Minimally invasive surgical instrument with adjustable precision and control system thereof

Abstract

The invention relates to the technical field of surgical instruments, in particular to a precision-adjustable minimally invasive surgical instrument and a control system thereof. The device comprises a framework, the framework comprises a pipe cavity, a lever mechanism is arranged at one end of the pipe cavity, a driving mechanism is arranged at the end, away from the lever mechanism, of the pipe cavity, a shooting mechanism is slidably connected to an opening in the end, away from the lever mechanism, of the pipe cavity, and a spring is fixedly connected between the driving mechanism and the shooting mechanism; according to the precision-adjustable minimally invasive surgical instrument, the arranged driving mechanism is used for clamping organs and tissues in the abdominal cavity of a surgical patient, and according to the hand feeling fed back to the lever mechanism when the driving mechanism is opened and closed, a surgeon can conveniently and accurately control the clamping force, so that the proper operation precision is adjusted. When the movable handle is kneaded to pull the pull rod out of the pipe cavity, the pull rod pulls the shooting mechanism back into the pipe cavity; and when the movable handle is pushed to be separated from the fixed handle, the pull rod pushes the shooting mechanism out of the pipe cavity, so that a larger visual field range is obtained.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical instruments, and in particular to a minimally invasive surgical instrument with adjustable precision and a control system thereof. Background Art

[0002] With the continuous development of modern medical technology, minimally invasive surgery has been widely used in the field of abdominal surgery due to its advantages of less trauma and faster recovery. As an important surgical instrument for minimally invasive abdominal surgery with adjustable precision, laparoscopic grasping forceps plays a key role in the surgical process.

[0003] In minimally invasive surgery, accurate positioning and operation are crucial. In order to accurately grasp and treat the lesions in the patient's abdominal cavity, it is necessary to use the shooting mechanism of the laparoscopic grasping forceps to obtain clear image information. However, the existing laparoscopic grasping forceps have certain limitations in the design of the shooting mechanism.

[0004] On the one hand, if the shooting mechanism is retracted inside the shaft, although it can avoid interference with the organs and tissues in the patient's abdominal cavity during the operation, the field of view is relatively small at this time. In the early stage of the operation, the doctor needs to spend a long time to find and locate the position that needs to be clamped, which not only increases the operation time, but also may affect the operation effect due to inaccurate positioning. On the other hand, if the shooting mechanism is set outside the shaft, although a larger field of view can be obtained, it is convenient for the doctor to quickly locate the part that needs surgery, but during the operation, the shooting mechanism exposed outside the shaft may affect the surgical operation. For example, it may interfere with the operating space of other surgical instruments and increase the complexity and risk of the operation. Therefore, how to expand the field of view of the laparoscopic grasping forceps and improve the positioning speed and accuracy of the operation under the premise of ensuring that the shooting mechanism does not affect the surgical operation has become an urgent problem to be solved in the current minimally invasive abdominal surgery.

[0005] In view of this, we propose a minimally invasive surgical instrument with adjustable precision and its control system to improve the deficiencies in the existing technology. Summary of the invention

[0006] The object of the present invention is to provide a minimally invasive surgical instrument with adjustable precision and a control system thereof, so as to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above object, one of the objects of the present invention is to provide a minimally invasive surgical instrument with adjustable precision, comprising a frame, the frame comprising a lumen, one end of the lumen being provided with a lever mechanism, the end of the lumen away from the lever mechanism being provided with a driving mechanism, the opening of the end of the lumen away from the lever mechanism being slidably connected to a shooting mechanism, and a spring being fixedly connected between the driving mechanism and the shooting mechanism;

[0008] Among them, the lever mechanism is used to drive the driving mechanism to open and close, the driving mechanism is used to clamp the organs and tissues in the abdominal cavity of the surgical patient, and the shooting mechanism is used to shoot images of the patient's abdominal cavity. When the driving mechanism is in an open state, the shooting mechanism extends from the inside of the lumen, and when the driving mechanism is in a closed state, the lever mechanism pulls the shooting mechanism back into the lumen.

[0009] As a further improvement of the present technical solution, the skeleton also includes a limit groove opened at the bottom of the tubular cavity, and a pair of inner walls of the tubular cavity away from each other are fixedly connected to limit bolts, and the two limit bolts are located at one end of the tubular cavity away from the lever mechanism. The inner wall of the tubular cavity is also provided with a pair of sliding grooves at the end away from the lever mechanism.

[0010] As a further improvement of the present technical solution, the lever mechanism includes a pair of fixed handles fixedly connected to the ends of the lumen, a movable handle is rotatably connected between the two fixed handles, one end of the movable handle located inside the lumen is rotatably connected to a pull rod, a plurality of limit rods are fixedly connected to the bottom of the pull rod, and each of the limit rods is slidably connected to a limit groove.

[0011] As a further improvement of the present technical solution, the driving mechanism includes a fixed grasping forceps fixedly connected to the end of the lumen and a dynamic grasping forceps rotatably connected between two limit bolts, a gear is coaxially connected to one side of the rotating shaft of the dynamic grasping forceps, and the driving mechanism also includes a plurality of teeth opened at the top of the pull rod, and the gear is meshed with the teeth.

[0012] As a further improvement of the present technical solution, the shooting mechanism includes a sliding seat arranged below the two sliding grooves, a mounting groove is provided on the side of the sliding seat away from the lumen, the sliding seat is slidably connected between the sliding seat and the inner bottom wall of the lumen, and a camera is provided in the mounting groove.

[0013] As a further improvement of the technical solution, one end of the spring is fixedly connected to the slide seat, and the other end of the spring is fixedly connected to the pull rod.

[0014] The second object of the present invention is to provide a control system for controlling the above-mentioned minimally invasive surgical instrument with adjustable precision, comprising an imaging module integrated in the shooting mechanism, the imaging module is used to transmit the image captured by the shooting mechanism to an external display device, the imaging module includes a collection unit, a processing unit, a transmission unit and a logic unit;

[0015] The acquisition unit is used to acquire original image data from inside the patient's abdominal cavity, the processing unit processes the original image data output by the acquisition unit, the transmission unit transmits the image data processed by the processing unit to an external display device, and the logic unit is responsible for coordinating the work of each unit including the acquisition unit, the processing unit and the transmission unit.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] In this minimally invasive surgical instrument with adjustable precision, the drive mechanism is used to clamp the organ tissue in the abdominal cavity of the surgical patient, and the hand feel fed back to the lever mechanism when the drive mechanism is opened and closed facilitates the surgeon to accurately control the clamping force, thereby adjusting the appropriate operating precision. Specifically, when the movable handle is pinched to pull the pull rod out of the lumen, the pull rod pulls the shooting mechanism back into the lumen to reduce the impact of the shooting mechanism on the surgical process; when the movable handle is pushed apart from the fixed handle, the pull rod pushes the shooting mechanism out of the lumen to obtain a larger field of view; the buffering effect provided by the spring makes the movement of the shooting mechanism more stable, preventing the captured image from shaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 It is a partially cut-away front view of the present invention;

[0020] Figure 3 It is a cutaway front view of the framework and lever mechanism of the present invention;

[0021] Figure 4 It is a cutaway front view of the driving mechanism of the present invention;

[0022] Figure 5 It is a left view of the photographing mechanism of the present invention;

[0023] Figure 6 It is a cutaway front view of the driving mechanism and the photographing mechanism of the present invention;

[0024] Figure 7 It is a structural block diagram of the imaging module of the present invention.

[0025] The meaning of each number in the figure is:

[0026] 10. frame; 11. lumen; 12. limiting groove; 13. slide groove; 14. limiting bolt;

[0027] 20. Lever mechanism; 21. Fixed handle; 22. Moving handle; 23. Pull rod; 24. Limit rod;

[0028] 30. Driving mechanism; 31. Fixed grasping forceps; 32. Moving grasping forceps; 33. Gear; 34. Tooth opening;

[0029] 40. Shooting mechanism; 41. Sliding seat; 42. Mounting slot; 43. Camera;

[0030] 50. Spring;

[0031] 60. Imaging module; 61. Acquisition unit; 62. Processing unit; 63. Transmission unit; 64. Logic unit. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Example 1: Please refer to Figure 1-Figure 2 As shown, the purpose of this embodiment is to provide a minimally invasive surgical instrument with adjustable precision, including a skeleton 10, the skeleton 10 includes a lumen 11, one end of the lumen 11 is provided with a lever mechanism 20, the end of the lumen 11 away from the lever mechanism 20 is provided with a driving mechanism 30, the opening of the end of the lumen 11 away from the lever mechanism 20 is slidably connected to a shooting mechanism 40, and a spring 50 is fixedly connected between the driving mechanism 30 and the shooting mechanism 40;

[0034] The lever mechanism 20 is used to drive the drive mechanism 30 to open and close, and the drive mechanism 30 is used to clamp the organ tissue in the abdominal cavity of the surgical patient. The hand feeling fed back to the lever mechanism 20 when the drive mechanism 30 is opened and closed facilitates the user of the minimally invasive surgical instrument to accurately control the clamping force, thereby adjusting the appropriate clamping accuracy. The camera mechanism 40 is used to capture the image of the patient's abdominal cavity. When the drive mechanism 30 is in an open state, the camera mechanism 40 extends from the inside of the lumen 11, increasing the field of view of the camera mechanism 40, so that the part requiring surgical operation can be quickly located; when the drive mechanism 30 is in a closed state, the lever mechanism 20 pulls the camera mechanism 40 back into the lumen 11, reducing the interference of the camera mechanism 40 on the surgical operation during the operation.

[0035] In addition, Figure 3 As shown, the skeleton 10 also includes a limit groove 12 opened at the bottom of the tubular cavity 11, and a pair of inner walls of the tubular cavity 11 that are away from each other are fixedly connected to limit bolts 14. The two limit bolts 14 are both located at the end of the tubular cavity 11 away from the lever mechanism 20. The inner wall of the tubular cavity 11 is also provided with a pair of sliding grooves 13 at the end away from the lever mechanism 20.

[0036] In order to perform surgery on the patient's abdominal cavity from outside the patient's abdominal cavity, a lever mechanism 20 for kneading and applying force is provided at one end of the longer lumen 11 away from the driving mechanism 30 .

[0037] like Figure 3As shown, the lever mechanism 20 includes a pair of fixed handles 21 fixedly connected to the ends of the tubular cavity 11, a movable handle 22 is rotatably connected between the two fixed handles 21, one end of the movable handle 22 located inside the tubular cavity 11 is rotatably connected to a pull rod 23, a plurality of limit rods 24 are fixedly connected to the bottom of the pull rod 23, and each limit rod 24 is slidably connected to the limit groove 12.

[0038] The improvement lies in that: when it is necessary to clamp the organ tissue inside the patient's abdominal cavity through the driving mechanism 30, the movable handle 22 is pinched close to the inside of the two fixed handles 21, and the movable handle 22 pulls the pull rod 23 out of the lumen 11, driving the driving mechanism 30 to close and clamp the tissue in the patient's abdominal cavity. During this period, the spring 50 is stretched by the pull rod 23; when the surgical operation (such as hemostasis, suturing, etc.) is completed, the pinching force applied to the movable handle 22 is removed, and the pull rod 23 is reset under the action of the restoring force of the spring 50, and at the same time, the pull rod 23 drives the driving mechanism 30 to separate.

[0039] If the photographing mechanism 40 is retracted inside the lumen 11, although it can avoid interfering with the organs and tissues in the patient's abdominal cavity during the operation, the field of view is relatively small at this time. In the early stage of the operation, the doctor needs to spend a long time to find and locate the position that needs to be clamped, which not only increases the operation time, but also may affect the operation effect due to inaccurate positioning. If the photographing mechanism 40 is set outside the lumen 11, although a larger field of view can be obtained, it is convenient for the doctor to quickly locate the part that needs surgery, but during the operation, the photographing mechanism 40 exposed outside the lumen 11 may affect the surgical operation. Therefore, a spring 50 is set between the driving mechanism 30 and the photographing mechanism 40, so that when the driving mechanism 30 is opened, the photographing mechanism 40 is pushed from the inside of the lumen 11 to the outside, and when the driving mechanism 30 is closed, the photographing mechanism 40 is pulled into the inside of the lumen 11.

[0040] Figure 4 The internal structure distribution of the driving mechanism 30 is shown, and the specific structure of the driving mechanism 30 is disclosed below. The driving mechanism 30 includes a fixed grasping forceps 31 fixedly connected to the end of the lumen 11 and a dynamic grasping forceps 32 rotatably connected between the two limit bolts 14. A gear 33 is coaxially connected to one side of the rotating shaft of the dynamic grasping forceps 32. The driving mechanism 30 also includes a plurality of tooth openings 34 opened at the top of the pull rod 23, and the gear 33 is meshed with the tooth openings 34.

[0041] Moreover, one end of the spring 50 is fixedly connected to the slide seat 41, and the other end of the spring 50 is fixedly connected to the pull rod 23; when the movable handle 22 is squeezed to pull the pull rod 23 out of the tubular cavity 11, the toothed portion 34 on the pull rod 23 drives the gear 33 meshing therewith to rotate, and the gear 33 then drives the movable grasping forceps 32 coaxially connected therewith to rotate toward the fixed grasping forceps 31. At this time, the pull rod 23 pulls the photographing mechanism 40 back into the tubular cavity 11 to reduce the impact of the photographing mechanism 40 on the surgical process; when the movable handle 22 is pushed apart from the fixed handle 21, the pull rod 23 pushes the photographing mechanism 40 out of the tubular cavity 11 to obtain a larger field of view. The buffering effect provided by the spring 50 makes the movement process of the photographing mechanism 40 smoother and prevents the captured image from shaking.

[0042] In order to capture the patient's abdominal cavity and transmit it to an external display device, a flexibly adjustable position photographing mechanism 40 is provided.

[0043] like Figure 5 and Figure 6 As shown, the shooting mechanism 40 includes a slide seat 41 arranged below the two slide grooves 13, a mounting groove 42 is opened on the side of the slide seat 41 away from the lumen 11, the slide seat 41 is slidably connected between the slide seat 41 and the inner bottom wall of the lumen 11, and a camera 43 is arranged in the mounting groove 42.

[0044] The improvement lies in that: in the initial stage of the operation, the surgeon needs to quickly locate the position of the lesion, push the movable handle 22 and the fixed handle 21 apart, and the pull rod 23 pushes the camera 43 out of the lumen 11 to obtain a larger field of view, so that the surgeon can quickly locate the lesion. At this time, the sum of the thrust applied to the movable handle 22 and the restoring force of the spring 50 is greater than the friction between the slide 41 and the mounting groove 42; when the lesion is found and surgery is required on the affected area (such as hemostasis, suturing, and foreign body removal, etc.), pinch the movable handle 22 to pull the pull rod 23 out of the lumen 11, and the pull rod 23 pulls the camera 43 back into the lumen 11 to reduce the impact of the camera 43 on the surgical process. At this time, the pinching force applied to the movable handle 22 is greater than the sum of the deformation resistance of the spring 50 and the friction of the slide 41.

[0045] Example 2: Figure 7 As shown, this embodiment is based on the content provided in Embodiment 1, and aims to provide a control system for controlling the minimally invasive surgical instrument with adjustable precision proposed in Embodiment 1, including an imaging module 60 integrated in a shooting mechanism 40, the imaging module 60 is used to transmit the image captured by the shooting mechanism 40 to an external display device, and the imaging module 60 includes a collection unit 61, a processing unit 62, a transmission unit 63 and a logic unit 64;

[0046] The acquisition unit 61 is used to acquire the original image data of the patient's abdominal cavity, the processing unit 62 processes the original image data output by the acquisition unit 61, the transmission unit 63 transmits the image data processed by the processing unit 62 to an external display device, and the logic unit 64 is responsible for coordinating the work of each unit of the acquisition unit 61, the processing unit 62 and the transmission unit 63;

[0047] After the camera 43 converts the optical signal into an electrical signal, the acquisition unit 61 receives these electrical signals and performs preliminary processing, converting them into digital image signals, and also samples and quantizes the image to determine parameters such as the resolution and color depth of the image, in preparation for subsequent processing and transmission;

[0048] The processing unit 62 further processes the digital image signal output by the acquisition unit 61 to improve the quality and stability of the image, including operations such as denoising, contrast enhancement, and color correction. Denoising can remove noise interference in the image to make the image clearer, contrast enhancement can make the details in the image more obvious, and color correction can ensure that the color of the image is true and accurate.

[0049] The transmission unit 63 is responsible for transmitting the image signal processed by the processing unit 62 to an external display device. According to the transmission protocol and interface standard, the image data is packaged into a format suitable for transmission and transmitted via wired or wireless means;

[0050] During the above transmission process, the logic unit 64 performs some intelligent functions, such as auto focus, auto exposure, etc., to improve the image quality and shooting effect.

[0051] In summary, the working principle of this solution is as follows: in the initial stage of the operation, the surgeon needs to quickly locate the position of the lesion by pushing the movable handle 22 and the fixed handle 21 apart, and the toothed opening 34 on the pull rod 23 drives the gear 33 meshing therewith to rotate, and the gear 33 then drives the movable grasping forceps 32 coaxially connected therewith to rotate and separate from the fixed grasping forceps 31, and the pull rod 23 pushes the camera 43 out of the lumen 11 to obtain a larger field of view, so that the surgeon can quickly locate the lesion;

[0052] When the lesion is found and surgery is required on the affected area (such as hemostasis, suturing, and foreign body removal, etc.), the handle 22 is squeezed to pull the pull rod 23 out of the lumen 11, and the pull rod 23 pulls the camera 43 back into the lumen 11 to reduce the impact of the camera 43 on the surgical process.

[0053] During the above operation, the acquisition unit 61 acquires the original image data of the patient's abdominal cavity, the processing unit 62 is responsible for processing the original image data output by the acquisition unit 61, the transmission unit 63 transmits the image data processed by the processing unit 62 to an external display device, and the logic unit 64 is responsible for coordinating the work of the acquisition unit 61, the processing unit 62 and the transmission unit 63 and completing some intelligent functions, such as autofocus, autoexposure, etc., to improve the image quality and shooting effect.

[0054] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A minimally invasive surgical instrument with adjustable precision, characterized in that: The invention comprises a frame (10), wherein the frame (10) comprises a tube cavity (11), wherein one end of the tube cavity (11) is provided with a lever mechanism (20), and the end of the tube cavity (11) away from the lever mechanism (20) is provided with a driving mechanism (30), and the opening of the end of the tube cavity (11) away from the lever mechanism (20) is slidably connected to a shooting mechanism (40), and a spring (50) is fixedly connected between the driving mechanism (30) and the shooting mechanism (40); The lever mechanism (20) is used to drive the driving mechanism (30) to open and close, the driving mechanism (30) is used to clamp the organ tissue in the abdominal cavity of the surgical patient, and the photographing mechanism (40) is used to photograph the image of the patient's abdominal cavity. When the driving mechanism (30) is in an open state, the photographing mechanism (40) extends from the inside of the lumen (11); when the driving mechanism (30) is in a closed state, the lever mechanism (20) pulls the photographing mechanism (40) back into the inside of the lumen (11).

2. The minimally invasive surgical instrument with adjustable precision according to claim 1, characterized in that: The skeleton (10) further comprises a limit groove (12) provided at the bottom of the tubular cavity (11); a pair of inner side walls of the tubular cavity (11) which are away from each other are fixedly connected with limit bolts (14); the two limit bolts (14) are both located at one end of the tubular cavity (11) away from the lever mechanism (20); and a pair of slide grooves (13) are further provided at the inner side wall of the tubular cavity (11) which is away from the lever mechanism (20).

3. The minimally invasive surgical instrument with adjustable precision according to claim 1, characterized in that: The lever mechanism (20) includes a pair of fixed handles (21) fixedly connected to the ends of the tubular cavity (11), a movable handle (22) is rotatably connected between the two fixed handles (21), one end of the movable handle (22) located inside the tubular cavity (11) is rotatably connected to a pull rod (23), a plurality of limit rods (24) are fixedly connected to the bottom of the pull rod (23), and each of the limit rods (24) is slidably connected to the limit groove (12).

4. The minimally invasive surgical instrument with adjustable precision according to claim 3, characterized in that: The driving mechanism (30) comprises a fixed grasping forceps (31) fixedly connected to the end of the lumen (11) and a dynamic grasping forceps (32) rotatably connected between two limit bolts (14), a gear (33) being coaxially connected to one side of the rotating shaft of the dynamic grasping forceps (32), and the driving mechanism (30) further comprises a plurality of tooth openings (34) provided at the top of the pull rod (23), and the gear (33) is meshed with the tooth openings (34).

5. The minimally invasive surgical instrument with adjustable precision according to claim 1, characterized in that: The photographing mechanism (40) comprises a slide seat (41) arranged below the two slide grooves (13); a mounting groove (42) is provided on a side of the slide seat (41) away from the lumen (11); the slide seat (41) is slidably connected between the slide seat (41) and the inner bottom wall of the lumen (11); and a camera (43) is provided in the mounting groove (42).

6. The minimally invasive surgical instrument with adjustable precision according to claim 3, characterized in that: One end of the spring (50) is fixedly connected to the slide seat (41), and the other end of the spring (50) is fixedly connected to the pull rod (23).

7. A control system for controlling the minimally invasive surgical instrument with adjustable precision as claimed in claims 1 to 6, characterized in that: The imaging module (60) is integrated in the shooting mechanism (40), and is used to transmit the image captured by the shooting mechanism (40) to an external display device. The imaging module (60) comprises a collection unit (61), a processing unit (62), a transmission unit (63), and a logic unit (64); The acquisition unit (61) is used to acquire original image data from inside the patient's abdominal cavity; the processing unit (62) processes the original image data output by the acquisition unit (61); the transmission unit (63) transmits the image data processed by the processing unit (62) to an external display device; and the logic unit (64) is responsible for coordinating the work of the acquisition unit (61), the processing unit (62) and the transmission unit (63).

Images