An intra-abdominal instrument assembly system and device for laparoscopic surgery under pneumoperitoneum environment
By using intraperitoneal instrument assembly system in laparoscopic surgery, the efficiency and safety issues of surgical instrument replacement work heads in pneumocal environments are solved, and a more efficient and safer surgical process is achieved.
Patent Information
- Application Number
- CN202510186843.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-20
- Publication Date
- 2025-04-04
AI Technical Summary
In laparoscopic surgery, the prior art requires frequent puncture of the abdominal cavity when replacing the working head of the surgical instrument in a pneumocytosis environment, which will damage the pneumocytosis environment, resulting in low surgical efficiency, high risks and waste of resources.
It provides an intraabdominal instrument assembly system under a pneumoabdominal environment. The working end of the operating device is sent into the abdominal cavity by poking the card, and the assembly is completed in a pneumoabdominal environment, reducing the puncture steps and maintaining the pneumoabdominal environment.
It improves surgical efficiency, reduces surgical wounds, reduces the risk of postoperative rehabilitation, and avoids the need to build a pneumocytosis environment multiple times.
Smart Images
Figure CN119745482A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of laparoscopic surgery, and in particular to an intra-abdominal instrument assembly system and a device thereof under a pneumoperitoneum environment of laparoscopic surgery. Background Art
[0002] Laparoscopic surgery is a newly developed minimally invasive method and an inevitable trend in the development of surgical methods in the future. With the rapid development of industrial manufacturing technology, the integration of related disciplines has laid a solid foundation for the development of new technologies and methods. Coupled with the increasingly skilled operation of doctors, many open surgeries in the past have now been replaced by endoscopic surgeries, greatly increasing the opportunities for surgical selection. The traditional method of retroperitoneoscopic surgery is to make three small 1 cm incisions on the patient's waist, insert a tubular working channel called a trocar into each, and all subsequent operations are performed through these three channels; then use specially made extended surgical instruments to complete the same steps as open surgery under television monitoring to achieve the same surgical effect.
[0003] For some surgeries, surgical instruments with replaceable working heads can also be used to perform surgical operations by puncturing the abdominal cavity. In such operations, only one incision is required for the card to pass through, but in order to replace the working head, the surgical instrument still needs to be punctured into the abdominal cavity and then punctured out of the abdominal cavity. This operation is time-consuming and difficult to operate, and will still cause surgical trauma. Moreover, since abdominal surgery needs to be performed under a pneumoperitoneum environment, the operation of replacing the working head of the surgical instrument will destroy the original pneumoperitoneum environment. Reconstructing the pneumoperitoneum environment seriously reduces the efficiency of the operation, increases the risk of surgery, and also causes a waste of resources.
[0004] Therefore, there is an urgent need for an intra-abdominal instrument assembly method under the pneumoperitoneum environment of laparoscopic surgery to reduce surgical risks and improve surgical efficiency. Summary of the invention
[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides an intra-abdominal instrument assembly system and device under a pneumoperitoneum environment for laparoscopic surgery; the present invention uses an operating method for assembling an operating instrument in the abdominal cavity of a patient in a pneumoperitoneum environment, so that when the working end of the operating instrument is replaced, there is no need to pierce the patient's abdominal cavity, and there is no need to re-construct a pneumoperitoneum environment, which reduces at least one surgical wound, improves surgical efficiency, and has a significant improvement on the patient's postoperative recovery.
[0006] The present invention provides an intra-abdominal instrument assembly system and device under a pneumoperitoneum environment of laparoscopic surgery, specifically comprising: An incision unit is used to insert the stamp card and operate the instruments; A fixing unit, used to fix the initial positions of the poking card and the operating end of the operating device; the included angle between the central axis of the poking card and the central axis of the operating end of the operating device is M degrees; Image recognition and positioning unit, image acquisition is achieved through endoscope, used to obtain real-time images of the abdominal cavity, determine the spatial posture of the working end and the operating end of the operating instrument; The master control unit is used to connect the working end of the operating instrument and the operating end of the operating instrument.
[0007] Preferably, the master control unit includes a first control unit and a second control unit; the first control unit is used to adjust the posture of the operating end of the operating instrument so that the central axis of the operating end of the operating instrument is collinear with the central axis of the working end of the operating instrument; the second control unit is used to control the posture of the working end of the operating instrument so that the working end of the operating instrument is connected to the operating end of the operating instrument.
[0008] Preferably, the range of M is 90°≤M≤180°; Preferably, M=180°.
[0009] Preferably, the positioning method of the image recognition and positioning unit is ranging by a monocular camera, and the monocular camera is an endoscope.
[0010] A device for assembling intraperitoneal instruments in a laparoscopic surgical pneumoperitoneum environment, having the above-mentioned system, comprising: a single or multiple processors and a storage; the storage is used to store a single or multiple computer programs; when the single or multiple computer programs are executed by the single or multiple processors, the following method is implemented: S101, obtaining the initial positions of the working end and the operating end of the operating device through an image recognition positioning unit; S102, according to the positions of the operating end and the working end of the operating instrument, controlling the first control unit to adjust the posture of the working end so that the central axis of the working end is collinear with the central axis of the operating end.
[0011] Preferably, a sealing member is further included, wherein at least two channels are provided inside the sealing member for accessing the endoscope and the clamping portion; the sealing member is inserted into the puncture card and keeps the abdominal cavity sealed.
[0012] Preferably, the clamping portion comprises a tube body; the tube body is inserted into the sealing member, and the lower end of the tube body is movably connected with a clamping end, and an end of the clamping end away from the tube body is provided with a clamping opening.
[0013] Preferably, a clamping piece is provided inside the clamping end, the clamping piece is made of elastic material, and an installation space is provided inside the clamping piece.
[0014] Preferably, a clamping piece is provided inside the clamping end, the clamping piece is an airbag, and an installation space is provided inside the clamping piece.
[0015] Preferably, a connection port is provided at one end of the clamping end close to the tube body, and the clamping end is connected to a control member via the connection port, and the control member extends out of the outside of the clamping end along the tube body.
[0016] An operating instrument is used in the above-mentioned device, comprising an operating end and a working end; the operating end is detachably connected to the puncture head and the working end respectively.
[0017] Beneficial Effects
[0018] 1. In the present invention, an intra-abdominal instrument assembly system under the pneumoperitoneum environment of laparoscopic surgery is innovatively disclosed. The system delivers the working end of the operating instrument into the abdominal cavity of the patient under the pneumoperitoneum environment by poking a card, and completes the assembly of the operating instrument under the pneumoperitoneum environment. The pneumoperitoneum environment of the patient will not be destroyed due to the assembly of the operating instrument, and there is no need to use carbon dioxide gas multiple times to build the pneumoperitoneum environment, which effectively improves the work efficiency of abdominal surgery; 2. In the present invention, an innovative method is proposed for assembling the operating instrument in the abdominal cavity of the patient in a pneumoperitoneum environment, which eliminates the need for the operating instrument to pierce the patient's abdominal cavity, reduces at least one surgical wound, and significantly improves the patient's postoperative recovery; 3. The present invention innovatively discloses an intra-abdominal instrument assembly device under the pneumoperitoneum environment of laparoscopic surgery. The system can be placed in the device to form a clinical automated robot, thereby improving the efficiency of the operation. At the same time, it can ensure the standardization and automation of the surgical puncture stage and reduce the risk of the operation. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings of the embodiment are briefly introduced below.
[0020] The drawings described below are only related to some embodiments of the present invention, but are not intended to limit the present invention.
[0021] In the attached picture: Figure 1 A schematic flow chart of an intra-abdominal instrument assembly system under a pneumoperitoneum environment for laparoscopic surgery provided by an embodiment of the present invention is shown.
[0022] Figure 2 The invention shows an assembly process of an intra-abdominal instrument assembly device under a pneumoperitoneum environment for laparoscopic surgery provided by an embodiment of the present invention.
[0023] Figure 3 A cross-sectional schematic diagram of a poking card in an intra-abdominal instrument assembly device under a pneumoperitoneum environment for laparoscopic surgery provided by an embodiment of the present invention is shown.
[0024] Figure 4 The present invention shows an intra-abdominal instrument assembly device in a pneumoperitoneum environment for laparoscopic surgery provided by an embodiment of the present invention. Figure 3 A local enlarged schematic diagram of point A is shown in FIG.
[0025] Figure 5 A three-dimensional cross-sectional schematic diagram of a clamping end of an intra-abdominal instrument assembly device in a pneumoperitoneum environment for laparoscopic surgery provided by an embodiment of the present invention is shown.
[0026] Figure 6 A schematic diagram showing the connection between a working end and an operating end of an operating instrument in an intra-abdominal instrument assembly device under a pneumoperitoneum environment for laparoscopic surgery provided by an embodiment of the present invention is shown.
[0027] Figure 7 The invention shows an assembly flow chart of an intra-abdominal instrument assembly system under a pneumoperitoneum environment for laparoscopic surgery provided by an embodiment of the present invention.
[0028] List of main reference symbols A1, fixing unit; A2, image recognition and positioning unit; A3, master control unit; A31, first control unit; A32, second control unit; 1. Punch card; 2. Sealing member; 3. Endoscope; 4. Clamping portion; 401. Tube body; 402. Clamping end; 403. Control member; 404. Clamping member; 5. Working end; 6. Operating end. DETAILED DESCRIPTION
[0029] In order to make the purpose, scheme and advantages of the technical solution of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of specific embodiments of the present invention.
[0030] In some of the processes described in the specification and claims of the present invention and the above-mentioned figures, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish between different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit the "first" and "second" to be different types.
[0031] 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 those skilled in the art without creative work are within the scope of protection of the present invention.
[0032] like Figure 1 As shown, the present invention proposes an intra-abdominal instrument assembly system in a laparoscopic surgery pneumoperitoneum environment, comprising: An incision unit is provided, which is used to insert the puncture card 1 and the operating instrument; there are at least two incisions, preferably two, at least one of which is used to insert the puncture card 1; through this system, the instrument can be assembled in the patient's abdominal cavity, and in the surgical process that requires at least three incisions, the step of piercing the operating instrument from the abdominal cavity is reduced, and the surgical incision is reduced from at least three to at least two; The fixing unit A1 is used to fix the initial position of the poking card 1 and the operating end 6 of the operating instrument; the included angle between the central axis of the poking card 1 and the central axis of the operating end 6 of the operating instrument is M degrees; the use time of the fixing unit A1 is that after the pneumoperitoneum environment in the patient's abdominal cavity is completed, the poking card 1 and the operating end 6 of the operating instrument complete the puncture and enter the patient's abdominal cavity, as a preference, the poking card 1 and the operating instrument are in the same plane, and the case where the poking card 1 and the operating instrument are in the same plane is taken as an example throughout the text; the fixing unit A1 enables a certain angle M between the poking card 1 and the operating end 6 of the operating instrument, and the angle range is 90°≤M≤180°, preferably 180°, and the working end 5 of the operating instrument enters the abdominal cavity along the central axis of the poking card 1. When the angle between the poking card 1 and the operating end 6 of the operating instrument is 180°, the working end 5 of the operating instrument can be directly docked and connected with the operating end 6 of the operating instrument, and there is no need to adjust the posture of the working end 5 of the operating instrument; Image recognition and positioning unit A2, image acquisition is achieved through endoscope 3, used to obtain real-time images in the abdominal cavity, determine the spatial posture of the working end 5 and the operating end 6 of the operating instrument; the endoscope 3 and the working end 5 of the operating instrument enter the abdominal cavity together through the puncture card 1, when entering, the working end 5 of the operating instrument is within the field of view of the endoscope 3, until the working end 5 of the operating instrument approaches the operating end 6 of the operating instrument, and the advancement of the endoscope 3 and the working end 5 of the operating instrument is stopped; in the image data obtained by the endoscope 3, the positional relationship between the working end 5 and the operating end 6 can be located by a monocular camera distance measurement method; A master control unit A4, used to connect the working end 5 of the operating device and the operating end 6 of the operating device; The general control unit includes a first control unit A31 and a second control unit A32. The first control unit A31 is used to adjust the posture of the operating end 6 of the operating instrument so that the central axis of the operating end 6 of the operating instrument is collinear with the central axis of the working end 5 of the operating instrument; the second control unit A32 is used to control the posture of the working end 5 of the operating instrument so that the working end 5 of the operating instrument is connected to the operating end 6 of the operating instrument; at the same time, the second control unit A32 is used to control the operating instrument to approach the direction of the poking card 1.
[0033] In one embodiment, the range of M is 90°≤M≤180°; Preferably, M=180°.
[0034] In one embodiment, the positioning method of the image recognition and positioning unit A2 is distance measurement using a monocular camera, and the monocular camera is an endoscope 3 .
[0035] like Figure 7 As shown, an intraperitoneal instrument assembly device for laparoscopic surgery in a pneumoperitoneum environment comprises: a single or multiple processors and a storage device; the storage device is used to store a single or multiple computer programs; when the single or multiple computer programs are executed by the single or multiple processors, the following method is implemented: S101, obtaining the initial positions of the working end 5 and the operating end 6 of the operating instrument through the image recognition and positioning unit A2; the initial positions obtained at this time specifically refer to the positions when the working end 5 and the operating end 6 are in the abdominal cavity; Between method S101 and method S102, the following method is also implemented: The angle N between the central axes of the working end 5 and the operating end 6 is calculated by the information collected by the image recognition and positioning unit A2, and the angle required to be adjusted when the working end 5 changes its posture is determined according to the angle N. This angle is equal to the angle between the central axis of the poking card 1 and the central axis of the operating device when the poking card 1 and the operating device are fixed by the fixing unit A1; S102, according to the positions of the operating end 6 and the working end 5 of the operating instrument, controlling the first control unit A31 to adjust the posture of the working end 5 so that the central axis of the working end 5 is collinear with the central axis of the operating end 6; the first control unit A31 adjusting the posture of the working end 5 includes adjusting the distance and angle of the working end 5 relative to the operating end 6; Between method S102 and method S103, the following method is also implemented: When the central axes of the working end 5 and the operating end 6 are collinear and in contact with each other, the first control unit A31 drives the working end 5 to continue to advance a certain distance or rotate a certain angle; the certain distance or angle mentioned here refers to the distance or angle at which the working end 5 and the operating end 6 are completely connected; S103, control the first control unit A31 to connect the working end 5 with the operating end 6; the working end 5 and the operating end 6 are connected by plugging or threading; The above implementations are all performed in the patient's abdominal cavity, and the puncture card 1 is kept sealed.
[0036] like Figure 3 As shown, it also includes a sealing member 2, and at least two channels are opened inside the sealing member 2 for connecting the endoscope 3 and the clamping part 4; the sealing member 2 is inserted into the puncture card 1 and keeps the abdominal cavity sealed; the sealing member 2, the endoscope 3 and the clamping part 4 can slide or rotate, and when the sealing member 2 is inserted into the puncture card 1, it is located above the air blocking valve of the puncture card 1, and the air blocking valve of the puncture card 1 is pushed open by the endoscope 3 or the clamping part 4.
[0037] like Figure 2 and Figure 3 As shown, the clamping portion 4 includes a tube body 401; the tube body 401 is inserted into the sealing member 2, and the lower end of the tube body 401 is movably connected with a clamping end 402, and the end of the clamping end 402 away from the tube body 401 is provided with a clamping opening; the clamping end 402 is sealed with the tube body 401, and the clamping end 402 can move at multiple angles at one end of the tube body 401, and the clamping opening can clamp the working end 5 in a variety of ways.
[0038] like Figure 2 and Figure 5 As shown, a clamping member 404 is provided inside the clamping end 402 , the clamping member 404 is made of elastic material, and an installation space is provided inside the clamping member 404 ; the working end 5 is inserted into the installation space of the clamping member 404 , and the working end 5 is locked by the elasticity of the clamping member 404 .
[0039] In another embodiment, a clamping member 404 is provided inside the clamping end 402, the clamping member 404 is an airbag, and an installation space is provided inside the clamping member 404; the working end 5 is inserted into the installation space of the clamping member 404, and the working end 5 is locked by the pressure after the clamping member 404 is inflated.
[0040] like Figure 4 As shown, a connection port is provided at one end of the clamping end 402 close to the tube body 401, and the clamping end 402 is connected to a control component 403 through the connection port, and the control component 403 extends out of the outside of the clamping end 402 along the tube body 401; the control component 403 is connected to the above-mentioned second control unit A32, accepts the control of the system, and controls the angle of the clamping end 402. In one embodiment, the clamping end 402 and the control component 403 are connected by a universal joint.
[0041] like Figure 2 and Figure 6As shown, an operating instrument is used in the above-mentioned device, including an operating end 6 and a working end 5; the operating end 6 is detachably connected to the puncture head and the working end 5 respectively; as above, the puncture head and the working end 5 of the operating instrument can be replaced in the patient's abdominal cavity while maintaining a pneumoperitoneum environment through the above-mentioned device.
[0042] The above description is merely an exemplary embodiment of the present invention and is not intended to limit the protection scope of the present invention. The protection scope of the present invention is determined by the appended claims.
Claims
1. An intra-abdominal instrument assembly system for laparoscopic surgery under pneumoperitoneum, characterized in that: include: An incision unit for inserting a stamp card (1) and operating instruments; A fixing unit (A1), wherein after the poking card (1) and the operating end (6) of the operating instrument are placed into the abdominal cavity along the incision, the fixing unit (A1) fixes the initial positions of the poking card (1) and the operating end (6) of the operating instrument; An image recognition and positioning unit (A2) is used to obtain a real-time image of the inserted puncture card (1) and the operating end (6) of the operating instrument in the abdominal cavity, and to determine the spatial position of the working end (5) of the operating instrument entering the abdominal cavity through the puncture card (1) and the operating end (6) of the operating instrument entering the abdominal cavity through the incision; The main control unit (A3) is used to connect the working end (5) of the operating device and the operating end (6) of the operating device.
2. The intra-abdominal instrument assembly system for laparoscopic surgery in a pneumoperitoneum environment according to claim 1, characterized in that: The master control unit (A3) comprises a first control unit (A31) and a second control unit (A32); the first control unit (A31) is used to adjust the position of the operating end (6) of the operating device so that the central axis of the operating end (6) of the operating device is collinear with the central axis of the working end (5) of the operating device; and the second control unit (A32) is used to adjust the position of the working end (5) of the operating device so that the working end (5) of the operating device is connected to the operating end (6) of the operating device.
3. The intra-abdominal instrument assembly system for laparoscopic surgery in a pneumoperitoneum environment according to claim 1, characterized in that: The included angle between the central axis of the poking card (1) and the central axis of the operating end (6) of the operating device is M degrees, and the range of M is 90°≤M≤180°; Optionally, M=180°.
4. The intra-abdominal instrument assembly system for laparoscopic surgery in a pneumoperitoneum environment according to claim 1, characterized in that: The positioning method of the image recognition positioning unit (A2) is distance measurement using a monocular camera, and the monocular camera is an endoscope (3).
5. An intra-abdominal instrument assembly device for laparoscopic surgery in a pneumoperitoneum environment, comprising the system according to any one of claims 1 to 4, characterized in that: The device comprises: a single or multiple processors and a storage; the storage is used to store a single or multiple computer programs; when the single or multiple computer programs are executed by the single or multiple processors, the following method is implemented: S101, obtaining the initial positions of the working end (5) and the operating end (6) of the operating instrument through an image recognition positioning unit (A2); S102, according to the positions of the operating end (6) and the working end (5) of the operating instrument, controlling the first control unit (A31) to adjust the posture of the working end (5) so that the central axis of the working end (5) is collinear with the central axis of the operating end (6).
6. The device for assembling intraperitoneal instruments in a pneumoperitoneum environment for laparoscopic surgery according to claim 5, characterized in that: It also comprises a sealing member (2), wherein at least two channels are provided inside the sealing member (2) for receiving an endoscope (3) and a clamping portion (4); the sealing member (2) is inserted into the puncture card (1) and keeps the abdominal cavity sealed.
7. The device for assembling intraperitoneal instruments in a pneumoperitoneum environment for laparoscopic surgery according to claim 5, characterized in that: It also comprises a clamping portion (4); the clamping portion (4) comprises a tube body (401); the tube body (401) is inserted into the sealing member (2), and the lower end of the tube body (401) is movably connected to a clamping end (402), and an end of the clamping end (402) away from the tube body (401) is provided with a clamping opening.
8. The device for assembling intra-abdominal instruments in a pneumoperitoneum environment for laparoscopic surgery according to claim 7, characterized in that: A clamping piece (404) is provided inside the clamping end (402), the clamping piece (404) is made of elastic material, and an installation space is provided inside the clamping piece (404).
9. The device for assembling intra-abdominal instruments in a pneumoperitoneum environment for laparoscopic surgery according to claim 7, characterized in that: A clamping piece (404) is provided inside the clamping end (402), the clamping piece (404) is an air bag, and an installation space is provided inside the clamping piece (404).
10. The device for assembling intra-abdominal instruments in a pneumoperitoneum environment for laparoscopic surgery according to claim 7, characterized in that: A connection port is provided at one end of the clamping end (402) close to the tube body (401), and the clamping end (402) is connected to a control member (403) via the connection port. The control member (403) extends out of the outside of the clamping end (402) along the tube body (401).