Endoscopic stapling device with angle deflection tracking guidance and ultrasound positioning function

Abstract

The present invention discloses an endoscopic stapling device with angle deflection tracking guidance and ultrasonic positioning functions, comprising a handle, a conical protective sleeve, an insertion tube, a rigid section, a curved section, and a top section, wherein a nail magazine seat assembly is fixedly arranged on the side of the rigid section; an anvil is fixedly arranged on the end face of the top section; an angle tracking sensor is arranged on one side of the nail magazine seat; an ultrasonic detector is arranged on the end face of the top section; an ultrasonic reflector is arranged inside the nail magazine seat, and the ultrasonic reflector corresponds to the ultrasonic detector; the ultrasonic reflector can judge whether the anvil of the top section is well matched with the position of the nail magazine seat of the rigid section. The present invention skillfully combines the endoscope angle deflection tracking with the ultrasonic positioning function, and can accurately determine the position of the stapling point and the relative position between multiple stapling points, thereby improving the therapeutic effect of the operation.

Description

Technical Field

[0001] The invention relates to a minimally invasive surgical treatment instrument, in particular to an endoscopic stapling device with angle deflection tracking guidance and ultrasonic positioning functions. Background Art

[0002] At present, with the continuous development of endoscopic technology, the role of endoscopes has undergone a huge change, gradually changing from a simple diagnostic tool to an advanced tool that integrates diagnosis and treatment. Minimally invasive surgery using endoscopes is favored by both doctors and patients for its advantages of less trauma, shorter operation time, and faster postoperative recovery, and has become an indispensable tool in the diagnosis and treatment of digestive system diseases.

[0003] Gastroesophageal reflux disease (GERD) refers to the reflux of excessive contents from the stomach or duodenum into the esophagus, causing symptoms such as acid reflux and heartburn, and can lead to esophagitis and damage to tissues outside the esophagus such as the pharynx, larynx, and trachea. . For patients with general gastroesophageal reflux disease, it can be cured by changing lifestyle or taking medication. However, for patients with cardia relaxation or hiatal hernia, some do not respond well to medication, some can only solve some symptoms after medication, and some patients need to take medication for a long time. For such patients, surgical treatment is necessary.

[0004] Existing surgical treatments for gastroesophageal reflux disease generally use laparoscopic fundoplication or endoscopic suturing technology and radiofrequency ablation technology. Although they can solve the problem of recurrent symptoms, they are often accompanied by postoperative complications, which have a great impact on the quality of life after surgery. Therefore, surgical treatment of gastroesophageal reflux disease has not been popularized. Once suffering from gastroesophageal reflux disease, the patient's quality of life is significantly reduced.

[0005] Moreover, in traditional endoscopic surgery, doctors need to use other auxiliary visualization equipment to perform the surgery, and the angle deflection is often not easy to judge intuitively. They can only rely on the doctor's individual surgical clinical experience and skills, and rely on the doctor's familiarity with the tissue conditions and surgical experience, which brings blind subjectivity to the surgical positioning process. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide an endoscopic stapling device with angle deflection tracking guidance and ultrasonic positioning functions, which can improve the positioning accuracy during the operation, thereby improving the accuracy of the operation.

[0007] In order to solve the above technical problems, the technical solution of the endoscopic stapling device with angle deflection tracking guidance and ultrasonic positioning function of the present invention is:

[0008] The invention comprises a handle 1, a conical protective sleeve 2, an insertion tube 3, a rigid section 4, a curved portion 5 and a top portion 6. The front end of the handle 1 is fixedly connected to the insertion tube 3 through the conical protective sleeve 2, and the front end of the insertion tube 3 is fixedly connected to the rigid section 4, the curved portion 5 and the top portion 6 in sequence; the side portion of the rigid section 4 and the end portion of the top portion 6 form a stapling mechanism; the bending angle of the curved portion 5 is controlled by the handle 1, so that the end face of the top portion 6 can correspond to the side face of the rigid section 4, so that the top portion 6 is in a stapling state; a nail magazine seat assembly is provided on the side face of the rigid section 4, and a plurality of titanium nail accommodating grooves 4-3-1 for accommodating titanium nails 4-4 are provided on the nail magazine seat assembly; an anvil plate 6-2 is fixedly provided on the end face of the top portion 6; when the top portion 6 is in the stapling state, the titanium nails 4-4 on the nail magazine seat assembly and the top portion 6 are in a stapling state. The angle tracking sensor 7 is fixedly arranged on the side of the rigid section 4; the angle tracking sensor 7 and the nail magazine seat assembly are located in the same circumference of the rigid section 4; the end face of the top portion 6 is provided with an ultrasonic detector 10; the nail magazine seat assembly is provided with a reflector accommodating groove 4-3-2, and an ultrasonic reflector 4-5 is accommodated in the reflector accommodating groove 4-3-2, and the ultrasonic reflector 4-5 corresponds to the ultrasonic detector 10; the ultrasonic reflector 4-5 can reflect the ultrasonic signal emitted by the ultrasonic detector 10, and send the reflected ultrasonic signal to the ultrasonic detector 10, so as to judge whether the anvil 6-2 of the top portion 6 is well matched with the position of the nail magazine seat assembly of the rigid section 4.

[0009] In another embodiment, the surface of the anvil 6-2 is an arc-shaped that matches the surface of the nail magazine seat assembly; the length direction of the anvil 6-2 corresponds to the circumferential direction of the nail magazine seat assembly; when the top end 6 is in the nailing state, the surface of the anvil 6-2 matches the side of the rigid section 4, and the surface of the anvil 6-2 can provide a bending reaction force for the titanium nail 4-4 ejected from the rigid section 4, so that the two nail legs of the titanium nail 4-4 are bent.

[0010] In another embodiment, an end positioning pin 11 is movably provided on one side of the ultrasonic detector 10, and the end positioning pin 11 can perform telescopic movement relative to the top end 6 under the action of the positioning pin driving motor; a positioning pin hole 4-3-3 is provided on the nail magazine seat assembly; the end positioning pin 11 corresponds to the positioning pin hole 4-3-3.

[0011] In another embodiment, the bending angle of the bending portion 5 ranges from 0° to 270°.

[0012] In another embodiment, the rigid section 4 includes a rigid section shell 4-1, one end of the rigid section shell 4-1 is fixedly connected to a sensor positioning plate 4-2, a sensor positioning groove 4-2-1 is provided on the side of the sensor positioning plate 4-2, and the angle tracking sensor 7 is fixedly arranged in the sensor positioning groove 4-2-1; the angle tracking sensor 7 is connected to the angle signal control system via an angle tracking sensor signal line 7-1.

[0013] In another embodiment, the sensor positioning groove 4 - 2 - 1 and the nail magazine seat assembly are located in the same circumferential direction of the rigid section 4 .

[0014] In another embodiment, the end surface of the top portion 6 is provided with an ultrasonic detector mounting hole 6-1-7, and the ultrasonic detector mounting hole 6-1-7 corresponds to the reflector receiving groove 4-3-2 of the nail magazine seat assembly.

[0015] In another embodiment, the outer diameters of the insertion tube 3 , the rigid section 4 , the curved portion 5 , and the top end portion 6 are smaller than the inner diameter of the esophagus 201 .

[0016] The technical effects that can be achieved by the present invention are:

[0017] The present invention is provided with an angle tracking sensor on the rigid section. When the handle rotates around the axis, the rigid section deflects axially, and the angle tracking sensor also deflects together. The angle tracking sensor transmits the deflection angle signal to the main board in real time. After the main board receives the deflection angle signal, it is finally intuitively displayed on the display screen. The present invention can accurately determine the relative position of the top end and the esophagus through the angle tracking sensor to determine the specific position of another gastric fundus, thereby determining the relative position of each stapling point, and providing accurate and intuitive visual guidance for fundoplication.

[0018] The present invention can track the angle deflection of the endoscope in real time and remind the deviation of the positioning target position, so as to accurately determine the top end of the endoscope.

[0019] The present invention determines the position of the nail magazine seat of the top end and the rigid section through an ultrasonic detector, so that the folding and stapling position of the gastric fundus and the lower esophagus can be accurately determined, and the deviation of the positioning target position can be reminded. This is like providing a third eye and hand for the doctor, which can accurately perform treatment in the patient's body and provide an objective, accurate, intuitive and scientific means for the surgeon's surgical plan.

[0020] The present invention skillfully combines the endoscope angle deflection tracking with the ultrasonic positioning function, and can accurately determine the position of the stapling point and the relative position between multiple stapling points, as well as the deviation of the positioning target position to provide a reminder, thereby improving the therapeutic effect of the operation. The present invention can effectively improve the quality of surgery, ensure the safety of surgery, and reduce unpredictable risks during surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] It should be understood by those skilled in the art that the following description is only intended to schematically illustrate the principles of the present invention, which can be applied in a variety of ways to achieve many different alternative embodiments. These descriptions are only intended to illustrate the general principles of the teachings of the present invention and are not intended to limit the inventive concepts disclosed herein.

[0022] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the general description above and the detailed description of the drawings that follow, serve to explain the principles of the invention.

[0023] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0024] Figure 1 It is a schematic diagram of an endoscopic stapling device with angle deflection tracking guidance and ultrasonic positioning functions of the present invention;

[0025] Figures 2 to 8 It is a schematic diagram of the operation process of the present invention;

[0026] Fig. 9 is a schematic diagram of a titanium nail of the present invention, wherein the titanium nail is in an original state;

[0027] Fig.10 is a schematic diagram of the titanium nail of the present invention, in which the titanium nail is in a nailing state;

[0028] Fig.11 is a schematic diagram of a rigid segment of the present invention;

[0029] Fig.12 is an exploded schematic diagram of a rigid segment assembly of the present invention;

[0030] Fig.13 is a schematic diagram of a nail magazine seat of the present invention;

[0031] Fig.14 is a schematic diagram of the top end portion of the present invention;

[0032] Fig.15 is a schematic end view of the top end portion of the present invention;

[0033] Fig.16 yes Fig.15 AA cross-sectional diagram of ;

[0034] Fig.17 is a schematic diagram of a cutting board of the present invention;

[0035] Fig.18 is an exploded schematic diagram of the top end portion of the present invention;

[0036] Fig.19 is a schematic cross-sectional view of the top end portion of the present invention;

[0037] Fig. 20 is a schematic diagram of the top seat of the present invention;

[0038] Fig.21 is a side schematic diagram of the top seat of the present invention;

[0039] Fig. 22 yes Fig.21 Schematic diagram of the BB cross section.

[0040] Description of reference numerals in the figures:

[0041] 100 is an endoscopic stapling device,

[0042] 1 is the handle, 2 is the conical protective cover,

[0043] 3 is the insertion tube, 4 is the rigid section,

[0044] 5 is a curved portion, 6 is a top portion,

[0045] 7 is an angle tracking sensor, 8 is a micro camera,

[0046] 9 is an LED light, 10 is an ultrasonic detector,

[0047] 11 is an end positioning pin,

[0048] 4-1 is a rigid section housing, 4-2 is a sensor positioning plate,

[0049] 4-3 is the nail magazine seat, 4-4 is the titanium nail,

[0050] 4-5 is an ultrasonic reflector,

[0051] 4-2-1 is the sensor positioning slot.

[0052] 4-3-1 is the titanium nail receiving groove, 4-3-2 is the reflector receiving groove,

[0053] 4-3-3 is the positioning pin hole, 4-3-4 is the anvil screw matching hole,

[0054] 6-1 is the top seat, 6-2 is the cutting board,

[0055] 6-3 is the cutting board screw, 6-4 is the cutting board drive shaft,

[0056] 6-5 is the driven gear, 6-6 is the anvil screw guide seat,

[0057] 6-7 is the driven gear positioning pin, 6-8 is the anvil positioning pin,

[0058] 6-1-1 is the top seat, 6-1-2 is the anvil positioning groove,

[0059] 6-1-3 is the hole for the driving shaft of the anvil plate, 6-1-4 is the hole for the driven gear shaft,

[0060] 6-1-5 is the LED light positioning hole, 6-1-6 is the micro camera positioning hole,

[0061] 6-1-7 is the installation hole of the ultrasonic detector, 6-1-8 is the end positioning pin receiving hole,

[0062] 6-1-9 is the hole for the driven gear positioning pin, 6-1-10 is the limiting boss,

[0063] 6-2-0 is the cutting board body, 6-2-1 is the cutting board screw hole,

[0064] 6-2-2, 6-2-3, 6-2-4, 6-2-5, and 6-2-6 are guide grooves for bending titanium nails.

[0065] 6-2-7 is the first gear ear, 6-2-8 is the second gear ear,

[0066] 7-1 is the angle tracking sensor signal line,

[0067] 9-1 is the LED lamp cover,

[0068] 201 is the esophagus, and 202 is the stomach. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment 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. Unless otherwise defined, the technical terms or scientific terms used herein should be the common meaning understood by people with general skills in the field to which the present invention belongs.

[0070] like Figure 1As shown, the endoscopic stapling device 100 with angle deflection tracking guidance and ultrasonic positioning functions of the present invention comprises a handle 1, a conical protective sleeve 2, an insertion tube 3, a rigid section 4, a curved portion 5, and a top portion 6. The front end of the handle 1 is fixedly connected to the insertion tube 3 through the conical protective sleeve 2, and the front end of the insertion tube 3 is fixedly connected to the rigid section 4, the curved portion 5, and the top portion 6 in sequence; the side surface of the rigid section 4 and the end surface of the top portion 6 form a stapling mechanism;

[0071] The outer diameters of the insertion tube 3, the rigid section 4, the curved portion 5, and the top end portion 6 are smaller than the inner diameter of the esophagus 201, so that the front end of the endoscopic stapling device can be inserted into the stomach 202 through the esophagus 201 through the oral cavity;

[0072] The handle 1 is provided with a bending angle control mechanism, which can control the bending angle of the bending portion 5, so that the angle between the top end portion 6 at both ends of the bending portion 5 and the rigid section 4 changes within the range of 0︒~270︒, thereby driving the end surface of the top end portion 6 to move relative to the side surface of the rigid section 4;

[0073] In the initial state, the bending angle of the bending portion 5 is 0°, and the top portion 6, the bending portion 5 and the rigid section 4 are on the same straight line; the front end of the endoscopic stapling device 100 (i.e., the top portion 6, the bending portion 5 and the rigid section 4) is inserted into the stomach 202 through the oral cavity and the esophagus 201. At this time, the internal conditions of the stomach 202 (such as the mucosal structure) can be observed through the micro camera 8 of the top portion 6. Figure 2 As shown;

[0074] like Figure 3 As shown, when the rigid segment 4 is located at the bottom of the esophagus 201, the bending angle control mechanism of the handle 1 is manipulated to gradually bend the bending portion 5, so that the top portion 6 moves relative to the rigid segment 4, thereby changing the relative position between the end surface of the top portion 6 and the side surface of the rigid segment 4;

[0075] When the bending angle of the curved portion 5 reaches 180°, the end surface of the top portion 6 abuts against the inner wall of a part of the stomach fundus; when the bending angle of the curved portion 5 increases from 180° to 270°, the end surface of the top portion 6 pushes the part of the stomach fundus to move toward the esophagus, such as Figure 4 As shown;

[0076] like Figure 5 As shown in the figure, when the bending angle of the curved portion 5 is 270°, the part of the stomach fundus is pushed by the end surface of the top portion 6 to overlap with the lower segment of the esophagus, thereby realizing the folding of part of the stomach fundus and the esophagus; at this time, the side surface of the rigid segment 4 is opposite to the end surface of the top portion 6, and the ultrasonic reflector 4-5 of the rigid segment 4 can reflect all ultrasonic signals emitted by the ultrasonic detector 10 of the top portion 6, and send the reflected ultrasonic signals to the ultrasonic detector 10, then the curved portion 5 is bent in place, and the top portion 6 is in a stapled state, as shown in FIG. Figure 6As shown;

[0077] The end positioning pin 11 is driven to extend outward by the positioning pin driving motor, so that the tip of the end positioning pin 11 of the top portion 6 passes through the two layers of tissue of the stomach fundus and the esophagus and extends into the positioning pin hole 4-3-3 of the rigid segment 4, and the top portion 6 is kept in a stapled state, thereby realizing the position positioning between the top portion 6 and the rigid segment 4; because the hole depth of the positioning pin hole 4-3-3 is smaller than the extension length of the end positioning pin 11, when the end positioning pin 11 is extended into place, a distance H1 is formed between the end face of the top portion 6 and the side face of the rigid segment 4, and the distance H1 is the thickness of the two layers of tissue;

[0078] Then, the two anvil screws 6-3 are driven to extend outward through the anvil screw driving mechanism, so that the tip of the anvil screw 6-3 of the top portion 6 passes through the two layers of tissue and is screwed into the anvil screw matching hole 4-3-4 of the nail magazine seat 4-3 of the rigid section 4; in the process of the anvil screw 6-3 being screwed inward, the two anvil screws 6-3 respectively pass through the two layers of tissue in the thickness direction and jointly squeeze the two layers of tissue; because the hole depth of the anvil screw matching hole 4-3-4 is less than the extension length of the anvil screw 6-3, when the anvil screw 6-3 is extended into place, a distance H2 is formed between the end face of the top portion 6 and the side face of the rigid section 4, and the distance H2 is the nailing thickness of the titanium nail 4-4; H1>H2; after the anvil screw 6-3 is extended into place, the end positioning pin 11 can be retracted;

[0079] Start the titanium nail firing mechanism, and push the five titanium nails 4-4 (the titanium nails 4-4 are as shown in the figure) of the nail magazine seat assembly. Fig. 9 The titanium nail 4-4 is shot out simultaneously with its legs facing outwards. After being shot out, the titanium nail 4-4 successively penetrates the lower esophagus and part of the gastric fundus tissue, and is subjected to the reaction force of the anvil plate 6-2 at the end surface of the top end portion 6, causing the two legs of the titanium nail 4-4 to bend inwards, forming a shape as shown in FIG. Fig.10 The B-shaped titanium nail 4-4 can staple the lower esophagus and part of the stomach fundus together to form a folded stapled portion 200. Figure 7 As shown, the part is nailed and fixed, and the titanium nail 4-4 can fix the two layers of tissue tightly together, thereby forming a new acute His angle α;

[0080] Replace the new staple cartridge assembly, then rotate the handle 1 around the axis by an angle, so that the end surface of the top end portion 6 contacts the inner wall of another stomach fundus, so that the other stomach fundus and the lower esophagus can be folded and stapled. Figure 8 As shown; according to the actual situation, multiple (such as three) folding and stapling are performed around the circumference of the esophagus, so that the His angle α around the esophagus is restored to an acute angle, thereby restoring the gastroesophageal valve and establishing an effective barrier to prevent gastroesophageal reflux.

[0081] The present invention realizes the relative positioning between the top end portion 6 and the rigid section 4 before stapling by the end positioning pin 11, thereby realizing the preliminary positioning of the tissue to be stapled, avoiding or reducing the displacement of the positioning position of the tissue during the stapling process, thereby improving the surgical accuracy.

[0082] The present invention uses the anvil screw 6-3 to squeeze and position the tissue to be stapled, so that the titanium nail 4-4 can tightly fix the two layers of tissue together without separation after the nail legs of the titanium nail 4-4 are bent during the staple process, thereby ensuring that the newly formed His angle (gastroesophageal angle) will not change for a long time. In addition, the present invention determines the staple thickness of the titanium nail 4-4 through the anvil screw 6-3, thereby ensuring that the titanium nail 4-4 can be accurately launched onto the titanium nail bending guide groove of the anvil 6-2, so that the device can be suitable for different groups of people. Even if the thickness of the two layers of tissue of the stomach fundus and the esophagus of an individual is different due to different physical conditions, the phenomenon of loose staples and reduced surgical effects will not occur.

[0083] The present invention uses an anvil screw driving mechanism to accurately control the extension stroke of the anvil screw 6-3, so that the thickness of the two layers of tissue between the end face of the top end portion 6 and the side face of the rigid section 4 gradually decreases and reaches a stapling thickness that can be implemented by the titanium nail 4-4; the thickness change of the two layers of tissue can be monitored by the ultrasonic detector 10, thereby accurately controlling the stapling thickness.

[0084] The bending angle control mechanism for controlling the bending portion 5 in the present invention is a prior art and will not be described in detail here.

[0085] like Fig.11 As shown, the rigid section 4 includes a rigid section shell 4-1, one end of the rigid section shell 4-1 is fixedly connected to a sensor positioning plate 4-2, a sensor positioning groove 4-2-1 is provided on the side of the sensor positioning plate 4-2, and an angle tracking sensor 7 is fixedly arranged in the sensor positioning groove 4-2-1; the angle tracking sensor 7 is connected to one end of an angle tracking sensor signal line 7-1, and the other end of the angle tracking sensor signal line 7-1 is connected to the mainboard to realize synchronous transmission and feedback of signals;

[0086] A nail magazine seat groove 4-1-1 extending in the axial direction is provided on the side of the rigid section shell 4-1, and a titanium nail firing piece 4-7 is movably arranged in the nail magazine seat groove 4-1-1, and the length of the titanium nail firing piece 4-7 is less than the length of the nail magazine seat groove 4-1-1; one end of the titanium nail firing piece 4-7 is fixedly connected to one end of a firing wire 4-8, and the other end of the firing wire 4-8 is connected to the handle 1; the firing wire 4-8 can be pulled by operating the handle 1, thereby driving the titanium nail firing piece 4-7 to move forward and backward along the nail magazine seat groove 4-1-1;

[0087] A nail magazine seat assembly is arranged in the nail magazine seat groove 4-1-1, and the nail magazine seat assembly has five titanium nail receiving grooves 4-3-1, and the titanium nail receiving grooves 4-3-1 are used to receive the titanium nails 4-4 and the pushers 4-6; the pushers 4-6 are against the bottom of the titanium nails 4-4;

[0088] The nail magazine seat assembly includes a nail magazine seat 4-3, the surface of the nail magazine seat 4-3 is a partial circumference of the rigid segment shell 4-1 (that is, the arc surface of the nail magazine seat 4-3 is a partial circumference of the rigid segment shell 4-1);

[0089] like Fig.13 As shown, five titanium nail receiving grooves 4-3-1 are provided on the nail magazine seat 4-3, and titanium nails 4-4 and pushers 4-6 are placed in the titanium nail receiving grooves 4-3-1; the pushers 4-6 are located at the bottom of the titanium nails 4-4;

[0090] The nail magazine seat 4-3 is also provided with a reflector receiving groove 4-3-2, and an ultrasonic reflector 4-5 is placed in the reflector receiving groove 4-3-2. The ultrasonic reflector 4-5 is used to reflect the ultrasonic signal emitted by the ultrasonic detector 10 and send the reflected ultrasonic signal to the ultrasonic detector 10;

[0091] The nail magazine seat 4-3 is also provided with a positioning pin hole 4-3-3 corresponding to the end positioning pin 11, and two anvil screw matching holes 4-3-4 corresponding to the anvil screw 6-3; the hole depth of the positioning pin hole 4-3-3 is less than the extended length of the end positioning pin 11, and the hole depth of the anvil screw matching hole 4-3-4 is less than the extended length of the anvil screw 6-3.

[0092] The present invention arranges the ultrasonic reflector 4-5 near the titanium nail receiving groove 4-3-1, and arranges the ultrasonic detector 10 on the end face of the top end portion 6. With the assistance of the ultrasonic detector 10, the nailing point can be accurately determined, thereby greatly improving the operating accuracy of fundoplication.

[0093] The present invention is provided with an angle tracking sensor 7 on the rigid section 4. When the handle 1 rotates around the axis, the rigid section 4 deflects axially, and the angle tracking sensor 7 also deflects together. The angle tracking sensor 7 transmits the deflection angle signal to the main board in real time. After the main board receives the deflection angle signal, it is finally intuitively displayed on the display screen. The present invention can accurately determine the relative position of the top portion 6 and the esophagus through the angle tracking sensor 7 to determine the specific position of another gastric fundus, providing accurate and intuitive visual guidance for fundoplication.

[0094] like Figures 14 to 16As shown, the top portion 6 includes a top seat 6-1, and the end face of the top seat 6-1 is provided with an anvil 6-2, a micro camera 8, an LED lamp 9, an ultrasonic detector 10 and an end positioning pin 11, the anvil 6-2 is fixedly arranged in the middle of the end face, the length of the anvil 6-2 extends in the longitudinal direction, and the surface of the anvil 6-2 protrudes from the end face of the top seat 6-1, so as to provide bending force for the titanium nail 4-4; the micro camera 8 and the LED lamp 9 are located on one side of the anvil 6-2, and the ultrasonic detector 10 and the end positioning pin 11 are located on the other side of the anvil 6-2; the LED lamp 9 is used to provide a lighting source, the micro camera 8 and the LED lamp 9 are used to provide a lighting source, and the ultrasonic detector 10 and the end positioning pin 11 are located on the other side of the anvil 6-2. The machine 8 is used for collecting images; the ultrasonic detector 10 is used for transmitting and receiving ultrasonic signals; the ultrasonic detector 10 is matched with the ultrasonic reflector 4-5 of the rigid section 4, and the ultrasonic detector 10 transmits ultrasonic signals, which are reflected back to the ultrasonic detector 10 by the ultrasonic reflector 4-5. The ultrasonic detector 10 determines whether the top portion 6 is well matched with the nail magazine seat 4-3 of the rigid section 4 by the change in the strength of the received signal; when the ultrasonic signal is stable, the end positioning pin 11 is extended outward and matched with the positioning pin hole 4-3-3 of the rigid section 4, so as to realize the positioning of the tissue;

[0095] An external thread 11-1 is formed in the middle of the end locating pin 11, and the end locating pin 11 is connected to the top seat 6-1 through a thread; the free end of the end locating pin 11 is a pointed end, and the fixed end of the end locating pin 11 is connected to the locating pin driving motor; the end locating pin 11 is driven to rotate by the locating pin driving motor, so that the telescopic movement of the end locating pin 11 relative to the top seat 6-1 can be realized; the free end of the end locating pin 11 matches the locating pin hole 4-3-3 of the rigid section 4, and tissue positioning can be performed to avoid or reduce the displacement of the positioning position of the tissue during the operation.

[0096] Since the side of the rigid segment 4 is opposite to the end face of the top portion 6 in the stapling state, the viewing angle of the micro camera 8 located at the top portion 6 is blocked by the stomach fundus tissue, so image information cannot be collected, resulting in the entire stapling state being in a blind spot. The present invention is provided with ultrasonic reflectors 4-5 and ultrasonic detectors 10 on the side of the rigid segment 4 and the end face of the top portion 6, respectively, which can monitor the relative position between the rigid segment 4 and the top portion 6 during the stapling process, so that the operator can still intuitively observe the position information between the rigid segment 4 and the top portion 6 in the stapling state.

[0097] like Fig.17 As shown, the anvil 6-2 includes an anvil body 6-2-0 with an arc-shaped surface, and the arc-shaped surface of the anvil body 6-2-0 matches the side of the rigid section 4; the length direction of the anvil body 6-2-0 corresponds to the circumferential direction of the nail magazine seat 4-3 (i.e., the arc length direction); when the top end 6 is in the nailing state, the surface of the anvil body 6-2-0 matches the side of the rigid section 4;

[0098] The two ends of the anvil body 6-2-0 are respectively provided with an anvil screw insertion hole 6-2-1, in which an anvil screw 6-3 is movably arranged, and the anvil screw 6-3 is connected to the anvil screw driving mechanism built into the top seat 6-1; the anvil screw 6-3 can perform telescopic movement relative to the anvil body 6-2-0 under the action of the anvil screw driving mechanism;

[0099] There are five groups of titanium nail bending guide grooves 6-2-2, 6-2-3, 6-2-4, 6-2-5 and 6-2-6 distributed on the surface of the anvil body 6-2-0 (five different patterns are used in the figure to represent the bottoms of the five groups of titanium nail bending guide grooves respectively); each group of titanium nail bending guide grooves includes two parallel bending guide grooves, each bending guide groove corresponds to a nail leg of the titanium nail 4-4; the bottom of each bending guide groove is an arc with high ends and a low middle, and the arc bottom of each group of titanium nail bending guide grooves is symmetrically arranged; the bending guide grooves can guide the bending direction of the nail legs of the titanium nail 4-4.

[0100] Two blocking ears are arranged on the side of the chopping board body 6-2-0, the first blocking ear 6-2-7 is located above and outside the LED lamp 9 and directly above the water outlet; the second blocking ear 6-2-8 is located above and outside the micro camera 8 and directly above the air outlet; the bottom surfaces of the two blocking ears are respectively perpendicular to the water outlet and the air outlet; when the water outlet sprays water, the first blocking ear 6-2-7 reflects the water flow so that the water flow sprays toward the micro camera 8 and the LED lamp 9, thereby flushing the lens of the micro camera 8 and the LED lamp 9; when the air outlet exhausts air, the second blocking ear 6-2-8 reflects the air flow so that the air flow sprays toward the micro camera 8 and the LED lamp 9, thereby purging the lens of the micro camera 8 and the LED lamp 9.

[0101] like Fig.18 , Fig.19 As shown, the anvil screw driving mechanism includes an anvil driving shaft 6-4, which can rotate under power drive; an anvil driving shaft 6-4 is provided with a driving gear, and two sides of the driving gear are respectively engaged with a driven gear 6-5; the two driven gears 6-5 are respectively fixedly connected to the anvil screws 6-3;

[0102] Two anvil screw guide seats 6-6 are fixedly arranged at the bottom of the anvil 6-2, and the anvil screw guide seats 6-6 are connected to the anvil screw 6-3 through threads; the anvil screw guide seats 6-6 correspond to the driven gear 6-5 one by one and are coaxially arranged;

[0103] A driven gear positioning pin 6-7 is provided at the bottom of the driven gear 6-5; the driven gear positioning pin 6-7 is longitudinally penetrated into the driven gear positioning pin hole 6-1-9 of the top seat 6-1; the driven gear positioning pin 6-7 can limit the driven gear 6-5 to prevent the driven gear 6-5 from axial displacement, so as to ensure the transmission accuracy of the anvil screw driving mechanism;

[0104] The two driven gears 6-5 are driven to rotate synchronously through the anvil drive shaft 6-4, thereby driving the anvil screw 6-3 to perform telescopic movement relative to the anvil 6-2; the anvil screw guide seat 6-6 can guide the anvil screw 6-3, thereby being able to accurately control the stroke of the anvil screw 6-3.

[0105] like Figure 20 to Figure 22 As shown, the top seat 6-1 includes a top seat body 6-1-1, and a chopping block positioning groove 6-1-2 extending in the longitudinal direction is provided in the middle of the end surface of the top seat body 6-1-1, and the chopping block positioning groove 6-1-2 cooperates with the bottom of the chopping block 6-2, and the chopping block 6-2 is fixedly arranged in the chopping block positioning groove 6-1-2; limiting bosses 6-1-10 are respectively formed at both ends of the chopping block positioning groove 6-1-2, and the width of the limiting boss 6-1-10 cooperates with the width of the chopping block 6-2, so as to limit the chopping block 6-2 in the width direction (i.e., transverse direction);

[0106] An anvil plate drive shaft penetration hole 6-1-3 and two driven gear shaft penetration holes 6-1-4 are provided in the anvil plate positioning groove 6-1-2; the anvil plate drive shaft penetration hole 6-1-3 and the driven gear shaft penetration hole 6-1-4 extend in the axial direction;

[0107] A micro camera positioning hole 6-1-6 and an LED lamp positioning hole 6-1-5 are provided on one side of the top seat body 6-1-1. A micro camera 8 is fixedly provided in the micro camera positioning hole 6-1-6. An LED lamp cover 9-1 is fixedly provided at the end of the LED lamp positioning hole 6-1-5. An LED lamp 9 is fixedly provided in the LED lamp positioning hole 6-1-5.

[0108] The other side of the top seat body 6-1-1 is provided with an end positioning pin accommodating hole 6-1-8 and an ultrasonic detector mounting hole 6-1-7, in which an ultrasonic detector 10 is fixedly arranged; an internal threaded hole 6-1-8' is formed at the lower part of the end positioning pin accommodating hole 6-1-8, and the lower internal threaded hole 6-1-8' of the end positioning pin accommodating hole 6-1-8 is connected to the end positioning pin 11 through a thread;

[0109] The end face of the top seat 6-1 forms an arc 6-20 that matches the side of the rigid section 4 along the longitudinal direction; the end face of the top seat 6-1 forms a conical surface that is smaller at the top and larger at the bottom along the transverse direction, so that the two sides of the end face form a first inclined surface 6-31 and a second inclined surface 6-32, the micro camera positioning hole 6-1-6 and the LED light positioning hole 6-1-5 are located on the first inclined surface 6-31, and the end positioning pin accommodating hole 6-1-8 and the ultrasonic detector installation hole 6-1-7 are located on the second inclined surface 6-32;

[0110] The connecting part between the top seat 6-1 and the two ends of the anvil 6-2 is provided with anvil locating pin holes 6-11 in the transverse direction, and anvil locating pins 6-8 are inserted into the anvil locating pin holes 6-11; the two anvil locating pins 6-8 can realize the length direction (i.e. longitudinal) positioning between the anvil 6-2 and the top seat 6-1.

[0111] The present invention arranges the micro camera 8, LED light 9, end positioning pin 11 and ultrasonic detector 10 located on the end surface of the top end on the inclined surfaces on both sides of the anvil 6-2 to avoid interference from the nailing action. Regardless of whether the equipment is in the nailing state, the micro camera 8, LED light 9, end positioning pin 11 and ultrasonic detector 10 can ensure their respective working states.

[0112] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these changes and modifications.

Claims

1. An endoscopic stapling device with angle deflection tracking guidance and ultrasonic positioning functions, characterized in that: The invention comprises a handle (1), a conical protective sleeve (2), an insertion tube (3), a rigid section (4), a curved portion (5), and a top end portion (6); the front end of the handle (1) is fixedly connected to the insertion tube (3) via the conical protective sleeve (2); the front end of the insertion tube (3) is fixedly connected to the rigid section (4), the curved portion (5), and the top end portion (6) in sequence; the side portion of the rigid section (4) and the end portion of the top end portion (6) form a stapling mechanism; the bending angle of the curved portion (5) is controlled by the handle (1), so that the end surface of the top end portion (6) corresponds to the side surface of the rigid section (4), thereby putting the top end portion (6) into a stapling state; A nail magazine seat assembly is disposed on the side of the rigid section (4), and a plurality of titanium nail receiving grooves (4-3-1) for receiving titanium nails (4-4) are provided on the nail magazine seat assembly; an anvil (6-2) is fixedly disposed on the end surface of the top end portion (6); when the top end portion (6) is in a nailing state, the titanium nails (4-4) on the nail magazine seat assembly correspond to the anvil (6-2) of the top end portion (6); An angle tracking sensor (7) is provided on one side of the nail magazine seat assembly; the angle tracking sensor (7) is fixedly arranged on the side of the rigid section (4); the angle tracking sensor (7) and the nail magazine seat assembly are located in the same circumferential direction of the rigid section (4); An ultrasonic detector (10) is disposed on the end surface of the top end portion (6); a reflector receiving groove (4-3-2) is provided on the nail magazine seat assembly, an ultrasonic reflector (4-5) is disposed in the reflector receiving groove (4-3-2), and the ultrasonic reflector (4-5) corresponds to the ultrasonic detector (10); the ultrasonic reflector (4-5) is capable of reflecting the ultrasonic signal emitted by the ultrasonic detector (10) and sending the reflected ultrasonic signal to the ultrasonic detector (10), thereby determining whether the anvil (6-2) of the top end portion (6) is properly matched with the nail magazine seat assembly position of the rigid section (4); The surface of the anvil (6-2) is an arc shape that matches the surface of the nail magazine seat assembly; the length direction of the anvil (6-2) corresponds to the circumferential direction of the nail magazine seat assembly; when the top end (6) is in a nailing state, the surface of the anvil (6-2) matches the side of the rigid section (4), and the surface of the anvil (6-2) can provide a bending reaction force for the titanium nail (4-4) ejected from the rigid section (4), so that the two nail legs of the titanium nail (4-4) are bent.

2. The endoscopic stapling device with angle deflection tracking guidance and ultrasonic positioning function according to claim 1, characterized in that: An end positioning pin (11) is movably provided on one side of the ultrasonic detector (10); the end positioning pin (11) is capable of telescopic movement relative to the top end (6) under the action of a positioning pin driving motor; a positioning pin hole (4-3-3) is provided on the nail magazine seat assembly; and the end positioning pin (11) corresponds to the positioning pin hole (4-3-3).

3. The endoscopic stapling device with angle deflection tracking guidance and ultrasonic positioning function according to claim 1, characterized in that: The bending angle of the bending portion (5) ranges from 0° to 270°.

4. The endoscopic stapling device with angle deflection tracking guidance and ultrasonic positioning function according to claim 1, characterized in that: The rigid section (4) comprises a rigid section housing (4-1), one end of the rigid section housing (4-1) being fixedly connected to a sensor positioning disk (4-2), a sensor positioning groove (4-2-1) being provided on a side of the sensor positioning disk (4-2), and the angle tracking sensor (7) being fixedly arranged in the sensor positioning groove (4-2-1); the angle tracking sensor (7) is connected to an angle signal control system via an angle tracking sensor signal line (7-1).

5. The endoscopic stapling device with angle deflection tracking guidance and ultrasonic positioning function according to claim 4, characterized in that: The sensor positioning groove (4-2-1) and the nail magazine seat assembly are located in the same circumferential direction of the rigid section (4).

6. The endoscopic stapling device with angle deflection tracking guidance and ultrasonic positioning function according to claim 1, characterized in that: An ultrasonic detector mounting hole (6-1-7) is provided on the end surface of the top end portion (6), and the ultrasonic detector mounting hole (6-1-7) corresponds to the reflector accommodating groove (4-3-2) of the nail magazine seat assembly.

7. The endoscopic stapling device with angle deflection tracking guidance and ultrasonic positioning function according to claim 1, characterized in that: The outer diameters of the insertion tube (3), the rigid section (4), the curved portion (5), and the top end portion (6) are smaller than the inner diameter of the esophagus (201).

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