Retractable support device and surgical system

Abstract

This invention provides a retractable support device for axially supporting a medical device, comprising: a telescopic member capable of axial deformation, having a first end and a second end in the axial direction; the telescopic member including a coupling portion located between the first end and the second end and a first channel extending through it axially for the medical device to pass through; a flexible traction rope, one end of which is fixed relative to the second end of the telescopic member, and the other end of which movably passes through the coupling portion; and a tensioning mechanism connected to the first end of the telescopic member and coupled to the other end of the traction rope, configured to maintain the tension of the traction rope during the axial deformation of the telescopic member. The support device provided by this invention can radially limit the portion of the medical device located outside the human body during surgery and prevent it from arching, which is beneficial for ensuring the accuracy of surgical navigation.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a retractable support device and surgical system. Background Technology

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery.

[0003] With the development of minimally invasive surgical techniques and artificial intelligence, robot-assisted minimally invasive surgery is gradually becoming one of the development trends in minimally invasive surgery. Minimally invasive surgery can be performed through natural openings on the patient's body surface or through one or more surgical incisions. Through these natural openings or incisions, doctors can insert minimally invasive medical instruments, such as surgical instruments, diagnostic instruments, therapeutic instruments, or biopsy instruments, to the target location inside the patient's body.

[0004] To precisely guide minimally invasive medical devices to their target locations, minimally invasive surgery can equip these devices with endoscopes. Endoscopes allow physicians to view tissues, organs, and / or instruments during insertion, removal, or the execution of medical procedures. For example, during a bronchoscope examination, the slender, flexible instrument containing the endoscope can be inserted into the patient's mouth, passing through the throat and sequentially into the trachea, airways, and lungs. This allows physicians to examine the internal condition of the patient's airways, such as the bronchi and bronchioles, to facilitate diagnosis and / or medical procedures.

[0005] Surgical instruments such as endoscopes are typically mounted at the distal end of various slender, flexible tools. These tools are driven from outside the patient's body and deform as needed within the body, such as in narrow cavities. However, the portion of the slender, flexible tool located outside the body is generally quite long. When the distal end of the tool is blocked by the cavity and cannot continue advancing or its speed slows down, this portion inevitably arches. This prevents the system from accurately determining the position of the distal end of the slender, flexible tool within the body, affecting the accuracy of surgical navigation. Summary of the Invention

[0006] In view of the shortcomings of the prior art, the present invention provides a retractable support device and surgical system that can prevent slender and flexible tools from arching outside the body, which helps to ensure the accuracy of surgical navigation.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A retractable support device for axially supporting a medical device, comprising:

[0009] A telescopic component that can deform in the axial direction has a first end and a second end in the axial direction. The telescopic component includes a coupling portion located between the first end and the second end and a first channel extending through it in the axial direction for a medical device to pass through.

[0010] A flexible traction rope, one end of which is fixed relative to the second end of the telescopic member, and the other end of which movably passes through the coupling part;

[0011] A tensioning mechanism, connected to the first end of the telescopic member and coupled to the other end of the traction rope, is configured to maintain the tension of the traction rope during axial deformation of the telescopic member.

[0012] In one embodiment, the telescopic member is provided with a plurality of coupling portions spaced apart in the axial direction, and the traction rope passes through the plurality of coupling portions simultaneously.

[0013] In one embodiment, the support device includes at least two traction ropes, and the telescopic member includes at least two sets of coupling portions arranged radially at intervals; each set of coupling portions includes a plurality of coupling portions arranged axially at intervals along the telescopic member, and each traction rope movably passes through one set of coupling portions.

[0014] In one embodiment, the coupling part is located on the periphery of the first channel and includes a through hole penetrating the outer wall of the telescopic member.

[0015] In one embodiment, the telescopic component includes a bellows or a spring.

[0016] In one embodiment, the tensioning mechanism includes a retainer and a winding assembly, the winding assembly being rotatably mounted on the retainer via a first pivot; the retainer is connected to the first end of the telescopic member and includes a second channel for a medical device to pass through, the other end of the traction rope being wound around the winding assembly and tensioned by the winding assembly.

[0017] In one embodiment, the winding assembly includes a winding reel and a coil spring. The traction rope is wound around the outer circumference of the winding reel. The two ends of the coil spring are respectively connected to the winding reel and the first rotating shaft, and provide tension to the traction rope.

[0018] In one embodiment, the tensioning mechanism further includes a guide wheel, and the retainer further includes a side hole penetrating the inner wall of the second channel;

[0019] The guide wheel is rotatably mounted on the retainer via a second pivot, and at least a portion of the guide wheel is located within the side hole and / or the second channel. The traction rope on the winding assembly is guided by the guide wheel and then enters the second channel through the side hole.

[0020] In one embodiment, the tensioning mechanism includes a plurality of the winding assemblies, each of which is arranged at intervals in the circumferential direction of the retainer.

[0021] In one embodiment, both the tensioning mechanism and the free end of the telescopic member are provided with a docking mechanism for the instrument to pass through and fix the support device.

[0022] Another object of the present invention is to provide a surgical system comprising at least one of the above-described support devices and a medical device, wherein the medical device passes at least partially through the first channel of the at least one support device and is radially limited by the support device.

[0023] As one embodiment, the surgical system further includes:

[0024] First robotic arm;

[0025] Second robotic arm;

[0026] The medical device includes a first device and a second device. The first device includes a first actuator and a first elongated device. The second device includes a second actuator and a second elongated device. The second elongated device has a hollow device channel through which the first elongated device can pass.

[0027] One of the support devices is configured such that after the first elongated instrument passes through its first channel into the instrument channel, its two ends are respectively fixed relative to the first driver and the second driver, so that after the first driver and the second driver are respectively installed on the first robotic arm and the second robotic arm, they can extend and retract as the distance between the first robotic arm and the second robotic arm changes.

[0028] In one embodiment, one of the support devices is configured such that one end is fixed relative to the second driver and the other end is fixed relative to the operating table, and the second elongated instrument passes through the first channel of the other of the support devices, and the other of the support devices extends and retracts as the distance between the second robotic arm and the operating table changes.

[0029] In one embodiment, the first interface on the first driver for engaging with the first robotic arm and the second interface on the second driver for engaging with the second robotic arm are the same, and the second robotic arm can selectively engage with the first interface and the second interface to transmit torque.

[0030] In one embodiment, the rotation axes at each joint of the first robotic arm are parallel to each other, the rotation axes at each joint of the second robotic arm are parallel to each other, and the rotation axes of the first robotic arm and the second robotic arm are parallel to each other.

[0031] As one embodiment, the surgical system further includes a second robotic arm;

[0032] The medical device includes a first device, the first device including a first actuator and a first elongated device;

[0033] One of the support devices is configured such that one end is fixed relative to the first driver and the other end is fixed relative to the operating table, so that it can extend and retract as the distance between the second robotic arm and the operating table changes after the first driver is mounted to the second robotic arm.

[0034] The support device provided by this invention can radially limit the portion of the medical device located outside the human body during surgery and prevent it from arching, which helps to ensure the accuracy of surgical navigation. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the shortened state of a support device according to an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the extended state of a support device according to an embodiment of the present invention;

[0038] Figure 3 This is an exploded view of the structure of a support device according to an embodiment of the present invention;

[0039] Figure 4A This is a cross-sectional view of a support device according to an embodiment of the present invention;

[0040] Figure 4B This is another cross-sectional view of a support device according to an embodiment of the present invention;

[0041] Figure 5 This is a top view of a support device according to an embodiment of the present invention;

[0042] Figure 6 This is a schematic diagram of the usage state of a support device according to an embodiment of the present invention;

[0043] Figure 7 This is a schematic diagram of the structure of a surgical system according to an embodiment of the present invention;

[0044] Figure 8 This is a schematic diagram illustrating one application of the support device according to an embodiment of the present invention;

[0045] Figure 9 This is a schematic diagram illustrating another application of the support device according to an embodiment of the present invention;

[0046] Figure 10 This is a schematic diagram illustrating another application of the support device according to an embodiment of the present invention;

[0047] Component symbol explanation:

[0048] 10-Support device; 10A-First support device; 10B-Second support device; 11-Telescopic component; 12-Traction rope; 13-Tensioning mechanism; 14-Dating mechanism; 31-First robotic arm; 32-Second robotic arm; 40-Medical device; 41-First device; 42-Second device; 50-Trolley; 60-Operating table; 70-Guiding mechanism; 80-Fixed bracket; 110-Coupled part; 130-Retainer; 131-Winding assembly; 131a-Winding reel; 131b-Coil spring; 132-Guide wheel; 141-Claw; 142-Pipe interface; 410-First driver; 411-First slender instrument; 420-Second driver; 421-Second slender instrument; 422-Instrument channel; C-Drive interface; H1-First channel; H2-Second channel; H3-Side hole; S1-First mounting interface; S2-Second mounting interface; X1-First rotating shaft; X2-Second rotating shaft. Detailed Implementation

[0049] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0050] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation. The terms "distal" and "proximal" used herein are directional terms commonly used in the field of interventional medical devices, where "distal" refers to the end away from the operator during the procedure, and "proximal" refers to the end closer to the operator during the procedure.

[0051] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0054] The following will be described in detail with reference to the accompanying drawings.

[0055] See Figure 1 and Figure 2 This embodiment provides a retractable support device 10 for axial support of a medical device, which can reduce the probability of the medical device arching during insertion into the human body. The support device 10 includes a telescopic member 11, a traction rope 12, and a tensioning mechanism 13. The telescopic member 11 can deform axially and has a first end in the axial direction (e.g., Figure 2 The upper end) and the second end (such as Figure 2The telescopic member 11 (located at the lower end of the telescopic member 11) includes a coupling portion 110 between a first end and a second end, and a first channel H1 extending through it axially for a medical device to pass through. A traction rope 12 is flexible, for example made of metal wire, with one end fixed relative to the second end of the telescopic member 11, and the other end movably passing through the coupling portion 110 and connected to a tensioning mechanism 13. The tensioning mechanism 13 is connected to the first end of the telescopic member 11 and coupled to the other end of the traction rope 12, and is configured to maintain the tension of the traction rope 12 during axial deformation of the telescopic member 11, thereby ensuring that the first end, the second end, and the coupling portion 110 of the telescopic member 11 are substantially in a straight line without buckling.

[0056] After the second end of the telescopic member 11 and the tensioning mechanism 13 are fixed to both ends of the surgical system, the medical device passes through the first channel H1 from the first end. The telescopic member 11 can be compressed during the insertion and feeding of the medical device and extended during the withdrawal of the medical device from the human body. The tensioning mechanism 13 can keep the traction rope 12 taut during the insertion and withdrawal of the medical device, thereby maintaining the telescopic member 11 in a basically straight state. Therefore, the medical device inside the telescopic member 11 is also in a basically straight state. For example, the diameter of the first channel H1 is 5-7 mm, which allows the medical device to pass freely but does not allow the medical device to produce obvious arching. It can be understood that the installation positions of the two ends of the support device 10 can be interchanged, that is, the medical device can be inserted from the end where the tensioning mechanism 13 is located and extended from the end where the telescopic member 11 is located, or it can be inserted from the end where the telescopic member 11 is located and extended from the end where the tensioning mechanism 13 is located.

[0057] Exemplary, this embodiment Figure 2 The illustration shows a case where the telescopic member 11 is provided with a plurality of coupling portions 110 spaced apart in the axial direction, and a single traction rope 12 passes through the plurality of coupling portions 110 at the same time. For example, the coupling portion 110 is provided on the periphery of the first channel H1 and includes a through hole penetrating the outer wall of the telescopic member 11.

[0058] Exemplarily, the support device 10 includes at least two traction ropes 12, and the telescopic member 11 includes at least two sets of coupling portions 110 arranged radially spaced apart. Each set of coupling portions 110 includes a plurality of coupling portions 110 arranged axially spaced apart along the telescopic member 11. Each traction rope 12 movably passes through a set of coupling portions 110. For example, the coupling portions 110 of each set of coupling portions 110 are arranged collinearly, such that the line connecting the coupling portions 110 for passing through the same traction rope 12 is parallel to the axis of the telescopic member 11. After the traction rope 12 is tensioned by the tensioning mechanism 13, it is straightened. The coupling portions 110 on the telescopic member 11 are constrained by the traction rope 12 and are adaptively arranged collinearly on the traction rope 12 to limit the bending of the telescopic member 11. The traction rope 12 increases the resistance to bending at each coupling portion 110 on the telescopic member 11 to a certain extent. For example, by arranging multiple traction ropes 12 evenly and at intervals around the telescopic member 11, uniform tension on all sides of the telescopic member 11 can be achieved. It is understood that in other embodiments, the number of traction ropes 12 can be adjusted as needed.

[0059] In one embodiment, the telescopic member 11 is a continuous body, and its main components may be a bellows or a spring. When the telescopic member 11 mainly comprises a spring, in the stretched state, the telescopic member 11 itself has an axial elastic restoring force. Under the dual action of the tension of the traction rope 12 and the elastic restoring force of the telescopic member 11, the telescopic member 11 can have stronger bending resistance and better prevent the internal medical device from arching.

[0060] Combination Figure 3 and Figure 4A The tensioning mechanism 13 may include a retainer 130 and a winding assembly 131. The winding assembly 131 is rotatably mounted on the retainer 130 via a first pivot X1. The retainer 130 is connected to the first end of the telescopic member 11 and includes a second channel H2 for medical devices to pass through. The other end of the traction rope 12 is wound around the winding assembly 131 and tensioned by the winding assembly 131.

[0061] In one embodiment, the winding assembly 131 includes a winding reel 131a and a coil spring 131b. The traction rope 12 is wound around the outer circumferential surface of the winding reel 131a. The inner end of the coil spring 131b is wound and fixed on the first rotating shaft X1, and the outer end of the coil spring 131b is connected to the winding reel 131a. When no external force is applied, the telescopic member 11 is tensioned by the coil spring 131b and is in its maximum compressed state. The coil spring 131b is in its initial tightened state. When the telescopic member 11 extends and pulls the traction rope 12, the deformation of the coil spring 131b increases, providing a reverse tension force on the traction rope 12, thereby automatically keeping the traction rope 12 taut without applying an active tension force. When the extension of the telescopic member 11 decreases, the traction rope 12 is wound onto the winding reel 131a under the deformation of the coil spring 131b, achieving automatic retraction while still maintaining a taut state. The winding direction of the coil spring 131b can be opposite to or the same as the winding direction of the traction rope 12.

[0062] In other embodiments, the tensioning mechanism 13 may also be an active mechanism driven by electricity, pneumatics, etc., to achieve tensioning. For example, a motor may be used to control the tensioning action of the traction rope 12.

[0063] In one implementation, such as Figure 4A The tensioning mechanism 13 may further include a guide wheel 132. The retainer 130 also has a side hole H3 extending through the inner wall of the second channel H2 from the side. The guide wheel 132 is rotatably mounted on the retainer 130 via a second pivot X2, such that at least a portion of the guide wheel 132 is located within the side hole H3 and / or the second channel H2. That is, at least a portion of the guide wheel 132 is located within the side hole H3, or at least a portion of the guide wheel 132 is located simultaneously within the side hole H3 and the second channel H2. Alternatively, the guide wheel 132 is small, and the entire guide wheel 132 is completely located within the second channel H2. The traction rope 12 on the winding assembly 131 is guided by the guide wheel 132 and enters the second channel H2 through the side hole H3, thereby leading out to connect with the second end of the telescopic member 11. Due to the presence of the guide wheel 132, the traction rope 12 does not directly rub against the retainer 130, but instead rolls against the guide wheel 132 for guidance, thus improving the service life of the traction rope 12. For example, the first rotating shaft X1 and the second rotating shaft X2 are parallel or substantially parallel, and the side hole H3 can be tapered with a larger outer diameter and a smaller inner diameter.

[0064] like Figure 4BThe winding reel 131a includes an integrally formed wheel body 1301 and a first rotating shaft X1. A coil spring 131b is disposed between the wheel body 1301 and the retainer 130, with its inner ring fixed to the first rotating shaft X1 and its outer ring fixed to the retainer 130. The first rotating shaft X1 and the retainer 130 are rotatably connected. When the traction rope 12 is pulled out and drives the wheel body 1301 to rotate, the deformation of the coil spring 131b increases. As the length of the traction rope 12 pulled out increases, the deformation of the coil spring 131b becomes larger and larger, thus making its tension greater when the extension length of the traction rope 12 is greater, and its resistance to deformation better.

[0065] Exemplarily, the retainer 130 includes an end cap 1302, and the end of the wheel body 1301 facing the coil spring 131b is open. A first rotating shaft X1 movably passes through the end cap 1302, and the end cap 1302 and the wheel body 1301 form a cavity 1300 that accommodates the coil spring 131b therein. The end cap 1302 and the wheel body 1301 each have a portion of the receiving cavity, and the two together form the entire cavity 1300.

[0066] Exemplarily, the retainer 130 has mounting brackets 1310 in the same number as the traction ropes 12. Each mounting bracket 1310 has a pair of mounting arms, and the mounting brackets 1310 are spaced apart circumferentially from the retainer 130. Each pair of mounting arms is rotatably provided with a guide wheel 132 and a winding assembly 131. The winding assembly 131 is located radially outward relative to the guide wheel 132, closer to the retainer 130. The two ends of the first rotating shaft X1 and the second rotating shaft X2 are both mounted between the mounting arms of the mounting bracket 1310. The two ends of the first rotating shaft X1 are rotatably connected to the mounting arms of the mounting bracket 1310 via bearings M.

[0067] like Figure 5 The cage 130 also includes a handle 1311 for the operator to grip, with one handle 1311 connected between every two adjacent mounting brackets 1310. The handle 1311 may be concentric arc-shaped and can serve as a reinforcing structure between the mounting brackets 1310, thereby improving the overall strength of the cage 130 to a certain extent.

[0068] Combination Figure 4A , 4B and Figure 5 As shown, the tensioning mechanism 13 may have multiple winding assemblies 131, which are arranged at intervals in the circumferential direction of the retainer 130. For example, the winding assemblies 131 are evenly distributed in the circumferential direction of the retainer 130.

[0069] For example, the free ends of the tensioning mechanism 13 and the telescopic member 11 can be provided with a docking mechanism 14 for the instrument to pass through and for fixing the support device 10. The docking mechanism 14 includes one or more of the following: a claw 141, a pipe interface 142, etc.

[0070] Combination Figure 6 and Figure 7 As shown, the surgical system of this embodiment includes a first robotic arm 31 and a second robotic arm 32. Both the first robotic arm 31 and the second robotic arm 32 are mounted on a trolley 50. The medical device 40 includes a first instrument 41 and a second instrument 42. The first instrument 41 includes a first actuator 410 and a first elongated instrument 411. The second instrument 42 includes a second actuator 420 and a second elongated instrument 421. The second elongated instrument 421 has a hollow instrument channel 422 through which the first elongated instrument 411 can pass.

[0071] Both the free ends of the first robotic arm 31 and the second robotic arm 32 are equipped with drive interfaces C capable of outputting torque. The first driver 410 of the first instrument 41 is mounted on the drive interface C of the first robotic arm 31, and the second driver 420 of the second instrument 42 is mounted on the drive interface C of the second robotic arm 32. Through each drive interface C, the output torque of the robotic arm end can be transmitted to the corresponding driver, thereby driving the corresponding slender instrument to bend in the corresponding direction. The first instrument 41 can pass through the instrument channel 422 and extend out of the second instrument 42. When relative movement occurs between the first robotic arm 31 and the second robotic arm 32, the length of the first instrument 41 extending out of the second instrument 42 changes. The first robotic arm 31 and the second robotic arm 32 can also move forward or backward synchronously.

[0072] In other embodiments, there may be more robotic arms, and all robotic arms may be mounted on the operating table 60, or at least one robotic arm may be mounted on both the trolley 50 and the operating table 60.

[0073] Figure 7This paper presents a low-cost surgical system with a simple and reliable control algorithm. The first robotic arm 31 and the second robotic arm 32 each have three arms and three joints J1, J2, and J3. The first robotic arm 31 and the second robotic arm 32 are rotatably connected to the same slide 51 via joint J1 closest to the trolley 50. The slide 51 is vertically and vertically mounted on the trolley 50. The rotation axes at the joints of the first robotic arm 31 and the second robotic arm 32 are parallel to each other, and the rotation axes of the first robotic arm and the second robotic arm are also parallel. Thus, the first robotic arm 31 and the second robotic arm 32 can synchronously change their height in the vertical direction and can also rotate arbitrarily in the horizontal direction. By adjusting the height of the first robotic arm 31 and the second robotic arm 32, the instrument can be adapted to the height of the body's natural cavities, such as the mouth or wound, to facilitate instrument insertion. After the instrument enters the body through the natural cavity or wound, the feed rate of the instrument insertion can be adjusted by driving the rotation of each arm of the first robotic arm 31 and the second robotic arm 32. By changing the drive commands output to the corresponding drivers 410 / 420 on the instruments 41 / 42, the bending condition (such as bending direction, curvature, etc.) of each slender instrument 411 / 421 can be changed to adapt to the shape of the internal cavity of the human body.

[0074] It is understandable that the number of arms and joints on the first robotic arm 31 and the second robotic arm 32 are not limited to this and can be more. Compared with the traditional seven-axis robotic arm, this type of robotic arm construction is more suitable for this type of feeding surgical system. Since it does not require complex control algorithms, its structure and control method are simpler, the cost is lower, and the reliability is higher.

[0075] like Figure 8 This demonstrates a surgical system that allows instruments to be inserted into the upper lobe A of the lung.

[0076] Because the diameter of the bronchial lumen varies at different levels, with the lumen narrowing at deeper levels, instruments need to be as small in diameter as possible to penetrate deeper levels. However, in the anterior segment of the bronchial tree (before reaching the upper lobes of the lung), such a slender instrument will have a large gap with the lumen, resulting in significant movement. If the target lesion is located in the anterior segment of the bronchial tree, the catheter will experience considerable movement within the lumen, causing navigation inaccuracies. Therefore, during surgery in the anterior segment of the bronchial tree, a second slender instrument 421 is introduced into the surgical system to correct the movement accuracy of the first slender instrument 411 within the anterior segment of the bronchial tree. During the surgery, the manipulation of the instruments in the anterior segment of the bronchial tree can be accomplished by the second slender instrument 421 in conjunction with the first slender instrument 411; that is, the second slender instrument 421 is fitted over the first slender instrument 411, and both advance synchronously.

[0077] When the lesion is located in the upper lobe A of the lung, the first slender instrument 411 needs to bend at a large angle with a small bending radius to enter the next level of bronchus. However, the thin first slender instrument 411 lacks support in the steep bronchial lumen, resulting in low axial motion transmission efficiency and difficulty in further entering the next level of lumen, thus limiting the coverage of the catheter in the upper lobe A region. Therefore, the second slender instrument 421 is still needed for the advancement of the catheter in the upper lobe A. This second instrument 421 can provide rigid support and guidance for the first slender instrument 411 in the steep, large-angle lumen, ensuring the accuracy of the axial motion transmission of the first slender instrument 411 at that angle and greatly expanding the coverage of the first slender instrument 411 in the upper lobe A region. Specifically, as the instrument enters the upper lobe A of the lung from the anterior segment of the bronchial tree, the first slender instrument 411 initially moves synchronously within the second slender instrument 421. When it enters a bronchus with a smaller diameter or steeper bronchus and cannot continue advancing, the second slender instrument 421 stops advancing. By controlling the tension of the drive wire within the second slender instrument 421 through the second actuator 420, the distal end of the second slender instrument 421 can be kept in a specific orientation. Subsequently, the first slender instrument 411 continues to advance. During this period, the tension of the drive wire within the first slender instrument 411 can be adjusted as needed by controlling the tension of the drive wire applied to the first slender instrument 411 by the first actuator 410, so that the orientation of the distal end of the first slender instrument 411 can reach the lesion site.

[0078] During the aforementioned surgical procedure, especially during the insertion of the instrument into the upper lobe A of the lung, the first slender instrument 411 inevitably arches due to the resistance of the bronchial lumen, causing the external portion to bend and making it impossible to accurately implement control commands. Therefore, the surgical system may also include the aforementioned support device 10 for the instrument to pass through. The support device 10 can radially limit the instrument. There may be more than one support device 10. For example, the first support device 10A is one of the support devices 10. The first support device 10A is configured such that after the first slender instrument 411 passes through the first channel H1 of the first support device 10A into the instrument channel 422, its two ends are respectively fixed relative to the first driver 410 and the second driver 420. After the first driver 410 and the second driver 420 are respectively installed on the first robotic arm 31 and the second robotic arm 32, they extend and retract with the change of distance between the first robotic arm 31 and the second robotic arm 32. This ensures that regardless of whether the first slender instrument 411 is being fed in or withdrawn, the first channel H1 of the first support device 10A always radially limits and tensions it, preventing it from bending. The diameter of the first channel H1 of the first support device 10A is slightly larger than the diameter of the first slender instrument 411, for example, 5 to 6 mm.

[0079] During the operation, when the lesion is located in a deeper layer of the bronchus, the diameter of the lumen is small, and the second slender instrument 421 cannot enter. Therefore, the first slender instrument 411 will decouple from the second slender instrument 421 in advance and move independently, and enter the deeper layer under control.

[0080] like Figure 9 As shown, a surgical system for inserting instruments into the lower lobe B of the lung is illustrated. Figure 8 Based on the illustrated embodiment, the surgical system of this embodiment may further include an axially telescopic second support device 10B. The second support device 10B, as a different support device 10 from the first support device 10A, is configured such that one end is fixed relative to the second actuator 420 and the other end is fixed relative to the operating table 60. A second elongated instrument 421 passes through the first channel H1 of the second support device 10B, and the second support device 10B extends and retracts with the change in distance between the second robotic arm 32 and the operating table. That is, in addition to radially limiting and tensioning the first elongated instrument 411 exposed between the two robotic arms 31 and 32, the surgical system of this embodiment also limits and tensions the second elongated instrument 421 outside the human body to prevent buckling of the second elongated instrument 421 through which the first elongated instrument 411 passes. The diameter of the first channel H1 of the second support device 10B is slightly larger than the diameter of the second elongated instrument 421, for example, it may be 6-7 mm. In some embodiments, the first channel H1 of the first support device 10A and the first channel H1 of the second support device 10B adopt the same or similar specifications, with a diameter of 5-7mm. They can be used to support both the first slender instrument 411 and the second slender instrument 421, thereby improving the versatility of consumables.

[0081] In one embodiment, the surgical system further includes a guide mechanism 70, which is a hollow tube configured to be fixed to the patient side, such as by a fixation bracket 80 to the operating table 60, through which a first elongated instrument 411 and a second elongated instrument 421 pass, and the other end of the second support device 10B can be fixed to the guide mechanism 70.

[0082] Combination Figure 4A and Figure 6For mounting the support device 10, the distal end of the first actuator 410 has a first mounting interface S1, which is tubular and fitted onto the outer surface of the first elongated instrument 411. For example, the first mounting interface S1 is detachably fixed to the first actuator 410. When the support device 10 is mounted onto the first actuator 410, one of the docking mechanisms 14 of the support device 10 (such as the docking mechanism 14 near the tensioning mechanism 13) aligns and engages with the first mounting interface S1. For example, the first mounting interface S1 is at least partially inserted into the docking mechanism 14, and the docking mechanism 14 is press-fitted or snap-fitted with the first mounting interface S1. Similarly, the distal end of the second actuator 420 may also have a second mounting interface S2 for mounting the support device 10. The proximal end of the second actuator 420 may align and engage with another docking mechanism 14 of the support device 10. For example, the docking mechanism 14 is at least partially inserted into the proximal end of the second actuator 420, press-fitting with the inlet of the second actuator 420 for inserting the first elongated instrument 411.

[0083] like Figure 10 As shown, the surgical system of this embodiment also has another method of use. The first interface 412 on the first driver 410 for engaging with the first robotic arm 31 and the second interface 423 on the second driver 420 for engaging with the second robotic arm 32 are the same. That is, the drive interfaces C on the two robotic arms 31 and 32 are the same. The second robotic arm 32 can selectively engage with the first interface 412 and the second interface 423 to transmit torque. In this case, the surgical system may include only the second robotic arm 32, or although it includes both the first robotic arm 31 and the second robotic arm 32, only the second robotic arm 32 can be used. The first instrument 41, which was originally installed on the first robotic arm 31, can be installed on the second robotic arm 32, and the second instrument 42 is no longer installed. Only the first instrument 41 is used for surgery. This method of use is suitable when the lesion is located in a smooth area deep in the bronchus, such as the lower lobe of the lung, where there is no complex curved lumen, and only the first slender instrument 411 can be inserted into the human body. By fixing one end of the second support device 10B relative to the first actuator 410 and the other end relative to the operating table 60, after the first actuator 410 is installed on the second robotic arm 32, the second support device 10B can extend and retract according to the change in distance between the second robotic arm 32 and the operating table 60, and tighten the first slender instrument 411 outside the body to limit it radially. Since the second instrument 42 is not required, the surgical cost can be reduced.

[0084] Understandably, when only the first instrument 41 is inserted into the human body for surgery, before the surgery, the first robotic arm 31 can be controlled to rotate away from the feeding direction, and only the second robotic arm 32 can be controlled to feed the first instrument 41, thereby avoiding the influence of the first robotic arm 31 on the surgical process. In other embodiments, the surgical system may have only one robotic arm, which cooperates with the first instrument 41 to feed the first instrument 41 within a relatively smooth lumen. In addition, the surgical system can be used not only in pulmonary cavities but also in cavitary surgeries of the heart, blood vessels, and other cavities.

[0085] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0086] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A retractable support device for axially supporting a medical device, characterized in that, include: The telescopic member (11) is deformable in the axial direction and has a first end and a second end in the axial direction. The telescopic member (11) includes a coupling portion (110) located between the first end and the second end and a first channel (H1) extending through it in the axial direction for a medical device to pass through. A flexible traction rope (12) has one end fixed relative to the second end of the telescopic member (11) and the other end movably passing through the coupling part (110). Tensioning mechanism (13), connected to the first end of the telescopic member (11) and coupled to the other end of the traction rope (12), is configured to maintain the tension of the traction rope (12) during the axial deformation of the telescopic member (11). The tensioning mechanism (13) includes a retainer (130) and a winding assembly (131) rotatably mounted on the retainer (130) via a first pivot. The winding assembly (131) includes a winding disc (131a) and a coil spring (131b). The traction rope (12) is wound around the outer circumferential surface of the winding disc (131a), and the two ends of the coil spring (131b) are respectively connected to the winding disc (131a) and the first pivot, and provide tension for the traction rope (12). The tensioning mechanism (13) further includes a guide wheel (132), and the retainer (130) includes a second channel (H2) through which the medical device passes and a side hole (H3) penetrating the inner wall of the second channel (H2); the guide wheel (132) is rotatably mounted on the retainer (130) via a second pivot (X2), and at least part of the guide wheel (132) is located in the side hole (H3) and / or the second channel (H2), and the traction rope (12) on the winding assembly (131) is guided by the guide wheel (132) and enters the second channel (H2) through the side hole (H3).

2. The retractable support device according to claim 1, characterized in that, The telescopic member (11) is provided with a plurality of coupling parts (110) spaced apart in the axial direction, and the traction rope (12) passes through the plurality of coupling parts (110) at the same time.

3. The retractable support device according to claim 1, characterized in that, The telescopic member (11) includes at least two traction ropes (12) and includes at least two sets of coupling portions (110) arranged radially spaced apart. Each set of coupling portions (110) includes a plurality of coupling portions (110) arranged axially spaced along the telescopic member (11), and each traction rope (12) movably passes through a set of coupling portions (110).

4. The retractable support device according to claim 1, characterized in that, The coupling part (110) is located on the periphery of the first channel (H1) and includes a through hole penetrating the outer wall of the telescopic member (11).

5. The retractable support device according to claim 1, characterized in that, The telescopic component (11) includes a bellows or a spring.

6. The retractable support device according to claim 1, characterized in that, The retainer (130) is connected to the first end of the telescopic member (11), and the other end of the traction rope (12) is wound around the winding reel (131a) and tensioned by the coil spring (131b).

7. The retractable support device according to claim 1, characterized in that, The tensioning mechanism (13) includes a plurality of the winding assemblies (131), each of the winding assemblies (131) being arranged at intervals in the circumferential direction of the retainer (130).

8. The retractable support device according to any one of claims 1 to 7, characterized in that, The tensioning mechanism (13) and the telescopic member (11) are both provided with docking mechanisms (14) for medical devices to pass through and fix the support device.

9. A surgical system, characterized in that, Includes at least one support device and medical device as described in any one of claims 1 to 8, wherein the medical device passes at least partially through the first channel (H1) of the at least one support device and is radially limited by the support device.

10. The surgical system according to claim 9, characterized in that, Also includes: First robotic arm (31); Second robotic arm (32); The medical device includes a first device (41) and a second device (42). The first device (41) includes a first actuator (410) and a first elongated device (411). The second device (42) includes a second actuator (420) and a second elongated device (421). The second elongated device (421) has a hollow device channel (422) through which the first elongated device (411) can pass. One of the support devices is configured such that after the first elongated instrument (411) passes through its first channel (H1) into the instrument channel (422), its two ends are respectively fixed relative to the first driver (410) and the second driver (420) so that after the first driver (410) and the second driver (420) are respectively installed on the first robotic arm (31) and the second robotic arm (32), they extend and retract as the distance between the first robotic arm (31) and the second robotic arm (32) changes.

11. The surgical system according to claim 10, characterized in that, One of the support devices is configured such that one end is fixed relative to the second driver (420) and the other end is fixed relative to the operating table (60), and the second elongated instrument (421) passes through the first channel (H1) of the other of the support devices, which extends and retracts as the distance between the second robotic arm (32) and the operating table changes.

12. The surgical system according to claim 10, characterized in that, The first interface (412) on the first driver (410) for engaging with the first robotic arm (31) and the second interface (423) on the second driver (420) for engaging with the second robotic arm (32) are the same, and the second robotic arm (32) can selectively engage with the first interface (412) and the second interface (423) to transmit torque.

13. The surgical system according to any one of claims 10 to 12, characterized in that, The rotation axes at each joint of the first robotic arm (31) are parallel to each other, the rotation axes at each joint of the second robotic arm (32) are parallel to each other, and the rotation axes of the first robotic arm and the second robotic arm are parallel to each other.

14. The surgical system according to claim 9, characterized in that, It also includes a second robotic arm (32); The medical device includes a first device (41), which includes a first actuator (410) and a first elongated device (411). One of the support devices is configured such that one end is fixed relative to the first driver (410) and the other end is fixed relative to the operating table, so that after the first driver (410) is mounted to the second robotic arm (32), it can extend and retract as the distance between the second robotic arm (32) and the operating table changes.

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