Laparoscope clamping device for urinary surgery

Abstract

The invention relates to the field of medical instruments, in particular to a laparoscope clamping device for urinary surgery, which comprises a fixed base and a handle, a mounting frame is arranged on the fixed base, the handle is provided with a driving module and an angle adjusting module, the driving module comprises a driving part, the driving part is connected with a linkage shaft, and clamping components are arranged on two sides of the linkage shaft; the angle adjusting module comprises an outer shell and an inner shell, a spiral protruding rail is arranged on the outer side of the inner shell, an inclined sliding groove is formed in the inner side of the outer shell, the spiral protruding rail is meshed with a transmission rack, the transmission rack is hinged to the clamping assembly, an output shaft of the driving part is in key connection with a driving gear, the driving gear is meshed with a driven gear, and the driven gear is meshed with the transmission rack. When the driving piece pushes the shell to move axially, the inclined sliding groove and the spiral protruding rail interact, and the clamping assembly is driven by the transmission rack to generate opening and closing movement. The invention aims to realize fine and stable clamping of a tissue structure in a urinary surgical operation so as to improve the accuracy and safety of the operation.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to a laparoscopic clamping device for urology. Background Art

[0002] In urological surgery, laparoscopic techniques are widely used due to their advantages such as minimal invasiveness and rapid recovery. However, traditional laparoscopic clamping devices have deficiencies in clamping force, operational flexibility, and precision, which to a certain extent limit the surgical effect and safety. Especially when dealing with small or complex tissue structures, doctors require more delicate and stable clamping tools to ensure the smooth progress of the surgery. Existing clamping devices generally have the following problems:

[0003] (1) Insufficient clamping force: Traditional clamping devices are difficult to precisely control the clamping force, easily resulting in over-tight or over-loose clamping, which affects the surgical effect.

[0004] (2) Poor operational flexibility: Existing devices lack flexibility during operation, are difficult to adapt to surgical requirements at different angles and positions, and increase the surgical difficulty.

[0005] (3) Low precision: When dealing with small or complex tissue structures, the precision of traditional clamping devices is insufficient, easily causing tissue damage and affecting surgical safety.

[0006] Therefore, developing a new type of laparoscopic clamping device for urology to improve the precision and safety of surgery has important clinical significance. Summary of the Invention

[0007] To solve the above problems, the present invention provides a laparoscopic clamping device for urology, which is used to achieve delicate and stable clamping of tissue structures during urological surgery to improve the precision and safety of surgery.

[0008] To achieve the above object, the technical solution of the present invention is as follows: A laparoscopic clamping device for urology, including a fixed base, an installation frame is fixedly connected to the top of the fixed base, a clamping device is placed on the installation frame, the clamping device includes a handle, a driving module and an angle adjustment module are installed on the handle, the driving module includes a driving member, an output shaft of the driving member is coaxially fixedly connected to a linkage shaft, and clamping components are symmetrically installed on both sides of the linkage shaft;

[0009] The angle adjustment module includes an outer shell and an inner shell, a spiral convex rail is provided on the outer side wall of the inner shell, an inclined chute matching the spiral convex rail is provided on the inner side wall of the outer shell, the inner shell is sleeved outside the clamping component, a transmission rack is engaged with the spiral convex rail on the outer side wall of the inner shell, the transmission rack is hinged to the clamping component, an output shaft of the driving member is key-connected to a driving gear, the driving gear is engaged with a driven gear, and the driven gear is engaged with the transmission rack on the side away from the driving gear;

[0010] The driving member is signal-connected to a controller, and the controller is used to control the opening and closing of the driving member. When the driving member pushes the housing to move axially, the oblique chute and the spiral rail interact with each other, and the clamping assembly is driven to generate an opening and closing movement through the transmission rack.

[0011] Furthermore, the clamping assembly includes clamping arms, and protective layers are provided on the inner sides of the clamping arms. A plurality of suction cups are provided on the side of the protective layer away from the clamping arms. The suction cups form a bionic octopus suction cup array. The suction cups are communicated with a negative pressure pipe, and the negative pressure pipe is communicated with a vacuum air pump. Pressure sensors are installed on the suction cups. The vacuum air pump is signal-connected to the controller, and the controller is signal-connected to the pressure sensors. The controller is used to control the switch of the vacuum air pump and adjust the adsorption force of the suction cups according to the pressure data monitored by the pressure sensors in real time.

[0012] Furthermore, a self-locking module is installed at the bottom of the housing. The self-locking module includes a ratchet and a pawl. The ratchet is fixedly connected to the inner housing. A spring is connected between the pawl and the housing. A strain layer is wrapped on the outer side wall of the spring. A thin film piezoelectric sensor is sleeved on the outer side wall of the strain layer. The thin film piezoelectric sensor is signal-connected to the controller;

[0013] When the clamping pressure is greater than the preset pressure in the controller, the thin film piezoelectric sensor outputs an electric current, causing the strain layer to contract, driving the spring to drive the pawl to engage and lock with the ratchet.

[0014] Furthermore, a double spiral channel is provided at the center of the linkage shaft. A shape memory alloy wire and a piezoelectric ceramic rod are respectively embedded in the double spiral channel. The shape memory alloy wire is connected to a differential regulator. The piezoelectric ceramic rod forms an electrostrictive coupling with the transmission rack. The differential regulator is signal-connected to the controller;

[0015] When the force difference between the two clamping arms is greater than the preset force difference in the controller, the differential regulator generates a compensation torque.

[0016] Furthermore, an early warning module is further included. The early warning module includes an indicator light and a buzzer. Both the indicator light and the buzzer are signal-connected to the controller. When the clamping pressure deviates from the preset value, the controller sends an instruction to the early warning module, and the early warning module reminds the medical staff through the indicator light and the buzzer sound.

[0017] Furthermore, a temperature sensor is arranged inside the clamping arm of the clamping assembly. The temperature sensor is used to monitor the temperature change of the clamping part in real time. The temperature sensor is signal-connected to the controller;

[0018] When the temperature data monitored by the temperature sensor in real time is greater than the preset temperature threshold in the controller, the controller automatically triggers an alarm mechanism, and the controller sends a warning instruction to the early warning module.

[0019] Furthermore, anti-slip patterns are provided on the outer side of the handle.

[0020] Furthermore, a detachable disinfection module is provided on the fixed base. The disinfection module includes a bracket, on which a disinfectant liquid spray head is installed. The disinfectant liquid spray head is connected to a hose, and the end of the hose away from the disinfectant liquid spray head is connected to a disinfectant liquid storage tank. The disinfectant liquid storage tank is fixedly connected to the fixed base, and the disinfectant liquid spray head is signal-connected to the controller. The controller is used to automatically start the disinfection module before and after the operation to disinfect the clamping device.

[0021] Furthermore, adjustable support feet are provided at the bottom of the fixed base, and the support feet are used to adsorb the fixed base on the operating table or other metal surfaces.

[0022] Furthermore, the clamping arm is detachably connected to the linkage shaft.

[0023] The above scheme has the following beneficial effects:

[0024] 1. Compared with the prior art, the traditional clamping device relies on a single gear drive, which has clearance errors and motion lags. In this scheme, through the precise motion conversion mechanism of the spiral convex rail and the oblique chute, the axial displacement is converted into the radial opening and closing motion of the clamping arm, achieving an angular control accuracy of 0.1° level, which is further improved compared with the traditional gear drive, and the problem of unstable clamping caused by backlash is eliminated.

[0025] 2. Compared with the prior art, the clamping pressure depends on manual experience judgment, which is likely to cause tissue damage. In this scheme, through the dynamic adsorption force adjustment system of the bionic octopus suction cup array and the pressure sensor, combined with the controller algorithm, the non-linear matching of the clamping force - adsorption force is realized, which helps to reduce the tissue damage area during the operation.

[0026] 3. Compared with the prior art, there is a lack of a reliable self-locking mechanism, and it is easy to loosen during the operation. In this scheme, an intelligent self-locking module of a thin-film piezoelectric sensor and a strain layer is adopted. When the clamping pressure > 3.5N, the strain layer is triggered to contract and drive the pawl to lock, which helps to improve the anti-accidental loosening ability.

[0027] 4. Compared with the prior art, the asynchronous bilateral clamping causes tissue tearing. In this scheme, through the differential compensation mechanism of the shape memory alloy wire and the piezoelectric ceramic rod, when there is a force difference on both sides, a compensation torque is automatically generated, so that the synchronous error of the bilateral clamping force ≤ ±0.1N, which is especially suitable for the precise clamping of fragile tissues such as the ureter.

[0028] 5. Compared with the prior art, there is a lack of multi-modal warning and a delayed intraoperative risk response. In this scheme, an intelligent warning system integrating a three-color LED indicator light and a graded buzzer, combined with a temperature sensor, triggers an audible and visual alarm and automatically reduces the clamping force when the temperature or pressure exceeds the limit, reducing the incidence of intraoperative complications.

[0029] 6. Compared with the prior art, the disinfection of instruments relies on manual operation, which is prone to cause infections; the full-automatic disinfection system of the disinfectant spray head in this solution realizes 360° dead-angle-free sterilization and reduces the single disinfection cycle.

[0030] Additional aspects and advantages of the present invention will be given in part in the following description, will become apparent in part from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Is an axonometric view of an embodiment of the laparoscopic clamping device for urology of the present invention;

[0032] Figure 2 Is a rear view of the clamping device in the embodiment of the laparoscopic clamping device for urology of the present invention;

[0033] Figure 3 Is Figure 2 A cross-sectional view taken along the direction A-A in

[0034] Figure 4 Is Figure 2 A cross-sectional view taken along the direction B-B in

[0035] Figure 5 Is Figure 3 An enlarged schematic view at C in

[0036] Figure 6 Is a framework diagram of an embodiment of the laparoscopic clamping device for urology of the present invention.

[0037] Reference numerals in the accompanying drawings of the specification include: 1, fixed base; 2, mounting frame; 3, handle; 301, driving member; 4, lead screw; 5, nut block; 6, outer shell; 601, inclined chute; 7, inner shell; 701, spiral convex rail; 8, clamping arm; 9, protective layer; 10, ratchet; 11, pawl; 12, spring; 13, bracket; 14, disinfectant spray head; 15, hose; 16, disinfectant storage tank. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0039] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0040] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] The following is a further detailed description through specific embodiments:

[0042] Embodiment 1:

[0043] As shown in the Figures 1 to 6 drawing: A laparoscopic clamping device for urology, including a fixed base 1, the fixed base 1 is fixedly connected with a mounting frame 2, the mounting frame 2 is used to place the clamping device, the clamping device includes a handle 3, a driving module and an angle adjustment module are installed on the handle 3, the driving module includes a driving member 301. In this embodiment, the driving member 301 is selected as a brushless servo motor (such as Maxon EC-4pole 30 medical-grade brushless DC motor, which uses a Hall effect sensor to achieve closed-loop control, cooperates with a 24-bit encoder to achieve an angular resolution of 0.05°, a rated torque of 0.3 N·m, a rotational speed of 5000 rpm, and a power of 50 W). The output shaft of the driving member 301 is coaxially fixedly connected with a linkage shaft, and clamping assemblies are symmetrically installed on both sides of the linkage shaft; the linkage shaft is a lead screw 4, a nut block 5 is sleeved on the lead screw 4, and the nut block 5 and the lead screw 4 form a ball screw structure.

[0044] The clamping assembly includes clamping arms 8. Protective layers 9 are provided on the inner sides of the clamping arms 8. A number of suction cups are provided on the side of the protective layer 9 away from the clamping arms 8. The suction cups form a bionic octopus suction cup array. The suction cups are connected to negative pressure tubes, and the negative pressure tubes are connected to a vacuum pump (in this embodiment, the vacuum pump model is: KNF NMP 830KNDC B (medical grade diaphragm pump), which generates negative pressure through the reciprocating motion of an oil-free piston, with a maximum negative pressure of -85 kPa, a flow rate of 5 L / min, and a noise < 42 dB). Pressure sensors are installed on the suction cups. In this embodiment, the pressure sensors are MEMS piezoresistive resistor arrays (such as TE Connectivity MS5837-30BA, based on MEMS technology, the piezoresistive resistor array detects the contact pressure, with a measurement range of 0-10 N, an accuracy of ±0.1 N, and a sampling rate of 1 kHz). The outer side of the handle 3 is provided with anti-slip patterns, which are made of silicone material and are used to increase the friction between the handle 3 and the hands of medical staff. The clamping arms 8 and the linkage shaft are detachably connected through a magnetic interface, and the clamping arms 8 are made of biocompatible materials.

[0045] The angle adjustment module includes an outer shell 6 and an inner shell 7. The bottom of the outer shell 6 is fixedly connected to the nut block 5. The outer side wall of the inner shell 7 is provided with a spiral convex rail 701, and the inner side wall of the outer shell 6 is provided with an inclined chute 601 that matches the spiral convex rail 701. The inner shell 7 is sleeved outside the clamping assembly. The spiral convex rail 701 on the outer side wall of the inner shell 7 meshes with a transmission rack, and the transmission rack is hinged to the clamping assembly. The output shaft of the driving member 301 is key-connected to a driving gear, the driving gear meshes with a driven gear, and the side of the driven gear away from the driving gear meshes with the transmission rack.

[0046] The driving member 301 is signal-connected to a controller (in this embodiment, the controller model is STM32H743IIT6, with an ARM Cortex-M7 core, integrated with a PID algorithm module, which calculates the clamping force-negative pressure mapping relationship in real time and synchronously controls the brushless servo motor, vacuum pump, and warning module through the CAN bus). The controller is used to control the opening and closing of the driving member 301. When the driving member 301 pushes the outer shell 6 to move axially, the inclined chute 601 and the spiral convex rail 701 interact with each other, and the clamping assembly is driven to generate an opening and closing movement through the transmission rack. The vacuum pump is signal-connected to the controller, and the controller is signal-connected to the pressure sensor. The controller is used to control the switch of the vacuum pump and adjust the adsorption force of the suction cups according to the pressure data monitored by the pressure sensor in real time.

[0047] A self-locking module is installed at the bottom of the outer shell 6. The self-locking module includes a ratchet wheel 10 and a pawl 11. The ratchet wheel 10 is fixedly connected to the inner shell 7. A spring 12 is connected between the pawl 11 and the outer shell 6. A strain layer is wrapped around the outer side wall of the spring 12. A thin-film piezoelectric sensor is sleeved on the outer side wall of the strain layer (in this embodiment, the thin-film piezoelectric sensor uses a PVDF piezoelectric film (sensitivity 20 pC / N), which is wrapped outside the shape memory alloy spring 12 and generates a charge signal when compressed). The thin-film piezoelectric sensor is signal-connected to the controller; the controller is used to when the clamping pressure is greater than the preset pressure in the controller, the thin-film piezoelectric sensor outputs a current, causing the strain layer to contract, driving the spring 12 to drive the pawl 11 to engage and lock with the ratchet wheel 10.

[0048] It further includes an early warning module. The early warning module includes an indicator light and a buzzer (in this embodiment, the indicator light uses a three-color LED indicator light (green / yellow / red) to display the clamping state; the buzzer uses a piezoelectric buzzer (frequency 2 - 4 kHz adjustable) for hierarchical alarm). Both the indicator light and the buzzer are signal-connected to the controller; the controller is also used to when the clamping pressure deviates from the preset value, the controller sends an instruction to the early warning module, and the early warning module reminds the medical staff through the indicator light and the buzzer sound.

[0049] The specific implementation process is as follows: Manually install the replaceable clamping head (titanium alloy / polymer material) onto the clamping arm 8 and quickly lock it through the magnetic attraction interface (error ±0.1 mm); connect the negative pressure tube to the vacuum pump interface and check the airtightness (pressure maintenance test). Set through the controller: select the preset pressure according to the tissue type (3.5 N for the kidney, 2.8 N for the ureter); select the algorithm of "P = 0.04F + 0.0015F2" to set the negative pressure curve; preset the early warning threshold (such as 10% overpressure, 20% low pressure).

[0050] The medical staff takes the clamping device from the mounting rack 2, holds the anti-slip texture area on the handle 3, guides the clamping device to the target tissue through the laparoscopic image, and then the controller starts the driving member 301. After the driving member 301 (brushless servo motor) starts, the output shaft drives the linkage shaft (lead screw 4) to rotate, and converts the rotational motion into the axial displacement of the nut block 5 through the ball screw structure. The nut block 5 pushes the outer shell 6 to move axially, and the oblique chute 601 inside the outer shell 6 interacts with the spiral convex rail 701 of the inner shell 7, converting the axial thrust into the rotational motion of the inner shell 7. The spiral convex rail 701 of the inner shell 7 meshes with the transmission rack, converting the rotational motion of the inner shell 7 into the radial opening and closing of the clamping arm 8.

[0051] When the clamping arm 8 contacts the tissue, the bionic octopus suction cup array is deformed under pressure, and the pressure sensors on the suction cups feedback data to the controller in real time. The controller dynamically adjusts the negative pressure of the vacuum pump according to the preset algorithm:

[0052] Initial contact (F = 1N): Negative pressure P = 0.04×1 + 0.0015×1² = 0.0415 kPa (gentle adsorption);

[0053] Target clamping force (F = 3.5N): Negative pressure P = 0.04×3.5 + 0.0015×3.5² = 0.14 + 0.018 = 0.158 kPa (stable fixation).

[0054] When the clamping pressure reaches the preset value (such as 3.5N), the thin - film piezoelectric sensor generates a charge signal (sensitivity 20 pC / N) and outputs a current to the strain layer. The strain layer shrinks by 20% under a voltage of 1 kV, driving the shape - memory alloy spring 12 to shorten by 0.8 mm, and driving the pawl 11 to engage and lock with the ratchet 10 (locking force > 50N).

[0055] Meanwhile, the warning module is activated: Green light is always on: The pressure is within the safe range (2.8 - 3.5N); Yellow light flashes + buzzer emits intermittent sound (2 kHz): The pressure is approaching the upper limit (3.5 - 3.85N); Red light is always on + buzzer emits continuous sound (4 kHz): The pressure exceeds the limit (> 3.85N), and the driving part 301 automatically cuts off the power.

[0056] After completing the clamping operation, the driving part 301 (brushless servo motor) starts in the reverse direction. The output shaft drives the driving gear to rotate. The driving gear meshes with the driven gear, transmitting the rotational motion to the driven gear. The rotational direction of the driven gear is opposite to that of the driving gear. The rotational motion of the driven gear is converted into a linear motion of the transmission rack through the meshing action. The linear motion of the transmission rack is transmitted to the clamping assembly through the hinge point, driving the clamping assembly to generate a closing motion (when the transmission rack moves forward, the clamping assembly opens; when the transmission rack moves backward, the clamping assembly closes). The vacuum pump is turned off, the negative pressure is released, the suction cup is separated from the tissue, and the medical staff removes the clamping device from the surgical area. The clamping head is quickly disassembled through the magnetic interface for cleaning and disinfection. The clamping device is placed back on the mounting rack 2 for the next use.

[0057] Example 2:

[0058] The difference from Example 1 is that a double - helical channel (not shown in the figure) is provided at the center of the linkage shaft. The double - helical channel is respectively embedded with a shape - memory alloy wire (in this embodiment, the shape - memory alloy wire adopts the model: SAES Getters LTD A - type Ni - Ti - Cu alloy wire, which triggers the austenite phase transformation through the Joule heat effect (heating when electrified) and generates a contraction deformation) and a piezoelectric ceramic rod (in this embodiment, the piezoelectric ceramic rod adopts the model: PIC255 piezoelectric ceramic, and through the inverse piezoelectric effect, it generates axial expansion and contraction when a voltage is applied). The shape - memory alloy wire is connected with a differential regulator, the piezoelectric ceramic rod forms an electrostrictive coupling with the transmission rack, and the differential regulator is signal - connected to the controller; when the force difference between the two clamping arms 8 is greater than the preset force difference in the controller, the differential regulator generates a compensating torque.

[0059] The specific implementation process is as follows: When the clamping arm 8 contacts the target tissue, the bionic octopus sucker array is compressed and deformed, and the pressure sensors on the suckers real - time feedback data to the controller. When the force difference between the two clamping arms 8 is greater than the preset force difference, the controller sends an instruction to the differential regulator. The differential regulator triggers the austenite phase transformation of the shape - memory alloy wire through the Joule heat effect, generates a contraction deformation, adjusts the rotation speed of the linkage shaft, and makes the forces on the two clamping arms 8 tend to be balanced. The controller adjusts the voltage of the piezoelectric ceramic rod according to the feedback data of the pressure sensors, and drives the transmission rack to move through the electrostrictive effect, precisely controlling the opening and closing angle and the clamping force of the clamping arm 8.

[0060] Specifically,

[0061] (1) Pre - operative debugging: Heat it to 40 °C by electrification, record the strain - current curve, and calibrate the shape - memory alloy wire; set the differential regulation parameters, with a maximum compensating torque of 1 N·m and a response time < 50 ms.

[0062] (2) Intra - operative operation: When clamping the renal artery, if the left - side pressure is 3.2 N and the right - side pressure is 2.7 N (ΔF = 0.5 N); the piezoelectric ceramic rod is applied with a voltage of 150 V, generating a displacement compensation gap of 3 μm, the shape - memory alloy wire is electrified (0.8 A), shrinks by 0.4 mm to generate a torque of 0.1 N·m, and the planetary gear train of the differential regulator rotates 2.5°, balancing the bilateral pressure to 3.0 N ± 0.1 N.

[0063] Example 3:

[0064] The difference from Example 2 is that a temperature sensor (in this embodiment, the temperature sensor adopts the model: PT100 platinum resistance) is arranged inside the clamping arm 8 of the clamping assembly. The temperature sensor is used to real - time monitor the temperature change of the clamping part, and the temperature sensor is signal - connected to the controller; when the temperature data real - time monitored by the temperature sensor is greater than the preset temperature threshold in the controller, the controller automatically triggers the alarm mechanism, and the controller sends a warning instruction to the warning module.

[0065] The specific implementation process is as follows: A temperature threshold is preset in the controller, which is comprehensively determined according to factors such as the type of surgery, tissue type, and safety standards. When the temperature at the clamping part exceeds the temperature threshold, it may mean that the tissue is overheated or there are other safety hazards.

[0066] The controller continuously receives data from the temperature sensor and conducts real-time analysis. Once the monitored temperature data exceeds the preset temperature threshold, the controller immediately triggers an alarm mechanism, sends a warning instruction to the warning module, and the warning module reminds medical staff through an indicator light and a buzzer (such as a constantly lit red light + continuous sound of the buzzer) to alert the doctor to pay attention and take corresponding measures.

[0067] After triggering the alarm, the controller can also automatically take some safety measures, such as pausing the further operation of the clamping arm 8 to avoid further damage to the tissue.

[0068] Example 4:

[0069] As shown in the attached Figure 1 figure, the difference from Example 3 is that a detachable disinfection module is provided on the fixed base 1. The disinfection module includes a bracket 13, and a disinfectant liquid spray head 14 (in this embodiment, the disinfectant liquid spray head 14 adopts the model: SonoTek 8700-120, with an atomization particle size of 10-50 μm) is installed on the bracket 13. The disinfectant liquid spray head 14 is connected to a hose 15, and one end of the hose 15 away from the disinfectant liquid spray head 14 is connected to a disinfectant liquid storage tank 16. The disinfectant liquid storage tank 16 is fixedly connected to the fixed base 1, and the disinfectant liquid spray head 14 is signal-connected to the controller. The controller is used to automatically start the disinfection module before and after the operation to disinfect the clamping device.

[0070] The specific implementation process is as follows: Fix the bracket 13 of the disinfection module on the fixed base 1 to ensure that the disinfectant liquid spray head 14 can cover the key parts of the clamping device. The disinfectant liquid spray head 14 is signal-connected to the controller through wires or hoses 15 respectively. Fix the disinfectant liquid storage tank 16 on the fixed base 1 and connect it to the disinfectant liquid spray head 14 through a hose 15 to ensure that the disinfectant liquid can be smoothly transported to the disinfectant liquid spray head 14 for atomization spraying.

[0071] A disinfection program is preset in the controller, including the disinfection time and the opening sequence of the disinfectant liquid spray head 14, etc. Before and after the operation, the controller automatically starts the disinfection module to conduct a comprehensive disinfection treatment on the clamping device. When the controller receives a disinfection instruction, it starts the disinfectant liquid spray head 14 for atomization spraying disinfection. After the disinfection is completed, the controller automatically closes the disinfection module and issues a prompt signal.

[0072] Example 5:

[0073] The difference from Example 4 is that adjustable support feet (not shown in the figure) are provided at the bottom of the fixed base 1. The support feet are made of magnetic materials and are used to adsorb the fixed base 1 on the operating table or other metal surfaces.

[0074] The specific implementation process is as follows: Install the adjustable support feet at the bottom of the fixed base 1 to ensure that each support foot can be firmly fixed on the fixed base 1. The height and angle of the support feet can be adjusted as needed.

[0075] Place the fixed base 1 on the operating table or other metal surfaces and use the magnetic properties of the support feet to firmly adsorb it on the surface, so as to ensure that the clamping device remains stable during the operation. Adjust the height and angle of the support feet according to factors such as the height and tilt angle of the operating table and surgical requirements, so that the clamping device reaches the optimal working position and posture.

[0076] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. And the obvious changes or variations derived therefrom are still within the protection scope of the present invention.

Claims

1. A laparoscopic clamping device for urological surgery, comprising a fixed base (1), a mounting frame (2) fixedly connected to the top of the fixed base (1), a clamping device placed on the mounting frame (2), the clamping device comprising a handle (3), a driving module and an angle adjustment module mounted on the handle (3), characterized in that: The driving module comprises a driving member (301), the output shaft of the driving member (301) is coaxially fixedly connected with a linkage shaft, and clamping components are symmetrically installed on both sides of the linkage shaft; The angle adjustment module comprises an outer shell (6) and an inner shell (7), the outer wall of the inner shell (7) is provided with a spiral convex track (701), the inner wall of the outer shell (6) is provided with an oblique slide groove (601) matching the spiral convex track (701), the inner shell (7) is sleeved on the outer side of the clamping assembly, the spiral convex track (701) on the outer wall of the inner shell (7) is meshed with a transmission rack, the transmission rack is hinged to the clamping assembly, the output shaft of the driving member (301) is keyed to a driving gear, the driving gear is meshed with a driven gear, and the driven gear is meshed with the transmission rack on a side away from the driving gear; The driving member (301) is signal-connected to a controller, and the controller is used to control the opening and closing of the driving member (301). When the driving member (301) pushes the housing (6) to move axially, the oblique slide groove (601) interacts with the spiral convex rail (701), and the clamping assembly is driven to generate an opening and closing movement through the transmission rack.

2. The laparoscopic clamping device for urology according to claim 1, characterized in that: The clamping assembly comprises a clamping arm (8), the inner side of each clamping arm (8) is provided with a protective layer (9), a plurality of suction cups are provided on the side of the protective layer (9) away from the clamping arm (8), the suction cups form a bionic octopus suction cup array, the suction cups are connected to a negative pressure pipe, the negative pressure pipe is connected to a vacuum air pump, and pressure sensors are installed on each suction cup, the vacuum air pump is connected to a controller signal, the controller is connected to a pressure sensor signal, and the controller is used to control the switch of the vacuum air pump to adjust the suction force of the suction cup according to the pressure data monitored in real time by the pressure sensor.

3. The laparoscopic clamping device for urology according to claim 2, characterized in that: A self-locking module is installed at the bottom of the outer shell (6), and the self-locking module includes a ratchet (10) and a pawl (11). The ratchet (10) is fixedly connected to the inner shell (7), and a spring (12) is connected between the pawl (11) and the outer shell (6). The outer wall of the spring (12) is wrapped with a strain layer, and the outer wall of the strain layer is sleeved with a thin film piezoelectric sensor, and the thin film piezoelectric sensor is connected to the controller signal; When the clamping pressure is greater than the preset pressure in the controller, the thin film piezoelectric sensor outputs current to cause the strain layer to contract, and the driving spring (12) drives the ratchet pawl (11) to engage and lock with the ratchet wheel (10).

4. The laparoscopic clamping device for urology according to claim 3, characterized in that: A double helix channel is provided at the center of the linkage shaft, and a shape memory alloy wire and a piezoelectric ceramic rod are respectively embedded in the double helix channel. The shape memory alloy wire is connected to a differential regulator, and the piezoelectric ceramic rod forms an electrostrictive coupling with the transmission rack. The differential regulator is connected to the controller signal; When the force difference between the clamping arms (8) on both sides is greater than the preset force difference in the controller, the differential regulator generates a compensating torque.

5. The laparoscopic clamping device for urology according to claim 4, characterized in that: It also includes an early warning module, which includes an indicator light and a buzzer. The indicator light and the buzzer are both connected to the controller signal. When the clamping pressure deviates from the preset value, the controller sends an instruction to the early warning module, and the early warning module reminds medical staff through the indicator light and the buzzer sound.

6. The laparoscopic clamping device for urology according to claim 5, characterized in that: A temperature sensor is arranged inside the clamping arm (8) of the clamping assembly, and the temperature sensor is used to monitor the temperature change of the clamping part in real time, and the temperature sensor is connected to the controller signal; When the temperature data monitored in real time by the temperature sensor is greater than the temperature threshold preset in the controller, the controller automatically triggers the alarm mechanism and sends a warning instruction to the warning module.

7. The laparoscopic clamping device for urology according to claim 6, characterized in that: The outer side of the handle (3) is provided with anti-slip patterns.

8. The laparoscopic clamping device for urology according to claim 7, characterized in that: A detachable disinfection module is provided on the fixed base (1), the disinfection module comprises a bracket (13), a disinfectant spray head (14) is mounted on the bracket (13), the disinfectant spray head (14) is connected to a hose (15), one end of the hose (15) away from the disinfectant spray head (14) is connected to a disinfectant storage box (16), the disinfectant storage box (16) is fixedly connected to the fixed base (1), the disinfectant spray head (14) is connected to a controller signal, and the controller is used to automatically start the disinfection module before and after the operation to disinfect the clamping device.

9. The laparoscopic clamping device for urology according to claim 8, characterized in that: The bottom of the fixed base (1) is provided with adjustable supporting feet, and the supporting feet are used to adsorb the fixed base (1) onto an operating table or other metal surface.

10. The laparoscopic clamping device for urology according to claim 9, characterized in that: The clamping arm (8) is detachably connected to the linkage shaft.

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