Gall bladder calculus removing device for minimally invasive surgery of general surgery department

Abstract

The invention provides a general surgery minimally invasive surgery gallbladder calculus removing device which comprises gallbladder calculus removing equipment and a positioning system, and the positioning system comprises a preoperative evaluation and planning module, an operation module, a positioning module, a mark confirmation module, an intraoperative monitoring and feedback module and a postoperative evaluation module. According to the gall bladder calculus removing device for the minimally invasive surgery of the general surgery department, through preoperative detailed iconography evaluation, liver segmentation and three-line-one-plane accurate anatomical marking, a surgeon can more accurately know the anatomical structure of the liver and the biliary tract system of a patient, so that the optimal operation approach and direction are selected, and the operation efficiency is improved. The precision of the operation is improved, and the operation risk caused by unclear anatomical structures is reduced at the same time.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a device for removing gallbladder stones during minimally invasive general surgery. Background Art

[0002] The stones are cholesterol stones or mixed stones mainly composed of cholesterol and black bile pigment stones. Any factors that affect the ratio of cholesterol and bile acid concentrations and cause bile stasis can lead to stone formation. With the improvement of people's living standards and changes in eating habits, the incidence of gallstones has begun to show an upward trend. Stones can cause biliary colic in patients, affecting their daily life and work, so they need to be removed through surgery.

[0003] The existing general surgery minimally invasive cholecystolithotomy device includes an outer tube body, an inner tube body, a plurality of flexible clamping claws, a cover, a magnifying glass, an extension rod, two sliding grooves, two sliding blocks, four springs and two finger buckles. The inner tube body is arranged in the outer tube body, the top and bottom ends of the inner tube body both extend outside the outer tube body, the plurality of flexible clamping claws are fixedly mounted on the bottom end of the inner tube body, the cover is arranged outside the outer tube body, the cover is located outside the plurality of flexible clamping claws, the magnifying glass is arranged on one side of the outer tube body, the extension rod is arranged on the top of the magnifying glass, the extension rod and the outer tube body are connected, and the two sliding grooves are respectively opened on the inner walls of both sides of the outer tube body, which has the advantages of simpler and faster operation and good stability.

[0004] However, existing general surgery minimally invasive cholecystolithotomy devices require bile duct dissection before use. The extrahepatic biliary system and its supplying blood vessels have many variations, especially when there is severe tissue edema and dense adhesions caused by inflammation, which makes cholecystolithotomy particularly difficult. In the case of complex adhesions, manual dissection of the bile duct is required through images fed back by the camera. However, manual identification in the case of severe anatomical variations or severe tissue inflammation, edema, and adhesions may cause the relevant anatomical markers to be unclear, which is difficult and inconvenient in actual use.

[0005] Therefore, it is necessary to provide a new general surgery minimally invasive cholecystolithotomy device to solve the above technical problems. Summary of the Invention

[0006] In order to solve the above technical problems, the present invention provides a general surgery minimally invasive cholecystolithotomy device.

[0007] The minimally invasive cholecystolithotomy device for general surgery provided by the present invention comprises: a cholecystolithotomy device and a positioning system. The positioning system comprises a preoperative assessment and planning module: a preoperative assessment is performed using CT imaging data to obtain a hilar plate located in the hilar region of the liver, and the liver is divided into segments I to VIII, wherein segment II is located on the upper left side of the liver, close to the left edge of the liver; segment III is located on the lower left side of the liver, adjacent to segment II; and segment IV is located in the middle left side of the liver, surrounded by segments II and III, thereby determining the anatomical structure of the extrahepatic bile duct;

[0008] Operation module: Using the "three lines and one plane" anatomical marking method, first divide the A line, B line, C line, and D plane. The A line is the arc of the upper edge of the duodenum, the B line is the arcuate notch of the right posterior lobe of the liver, and the C line is the line connecting two points. The upper point is the midpoint of the base of segment IV, and the lower point is the midpoint of the first segment of the duodenum. The D plane is the plane where the hilum plate is located.

[0009] Positioning module: Determine the optimal position and direction of the surgical approach based on the three-line and one-plane anatomical markers;

[0010] Marker Confirmation Module: Based on the preoperative assessment and planning module, the specific location of the "three lines and one plane" anatomical markers is confirmed through actual observation and touch. These anatomical markers are used to guide cholecystectomy, namely, the locations of the A, B, and C lines and the D plane are confirmed;

[0011] Intraoperative monitoring and feedback module: Verify the accuracy of anatomical markers through intraoperative cholangiography monitoring;

[0012] Postoperative evaluation module: Evaluate the surgical effect, such as stone clearance rate and bile duct patency, through postoperative imaging examinations.

[0013] Preferably, the minimally invasive cholecystolithotomy method of general surgery comprises the following steps:

[0014] S1. General anesthesia is performed by endotracheal intubation. After achieving anesthesia suitable for surgery, disinfect the drape and routinely establish pneumoperitoneum. The patient is placed in a supine position with the head elevated and the feet lower than the feet, and the left side elevated 15°-30°. The artificial pneumoperitoneum pressure is set to 12-14 mmHg, where 1 mmHg = 0.133 kPa. During choledochoscopy, the artificial pneumoperitoneum pressure is appropriately lowered to 8-10 mmHg.

[0015] S2. Perform surgical resection using the three-port method, establishing three ports A, B, and C. Port A is the observation port, located above or at the umbilicus, and serves as the entrance for the laparoscopic camera.

[0016] Port B is the main operating port, located below the xiphoid process, near the midline of the upper abdomen, for the surgeon's main operating instruments to enter, such as cholecystolithotomy equipment;

[0017] Hole C is an auxiliary hole located below the right costal margin, at the junction of the anterior axillary line or midclavicular line and the costal margin.

[0018] Preferably, the minimally invasive general surgical method for gallbladder stone removal further comprises the following steps:

[0019] Step 1: Separate adhesions: Use medical devices, such as a Veress needle, to fill the abdominal cavity with carbon dioxide to expose the right upper abdominal surgical area;

[0020] Step 2: Expose the upper duodenum and common bile duct: When the right upper quadrant surgical area is exposed, dissect along line A. In the area of ​​line A, use the prepyloric vein as an anatomical landmark, that is, the starting point of the duodenum as an anatomical landmark. Use non-invasive forceps in the medical instrument to grasp the middle of line A and pull it forward to the left to clearly reveal line A. Dissect near the midpoint of line A to expose the common bile duct.

[0021] Step 3: Expose the B-line: With the common bile duct exposed, use a scalpel to make an incision parallel to the B-line and ventral to the hepatic hilum. That is, cut the gallbladder serosa 1.5-2 cm ventral to the B-line to expose the posterior triangle of the gallbladder. If complex adhesions occur, use the C-line and D-plane to assist in the dissection. The C-line reminds the doctor of the location of the common bile duct, and the D-plane reminds the doctor of the depth of dissection.

[0022] Step 4: Incise the gallbladder triangle serosa: Incise the gallbladder triangle serosa from the ventral side of the D plane. The specific operation is as follows: pull the gallbladder slightly to the upper right, use the separation forceps in the medical instrument and place it parallel to the plane of the liver hilum plate, slide it from the liver hilum to the duodenum, and use a scalpel to incise the surface serosa of the gallbladder triangle at the gallbladder plate while lifting the separation forceps.

[0023] Step 5. After cutting the serosa, use the gallbladder stone removal device to observe and ensure that the anatomy of the gallbladder triangle is clear. Use the gallbladder fixation forceps in the medical device to fix the gallbladder. At this time, use the gallbladder stone removal device to remove the stone.

[0024] Preferably, the gallbladder stone removal device includes an outer tube body and an inner tube body sliding inside the outer tube body, a pressure plate is provided on one side of the outer tube body, a flexible clamp is fixed to the end of the inner tube body away from the pressure plate, and two rotating components, two connecting components and two resetting components are provided in sequence from top to bottom inside the outer tube body;

[0025] The two rotating components, connecting component and reset component are all symmetrically arranged with the vertical center line of the inner tube body as the axis. One end of the rotating component is connected to one end of the pressure plate, and pressing the pressure plate simultaneously drives the inner tube body to slide inward and the collecting component to expand outward.

[0026] Preferably, a telescopic plate is fixed to one end of the outer tube body, and a pressure plate is fixed to the other end of the telescopic plate. Two opposite straight grooves are provided at one end of the outer tube body, and telescopic rods are fixed to the inner bottom walls of the straight grooves. The other ends of the two telescopic rods are connected to the bottom of the pressure plate. Two relatively distributed racks are also fixed to the bottom of the outer tube body, and the pressure plate is connected to one end of the two rotating components respectively through the two racks.

[0027] Preferably, the interior of the outer tube body is divided into empty slot one and empty slot two, the empty slot one is located above the empty slot two, and the empty slot one and empty slot two are connected, the inner tube body slides in the empty slot one, and a sliding groove and a limiting groove one are respectively provided at both ends of the outer tube body, and the sliding groove and the limiting groove one are both located in the middle position of the two straight grooves, the sliding groove and the limiting groove one are both located at the bottom of the empty slot two, and the sliding groove and the limiting groove one are both connected to the bottom wall of the empty slot two.

[0028] Preferably, the two rotating components are symmetrically arranged at the bottom wall end of the empty slot one with the vertical center line of the inner tube body as the symmetry axis, and the two rotating components each include a mounting plate, a rack two, a rack three, a plurality of rotating column one, a plurality of toothed rollers and a gear, the surface of the gear is meshed with the surface of the rack one, the surface of the rack two is meshed with the surface of the gear, the rack two is arranged parallel to the rack one, the gear rotates on the bottom wall of the empty slot one through the rotating column two, the bottom of the rack three is meshed with the top of the toothed roller, the mounting plate is fixed to the outside of the inner tube body, the rack two and the rack three are respectively fixed on the side of the mounting plate away from the inner tube body and the bottom of the mounting plate, one end of the plurality of rotating column one rotates at the bottom of the inner tube body, and the other end of the plurality of rotating column one is fixed to the surface of the plurality of toothed rollers.

[0029] Preferably, the two connecting components are symmetrically arranged on the top wall of the empty groove 2 with the vertical center line of the inner tube body as the axis, and the two connecting components each include a connecting plate, a transverse groove is provided on the surface of the connecting plate, and a limiting groove 2 is provided at the bottom of the connecting plate, and the top of the limiting groove 2 is connected to the bottom of the transverse groove, and a rack 4 slides in the transverse groove, and the top of the rack 4 is engaged with the surface of the toothed roller, and a number of fixed columns are equidistantly fixed to the bottom of the rack 4, and the other ends of the several fixed columns pass through the limiting groove 2 and slide on the surface of the limiting groove 2.

[0030] Preferably, a finger clip is provided on the surface of the outer tube body, and a camera is also provided on the surface of the outer tube body. Two opposite L-shaped limit plates are fixed on the inner wall of the empty groove at one end of the outer tube body away from the pressure plate, and the two L-shaped limit plates are equidistantly distributed on both sides of the inner tube body.

[0031] Preferably, the two reset assemblies are relatively arranged on the inner side wall of the empty slot 2, and the two reset assemblies each include a rotating shaft 1, a pulley 1, a rope, a rotating shaft 2 and a pulley 2. The rotating shaft 1 and the rotating shaft 2 both rotate on the inner side wall of the empty slot 2, the rotating shaft 1 is located above the rotating shaft 2, the pulley 1 and the pulley 2 are respectively fixed to the other end of the rotating shaft 1 and the rotating shaft 2, the rope is wound around the surface of the pulley 1 and the pulley 2, one end of the rope is fixed to the surface of the fixed column, and the rotating shaft 1 and the pulley 1 are connected. A torsion spring is provided between the two wheels, and a torsion spring is provided between the two rotating shafts and the two pulleys. A push plate is provided for sliding on the surface of the slide groove, and two relative fixed blocks are fixed on the top of the push plate. The other ends of the two ropes are connected to the surface of the fixed blocks. A small plate is fixed at one end of the push plate, and the collecting assembly is fixed to the bottom of the small plate. The collecting assembly includes a collecting net and a fixed plate, one end of the collecting net is fixed to the bottom wall of the limiting groove one, and the other end of the collecting net is connected to one end of the fixed plate, and the top of the fixed plate is connected to the bottom of the small plate.

[0032] Compared with related technologies, the minimally invasive cholecystolithotomy device for general surgery provided by the present invention has the following beneficial effects:

[0033] 1. Through detailed preoperative imaging assessment and liver segmentation, as well as precise anatomical markings of three lines and one plane, surgeons can more accurately understand the anatomical structure of the patient's liver and biliary system, thereby selecting the optimal surgical approach and direction. This improves surgical accuracy while reducing surgical risks caused by unclear anatomical structures.

[0034] 2. Through precise preoperative planning and intraoperative positioning, unnecessary tissue damage can be further reduced, and surrounding important structures such as bile ducts and blood vessels can be protected, thereby accelerating the patient's postoperative recovery;

[0035] 3. By using three lines and one plane to perform precise dissection of the bile duct, the surgical efficiency is improved while the operation time is shortened. Due to the high surgical precision, minimal trauma and rapid recovery, patients can often return to normal life and work more quickly after surgery, thereby improving patient satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A structural block diagram of the positioning system provided by the present invention;

[0037] Figure 2 This is a schematic diagram of the overall structure of the minimally invasive cholecystolithotomy device for general surgery provided by the present invention;

[0038] Figure 3 Schematic diagram of the structure of the telescopic rod;

[0039] Figure 4It is a structural schematic diagram of empty slot one and empty slot two;

[0040] Figure 5 is a schematic diagram of the gear structure;

[0041] Figure 6 A schematic diagram of the structure of a minimally invasive cholecystolithotomy device for general surgery provided by the present invention;

[0042] Figure 7 for Figure 6 Schematic diagram of the structure at A in the middle;

[0043] Figure 8 It is a structural diagram of the pulley assembly;

[0044] Figure 9 Schematic diagram of the connection between pulley 1 and pulley 2;

[0045] Figure 10 It is a schematic diagram of the structure of the collection component;

[0046] Figure 11 Schematic diagram of the structure of the bottom of the outer tube;

[0047] Figure 12 It is a structural diagram of the L-shaped limiting plate part.

[0048] Numbers in the figure: 1, outer tube; 11, telescopic plate; 12, pressure plate; 13, finger buckle; 14, straight groove; 141, telescopic rod; 15, rack 1; 16, empty slot 1; 17, empty slot 2; 171, slide groove; 18, limit slot 1; 2, inner tube; 21, mounting plate; 211, rack 2; 212, rack 3; 213, rotating column 1; 214, toothed roller; 215, connecting plate; 2151, transverse groove ; 2152, limit slot two; 216, rack four; 217, fixed column; 22, gear; 221, rotating column two; 23, L-shaped limit plate; 3, rotating shaft one; 31, pulley one; 32, torsion spring one; 33, rope; 4, rotating shaft two; 41, pulley two; 42, torsion spring two; 5, push plate; 51, fixed block; 52, small plate; 53, collection net; 54, fixed plate; 6, flexible clamp; 7, camera. DETAILED DESCRIPTION

[0049] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0050] Please refer to Figures 1 to 12 ,in, Figure 1 A structural block diagram of the positioning system provided by the present invention; Figure 2 This is a schematic diagram of the overall structure of the minimally invasive cholecystolithotomy device for general surgery provided by the present invention; Figure 3 Schematic diagram of the structure of the telescopic rod; Figure 4It is a structural schematic diagram of empty slot one and empty slot two; Figure 5 is a schematic diagram of the gear structure; Figure 6 A schematic diagram of the structure of a minimally invasive cholecystolithotomy device for general surgery provided by the present invention; Figure 7 for Figure 6 Schematic diagram of the structure at A in the middle; Figure 8 It is a structural diagram of the pulley assembly; Figure 9 Schematic diagram of the connection between pulley 1 and pulley 2; Figure 10 It is a schematic diagram of the structure of the collection component; Figure 11 Schematic diagram of the structure of the bottom of the outer tube;

[0051] Figure 12 It is a structural diagram of the L-shaped limiting plate part.

[0052] In the specific implementation process, Figures 1 to 12 As shown, it includes a cholecystolithotomy device and a positioning system. The positioning system includes a preoperative evaluation and planning module: CT imaging data are used for preoperative evaluation to obtain the hilar plate located in the hilar area and divide the liver into segments I to VIII. Segment II is located on the upper left side of the liver, close to the left edge of the liver; segment III is located on the lower left side of the liver, adjacent to segment II; segment IV is located in the middle left side of the liver, surrounded by segments II and III, thereby determining the anatomical structure of the extrahepatic bile duct;

[0053] Operation module: Using the "three lines and one plane" anatomical marking method, first divide the A line, B line, C line, and D plane. The A line is the arc of the upper edge of the duodenum, the B line is the arcuate notch of the right posterior lobe of the liver, and the C line is the line connecting two points. The upper point is the midpoint of the base of segment IV, and the lower point is the midpoint of the first segment of the duodenum. The D plane is the plane where the hilum plate is located.

[0054] Positioning module: Determine the optimal position and direction of the surgical approach based on the three-line and one-plane anatomical markers;

[0055] Marker Confirmation Module: Based on the preoperative assessment and planning module, the specific location of the "three lines and one plane" anatomical markers is confirmed through actual observation and touch. These anatomical markers are used to guide cholecystectomy, namely, the locations of the A, B, and C lines and the D plane are confirmed;

[0056] Intraoperative monitoring and feedback module: Verify the accuracy of anatomical markers through intraoperative cholangiography monitoring;

[0057] Postoperative evaluation module: evaluates surgical results, such as stone clearance rate and bile duct patency, through postoperative imaging examinations;

[0058] It should be noted that in the preoperative evaluation and planning module, CT imaging data is used for preoperative evaluation. That is, through CT scanning, doctors can observe in detail the morphology, size, density changes of the liver, and the anatomical structures inside and outside the liver, especially the location of the hilar plate in the hepatic hilum area.

[0059] It should be noted that in the marking confirmation module, actual observation can be understood as: in laparoscopic surgery, using the high-definition perspective of the laparoscope to carefully observe the surgical area, mainly including the arc line of the upper edge of the duodenum (line A), the arc-shaped notch line of the liver pedicle of the right posterior lobe of the liver (line B), and the plane of the liver hilum (plane D) and other naturally existing anatomical structures, observing the morphology, position and course of these structures under laparoscopy to ensure that they are consistent with the description in the preoperative imaging data; and further observing the color, texture and layer relationship of the tissue around the extrahepatic bile duct. Healthy tissue is usually bright in color and uniform in texture, while inflamed or adhered tissue may be dark in color and uneven in texture;

[0060] It should be noted that during observation, attention should be paid to the course of blood vessels, lymphatic vessels, and nerves surrounding the biliary system to avoid unnecessary damage during surgery;

[0061] It should be noted that in the marker confirmation module, touch can be understood as: surgical instruments (such as separation forceps, suction device, etc.) gently touching the tissue structure of the surgical area to feel the texture, elasticity and boundaries of the tissue through touch to further confirm the specific location of the anatomical marker, including the following steps:

[0062] Step 1: Based on the confirmation of anatomical landmarks, the structure and course of the biliary system are further clearly demonstrated through gentle separation and exposure operations;

[0063] Step 2: During the palpation process, continuous comparison and verification with preoperative imaging data is performed to ensure the accuracy and safety of the surgical operation;

[0064] It should be further explained that, through a combination of actual observation and touch, the surgeon can accurately confirm the specific location of the "three lines and one plane" anatomical markers during the operation, thereby ensuring the accuracy and safety of the operation;

[0065] It is necessary to further explain that the preoperative evaluation includes the following steps:

[0066] Patient screening: Patients with clear surgical videos and complete hepatobiliary CT (plain or contrast-enhanced) or MRCP imaging data were selected for retrospective analysis;

[0067] Image data acquisition: access to patients' CT and / or MRCP imaging data through the hospital information system (HIS) and picture archiving and communication system (PACS);

[0068] Image interpretation and analysis: Preoperative MRCP / CT data and intraoperative video data were compared using a blinded method to ensure objectivity of the evaluation;

[0069] The surgical method of the minimally invasive cholecystolithotomy device for general surgery includes the following steps:

[0070] S1. General anesthesia is performed by endotracheal intubation. After achieving anesthesia suitable for surgery, disinfect the drape and routinely establish pneumoperitoneum. The patient is placed in a supine position with the head elevated and the feet lower than the feet, and the left side elevated 15°-30°. The artificial pneumoperitoneum pressure is set to 12-14 mmHg, where 1 mmHg = 0.133 kPa. During choledochoscopy, the artificial pneumoperitoneum pressure is appropriately lowered to 8-10 mmHg.

[0071] S2. Perform surgical resection using the three-port method, establishing three ports A, B, and C. Port A is the observation port, located above or at the umbilicus, and serves as the entrance for the laparoscopic camera.

[0072] Port B is the main operating port, located below the xiphoid process, near the midline of the upper abdomen, for the surgeon's main operating instruments to enter, such as the cholecystolithotomy device;

[0073] Foramen C is an auxiliary foramen located below the right costal margin, at the junction of the anterior axillary line or midclavicular line and the costal margin;

[0074] It should be noted that the A hole is mainly used to insert the laparoscope lens so that the doctor can observe the situation in the abdominal cavity and guide the surgical operation;

[0075] Port B: used for the entry and exit of surgical instruments, such as for critical operations such as grasping, separating and removing the gallbladder;

[0076] C-port: provides additional operating angles and flexibility in complex procedures such as handling the gallbladder triangle and separating the cystic duct, assisting the main operating port in completing the surgery;

[0077] The surgical method of the minimally invasive cholecystolithotomy device for general surgery also includes the following steps:

[0078] Step 1: Separate adhesions: Use medical devices, such as a Veress needle, to fill the abdominal cavity with carbon dioxide to expose the right upper abdominal surgical area;

[0079] Step 2: Expose the upper duodenum and common bile duct: When the right upper quadrant surgical area is exposed, dissect along line A. In the area of ​​line A, use the prepyloric vein as an anatomical landmark, that is, the starting point of the duodenum as an anatomical landmark. Use non-invasive forceps in the medical instrument to grasp the middle of line A and pull it forward to the left to clearly reveal line A. Dissect near the midpoint of line A to expose the common bile duct.

[0080] Step 3: Expose the B-line: With the common bile duct exposed, use a scalpel to make an incision parallel to the B-line and ventral to the hepatic hilum. That is, cut the gallbladder serosa 1.5-2 cm ventral to the B-line to expose the posterior triangle of the gallbladder. If complex adhesions occur, use the C-line and D-plane to assist in the dissection. The C-line reminds the doctor of the location of the common bile duct, and the D-plane reminds the doctor of the depth of dissection.

[0081] Step 4: Incise the gallbladder triangle serosa: Incise the gallbladder triangle serosa from the ventral side of the D plane. The specific operation is as follows: pull the gallbladder slightly to the upper right, use the separation forceps in the medical instrument and place it parallel to the plane of the liver hilum plate, slide it from the liver hilum to the duodenum, and use a scalpel to incise the surface serosa of the gallbladder triangle at the gallbladder plate while lifting the separation forceps.

[0082] Step 5: After the serosal membrane is incised, a gallbladder lithotomy device is used for observation. When the gallbladder triangle is clearly anatomic, the gallbladder is fixed with a gallbladder fixation forceps in the medical device. At this time, the gallbladder lithotomy device is used to remove the stone.

[0083] It should be noted that after the gallbladder is fixed and the gallbladder triangle is clearly anatomic, a gallbladder stone removal device, such as a choledochoscope or a stone removal basket, is used to enter the gallbladder cavity or cystic duct for stone removal. The doctor needs to carefully observe the image on the screen to ensure accurate identification and removal of the stone.

[0084] It should be noted that for larger stones, lithotripsy devices, such as laser lithotripsy or ultrasonic lithotripsy, are needed to first break up the stones and then remove them one by one to avoid stone impaction or damage to the bile duct;

[0085] It should be noted that during the stone removal process, the gallbladder cavity and surgical area need to be continuously flushed to maintain a clear field of vision and reduce the risk of postoperative infection.

[0086] refer to Figures 2 to 12 As shown, the gallbladder stone removal device includes an outer tube body 1 and an inner tube body 2 sliding inside the outer tube body 1. A pressure plate 12 is provided on one side of the outer tube body 1. A flexible clamping claw 6 is fixed to the end of the inner tube body 2 away from the pressure plate 12. The interior of the outer tube body 1 is provided with two rotating components, two connecting components and two resetting components from top to bottom.

[0087] The two rotating components, the connecting component and the reset component are all arranged symmetrically with the vertical center line of the inner tube body 2. One end of the rotating component is connected to one end of the pressing plate 12, and pressing the pressing plate 12 simultaneously drives the inner tube body 2 to slide inward and the collecting component to expand outward;

[0088] It should be noted that the flexible clamping claw 6: by pressing the inner tube 2 to slide downward out of the outer tube 1, the flexible clamping claw 6 clamps the stone;

[0089] It should be noted that the rotating assembly: mainly presses the pressing plate 12, and the rotating assembly drives the inner tube body 2 to retract inward;

[0090] Connecting assembly: Located at the bottom of the rotating assembly, it drives the collecting assembly to expand outwards through the connecting assembly when the rotating assembly rotates;

[0091] Collection component: mainly used to collect stones removed from the gallbladder.

[0092] refer to Figures 2 to 8 As shown, a telescopic plate 11 is fixed to one end of the outer tube body 1, and a pressure plate 12 is fixed to the other end of the telescopic plate 11. Two opposite straight grooves 14 are opened at one end of the outer tube body 1, and the inner bottom walls of the straight grooves 14 are fixed with telescopic rods 141. The other ends of the two telescopic rods 141 are connected to the bottom of the pressure plate 12. Two oppositely distributed racks 15 are also fixed to the bottom of the outer tube body 1. The pressure plate 12 is connected to one end of the two rotating components respectively through the two racks 15.

[0093] The interior of the outer tube body 1 is divided into an empty slot 16 and an empty slot 2 17. The empty slot 16 is located above the empty slot 2 17, and the empty slot 16 and the empty slot 2 17 are connected. The inner tube body 2 slides in the empty slot 16. The two ends of the outer tube body 1 are respectively provided with a sliding groove 171 and a limiting groove 18. The sliding groove 171 and the limiting groove 18 are both located in the middle of the two straight grooves 14. The sliding groove 171 and the limiting groove 18 are both located at the bottom of the empty slot 2 17, and the sliding groove 171 and the limiting groove 18 are both connected to the bottom wall of the empty slot 2 17.

[0094] The two rotating components are symmetrically arranged at the bottom wall end of the empty slot 16 with the vertical center line of the inner tube 2 as the symmetry axis. The two rotating components each include a mounting plate 21, a rack 211, a rack 3 212, a plurality of rotating columns 213, a plurality of toothed rollers 214 and a gear 22. The surface of the gear 22 is meshed with the surface of the rack 15, the surface of the rack 211 is meshed with the surface of the gear 22, the rack 211 is arranged parallel to the rack 15, and the gear 22 is engaged with the rack 211 through the mounting plate 211. Rotating post 221 rotates on the bottom wall of slot 16. The bottom of rack 3 212 engages with the top of toothed roller 214. Mounting plate 21 is fixed to the outside of inner tube 2. Rack 211 and rack 3 212 are fixed to the side of mounting plate 21 away from inner tube 2 and the bottom of mounting plate 21, respectively. One end of each of rotating posts 213 rotates on the bottom of inner tube 2. The other ends of each of rotating posts 213 are fixed to the surfaces of toothed rollers 214.

[0095] It should be noted that when the pressing plate 12 is pressed, the telescopic plate 11 and the telescopic rod 141 are extended and retracted, and the rack 15 is engaged and rotated with the gear 22. The surface of the gear 22 is also engaged with the rack 211, which in turn drives the rack 211 to rotate. The rack 211 is fixed to the mounting plate 21, and the mounting plate 21 is fixed to the outer side of the inner tube 2, thereby the inner tube 2 is retracted inward.

[0096] It should be further explained that when the inner tube body 2 contracts inwardly, the rack three 212 at the bottom of the inner tube body 2 drives the toothed roller 214 to rotate. The top of the toothed roller 214 engages with the bottom of the rack three 212, and the toothed roller 214 drives the connecting assembly to move.

[0097] refer to Figure 2 、 Figure 8 、 Figure 9 、 Figure 10 、 Figure 11 、 Figure 12 As shown, the two connecting components are symmetrically arranged on the top wall of the empty groove 217 with the vertical center line of the inner tube body 2 as the axis. The two connecting components each include a connecting plate 215. A transverse groove 2151 is formed on the surface of the connecting plate 215. A second limiting groove 2152 is formed at the bottom of the connecting plate 215. The top of the second limiting groove 2152 is connected to the bottom of the transverse groove 2151. A fourth rack 216 slides in the transverse groove 2151. The top of the fourth rack 216 engages with the surface of the toothed roller 214. A plurality of fixing posts 217 are equidistantly fixed to the bottom of the fourth rack 216. The other ends of the plurality of fixing posts 217 pass through the second limiting groove 2152 and slide on the surface of the second limiting groove 2152.

[0098] It should be noted that the rack 216 is meshed with the surface of the toothed roller 214. When the toothed roller 214 rotates, the rack 216 is driven to move. Both ends of the rack 216 are provided with limit blocks. The limit blocks slide in the transverse groove 2151, allowing the rack 216 to slide along the direction of the transverse groove 2151.

[0099] The outer tube body 1 is provided with a finger clip 13 on its surface, and a camera 7 is also provided on its surface. Two opposing L-shaped limit plates 23 are fixed on the inner side wall of the empty slot 16 at one end of the outer tube body 1 away from the pressure plate 12. The two L-shaped limit plates 23 are equidistantly distributed on both sides of the inner tube body 2.

[0100] It should be noted that when the inner tube body 2 drives the flexible clamping claw 6 to grasp, the inner tube body 2 contracts toward the inside of the outer tube body 1. At this time, the surface of the flexible clamping claw 6 contacts the L-shaped limiting plate 23. When the flexible clamping claw 6 reaches the end of the L-shaped limiting plate 23, due to the limitation of the shape of the L-shaped limiting plate 23, the flexible clamping claw 6 goes from grasping the stone to loosening the stone, causing the stone to fall into the collection assembly.

[0101] It should be further explained that the finger buckle 13 is set up so that people can put it on their hands and fix it, and it is easy to press the pressing block 12 later;

[0102] It should be further explained that the camera 7 provided on the surface of the outer tube 1 can observe the inside of the gallbladder while removing the stones to ensure that all the stones are removed;

[0103] Two reset assemblies are arranged on the inner side wall of the empty slot 2 17 relative to each other. Both reset assemblies include a rotating shaft 3, a pulley 31, a rope 33, a rotating shaft 4 and a pulley 41. The rotating shaft 3 and the rotating shaft 4 rotate on the inner side wall of the empty slot 2 17. The rotating shaft 3 is located above the rotating shaft 4. The pulley 31 and the pulley 41 are fixed to the other ends of the rotating shaft 3 and the rotating shaft 4 respectively. The rope 33 is wound around the surface of the pulley 31 and the pulley 41. One end of the rope 33 is fixed to the surface of the fixed column 217. A torsion spring is provided between the rotating shaft 3 and the pulley 31. A torsion spring 42 is provided between the second rotating shaft 4 and the second pulley 41. A push plate 5 slides on the surface of the slide groove 171. Two opposing fixed blocks 51 are fixed to the top of the push plate 5. The other ends of the two ropes 33 are connected to the surfaces of the fixed blocks 51. A small plate 52 is fixed to one end of the push plate 5. The collection assembly is fixed to the bottom of the small plate 52. The collection assembly includes a collection net 53 and a fixed plate 54. One end of the collection net 53 is fixed to the bottom wall of the limiting groove 18. The other end of the collection net 53 is connected to one end of the fixed plate 54. The top of the fixed plate 54 is connected to the bottom of the small plate 52.

[0104] It should be noted that the torsion spring 1 32 and the torsion spring 2 42 in the reset assembly play a reset role. When the pressure plate 12 is pressed, the rope 33 will be stretched. At this time, the push plate 5 is pulled outward under the action of the rope 33. Since one end of the collecting net 53 is fixed to the bottom wall of the limiting groove 18, the other end of the collecting net 53 is connected to the bottom of the fixing plate 54. When the push plate 5 slides toward the outside of the outer tube body 1, the collecting net 53 is pulled to unfold and the stones are collected. When the pressure plate 12 is released, the torsion spring 1 32 and the torsion spring 2 42 slide as the push plate 5 toward the outside of the outer tube body 1, generating elastic deformation. At this time, releasing the pressure plate 12 will cause the torsion spring 1 32 and the torsion spring 2 42 to restore their elastic deformation and automatically reset, so that the inner tube body 2 extends outward from the outer tube body 1 to perform the next stone removal operation.

[0105] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, from all points of view, the embodiments should be regarded as illustrative and non-restrictive. The scope of the present invention is defined by the appended claims rather than the foregoing description. It is intended that all changes that come within the meaning and range of equivalents of the claims be included in the present invention, and any reference signs in the claims should not be construed as limiting the claims to which they relate.

[0106] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A minimally invasive gallbladder stone removal device for general surgery, characterized in that: It includes a gallbladder stone removal device and a positioning system, wherein the positioning system includes a preoperative evaluation and planning module: using CT imaging data to perform preoperative evaluation and divide three lines and one plane; Operation module: Mark the gallbladder position in CT images with three lines and one plane; Positioning module: perform dissection based on three-line and one-plane markings to determine the best position and direction of the surgical approach; Intraoperative monitoring and feedback module: Verify the accuracy of anatomical markings through intraoperative cholangiography monitoring; Postoperative evaluation module: Evaluate the surgical effect through postoperative imaging examination.

2. The minimally invasive gallbladder stone removal device for general surgery according to claim 1, characterized in that: In the preoperative evaluation and planning module, CT imaging data are used to obtain the position of the hilar plate, that is, the plane position in the three-line one plane, and the liver is divided into segments I to VIII, and segments II, III and IV are obtained, wherein segment II is located on the upper left side of the liver, close to the left edge of the liver, segment III is located on the lower left side of the liver, adjacent to segment II, and segment IV is located in the middle left side of the liver, surrounded by segments II and III, thereby determining the anatomical structure of the extrahepatic bile duct.

3. The minimally invasive gallbladder stone removal device for general surgery according to claim 2, characterized in that: The three-line and one-plane anatomical markings include: dividing line A, line B, line C and plane D, wherein dividing line A is the arc line of the upper edge of the upper duodenum, line B is the arcuate notch line of the hepatic pedicle of the right posterior lobe of the liver, line C is a line connecting two points, the upper point is the midpoint of the base plane of segment IV, the lower point is the midpoint of the first segment of the duodenum, and plane D is the plane where the hilar plate is located.

4. The minimally invasive cholecystolithotomy device for general surgery according to claim 3, characterized in that: The gallbladder stone removal device comprises an outer tube body (1) and an inner tube body (2) sliding inside the outer tube body (1), a pressure plate (12) is provided on one side of the outer tube body (1), a flexible clamping claw (6) is fixed on one end of the inner tube body (2) away from the pressure plate (12), and two rotating components, two connecting components and two resetting components are provided in sequence from top to bottom inside the outer tube body (1); The two rotating components, the connecting component and the resetting component are all arranged symmetrically with the vertical center line of the inner tube body (2) as the axis, one end of the rotating component is connected to one end of the pressing plate (12), and pressing the pressing plate (12) simultaneously drives the inner tube body (2) to slide inward and the collecting component to expand outward.

5. The minimally invasive cholecystolithotomy device for general surgery according to claim 4, characterized in that: A telescopic plate (11) is fixed to one end of the outer tube body (1), and a pressure plate (12) is fixed to the other end of the telescopic plate (11). Two opposite straight grooves (14) are provided at one end of the outer tube body (1), and telescopic rods (141) are fixed to the inner bottom walls of the straight grooves (14). The other ends of the two telescopic rods (141) are connected to the bottom of the pressure plate (12). Two oppositely distributed racks (15) are also fixed to the bottom of the outer tube body (1), and the pressure plate (12) is connected to one end of the two rotating components respectively through the two racks (15).

6. The minimally invasive cholecystolithotomy device for general surgery according to claim 5, characterized in that: The interior of the outer tube body (1) is divided into an empty groove 1 (16) and an empty groove 2 (17), the empty groove 1 (16) is located above the empty groove 2 (17), and the empty groove 1 (16) and the empty groove 2 (17) are connected, the inner tube body (2) slides in the empty groove 1 (16), and the two ends of the outer tube body (1) are respectively provided with a sliding groove (171) and a limiting groove 1 (18), and the sliding groove (171) and the limiting groove 1 (18) are both located in the middle position of the two straight grooves (14), the sliding groove (171) and the limiting groove 1 (18) are both located at the bottom of the empty groove 2 (17), and the sliding groove (171) and the limiting groove 1 (18) are both connected to the bottom wall of the empty groove 2 (17).

7. The minimally invasive cholecystolithotomy device for general surgery according to claim 6, characterized in that: The two rotating assemblies are symmetrically arranged at the bottom wall end of the empty slot 1 (16) with the vertical center line of the inner tube body (2) as the symmetry axis. The two rotating assemblies each include a mounting plate (21), a second rack (211), a third rack (212), a plurality of rotating columns (213), a plurality of toothed rollers (214) and a gear (22). The surface of the gear (22) meshes with the surface of the first rack (15). The surface of the second rack (211) meshes with the surface of the gear (22). The second rack (211) is arranged parallel to the first rack (15). The gear (22) rotates Column 2 (221) rotates on the bottom wall of the slot 1 (16), the bottom of the rack 3 (212) meshes with the top of the toothed roller (214), the mounting plate (21) is fixed to the outside of the inner tube body (2), the rack 2 (211) and the rack 3 (212) are respectively fixed to the side of the mounting plate (21) away from the inner tube body (2) and the bottom of the mounting plate (21), one end of the plurality of rotating columns 1 (213) rotates at the bottom of the inner tube body (2), and the other ends of the plurality of rotating columns 1 (213) are fixed to the surfaces of the plurality of toothed rollers (214).

8. The minimally invasive cholecystolithotomy device for general surgery according to claim 7, characterized in that: The two connecting components are symmetrically arranged on the top wall of the second empty groove (17) with the vertical center line of the inner tube body (2) as the axis, and the two connecting components both include a connecting plate (215), the surface of the connecting plate (215) is provided with a transverse groove (2151), the bottom of the connecting plate (215) is provided with a second limiting groove (2152), the top of the second limiting groove (2152) is connected to the bottom of the transverse groove (2151), a rack four (216) slides in the transverse groove (2151), the top of the rack four (216) is meshed with the surface of the toothed roller (214), and a plurality of fixed columns (217) are equidistantly fixed to the bottom of the rack four (216), and the other ends of the plurality of fixed columns (217) pass through the second limiting groove (2152) and slide on the surface of the second limiting groove (2152).

9. The minimally invasive cholecystolithotomy device for general surgery according to claim 8, characterized in that: The surface of the outer tube body (1) is provided with a finger clip (13), and the surface of the outer tube body (1) is also provided with a camera (7). Two opposite L-shaped limit plates (23) are fixed on the inner side wall of a hollow groove (16) at one end of the outer tube body (1) away from the pressure plate (12), and the two L-shaped limit plates (23) are equidistantly distributed on both sides of the inner tube body (2).

10. The minimally invasive cholecystolithotomy device for general surgery according to claim 9, characterized in that: The two reset assemblies are arranged on the inner side wall of the second empty slot (17) opposite to each other. The two reset assemblies both include a rotating shaft (3), a pulley (31), a rope (33), a rotating shaft (4) and a pulley (41). The rotating shaft (3) and the rotating shaft (4) both rotate on the inner side wall of the second empty slot (17). The rotating shaft (3) is located above the rotating shaft (4). The pulley (31) and the pulley (41) are respectively fixed to the other ends of the rotating shaft (3) and the rotating shaft (4). The rope (33) is wound around the surface of the pulley (31) and the pulley (41). One end of the rope (33) is fixed to the surface of the fixing column (217). A threaded rod (214) is provided between the rotating shaft (3) and the pulley (31). There is a torsion spring (32), a torsion spring (42) is provided between the rotating shaft (4) and the pulley (41), a push plate (5) is slidably provided on the surface of the slide groove (171), two opposite fixed blocks (51) are fixed on the top of the push plate (5), the other ends of the two ropes (33) are connected to the surface of the fixed blocks (51), a small plate (52) is fixed to one end of the push plate (5), the collecting component is fixed to the bottom of the small plate (52), the collecting component comprises a collecting net (53) and a fixed plate (54), one end of the collecting net (53) is fixed to the bottom wall of the limiting groove (18), the other end of the collecting net (53) is connected to one end of the fixed plate (54), and the top of the fixed plate (54) is connected to the bottom of the small plate (52).

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