Precise ureter cutting device under laparoscope

Abstract

The invention relates to the field of ureter cold knives, in particular to a precise ureter cutting device under a laparoscope, which comprises a shaft rod, a cutter operating rod and a gripper operating rod, the other end of the cutter operating rod is connected with a knife head, and the other end of the gripper operating rod is connected with two grippers symmetrically arranged on two sides of the knife head; the two grippers extend out or partially retract to the axial channel under the axial action of the gripper operating rod, so that the two grippers are opened when extending out and closed when retracting to grip the ureter; the two grippers are respectively provided with a light beam emitting device, and the two light beam emitting devices respectively emit a light beam. The light beam emitting device, the gripper and the cutter are integrated into a whole, the light beam emitting device is used for identifying the target position when the gripper grabs, and then the visual field is guided and the target position of the ureter is identified based on the identification, so that the target position to be grabbed and cut is accurately judged, and the identification accuracy is improved; and the cutting deviation of the cutter is reduced.

Description

Technical Field

[0001] The invention relates to the field of ureteral cold knife, and in particular to a laparoscopic ureteral precision cutting device. Background Art

[0002] During laparoscopic surgery, especially when cutting the narrow section of the ureter, traditional laparoscopic ureterotomes are unable to fix the freed ureter, resulting in the ureter slipping easily when cutting the narrow section of the ureter, uneven cutting edges, and the need for multiple cuts, which affects the postoperative healing effect and increases the risk of complications.

[0003] At the same time, due to the small surgical space and limited field of view, the operation of a traditional ureterotome requires the doctor to have skilled techniques. Even so, it is difficult to avoid the problem of miscutting or incomplete cutting, which prolongs the operation time and increases the patient's anesthesia risk and the possibility of intraoperative infection.

[0004] Therefore, people are in urgent need of a cutting tool that can accurately guide the direction of the incision knife during laparoscopic surgery and stably fix the ureter, so as to improve the accuracy and efficiency of the surgery and reduce damage to the patient. Summary of the invention

[0005] The purpose of the present invention is to provide a laparoscopic ureteral precision cutting device to solve the problem that when using a traditional cold knife to cut a narrow section of the ureter, it is difficult to align the cold knife with the cutting site due to limited field of view, and the ureter is easy to slide, causing the cold knife to miss the expected cutting site.

[0006] In order to solve the above technical problems, the present invention specifically provides the following technical solutions: A laparoscopic ureteral precision cutting device comprises a shaft having an axial passage through which a cutter operating rod and a gripper operating rod capable of axial movement are arranged in the axial passage; the same end of the cutter operating rod and the gripper operating rod extends out of the axial passage and can be manipulated; the other end of the cutter operating rod is connected to a cutter head; the other end of the gripper operating rod is connected to two grippers symmetrically arranged on both sides of the cutter head; the two grippers extend out of the axial passage or partially retract into the axial passage under the axial action of the gripper operating rod, so that the two grippers extend out of the axial passage or partially retract into the axial passage when the two grippers extend out of the axial passage. The two grippers are opened when opened, and closed when retracted to grasp the ureter; a light beam emitting device is arranged on each of the two grippers, and the light beams emitted by the two light beam emitting devices can be focused on the grasping positions of the two grippers when closed to form light spots for marking the grasping positions; the two grippers are closed and grasped when the light spots are aligned with the target positions of the ureter; the cutter head extends out of the axial channel or retracts into the axial channel under the axial action of the cutter operating rod, and the cutter head can be operated to extend to the target position for cutting when the grippers grasp the ureter.

[0007] Furthermore, the gripper includes a gripper arm, and the two gripper arms are connected to the gripper operating rod through a transmission mechanism; the transmission mechanism includes a spur rack, a shaft head and an arcuate rack; the spur rack is arranged inside the axial channel, can be axially movably connected to the shaft rod, and is fixedly connected to the gripper operating rod, and slides along the axis of the shaft rod when driven by the gripper operating rod; the two shaft heads are fixedly connected to the shaft rod, forming a fan-shaped convex surface protruding toward the spur rack on the side of the gripper arm; one end of the arcuate rack is fixedly connected to the gripper arm, and the other end has a spherical surface matching the convex surface, and a tooth surface meshing with the spur rack, and the arcuate rack can rotate around the axis of the convex surface under the telescopic actuation of the spur rack, thereby driving the gripper arm to perform an opening and closing action.

[0008] Furthermore, the light beam emitting device includes a lens, two of the lenses are respectively connected to the two gripper arms, and are connected to the light source through optical fibers, and the lens is used to converge the light beam transmitted by the optical fiber into a straight line to form the light spot on the target object in front of the tool head.

[0009] Furthermore, the gripping arm is rotatably connected to a rotating seat, the lens is fixedly connected to the rotating seat, and the two rotating seats are connected by a spring leaf, which is used to drive the rotating seat to rotate when the two gripping arms are extended outward or closed inward, so that the output end of the lens is always facing directly in front of the tool head.

[0010] Furthermore, the spring sheet is an elastic sheet body, and the two ends of the spring sheet are respectively connected to the two rotating seats, the middle end of the spring sheet is bent toward the working position of the cutter head to form a first bending portion, and the portion between the first bending portion and the two ends of the spring sheet forms two opposite inclined rods, and the extension lines of the two inclined rods in the length direction are staggered at the working position of the cutter head. When the spring sheet is subjected to external force, the inclined rod rotates around the first bending portion, so that the lens connected to the inclined rod is always facing the working position of the cutter head.

[0011] Furthermore, the first bending portion is bent again toward the cutter head to form a second bending portion, and the second bending portion is used to make the spring sheet avoid the working part of the cutter head.

[0012] Furthermore, the rotating seat includes a lens connector, an optical fiber connector and a rotating shaft, the lens connector is fixedly connected to the lens, the optical fiber connector is fixedly connected to the optical fiber, and the rotating shaft is rotatably connected to the gripping arm, so that the rotating seat can swing toward or away from the position to be gripped by the gripper, and the rotating shaft is coaxially connected to a locking column, and the locking columns of the two rotating seats are connected by a spring.

[0013] Furthermore, the optical fiber is connected to the incident end of the lens, the output end of the lens faces the part to be cut and forms a spherical surface, and the light beam is converged in front of the lens through the focusing effect of the spherical surface.

[0014] Furthermore, the closed position of the gripper, the intersection position of the light beams and the extended position of the tool head are focused on one point.

[0015] Furthermore, the gripper operating rod can be axially slidably embedded in the inner side of the shaft rod, the cutter operating rod can be axially slidably embedded in the inner side of the gripper operating rod, and the optical fiber is arranged in a gap between the outer wall of the gripper operating rod and the inner wall of the shaft rod.

[0016] Compared with the prior art, this application has the following beneficial effects: A laparoscopic ureteral precision cutting device is provided. A light beam emitting device is integrated with a gripper and a cutter. The light beam emitting device is used to mark the target position when the gripper grasps. The field of view is then guided based on the mark to mark the target position of the ureter, so as to accurately determine the target position to be grasped and cut. This improves the accuracy of the mark and reduces the deviation of the cutter when cutting. In addition, the overall device has a high degree of structural integration, which is conducive to more accurate surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0018] Figure 1 A three-dimensional diagram of a working condition of an embodiment of the present invention; Figure 2 is a three-dimensional diagram of another working condition of an embodiment of the present invention; Figure 3 A top view of a working condition of an embodiment of the present invention; Figure 4 for Figure 3 Cross-sectional view in the AA direction; Figure 5 A top view of another working condition of an embodiment of the present invention; Figure 6 for Figure 5 Cross-sectional view in the BB direction; Figure 7 It is an assembly diagram of an embodiment of the present invention; Figure 8 A 3 / 4 cross-sectional view of a local structure of an embodiment of the present invention; The numbers in the figure represent the following: 1- shaft; 21-straight rack; 211-cross-shaped slide; 22-shaft head; 23-arc-shaped rack; 24-gripping arm; 25-gripping hand; 31-cutter head; 32-cooling water channel; 321-inflow water channel; 322-outflow water channel; 33-cooling water inlet; 34-cooling water outlet; 41-handle; 42-cutter operating lever; 421-finger pressing part; 43-gripper operating lever; 431-ring; 44-elastic connecting piece; 441-guide rod; 442-guide seat; 443-spring; 51-lens; 52-optical fiber; 53-rotating seat; 531-lens connector; 532-optical fiber connector; 533-rotating shaft; 534-clamping column; 54-spring. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] People need a cutting tool that can stably fix the ureter during laparoscopic surgery to improve the accuracy and efficiency of the surgery and reduce damage to the patient. Based on the above purpose, this embodiment provides a laparoscopic ureteral precision cutting device, which is designed to fix the ureteral stenosis before cutting the ureteral stenosis to avoid ureteral slippage when cutting the ureteral stenosis.

[0021] Figure 1 and Figure 2 Two stereoscopic images of the laparoscopic ureteral precision cutting device in different working conditions are shown. Figure 8 It is a 3 / 4 cross-sectional view of the laparoscopic ureteral precision cutting device, which is used to demonstrate the key design of the laparoscopic ureteral precision cutting device.

[0022] The laparoscopic ureteral precision cutting device includes an axis rod 1, which has an axial channel through which a cutter operating rod 42 and a gripper operating rod 43 that can move axially are arranged. The same end of the cutter operating rod 42 and the gripper operating rod 43 extends out of the axial channel and can be controlled. The other end of the cutter operating rod 42 is connected to a cutting head 31, and the other end of the gripper operating rod 43 is connected to two grippers 25 symmetrically arranged on both sides of the cutting head 31.

[0023] The two grippers 25 extend out of the axial passage or partially retract into the axial passage under the axial action of the gripper operating rod 43 , so that the two grippers 25 open when extended and close when retracted to grasp the ureter.

[0024] A light beam emitting device is disposed on each of the two grippers 25 . The light beams emitted by the two light beam emitting devices can be focused on the gripping positions of the two grippers 25 when they are closed to form light spots for marking the gripping positions.

[0025] When the light spot is aligned with the target position of the ureter, the two grippers 25 are operated to perform a closed gripping action.

[0026] The cutter head 31 is fixedly connected to the cutter operating rod 42. The cutter head 31 extends out of the axial channel or retracts into the axial channel under the axial action of the cutter operating rod 42. When the gripper 25 grips the ureter, the cutter head 31 can be operated to extend to the target position for cutting.

[0027] The present invention integrates a light beam emitting device with a gripper and a cutter, uses the light beam emitting device to mark the target position when the gripper grasps, and then guides the field of vision based on the mark to mark the target position of the ureter, so as to accurately determine the target position to be grasped and cut, thereby improving the accuracy of the mark and reducing the deviation of the cutter when cutting, and the whole device has a high degree of structural integration, which is conducive to more accurate surgery.

[0028] In other words, although the gripping position of the gripper is fixed, it is difficult to clearly judge with the naked eye or images. In this embodiment, the gripping position (equivalent to the cutting position) is marked by a light spot to guide the precise positioning of the entire cutting device.

[0029] In addition, a preferred embodiment is further provided for the gripping action of the gripper, so as to achieve: stable opening and closing actions, and the ability to accurately adjust the clamping angle to accommodate different ureteral strictures.

[0030] Specific, combined Figure 3 , Figure 4 , Figure 5 , Figure 6 .

[0031] The gripper 25 includes a gripper arm 24 . The gripper arms 24 of the two grippers 25 are connected to a gripper operating rod 43 via a transmission mechanism, so that the gripper operating rod 43 can drive the gripper arm 24 to perform the action of opening and closing.

[0032] The transmission mechanism includes a spur rack 21 , a shaft head 22 and an arc rack 23 .

[0033] The spur rack 21 is arranged inside the axial channel, is connected to the shaft rod 1 in an axially movable manner, and is fixedly connected to the gripper operating rod 43. When driven by the gripper operating rod 43, it slides along the axis of the shaft rod 1; the two shaft heads 22 are fixedly connected to the shaft rod 1, and a fan-ring-shaped convex surface protruding toward the spur rack 21 is formed on the side of the gripper arm 24.

[0034] One end of the arc-shaped rack 23 is fixedly connected to the gripping arm 24, and the other end has a spherical surface that matches the convex surface and a tooth surface that meshes with the spur rack 21. The arc-shaped rack 23 can rotate around the axis of the convex surface under the extension and contraction of the spur rack 21, thereby driving the gripping arm 24 to perform an opening and closing action.

[0035] The gripping arm 24 and the gripping hand 25 are made of flexible materials. The gripping arm 24 can buffer the impact of external forces on the device during movement, and the gripping hand 25 reduces the squeezing effect on tissue when clamping the ureter, thereby avoiding tissue damage. This design improves the safety and adaptability of the device.

[0036] The following is a description of the beam emitting device, combined with Figure 1 , Figure 2 , Figure 4 , Figure 6 , Figure 8 .

[0037] The light beam emitting device includes a lens 51. The two lenses 51 are respectively connected to the two gripping arms 24 and are connected to the light source through the optical fiber 52. The lens 51 is used to converge the light beam transmitted by the optical fiber 52 into a straight line to form a light spot on the target object in front of the tool head 31.

[0038] Furthermore, since the light spot moves up and down with the movement of the grasping arm 24, the light spot deviates from the front of the blade head 31. At the same time, the light beam will interfere with the doctor's vision when cutting ureteral tissue, affecting the doctor's judgment of the cutting depth of the blade head 31.

[0039] The solution to the above problem is: the lens 51 is rotatably connected to the gripping arm 24 through a rotating seat 53, and the rotating seat 53 can rotate by itself so that the two lenses 51 are always facing the middle of the two grippers 25 when the gripping arm 24 moves. When the two grippers 25 are closed, the two lenses 51 are just blocked by the gripping arm 24.

[0040] The rotating seat 53 realizes adaptive dynamic adjustment through the following structure: The lens 51 is fixedly connected to the rotating seat 53, and the two rotating seats 53 are connected to each other through a spring 54. The spring 54 is used to drive the rotating seat 53 to rotate when the two gripping arms 24 are expanded outward or closed inward, so that the emission end of the lens 51 is always facing the middle of the two gripping arms 25.

[0041] Specifically, the spring sheet 54 is an elastic sheet body, and the two ends of the spring sheet 54 are respectively connected to the two rotating seats 53. The middle end of the spring sheet 54 is bent toward the working position of the cutter head 31 to form a first bending portion. The portion between the first bending portion and the two ends of the spring sheet 54 forms two opposite inclined rods. The extension lines of the two inclined rods in the length direction are staggered at the working position of the cutter head 31. When the spring sheet 54 is subjected to external force, the inclined rod rotates around the first bending portion, so that the lens 51 connected to the inclined rod is always facing the working position of the cutter head 31.

[0042] The first bending portion is bent again toward the blade head 31 to form a second bending portion, and the second bending portion is used to make the reed 54 avoid the working part of the blade head 31 to prevent the reed 54 from contacting the ureter tissue.

[0043] Specifically, the rotating seat 53 includes a lens connector 531 , an optical fiber connector 532 , a rotating shaft 533 and a locking column 534 .

[0044] The lens connector 531 is fixedly connected to the lens 51 to ensure the stability of the light beam transmission. The optical fiber connector 532 is fixedly connected to the optical fiber 52 to transmit the light beam to the lens 51. The rotating shaft 533 is rotatably connected to the grasping arm 24 to facilitate the rotating seat 53 to adjust the direction of the lens 51. The two locking columns 534 are connected by a spring leaf 54, and the spring leaf 54 can adjust the angle of the rotating seat 53 through elastic deformation to achieve precise positioning of the light beam.

[0045] Through the above design, the closing position of the gripper 25, the intersection position of the two light beams and the extended position of the cutter head 31 are always concentrated at one point.

[0046] The following is a description of the connection relationship between the gripper operating rod 43, the cutter operating rod 42 and the shaft rod 1. Figure 4 , Figure 6 .

[0047] The gripper operating rod 43 is embedded in the inner side of the shaft 1 and can slide axially, the cutter operating rod 42 is embedded in the inner side of the gripper operating rod 43 and can slide axially, and the optical fiber 52 is arranged in the gap between the outer wall of the gripper operating rod 43 and the inner wall of the shaft 1, which ensures the light beam transmission without affecting the sliding of the operating rod.

[0048] To ensure the safe arrangement of the optical fiber 52 during the operation of the device, the following parts are provided with openings to avoid the optical fiber 52, including the shaft head 22, the arc-shaped rack 23 and the grab arm 24. The optical fiber 52 is connected to the lens 51 through these openings to ensure the stability of the light beam transmission without affecting the normal operation of the transmission mechanism.

[0049] Figure 7 The assembly diagram of the laparoscopic ureteral precision cutting device was presented. Figure 1 , Figure 2 and Figure 7 .

[0050] A handle 41 is provided at one end of the shaft rod 1 facing the operator. The handle 41 is columnar and is convenient for the operator to hold with his palm.

[0051] A collar 431 is provided on the gripper operating rod 43 for the index finger and the middle finger to be inserted into. The finger pressing portion 421 of the cutter operating rod 42 is arranged at the palm position, and the movements of the cutter head 31 and the gripper 25 are controlled by pushing and pulling.

[0052] The cutter operating lever 42 further includes a finger pressing portion 421 , which is disposed at a position where the operator's thumb is located when the operator's palm abuts against the grip 41 and the operator's index finger and middle finger are inserted into the ring 431 .

[0053] The cutter operating rod 42 is connected to the shaft 1 by an elastic connector 44. The elastic connector 44 can provide the cutter operating rod 42 with elastic force to move toward the operator when there is no external force. This design allows the cutter head 31 to remain in a retracted position and the gripper 25 to remain in a closed state, which facilitates the safe resetting of the device when not in operation and reduces the risk of misoperation.

[0054] Combination Figure 5 The elastic connecting member 44 includes: a guide rod 441, a guide seat 442 and a spring 443. The guide rod 441 is parallel to the cutter operating rod 42 and is fixedly connected to the finger pressure portion 421. The guide seat 442 is fixedly connected to the shaft 1. The guide seat 442 is slidably connected to the guide rod 441. The spring 443 is sleeved on the guide rod 441. The spring 443 is arranged on the side of the guide seat 442 facing the finger pressure portion 421, and the two ends of the spring 443 respectively abut against the finger pressure portion 421 and the guide seat 442.

[0055] Furthermore, the cutter head 31 is a flat sheet with a blade on one side, the cutter operating rod 42 is a flat rectangular shape, the width direction of the cutter head 31 is perpendicular to the width direction of the cutter operating rod 42, and a cross-shaped groove 211 is formed in the straight rack 21 to slide with the cutter head 31 and the cutter operating rod 42. The cross-shaped groove 211 can guide the extension and retraction direction of the cutter head 31 more accurately.

[0056] The cutter operating rod 42 has a built-in cooling water path 32, which is arranged along the length of the cutter operating rod 42 and includes an inlet water path 321 and an outlet water path 322. A cooling water inlet 33 and a cooling water outlet 34 are provided at one end of the cutter operating rod 42 away from the cutter head 31, and are connected to an external cooling water circulation system. The cooling water circulates through the cooling water path 32, effectively reducing the temperature of the cutter head 31, preventing tissue damage due to high temperature, and extending the service life of the cutter head.

[0057] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A laparoscopic ureteral precision cutting device, characterized in that: The invention comprises a shaft (1) having an axial passage extending therethrough, wherein a cutter operating rod (42) and a gripper operating rod (43) capable of axial movement are arranged in the axial passage, wherein the same end of the cutter operating rod (42) and the gripper operating rod (43) protrudes out of the axial passage and can be manipulated, the other end of the cutter operating rod (42) is connected to a cutter head (31), and the other end of the gripper operating rod (43) is connected to two grippers (25) symmetrically arranged on both sides of the cutter head (31); The two grippers (25) extend out of the axial channel or partially retract into the axial channel under the axial action of the gripper operating rod (43), so that the two grippers (25) open when extended and close when retracted to grasp the ureter; A light beam emitting device is provided on each of the two grippers (25), and the light beams emitted by the two light beam emitting devices can be focused on the gripping position when the two grippers (25) are closed to form a light spot for marking the gripping position; When the light spot is aligned with the target position of the ureter, the two grippers (25) are subjected to a closed gripping action; The cutter head (31) extends out of the axial channel or retracts into the axial channel under the axial action of the cutter operating rod (42); when the gripper (25) grips the ureter, the cutter head (31) can be operated to extend to a target position to perform a cutting action.

2. The laparoscopic ureteral precision cutting device according to claim 1, characterized in that: The gripper (25) comprises a gripper arm (24), and the two gripper arms (24) are connected to a gripper operating rod (43) via a transmission mechanism; The transmission mechanism comprises a spur rack (21), a shaft head (22) and an arc-shaped rack (23); The spur rack (21) is arranged inside the axial channel, is axially movably connected to the shaft (1), and is fixedly connected to the gripper operating rod (43), and slides along the axis of the shaft (1) when driven by the gripper operating rod (43); the two shaft heads (22) are fixedly connected to the shaft (1), and form a convex surface in the shape of a fan ring protruding toward the spur rack (21) on the side of the gripper arm (24); One end of the arc-shaped rack (23) is fixedly connected to the gripping arm (24), and the other end has a spherical surface that matches the convex surface and a tooth surface that meshes with the spur rack (21). The arc-shaped rack (23) can rotate around the axis of the convex surface under the extension and contraction action of the spur rack (21), thereby driving the gripping arm (24) to perform an opening and closing action.

3. The laparoscopic ureteral precision cutting device according to claim 2, characterized in that: The light beam emitting device comprises a lens (51), wherein the two lenses (51) are respectively connected to the two gripping arms (24) and are connected to the light source via an optical fiber (52), and the lens (51) is used to converge the light beam transmitted by the optical fiber (52) into a straight line, thereby forming the light spot on the target object in front of the tool head (31).

4. The laparoscopic ureteral precision cutting device according to claim 3, characterized in that: The gripping arm (24) is rotatably connected to a rotating seat (53), the lens (51) is fixedly connected to the rotating seat (53), and the two rotating seats (53) are connected via a spring leaf (54). The spring leaf (54) is used to drive the rotating seat (53) to rotate when the two gripping arms (24) are extended outwards or closed inwards, so that the emission end of the lens (51) always faces directly in front of the cutter head (31).

5. The laparoscopic ureteral precision cutting device according to claim 4, characterized in that: The leaf spring (54) is an elastic sheet body, and the two ends of the leaf spring (54) are respectively connected to the two rotating seats (53). The middle end of the leaf spring (54) is bent toward the working position of the cutter head (31) to form a first bent portion. The portion between the first bent portion and the two ends of the leaf spring (54) forms two opposing inclined rods. The extension lines of the two inclined rods in the length direction intersect at the working position of the cutter head (31). When the leaf spring (54) is subjected to an external force, the inclined rod rotates around the first bent portion, so that the lens (51) connected to the inclined rod is always facing the working position of the cutter head (31).

6. The laparoscopic ureteral precision cutting device according to claim 5, characterized in that: The first bent portion is bent again towards the cutter head (31) to form a second bent portion, and the second bent portion is used to make the reed (54) avoid the working part of the cutter head (31).

7. The laparoscopic ureteral precision cutting device according to claim 4, characterized in that: The rotating seat (53) comprises a lens connecting member (531), an optical fiber connecting member (532) and a rotating shaft (533); the lens connecting member (531) is fixedly connected to the lens (51); the optical fiber connecting member (532) is fixedly connected to the optical fiber (52); the rotating shaft (533) is rotatably connected to the gripping arm (24) so ​​that the rotating seat (53) can swing towards or away from a position to be gripped by the gripping hand (25); the rotating shaft (533) is coaxially connected to a locking column (534); and the locking columns (534) of the two rotating seats (53) are connected via a spring sheet (54).

8. The laparoscopic ureteral precision cutting device according to claim 3, characterized in that: The optical fiber (52) is connected to the incident end of the lens (51); the output end of the lens (51) faces the part to be cut and forms a spherical surface; the light beam converges in front of the lens (51) through the focusing effect of the spherical surface.

9. The laparoscopic ureteral precision cutting device according to claim 1, characterized in that: The closed position of the gripper (25), the intersection position of the light beams and the extended position of the tool head (31) are focused on one point.

10. The laparoscopic ureteral precision cutting device according to claim 3, characterized in that: The gripper operating rod (43) is axially slidably embedded in the inner side of the shaft (1), the cutter operating rod (42) is axially slidably embedded in the inner side of the gripper operating rod (43), and the optical fiber (52) is arranged in a gap between the outer wall of the gripper operating rod (43) and the inner wall of the shaft (1).

Images