A single-arm organ support and fixation device for minimally invasive abdominal surgery

Abstract

The present invention discloses a single-arm organ support and fixation device for minimally invasive abdominal surgery. The surgical instrument actuator is composed of a first, second, third, fourth, and fifth actuators. The first, second, third, fourth, and fifth 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 device 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, which greatly facilitates clinicians in performing minimally invasive abdominal surgery.

Description

Technical Field

[0001] The invention relates to a medical device in the field of minimally invasive surgery, and in particular to a single-arm 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] At present, the inventors have found that when clinicians perform minimally invasive abdominal surgery, organs such as the liver lack suitable instruments 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 present invention aims at the problem that the liver and other organs faced by clinicians during minimally invasive abdominal surgery lack suitable instruments to support and fix them, which affects the clinicians' operating space and surgical field of view, and proposes a single-arm organ support and fixation device suitable for minimally invasive abdominal surgery. It can solve the problem that the liver and other organs faced by clinicians during minimally invasive abdominal surgery lack suitable instruments to support and fix them, 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.

[0005] The present invention provides a single-arm organ support and fixation 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. The device has convenient adjustment, accurate positioning, and high rigidity. The specific scheme is as follows:

[0006] A single-arm organ support and fixation device for minimally invasive abdominal surgery comprises a first, a second, a third, a fourth and a fifth actuator; the five actuators comprise a total of five degrees of freedom, which are, starting from one end of a terminal transmission box, in order: an x-axial swing freedom around a first joint axis, and a y-axial swing freedom around a second joint to a fifth joint axis; the first joint is spatially perpendicular to the axes of freedom of the second, third, fourth and fifth joints.

[0007] As a further technical solution, the structures in the end transmission boxes of the first, second, third, fourth and fifth 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 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 angle adjustment wheel by separating and fitting with the angle adjustment wheel.

[0008] As a further technical solution, the first joint 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 joint actuator includes a second joint angle adjustment wheel 2, a fixing pin 2, a wire wheel 2, an arm segment 2 connecting sleeve, an arm segment 3 connecting sleeve, and a second joint at the connection between the arm segment 2 connecting sleeve and the arm segment 3 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; 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; 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 third joint actuator includes a third joint angle adjustment wheel three, a fixing pin three, a wire wheel three, an arm segment three connecting sleeve, an arm segment four connecting sleeve, and a third joint at the connection between the arm segment three connecting sleeve and the arm segment four connecting sleeve; the angle adjustment wheel three is connected to the wire wheel three, and the wire wheel three is connected to the third 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 third joint; the fixing 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 fourth joint actuator includes a fourth joint angle adjustment wheel four, a fixing pin four, a wire wheel four, an arm segment four connecting sleeve, an arm segment five connecting sleeve, and a fourth joint at the connection between the arm segment four connecting sleeve and the arm segment five connecting sleeve; the angle adjustment wheel four is connected to the wire wheel four, and the wire wheel four is connected to the fourth joint; the angle adjustment wheel four controls the rotation angle of the wire wheel four, and the wire wheel four controls the rotation angle of the fourth joint; the fixing pin four fixes the angle adjustment wheel four by separating and fitting with the angle adjustment wheel four;

[0012] As a further technical solution, the fifth joint actuator includes a fifth joint angle adjustment wheel five, a fixed pin five, a wire wheel five, an arm section five connecting sleeve, a clamping head one, a clamping head two, and a fifth joint at the connection between the arm section five connecting sleeve and the clamping head one and the clamping head two; the angle adjustment wheel five is connected to the wire wheel five, and the wire wheel five is connected to the clamping head one and the clamping head two of the fifth joint; the angle adjustment wheel five controls the rotation angle of the wire wheel five, and the wire wheel five controls the rotation angle of the clamping head one and the clamping head two of the fifth joint; the fixed pin five fixes the angle adjustment wheel five by separating and bonding with the angle adjustment wheel five.

[0013] As a further technical solution, the first, second, third, fourth and fifth joint actuators respectively drive the first joint, the second joint, the third joint, the fourth joint and the fifth joint to rotate through steel wire ropes;

[0014] As a further technical solution, the wire wheels and joints in the first, second, third, fourth and fifth joint actuators are provided with wire rope grooves for winding the wire rope.

[0015] 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, fourth and fifth joint 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.

[0016] Beneficial effects of the present invention:

[0017] Compared with the prior art, the single-arm organ support and fixation device for minimally invasive abdominal surgery of the present invention has the following beneficial effects:

[0018] 1. The single-arm 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 an optimal support surface for the organs and tissues.

[0019] 2. The single-arm 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.

[0020] 3. The single-arm 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.

[0021] 4. The single-arm 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 , Figure 2 The present invention is a schematic diagram of the overall structure of a single-arm organ support and fixation device used for minimally invasive abdominal surgery.

[0023] Figure 3 , Figure 4 This is an enlarged structural diagram of a single-arm organ support and fixation device for minimally invasive abdominal surgery of the present invention. Figure 1 .

[0024] Figure 5 , Figure 6 This is an enlarged structural diagram of a single-arm organ support and fixation device for minimally invasive abdominal surgery of the present invention. Figure 2 .

[0025] Figure 7 , Figure 8 This is an enlarged structural diagram of a single-arm organ support and fixation device for minimally invasive abdominal surgery of the present invention. Figure 3 .

[0026] Fig. 9The present invention is a side view of a single-arm organ supporting and fixing device for minimally invasive abdominal surgery in use.

[0027] Fig.10 The present invention is a top view of a single-arm organ support and fixation device for minimally invasive abdominal surgery in use.

[0028] Fig.11 , Fig.12 The present invention is a schematic diagram of the x-axis angle adjustment of a single-arm organ support and fixation device used for minimally invasive abdominal surgery.

[0029] Fig.13 , Fig.14 The present invention is a schematic diagram of the y-axis angle adjustment of a single-arm organ support and fixation device used for minimally invasive abdominal surgery.

[0030] Fig.15 , Fig.16 This is an enlarged structural diagram of a second embodiment of a single-arm organ support and fixation device for minimally invasive abdominal surgery of the present invention. Figure 1 .

[0031] Fig.17 , Fig.18 This is an enlarged structural diagram of a second embodiment of a single-arm organ support and fixation device for minimally invasive abdominal surgery of the present invention. Figure 2 . 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 described in the background technology section, at present, 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 proposes a single-arm organ support and fixation device suitable for minimally invasive abdominal surgery. It 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, so that clinicians can 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. 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 a single-arm organ support and fixation device that is easy to adjust, accurately positioned, and has greater rigidity.

[0036] Example 1

[0037] See Figure 1-Figure 8 : The present embodiment discloses a single-arm organ support and fixation device for minimally invasive abdominal surgery, including first, second, third, fourth and fifth actuators; the first, second, third, fourth and fifth actuators include five joints in total, and the five joint actuators include 5 degrees of freedom. The 5 degrees of freedom start from one end of the terminal transmission box 1, and are: axial swing freedom around the x-axis of the first joint 3, and axial swing freedom around the y-axis of the second joint 5, the third joint 7, the fourth joint 9 and the fifth joint 11; the first joint 3 is perpendicular to the axis of freedom of the second joint 5, the third joint 7, the fourth joint 9 and the fifth joint 11 in space.

[0038] The structures in the terminal transmission box 1 of the first, second, third, fourth and fifth 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 wheel in the terminal transmission box of the first, second, third, fourth and fifth joint 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; the two ends of the guide wheel shaft are fixed on the base shell.

[0039] The first joint 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 angle adjustment wheel 1-1 is fixedly connected to the wire wheel 1-2, and the rotation of the angle adjustment wheel 1-1 drives the wire wheel 1-2 to rotate. The wire wheel 1-2 is connected to the arm segment 1 connecting sleeve 2 and the arm segment 2 connecting sleeve 4 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; the fixing pin 1-3 fixes the angle adjustment wheel 1-1 by separating and 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 fitted 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 3As shown, two guide structures are installed below the wire wheel 1-2. After the steel 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. The second joint actuator includes a second joint angle adjustment wheel 2 1-4, a fixing pin 2 1-6, a wire wheel 2 1-5, an arm section 2 connecting sleeve 4, an arm section 3 connecting sleeve 6, and a second joint 5 at the connection between the arm section 2 connecting sleeve 4 and the arm section 3 connecting sleeve 6; the angle adjustment wheel 2 1-4 is connected to the wire wheel 2 1-5. Specifically, the angle adjustment wheel 2 1-4 is fixedly connected to the wire wheel 2 1-5. The rotation of the angle adjustment wheel 2 1-4 drives the wire wheel 2 1-5 to rotate. The wire wheel 2 1-5 is connected to the second joint angle adjustment wheel 1-4 through the steel wire rope. The second joint 5 is connected to the second joint 5; the angle adjustment wheel 2 1-4 controls the rotation angle of the wire wheel 2 1-5, and the wire wheel 2 1-5 controls the rotation angle of the second joint 5; the fixed pin 2 1-6 fixes the angle adjustment wheel 2 1-4 by separating and fitting with the angle adjustment wheel 2 1-4; when the fixed pin 2 1-6 is separated from the angle adjustment wheel 2 1-4, the angle adjustment wheel 2 1-4 can rotate freely, and when the fixed pin 2 1-6 is fitted with the angle adjustment wheel 2 1-4, the position of the angle adjustment wheel 2 1-4 is fixed.

[0041] As a further technical solution, Figure 3 As 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. After being guided, it is connected to the second joint 5 to realize the control of the second joint 5.

[0042] The third joint actuator includes a third joint angle adjustment wheel three 1-7, a fixed pin three 1-9, a wire wheel three 1-8, an arm section three connecting sleeve 6, an arm section four connecting sleeve 8, and a third joint 7 at the connection between the arm section three connecting sleeve 6 and the arm section four connecting sleeve 8; the angle adjustment wheel three 1-7 is connected to the wire wheel three 1-8, and the wire wheel three 1-8 is connected to the third joint 7; the angle adjustment 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 third joint 7; the fixed pin three 1-9 fixes the angle adjustment wheel three 1-7 by separating and fitting with the angle adjustment wheel three 1-7; when the fixed pin three 1-9 is separated from the angle adjustment wheel three 1-7, the angle adjustment wheel three 1-7 can rotate freely, and when the fixed pin three 1-9 is fitted with the angle adjustment wheel three 1-7, the position of the angle adjustment wheel three 1-7 is fixed.

[0043] As a further technical solution, Figure 3As 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 third joint 7 to realize the control of the third joint 7.

[0044] The fourth joint actuator includes a fourth joint angle adjustment wheel four 1-10, a fixed pin four 1-12, a wire wheel four 1-11, an arm segment four connecting sleeve 8, an arm segment five connecting sleeve 10, and a fourth joint 9 at the connection between the arm segment four connecting sleeve 8 and the arm segment five connecting sleeve 10; the angle adjustment wheel four 1-10 is connected to the wire wheel four 1-11, and the wire wheel four 1-11 is connected to the fourth joint 9; the angle adjustment wheel four 1-10 controls the rotation angle of the wire wheel four 1-11, and the wire wheel four 1-11 controls the rotation angle of the fourth joint 9; the fixed pin four 1-12 fixes the angle adjustment wheel four 1-10 by separating and fitting with the angle adjustment wheel four 1-10; when the fixed pin four 1-12 is separated from the angle adjustment wheel four 1-10, the angle adjustment wheel four 1-10 can rotate freely, and when the fixed pin four 1-12 is fitted with the angle adjustment wheel four 1-10, the position of the angle adjustment wheel four 1-10 is fixed.

[0045] As a further technical solution, Figure 3 As shown, two guide structures are installed below the wire wheel four 1-11. The wire rope on the wire wheel four 1-11 first passes around the two guide structures below the wire wheel four 1-11, and then passes around the two guide structures on the left and right sides of the wire wheel three 1-8, and then passes around the two guide structures on the left and right sides of the wire wheel two 1-5, and then passes around the two guide structures on the left and right sides of the wire wheel one 1-2, and then passes around the two guide structures below the wire wheel one 1-2. After being guided, it is connected to the fourth joint 9 to realize the control of the fourth joint 9.

[0046] The fifth joint actuator includes a fifth joint angle adjustment wheel five 1-13, a fixing pin five 1-15, a wire wheel five 1-14, an arm section five connecting sleeve 10, a clamping head one 12, a clamping head two 13, and a fifth joint 11 at the connection between the arm section five connecting sleeve 10 and the clamping head one 12, the clamping head two 13; the angle adjustment wheel five 1-13 is connected to the wire wheel five 1-14, and the wire wheel five 1-14 is connected to the clamping head one 12, the clamping head two 13 of the fifth joint 11; the angle adjustment wheel five 1-13 controls the rotation angle of the wire wheel five 1-14, and the wire wheel five 1-14 controls the rotation angle of the clamping head one 12, the clamping head two 13 of the fifth joint 11; the fixing pin five 1-15 fixes the angle adjustment wheel five 1-13 by separating and fitting with the angle adjustment wheel five 1-13. When the fixing pin five 1-15 is separated from the angle adjustment wheel five 1-13, the angle adjustment wheel five 1-13 can rotate freely, and when the fixing pin five 1-15 is in contact with the angle adjustment wheel five 1-13, the position of the angle adjustment wheel five 1-13 is fixed.

[0047] As a further technical solution, Figure 3 As shown, two guide structures are installed below the wire wheel five 1-14. The wire rope on the wire wheel five 1-14 first passes around the two guide structures below the wire wheel five 1-14, then passes around the two guide structures on the left and right sides of the wire wheel four 1-11, then passes around the two guide structures on the left and right sides of the wire wheel three 1-8, then passes around the two guide structures on the left and right sides of the wire wheel two 1-5, then passes around the two guide structures on the left and right sides of the wire wheel one 1-2, and then passes around the two guide structures below the wire wheel one 1-2. After being guided, the wire rope is connected to the fifth joint 11 to realize the control of the fifth joint 11.

[0048] The first, second, third, fourth and fifth joint actuators drive the first joint 3, the second joint 5, the third joint 7, the fourth joint 9 and the fifth joint 11 to rotate respectively through steel wire ropes;

[0049] Furthermore, the wire pulley 1-2 and the first joint 1 in the first joint actuator are provided with wire rope grooves for winding the wire rope;

[0050] The wire rope grooves of the wire wheel 2 1-5 and the second joint 5 in the second joint actuator are used for winding the wire rope; the center line of the wire rope grooves of the wire wheel 2 1-5 and the second joint 5 is parallel to the X-axis line.

[0051] There are wire rope grooves on the wire wheel three 1-8 and the third joint 7 in the third joint actuator for winding the wire rope; the center lines of the wire rope grooves of the wire wheel three 1-8 and the third joint 7 are parallel to the Y axis.

[0052] There are wire rope grooves on the wire wheel four 1-11 and the fourth joint 9 in the fourth joint actuator for winding the wire rope; the center lines of the wire rope grooves of the wire wheel four 1-11 and the fourth joint 9 are parallel to the Y axis.

[0053] The wire wheel 5 1-14 in the fifth joint actuator and the clamping head 12 and the clamping head 2 13 at the fifth joint 11 have wire rope grooves for winding the wire rope. The center lines of the wire wheel 5 1-14 and the wire rope grooves of the fifth joint 11 are parallel to the Y axis.

[0054] Working principle of the present invention:

[0055] See Figure 5 , Figure 6 :

[0056] When a clinician performs minimally invasive abdominal surgery, the front end of the instrument 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, the arm segment 4 connecting sleeve 8, and the arm segment 5 connecting sleeve 10 form a certain angle. Figure 7 It is convenient to adjust the support plane formed by the second connecting sleeve 4 of the arm segment, the third connecting sleeve 6 of the arm segment, the fourth connecting sleeve 8 and the fifth connecting sleeve 10 of the arm segment to support organs or tissues such as the liver.

[0057] 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, the arm section fourth connecting sleeve 8, and the arm section fifth connecting sleeve 10 can be adjusted, so that the arm section second connecting sleeve 4, the arm section third connecting sleeve 6, the arm section fourth connecting sleeve 8, and the arm section fifth connecting sleeve 10 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 segment, the third connecting sleeve 6 of the arm segment, the fourth connecting sleeve 8 and the fifth connecting sleeve 10 of the arm segment to support organs or tissues such as the liver.

[0058] The clamping head 12 and the clamping head 2 13 at the fifth joint 11 can be separated and clamped to clamp organs or tissues such as the liver, thereby improving the fixing effect of the instrument on organs or tissues such as the liver.

[0059] Example 2

[0060] In this implementation, see Fig.15 , 16, 17, 18, the first joint 3, the second joint 5, the third joint 7, the fourth joint 9, and the fifth joint 11 are unidirectional deflection joints, and the joints can be swung toward the joint notch side. When the edges of the notches of two adjacent joint parts fit together, the supporting strength of the joints can be increased, and the supporting effect of the instrument on organs and tissues can be improved; the joints can be swung to the opposite side of the joint notch. When the edges of the opposite sides of the joint notches of two adjacent joint parts fit together, the axes of the two adjacent arm sections of the joint coincide, so that the instrument can be easily inserted into and withdrawn from the human body, reducing the difficulty of inserting and withdrawing the instrument from the human body.

[0061] The remaining structures are the same as those in Example 1 and will not be described in detail here.

[0062] 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.

[0063] 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. A single-arm organ support and fixation device for minimally invasive abdominal surgery, characterized in that: Bag The five actuators include a first actuator, a second actuator, a third actuator, a fourth actuator, and a fifth actuator; the five actuators include a total of 5 degrees of freedom, which are, starting from one end of the terminal transmission box, in order: 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, the y-axial swing freedom around the fourth joint axis of the fourth actuator, and the y-axial swing freedom around the fifth joint axis of the fifth actuator; the first joint is perpendicular to the second, third, fourth, and fifth joint freedom axis directions in space; The first actuator, the second actuator, the third actuator, the fourth actuator, and the fifth actuator have the same structure in the terminal transmission box, and each of them 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 angle adjustment wheel by separating and fitting with the angle adjustment wheel; The front end of the instrument is inserted into the abdominal cavity of the human body, and the first joint can swing around the first joint axis x-axis, so that the arm segment 1 connecting sleeve and the arm segment 2 connecting sleeve form a certain angle, so that the arm segment 1 connecting sleeve and the support plane formed by the arm segment 2 connecting sleeve, the arm segment 3 connecting sleeve, the arm segment 4 connecting sleeve, and the arm segment 5 connecting sleeve form a certain angle, so that it is convenient to adjust the support plane formed by the instrument arm segment 2 connecting sleeve, the arm segment 3 connecting sleeve, the arm segment 4 connecting sleeve, and the arm segment 5 connecting sleeve to support organs or tissues such as the liver; The second joint, the third joint and the fourth joint swing around the y-axis of the second joint, the third joint and the fourth joint axis; adjust the angles among the arm segment two connecting sleeves, the arm segment three connecting sleeves, the arm segment four connecting sleeves and the arm segment five connecting sleeves so that the arm segment two connecting sleeves, the arm segment three connecting sleeves, the arm segment four connecting sleeves and the arm segment five connecting sleeves form support planes of various shapes, which facilitates the adjustment of the support planes formed by the instrument arm segment two connecting sleeves, the arm segment three connecting sleeves, the arm segment four connecting sleeves and the arm segment five connecting sleeves to support the tissue.

2. The single-arm 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 single-arm organ support and fixation device for minimally invasive abdominal surgery according to claim 1, characterized in that: The second actuator includes 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, and a second joint at the connection between the arm section 2 connecting sleeve and the arm section 3 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; 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; the fixing pin 2 fixes the angle adjustment wheel 2 by separating and fitting with the angle adjustment wheel 2.

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

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

6. The single-arm organ support and fixation device for minimally invasive abdominal surgery according to claim 1, characterized in that: The fifth actuator includes a fifth joint angle adjustment wheel five, a fixing pin five, a wire wheel five, an arm section five connecting sleeve, a clamping head one, a clamping head two, and a fifth joint at the connection between the arm section five connecting sleeve and the clamping head one and the clamping head two; the angle adjustment wheel five is connected to the wire wheel five, and the wire wheel five is connected to the clamping head one and the clamping head two of the fifth joint; the angle adjustment wheel five controls the rotation angle of the wire wheel five, and the wire wheel five controls the rotation angle of the clamping head one and the clamping head two of the fifth joint; the fixing pin five fixes the angle adjustment wheel five by separating and fitting with the angle adjustment wheel five.

7. The single-arm organ support and fixation device for minimally invasive abdominal surgery according to claim 1, characterized in that: The first, second, third, fourth and fifth actuators respectively drive the first joint, the second joint, the third joint, the fourth joint and the fifth joint to rotate via steel wire ropes.

8. The single-arm organ support and fixation device for minimally invasive abdominal surgery according to claim 1, characterized in that: Guide structures are installed on both sides of the wire wheels in the terminal transmission boxes of the first, second, third, fourth and fifth 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; both ends of the guide wheel shaft are fixed on the base shell.

9. The single-arm organ support and fixation device for minimally invasive abdominal surgery according to claim 1, characterized in that: The first joint, the second joint, the third joint, the fourth joint and the fifth joint are unidirectional deflection joints.

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