Liftable multi-angle imaging laparoscope puncture outfit

Abstract

The invention relates to the technical field of medical instruments, in particular to a liftable multi-angle imaging laparoscope puncture outfit which comprises a puncture outfit body with a through hole and a puncture cone arranged in the through hole, wherein the head of the puncture cone extends out of the lower end of the through hole; the imaging mechanism is arranged at the bottom of the puncture outfit body; the lifting mechanism is arranged in the puncture outfit body and is used for driving the imaging mechanism to lift; the rotating mechanism is arranged in the puncture outfit body and is used for driving the imaging mechanism to rotate; the cleaning mechanism is used for cleaning the imaging mechanism; the display module, the imaging mechanism, the lifting mechanism, the rotating mechanism and the cleaning mechanism are all electrically connected with the processor. According to the puncture outfit, the vertical position and angle of the imaging mechanism can be controlled, when the visual field of the imaging mechanism is shielded, the imaging mechanism can be cleaned through the cleaning mechanism, and the imaging quality is guaranteed in the operation process.

Description

Technical Field

[0001] The invention relates to the technical field of medical devices, and in particular to a laparoscopic puncture device capable of lifting and lowering and performing multi-angle imaging. Background Art

[0002] With the rapid development of industrial manufacturing technology and doctors' increasingly skilled operation, many open surgeries have been replaced by minimally invasive endoscopic surgeries. Laparoscopic surgery is to make 2-3 small incisions of about 1 cm in the patient's abdomen, insert a "trocar" pipe-shaped working channel into each incision, and use specially made extended surgical instruments to complete the surgical steps under video image monitoring, achieving similar results to open surgery and with better prognosis.

[0003] A trocar is a surgical instrument that provides an instrument channel for minimally invasive devices in various types of minimally invasive abdominal surgeries. It has the advantages of simple operation, low risk of use, small wounds and easy recovery. Before surgery, at least one more hole needs to be opened in the abdominal cavity, and the assistant inserts the imaging device and cooperates with the doctor to provide the front-end environment for the surgical equipment. In order to reduce the risk of puncturing the patient's internal organs during the puncture process, the trocar is combined with a camera to image the internal environment of the abdominal cavity in real time.

[0004] The existing puncture device, such as the Chinese patent with publication number CN112603496A, is named a visual puncture device with convenient replacement of puncture head. The invention has multiple first cameras and a second camera hidden in the puncture head, which can be used to take pictures during the operation and puncture process to prevent puncturing of the patient's internal organs or other normal tissues. However, the first camera of the patented puncture device is distributed in a circular array and fixed on a circular circuit board. The camera shooting angle cannot be changed, and when the surgical instrument is far away from the camera position, the shooting picture cannot closely follow the surgical instrument operation part.

[0005] Another example is the Chinese patent with publication number CN116712141A, which is titled as a real-time imaging abdominal puncture device. The bottom of the puncture device body is provided with a plurality of mutually symmetrical petal platforms. When the petal platforms are combined, they present a conical tip, and a high-definition camera and lighting module are arranged inside. However, during the puncture process of the puncture device of this patent, the petal platforms are closed and no imaging is displayed; during the operation, the petal platforms are opened to observe the inside of the abdominal cavity. However, the blade is fixed on the petal, and there is a risk of scratching the abdominal wall during opening or operation.

[0006] Therefore, in summary, most of the puncture devices in the prior art have a single visual angle, a limited shooting range, and cannot adjust the imaging angle and imaging observation distance. During the operation, the surgical instrument is prone to block the camera, thus affecting the progress of the operation. Summary of the invention

[0007] The technical solution to be solved by the present invention is to provide a laparoscopic puncture device that can be raised and lowered for multi-angle imaging. The use of this puncture device can solve the technical problems mentioned in the background technology.

[0008] The technical solution adopted by the present invention is: a laparoscopic puncture device that can be raised and lowered for multi-angle imaging, which includes a puncture device body with a perforation and a puncture cone arranged in the perforation and with the head extending out of the lower end of the perforation, and also includes a processor, a display module, an imaging mechanism arranged at the bottom of the puncture device body, a lifting mechanism arranged inside the puncture device body for driving the imaging mechanism to rise and fall, a rotating mechanism arranged inside the puncture device body for driving the imaging mechanism to rotate, and a cleaning mechanism for cleaning the imaging mechanism, wherein the display module, imaging mechanism, lifting mechanism, rotating mechanism and cleaning mechanism are all electrically connected to the processor.

[0009] Preferably, the bottom of the trocar body is provided with a receiving groove for receiving the imaging mechanism.

[0010] When the imaging mechanism is completely accommodated in the accommodating groove, the camera in the imaging mechanism is aimed at the head of the puncture cone.

[0011] Preferably, there are two imaging mechanisms, which are symmetrically arranged on both sides of the bottom of the puncture device body, each imaging mechanism includes a fixing seat with an inclined mounting surface, a cover shell with a accommodating cavity formed between the fixing seat, an arc-shaped connecting piece arranged on the rear side of the fixing seat, and a camera and an illuminator fixed on the inclined mounting surface and facing the cover shell, the fixing seat and the cover shell are assembled to match the external shape of the accommodating groove, and the camera and the illuminator are electrically connected to the processor.

[0012] Preferably, the lifting mechanism includes a first motor fixed in the puncture body, a gear fixedly connected to the output shaft of the first motor, a rack meshing with the gear and vertically sliding in the puncture body, and a lifting plate connected to the lower end of the rack through a connecting rod, the lifting plate is connected to the imaging mechanism, and the first motor is electrically connected to the processor.

[0013] Preferably, the rotating mechanism includes a fixed connecting rod, a cylinder connecting rod and a cylinder fixed on the lifting plate, the arc-shaped connecting piece is provided with an arc-shaped hole, one end of the fixed connecting rod is fixed to the bottom of the lifting plate, the other end of the fixed connecting rod is slidably connected in the arc-shaped hole, one end of the cylinder connecting rod is fixed to the actuating end of the cylinder, and the other end of the cylinder connecting rod is rotatably connected to the arc-shaped connecting piece.

[0014] Preferably, the cleaning mechanism includes a liquid outlet component for directing cleaning liquid to the housing and a scraping and washing component for cleaning the housing, the liquid outlet component includes a containing bottle for containing cleaning liquid, a pump for extracting the cleaning liquid in the containing bottle, and a hose for directing the extracted cleaning liquid to the housing, the scraping and washing component includes a scraper blade rotatably connected to the housing and a second motor for driving the scraper blade to rotate and clean the housing, and the scraper blade is made of transparent material, and the pump and the second motor are both electrically connected to the processor.

[0015] Preferably, the outer circumference of the puncture device body is further provided with anti-slip grooves, the puncture device body is provided with an inflation port connected to the perforation, a sealing plug is provided on the inflation port, and a cross mouth is provided at the upper end of the perforation.

[0016] Preferably, it also includes a remote controller, which is detachably fixed on the minimally invasive device, is wirelessly connected to the processor, and is provided with control buttons for controlling the imaging mechanism, the lifting mechanism, the steering mechanism and the cleaning mechanism.

[0017] Preferably, the control buttons include a focus button, an expand / retract imaging mechanism button, a down button, an up button, an increase angle button, a decrease angle button, an image zoom in button, an image zoom out button, a cleaning button, and a manual and follow-up switching button, wherein:

[0018] Focus button, used to adjust the focus of the camera;

[0019] An expansion / retraction imaging mechanism button is used to control the imaging mechanism to switch between a retraction state and an expansion state;

[0020] A downward movement button is used to control the lifting mechanism to drive the imaging mechanism to move downward;

[0021] An upward button is used to control the lifting mechanism to drive the imaging mechanism to move upward;

[0022] An angle button is added to control the rotation mechanism to drive the imaging mechanism to rotate outward;

[0023] Angle reduction button, used to control the rotation mechanism to drive the imaging mechanism to rotate inward;

[0024] Image zoom button, used to control the image zoom displayed by the display module;

[0025] The image zoom-out button is used to control the image displayed on the display module to be zoomed out;

[0026] A cleaning button, used to control the cleaning mechanism to clean the housing;

[0027] The manual and follow-up switching button is used to control the switching between manual mode and follow-up mode, where:

[0028] Manual mode, the position of the imaging mechanism can be controlled by the control button;

[0029] The follow-up mode automatically identifies the front center of the minimally invasive device based on the image captured by the camera, and then controls the camera to adjust as the minimally invasive device moves, always using the front end of the minimally invasive device as the imaging center.

[0030] Compared with the prior art, the present invention has the following advantages: the imaging mechanism is arranged inside the puncture body, which can effectively reduce the number of puncture holes and reduce the asynchrony that may be caused by the assistant holding a camera and following the operation of the surgeon; a lifting mechanism and a rotating mechanism are arranged, which can control the vertical position and angle of the imaging mechanism so that the imaging mechanism can shoot at different angles and positions; a cleaning mechanism is arranged, so that when the imaging mechanism is blocked from view, the imaging mechanism can be cleaned by the cleaning mechanism to ensure the imaging quality during the operation.

[0031] After the imaging mechanism is completely accommodated in the accommodating groove, the camera in the imaging mechanism is aimed at the head of the puncture cone, so that the camera can shoot the top of the puncture cone during puncture to prevent it from puncturing the patient's internal organs.

[0032] The imaging mechanism adopting this structure has a simple structure and a good imaging effect.

[0033] The lifting mechanism adopting this structure is simple in structure and can well drive the imaging mechanism to rise and fall.

[0034] The rotating mechanism adopting this structure has a simple structure and can well drive the imaging mechanism to turn.

[0035] The cleaning mechanism using this structure is simple in structure and can clean the imaging mechanism well.

[0036] Anti-slip grooves are arranged on the outside of the trocar body, so that the trocar body is firmly fixed after being installed on the abdominal cavity, and a cross mouth is arranged at the upper end of the perforation, so that the overall sealing is better.

[0037] A remote controller is provided, and the remote controller is wirelessly connected to the processor, so that the remote controller can be installed on the minimally invasive device when the minimally invasive device is used, and then during the operation, the user can directly control the lifting mechanism, rotating mechanism, imaging mechanism and cleaning mechanism through the remote controller.

[0038] All buttons are integrated on the remote control, which makes it very convenient for users to control. It has two modes: manual and follow-up. During the operation, in the follow-up mode, the camera can move with the minimally invasive device; in the manual mode, the camera can shoot at different angles and positions, giving the doctor a clear and unobstructed view of the top area of ​​the surgical equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 The present invention is a schematic diagram of the structure of a laparoscopic puncture device which can be raised and lowered to provide multi-angle imaging.

[0040] Figure 2 The present invention is a cross-sectional view of a laparoscopic puncture device that can be raised and lowered for multi-angle imaging.

[0041] Figure 3 yes Figure 2 A magnified schematic diagram of center A.

[0042] Figure 4 It is a schematic diagram of the structure of the trocar after the camera is unfolded and installed in the minimally invasive device.

[0043] Figure 5 It is a schematic diagram of the structure of the remote control.

[0044] As shown in the figure: 1. Puncture body; 2. Perforation; 3. Puncture cone; 4. Display module; 5. Imaging mechanism; 6. Accommodation groove; 7. Inclined mounting surface; 8. Fixed seat; 9. Accommodation cavity; 10. Cover; 11. Arc-shaped connecting piece; 12. Camera; 13. Illumination lamp; 14. First motor; 15. Gear; 16. Rack; 17. Lifting plate; 18. Fixed connecting rod; 19. Cylinder connecting rod; 20. Cylinder; 21. Arc-shaped hole; 22. Accommodation bottle; 23. Pump; 24. Hose; 25. Scraper; 26. Second motor; 27. Anti-slip pattern; 28. Inflation port; 29. ​​Remote control; 30. Minimally invasive device; 31. Control button; 32. Connecting rod. DETAILED DESCRIPTION

[0045] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0046] Embodiment 1:

[0047] A laparoscopic puncture device capable of lifting and lowering and imaging at multiple angles, comprising a processor, a display module 4, a remote controller 29, a puncture device body 1, a puncture cone 3, an imaging mechanism 5, a lifting mechanism, a rotating mechanism and a cleaning mechanism, wherein:

[0048] The trocar body 1, as Figure 1 , 2As shown, it is a cylinder, a perforation 2 is provided in the middle of the cylinder for the puncture cone 3 or the minimally invasive device 30 to pass through, and a cross is provided at the upper end of the perforation 2, so that the minimally invasive device 30 is sealed by the cross after being inserted into the perforation 2, and the other parts of the cylinder are hollow, which can be installed by other mechanisms, and the diameter of the upper part of the puncture device body 1 is relatively large, which can facilitate the installation of the lifting mechanism, and two accommodating grooves 6 are provided on both sides of the lower end of the puncture device body 1, which can be embedded in the imaging mechanism 5, and the puncture device body 1 is also provided with an inflation port 28, which can be connected with the internal space, and a sealing plug is provided on the inflation port 28. When inflation is required, the sealing plug is opened, and when inflation is not required, the sealing plug is blocked, and an anti-slip pattern 27 is also provided below the inflation port 28, so that the puncture device body 1 is fixed more firmly after being inserted into the abdominal cavity;

[0049] The puncture cone 3 has a vertebral body at the front end, passes through the perforation 2 and the front vertebral body extends out of the perforation 2, and the puncture cone 3 is detachably connected to the puncture device body 1, which can be a threaded connection or a snap connection, which is convenient for installation and disassembly;

[0050] There are two imaging mechanisms 5, which are respectively embedded in the receiving grooves 6 of the puncture body 1. Each imaging mechanism 5 includes a fixing seat 8, a cover 10, an arc-shaped connecting member 11, a camera 12 and an illuminating lamp 13, wherein:

[0051] The lower end surface of the fixing seat 8 is an inclined mounting surface 7, which can be used for the camera 12 and the lighting lamp 13 to be installed and fixed. An arc-shaped piece is also extended from the lower part of the fixing seat 8. The arc-shaped piece matches the outer shape of the accommodating groove 6, and the fixing seat 8, the arc-shaped piece and the cover 10 are combined to form an accommodating cavity 9;

[0052] The cover 10 is vertically arranged between the fixing seat 8 and the arc-shaped member and is made of a transparent material;

[0053] The arc-shaped connecting member 11 is integrally formed with the fixing seat 8, one end of which is connected to the upper end surface of the fixing seat 8, and an arc-shaped hole 21 is provided thereon. The arc-shaped hole 21 functions like a waist-shaped hole, and can be used for the pin shaft to slide and for the rotation mechanism to connect;

[0054] The camera 12 and the illuminator 13 are both fixed on the inclined mounting surface 7 at the lower end of the fixing seat 8, and when the imaging mechanism 5 is in the initial state, that is, the imaging mechanism 5 is completely embedded in the accommodating groove 6, and the puncture cone 3 is also installed in the perforation 2, the imaging center of the camera 12 is located at the head of the puncture cone 3;

[0055] The lifting mechanism includes a first motor 14, a gear 15, a rack 16, a connecting rod 32 and a lifting plate 17, wherein:

[0056] The first motor 14 is a micro motor, which can be installed in the upper part of the puncture body 1 to drive the gear 15 to rotate, and the first motor 14 is electrically connected to the processor, so that the start and stop of the motor can be controlled by the processor. Because the motor is a conventional product of the prior art, it is not elaborated in detail here;

[0057] The gear 15 is fixed on the output shaft of the first motor 14 and can be driven to rotate by the motor;

[0058] The rack 16 slides vertically in the trocar body 1 and meshes with the gear 15, so that the rotation of the gear 15 can drive the rack 16 to move vertically;

[0059] A connecting rod 32, one end of which is fixedly connected to the lower end of the rack 16, and the other end of which is connected to the lifting plate 17;

[0060] The lifting plate 17 is annular and connected to the arc-shaped connecting member 11 of the imaging mechanism 5 through a rotating mechanism.

[0061] In this way, when the first motor 14 is working, it can drive the gear 15 to rotate, and then drive the rack 16 to move vertically, drive the connecting rod 32 to move vertically, drive the lifting plate 17 to move vertically, and finally drive the imaging mechanism 5 to move vertically, thereby driving the imaging mechanism 5 to move up and down;

[0062] The rotating mechanism includes a cylinder 20, a fixed connecting rod 18 and a cylinder connecting rod 19, wherein:

[0063] The cylinder 20 is a micro cylinder 20, which is fixed on the upper end surface of the lifting plate 17, and is electrically connected to the processor, and the operation of the cylinder 20 can be controlled by the processor. The cylinder 20 is a mature product of the prior art, so it is not elaborated in detail here;

[0064] The cylinder connecting rod 19 has one end connected to the working end of the cylinder 20 and the other end rotatably connected to the end of the arc-shaped connecting member 11 away from the fixing seat 8 through a pin shaft;

[0065] A fixed connecting rod 18, one end of which is connected to the lower end surface of the lifting plate 17, and the other end of which is slidably connected to the arc hole 21 through a pin shaft;

[0066] In this way, when the cylinder 20 drives the cylinder connecting rod 19 to move up and down, the other end of the fixed connecting rod 18 will slide in the arc hole 21, thereby driving the imaging mechanism 5 to rotate as a whole, and then the angle of the imaging mechanism 5 can be adjusted;

[0067] The cleaning mechanism includes a liquid outlet component and a scraping component, wherein:

[0068] The liquid outlet assembly includes a container bottle 22, a pump and a hose 24. The container bottle 22 is used to contain a cleaning liquid. In this embodiment, the cleaning liquid is physiological saline. Since the overall volume of the housing 10 is very small, the required cleaning liquid is also very small, so the container bottle 22 can also be made very small; the pump is mainly a pumping motor, which also adopts a micro motor, and is used to pump the cleaning liquid in the container bottle 22 out and flush it onto the housing 10. It is also electrically connected to the processor, so that the start and stop can be controlled by the processor. The hose 24 is used to guide the extracted cleaning liquid to the housing 10;

[0069] The scraping and washing assembly includes a second motor 26 and a scraper blade 25. The scraper blade 25 is rotatably connected to the housing 10 and is made of a transparent material so that the impact on the camera 12 is small. The second motor 26 is used to drive the scraper blade 25 to rotate. It is also a micro motor and is electrically connected to the processor so that the start and stop can be controlled by the processor.

[0070] That is, the entire cleaning mechanism is similar to the windshield wiper of a car, firstly the cleaning liquid is sprayed through the liquid outlet assembly, and then the housing 10 is cleaned through the scraping and washing assembly;

[0071] The display module 4 is a display screen, which is connected to the processor via a connecting line, so that the image captured by the camera 12 can be displayed in real time;

[0072] The processor is used to control the power device, such as the motor, the cylinder 20, etc., which is a mature product in the prior art, so it is not elaborated in detail in this embodiment;

[0073] The remote controller 29 can be detachably connected (such as snap-on) to different minimally invasive devices 30, and is wirelessly connected to the processor, that is, the processor is provided with a first wireless communication module, the remote controller 29 is provided with a second wireless communication module, and the remote controller 29 is provided with a variety of control buttons 31, including a focus button, an expansion / recovery imaging mechanism 5 button, a down button, an up button, an increase angle button, a decrease angle button, an image zoom-in button, an image zoom-out button, and a cleaning button, wherein:

[0074] A focus button, used to adjust the focus of the camera 12;

[0075] The button for unfolding / retracting the imaging mechanism 5 is used to control the imaging mechanism 5 to switch between the retracted state and the unfolded state;

[0076] A downward movement button is used to control the lifting mechanism to drive the imaging mechanism 5 to move downward;

[0077] An upward button, used to control the lifting mechanism to drive the imaging mechanism 5 to move upward;

[0078] An angle button is added to control the rotation mechanism to drive the imaging mechanism 5 to rotate outward;

[0079] Angle reduction button, used to control the rotation mechanism to drive the imaging mechanism 5 to rotate inwards;

[0080] An image zoom button, used to control the image zoom displayed by the display module 4;

[0081] An image zoom-out button, used to control the image displayed by the display module 4 to be zoomed out;

[0082] A cleaning button, used to control the cleaning mechanism to clean the housing 10;

[0083] The working principle of this embodiment is:

[0084] S1. Install the puncture cone 3 into the puncture device body 1 and reset the imaging mechanism 5. At this time, the imaging mechanism 5 is completely accommodated in the accommodation groove 6. The imaging center of the camera 12 is at the head of the puncture cone 3. Then, puncture is performed. During puncture, the puncture device penetrates into the patient's abdominal cavity through the incision. At the same time, the camera 12 photographs the situation of the puncture cone 3 in the abdominal cavity, and the situation in the patient's abdominal cavity is understood through the display module 4. Various organs are avoided until the puncture is successful;

[0085] S2, the puncture cone 3 is taken out from the puncture device body 1, the inflation port 28 is connected to the inflation device, and the gas enters the patient's abdominal cavity through the puncture device to separate the abdominal wall and internal organs;

[0086] S3, then insert different minimally invasive devices 30 to perform surgery, at this time, the remote controller 29 can be operated as needed to control the parameters and detection angle of the camera 12;

[0087] S4. When the cover 10 is blocked by body fluids such as blood, the remote controller 29 is operated to control the cleaning mechanism to clean the cover 10.

[0088] Embodiment 2:

[0089] The difference from the first embodiment is that the remote controller 29 in the second embodiment is further provided with a manual and follow-up switching button, which can switch the working state of the camera 12, wherein:

[0090] In manual mode, the position of the imaging mechanism 5 can be controlled by the control button 31;

[0091] The follow-up mode automatically identifies the front end center of the minimally invasive device 30 according to the image captured by the camera 12, and then controls the camera 12 to adjust as the minimally invasive device 30 moves, and always uses the front end of the minimally invasive device 30 as the imaging center. Because the follow-up mode requires real-time processing of image data and then adjusting the position of the camera 12, the overall required computing power may be large, so the computing power of the processor of the puncture body 1 may not be enough. In this embodiment, the data received by the processor of the puncture body 1 needs to be transmitted to an external computer through a wireless communication module for processing and then transmitted back in real time to control the movement of the camera 12.

[0092] Embodiment three:

[0093] The difference from the first embodiment is that the cleaning mechanism in the third embodiment is relatively simple, with only a liquid injection port being provided on the side of the inflation port 28, and then the liquid injection port being connected to a hose, and the water outlet of the hose being fixed above the cover shell 10, so that when cleaning is required, it is only necessary to manually inject liquid into the liquid injection port, the overall structure is simple, and the cleaning effect is also good.

[0094] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

[0095] For those skilled in the art, various changes and modifications will undoubtedly be obvious after reading the above description. Therefore, the attached claims should be regarded as covering all changes and modifications of the true intent and scope of the present invention. Any and all equivalent ranges and contents within the scope of the claims should be considered to still be within the intent and scope of the present invention.

Claims

1. A laparoscopic puncture device capable of lifting and lowering and imaging at multiple angles, comprising a puncture device body (1) with a perforation (2) and a puncture cone (3) disposed in the perforation (2) and having a head extending out of the lower end of the perforation (2), characterized in that: It also includes a processor, a display module (4), an imaging mechanism (5) arranged at the bottom of the puncture device body (1), a lifting mechanism arranged inside the puncture device body (1) for driving the imaging mechanism (5) to rise and fall, a rotating mechanism arranged inside the puncture device body (1) for driving the imaging mechanism (5) to rotate, and a cleaning mechanism for cleaning the imaging mechanism (5); the display module (4), the imaging mechanism (5), the lifting mechanism, the rotating mechanism, and the cleaning mechanism are all electrically connected to the processor.

2. The laparoscopic puncture device capable of lifting and lowering and imaging at multiple angles according to claim 1, characterized in that: The bottom of the puncture device body (1) is provided with a receiving groove (6) for receiving the imaging mechanism (5). When the imaging mechanism (5) is completely accommodated in the accommodation groove (6), the camera (12) in the imaging mechanism (5) is aimed at the head of the puncture cone (3).

3. The laparoscopic puncture device capable of lifting and lowering and performing multi-angle imaging according to claim 2, characterized in that: There are two imaging mechanisms (5), which are symmetrically arranged on both sides of the bottom of the puncture device body (1). Each imaging mechanism (5) comprises a fixing seat (8) with an inclined mounting surface (7), a cover shell (10) with a receiving cavity (9) formed between the fixing seat (8), an arc-shaped connecting member (11) arranged on the rear side of the fixing seat (8), and a camera (12) and an illuminating lamp (13) fixed on the inclined mounting surface (7) and facing the cover shell (10). After the fixing seat (8) and the cover shell (10) are assembled, they match the external shape of the receiving groove (6), and the camera (12) and the illuminating lamp (13) are both electrically connected to the processor.

4. The laparoscopic puncture device capable of lifting and lowering and imaging at multiple angles according to claim 3, characterized in that: The lifting mechanism comprises a first motor (14) fixed in the puncture device body (1), a gear (15) fixedly connected to the output shaft of the first motor (14), a rack (16) meshing with the gear (15) and vertically sliding in the puncture device body (1), and a lifting plate (17) connected to the lower end of the rack (16) via a connecting rod (32), the lifting plate (17) being connected to the imaging mechanism (5), and the first motor (14) being electrically connected to the processor.

5. The laparoscopic puncture device capable of lifting and lowering and imaging at multiple angles according to claim 4, characterized in that: The rotating mechanism comprises a fixed connecting rod (18), a cylinder connecting rod (19) and a cylinder (20) fixed on the lifting plate (17); an arc-shaped hole (21) is provided on the arc-shaped connecting member (11); one end of the fixed connecting rod (18) is fixed to the bottom of the lifting plate (17); the other end of the fixed connecting rod (18) is slidably connected in the arc-shaped hole (21); one end of the cylinder connecting rod (19) is fixed to the action end of the cylinder (20); the other end of the cylinder connecting rod (19) is rotatably connected to the arc-shaped connecting member (11).

6. The laparoscopic puncture device capable of lifting and lowering and performing multi-angle imaging according to claim 3, characterized in that: The cleaning mechanism comprises a liquid outlet component for guiding cleaning liquid to the housing (10) and a scraping component for cleaning the housing (10); the liquid outlet component comprises a accommodating bottle (22) for accommodating cleaning liquid, a pump (23) for extracting cleaning liquid from the accommodating bottle (22), and a hose (24) for guiding the extracted cleaning liquid to the housing (10); the scraping component comprises a scraper (25) rotatably connected to the housing (10) and a second motor (26) for driving the scraper (25) to rotate and clean the housing (10); the scraper (25) is made of transparent material; the pump (23) and the second motor (26) are both electrically connected to a processor.

7. The laparoscopic puncture device capable of lifting and lowering and imaging at multiple angles according to claim 1, characterized in that: The outer circumference of the puncture device body (1) is also provided with anti-slip grooves (27), the puncture device body (1) is provided with an inflation port (28) connected with the perforation (2), a sealing plug is provided on the inflation port (28), and a cross mouth is provided at the upper end of the perforation (2).

8. The laparoscopic puncture device capable of lifting and lowering and performing multi-angle imaging according to claim 1, characterized in that: It also includes a remote controller (29), which is detachably fixed to the minimally invasive device (30), the remote controller (29) is wirelessly connected to the processor, and the remote controller (29) is provided with control buttons (31) for controlling the imaging mechanism (5), the lifting mechanism, the steering mechanism, and the cleaning mechanism.

9. The laparoscopic puncture device capable of lifting and lowering and performing multi-angle imaging according to claim 8, characterized in that: The control buttons (31) include a focus button, an expansion / retraction imaging mechanism (5) button, a down button, an up button, an increase angle button, a decrease angle button, an image zoom-in button, an image zoom-out button, a cleaning button, and a manual and follow-up switching button, wherein: A focus button, used to adjust the focus of the camera (12); A button for unfolding / retracting the imaging mechanism (5), used to control the imaging mechanism (5) to switch between a retracted state and an unfolded state; A downward movement button, used to control the lifting mechanism to drive the imaging mechanism (5) to move downward; An upward movement button, used to control the lifting mechanism to drive the imaging mechanism (5) to move upward; An angle button is added to control the rotation mechanism to drive the imaging mechanism (5) to rotate outward; An angle reduction button is used to control the rotation mechanism to drive the imaging mechanism (5) to rotate inwards; An image zoom button, used to control the zooming of the image displayed by the display module (4); An image reduction button, used to control the image displayed by the display module (4) to be reduced; A cleaning button, used to control the cleaning mechanism to clean the housing (10); The manual and follow-up switching button is used to control the switching between manual mode and follow-up mode, where: In manual mode, the position of the imaging mechanism (5) can be controlled by a control button (31); In the follow-up mode, the front end center of the minimally invasive device (30) is automatically identified based on the image captured by the camera (12), and then the camera (12) is controlled to adjust as the minimally invasive device (30) moves, always taking the front end of the minimally invasive device (30) as the imaging center.

Images