A uterine lifting device and an automatic uterine lifting system

Abstract

This invention relates to a uterine manipulator and an automatic uterine manipulator system, comprising a fixed uterine manipulator, a movable uterine manipulator, and a control mechanism. The control mechanism drives the movable uterine manipulator to coaxially engage with the fixed uterine manipulator, and pushes both the fixed and movable uterine manipulators into the vagina, reaching the cervix. The fixed uterine manipulator then seals and engages within the vagina, securing the cervix. The control mechanism also drives the movable uterine manipulator axially away from the fixed uterine manipulator by a certain distance within the vagina. Finally, the control mechanism detaches the fixed uterine manipulator from the body, removing the excised tissue. This invention, by sealing and engaging the uterine manipulator internally at the junction of the vagina and cervix, and securing it to the cervix and upper vagina, avoids friction between the uterine manipulator and diseased tissue, allowing for normal uterine manipulation, preventing the detachment of diseased tissue during surgery, and facilitating the removal of excised tissue. This improves surgical efficiency and reduces the risk of infection and tumor cell detachment.

Description

Technical Field

[0001] This invention relates to the field of surgical aids technology, and in particular to a uterine lifter and an automatic uterine lift system. Background Technology

[0002] Hysterectomy is a common gynecological treatment, especially important in the treatment of diseases such as cervical cancer. To fully expose the surgical field and provide necessary operating space, uterine manipulators are widely used as auxiliary instruments to lift and rock the uterus, facilitating intra-abdominal and pelvic manipulations. However, the potential negative impacts of traditional uterine manipulators in cervical cancer surgery have received increasing attention in recent years.

[0003] The LACC trial, published in the *New England Journal of Medicine* in 2018, showed that for patients with early-stage cervical cancer, the prognosis of laparoscopic surgery was significantly worse than that of open surgery. Researchers, after in-depth analysis, believe that one of the key reasons for this difference is that traditional uterine manipulators may cause the shedding and dissemination of cervical tumor cells during laparoscopic radical hysterectomy. Traditional uterine manipulators, especially the "cup-shaped" structure at the tip that contacts the cervix, inevitably rub against the cervical tumor tissue during the surgical procedure. This continuous friction is considered a key factor leading to tumor cell shedding. These shed tumor cells may implant and metastasize within the pelvic and abdominal cavities, thus reducing postoperative survival rates and directly affecting the treatment outcome.

[0004] To mitigate the risk of tumor cell detachment associated with traditional uterine manipulators, some surgeons are beginning to forgo their use in cervical cancer surgery, opting instead for intra-abdominal uterine suspension or newer techniques such as intra-abdominal suspension stents to assist the procedure. These alternatives can, to some extent, prevent direct contact between the uterine manipulator and the cervical tumor, reducing the risk of tumor cell detachment.

[0005] However, abandoning the uterine manipulator has also brought some new problems. First, the uterine manipulator's ability to flexibly rock and lift the uterus during surgery is difficult to completely replace with methods such as intra-abdominal suspension. This flexibility is crucial for fully exposing the surgical field, especially the deep pelvic and abdominal cavities, directly affecting the convenience and precision of the surgical procedure. Second, while existing intra-abdominal suspension techniques can fix the uterus, they lack effective closure of the cervix and upper vagina, still failing to address the potential risk of cervical cancer cells detaching and spreading through the cervix during surgery.

[0006] Therefore, how to retain the advantage of the uterine manipulator in cervical cancer surgery while effectively preventing the shedding of lesions such as tumor cells has become an urgent technical challenge. Summary of the Invention

[0007] To address the technical problems of the prior art, this invention provides a uterine lifter and an automatic uterine lifter system, which can avoid friction between the uterine lifter and the diseased tissue, perform uterine lift operations normally, prevent the diseased tissue in this area from falling off during surgery, and more easily and quickly remove the excised tissue, effectively improving surgical efficiency and reducing the risk of infection and tumor spread.

[0008] This invention provides a uterine lifting device, comprising:

[0009] The uterus is fixed in place for insertion into the vagina.

[0010] The movable uterine lifter is coaxially connected to the fixed uterine lifter and is used to follow the fixed uterine lifter into the human vagina.

[0011] A control mechanism is connected to the fixed uterine body and the movable uterine body, and the insertion position of the fixed uterine body and the movable uterine body is adjusted by means of the control mechanism.

[0012] Specifically, the control mechanism drives the movable uterine body to coaxially align with the fixed uterine body, and pushes the fixed and movable uterine bodies, in their aligned state, into the vagina and up to the cervix, allowing the fixed uterine body to seal and engage within the vagina, thus securing the cervix. The control mechanism then drives the movable uterine body axially away from the fixed uterine body within the vagina at a certain distance. Finally, the control mechanism detaches the fixed uterine body from the body, removing the excised tissue.

[0013] According to a uterine lifter of the present invention, the fixed uterine lifter is surrounded by a medical silicone sleeve, and the fixed uterine lifter is tightly attached to the inner wall of the human vagina through the elastic outer wall of the medical silicone sleeve.

[0014] According to a uterine lifter of the present invention, the interior of the fixed uterine lifter is provided with an annular inflatable gas; the annular inflatable gas surrounds and supports the inner wall of the medical silicone sleeve, and the annular inflatable gas is connected to an external inflation device through an inflation tube.

[0015] According to a uterine lifter of the present invention, the control mechanism includes an angle adjustment mechanism and / or an opening and closing mechanism and / or a lateral movement mechanism and / or a lifting mechanism; the angle adjustment mechanism adjusts the insertion angle of the fixed uterine lifter and the movable uterine lifter; the opening and closing mechanism drives the fixed uterine lifter and the movable uterine lifter to open and close to each other; the lateral movement mechanism adjusts the lateral position of the fixed uterine lifter and the movable uterine lifter; and the lifting mechanism adjusts the vertical position of the fixed uterine lifter and the movable uterine lifter.

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

[0017] According to a uterine lifter 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 threads; the first motor slider engages with the threads on the first connecting arm and is connected to the movable uterine lifter to drive the movable uterine lifter away from or close to the fixed uterine lifter along the length direction of the first connecting arm.

[0018] According to a uterine lifter of the present invention, the first arm and the second arm are hinged to each other by a universal joint; wherein, the universal joint can be deflected up and down to allow the traction cable to move up and down; and the traction cable can swing left and right to allow the universal joint to deflect left and right.

[0019] According to a uterine lifter of the present invention, it further includes a fixed base for fixed connection to an operating table; 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 disposed at the lower end of the lifting tube, and the working height of the fixed uterine lifter and the movable uterine lifter is controlled by the lifting tube; the outer wall of the third connecting arm is threaded, and the third motor slider engages with the thread of the third connecting arm to drive the lifting tube to move up and down.

[0020] According to a uterine lifter of the present invention, the lateral movement mechanism includes a second motor slider and a second connecting arm; the lateral working position of the fixed uterine lifter and the movable uterine lifter is controlled by the second connecting arm; the second motor slider is fixed to the upper end of the lifting tube; the second motor slider engages with the thread of the second connecting arm to drive the second connecting arm to move laterally.

[0021] According to a uterine lifting device 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. The inner ring of the translation gear is provided with a thread that meshes with the first connecting arm / second connecting arm / third connecting arm.

[0022] This invention discloses an automatic uterine lifting system, characterized in that it comprises:

[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 winding device;

[0027] Specifically: Before the resection surgery, the second, third, and fourth control modules coordinate to control the second and third motor sliders and the reel, driving the fixed and movable uterine bodies to move to the required spatial position and enter the vagina and reach the cervix; during the resection surgery, the first control module controls the first motor slider to drive the movable uterine body a certain distance away from the fixed uterine body within the vagina; after the resection surgery, the second and third control modules coordinate to control the second and third motor sliders to drive the fixed and movable uterine bodies away from the vagina and cervix, while the fourth control module controls the reel to release the tension on the first connecting arm, allowing the fixed and movable uterine bodies to slide naturally out of the vagina under their own weight.

[0028] This invention provides a uterine manipulator that, through the sealing and locking of the uterine manipulator body 1 against the vaginal wall and the closure of the cervix, constructs a physical barrier in the surgical area. This effectively prevents cervical tumor cells from detaching and spreading within the body during the surgical procedure. Furthermore, the fixed uterine manipulator body 1, in its fixed state, is less likely to rub against the lesion tissue of the cervix. This fundamentally solves the major hidden danger of tumor cell dissemination that traditional uterine manipulators may cause, significantly improving the safety of cervical cancer surgery and improving the patient's prognosis. This is a technical effect that traditional uterine manipulators and alternative solutions such as intra-abdominal suspension cannot achieve, thereby significantly reducing the risk of cervical cancer cell detachment and improving surgical safety. Furthermore, while achieving cervical closure, the fixed uterine manipulator 1, sealed and attached to the vaginal wall, retains the basic shape and operating mode of the uterine manipulator. It allows for precise adjustment of the insertion position of the manipulator via a control mechanism, as well as relative motion control between the movable uterine manipulator 2 and the fixed manipulator 1. This enables the surgeon to flexibly lift and sway the uterus, fully exposing the surgical field and ensuring the convenience and precision of the procedure. It overcomes the lack of flexibility of alternative methods such as intra-abdominal suspension, thus balancing the flexibility and precision of uterine manipulation. In addition, by driving the movable uterine manipulator 2 axially away from the fixed uterine manipulator 1 by a control mechanism, a controllable surgical space is created within the vagina. This provides ample cutting space for surgical instruments, avoiding collisions between cutting instruments and the manipulator body, improving the smoothness and safety of the surgical procedure, and ensuring precise operation, thereby increasing surgical efficiency. Furthermore, by utilizing the structural characteristics of the fixed uterine body 1, which is sealed and secured within the vagina, the fixed uterine body 1 can be detached from the body via a control mechanism after the diseased tissue has been removed. During detachment, the removed diseased tissue, which is secured and attached to the outside of the fixed uterine body 1, is also removed. This allows for the simultaneous removal of surgical instruments and diseased tissue, simplifying surgical procedures, shortening surgical time, and reducing the need for instrument changes and tissue transfers during the procedure, effectively lowering the risk of iatrogenic infection. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

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

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

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

[0033] Figure 4 This is an activity state diagram of the present invention;

[0034] Figure 5 This is a diagram showing the active state of the present invention (the active uterine body and the fixed uterine body are separated);

[0035] Figure 6 This is an axial cross-sectional view of the fixed uterine body and the movable uterine body in this invention;

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

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

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

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

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

[0041] Figure label:

[0042] 100. Fixture;

[0043] 1. Fixed uterine body; 2. Movable uterine body; 3. Medical silicone sleeve; 4. Circular inflatable tube; 5. Third motor slider; 6. Third connecting arm; 7. Lifting tube; 8. Second motor slider; 9. Second connecting arm; 10. Winding device; 11. Traction cable; 12. First connecting arm.

[0044] 13. First motor slider, 14. Universal joint, 15. Connecting pipe, 16. Inflation pipe. Detailed Implementation

[0045] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout.

[0046] like Figures 1 to 11As shown in the figure, this embodiment of a uterine manipulator mainly includes a fixed uterine manipulator 1, a movable uterine manipulator 2, and a control mechanism. The fixed uterine manipulator 1 is used to enter the vagina, achieving the uterine manipulation effect of traditional uterine manipulators during surgery. The movable uterine manipulator 2 is coaxially connected to the fixed uterine manipulator 1 and is used to follow the fixed uterine manipulator 1 into the vagina. The control mechanism is connected to the fixed uterine manipulator 1 and the movable uterine manipulator 2, and the insertion position of the fixed uterine manipulator 1 and the movable uterine manipulator 2 is adjusted by the movement of the control mechanism. When this uterine manipulator is in operation, the control mechanism drives the movable uterine manipulator 2 to coaxially engage with the fixed uterine manipulator 1, and pushes the engaged fixed uterine manipulator 1 and the movable uterine manipulator 2 together into the vagina and to the cervix, so that the fixed uterine manipulator 1 seals and locks the cervix in place. The control mechanism then drives the movable uterine manipulator 2 to move axially away from the fixed uterine manipulator 1 a certain distance within the vagina. Finally, the control mechanism drives the fixed uterine manipulator 1 to detach from the body and remove the excised diseased tissue.

[0047] It is understood that the uterine manipulator in this embodiment, by fixing the uterine manipulator 1 to the vaginal wall and closing the cervix, constructs a physical barrier in the surgical area, effectively preventing cervical tumor cells from detaching and spreading within the body during the surgical procedure. In addition, the fixed uterine manipulator 1, in its fixed state, is less likely to rub against the lesion tissue of the cervix, fundamentally solving the major hidden danger of tumor cell dissemination that traditional uterine manipulators may cause. This significantly improves the safety of cervical cancer surgery and the patient's prognosis. This is a technical effect that traditional uterine manipulators and alternative solutions such as intra-abdominal suspension cannot achieve, thereby significantly reducing the risk of cervical cancer cell detachment and improving surgical safety. Furthermore, while achieving cervical closure, the fixed uterine manipulator 1, sealed and attached to the vaginal wall, retains the basic shape and operating mode of the uterine manipulator. It allows for precise adjustment of the insertion position via a control mechanism, as well as relative motion control between the movable uterine manipulator 2 and the fixed uterine manipulator 1. This enables the surgeon to flexibly lift and sway the uterus, fully exposing the surgical field and ensuring the convenience and precision of the procedure. It overcomes the lack of flexibility of alternative methods such as intra-abdominal suspension, thus balancing the flexibility and precision of uterine manipulation. In addition, by driving the movable uterine manipulator 2 axially away from the fixed uterine manipulator 1 by a control mechanism, a controllable surgical space is created within the vagina. This provides ample cutting space for surgical instruments, avoiding collisions between cutting instruments and the uterine manipulator body, improving the smoothness and safety of the surgical procedure, and ensuring precise operation, thereby increasing surgical efficiency. Moreover, combined with… Figure 10 and Figure 11As shown, for cervical cancer surgery, since most cancerous tissue generally forms at the cervical os, the lesion tissue removed during cervical cancer surgery is generally the uterine body + cervix including parametrial tissue + the area 2-3 cm proximal to the vagina (i.e., Figure 10 (The cutting location and the excised portion) Since the fixed uterine body 1 is always fixedly and sealed against the inner wall of the human vagina, the excised portion can be secured to the outside of the fixed uterine body 1, such as... Figure 11 As shown, during the removal process, the fixed uterine body 1 can smoothly bring the removed tissue out of the vaginal opening, achieving simultaneous removal of surgical instruments and diseased tissue. This effectively simplifies the surgical procedure. In summary, utilizing the structural characteristics of the fixed uterine body 1, it is sealed and secured within the vagina. After the diseased tissue is removed, the control mechanism can detach the fixed uterine body 1 from the body, simultaneously bringing out the removed diseased tissue that is secured to the outside of the fixed uterine body 1. This allows for simultaneous removal of surgical instruments and diseased tissue, simplifying surgical procedures, shortening surgical time, and reducing the need for instrument changes and tissue transfer during the procedure, effectively lowering the risk of iatrogenic infection.

[0048] In one embodiment, to improve the fit between the fixed uterine lift 1 and the movable uterine lift 2 and the vaginal wall, thereby enhancing the cervical occlusion effect and reducing damage to vaginal tissue, this embodiment wraps the fixed uterine lift 1 and the movable uterine lift 2 with a medical silicone sleeve 3. The fixed uterine lift 1 and the movable uterine lift 2 are tightly fitted to the vaginal wall through the elastic outer wall of the medical silicone sleeve 3. It can be understood that the outer surface of the fixed uterine lift 1 and the movable uterine lift 2 is covered with a layer of medical silicone sleeve 3. As a material with good biocompatibility and elasticity, the inner wall of the medical silicone sleeve 3 is tightly fitted to the outer surface of both the fixed uterine lift 1 and the movable uterine lift 2. When the fixed uterine lift 1 and the movable uterine lift 2 are inserted into the vaginal wall, the outer wall of the medical silicone sleeve 3, through its own elastic deformation, can form a tight contact with the vaginal wall. During use, the fixed uterine lift 1 and the movable uterine lift 2 enter the vagina under the drive of the control mechanism. Because the medical silicone sleeve 3 is elastic, its outer wall deforms when compressed by the vaginal wall, thus achieving a close fit. During use, after the fixed uterine support 1 and the movable uterine support 2 are inserted into the vagina, the elastic outer wall of the medical silicone sleeve 3 contacts and deforms against the vaginal wall. This elastic deformation adapts to the slight irregularities of the vaginal wall, achieving a tighter fit. Compared to direct contact with rigid materials, this increases the contact area and fit, thereby enhancing the seal between the fixed uterine support 1 and the vaginal wall. Furthermore, the softness of the medical silicone sleeve 3 cushions the direct friction and pressure between the movable uterine support 2 and the vaginal wall, reducing the risk of damage to vaginal tissue.

[0049] In one embodiment, to further enhance the tightness of the fit between the medical silicone sleeve 3 and the vaginal wall, thereby more effectively sealing the cervix and stably attaching it to the vaginal wall to prevent surgical fluid or bacteria from entering the uterus, this embodiment adds an annular gas inflator 4 inside the fixed uterine body 1. At the same time, to ensure that the movable uterine body 2 can also be stably supported in the vagina, an annular gas inflator 4 is also added inside the movable uterine body 2. Inside the fixed uterine body 1 and the movable uterine body 2, the annular gas inflator 4 surrounds and supports the inner wall of the medical silicone sleeve 3. The annular gas inflator 4 is connected to an external inflation device through an inflation tube 16. The inner hole of the annular gas inflator 4 is fitted into the connecting tube 15 between the fixed uterine body 1 and the movable uterine body 2. The inflation tube 16 connected to the external inflation device enters the position of the annular gas inflator 4 through the connecting tube 15 and communicates with the annular gas inflator 4 through the air hole on the side wall of the connecting tube 15. It is understandable that the outer wall of the annular inflatable gas 4 surrounds and supports the inner wall of the medical silicone sleeve 3. The purpose is to inflate the annular inflatable gas 4 through the inflation tube 16. The expansion of the annular inflatable gas 4 pushes the medical silicone sleeve 3 outwards, allowing it to press more tightly against the vaginal wall. For the fixed uterine body 1, this significantly improves the sealing and locking effect within the vagina, effectively preventing the shedding and dissemination of cervical tumor cells during surgery, reducing the risk of infection. Furthermore, the inflated annular inflatable gas 4 provides stable support for the medical silicone sleeve 3, maintaining a good fit even under external force during surgery. For the movable uterine body 2, this enhances its stability within the vagina, making it less prone to displacement during surgery and further stabilizing the fixed uterine body 1 at the front end. Of course, in actual use, the inflation volume can be adjusted to control the degree of expansion of the medical silicone sleeve 3 according to surgical needs, achieving precise adjustment of the sealing effect and locking degree against the vaginal wall.

[0050] In one embodiment, to provide a control mechanism capable of precise multi-degree-of-freedom control of the uterine manipulator, thereby improving the accuracy and flexibility of surgical operations, the control mechanism of this embodiment includes a lifting mechanism, a lateral movement mechanism, an angle adjustment mechanism, and an opening and closing mechanism. The lifting mechanism is used to adjust the vertical position of the fixed uterine manipulator 1 and the movable uterine manipulator 2; the lateral movement mechanism is used to adjust the lateral position of the fixed uterine manipulator 1 and the movable uterine manipulator 2; the angle adjustment mechanism is used to adjust the insertion angle of the fixed uterine manipulator 1 and the movable uterine manipulator 2; and the opening and closing mechanism is used to drive the fixed uterine manipulator 1 and the movable uterine manipulator 2 to open and close relative to each other. It can be understood that the above four mechanisms are independent yet cooperative, jointly achieving precise control of the spatial position and posture of the uterine manipulator. The lifting mechanism and the lateral movement 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, and the opening and closing mechanism controls the distance between the movable uterine manipulator 2 and the fixed uterine manipulator 1, thereby forming or closing the surgical space. During the surgery, the doctor can operate these four mechanisms separately as needed, independently or collaboratively adjusting the position and angle of the uterine lifter, as well as the distance between the movable and fixed uterine lifters, to obtain the best surgical field of vision and operating space.

[0051] In one embodiment, specifically, the bottom of the uterine lifter is also provided with a fixed base 100, which is used to fix it to the operating table. In order to provide a compact and easy-to-operate lifting mechanism to achieve precise adjustment of the vertical position of the uterine lifter, 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 fixed base 100, and the third motor slider 5 is located at the lower end of the lifting tube 7. The working height of the fixed uterine lifter 1 and the movable uterine lifter 2 is controlled by the lifting tube 7. The outer wall of the third connecting arm 6 is threaded, and the third motor slider 5 engages with the thread of the third connecting arm 6 to drive the lifting tube 7 to move up and down. It is understood that the fixed base 100 is used to fix the entire uterine lift system on the operating table. The third connecting arm 6 is fixed vertically on the fixed base 100. The lifting tube 7 is the component connecting the fixed uterine lift body 1 and the movable uterine lift body 2. Their working height is affected by the position of the lifting tube 7. The third motor slider 5 is located at the lower end of the lifting tube 7. The motor inside it drives the gear to rotate. This gear meshes 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 it is necessary to adjust the height of the uterine lift, the motor inside the third motor slider 5 is controlled to rotate. Through the meshing action of the gear with the third connecting arm 6, the lifting tube 7 is driven up and down, thereby adjusting the working height of the fixed uterine lift body 1 and the movable uterine lift body 2. Through the motor-driven screw structure, precise control of the height of the uterine lift can be achieved to meet the needs of different surgical fields of view. Furthermore, 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 swaying. Moreover, the motor-driven lifting method achieves automatic height adjustment, which can reduce the operator's workload to a certain extent.

[0052] In one embodiment, specifically, in order to provide a compact and easy-to-operate lateral movement mechanism to achieve precise adjustment of the lateral position of the uterine lifter, the lateral 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 threaded. The lateral working position of the fixed uterine lifter 1 and the movable uterine lifter 2 is controlled by the second connecting arm 9. The second motor slider 8 is fixed at 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. It is understood that the lateral positions of the fixed uterine lift 1 and the movable uterine lift 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 motor drive gear inside rotates, meshing with the thread on the second connecting arm 9, thereby driving the second connecting arm 9 to move horizontally, thus adjusting the lateral positions of the fixed uterine lift 1 and the movable uterine lift 2. That is, when it is necessary to adjust the lateral position of the uterine lift, the motor inside the second motor slider 8 is controlled to rotate, and through the meshing of the gear with the second connecting arm 9, the second connecting arm 9 is driven to move horizontally, thereby adjusting the lateral working position of the fixed uterine lift 1 and the movable uterine lift 2. Through the motor-driven lead screw structure, precise control of the lateral position of the uterine lift can be achieved to meet the needs of different surgical fields of view. Furthermore, the lateral movement mechanism is installed on the lifting tube 7 and can work in conjunction with the lifting mechanism to achieve precise positioning in three-dimensional space. Similarly, the motor-driven lateral movement method realizes automatic adjustment of the lateral position, reducing the operator's workload.

[0053] In one embodiment, specifically, in order to provide a mechanism that can flexibly adjust the insertion angle of the uterine lifter, facilitate the insertion and removal of the uterine lifter, and reduce damage to the vagina and cervix, the angle adjustment mechanism of this embodiment includes a retractor 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 lifter 1 and the movable uterine lifter 2 are coaxially mounted on the first connecting arm 12, while the retractor 10 is mounted on the second connecting arm 9. One end of the traction cable 11 is wound around the retractor 10, and the other end is fixedly connected to the first connecting arm 12. In use, the traction cable 11 is wound up and down by the retractor 10 and the deflection angle of the first connecting arm 12 is adjusted to adjust the insertion angle of the fixed uterine lifter 1 and the movable uterine lifter 2. Understandably, due to the aforementioned structure, during use, the tension of the traction cable 11 on the first connecting arm 12 can be changed by controlling the tightening or loosening of the reel 10, thereby adjusting the deflection angle of the first connecting arm 12 relative to the second connecting arm 9, ultimately achieving adjustment of the insertion angle of the fixed uterine lift 1 and the movable uterine lift 2. In other words, when it is necessary to adjust the insertion angle of the uterine lift, controlling the rotation of the reel 10 tightens or loosens 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 angle of the fixed uterine lift 1 and the movable uterine lift 2 to match the vaginal opening. Therefore, the insertion angle of the uterine lift can be adjusted according to surgical needs to better adapt to the vaginal path. Furthermore, the angle can be adjusted during insertion and removal to reduce resistance and facilitate operation. By adjusting the angle, hard friction between the uterine lift and the vaginal wall can be avoided, reducing damage to the vagina and cervix. Optionally, the traction rope 11 in this embodiment can be selected from high-strength polyethylene fiber rope, stainless steel wire braided rope or medical-grade polyurethane rope according to actual use needs.

[0054] In one embodiment, specifically, in order to provide a mechanism that can precisely control the distance between the movable uterine body and the fixed uterine body, so as to facilitate 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 engages with the threads on the first connecting arm 12, and the first motor slider 13 is connected to the movable uterine body 2, thereby driving the movable uterine body 2 away from or close to the fixed uterine body 1 along the length direction of the first connecting arm 12 through the first motor slider 13. It is understandable that, due to the above structure, when it is necessary to create a resection space within the human vagina, controlling the rotation of the motor within the first motor slider 13 drives the movable uterine lift 2 to move away from the fixed uterine lift 1 along the first connecting arm 12. This creates an operating space suitable for resection surgery between the fixed uterine lift 1 and the movable uterine lift 2, thereby allowing precise control of the distance between the movable uterine lift 2 and the fixed uterine lift 1 to form a resection space of appropriate size. By precisely controlling the resection space, collisions between the surgical instruments and the uterine lifter are effectively avoided, improving surgical safety. Similarly, the motor-driven opening and closing mechanism enables automatic adjustment of the resection space, improving operational efficiency.

[0055] In one embodiment, specifically, in order to further improve the spatial adaptability of the uterine lifter and avoid the uterine lifter being unable to 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 by a universal joint 14. In addition, the universal joint 14 can be deflected up and down to allow the traction cable 11 to move up and down, and the traction cable 11 can swing left and right to allow the universal joint 14 to deflect left and right. It is understood that in the above structure, the universal joint 14 is installed between the first connecting arm 12 and the second connecting arm 9, so that the two can produce relative angle changes in multiple directions in space. The traction cable 11 is originally connected to the reel 10 and the first connecting arm 12. When the first connecting arm 12 deflects laterally or longitudinally, the joint action of the universal joint 14 allows the traction cable 11 to still maintain its cable function and will not be excessively bent or jammed. The universal joint 14 can achieve a certain range of deflection in the up and down and left and right directions. 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 cooperates 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 positions. When the surgical procedure or changes in patient position require complex adjustments to the position of the uterine lifter in the front-back, left-right, or angular directions, the universal joint 14 provides additional degrees of freedom. The up-and-down movement of the traction cable 11 can be coordinated with the left-right deflection of the universal joint 14 to avoid uneven tension or twisting of the traction cable, thereby ensuring the smoothness of the angle adjustment mechanism. The universal joint 14 also helps the first connecting arm 12 to make adaptive swings when passing through the curved passage of the human vagina, reducing wear on the vaginal wall. In summary, the up-and-down and left-and-right deflection of the universal joint 14 provides the uterine lifter with multi-directional adjustment capabilities. When inserting or removing the uterine lifter, the universal joint 14 helps reduce forced pressure and scraping on the vaginal wall or cervix, reducing unnecessary damage during the operation. Therefore, the structure of this embodiment can improve the conformity of the uterine lifter to the physiological curve of the human body, allowing it to maintain a better ergonomic fit during the operation.

[0056] Optionally, such as Figure 2 As shown, the second connecting arm 9 and the second motor slider 8 can be disengaged from each other, which is equivalent to the entire horizontal movement mechanism (except for the second connecting arm 9) and the lifting mechanism being disassembled separately. This allows the adjustment mechanism and the opening and closing mechanism to be separated from the horizontal movement mechanism and the lifting mechanism, so that the spatial working position of the uterine lifting device 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 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 connected to the translation gear via the gear set, and the inner ring of the translation gear is provided with threads that mesh with the first connecting arm 12, the second connecting arm 9, and the third connecting arm 6. It can be understood that, with the above structure, when adjusting the working height of the uterine lifter, the stepper motor in the third motor slider 5 drives the gear set, causing 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 move up and down, thereby adjusting the working height of the uterine lifter. When adjusting the lateral working position of the uterine lifter, the stepper motor in the second motor slider 8 drives the translation gear via the gear set, causing 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 move laterally, thereby adjusting the lateral position of the fixed uterine lifter 1 and the movable uterine lifter 2. When adjusting the distance between the fixed uterine lifter 1 and the movable uterine lifter 2, the stepper motor of the first motor slider 13 controls the rotation of the gear set and the translation gear, driving the translation gear to rotate. Because the thread of the translation gear's inner hole meshes with the first connecting arm 12, the movable uterine lifter 2 moves back and forth along the axial direction of the first connecting arm 12, creating a surgical space within the vagina between the movable uterine lifter 2 and the fixed uterine lifter 1. Furthermore, the stepper motor enables high-precision stepping control, ensuring more accurate linear movement of the lead screw arm, improving the precision of the uterine lifter's position and angle adjustment. The combination of the gear set and the translation gear ensures smooth and reliable power transmission, reducing mechanical wear and transmission errors, improving the stability and durability of the equipment. Moreover, the standardized stepper motor and gear transmission structure simplifies the design and manufacturing of the control system, improving the overall system integration and maintainability.

[0058] Based on the above-described uterine manipulator structure, this embodiment also provides an automatic uterine manipulator system for controlling the aforementioned uterine manipulator. The system 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 retractor 10. Before performing the resection surgery, the second, third, and fourth control modules collaboratively control the second motor slider 8, the third motor slider 5, and the retractor 10 to drive the fixed uterine manipulator 1 and the movable uterine manipulator 2 to move to the required spatial position and enter the vagina, reaching the cervix. During the resection surgery, the first control module controls the first motor slider 13 to drive the movable uterine manipulator 2 a certain distance away from the fixed uterine manipulator 1 within the vagina. After the resection surgery is completed, the second control module and the third control module work together 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 away from the human vagina and cervix. At the same time, the fourth control module controls the reel 10 to release the tension of the reel 10 on the first connecting arm 12 so that the fixed uterine body 1 and the movable uterine body 2 can slide out naturally along the human vagina by their own weight.

[0059] It is understandable that, since the first control module is electrically connected to the first motor slider 13, it can send electrical signals to the first motor slider 13 to control the operating state of the motor inside the first motor slider 13, such as speed and direction. Similarly, 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. Therefore, the second control module can control the operation of the second motor slider 8, and the third control module can control the operation of the third motor slider 5. Since the fourth control module is electrically connected to the cable reel 10, it can control the operation of the cable reel 10, such as controlling the forward and reverse rotation of its motor, thereby realizing the winding and unwinding of the traction cable 11. Before performing the resection surgery, the second, third, and fourth control modules work together 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, according to the preset program or operation instructions, synchronously or sequentially control their respective connected drive components. During this process, the second motor slider 8 controls the lateral position of the uterine lifter, the third motor slider 5 controls the vertical position of the uterine lifter, and the reel 10 adjusts the angle of the first connecting arm 12 via the traction cable 11, thereby controlling the insertion angle of the uterine lifter. The coordinated movement of these three degrees of freedom allows the uterine lifter to be accurately positioned and smoothly enter the vagina and reach the cervix. At this time, the movable uterine lifter 2 and the fixed uterine lifter 1 are in a coupled 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 engages with the first connecting arm 12 and is connected to the movable uterine lifter 2, the operation of the first motor slider 13 allows the movable uterine lifter 2 to move axially along the first connecting arm 12, thereby separating from the fixed uterine lifter 1 and smoothly forming the resection space required for the surgery. After the resection surgery is completed, the second and third control modules work together to control the operation of the second motor slider 8 and the third motor slider 5, which helps to ensure the smoothness and safety of the withdrawal of the uterine lifter. During this process, by controlling the second motor slider 8 and the third motor slider 5 to perform the lateral and vertical movements in reverse during the entry process, the entire uterine lifter can be removed from the vagina and cervix. At the same time as withdrawal, the fourth control module controls the reel 10 to loosen the traction cable 11, no longer actively pulling up the first connecting arm 12. Alternatively, the reel 10 can be rotated counterclockwise by a certain angle to loosen the traction cable 11. Once the traction cable 11 becomes loose, the fixed lifting body 1 and the movable lifting body 2 of the uterine lifter can slide out smoothly under their own weight and in accordance with the natural curvature of the vagina. This control method can significantly and effectively reduce the damage that may be caused by manual dragging, and also avoid damage to the vagina and cervix caused by dragging too quickly or at an improper angle by the control mechanism. By releasing the traction cable and using gravity to assist in sliding out, the friction and pulling on the tissues during the withdrawal process are further reduced, minimizing the patient's trauma and discomfort, and greatly improving the safety of the operation.

[0060] It should also be noted that in practical applications, due to the prolonged duration of the surgery, the movable uterine lifter 2 will continuously compress the vaginal wall or vaginal opening for an extended period. This prolonged compression may cause local tissue contusion and affect local blood circulation, potentially leading to vaginal tissue necrosis. Furthermore, the integrity of the vaginal mucosa is compromised under the prolonged pressure of the uterine lifter, making it easier for bacteria and other pathogens to invade, potentially causing postoperative inflammation, leading to symptoms such as fever, abdominal pain, and abnormal vaginal discharge, prolonging recovery time and increasing patient suffering. Traditional fixed uterine lifters, due to their continuous application of significant pressure, increase the surgical risk and the probability of postoperative complications. To address these issues and reduce surgical risks to some extent, this embodiment further improves the automatic uterine lifter system. Its structure also includes a fifth control module. This fifth control module uses an inflation device (such as an air pump) to alternately inflate and deflate the annular gas inflator 4 on the movable uterine lifter 2, causing the pressure and inflation volume of the annular gas inflator 4 on the movable uterine lifter 2 to change periodically according to a preset sine wave. Specifically, the fifth control module controls the inflation and deflation of the annular gas 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 gas 4 on the movable uterine body 2 satisfy the following model:

[0061]

[0062] In the formula, P avg ΔP is the average pressure of the annular gas 4, f is the pressure amplitude, V0 is the pressure change frequency, ΔV is the reference inflation volume, and V0 is the inflation volume amplitude.

[0063] Understandably, the aforementioned improvement scheme further adds a fifth control module. This fifth control module precisely controls the inflation and deflation process of the annular gas 4 through the inflation device. Specifically, the pressure and inflation volume of the annular gas 4 change periodically according to a preset sinusoidal waveform, that is, the pressure and inflation volume oscillate with time in the form of a sinusoidal function. This control method is mathematically described by a system of simultaneous equations:

[0064]

[0065] In the above mathematical model, P avgV0 and V0 are the baseline values ​​for pressure and inflation volume, respectively. In practical applications, real-time numerical detection can be achieved by adding pressure and flow sensors. ΔP and ΔV control the amplitude of pressure and inflation volume, and f determines the frequency of oscillation. By introducing a fifth control module and controlling inflation and deflation according to the corresponding mathematical model, the pressure and inflation volume of the annular inflatable gas 4 on the movable uterine body 2 change periodically during the operation. Specifically, the pressure and inflation volume are inflated and deflated according to a sine function law, 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 pressure of the annular inflatable gas 4 and medical silicone sleeve 3 on the human vagina no longer static, but dynamically relieved. This "breathing" pressure change effectively prevents contusion and blood circulation disorders caused by continuous pressure on the local vaginal tissue; 2. Reduced tissue damage: By adjusting the pressure amplitude ΔP and inflation volume amplitude ΔV, the range of pressure change can be precisely controlled. 1. Maintaining pressure at a level that supports the vagina without causing tissue damage reduces the risk of vaginal tissue necrosis; 2. Preventing postoperative infection: cyclical pressure changes help maintain the integrity of the cervical mucosa, reducing mucosal damage caused by continuous pressure, thereby reducing the possibility of pathogen invasion (such as bacteria) and preventing postoperative inflammation and infection; 3. Improving patient recovery quality: reducing intraoperative and postoperative damage to vaginal tissues, patients will experience less discomfort and complications during postoperative recovery, shortening recovery time and improving overall surgical outcomes; 4. Automated control: the fifth control module achieves automatic adjustment of pressure and inflation volume through preset simultaneous equations, eliminating the need for manual intervention, reducing the doctor's workload, and improving the stability and reliability of the surgical process. Therefore, the above implementation scheme achieves precise and cyclical control of the pressure and inflation volume of the annular gas 4 on the movable uterine manipulator 2, effectively alleviating the continuous compression of the vagina by the movable uterine manipulator 2, improving surgical safety, reducing the incidence of postoperative complications, and reducing long-term pressure on vaginal tissue while maintaining the fixation function of the uterine manipulator, thus improving surgical safety and the quality of postoperative recovery for patients.

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

[0067] During the procedure, the target average pressure P exerted on the vagina by the annular inflatable gas 4 on the moving uterine body 2 is... avgThe pressure was set at 30 mmHg, and to allow for periodic relaxation and support of the vagina at different times, the pressure amplitude ΔP was set at 10 mmHg, the baseline inflation volume V0 at 50 mL, and the inflation volume amplitude ΔV at 10 mL. Furthermore, the "breathing" cycle was set to 100 seconds (corresponding to a frequency f = 0.01 Hz), meaning that the annular inflatable gas 4 on the active uterus 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 were selected, and the corresponding pressure P(t) and inflation volume V(t) were calculated. The specific calculation process is as follows:

[0068] (1): Time point t = 0,

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

[0070] P(0) = 30 + 10 × 0 = 30 mmHg

[0071] V(0)=50+10×0=50mL

[0072] (2): Time point t = 25s,

[0073] because Therefore:

[0074] P(25)=30+10×1=40mmHg

[0075] V(25)=50+10×1=60mL

[0076] (3): Time point t = 50s,

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

[0078] sin(π)=0, therefore:

[0079] P(50)=30+10×0=30mmHg

[0080] V(50)=50+10×0=50mL

[0081] (4): Time point t = 75s,

[0082] because Therefore:

[0083] P(75)=30+10×(-1)=20mmHg

[0084] V(75)=50+10×(-1)=40mL

[0085] (5): Time point t = 100s,

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

[0087] P(100)=30+10×0=30mmHg

[0088] V(100)=50+10×0=50mL

[0089] The above calculation results are summarized in a table, yielding the following pressure and inflation volume changes over 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 executes the inflation and deflation control of the annular gas inflator 4 according to the calculation results in the table above. This allows the pressure and inflation volume of the annular gas inflator 4 on the movable uterus body 2 to complete a full sinusoidal cycle between 0 and 100 seconds, oscillating upwards and downwards from the average value, thereby achieving periodic "relaxation" and "compression" of vaginal pressure. During the procedure, the annular gas inflator 4 maintains an average pressure (30 mmHg in this embodiment) to support the vagina, while simultaneously changing periodically with a certain sinusoidal amplitude (10 mmHg in this embodiment), simulating "breathing" relaxation and compression. This dynamic mode effectively avoids prolonged high-pressure continuous compression of local tissues. When the pressure is at its peak (40 mmHg in this embodiment), it provides more stable support for the vagina; while when the pressure is at its trough (20 mmHg in this embodiment), the vaginal mucosa experiences temporary relative relaxation, which can promote local blood circulation and reduce the risk of tissue ischemia, contusion, and inflammation. The fifth control module, combining the inflation device and the aforementioned sinusoidal control model, enables automated switching, eliminating the need for repeated manual adjustments by medical staff. Only adaptive adjustments to parameters (such as ΔP, ΔV, and f) are required based on different surgical durations and individual patient conditions. In practical applications, doctors or engineers can flexibly set the average pressure, amplitude, and periodic frequency according to the patient's condition.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An uterine manipulator, characterized by, The utility model relates to a kind of medical equipment, including: Fixed uterine body (1) for entering human vagina; Movable uterine body (2) is coaxially connected with the fixed uterine body (1) and is used to follow the fixed uterine body (1) into human vagina; Control mechanism is drivingly connected to the fixed uterine body (1) and movable uterine body (2), and the insertion position of the fixed uterine body (1) and movable uterine body (2) is adjusted by the control mechanism; Wherein, the movable uterine body (2) is driven by the control mechanism and is coaxially combined with the fixed uterine body (1), and the fixed uterine body (1) and movable uterine body (2) in combined state are pushed into human vagina and reach cervix, so that the fixed uterine body (1) is sealed and connected in human vagina and fixedly closes cervix;The movable uterine body (2) is driven by the control mechanism and is axially away from the fixed uterine body (1) by a certain distance in human vagina;The fixed uterine body (1) is driven by the control mechanism and is separated from human body and taken out of the resected tissue; The control mechanism includes angle adjusting mechanism and opening and closing mechanism, and the insertion angle of the fixed uterine body (1) and movable uterine body (2) is adjusted by the angle adjusting mechanism;The fixed uterine body (1) and movable uterine body (2) are driven by the opening and closing mechanism and are opened and closed with each other; The angle adjusting mechanism includes a winch (10), a traction cable (11) and a first connecting arm (12);The end of the first connecting arm (12) is hingedly connected with a second connecting arm (9);The fixed uterine body (1) and movable uterine body (2) are coaxially arranged on the first connecting arm (12);The winch (10) is arranged on the second connecting arm (9);One end of the traction cable (11) is wound on the winch (10), and the other end is fixedly connected to the first connecting arm (12);The deflection angle of the first connecting arm (12) is adjusted by winding and unwinding the traction cable (11) by the winch (10), so as to adjust the insertion angle of the fixed uterine body (1) and movable uterine body (2); The opening and closing mechanism includes a first motor slider (13), and the outer wall of the first connecting arm (12) is formed with threads; The first motor slider (13) is engaged with the threads on the first connecting arm (12) and is connected to the movable uterine body (2) to drive the movable uterine body (2) away from or close to the fixed uterine body (1) along the length direction of the first connecting arm (12).

2. The uterine manipulator of claim 1, wherein, The fixed uterine body (1) is wrapped with a medical silica gel sleeve (3), and the fixed uterine body (1) is tightly attached to the inner wall of human vagina through the elastic outer wall of the medical silica gel sleeve (3).

3. The uterine manipulator of claim 2, wherein, An annular inflatable body (4) is arranged in the fixed uterine body (1); The annular inflatable body (4) is supported on the inner wall of the medical silica gel sleeve (3), and the annular inflatable body (4) is connected with an external inflation device through an inflation pipe.

4. The uterine manipulator of claim 1, wherein, The control mechanism includes a horizontal moving mechanism and / or a lifting mechanism; The horizontal position of the fixed uterine body (1) and movable uterine body (2) is adjusted by the horizontal moving mechanism; The fixed uterine body (1) and the movable uterine body (2) are adjusted in vertical position by the lifting mechanism.

5. The uterine manipulator of claim 1, wherein, The first connecting arm (12) and the second connecting arm (9) are hingedly connected by a universal joint (14); The up-and-down deflection of the universal joint (14) allows the up-and-down retraction of the traction cable (11), and the left-and-right swing of the traction cable (11) allows the left-and-right deflection of the universal joint (14).

6. The uterine manipulator of claim 4, wherein, The lifting mechanism comprises a third motor sliding block (5), a third connecting arm (6), and a lifting pipe (7); The third connecting arm (6) is vertically fixed on the fixing seat (100); The third motor sliding block (5) is arranged at the lower end of the lifting pipe (7), and the working height of the fixed uterine body (1) and the movable uterine body (2) is controlled by the lifting pipe (7); The outer wall of the third connecting arm (6) is formed with a thread, and the third motor sliding block (5) is engaged on the thread of the third connecting arm (6) to drive the lifting pipe (7) to move up and down.

7. The uterine manipulator of claim 6, wherein, The horizontal moving mechanism comprises a second motor sliding block (8) and the second connecting arm (9); The horizontal working position of the fixed uterine body (1) and the movable uterine body (2) is controlled by the second connecting arm (9); The second motor sliding block (8) is fixed on the upper end of the lifting pipe (7); The second motor sliding block (8) is engaged on the thread of the second connecting arm (9) to drive the second connecting arm (9) to move horizontally.

8. An automated uterine manipulation system, characterized by, The lifting uterine device comprises a first control module, a second control module, a third control module, and a fourth control module, which are used for controlling the lifting uterine device according to any one of claims 1-7.

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