An organ support and fixation device for minimally invasive abdominal surgery

Abstract

The present invention discloses an organ support and fixation device for minimally invasive abdominal surgery, and the surgical instrument actuator is composed of a first, second, third, and fourth actuators. The first, second, third, and fourth actuators each include an angle adjustment wheel, a fixing pin, and a wire wheel; the angle adjustment wheel is connected to the wire wheel, and the wire wheel is connected to the joint; the angle adjustment wheel controls the rotation angle of the wire wheel, and the wire wheel controls the rotation angle of the joint; the fixing pin fixes the angle adjustment wheel by separating and fitting with the angle adjustment wheel. The instrument can conveniently support and fix organs or tissues such as the liver, so that clinicians can obtain a larger operating space and surgical field of view when performing minimally invasive abdominal surgery; the instrument and the matching bracket are used together, which can save auxiliary personnel to support the instrument and save space occupation, freeing up more space next to the operating bed, greatly facilitating clinicians in performing minimally invasive abdominal surgery.

Description

Technical Field

[0001] The present invention relates to a medical device in the field of minimally invasive surgery, and in particular to an organ supporting and fixing device suitable for minimally invasive abdominal surgery. Background Art

[0002] Minimally invasive surgery represented by laparoscopy is praised as one of the important contributions of medical science to human civilization in the 20th century. Minimally invasive surgery refers to the operation performed by doctors through tiny incisions on the surface of the human body with the help of slender surgical instruments. Compared with traditional open surgery, it has the advantages of small surgical incisions, less bleeding, small postoperative scars, and quick recovery time, achieving the same therapeutic effect as traditional open surgery. When performing minimally invasive abdominal surgery, clinicians need as large an operating space and surgical field of view as possible to facilitate various surgical operations.

[0003] The inventors have found that when clinicians currently perform minimally invasive abdominal surgery, organs such as the liver lack suitable equipment to support and fix them, which seriously affects the clinicians' operating space and surgical field of view, and brings great inconvenience to the operation and observation of minimally invasive abdominal surgery. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a device that can solve the problem of supporting and fixing organs such as the liver when clinicians perform minimally invasive abdominal surgery, so that clinicians can obtain a larger operating space and surgical field of view when performing minimally invasive abdominal surgery, which greatly facilitates clinicians to perform minimally invasive abdominal surgery with convenient adjustment, accurate positioning, and high rigidity organ support and fixation equipment and matching brackets.

[0005] The present invention provides a device and supporting bracket for supporting and fixing organs such as the liver when clinicians perform minimally invasive abdominal surgery, which can solve the problem of supporting and fixing organs such as the liver when clinicians perform minimally invasive abdominal surgery, so that clinicians can obtain a larger operating space and surgical field of view when performing minimally invasive abdominal surgery, and greatly facilitate clinicians to perform minimally invasive abdominal surgery. The device and supporting bracket have convenient adjustment, accurate positioning, and high rigidity. The specific scheme is as follows:

[0006] The present invention proposes an organ support and fixation device for minimally invasive abdominal surgery, the device comprising a first actuator, a second actuator, a third actuator, and a fourth actuator; the four actuators contain a total of 4 degrees of freedom, the 4 degrees of freedom starting from one end of the terminal transmission box, and are, in sequence, the x-axial swing freedom around the first joint axis of the first actuator, the y-axial swing freedom around the second joint axis of the second actuator, the y-axial swing freedom around the third joint axis of the third actuator, and the y-axial swing freedom around the fourth joint axis of the fourth actuator; the first joint is spatially perpendicular to the directions of the axes of the second, third, and fourth joint degrees of freedom.

[0007] As a further technical solution, the structures in the end transmission boxes of the first, second, third and fourth actuators are the same, and each includes an angle adjustment wheel, a fixing pin and a wire wheel; the angle adjustment wheel is connected to the wire wheel, and the wire wheel is connected to the joint; the angle adjustment wheel controls the rotation angle of the wire wheel, and the wire wheel controls the rotation angle of the joint; the fixing pin fixes the angle adjustment wheel by separating and fitting with the angle adjustment wheel.

[0008] As a further technical solution, the first actuator includes a first joint angle adjustment wheel 1, a fixing pin 1, a wire wheel 1, an arm segment 1 connecting sleeve, an arm segment 2 connecting sleeve, and a first joint at the connection between the arm segment 1 connecting sleeve and the arm segment 2 connecting sleeve; the angle adjustment wheel 1 is connected to the wire wheel 1, and the wire wheel 1 is connected to the first joint; the angle adjustment wheel 1 controls the rotation angle of the wire wheel 1, and the wire wheel 1 controls the rotation angle of the first joint; the fixing pin 1 fixes the angle adjustment wheel 1 by separating and fitting with the angle adjustment wheel 1;

[0009] As a further technical solution, the second and third actuators include a second joint angle adjustment wheel 2, a fixing pin 2, a wire wheel 2, an arm section 2 connecting sleeve, an arm section 3 connecting sleeve, a second joint at the connection between the arm section 2 connecting sleeve and the arm section 3 connecting sleeve, an arm section 4 connecting sleeve, and a third joint at the connection between the arm section 3 connecting sleeve and the arm section 4 connecting sleeve; the angle adjustment wheel 2 is connected to the wire wheel 2, and the wire wheel 2 is connected to the second joint and the third joint; the angle adjustment wheel 2 controls the rotation angle of the wire wheel 2, and the wire wheel 2 controls the rotation angle of the second joint and the third joint; the fixing pin 2 fixes the angle adjustment wheel 2 by separating and fitting with the angle adjustment wheel 2;

[0010] As a further technical solution, the fourth actuator includes a fourth joint angle adjustment wheel three, a fixed pin three, a wire wheel three, an arm section four connecting sleeve, a clamping head one, a clamping head two, and a fourth joint at the connection between the arm section four connecting sleeve and the clamping head one and the clamping head two; the angle adjustment wheel three is connected to the wire wheel three, and the wire wheel three is connected to the clamping head one and the clamping head two of the fourth joint; the angle adjustment wheel three controls the rotation angle of the wire wheel three, and the wire wheel three controls the rotation angle of the clamping head one and the clamping head two of the fourth joint; the fixed pin three fixes the angle adjustment wheel three by separating and fitting with the angle adjustment wheel three.

[0011] As a further technical solution, the first, second, third and fourth actuators respectively drive the first joint, the second joint, the third joint and the fourth joint to rotate through steel wire ropes; the second joint and the third joint are controlled by the same steel wire rope on the notch side of the second joint and the third joint, and the second joint and the third joint are controlled by the same steel wire rope on the opposite side of the notch, so as to realize that the second joint and the third joint are controlled by the same steel wire rope to swing toward the joint notch side at the same time, or the second joint and the third joint are controlled by the same steel wire rope to swing toward the opposite side of the joint notch at the same time.

[0012] As a further technical solution, the wire wheels and joints in the first, second, third and fourth actuators are provided with wire rope grooves for winding the wire rope.

[0013] As a further technical solution, guide structures are installed on both sides of the wire wheels in the end transmission boxes of the first, second, third and fourth actuators; the guide structures each include a guide wheel shaft, a guide wheel group and a sleeve, the sleeve is mounted on the guide wheel shaft, and the guide wheel is mounted on the guide wheel shaft; both ends of the guide wheel shaft are fixed on the base shell.

[0014] As a further technical solution, it also includes a matching bracket, which includes a base, a column, a support rod 1, and a support rod 2; there is a rotating joint 1 between the column and the support rod 1, there is a rotating joint 2 between the support rod 1 and the support rod 2, and there is a clamping mechanism at the end of the support rod 2 for fixing the device.

[0015] Beneficial effects of the present invention:

[0016] Compared with the prior art, the organ support and fixation device and the matching bracket for minimally invasive abdominal surgery of the present invention have the following beneficial effects:

[0017] 1. The organ support and fixation device for minimally invasive abdominal surgery of the present invention is easy to adjust, accurately positioned, and has greater rigidity. The angles between the joints of the device can be easily and accurately adjusted, so that organs and tissues can be easily supported at different angles, thereby easily forming the best support surface for the organs and tissues.

[0018] 2. The organ support and fixation device for minimally invasive abdominal surgery of the present invention can solve the problem of supporting and fixing organs such as the liver when clinicians perform minimally invasive abdominal surgery. The clamping head at the end of the device can firmly clamp the tissue, thereby improving the organ support and fixation effect.

[0019] 3. The organ support and fixation device for minimally invasive abdominal surgery of the present invention can solve the problem of supporting and fixing organs such as the liver when clinicians perform minimally invasive abdominal surgery, so that clinicians can obtain a larger surgical field of view when performing minimally invasive abdominal surgery, which greatly facilitates clinicians to observe with the best surgical field of view when performing minimally invasive abdominal surgery.

[0020] 4. The organ support and fixation device for minimally invasive abdominal surgery of the present invention can solve the problem of supporting and fixing organs such as the liver when clinicians perform minimally invasive abdominal surgery, so that clinicians can obtain a larger operating space when performing minimally invasive abdominal surgery, which greatly facilitates clinicians in performing minimally invasive abdominal surgery.

[0021] 5. The organ support and fixation device and the matching bracket for minimally invasive abdominal surgery of the present invention are used in combination, which can save auxiliary personnel to support the equipment, save surgical participants, and save space, thereby freeing up more space next to the operating bed for doctors to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0023] Figure 1 , Figure 2 It is a schematic diagram of the overall structure of an organ support and fixation device used for minimally invasive abdominal surgery according to the present invention.

[0024] Figure 3 , Figure 4 This is an enlarged structural diagram of an organ support and fixation device for minimally invasive abdominal surgery according to the present invention. Figure 1 .

[0025] Figure 5 , Figure 6This is an enlarged structural diagram of an organ support and fixation device for minimally invasive abdominal surgery according to the present invention. Figure 2 .

[0026] Figure 7 The present invention is a schematic side view of an organ support and fixation device used for minimally invasive abdominal surgery in use.

[0027] Figure 8 The present invention is a top view schematic diagram of an organ support and fixation device used for minimally invasive abdominal surgery in use.

[0028] Fig. 9 , Fig.10 It is a schematic diagram of the x-axis angle adjustment of an organ support and fixation device used for minimally invasive abdominal surgery according to the present invention.

[0029] Fig.11 It is a schematic diagram of the y-axis angle adjustment of an organ support and fixation device used for minimally invasive abdominal surgery according to the present invention.

[0030] Fig.12 The present invention is a schematic diagram of the overall structure of an organ support and fixation device and a matching bracket for minimally invasive abdominal surgery.

[0031] Fig.13 The present invention is a schematic side view of the overall structure of an organ support and fixation device and a matching bracket for minimally invasive abdominal surgery. DETAILED DESCRIPTION

[0032] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0033] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless otherwise explicitly stated in the present invention, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or their combinations;

[0034] For the convenience of description, if the words "up", "down", "left" and "right" appear in the present invention, they only indicate that they are consistent with the up, down, left and right directions of the drawings themselves, and do not limit the structure. They are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0035] As introduced in the background technology, currently when clinicians perform minimally invasive abdominal surgery, organs such as the liver lack suitable instruments for support and fixation, which seriously affects the clinicians' operating space and surgical field of view, and brings great inconvenience to the operation and observation of minimally invasive abdominal surgery. The present invention aims at the problem that the liver and other organs faced by clinicians during minimally invasive abdominal surgery lack suitable instruments for support and fixation, which affects the clinicians' operating space and surgical field of view, and designs an organ support and fixation device and a matching bracket suitable for minimally invasive abdominal surgery. The present invention can solve the problem that the liver and other organs faced by clinicians during minimally invasive abdominal surgery lack suitable instruments for support and fixation, which affects the clinicians' operating space and surgical field of view, and enables clinicians to obtain a larger operating space and surgical field of view when performing minimally invasive abdominal surgery, which greatly facilitates clinicians during minimally invasive abdominal surgery and is of great significance for promoting technological progress in related fields.

[0036] Example 1

[0037] In a typical implementation of the present application, see Figure 1-Figure 4 : An organ support and fixation device and a matching bracket for minimally invasive abdominal surgery, the device M includes a first, a second, a third, and a fourth actuator; the four actuators include 4 degrees of freedom, and the 4 degrees of freedom start from one end of the terminal transmission box 1, and are: an axial swing freedom around the axis x of the first joint 3, and an axial swing freedom around the axis y of the second joint 5, the third joint 7, and the fourth joint 9; the first joint 3 is perpendicular to the axis of the second joint 5, the third joint 7, and the fourth joint 9 in space.

[0038] The structures in the terminal transmission box 1 of the first, second, third and fourth actuators are the same, and each includes an angle adjustment wheel, a fixing pin and a wire wheel; the angle adjustment wheel is connected to the wire wheel, and the wire wheel is connected to the joint to which it belongs; the angle adjustment wheel controls the rotation angle of the wire wheel, and the wire wheel controls the rotation angle of the joint; the fixing pin fixes the angle adjustment wheel by separating and fitting with the angle adjustment wheel. Guide structures are installed on both sides of the wire wheels in the terminal transmission boxes of the first, second, third and fourth actuators; the guide structures each include a guide wheel shaft, a guide wheel group and a sleeve, the sleeve is sleeved on the guide wheel shaft, and the guide wheel is sleeved on the guide wheel shaft; the two ends of the guide wheel shaft are fixed on the housing of the instrument.

[0039] The first actuator includes a first joint angle adjustment wheel 1-1, a fixing pin 1-3, a wire wheel 1-2, an arm segment 1 connecting sleeve 2, an arm segment 2 connecting sleeve 4, and a first joint 3 at the connection between the arm segment 1 connecting sleeve 2 and the arm segment 2 connecting sleeve 4; the angle adjustment wheel 1-1 is connected to the wire wheel 1-2, specifically, the wire wheel 1-2 is fixedly connected to the angle adjustment wheel 1-1, and when the angle adjustment wheel 1-1 rotates, the wire wheel 1-2 rotates together; the wire wheel 1-2 is connected to the first joint 3 through a steel wire rope; the angle adjustment wheel 1-1 controls the rotation angle of the wire wheel 1-2, and the wire wheel 1-2 controls the rotation angle of the first joint 3 through the steel wire rope; the fixing pin 1-3 fixes the position of the angle adjustment wheel 1-1 by separating from or fitting with the angle adjustment wheel 1-1. When the fixing pin 1-3 is separated from the angle adjustment wheel 1-1, the angle adjustment wheel 1-1 can rotate freely, and when the fixing pin 1-3 is in contact with the angle adjustment wheel 1-1, the position of the angle adjustment wheel 1-1 is fixed.

[0040] As a further technical solution, Figure 3 As shown, two guide structures are installed below the wire wheel 1 - 2. After the wire rope on the wire wheel 1 - 2 is guided around the two guide structures below the wire wheel 1 - 2, it is connected to the first joint 3 to realize the control of the first joint 3.

[0041] The second and third actuators include a second joint angle adjustment wheel 1-4, a fixing pin 1-6, a wire wheel 1-5, an arm section 2 connecting sleeve 4, an arm section 3 connecting sleeve 6, a second joint 5 at the connection between the arm section 2 connecting sleeve 4 and the arm section 3 connecting sleeve 6, an arm section 4 connecting sleeve 8, and a third joint 7 at the connection between the arm section 3 connecting sleeve 6 and the arm section 4 connecting sleeve 8; the angle adjustment wheel 1-4 is connected to the wire wheel 1-5, specifically, the wire wheel 1-5 is fixedly connected to the angle adjustment wheel 1-4, and when the angle adjustment wheel 1-4 rotates, the wire wheel 1-5 rotates together; the wire wheel 1-5 The second joint 5 and the third joint 7 are respectively connected with the second joint 5 and the third joint 7 through steel wire ropes; the angle adjustment wheel 1-4 controls the rotation angle of the wire rope wheel 1-5, and then the wire wheel 1-5 controls the rotation angle of the second joint 5 and the third joint 7 through the steel wire rope; the fixed pin 1-6 fixes the position of the angle adjustment wheel 1-4 by separating from or fitting with the angle adjustment wheel 1-4. When the fixed pin 1-6 is separated from the angle adjustment wheel 1-4, the angle adjustment wheel 1-4 can rotate freely. When the fixed pin 1-6 is fitted with the angle adjustment wheel 1-4, the position of the angle adjustment wheel 1-4 is fixed.

[0042] As a further technical solution, Figure 3As shown, two guide structures are installed below the wire wheel 2 1-5. The wire rope on the wire wheel 2 1-5 first passes around the two guide structures below the wire wheel 2 1-5, then passes around the two guide structures on the left and right sides of the wire wheel 1-2, and then passes around the two guide structures below the wire wheel 1-2, and then passes around the second joint 5, and then passes around the third joint 7, so as to realize the simultaneous control of the second joint 5 and the third joint 7. The fourth actuator includes a fourth joint angle adjustment wheel 3 1-7, a fixing pin 3 1-9, a wire wheel 3 1-8, an arm section four connecting sleeve 8, a clamping head 10, a clamping head 2 11, and a fourth joint 9 at the connection between the arm section four connecting sleeve 8 and the clamping head 10 and the clamping head 2 11; the angle adjustment wheel 3 1-7 is connected to the wire wheel 3 1-8. Specifically, the wire wheel 3 1-8 is fixedly connected to the angle adjustment wheel 2 1-7. When the angle adjustment wheel 3 1-7 rotates, the wire wheel 3 1-8 rotates together; the wire wheel 3 1-8 is connected to the fourth joint through a wire rope. The angle adjusting wheel three 1-7 is connected to the angle adjusting wheel three 1-7; the angle adjusting wheel three 1-7 controls the rotation angle of the wire wheel three 1-8, and the wire wheel three 1-8 controls the rotation angle of the clamping head one 10 and the clamping head two 11 of the fourth joint 9; the fixing pin three 1-9 fixes the position of the angle adjusting wheel three 1-7 by separating from or fitting with the angle adjusting wheel three 1-7. Specifically, when the fixing pin three 1-9 is separated from the angle adjusting wheel three 1-7, the angle adjusting wheel three 1-9 can rotate freely, and when the fixing pin three 1-9 is fitted with the angle adjusting wheel two 1-7, the position of the angle adjusting wheel three 1-9 is fixed.

[0043] As a further technical solution, Figure 3 As shown, two guide structures are installed below the line wheel three 1-8. The wire rope on the line wheel three 1-8 first passes around the two guide structures below the line wheel three 1-8, then passes around the two guide structures on the left and right sides of the line wheel two 1-5, then passes around the two guide structures on the left and right sides of the line wheel one 1-2, and then passes around the two guide structures below the line wheel one 1-2. After being guided, it is connected to the fourth joint 9 to realize the control of the fourth joint 9.

[0044] The first, second, third and fourth actuators respectively drive the first joint 3, the second joint 5, the third joint 7 and the fourth joint 9 to rotate through steel wire ropes; the second joint 5 and the third joint 7 are controlled by the same steel wire rope on the notch side of the second joint 5 and the third joint 7, and the second joint 5 and the third joint 7 are controlled by the same steel wire rope on the opposite side of the notch, so as to realize that the second joint 5 and the third joint 7 are controlled by the same steel wire rope to swing toward the joint notch side at the same time, or the second joint 5 and the third joint 7 are controlled by the same steel wire rope to swing toward the opposite side of the joint notch at the same time.

[0045] Furthermore, the wire rope grooves are provided on the wire wheel 1-2 and the first joint 1 in the first actuator for winding the wire rope;

[0046] The wire wheels 2 1-5 and the second joint 5 and the third joint 7 in the second and third actuators are provided with wire rope grooves for winding the wire rope;

[0047] The wire wheel three 1-8 in the fourth actuator and the clamping head one 10 and the clamping head two 11 at the fourth joint 9 have wire rope grooves for winding the wire rope.

[0048] The supporting bracket N comprises a base 12-1, a column 12-2, a support rod 1 12-4, and a support rod 2 12-6. The column 12-2 is fixed on the base 12-1, a rotating joint 12-3 is provided between the column 12-2 and the support rod 1 12-4, a rotating joint 2 12-5 is provided between the support rod 1 12-4 and the support rod 2 12-6, and a clamping mechanism is provided at the end of the support rod 2 12-6 for fixing the device.

[0049] Working principle of the present invention:

[0050] See Figure 5 , Figure 6 :

[0051] When a clinician performs minimally invasive abdominal surgery, the front end of the instrument M is inserted into the abdominal cavity of the human body, and the first joint 3 can swing around the first joint axis x axis, so that the arm segment 1 connecting sleeve 2 and the arm segment 2 connecting sleeve 4 form a certain angle, and the arm segment 1 connecting sleeve 2 and the arm segment 2 connecting sleeve 4, the arm segment 3 connecting sleeve 6, and the arm segment 4 connecting sleeve 8 form a certain angle on the support plane, see Figure 7 It is convenient to adjust the support plane formed by the second connecting sleeve 4 of the arm section, the third connecting sleeve 6 of the arm section, and the fourth connecting sleeve 8 of the arm section to support organs or tissues such as the liver.

[0052] The second joint 5, the third joint 7, and the fourth joint 9 swing axially around the axis y of the second joint 5, the third joint 7, and the fourth joint 9; the angles between the arm section second connecting sleeve 4, the arm section third connecting sleeve 6, and the arm section fourth connecting sleeve 8 can be adjusted, so that the arm section second connecting sleeve 4, the arm section third connecting sleeve 6, and the arm section fourth connecting sleeve 8 can form a support plane of various shapes, see Figure 8 It is convenient to adjust the support plane formed by the second connecting sleeve 4 of the arm section, the third connecting sleeve 6 of the arm section, and the fourth connecting sleeve 8 of the arm section to support organs or tissues such as the liver.

[0053] The clamping head 10 and the clamping head 2 11 at the fourth joint 9 can be separated and clamped to clamp organs or tissues such as the liver, thereby improving the fixing effect of the instrument M on organs or tissues such as the liver.

[0054] Before the operation, after the relative position of the instrument M and the human body is fixed, the placement position of the base 12-1 of the matching bracket N, the rotating joint 12-3 between the column 12-2 and the support rod 1 12-4, and the rotating joint 12-5 between the support rod 1 12-4 and the support rod 2 12-6 are adjusted, and the relative positions of the base 12-1, the column 12-2, the support rod 1 12-4, and the support rod 2 12-6 of the matching bracket N are adjusted, so that the clamping mechanism at the end of the support rod 2 12-5 clamps and fixes the instrument M, which saves auxiliary personnel to support the instrument, saves personnel involved in the operation, and saves space, so that more space is freed up next to the operating bed for doctors to operate.

[0055] After the operation is over, the clamping mechanisms at the two ends of the supporting rod of the supporting bracket N are released, and when the arm sections of the instrument M are swung to a state where the axes coincide, the instrument M is pulled out of the human body and the use is terminated.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

[0057] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. An organ support and fixation device for minimally invasive abdominal surgery, characterized in that: It includes a first actuator, a second actuator, a third actuator and a fourth actuator; the four actuators have a total of 4 degrees of freedom, which are, starting from one end of the terminal transmission box, the following: axial swing freedom around the first joint axis x of the first actuator, axial swing freedom around the second joint axis y of the second actuator, axial swing freedom around the third joint axis y of the third actuator, and axial swing freedom around the fourth joint axis y of the fourth actuator; the first joint is perpendicular to the second, third and fourth joint degrees of freedom in space; The first actuator, the second actuator, the third actuator, and the fourth actuator have the same structure in the terminal transmission box, and each includes an angle adjustment wheel, a fixing pin, and a wire wheel; the angle adjustment wheel is connected to the wire wheel, and the wire wheel is connected to the corresponding joint; the angle adjustment wheel controls the rotation angle of the wire wheel, and the wire wheel controls the rotation angle of the corresponding joint; the fixing pin fixes the position of the angle adjustment wheel by separating from and fitting with the angle adjustment wheel; A bracket is provided in conjunction with the apparatus, and the bracket includes a base, a column, a first support rod, and a second support rod. The column is fixed to the base, a first rotation joint is provided between the column and the first support rod, a second rotation joint is provided between the first support rod and the second support rod, and a clamping mechanism is provided at the end of the second support rod for fixing the apparatus; The fourth actuator includes a fourth joint angle adjustment wheel three, a fixing pin three, a wire wheel three, an arm section four connecting sleeve, a clamping head one, a clamping head two, and a fourth joint at the connection between the arm section four connecting sleeve and the clamping head one and the clamping head two; the angle adjustment wheel three is connected to the wire wheel three, and the wire wheel three is connected to the clamping head one and the clamping head two of the fourth joint; the angle adjustment wheel three controls the rotation angle of the wire wheel three, and the wire wheel three controls the rotation angle of the clamping head one and the clamping head two of the fourth joint; the fixing pin three fixes the angle adjustment wheel three by separating and fitting with the angle adjustment wheel three.

2. The organ support and fixation device for minimally invasive abdominal surgery according to claim 1, characterized in that: The first actuator includes a first joint angle adjustment wheel 1, a fixing pin 1, a wire wheel 1, an arm segment 1 connecting sleeve, an arm segment 2 connecting sleeve, and a first joint at the connection between the arm segment 1 connecting sleeve and the arm segment 2 connecting sleeve; the angle adjustment wheel 1 is connected to the wire wheel 1, and the wire wheel 1 is connected to the first joint; the angle adjustment wheel 1 controls the rotation angle of the wire wheel 1, and the wire wheel 1 controls the rotation angle of the first joint; the fixing pin 1 fixes the angle adjustment wheel 1 by separating and fitting with the angle adjustment wheel 1.

3. The organ support and fixation device for minimally invasive abdominal surgery according to claim 1, characterized in that: The second actuator and the third actuator include a second joint angle adjustment wheel 2, a fixing pin 2, a wire wheel 2, an arm section 2 connecting sleeve, an arm section 3 connecting sleeve, a second joint at the connection between the arm section 2 connecting sleeve and the arm section 3 connecting sleeve, an arm section 4 connecting sleeve, and a third joint at the connection between the arm section 3 connecting sleeve and the arm section 4 connecting sleeve; the angle adjustment wheel 2 is connected to the wire wheel 2, and the wire wheel 2 is connected to the second joint and the third joint; the angle adjustment wheel 2 controls the rotation angle of the wire wheel 2, and the wire wheel 2 controls the rotation angle of the second joint and the third joint; the fixing pin 2 fixes the angle adjustment wheel 2 by separating and fitting with the angle adjustment wheel 2.

4. The organ support and fixation device for minimally invasive abdominal surgery according to claim 1, characterized in that: The first actuator, the second actuator, the third actuator, and the fourth actuator respectively drive the first joint, the second joint, the third joint, and the fourth joint to rotate through steel wire ropes; the second joint and the third joint are controlled by the same steel wire rope on the notch side of the second joint and the third joint, and the opposite side of the notch of the second joint and the third joint is controlled by the same steel wire rope, so that the second joint and the third joint are controlled by the same steel wire rope to swing toward the joint notch side at the same time, or the second joint and the third joint are controlled by the same steel wire rope to swing toward the opposite side of the joint notch at the same time.

5. The organ support and fixation device for minimally invasive abdominal surgery according to claim 1, characterized in that: The wire wheels and joints in the first, second, third and fourth actuators are provided with wire rope grooves for winding the wire ropes.

6. The organ support and fixation device for minimally invasive abdominal surgery according to claim 1, characterized in that: A guide structure is installed around the wire wheels in the terminal transmission boxes of the first actuator, the second actuator, the third actuator and the fourth actuator.

7. The organ support and fixation device for minimally invasive abdominal surgery according to claim 6, characterized in that: The guide structures each include a guide wheel shaft, a guide wheel group and a sleeve. The sleeve is sleeved on the guide wheel shaft, and the guide wheel group is sleeved on the guide wheel shaft. Both ends of the guide wheel shaft are fixed on the instrument housing.

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