection structure between the permalloy sub-magnet group and the fishing net device of the present invention.

[0032] Fig.10 It is a schematic diagram of the connection position of the nylon line of the present invention.

[0033] Fig.11 It is a schematic diagram of the structure of the traction line group of the present invention.

[0034] Fig.12 It is a schematic diagram of the operating structure after assembly of the present invention. DETAILED DESCRIPTION

[0035] The embodiments of the present invention are described in detail below with reference to the accompanying drawings and examples.

[0036] The present invention is an in vivo self-assembly magnetic anchoring device for laparoscopic cholecystectomy with reduced puncture holes, which realizes the reduction of the puncture hole through the in vivo self-assembly of sub-magnets. In the present invention, self-assembly refers to sending cylindrical (bar-shaped) sub-magnets into the abdominal cavity through the puncture holes, and assembling them in the abdominal cavity to form a new frame structure by mechanical control, so as to perform intra-abdominal operations that were previously difficult to complete.

[0037] Specific reference Figure 1-Figure 12 The in vivo self-assembled magnetic anchoring device of the present invention mainly includes a Permalloy sub-magnet group 1, a fishing net device 2, a traction line group 3 and an in vitro magnet 4.

[0038] The Permalloy sub-magnet group 1 is composed of N Permalloy cylinders connected in sequence by rotating shafts. Each Permalloy cylinder has a diameter of 7.07 mm and a height of 7.07 mm. The axial direction of each rotating shaft is parallel to the axial direction of the Permalloy cylinder.

[0039] In this embodiment, N is 7. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8, a first rotating shaft female axis 111 is provided on one side of the first permalloy cylinder 11, and the structures and parameters of the second permalloy cylinder 12, the third permalloy cylinder 13, the fourth permalloy cylinder 14 and the fifth permalloy cylinder 15 are all the same, a second rotating shaft female axis 121 and a second rotating shaft male axis 122 are provided on the side of the second permalloy cylinder 12, a third rotating shaft female axis 131 and a third rotating shaft male axis 132 are provided on the side of the third permalloy cylinder 13, a fourth rotating shaft female axis 141 and a fourth rotating shaft male axis 142 are provided on the side of the fourth permalloy cylinder 14, and a fifth rotating shaft female axis 151 and a fifth rotating shaft male axis 152 are provided on the side of the fifth permalloy cylinder 15. A sixth rotating shaft female axis 161 and a sixth rotating shaft male axis 162 are provided on the side of the sixth permalloy cylinder 16, and a seventh rotating shaft male axis 172 is provided on the side of the seventh permalloy cylinder 17.

[0040] The first rotating shaft female shaft 111, the second rotating shaft female shaft 121, the third rotating shaft female shaft 131, the fourth rotating shaft female shaft 141, and the fifth rotating shaft female shaft 151 are all composed of two coaxial end cylinders with a spacing. The second rotating shaft male shaft 122, the third rotating shaft male shaft 132, the fourth rotating shaft male shaft 142, the fifth rotating shaft male shaft 152, and the sixth rotating shaft male shaft 162 have the same structure, which are all a middle cylinder, and the middle cylinder is stuck between the corresponding two end cylinders and connected by a rotating member. The sixth rotating shaft female shaft 161 is an arc sleeve, the axial direction of which is parallel to the axial direction of the sixth Permalloy cylinder 16, and the seventh rotating shaft male shaft 172 is inserted into the arc sleeve to achieve connection and can rotate along the arc direction.

[0041] In the present embodiment, the included angle between the second rotating shaft female axis 121 and the second rotating shaft male axis 122 on the cross section of the second Permalloy cylinder 12 is 120°, the included angle between the third rotating shaft female axis 131 and the third rotating shaft male axis 132 on the cross section of the third Permalloy cylinder 13 is 120°, the included angle between the fourth rotating shaft female axis 141 and the fourth rotating shaft male axis 142 on the cross section of the fourth Permalloy cylinder 14 is 120°, the included angle between the fifth rotating shaft female axis 151 and the fifth rotating shaft male axis 152 on the cross section of the fifth Permalloy cylinder 15 is 120°, and the included angle between the arc midpoint of the sixth rotating shaft female axis 161 and the sixth rotating shaft male axis 162 on the cross section of the sixth Permalloy cylinder 16 is 60°.

[0042] Thus, the second rotating axis male shaft 122 is connected to the first rotating axis female shaft 111 to achieve rotation, the third rotating axis male shaft 132 is connected to the second rotating axis female shaft 121 to achieve rotation, the fourth rotating axis male shaft 142 is connected to the third rotating axis female shaft 131 to achieve rotation, the fifth rotating axis male shaft 152 is connected to the fourth rotating axis female shaft 141 to achieve rotation, the sixth rotating axis male shaft 162 is connected to the fifth rotating axis female shaft 151 to achieve rotation, and the seventh rotating axis male shaft 172 is connected to the sixth rotating axis female shaft 161 to achieve rotation, and can self-assemble to form a hexagonal structure.

[0043] Among them, the sixth permalloy cylinder 16 and the seventh permalloy cylinder 17 are provided with hooks 8 for clamping with laparoscopic grasping forceps, and the first permalloy cylinder 11 and the second permalloy cylinder 12 are provided with hanging rings matching with the hooks 8. The hooks 8 are hung on the hanging rings to achieve simple locking of the hexagonal structure.

[0044] refer to Fig. 9 and Fig.10 The fishing net device 2 is mainly composed of 6 nylon lines 9 and a non-magnetic ring 5. One end of each nylon line 9 is connected to a rotating shaft, and the other end is fixed to the ring 5. The ring 5 is made of non-magnetic stainless steel or other materials.

[0045] refer to Fig.11 The traction line group 3 is mainly composed of three traction lines and three soft clips 6. Each soft clip 6 is connected to the front end of a traction line. The end of each traction line passes through the ring 5 and then passes through the card. The direction of the gallbladder operation can be adjusted by combining and pulling the three traction lines, and the number of traction lines can be adjusted as needed. The tissue-fitting surface of the soft clip 6 is made of rubber and other materials to avoid tissue damage.

[0046] refer to Fig.12 The extracorporeal magnet 4 is located outside the body, provides magnetic guidance for the self-assembly of the Permalloy sub-magnet group 1, and is anchored to the abdominal wall 7 of the self-assembled Permalloy sub-magnet group 1.

[0047] Since Permalloy is not magnetic before being magnetized by the extracorporeal magnet 4 and is small in size, it can be easily inserted into the abdominal cavity through a puncture card, and then self-assembled under the magnetic guidance of the extracorporeal magnet 4 and the assistance of surgical forceps to form a hexagonal structure, thereby increasing the magnetic contact area.

[0048] Therefore, the working principle of the present invention is that before performing the cholecystectomy with reduced puncture card, the soft clip 6 is fixed to the gallbladder in the left, right and front directions through the puncture card by surgical forceps, and the end of the external traction line passes through the ring 5. After the sub-magnet group 1 is sent into the abdominal cavity by the puncture card, the sixth and seventh permalloy cylinders are connected to the first and second permalloy cylinders respectively through hook connection under the magnetic guidance of the external magnet 4 and the assistance of surgical forceps, and self-assembly is achieved to form a hexagonal structure, which is anchored to the abdominal wall 7 with the external magnet 4. The hexagonal structure increases the force-bearing area of ​​the external magnet 4 to avoid falling during the operation. At the same time, the fishing net device 2 completes the three-dimensional transformation, and the ring 5 is located on the central axis of the hexagonal structure. While changing the direction of the traction line group 3, the traction force is evenly dispersed in the permalloy sub-magnet group. The traction line group 3 passes through the puncture card, and the surgical operator can freely adjust the deformation direction and amplitude of the gallbladder by adjusting the pulling force and the traction line combination mode in vitro. After cholecystectomy, the sub-magnet group 1 can be restored to a strip-like structure by removing the extracorporeal magnet 4 and releasing the hook connection, and can be withdrawn from the body through the punching card.

Claims

1. An in vivo self-assembled magnetic anchoring device for laparoscopic cholecystectomy with reduced puncture, characterized in that: include: The permalloy magnet group (1) is composed of N permalloy cylinders connected in sequence via a rotating shaft, wherein the axial direction of the rotating shaft is parallel to the axial direction of the permalloy cylinders; A fishing net device (2) comprising N-1 nylon lines (9) and a non-magnetic ring (5), wherein one end of each nylon line (9) is connected to one of the rotating shafts, and the other end is fixed to the ring (5); The traction line group (3) is composed of three traction lines and three soft clips (6), each soft clip (6) is connected to the front end of a traction line, and the end of each traction line passes through the ring (5) and then passes through the card; An extracorporeal magnet (4) is located outside the body, provides magnetic guidance for the self-assembly of the Permalloy sub-magnet group (1), and is anchored to the septum (7) of the self-assembled Permalloy sub-magnet group (1); The N=7, wherein the sixth permalloy cylinder (16) and the seventh permalloy cylinder (17) are provided with hooks (8) for clamping with laparoscopic grasping forceps, and the first permalloy cylinder (11) and the second permalloy cylinder (12) are provided with hanging rings matching with the hooks (8), and the hooks (8) are hung on the hanging rings; The sixth permalloy cylinder (16) and the seventh permalloy cylinder (17) are connected to the first permalloy cylinder (11) and the second permalloy cylinder (12) respectively by hooks to achieve self-assembly, thereby forming a hexagonal structure, which is anchored to the external magnet (4) across the abdominal wall (7); at the same time, the fishing net device (2) completes the three-dimensional transformation, and the ring (5) is located on the central axis of the hexagonal structure, so that the traction force is evenly dispersed on the permalloy magnet group while changing the direction of the traction line group (3).

2. The in vivo self-assembled magnetic anchoring device for laparoscopic cholecystectomy according to claim 1, characterized in that: The permalloy cylinder has a diameter of 7.07 mm and a height of 7.07 mm.

3. The in vivo self-assembled magnetic anchoring device for laparoscopic cholecystectomy with reduced puncture according to claim 1 or 2, characterized in that: A first rotating shaft female axis (111) is provided on one side of the first permalloy cylinder (11), a second rotating shaft female axis (121) and a second rotating shaft male axis (122) are provided on the side of the second permalloy cylinder (12), a third rotating shaft female axis (131) and a third rotating shaft male axis (132) are provided on the side of the third permalloy cylinder (13), a fourth rotating shaft female axis (141) and a fourth rotating shaft male axis (142) are provided on the side of the fourth permalloy cylinder (14), a fifth rotating shaft female axis (151) and a fifth rotating shaft male axis (152) are provided on the side of the fifth permalloy cylinder (15), and a sixth rotating shaft female axis (161) and a sixth rotating shaft male axis (162) are provided on the side of the sixth permalloy cylinder (16). The seventh permalloy cylinder (17) has a seventh rotating shaft male shaft (172) on its side, the second rotating shaft male shaft (122) is connected to the first rotating shaft female shaft (111) to achieve rotation, the third rotating shaft male shaft (132) is connected to the second rotating shaft female shaft (121) to achieve rotation, the fourth rotating shaft male shaft (142) is connected to the third rotating shaft female shaft (131) to achieve rotation, the fifth rotating shaft male shaft (152) is connected to the fourth rotating shaft female shaft (141) to achieve rotation, the sixth rotating shaft male shaft (162) is connected to the fifth rotating shaft female shaft (151) to achieve rotation, and the seventh rotating shaft male shaft (172) is connected to the sixth rotating shaft female shaft (161) to achieve rotation, and the hexagonal structure is formed by self-assembly.

4. The in vivo self-assembled magnetic anchoring device for laparoscopic cholecystectomy according to claim 3, characterized in that: The first rotating shaft female shaft (111), the second rotating shaft female shaft (121), the third rotating shaft female shaft (131), the fourth rotating shaft female shaft (141), and the fifth rotating shaft female shaft (151) have the same structure, and are all composed of two coaxial end cylinders with a spacing therebetween; the second rotating shaft male shaft (122), the third rotating shaft male shaft (132), the fourth rotating shaft male shaft (142), the fifth rotating shaft male shaft (152), and the sixth rotating shaft male shaft (162) have the same structure, and are all a middle cylinder; the middle cylinder is clamped between the corresponding two end cylinders and connected by a rotating member to achieve rotation; the sixth rotating shaft female shaft (161) is an arc-shaped sleeve, the axial direction of which is parallel to the axial direction of the sixth Permalloy cylinder (16); the seventh rotating shaft male shaft (172) is inserted into the arc-shaped sleeve to achieve connection, and rotates along the arc direction.

5. The in vivo self-assembled magnetic anchoring device for laparoscopic cholecystectomy according to claim 4, characterized in that: The included angle between the second rotating shaft female axis (121) and the second rotating shaft male axis (122) on the cross section of the second Permalloy cylinder (12) is 120°, the included angle between the third rotating shaft female axis (131) and the third rotating shaft male axis (132) on the cross section of the third Permalloy cylinder (13) is 120°, the included angle between the fourth rotating shaft female axis (141) and the fourth rotating shaft male axis (142) on the cross section of the fourth Permalloy cylinder (14) is 120°, the included angle between the fifth rotating shaft female axis (151) and the fifth rotating shaft male axis (152) on the cross section of the fifth Permalloy cylinder (15) is 120°, and the included angle between the arc midpoint of the sixth rotating shaft female axis (161) and the sixth rotating shaft male axis (162) on the cross section of the sixth Permalloy cylinder (16) is 60°.

6. The in vivo self-assembled magnetic anchoring device for laparoscopic cholecystectomy according to claim 1, characterized in that: The tissue-adhering surface of the soft clamp (6) is made of rubber to avoid causing tissue damage.

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