Uterine manipulator and automatic uterus lifting system

Abstract

The invention relates to a uterus lifting device and an automatic uterus lifting system. The uterus lifting device comprises a fixed uterus lifting body, a movable uterus lifting body and a control mechanism. The control mechanism drives the movable uterus lifting body to be coaxially spliced to the fixed uterus lifting body and pushes the fixed uterus lifting body and the movable uterus lifting body which are in the spliced state to be jointly inserted into the vagina of the human body and reach the cervix uteri opening, and the fixed uterus lifting body is clamped to the vagina of the human body in a sealed mode and fixes and seals the cervix uteri. The control mechanism drives the movable uterus lifting body to be axially away from the fixed uterus lifting body by a certain distance in the vagina of the human body. And the fixed uterus lifting body is driven by the control mechanism to be separated from the human body and take out the cut tissue. The uterus lifting body is hermetically clamped at the joint of the vagina and the cervix uteri of the human body and fixedly wraps the upper sections of the cervix uteri and the vagina, so that the uterus lifting body can be prevented from being easily rubbed with diseased tissues, uterus lifting operation can be normally carried out, the diseased tissues at the part can be prevented from falling off during an operation, and the cut tissues can be taken out more easily; the operation efficiency is improved, and the risks of infection and tumor cell shedding are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical assistance instruments, and particularly to a uterine manipulator and an automatic uterine manipulation system. Background Art

[0002] Hysterectomy is a common treatment method in the field of gynecology, especially playing an important role in the treatment of diseases such as cervical cancer. In order to fully expose the surgical field and provide necessary operating space during the operation, uterine manipulators are widely used as auxiliary instruments to achieve the lifting and swaying of the uterus, facilitating doctors' operations in the abdominal and pelvic cavities. However, in recent years, the potential negative impacts of traditional uterine manipulators in cervical cancer surgery have been increasingly emphasized.

[0003] The results of the LACC trial published in the New England Journal in 2018 showed that for early-stage cervical cancer patients, the prognosis of laparoscopic surgery was significantly worse than that of open surgery. After in-depth analysis by researchers, it was considered that one of the important reasons for this difference was that traditional uterine manipulators might cause the shedding and dissemination of cervical tumor cells during laparoscopic radical hysterectomy. In traditional uterine manipulators, especially the "cup-shaped" structure in contact with the cervix at the front end, inevitably rubs against cervical tumor tissues during the surgical operation. This continuous frictional force is considered the key factor leading to the shedding of tumor cells, and the shed tumor cells may implant and metastasize in the pelvic and abdominal cavities, thereby reducing the postoperative survival rate of patients and directly affecting the treatment effect of the operation.

[0004] In order to avoid the risk of tumor cell shedding that traditional uterine manipulators may bring, some doctors have begun to try to abandon the use of uterine manipulators in cervical cancer surgery and instead adopt methods such as intraperitoneal suspension of the uterus or new technologies such as intraperitoneal suspension brackets to assist surgical operations. These alternative solutions can, to a certain extent, avoid the direct contact between the uterine manipulator and cervical tumors and reduce the risk of tumor cell shedding.

[0005] However, abandoning the uterine manipulator has also brought some new problems. First, the flexible swaying and lifting functions of the uterine manipulator on the uterus during the operation are difficult to fully replace by methods such as intraperitoneal suspension. This flexible operability is crucial for fully exposing the surgical field, especially the surgical field in the deep part of the pelvic and abdominal cavities, directly affecting the convenience and accuracy of surgical operations. Second, although existing intraperitoneal suspension technologies can fix the uterus, they lack effective closure of the cervical os and the upper part of the vagina and still cannot solve the potential risk of cervical cancer cells shedding and spreading through the cervical os during the operation.

[0006] Therefore, how to retain the advantages of flexible manipulation of the uterus by the uterine manipulator in cervical cancer surgery and effectively prevent the shedding of pathological tissues such as tumor cells has become an urgent technical problem to be solved. Summary of the Invention

[0007] In order to solve the technical problems of the above-mentioned prior art, the present invention provides a uterine manipulator and an automatic uterine manipulator system, which can not only prevent the uterine manipulator from easily rubbing against the diseased tissue, but also perform the uterine manipulator operation normally, and can prevent the diseased tissue in this part from falling off during the operation, but also can remove the removed tissue more easily and quickly, thereby effectively improving the efficiency of the operation and reducing the risk of infection and tumor spread.

[0008] The present invention discloses a uterine manipulator, comprising:

[0009] Fixed uterus erector, used to enter the human vagina;

[0010] The movable uterine erector is coaxially docked with the fixed uterine erector and is used to follow the fixed uterine erector into the human vagina;

[0011] A control mechanism is connected to the fixed uterine erection body and the movable uterine erection body through transmission, and the insertion positions of the fixed uterine erection body and the movable uterine erection body are adjusted by the movement of the control mechanism;

[0012] Among them, the control mechanism drives the movable uterine erection body to be coaxially assembled with the fixed uterine erection body and pushes the assembled fixed uterine erection body and the movable uterine erection body to be inserted into the human vagina and reach the cervical opening, so that the fixed uterine erection body is sealed and clamped in the human vagina and fixes and closes the cervix; the control mechanism drives the movable uterine erection body to be axially away from the fixed uterine erection body by a certain distance in the human vagina; the control mechanism drives the fixed uterine erection body to be separated from the human body and take out the removed tissue.

[0013] According to a uterine manipulator of the present invention, the outer periphery of the fixed uterine manipulator is wrapped with a medical silicone sleeve, and the fixed uterine manipulator is tightly fitted to the inner wall of the human vagina through the elastic outer wall of the medical silicone sleeve.

[0014] According to a uterine manipulator of the present invention, an annular inflatable body is arranged inside the fixed uterine manipulator; the annular inflatable body surrounds and supports the inner wall of the medical silicone sleeve, and the annular inflatable body is connected to an external inflatable device through an inflatable tube.

[0015] According to a uterine manipulator of the present invention, the control mechanism includes an angle adjustment mechanism and / or an opening and closing mechanism and / or a transverse movement mechanism and / or a lifting mechanism; the insertion angle of the fixed uterine manipulator and the movable uterine manipulator is adjusted by the angle adjustment mechanism; the fixed uterine manipulator and the movable uterine manipulator are driven to open and close with each other by the opening and closing mechanism; the lateral positions of the fixed uterine manipulator and the movable uterine manipulator are adjusted by the transverse movement mechanism; and the vertical positions of the fixed uterine manipulator and the movable uterine manipulator are adjusted by the lifting mechanism.

[0016] According to a uterine manipulator of the present invention, the angle adjustment mechanism includes a cable reel, a traction rope and a first connecting arm; the end of the first connecting arm is hinged with a second connecting arm; the fixed uterine manipulator and the movable uterine manipulator are coaxially arranged on the first connecting arm; the cable reel is arranged on the second connecting arm; one end of the traction rope is wound around the cable reel, and the other end is fixedly connected to the first connecting arm; the traction rope is retracted and released by the cable reel and the deflection angle of the first connecting arm is adjusted to adjust the insertion angle of the fixed uterine manipulator and the movable uterine manipulator.

[0017] According to a uterine manipulator of the present invention, the opening and closing mechanism includes a first motor slider, and the outer wall of the first connecting arm is formed with a thread; the first motor slider is engaged with the thread on the first connecting arm and is connected to the movable uterine manipulator to drive the movable uterine manipulator to move away from or approach the fixed uterine manipulator along the length direction of the first connecting arm.

[0018] According to a uterine manipulator of the present invention, the first connecting arm and the second connecting arm are hinged to each other via a universal joint; wherein the universal joint can deflect up and down to allow the traction rope to be retracted and extended up and down; and the traction rope can swing left and right to allow the universal joint to be deflected left and right.

[0019] A uterine manipulator according to the present invention also includes a fixed base for fixedly connecting to an operating bed; the lifting mechanism includes a third motor slider, a third connecting arm and a lifting tube; the third connecting arm is vertically fixed on the fixed base; the third motor slider is arranged at the lower end of the lifting tube, and the working height of the fixed uterine manipulator and the movable uterine manipulator are controlled by the lifting tube; a thread is formed on the outer wall of the third connecting arm, and the third motor slider is engaged with the thread of the third connecting arm to drive the lifting tube to move up and down.

[0020] According to a uterine manipulator of the present invention, the transverse movement mechanism includes a second motor slider and the second connecting arm; the transverse working positions of the fixed uterine manipulator and the movable uterine manipulator are controlled by the second connecting arm; the second motor slider is fixed to the upper end of the lifting tube; the second motor slider is engaged with the thread of the second connecting arm to drive the second connecting arm to move transversely.

[0021] According to a uterine manipulator of the present invention, the first motor slider, the second motor slider and the third motor slider each include a stepper motor, a gear set and a translation gear, the motor is connected to the translation gear through the gear set, and the inner ring of the translation gear is provided with a thread meshing with the first connecting arm / the second connecting arm / the third connecting arm.

[0022] The present invention provides an automatic uterine lifting system, characterized by comprising:

[0023] The first control module is electrically connected to the first motor slider;

[0024] The second control module is electrically connected to the second motor slider;

[0025] The third control module is electrically connected to the third motor slider;

[0026] The fourth control module is electrically connected to the cable winder;

[0027] Wherein: before performing the resection surgery, the second control module, the third control module and the fourth control module cooperate to control the operation of the second motor slider, the third motor slider and the cable winder, so as to drive the fixed uterine manipulator and the movable uterine manipulator to move to the required spatial position and enter the human vagina and reach the cervical orifice; during the resection surgery, the first control module controls the operation of the first motor slider to drive the movable uterine manipulator to move a certain distance away from the fixed uterine manipulator in the human vagina; after the resection surgery is completed, the second control module and the third control module cooperate to control the operation of the second motor slider and the third motor slider to drive the fixed uterine manipulator and the movable uterine manipulator to leave the human vagina and the cervical orifice, and at the same time the fourth control module controls the cable winder to release the tension of the cable winder on the first connecting arm, so as to cause the fixed uterine manipulator and the movable uterine manipulator to slide out naturally along the human vagina by their own gravity.

[0028] A uterine manipulator of the present invention constructs a physical barrier in the surgical area by sealing the inner wall of the vagina and sealing the cervix with the fixed uterine manipulator body 1, thereby effectively preventing cervical tumor cells from falling off and spreading in the human body during surgical operations. In addition, the fixed uterine manipulator body 1 in a fixed state is not prone to friction with the diseased tissue of the cervix, which fundamentally solves the major hidden danger of traditional uterine manipulators that may cause tumor cell dissemination, significantly improves the safety of cervical cancer surgery, and improves the patient's recovery. This is a technical effect that cannot be achieved by traditional uterine manipulators and alternative solutions such as intra-abdominal suspension, thereby significantly reducing the risk of cervical cancer cells falling off and improving surgical safety. In addition, while achieving cervical closure, the fixed uterine lifting body 1 that is sealed and clamped to the inner wall of the human vagina can still retain the basic form and operation mode of the uterine lifting device, and can easily achieve precise adjustment of the insertion position of the uterine lifting device through the control mechanism, as well as the relative movement control of the movable uterine lifting body 2 and the fixed uterine lifting body 1, so that the doctor can still flexibly lift and swing the uterus, fully expose the surgical field, ensure the convenience and accuracy of the surgical operation, overcome the shortcomings of insufficient operational flexibility of alternative solutions such as intra-abdominal suspension, and thus take into account the flexibility and accuracy of uterine operation. In addition, the control mechanism drives the movable uterine lifting body 2 axially away from the fixed uterine lifting body 1 by a certain distance to form a controllable surgical space in the human vagina, providing sufficient cutting space for the operation of surgical instruments, avoiding the collision of cutting instruments with the uterine lifting device body, improving the fluency and safety of surgical operations, and providing guarantees for refined operations, thereby improving surgical efficiency. Furthermore, by utilizing the structural characteristics of the fixed uterine erection body 1 to seal and clamp the fixed uterine erection body 1 in the human vagina, after the lesion tissue is removed, the fixed uterine erection body 1 can be driven to separate from the human body through the control mechanism, and the removed lesion tissue fixedly wrapped and clamped on the outside of the fixed uterine erection body 1 can be taken out together during the separation process, so as to achieve the synchronous removal of surgical instruments and lesion tissue, simplify the surgical operation steps, shorten the operation time, and reduce the links of instrument replacement and tissue transfer during the operation, effectively reducing the risk of nosocomial infection. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 It is a simplified structural diagram of the present invention;

[0031] Figure 2 It is a detachable schematic diagram of the present invention;

[0032] Figure 3 is a schematic structural diagram of the present invention (the state after the transverse movement mechanism, lifting mechanism, angle adjustment mechanism, and opening and closing mechanism are assembled);

[0033] Figure 4 is a diagram of the active state of the present invention;

[0034] Figure 5 is a diagram of the active state of the present invention (the movable uterine holding body is separated from the fixed uterine holding body);

[0035] Figure 6 is an axial sectional view of the fixed uterine holding body and the movable uterine holding body in the present invention;

[0036] Figure 7 is a schematic diagram of the operation process of the present invention;

[0037] Figure 8 is a schematic diagram of the operation process of the present invention;

[0038] Figure 9 is a schematic diagram of the operation process of the present invention;

[0039] Figure 10 is a schematic diagram of the operation process of the present invention;

[0040] Figure 11 is a schematic diagram of the operation process of the present invention.

[0041] Reference numerals:

[0042] 100, fixed seat;

[0043] 1, fixed uterine holding body, 2, movable uterine holding body, 3, medical silicone sleeve, 4, annular inflatable body, 5, third motor slider, 6, third connecting arm, 7, lifting tube, 8, second motor slider, 9, second connecting arm, 10, cable reel, 11, towing cable, 12, first connecting arm,

[0044] 13, first motor slider, 14, universal joint, 15, connecting pipe, 16, inflating pipe. Detailed Description of the Invention

[0045] The following describes in detail the embodiments of the present invention. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end.

[0046] As Figures 1 to 11As shown, a uterine manipulator of this embodiment mainly includes a fixed uterine manipulator body 1, a movable uterine manipulator body 2 and a control mechanism. The fixed uterine manipulator body 1 is used to enter the human vagina to achieve the uterine manipulator effect of the traditional uterine manipulator during the operation. The movable uterine manipulator body 2 is coaxially docked with the fixed uterine manipulator body 1, and the movable uterine manipulator body 2 is used to follow the fixed uterine manipulator body 1 into the human vagina. The control mechanism is transmission-connected to the fixed uterine manipulator body 1 and the movable uterine manipulator body 2, and the insertion positions of the fixed uterine manipulator body 1 and the movable uterine manipulator body 2 are adjusted by the control mechanism. When the uterine manipulator of this structure is operated and used, the control mechanism drives the movable uterine manipulator body 2 to be coaxially spliced ​​with the fixed uterine manipulator body 1 and pushes the spliced ​​fixed uterine manipulator body 1 and the movable uterine manipulator body 2 to be inserted into the human vagina and reach the cervical opening, so that the fixed uterine manipulator body 1 is sealed and clamped in the human vagina and the cervix is ​​fixedly closed; the control mechanism drives the movable uterine manipulator body 2 to be axially away from the fixed uterine manipulator body 1 in the human vagina for a certain distance; and the control mechanism drives the fixed uterine manipulator body 1 to be separated from the human body and take out the excised diseased tissue.

[0047] It can be understood that the uterine manipulator of this embodiment constructs a physical barrier to the surgical area by sealing the fixed uterine manipulator body 1 against the inner wall of the vagina and sealing the cervix, thereby effectively preventing the cervical tumor cells from falling off and spreading in the human body during the surgical operation. In addition, the fixed uterine manipulator body 1 in a fixed state is not easy to rub against the diseased tissue of the cervix, which fundamentally solves the major hidden danger of traditional uterine manipulators that may cause tumor cell dissemination, significantly improves the safety of cervical cancer surgery, and improves the patient's recovery. This is a technical effect that cannot be achieved by traditional uterine manipulators and alternative solutions such as intraperitoneal suspension, thereby significantly reducing the risk of cervical cancer cells falling off and improving surgical safety. In addition, while achieving cervical closure, the fixed uterine manipulator body 1, which is sealed and clamped to the inner wall of the human vagina, can still retain the basic form and operation mode of the uterine manipulator, and can easily achieve precise adjustment of the insertion position of the uterine manipulator through the control mechanism, as well as the relative movement control of the movable uterine manipulator body 2 and the fixed uterine manipulator body 1, so that the doctor can still flexibly lift and swing the uterus to fully expose the surgical field of view, ensure the convenience and accuracy of the surgical operation, and overcome the shortcomings of insufficient operational flexibility of alternative solutions such as intra-abdominal suspension, thereby taking into account the flexibility and accuracy of uterine operation. In addition, the control mechanism drives the movable uterine manipulator body 2 axially away from the fixed uterine manipulator body 1 by a certain distance to form a controllable surgical space in the human vagina, providing sufficient cutting space for the operation of surgical instruments, avoiding collision between the cutting instruments and the uterine manipulator body, improving the fluency and safety of surgical operations, and providing guarantees for refined operations, thereby improving surgical efficiency. Furthermore, combined with Figure 10 and Figure 11As shown, for cervical cancer surgery, since most cancerous tissues generally form at the cervical orifice, the cancerous tissues removed during cervical cancer surgery are generally the uterine body + cervix including parametrium + the position of the proximal 2 - 3 cm of the vagina (i.e., Figure 10 the cutting position and the excised part in Figure 11 ). Since the fixed uterine manipulator 1 has been fixedly and hermetically clamped to the inner wall of the human vagina at this time, the excised part can be clamped outside the fixed uterine manipulator 1. As shown in

[0048] Therefore, during the process of separating from the human body, the fixed uterine manipulator 1 can smoothly take out these excised tissues together from the vaginal orifice of the human body, realizing the synchronous removal of the surgical instrument and the cancerous tissues, thereby effectively simplifying the surgical process. Generally speaking, it is to utilize the structural characteristics of the fixed uterine manipulator 1 to hermetically clamp the fixed uterine manipulator 1 to the human vagina. After the cancerous tissues are excised, the fixed uterine manipulator 1 can be driven to separate from the human body through the control mechanism, and during the separation process, the excised cancerous tissues fixedly wrapped and clamped outside the fixed uterine manipulator 1 can be taken out together, which can realize the synchronous removal of the surgical instrument and the cancerous tissues, simplify the surgical operation steps, shorten the surgical time, and reduce the links of instrument replacement and tissue transfer during the surgical process, effectively reducing the risk of iatrogenic infection..

[0049] In one embodiment, in order to further enhance the tightness of the fit between the medical silicone sleeve 3 and the vaginal inner wall, thereby more effectively blocking the cervical os and stably clamping to the vaginal inner wall to prevent surgical fluid or bacteria from entering the uterus, an annular inflatable body 4 is additionally provided inside the fixed uterine manipulator 1 in this embodiment. At the same time, in order to ensure that the movable uterine manipulator 2 can also be stably supported in the vagina, an annular inflatable body 4 is also additionally provided inside the movable uterine manipulator 2. Inside the fixed uterine manipulator 1 and the movable uterine manipulator 2, the annular inflatable body 4 surrounds and supports the inner wall of the medical silicone sleeve 3. The annular inflatable body 4 is connected to an external inflation device through an inflation tube 16. The inner hole of the annular inflatable body 4 is sleeved on the connecting tube 15 between the fixed uterine manipulator 1 and the movable uterine manipulator 2. The inflation tube 16 connected to the external inflation device enters the position of the annular inflatable body 4 through the connecting tube 15 and communicates with the annular inflatable body 4 through the air holes on the side wall of the connecting tube 15. It can be understood that the outer wall of the annular inflatable body 4 surrounds and supports the inner wall of the medical silicone sleeve 3. The purpose is to inflate the annular inflatable body 4 through the inflation tube 16. The annular inflatable body 4 expands and pushes the medical silicone sleeve 3 to expand outwards. That is, the expansion of the annular inflatable body 4 can make the medical silicone sleeve 3 press more tightly against the vaginal inner wall. For the fixed uterine manipulator 1, it can significantly improve the sealing effect and clamping effect of the fixed uterine manipulator 1 in the vagina, effectively prevent the exfoliation and dissemination of cervical tumor cells in the human body during the surgical operation, reduce the infection risk, and the annular inflatable body 4 in the inflated state provides a stable supporting force for the medical silicone sleeve 3. Even under a certain external force during the operation, it can maintain a good fitting state. For the movable uterine manipulator 2, it can improve the stability of the movable uterine manipulator 2 in the vagina and is less likely to be displaced during the operation, making the front-end fixed uterine manipulator 1 more stable. Of course, in actual use, the inflation degree of the medical silicone sleeve 3 can also be controlled by adjusting the inflation amount according to the surgical needs, so as to achieve fine adjustment of the blocking effect and clamping degree of the vaginal inner wall.

[0050] In one embodiment, in order to provide a control mechanism capable of achieving precise multi-degree-of-freedom control of the uterine manipulator, thereby improving the precision and flexibility of surgical operations, the control mechanism of this embodiment includes a lifting mechanism, a lateral translation mechanism, an angle adjustment mechanism, and an opening / closing mechanism. The lifting mechanism is used to adjust the vertical positions of the fixed uterine body 1 and the movable uterine body 2. The lateral translation mechanism is used to adjust the lateral positions of the fixed uterine body 1 and the movable uterine body 2. The angle adjustment mechanism is used to adjust the insertion angles of the fixed uterine body 1 and the movable uterine body 2. The opening / closing mechanism is used to drive the mutual opening and closing of the fixed uterine body 1 and the movable uterine body 2. It can be understood that the above four mechanisms are independent of each other and cooperate with each other to jointly achieve precise control of the spatial position and posture of the uterine manipulator. The lifting mechanism and the lateral translation mechanism jointly determine the position of the uterine manipulator in the surgical space. The angle adjustment mechanism determines the insertion direction of the uterine manipulator. The opening / closing mechanism controls the distance between the movable uterine body 2 and the fixed uterine body 1, thereby forming or closing the surgical space. During the surgical process, the doctor can operate these four mechanisms separately as needed to independently or collaboratively adjust the position, angle of the uterine manipulator, and the distance between the movable uterine body and the fixed uterine body to obtain the best surgical field of view and operating space.

[0051] In one embodiment, specifically, a fixing base 100 is further provided at the bottom of the uterine manipulator of this embodiment. The fixing base 100 is used for fixedly connecting to the operating table. And in order to provide a lifting mechanism with a compact structure and convenient operation to achieve precise adjustment of the vertical position of the uterine manipulator, the lifting mechanism of this embodiment includes a third motor slider 5, a third connecting arm 6, and a lifting tube 7. The third connecting arm 6 is vertically fixed on the fixing base 100. The third motor slider 5 is arranged at the lower end of the lifting tube 7. The working heights of the fixed uterine body 1 and the movable uterine body 2 are controlled by the lifting tube 7. A thread is formed on the outer wall of the third connecting arm 6. The third motor slider 5 is engaged with the thread of the third connecting arm 6 to drive the lifting tube 7 to move up and down. It can be understood that the fixing base 100 is used to fix the entire uterine manipulator system on the operating table. The third connecting arm 6 is vertically fixed on the fixing base 100. The lifting tube 7 is a component connecting the fixed uterine body 1 and the movable uterine body 2. Their working heights are affected by the position of the lifting tube 7. The third motor slider 5 is arranged at the lower end of the lifting tube 7. The motor inside it drives the gear to rotate. This gear is engaged with the thread on the third connecting arm 6, thereby driving the lifting tube 7 to move up and down along the third connecting arm 6 to achieve height adjustment. When the height of the uterine manipulator needs to be adjusted, control the motor in the third motor slider 5 to rotate. Through the meshing action of the gear and the third connecting arm 6, drive the lifting tube 7 to move up and down, thereby adjusting the working heights of the fixed uterine body 1 and the movable uterine body 2. Through the motor-driven lead screw structure, precise control of the height of the uterine manipulator can be achieved, meeting the requirements of different surgical fields of view. Moreover, the fixing of the third connecting arm 6 and the meshing structure of the motor slider ensure the stability of the lifting process and avoid shaking. Furthermore, the motor-driven lifting method realizes automatic height adjustment, which can, to a certain extent, reduce the operation burden of doctors.

[0052] In one embodiment, specifically, in order to provide a transverse movement mechanism with a compact structure and convenient operation to achieve precise adjustment of the transverse position of the uterine manipulator, the transverse movement mechanism of this embodiment includes a second motor slider 8 and a second connecting arm 9. The outer wall of the second connecting arm 9 is also formed with threads. The transverse working positions of the fixed uterine body 1 and the movable uterine body 2 are controlled by the second connecting arm 9. The second motor slider 8 is fixed to the upper end of the lifting tube 7, and the second motor slider 8 engages with the threads of the second connecting arm 9 to drive the second connecting arm 9 to move transversely. It can be understood that the transverse positions of the fixed uterine body 1 and the movable uterine body 2 are controlled by the second connecting arm 9. The second motor slider 8 is fixed to the upper end of the lifting tube 7. The motor inside it drives the gear to rotate and engages with the threads on the second connecting arm 9, thereby driving the second connecting arm 9 to move horizontally, and further adjusting the transverse positions of the fixed uterine body 1 and the movable uterine body 2. That is, when it is necessary to adjust the transverse position of the uterine manipulator, control the motor in the second motor slider 8 to rotate. Through the meshing action of the gear and the second connecting arm 9, drive the second connecting arm 9 to move horizontally, thereby adjusting the transverse working positions of the fixed uterine body 1 and the movable uterine body 2. Through the motor-driven lead screw structure, precise control of the transverse position of the uterine manipulator can be achieved, meeting the requirements of different surgical fields of view. Moreover, the transverse movement mechanism is installed on the lifting tube 7 and can work in coordination with the lifting mechanism to achieve precise positioning in three-dimensional space. Similarly, the motor-driven transverse movement method realizes automatic adjustment of the transverse position, reducing the operation burden on doctors.

[0053] In one embodiment, specifically, in order to provide a mechanism that can flexibly adjust the insertion angle of the uterine manipulator, facilitate the insertion and removal of the uterine manipulator, and reduce the damage to the vagina and cervix, the angle adjustment mechanism of this embodiment includes a cable reel 10, a traction cable 11, and a first connecting arm 12. The first connecting arm 12 is hinged to the second connecting arm 9. The fixed uterine body 1 and the movable uterine body 2 are coaxially installed on the first connecting arm 12, while the cable reel 10 is installed on the second connecting arm 9. One end of the traction cable 11 is wound around the cable reel 10, and the other end is fixedly connected to the first connecting arm 12. During use, the cable reel 10 winds in and out the traction cable 11 to adjust the deflection angle of the first connecting arm 12, so as to adjust the insertion angle of the fixed uterine body 1 and the movable uterine body 2. It can be understood that due to the above structure, during use, by controlling the cable reel 10 to tighten or loosen the traction cable 11, the tension of the traction cable 11 on the first connecting arm 12 can be changed, thereby adjusting the deflection angle of the first connecting arm 12 relative to the second connecting arm 9, and finally realizing the adjustment of the insertion angles of the fixed uterine body 1 and the movable uterine body 2. That is to say, when the insertion angle of the uterine manipulator needs to be adjusted, the cable reel 10 is controlled to rotate, tightening or loosening the traction cable 11. The tension of the traction cable 11 causes the first connecting arm 12 to rotate around its hinge point with the second connecting arm 9, thereby adjusting the insertion angles of the fixed uterine body 1 and the movable uterine body 2 to match the vaginal entrance. Therefore, the insertion angle of the uterine manipulator can be adjusted according to the surgical needs to better adapt to the vaginal path. Moreover, when inserting and removing, the angle can be adjusted to reduce the resistance and facilitate the operation. By adjusting the angle, the hard friction between the uterine manipulator and the vaginal wall can be avoided, and the damage to the vagina and cervix can be reduced. Optionally, the traction cable 11 of this embodiment can be selected from high-strength polyethylene fiber ropes, stainless steel wire braided ropes, or medical-grade polyurethane ropes according to actual usage requirements.

[0054] In one embodiment, specifically, in order to provide a mechanism capable of precisely controlling the distance between the movable uterine manipulator and the fixed uterine manipulator, facilitating the formation and adjustment of the surgical resection space, the opening and closing mechanism of this embodiment includes a first motor slider 13, and the outer wall of the first connecting arm 12 is also formed with threads. The first motor slider 13 meshes with the threads on the first connecting arm 12, and the first motor slider 13 is connected to the movable uterine manipulator 2. Thus, the movable uterine manipulator 2 is driven by the first motor slider 13 to move away from or approach the fixed uterine manipulator 1 along the length direction of the first connecting arm 12. It can be understood that due to the above structure, when it is necessary to form a resection space in the human vagina, by controlling the rotation of the motor in the first motor slider 13 to drive the movable uterine manipulator 2 to move away from the fixed uterine manipulator 1 along the first connecting arm 12, an operating space suitable for the resection operation can be formed between the fixed uterine manipulator 1 and the movable uterine manipulator 2. Thus, the distance between the movable uterine manipulator 2 and the fixed uterine manipulator 1 can be precisely controlled to form a resection space of appropriate size. By precisely controlling the resection space, the collision between the surgical tool and the uterine manipulator can be effectively avoided, improving the surgical safety. Similarly, the opening and closing method driven by the motor realizes the automatic adjustment of the resection space, improving the operation efficiency.

[0055] In one embodiment, specifically, in order to further improve the spatial adaptability of the uterine manipulator and avoid the situation where the uterine manipulator cannot smoothly enter or exit the human vagina due to insufficient single hinge angle or fixed connection, the first connecting arm 12 and the second connecting arm 9 in this embodiment are hinged to each other through a universal joint 14. In addition, the universal joint 14 can deflect up and down to allow the up and down retraction and release movement of the traction cable 11, and the universal joint 14 can swing left and right through the traction cable 11 to allow the left and right deflection movement of the universal joint 14. It can be understood that in the above structure, the universal joint 14 is installed between the first connecting arm 12 and the second connecting arm 9, enabling relative angular changes in multiple directions in space. The traction cable 11 was originally connected to the cable winder 10 and the first connecting arm 12. When the first connecting arm 12 undergoes lateral or longitudinal deflection, the joint function of the universal joint 14 enables the traction cable 11 to still maintain the cable function without excessive bending or jamming. The universal joint 14 can achieve a certain range of deflection movement in the up and down and left and right directions, and the traction cable 11 can also move up and down and left and right accordingly with the deflection of the universal joint 14. Through the up and down or left and right movement of the universal joint 14, it forms a cooperation with the up and down or left and right swing of the traction cable 11 to jointly meet the alignment requirements of the movable uterine body 2 and the fixed uterine body 1 in complex paths or different body positions. When complex pose adjustments of the uterine manipulator in the front-back, left-right or angle directions are required during the surgical process or due to changes in the patient's body position, the universal joint 14 provides additional degrees of freedom. The up and down retraction and release of the traction cable 11 can cooperate with the left and right deflection of the universal joint 14 to avoid uneven or twisted traction cable tension, thereby ensuring the smoothness of the angle adjustment mechanism. This universal joint 14 also helps the first connecting arm 12 make adaptive swings when passing through the curved channel of the human vagina, reducing the wear on the inner wall of the vagina. Generally speaking, the up and down and left and right deflection of the universal joint 14 provides the uterine manipulator with multi-directional adjustment capabilities. When inserting or removing the uterine manipulator, the universal joint 14 helps reduce the forced pressing and scraping on the inner wall of the human vagina or the cervix, reducing unnecessary intraoperative injuries. Therefore, the structure of this embodiment can improve the compliance of the uterine manipulator with the human physiological curve, enabling it to maintain better ergonomic matching during the surgical process.

[0056] Optionally, as Figure 2 shown, the second connecting arm 9 and the second motor slider 8 can be disengaged from each other, which is equivalent to being able to separately disassemble the entire transverse movement mechanism (excluding the second connecting arm 9) and the lifting mechanism, enabling the adjustment mechanism and the opening and closing mechanism to be separated from the transverse movement mechanism and the lifting mechanism, so that the spatial working position of the uterine manipulator of the present invention can be quickly changed to be manually controlled, making it more flexible and convenient to use.

[0057] In one embodiment, specifically, the interiors of the first motor slider 13, the second motor slider 8, and the third motor slider 5 each include a stepper motor, a gear set, and a translation gear. The motor is drivingly connected to the translation gear through the gear set, and the inner ring of the translation gear is provided with a thread that meshes with the first connecting arm 12 / the second connecting arm 9 / the third connecting arm 6. It can be understood that with the above structure, when adjusting the working height position of the uterine manipulator, the stepper motor in the third motor slider 5 drives the gear set to drive the translation gear to rotate. Since the thread in the inner hole of the translation gear meshes with the third connecting arm 6, the lifting tube 7 can be moved up and down, thereby adjusting the working height of the uterine manipulator. When adjusting the lateral working position of the uterine manipulator, the stepper motor in the second motor slider 8 drives the translation gear through the gear set to drive the translation gear to rotate. Since the thread in the inner hole of the translation gear meshes with the second connecting arm 9, the second connecting arm 9 can be moved laterally, thereby adjusting the lateral position of the fixed uterine body 1 and the movable uterine body 2. When adjusting the distance between the fixed uterine body 1 and the movable uterine body 2, the stepper motor of the first motor slider 13 controls the rotation of the gear set and the translation gear to drive the translation gear to rotate. Since the thread in the inner hole of the translation gear meshes with the first connecting arm 12, the movable uterine body 2 moves back and forth along the axial direction of the first connecting arm 12, realizing the formation of a surgical space between the movable uterine body 2 and the fixed uterine body 1 in the human vagina. And the stepper motor can achieve high-precision stepper control, ensuring that the linear movement of the lead screw arm is more accurate, improving the accuracy of the position and angle adjustment of the uterine manipulator. The combination of the gear set and the translation gear ensures the smooth and reliable power transmission, reduces mechanical wear and transmission errors, improves the stability and durability of the device, and simplifies the design and manufacture of the control system through the standardized stepper motor and gear transmission structure, improving the integration and maintainability of the overall system.

[0058] Based on the above-mentioned uterine manipulator structure, this embodiment also implements an automatic uterine manipulator control system, the structure of which includes a first control module, a second control module, a third control module, and a fourth control module. The first control module is electrically connected to the first motor slider 13, the second control module is electrically connected to the second motor slider 8, the third control module is electrically connected to the third motor slider 5, and the fourth control module is electrically connected to the cable winder 10. Before performing the resection surgery, the second control module, the third control module, and the fourth control module cooperate to control the operation of the second motor slider 8, the third motor slider 5, and the cable winder 10, so as to drive the fixed uterine body 1 and the movable uterine body 2 to move to the required spatial position and enter the human vagina and reach the cervical os. During the resection surgery, the first control module controls the operation of the first motor slider 13 to drive the movable uterine body 2 to move a certain distance away from the fixed uterine body 1 within the human vagina. After the resection surgery is completed, the second control module and the third control module cooperate to control the operation of the second motor slider 8 and the third motor slider 5 to drive the fixed uterine body 1 and the movable uterine body 2 to leave the human vagina and the cervix. At the same time, the fourth control module controls the cable winder 10 to release the tension force of the cable winder 10 on the first connecting arm 12, so as to cause the fixed uterine body 1 and the movable uterine body 2 to slide out naturally along the human vagina by their own gravity.

[0059] It can be understood that since the first control module is electrically connected to the first motor slider 13, an electrical signal can be sent to the first motor slider 13 through the first control module to control the operating state of the motor inside the first motor slider 13, such as rotation speed, direction, etc. The second control module is electrically connected to the second motor slider 8, and the third control module is electrically connected to the third motor slider 5. Similarly, the operation of the second motor slider 8 can be controlled through the second control module, and the operation of the third motor slider 5 can be controlled through the third control module. Since the fourth control module is electrically connected to the cable reel 10, the operation of the cable reel 10 can be controlled through the fourth control module, such as controlling the forward and reverse rotation of its motor, so as to realize the retraction and extension of the traction cable 11. Before performing the resection surgery, the second control module, the third control module, and the fourth control module cooperate to control the operation of the second motor slider 8, the third motor slider 5, and the cable reel 10. The three control modules cooperate with each other and control the respective connected driving components synchronously or sequentially according to the preset program or operation instructions. During this process, the second motor slider 8 controls the lateral position of the uterine manipulator, the third motor slider 5 controls the vertical position height of the uterine manipulator, and the cable reel 10 adjusts the angle of the first connecting arm 12 through the traction cable 11, so as to control the insertion angle of the uterine manipulator. The coordinated movement of these three degrees of freedom enables the uterine manipulator to accurately position and smoothly enter the vagina and reach the cervical os. At this time, the movable uterine body 2 and the fixed uterine body 1 are in a joined state and enter together. During the resection surgery, the first control module independently controls the first motor slider 13. Since the first motor slider 13 meshes with the first connecting arm 12 and is connected to the movable uterine body 2, the operation of the first motor slider 13 can cause the movable uterine body 2 to move along the axial direction of the first connecting arm 12, so as to separate from the fixed uterine body 1 and smoothly form the resection space required for the surgery. After the resection surgery is completed, the second control module and the third control module cooperate to control the operation of the second motor slider 8 and the third motor slider 5, which is beneficial to ensuring the smoothness and safety of the withdrawal of the uterine manipulator. During this process, by controlling the second motor slider 8 and the third motor slider 5 to perform reverse lateral and vertical movements during the entry process, the entire uterine manipulator can be removed from the vagina and cervix. At the same time of withdrawal, the fourth control module controls the cable reel 10 to loosen the traction cable 11 and no longer actively pull up the first connecting arm 12. It can also control the cable reel 10 to rotate counterclockwise by a certain angle to make the traction cable 11 loose. After losing the tension of the traction cable 11, the fixed uterine body 1 and the movable uterine body 2 of the uterine manipulator can rely on their own gravity and conform to the natural curvature of the vagina to slide out smoothly. This control method can significantly and effectively reduce the damage that may be caused by manual dragging, and also avoid the damage to the vagina and cervix caused by the rapid or improper angle dragging of the control mechanism. By releasing the traction cable and using gravity to assist in sliding out, the friction and tissue pulling during the withdrawal process are further reduced, minimizing the trauma and discomfort of the patient to the greatest extent and greatly improving the safety of the surgery.

[0060] It should also be noted that in practical applications, due to the long duration of the operation, the movable uterine body 2 will squeeze the inner wall of the vagina or the vaginal orifice for a long time inside the vagina. The long-term squeezing may cause contusion of the local vaginal tissue, and also affect the local blood circulation of the vagina, with the risk of vaginal tissue necrosis. Moreover, after the integrity of the vaginal mucosa is damaged under the long-term compression of the uterine manipulator, pathogens such as bacteria are more likely to invade, and there is a chance of inflammation after the operation, which will cause symptoms such as fever, abdominal pain, and abnormal vaginal discharge in the patient, prolong the recovery time of the patient, and increase the pain of the patient. The traditional fixed uterine manipulator increases the surgical risk of the patient and the probability of postoperative complications due to its continuous application of a large pressure. In order to solve the above problems to a certain extent as much as possible and reduce the surgical risk, in this embodiment, the automatic uterine system is further improved, and its structure further includes a fifth control module. The fifth control module alternately inflates and deflates the annular inflatable body 4 on the movable uterine body 2 through an inflation device (such as an air pump), so that the pressure and inflation volume of the annular inflatable body 4 on the movable uterine body 2 change periodically according to a preset sine wave form. Specifically, the fifth control module controls the inflation and deflation state of the annular inflatable body 4 on the movable uterine body 2 through an inflation device (such as an air pump), so that the pressure P(t) and inflation volume V(t) of the annular inflatable body 4 on the movable uterine body 2 satisfy the following model:

[0061]

[0062] In the formula, P avg is the average pressure of the annular inflatable body 4, ΔP is the pressure amplitude, f is the pressure change frequency, V 0 is the reference inflation volume, and ΔV is the inflation volume amplitude.

[0063] It can be understood that the above improvement scheme further adds a fifth control module, and the fifth control module precisely controls the inflation and deflation process of the annular inflatable body 4 through an inflation device. Specifically, both the pressure and inflation volume of the annular inflatable body 4 change periodically according to a preset sine wave form, that is, the pressure and inflation volume oscillate in the form of a sine function with time. This control method is mathematically described in the form of a system of simultaneous equations:

[0064]

[0065] In the above mathematical model, P avg and V 0They are the reference values ​​of pressure and inflation volume, respectively. In practical applications, real-time numerical detection can be performed by adding pressure sensors and flow sensors. ΔP and ΔV control the amplitude of pressure and inflation volume, and f determines the frequency of oscillation. By introducing the fifth control module and performing inflation and deflation control according to the corresponding mathematical model, the pressure and inflation volume of the annular inflation body 4 on the movable uterine erector body 2 change periodically during the operation. Specifically, the pressure and inflation volume are inflated and deflated according to the law of the sine function, which can achieve the following technical effects: 1. Dynamic pressure relief. The periodic changes in pressure P(t) and inflation volume V(t) make the annular inflation body 4 and medical silicone sleeve 3 installed on the movable uterine erector body 2 no longer exert static pressure on the human vagina, but dynamically relieved. This "breathing" pressure change effectively prevents contusion and blood circulation disorders caused by continuous compression of local vaginal tissues; 2. Reduce tissue damage. By adjusting the pressure amplitude ΔP and inflation volume amplitude ΔV, the pressure change range can be accurately controlled to ensure 1. Maintain the pressure at a level that supports the vagina but does not cause tissue damage, thereby reducing the risk of vaginal tissue necrosis; 2. Prevent postoperative infection. The periodic change of pressure helps maintain the integrity of the cervical mucosa, reduces mucosal damage caused by continuous compression, thereby reducing the possibility of pathogens (such as bacteria) invading, and preventing postoperative inflammation and infection; 3. Improve the quality of patient rehabilitation, reduce the damage to vaginal tissue during and after surgery, and patients will experience less discomfort and complications during the postoperative rehabilitation process, shorten the rehabilitation time, and improve the overall surgical effect; 4. Automated control. The fifth control module realizes automatic adjustment of pressure and inflation volume through preset simultaneous equations, without manual intervention, reducing the doctor's operating burden and improving the stability and reliability of the surgical process. Therefore, the above implementation scheme realizes the precise and periodic control of the pressure and inflation volume of the annular inflation body 4 on the movable uterine lifting body 2, effectively alleviates the continuous squeezing of the vagina by the movable uterine lifting body 2, improves the safety of the operation, reduces the incidence of postoperative complications of patients, and can reduce the long-term compression of vaginal tissue while maintaining the fixation of the uterine lifting device, so as to improve the safety of the operation and the quality of postoperative rehabilitation of patients.

[0066] Specifically, the following are specific implementation cases of the above implementation plan:

[0067] During the operation, the target average pressure P of the annular inflatable gas 4 on the movable uterine body 2 on the vagina avg The pressure amplitude ΔP is set to 10 mmHg in order to periodically relax and support the vagina at different times. 0is 50 mL, and the inflation volume amplitude ΔV is 10 mL. In addition, the "breathing" cycle is set to 100 seconds (corresponding to a frequency f = 0.01 Hz), that is, the annular inflatable body 4 on the movable uterine body 2 completes a cycle from expansion to contraction every 100 seconds. Then, several specific time points t = 0, 25, 50, 75, 100 (s) within the 100 - second cycle are selected, and the corresponding pressures P(t) and inflation volumes V(t) are calculated. The specific calculation process is as follows:

[0068] (1): At the time point t = 0,

[0069] Since sin(2πft)=sin(2πf·0)=sin(0)=0, so:

[0070] P(0)=30 + 10×0 = 30 mmHg

[0071] V(0)=50 + 10×0 = 50 mL

[0072] (2): At the time point t = 25 s,

[0073] Since So:

[0074] P(25)=30 + 10×1 = 40 mmHg

[0075] V(25)=50 + 10×1 = 60 mL

[0076] (3): At the time point t = 50 s,

[0077] Since sin(2πft)=sin(2πf·50)=sin(2π×0.01×50)=

[0078] sin(π)=0, so:

[0079] P(50)=30 + 10×0 = 30 mmHg

[0080] V(50)=50 + 10×0 = 50 mL

[0081] (4): At the time point t = 75 s,

[0082] Since So:

[0083] P(75)=30 + 10×(-1)=20 mmHg

[0084] V(75)=50 + 10×(-1)=40 mL

[0085] (5): At the time point t = 100 s,

[0086] Since sin(2πft) = sin(2πf·100) = sin(2π×0.01×100) = sin(2π) = 0, thus:

[0087] P(100) = 30 + 10×0 = 30 mmHg

[0088] V(100) = 50 + 10×0 = 50 mL

[0089] Summarize the above calculation results into a table to obtain the following pressure and inflation volume varying with time:

[0090] Time t (s) sin(2πft) P(t) (mmHg) V(t) (mL) 0 0 30 50 25 1 40 60 50 0 30 50 75 -1 20 40 100 0 30 50

[0091] The fifth control module performs row inflation and deflation control on the annular inflatable body 4 according to the calculation results in the above table, enabling the pressure and inflation volume of the annular inflatable body 4 on the movable uterine manipulator 2 to complete a full sine cycle between 0 and 100 s, oscillating upward and downward from the average value, thereby realizing periodic "relaxation" and "compression" of the vaginal pressure. During the operation, the annular inflatable body 4 maintains an average pressure (30 mmHg in this embodiment) to support the vagina, but at the same time varies periodically with a certain sine amplitude (10 mmHg in this embodiment), which can simulate "breathing-style" relaxation and extrusion. This dynamic mode can effectively avoid long-term high-pressure continuous compression of local tissues. When the pressure is at the peak value (40 mmHg in this embodiment), a more stable support effect is provided for the vagina; while when the pressure is at the trough value (20 mmHg in this embodiment), the vaginal mucosa gets a brief relative relaxation, which can promote local blood circulation and reduce the risks of tissue ischemia, contusion, and inflammation. The fifth control module combines the inflating device and the above sine control model to achieve automatic switching, without the need for medical staff to repeatedly manually adjust. Only the parameters (such as ΔP, ΔV, f) need to be adaptively adjusted according to different operation durations and the individual conditions of patients. In practical applications, doctors or engineers can flexibly set the average pressure, amplitude size, and cycle frequency according to the patient's conditions.

[0092] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A uterine manipulator, characterized in that: include: A fixed uterine erector (1) is used to enter the human vagina; The movable uterine erection body (2) is coaxially connected to the fixed uterine erection body (1) and is used to follow the fixed uterine erection body (1) and enter the human vagina; A control mechanism is connected to the fixed uterine erection body (1) and the movable uterine erection body (2) by transmission, and the insertion positions of the fixed uterine erection body (1) and the movable uterine erection body (2) are adjusted by the movement of the control mechanism; The control mechanism drives the movable uterine erection body (2) to be coaxially assembled with the fixed uterine erection body (1) and pushes the assembled fixed uterine erection body (1) and the movable uterine erection body (2) to be inserted into the human vagina and reach the cervical opening, so that the fixed uterine erection body (1) is sealed and clamped in the human vagina and fixes and closes the cervix; the control mechanism drives the movable uterine erection body (2) to be axially away from the fixed uterine erection body (1) by a certain distance in the human vagina; the control mechanism drives the fixed uterine erection body (1) to be separated from the human body and take out the removed tissue.

2. The uterine manipulator according to claim 1, characterized in that: The outer periphery of the fixed uterine erection body (1) is wrapped with a medical silicone sleeve (3), and the fixed uterine erection body (1) is tightly fitted to the inner wall of the human vagina through the elastic outer wall of the medical silicone sleeve (3).

3. The uterine manipulator according to claim 2, characterized in that: The interior of the fixed uterine erection body (1) is provided with an annular inflatable body (4); The annular inflatable body (4) surrounds and is supported on the inner wall of the medical silicone sleeve (3), and the annular inflatable body (4) is connected to an external inflatable device through an inflatable tube.

4. The uterine manipulator according to claim 1, characterized in that: The control mechanism includes an angle adjustment mechanism and / or an opening and closing mechanism and / or a transverse movement mechanism and / or a lifting mechanism; The angle adjustment mechanism is used to adjust the insertion angles of the fixed uterine erection body (1) and the movable uterine erection body (2); The fixed uterine lifting body (1) and the movable uterine lifting body (2) are driven to open and close with each other by the opening and closing mechanism; The lateral positions of the fixed uterine lifting body (1) and the movable uterine lifting body (2) are adjusted by the lateral movement mechanism; The vertical positions of the fixed uterine lifting body (1) and the movable uterine lifting body (2) are adjusted by the lifting mechanism.

5. The uterine manipulator according to claim 4, characterized in that: The angle adjustment mechanism comprises a cable reel (10), a traction cable (11) and a first connecting arm (12); The end of the first connecting arm (12) is hingedly connected to a second connecting arm (9); The fixed uterine lifting body (1) and the movable uterine lifting body (2) are coaxially arranged on the first connecting arm (12); The cable reel (10) is arranged on the second connecting arm (9); One end of the traction rope (11) is wound around the rope reel (10), and the other end is fixedly connected to the first connecting arm (12); The insertion angles of the fixed uterine lifting body (1) and the movable uterine lifting body (2) are adjusted by retracting and releasing the traction rope (11) through the rope reel (10) and adjusting the deflection angle of the first connecting arm (12).

6. The uterine manipulator according to claim 5, characterized in that: The opening and closing mechanism comprises a first motor slider (13), and the outer wall of the first connecting arm (12) is formed with a thread; The first motor slider (13) is engaged with the thread on the first connecting arm (12) and is connected to the movable uterine erection body (2) to drive the movable uterine erection body (2) to move away from or approach the fixed uterine erection body (1) along the length direction of the first connecting arm (12).

7. The uterine manipulator according to claim 5, characterized in that: The first connecting arm (12) and the second connecting arm (9) are hingedly connected to each other via a universal joint (14); The universal joint (14) can be deflected up and down to allow the traction rope (11) to be retracted and extended up and down; the traction rope (11) can be swung left and right to allow the universal joint (14) to be deflected left and right.

8. The uterine manipulator according to claim 5, characterized in that: It also includes a fixing seat (100) for being fixedly connected to the operating table; the lifting mechanism includes a third motor slider (5), a third connecting arm (6) and a lifting tube (7); The third connecting arm (6) is vertically fixed on the fixing seat (100); The third motor slider (5) is arranged at the lower end of the lifting tube (7), and the working heights of the fixed uterine lifting body (1) and the movable uterine lifting body (2) are controlled by the lifting tube (7); The outer wall of the third connecting arm (6) is formed with a thread, and the third motor slider (5) is engaged with the thread of the third connecting arm (6) to drive the lifting tube (7) to move up and down.

9. The uterine manipulator according to claim 8, characterized in that: The transverse movement mechanism comprises a second motor slider (8) and the second connecting arm (9); The lateral working positions of the fixed uterine lifting body (1) and the movable uterine lifting body (2) are controlled by the second connecting arm (9); The second motor slider (8) is fixed to the upper end of the lifting tube (7); The second motor slider (8) engages with the thread of the second connecting arm (9) to drive the second connecting arm (9) to move laterally.

10. An automatic uterine lifting system, characterized in that: include: A first control module, electrically connected to the first motor slider (13); A second control module, electrically connected to the second motor slider (8); A third control module, electrically connected to the third motor slider (5); A fourth control module electrically connected to the cable reel (10); in: Before performing the excision operation, the second control module, the third control module and the fourth control module cooperatively control the second motor slider (8), the third motor slider (5) and the cable reel (10) to operate, so as to drive the fixed uterine lifting body (1) and the movable uterine lifting body (2) to move to the required spatial position and enter the human vagina and reach the cervical opening; When performing a resection operation, the first control module controls the first motor slider (13) to operate so as to drive the movable uterine erection body (2) to be a certain distance away from the fixed uterine erection body (1) in the human vagina; After the excision operation is completed, the second control module and the third control module cooperate to control the operation of the second motor slider (8) and the third motor slider (5) to drive the fixed uterine lifting body (1) and the movable uterine lifting body (2) to leave the human vagina and cervical opening. At the same time, the fourth control module controls the cable reel (10) to release the tension of the cable reel (10) on the first connecting arm (12) to cause the fixed uterine lifting body (1) and the movable uterine lifting body (2) to slide out naturally along the human vagina by their own gravity.

Images