Adjustable instrument arm for biomedical minimally invasive surgery

Abstract

The invention discloses an adjustable instrument arm for a biomedical minimally invasive surgery, and relates to the technical field of biomedicine. Comprising an instrument arm, an adapter block is arranged at the tail end of the instrument arm and used for installing a tail end operator, a plurality of adjusting blocks are arranged in the circumferential direction of the adapter block, each adjusting block is rotationally connected with the adapter block, meanwhile, each adjusting block is provided with a first-stage framework, and second-stage frameworks are rotationally installed on the first-stage frameworks; the adjusting block is provided with a buffer groove, and a buffer spring is installed in the buffer groove and connected with the first-stage framework. A plurality of adjusting grooves are formed in the instrument arm in the circumferential direction, and adjusting mechanisms are installed in the adjusting grooves and used for pulling the adjusting blocks to rotate, so that the first-stage framework is unfolded or folded. By means of the device, tissue and organs near an operation space can be effectively expanded, the operation view can be effectively exposed, the expanding degree can be accurately adjusted in a self-adaptive mode, convenient conditions are provided for smooth operation of an end effector, meanwhile, the buffering function is achieved, operation stability is guaranteed, and the operation risk caused by tremor is reduced.

Description

Technical Field

[0001] The present invention relates to the field of biomedical technology, and in particular to an adjustable instrument arm for biomedical minimally invasive surgery. Background Art

[0002] In the field of thoracic surgery, there are significant differences between traditional thoracotomy and minimally invasive surgery. Traditional thoracotomy usually requires an incision of about 20-30 cm in length on the chest. In comparison, minimally invasive thoracic surgery such as thoracoscopic surgery has obvious advantages. Taking thoracoscopic lobectomy as an example, the incision is mostly 1-3 cm and scattered throughout the chest, and the postoperative scar is not obvious. There is no need to destroy the ribs and muscle tissue on a large scale during the operation, which greatly reduces the trauma to the patient's body and is conducive to postoperative recovery.

[0003] From the perspective of surgical risk, the small incisions of minimally invasive surgery can effectively reduce the risk of complications. On the one hand, small incisions reduce the ways for bacteria on the skin surface to invade the chest cavity, reducing the chance of postoperative infection; on the other hand, surgical operations have little interference with the internal environment of the body, reducing the occurrence of a series of complications such as lung infection and pleural effusion.

[0004] In terms of surgical field of view, thoracoscopy or robotic surgery systems provide strong support for minimally invasive surgery. With the help of these advanced devices, the image inside the chest cavity can be magnified in high definition, allowing doctors to clearly observe the subtle tissue structure, accurately identify the lesion site and its relationship with the surrounding tissues, laying a solid foundation for scientific planning of surgical plans and safe implementation of surgical operations.

[0005] However, minimally invasive thoracic surgery also faces some challenges. The anatomical structure of the chest cavity is complex, and the blood vessels and bronchial branches are numerous and thin. For example, in thoracoscopic lobectomy, it is difficult to accurately align the head of the clamp with the blood vessels when dealing with the tiny blood vessels between lung segments. The slightest deviation may tear the blood vessels and cause intraoperative bleeding. Therefore, in minimally invasive surgery, surgical instruments such as clamps, tissue scissors, and dissectors are often used in conjunction with retractors. The main function of the retractor is to open the organs and tissues to expose the surgical field of view, but it is difficult to maintain a stable open state in actual operation. The patient's breathing movement and heartbeat may cause the retractor to shift or slip. Another problem that cannot be ignored is that the retractor and clamp are generally installed on different instrument arms. After entering the surgical area, different instruments are prone to collision, interfering with surgical operations, further compressing the limited surgical space, and affecting the surgical field of view. Summary of the invention

[0006] The purpose of the present invention is to solve the problems raised in the background technology and to propose an adjustable instrument arm for biomedical minimally invasive surgery.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions: An adjustable instrument arm for biomedical minimally invasive surgery, comprising: an instrument arm, a transfer block fixedly installed at the end of the instrument arm, the transfer block being used for fixedly connecting an end manipulator, a plurality of adjustment blocks evenly arranged along the circumference of the outer side wall of the transfer block, each adjustment block being rotatably connected to the transfer block, and a primary frame being installed on each adjustment block; One end of the primary frame close to the adjustment block is rotatably connected to the adjustment block, and at the same time, a primary plane section is provided at one end of the primary frame close to the adjustment block, and the rest of the primary frame except the primary plane section is a primary arc section, and the adjustment block is provided with a buffer groove on a side facing the primary plane section, and a buffer spring is fixedly installed in the buffer groove, and the buffer spring is connected to the primary frame; The secondary frame is rotatably mounted on one end of the primary frame away from the adjustment block, and an extension rod is provided at the end of the secondary frame; The outer side wall of the instrument arm has a plurality of adjustment grooves evenly arranged along its circumference at one end close to the adapter block, the adjustment grooves correspond to the positions of the adjustment blocks one by one, and an adjustment mechanism is installed in the adjustment groove to pull the adjustment block to rotate so that the primary frame is expanded or closed.

[0008] As a further solution of the present invention: after the primary frame is expanded, the bending direction of the primary arc segment is such that the concave side faces the end effector, and the secondary frame is arc-shaped as a whole, and after the secondary frame is expanded, the convex side faces the end effector; The connection between the secondary frame and the primary frame is arranged on one side of the concave portion of the primary frame.

[0009] As a further solution of the present invention: a gap is left between the primary plane section of the primary skeleton and the adjustment block for buffering.

[0010] As a further solution of the present invention: the adjustment mechanism includes a sliding block and an adjustment rod, the sliding block is slidably installed in the adjustment groove, the cross-section of the adjustment groove is T-shaped, the sliding block is a T-shaped block, matching the size of the adjustment groove, the sliding block is rotatably connected to one end of the adjustment rod, and the other end of the adjustment rod is rotatably connected to the adjustment block.

[0011] As a further solution of the present invention: a first electromagnet is installed in the sliding block, and a first electromagnet is also installed at one end of the adjustment slot close to the sliding block.

[0012] As a further solution of the present invention: a secondary plane segment is provided at the connection between the secondary skeleton and the primary skeleton, and the rest of the secondary skeleton except the secondary plane segment is a secondary arc segment, the end of the secondary plane segment is rotatably connected to the primary skeleton through a rotating shaft, and a second electromagnet is provided in the secondary plane segment, and the primary skeleton is respectively provided with second electromagnets at corresponding positions on both sides of the rotating shaft.

[0013] As a further solution of the present invention: an extension groove is provided at the end of the secondary arc segment, the extension rod is fixedly installed in the extension groove through a micro spring, a third electromagnet is installed at the position of the extension groove connected to the micro spring, and the third electromagnet is correspondingly provided at the end of the extension rod connected to the micro spring.

[0014] As a further solution of the present invention: pressure sensors are provided on the surfaces of the primary skeleton and the secondary skeleton.

[0015] As a further solution of the present invention: the primary skeleton and the secondary skeleton are made of PC-PU copolymer material.

[0016] Compared with the prior art, the present invention has the following advantages: 1. Efficient expansion and visual field exposure. The primary skeleton and the secondary skeleton in the present invention can be expanded during the operation, which can effectively expand the tissues and organs near the surgical space. In this way, the surgical field can be fully exposed, which provides convenient conditions for the end manipulator to smoothly carry out the surgical operation, and helps to improve the accuracy and efficiency of the surgical operation.

[0017] 2. The buffering function ensures stable operation. The primary and secondary frames have buffering function. While maintaining the expanded state, they can effectively offset the slight tremors caused by the patient's breathing movements and heartbeats. This feature protects the end effector from interference from the tremors of these physiological activities during operation, thereby ensuring the stability and accuracy of the surgical operation and reducing the surgical risks caused by tremors.

[0018] 3. Precise adaptive adjustment: The expansion degree of the primary and secondary skeletons is determined by the pressure sensed by the pressure sensors they are equipped with; and each primary and secondary skeleton can be adjusted independently; this design avoids the common problems in traditional expansion methods, such as insufficient expansion leading to insufficient visual exposure, or excessive expansion causing tissue tearing. It can accurately and adaptively adjust the expansion degree according to the actual needs of the operation, further improving the safety and success rate of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention when it is in a closed state; Figure 2 for Figure 1 The enlarged view of point A in the middle; Figure 3 It is a schematic diagram of the overall structure of the present invention when it is in an expanded state; Figure 4 for Figure 3 The enlarged view of point B in the middle; Figure 5It is a schematic diagram of the three-dimensional structure of the present invention when multiple primary skeletons and secondary skeletons are in an expanded state; Figure 6 It is a schematic diagram of the three-dimensional structure of a single primary skeleton and a secondary skeleton of the present invention when they are in an expanded state; Figure 7 It is a schematic diagram of the three-dimensional structure of the present invention when a single primary frame is in an expanded state and a secondary frame is in a closed state; Figure 8 It is a schematic diagram of the three-dimensional structure of a single primary skeleton and a secondary skeleton of the present invention when they are closed; Fig. 9 It is a front view structural diagram of a single primary skeleton and a secondary skeleton of the present invention; Fig.10 for Fig. 9 Enlarged view of point C in the middle; Fig.11 for Fig.10 The enlarged view of C1 in the middle; Fig.12 for Fig. 9 The enlarged view of point D in the middle; Fig.13 for Fig.12 The enlarged view of D1 in the middle; Fig.14 for Fig. 9 Enlarged view of point E in the middle; Fig.15 It is a schematic diagram of the connection structure of the adjustment mechanism, the primary skeleton and the secondary skeleton of the present invention; Fig.16 for Fig.15 The enlarged view of F in the middle; Fig.17 for Fig.15 Enlarged view of G in the middle; Fig.18 This is a schematic diagram of the distribution of the adjustment slots; Fig.19 for Fig.18 Schematic diagram of the cross section of the middle adjustment slot.

[0020] In the figure: 1. instrument arm; 11. adapter block; 12. adjustment slot; 121. sliding block; 122. adjustment rod; 2. end effector; 3. adjustment block; 31. buffer slot; 311. buffer spring; 4. primary skeleton; 41. primary plane segment; 42. primary arc segment; 5. secondary skeleton; 51. secondary plane segment; 511. rotating shaft; 52. secondary arc segment; 6. extension rod; 61. extension slot; 611. micro spring; 7. first electromagnet; 71. second electromagnet; 72. third electromagnet. DETAILED DESCRIPTION

[0021] 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.

[0022] Reference Figure 1 - Fig.19 An adjustable instrument arm for biomedical minimally invasive surgery includes an instrument arm 1, a transfer block 11 is fixedly installed at the end of the instrument arm 1, and the transfer block 11 is used to fix and connect an end effector 2, and the end effector 2 can be a surgical instrument such as a clamp, a tissue scissors, and a stripper. Figure 1 - Fig.19 Only the state of the instrument arm 1 when the end effector 2 is a clamp is shown.

[0023] A plurality of adjustment blocks 3 are evenly arranged on the outer wall of the adapter block 11 along its circumference, and each adjustment block 3 is rotatably connected to the adapter block 11. At the same time, a primary skeleton 4 is installed on each adjustment block 3. The plurality of primary skeletons 4 are radially distributed on the adapter block 11, and the whole is like an umbrella rib when expanded; a plurality of adjustment grooves 12 are evenly arranged on the outer wall of the instrument arm 1 along its circumference at one end close to the adapter block 11, and the adjustment grooves 12 correspond to the positions of the adjustment blocks 3 one by one, and an adjustment mechanism is installed in the adjustment groove 12 for pulling the adjustment block 3 to expand or close the primary skeleton 4.

[0024] The adjustment mechanism includes a sliding block 121 and an adjustment rod 122. The sliding block 121 is slidably installed in the adjustment groove 12. The cross-section of the adjustment groove 12 is T-shaped. The sliding block 121 is a T-shaped block, which matches the size of the adjustment groove 12. The sliding block 121 is rotationally connected to one end of the adjustment rod 122, and the other end of the adjustment rod 122 is rotationally connected to the adjustment block 3. The adjustment rod 122 is hidden in the adjustment groove 12. When the sliding block 121 slides back and forth, the adjustment rod 122 moves accordingly, thereby pulling the adjustment block 3 to rotate.

[0025] Since the first electromagnet 7 is installed in the sliding block 121, the first electromagnet 7 is also installed at the end of the adjusting slot 12 close to the sliding block 121. In the initial state, the first electromagnet 7 in the sliding block 121 and the first electromagnet 7 in the adjusting slot 12 are magnetically attracted to each other. At this time, the sliding block 121 fits with the end of the adjusting slot 12, and the primary frame 4 is in a closed state (such as Figure 1 As shown), when the sliding block 121 needs to be moved to open the primary frame 4, the current direction of the first electromagnet 7 in the adjustment slot 12 is changed to repel the sliding block 121, and the repulsive force generated will push the sliding block 121 to move toward the adjustment block 3; By changing the current in the two first electromagnets 7, the repulsive force between the two first electromagnets 7 can be changed, so that the moving distance of the sliding block 121 can be controlled, and the moving distance of the sliding block 121 determines the rotation angle of the adjustment block 3, and also determines the expansion range of the primary frame 4; Since a pressure sensor is provided on the surface of the primary skeleton 4 (a flexible film pressure sensor or an array multi-point pressure sensor can be used), the primary skeleton 4 is used to support the tissues and organs around the surgical area after being expanded. Therefore, the first electromagnet 7 will adjust the magnitude and direction of its own current according to the detection data of the pressure sensor of the primary skeleton 4, so as to accurately and adaptively adjust the expansion degree.

[0026] Each primary frame 4 is equipped with an independent sliding block 121 and an adjusting rod 122, so the expansion degree of each primary frame 4 can be adjusted individually. In addition, the diameter of the part of the adapter block 11 where the adjusting block 3 is installed is smaller than the diameter of the instrument arm 1. This design can minimize the size of the primary frame 4 after closing, making it easy to reach the surgical area through a surgical incision and a puncture catheter.

[0027] Reference Figure 5 - Fig.11 The end of the primary skeleton 4 close to the adjusting block 3 is rotatably connected to the adjusting block 3. At the same time, a primary plane section 41 is provided at the end of the primary skeleton 4 close to the adjusting block 3. The rest of the primary skeleton 4 except the primary plane section 41 is a primary arc section 42. The adjusting block 3 is provided with a buffer groove 31 on the side facing the primary plane section 41. A buffer spring 311 is fixedly installed in the buffer groove 31, and the buffer spring 311 is connected to the primary skeleton 4; the secondary skeleton 5 is rotatably installed at the end of the primary skeleton 4 away from the adjusting block 3.

[0028] A gap is left between the primary plane section 41 of the primary skeleton 4 and the adjustment block 3 for buffering, because the primary skeleton 4 is used to support the surrounding tissues and organs after being expanded. When the surrounding tissues and organs vibrate due to the patient's breathing movement and heartbeat, the primary skeleton 4 vibrates accordingly, and the buffer spring 311 at the bottom of the primary skeleton 4 can play a buffering role, offsetting the vibration of the primary skeleton 4 through its own deformation, thereby preventing the vibration of the primary skeleton 4 from affecting the stability of the instrument arm 1, the adapter block 11 and the end effector 2, especially avoiding affecting the end effector 2 (the end effector 2 can be a surgical instrument such as a clamp, a tissue scissors, a stripper, etc.).

[0029] The surfaces of the primary skeleton 4 and the secondary skeleton 5 are smoothed, and the primary skeleton 4 and the secondary skeleton 5 are made of PC-PU copolymer material. First, PC-PU copolymer has high strength and toughness, and can withstand the force required to expand the tissue. Secondly, this material has a certain elasticity. When facing the vibration caused by the patient's breathing movement and heartbeat, it can buffer these external forces through its own elastic deformation. Moreover, its elastic recovery ability can ensure that it quickly returns to the original expanded state after the vibration, maintains the stability of the surgical space, and provides a good operating environment for the end effector 2. In addition, in the physiological environment of the chest cavity, PC-PU copolymer exhibits good biological stability. At the same time, it has good compatibility with human tissue, reduces stimulation and damage to tissue, and helps the recovery of patients after surgery.

[0030] After the primary skeleton 4 is expanded, the bending direction of the primary arc segment 42 is that the concave side faces the end effector 2, and the convex side is used to expand the tissue. The secondary skeleton 5 is an arc as a whole, and the convex side of the secondary skeleton 5 faces the end effector 2 after the expansion (such as Figure 5 As shown), the concave side is used to stretch the tissue; the connection between the secondary skeleton 5 and the primary skeleton 4 is arranged on the concave side of the primary skeleton 4.

[0031] A secondary plane section 51 is provided at the connection between the secondary skeleton 5 and the primary skeleton 4. The rest of the secondary skeleton except the secondary plane section 51 is a secondary arc section 52. The end of the secondary plane section 51 is rotatably connected to the primary skeleton 4 through a rotating shaft 511, and a second electromagnet 71 is provided in the secondary plane section 51. The primary skeleton 4 is respectively provided with second electromagnets 71 at corresponding positions on both sides of the rotating shaft 511.

[0032] The function of the second electromagnet 71 is to control the opening and closing of the secondary skeleton 5. The secondary skeleton 5 is initially in a closed state. When the secondary skeleton 5 needs to be opened, the second electromagnet 71 on the primary skeleton 4 close to the secondary skeleton 5 can be repelled from the second electromagnet 71 on the secondary skeleton 5. At the same time, the second electromagnet 71 on the primary skeleton 4 away from the secondary skeleton 5 is attracted to the secondary skeleton 5. The secondary skeleton 5 will gradually open under the influence of repulsive force on one side and attractive force on the other side. A pressure sensor is provided on the surface of the secondary skeleton 5, and the current in the second electromagnet 71 is determined by the detection data of the pressure sensor on the secondary skeleton 5 (a micro motor can also be set to drive the secondary skeleton 5 to open).

[0033] An extension rod 6 is provided at the end of the secondary skeleton 5, and an extension groove 61 is provided at the end of the secondary arc segment 52. The extension rod 6 is fixedly installed in the extension groove 61 through a micro spring 611. The extension groove 61 is provided with a third electromagnet 72 at the position where the micro spring 61 is connected. The extension rod 6 is provided with a third electromagnet 72 at the end connected to the micro spring 611.

[0034] The third electromagnet 72 on the extension rod 6 and the third electromagnet 72 in the extension slot 61 magnetically repel each other. By controlling the magnitude of the current in the third electromagnet 72 , the extension length of the extension rod 6 can be controlled.

[0035] When using this application, the working steps are as follows: S1: Insert the instrument arm 1 into the surgical area; S2: The primary frame 4 is gradually expanded. During the expansion process, the pressure sensor on the primary frame 4 senses the pressure on itself in real time. When the pressure reaches the set value, the expansion stops. S3: Observe the surgical area through the endoscope, and then control the extension rod 6 to extend to a suitable length; S4: The secondary skeleton 5 is gradually expanded. During the expansion process, the pressure sensor on the secondary skeleton 5 senses the pressure on itself in real time. When the pressure reaches a set value, the expansion stops. S5: End effector 2 performs surgical operation; S6: The end effector 2 finishes the surgical operation and before taking out the instrument arm 1, it first closes the secondary frame 5, then retracts the extension rod 6, and finally closes the primary frame 4; S7: Finally, the instrument arm 1 is removed.

[0036] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An adjustable instrument arm for biomedical minimally invasive surgery, comprising an instrument arm (1), characterized in that: An adapter block (11) is fixedly mounted at the end of the instrument arm (1), and the adapter block (11) is used for fixedly connecting to the end manipulator (2). A plurality of adjustment blocks (3) are evenly arranged along the circumference of the outer wall of the adapter block (11), and each adjustment block (3) is rotatably connected to the adapter block (11). At the same time, a primary frame (4) is mounted on each adjustment block (3); One end of the primary skeleton (4) close to the adjustment block (3) is rotatably connected to the adjustment block (3); at the same time, a primary plane section (41) is provided at the end of the primary skeleton (4) close to the adjustment block (3); the rest of the primary skeleton (4) except the primary plane section (41) is a primary arc section (42); the adjustment block (3) is provided with a buffer groove (31) on a side facing the primary plane section (41); a buffer spring (311) is fixedly installed in the buffer groove (31); and the buffer spring (311) is connected to the primary skeleton (4); A secondary frame (5) is rotatably mounted on one end of the primary frame (4) away from the adjustment block (3), and an extension rod (6) is provided at the end of the secondary frame (5); The outer wall of the instrument arm (1) has a plurality of adjustment grooves (12) evenly arranged along its circumference at one end close to the adapter block (11), the adjustment grooves (12) corresponding to the positions of the adjustment blocks (3) one by one, and an adjustment mechanism installed in the adjustment groove (12) for pulling the adjustment block (3) to rotate, so that the primary frame (4) is expanded or closed.

2. The adjustable instrument arm for biomedical minimally invasive surgery according to claim 1, characterized in that: After the primary frame (4) is expanded, the bending direction of the primary arc segment (42) is such that the concave side faces the end effector (2); the secondary frame (5) is arc-shaped as a whole, and after the secondary frame (5) is expanded, the convex side faces the end effector (2); The connection between the secondary frame (5) and the primary frame (4) is arranged on the concave side of the primary frame (4).

3. The adjustable instrument arm for biomedical minimally invasive surgery according to claim 2, characterized in that: A gap is left between the primary plane section (41) of the primary frame (4) and the adjustment block (3) for buffering.

4. The adjustable instrument arm for biomedical minimally invasive surgery according to claim 3, characterized in that: The adjustment mechanism comprises a sliding block (121) and an adjustment rod (122); the sliding block (121) is slidably mounted in the adjustment slot (12); the cross section of the adjustment slot (12) is T-shaped; the sliding block (121) is a T-shaped block, the size of which matches that of the adjustment slot (12); the sliding block (121) is rotatably connected to one end of the adjustment rod (122); and the other end of the adjustment rod (122) is rotatably connected to the adjustment block (3).

5. The adjustable instrument arm for biomedical minimally invasive surgery according to claim 4, characterized in that: A first electromagnet (7) is installed in the sliding block (121), and the first electromagnet (7) is also installed at one end of the adjustment slot (12) close to the sliding block (121).

6. The adjustable instrument arm for biomedical minimally invasive surgery according to claim 5, characterized in that: A secondary plane section (51) is provided at the connection between the secondary frame (5) and the primary frame (4); the rest of the secondary frame except the secondary plane section (51) is a secondary arc section (52); the end of the secondary plane section (51) is rotatably connected to the primary frame (4) via a rotating shaft (511); a second electromagnet (71) is provided in the secondary plane section (51); and the primary frame (4) is provided with second electromagnets (71) at corresponding positions on both sides of the rotating shaft (511).

7. The adjustable instrument arm for biomedical minimally invasive surgery according to claim 6, characterized in that: An extension slot (61) is provided at the end of the secondary arc segment (52); the extension rod (6) is fixedly mounted in the extension slot (61) via a micro spring (611); a third electromagnet (72) is mounted in the extension slot (61) at a position connected to the micro spring (611); and the extension rod (6) is correspondingly provided with the third electromagnet (72) at one end connected to the micro spring (611).

8. The adjustable instrument arm for biomedical minimally invasive surgery according to claim 7, characterized in that: Pressure sensors are provided on the surfaces of the primary skeleton (4) and the secondary skeleton (5).

9. The adjustable instrument arm for biomedical minimally invasive surgery according to claim 8, characterized in that: The primary skeleton (4) and the secondary skeleton (5) are made of PC-PU copolymer material.

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