Uterine manipulator

Abstract

The invention provides a uterus manipulator. The uterus manipulator comprises a trolley mechanism, a driving mechanism arranged on the trolley mechanism, a posture adjusting mechanism connected with the driving mechanism and a uterus lifting mechanism connected with the posture adjusting mechanism and the driving mechanism. The trolley mechanism is used for bearing the driving mechanism, the posture adjusting mechanism and the uterus lifting mechanism; the driving mechanism is used for driving the posture adjusting mechanism and the uterus lifting mechanism to operate; the posture adjusting mechanism is used for adjusting the posture of the uterus lifting mechanism; the uterus lifting mechanism is used for being placed in a corresponding human body part; the uterus lifting mechanism comprises a uterus lifting cup body, a cup body sleeve arranged on the uterus lifting cup body in a sleeving mode and a ruler rod connected with the uterus lifting cup body. The cup body sleeve is elastic and forms a uterine lifting cavity, and the uterine lifting cup body can be expanded or shrunk in the radial direction of the uterine lifting cup body, so that the radial size of the uterine lifting cavity is adjustable; the ruler rod is located on the axis of the uterus lifting cup body and can stretch out and draw back in the axial direction of the uterus lifting cup body. The size and the position of the uterus lifting mechanism are electrically adjustable, the applicability is high, and the operation efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical instruments, and more particularly, to a uterine manipulator. Background Art

[0002] As a key auxiliary instrument in minimally invasive gynecological surgery, the uterine manipulator is widely used in laparoscopic and hysteroscopic surgery scenarios. It mainly realizes three-dimensional regulation of the uterine position through mechanical support and positioning functions, so as to better expose the surgical field and improve the accuracy of surgical operations. In the prior art, the structure of traditional uterine manipulators generally adopts a fixed clamping device in cooperation with a manual adjustment mechanism, and this technical solution has significant defects in actual clinical applications:

[0003] In terms of operation safety, due to significant individual differences in uterine morphology, it is difficult for existing standardized instruments to achieve adaptable fixation. Especially for physicians lacking proficiency, in the endoscopic surgery environment lacking tactile feedback, it is extremely easy to cause serious complications such as damage to the uterine serosa layer or even perforation due to deviation of the force application angle or improper depth control.

[0004] At the level of function realization, traditional instruments need to rely on the operator to continuously manually maintain the position of the uterine manipulation during the operation. This not only causes the operator's hand to be easily fatigued, resulting in the displacement of the instrument and affecting the axial stability of the uterine body, but also reduces the accuracy of the operation of the surgical instrument.

[0005] The above technical defects seriously restrict the safety margin and operation efficiency of minimally invasive gynecological surgery. Especially in long-term surgeries such as complex myomectomy and total hysterectomy, the existing uterine manipulators still have the following technical bottlenecks that need to be improved urgently in terms of anatomical adaptability, operation stability, and human-computer interaction: (1) How to construct a uterine body fixation mechanism with an adaptive adjustment function; (2) How to achieve dynamic matching between the force application direction and the anatomical axis of the uterine body; (3) How to reduce the continuous physical load of the operator. The solution of these key problems will directly affect the clinical prognosis quality of minimally invasive gynecological surgery. Summary of the Invention

[0006] The purpose of the present invention is to provide a uterine manipulator to solve the technical problems of poor patient applicability and heavy physical load consumption of the operator existing in the prior art.

[0007] To achieve the above purpose, the technical solution adopted by the present invention is:

[0008] In the first aspect, a uterine manipulator is provided, including:

[0009] A trolley mechanism, a driving mechanism arranged on the trolley mechanism, a posture adjustment mechanism connected to the driving mechanism, and a uterine lifting mechanism connected to the posture adjustment mechanism and the driving mechanism; the trolley mechanism is used to carry the driving mechanism, the posture adjustment mechanism and the uterine lifting mechanism; the driving mechanism is used to drive the posture adjustment mechanism and the uterine lifting mechanism to operate; the posture adjustment mechanism is used to adjust the posture of the uterine lifting mechanism; the uterine lifting mechanism is used to be placed in a corresponding part of the human body;

[0010] The uterine lifting mechanism includes a uterine lifting cup body, a cup body sleeve mounted on the uterine lifting cup body, and a ruler rod connected to the uterine lifting cup body; the cup body sleeve is elastic and forms a uterine lifting cavity, the uterine lifting cup body can expand or shrink in its own radial direction, so that the radial size of the uterine lifting cavity is adjustable; the ruler rod is located on the axis of the uterine lifting cup body and can be extended and retracted along the axial direction of the uterine lifting cup body.

[0011] By adopting the above technical solution, the size and position of the uterine lifting mechanism can be electrically adjusted, which has strong applicability and helps save the operator's physical strength and improve surgical efficiency.

[0012] In one embodiment, the uterine lifting cup body includes a uterine lifting cup connecting seat, a plurality of cup body parts arranged in sequence around the axis of the uterine lifting cup body on the uterine lifting cup connecting seat, and a cup body driving member drivingly connected to the cup body parts; the uterine lifting cup connecting seat is connected to the posture adjustment mechanism, and the cup body driving member is used to drive the plurality of cup body parts to move radially along the uterine lifting cup body.

[0013] In one embodiment, the cup body driving component includes a screw rod arranged on the uterine lifting cup connecting seat and a driving part that is transmission-connected to the screw rod; the screw rod extends along the radial direction of the uterine lifting cup body, and the screw rod is threadedly engaged with the cup body; the screw rod drives the cup body to move along the radial direction of the uterine lifting cup body under the drive of the driving part.

[0014] In one embodiment, the driving part is provided with a gear plate, and the screw rod is provided with a gear drivingly connected to the gear plate; the gear plate is located on the axis of the uterine lifting cup body, and the gear is meshed with the gear plate.

[0015] In one embodiment, the ruler rod includes an inner ruler rod, an outer ruler rod movably mounted on the inner ruler rod, and a first pneumatic mechanism for adjusting air pressure. The inner ruler rod is connected to the uterine lifting cup body. A telescopic cavity is provided between the inner ruler rod and the outer ruler rod. The telescopic cavity is used to communicate with the first pneumatic mechanism and expand or shrink under the drive of the first pneumatic mechanism, so that the outer ruler rod can be telescoped relative to the inner ruler rod.

[0016] In one embodiment, the ruler rod also includes an airbag arranged on the outer ruler rod and a second pneumatic mechanism for adjusting the air pressure. The airbag is provided with an airbag cavity connected to the second pneumatic mechanism, and the airbag cavity can expand or shrink under the drive of the second pneumatic mechanism.

[0017] In one embodiment, the first pneumatic mechanism is provided with a first ventilation pipe that passes through the inner rod and is connected to the telescopic cavity; the second pneumatic mechanism is provided with a second ventilation pipe that passes through the inner rod and is arranged in the telescopic cavity, and the second ventilation pipe extends to the airbag and is connected to the airbag cavity.

[0018] In one embodiment, the ruler rod is further provided with a force sensor located at an end of the ruler rod away from the airbag.

[0019] In one embodiment, the trolley mechanism includes a base, a first column arranged on the base, a second column slidably connected to the first column, a lifting drive connecting the first column and the second column, and a support platform arranged on the second column; the second column can be lifted and lowered relative to the first column under the drive of the lifting drive; the support platform is used to support the driving mechanism.

[0020] In one embodiment, the second column is provided with a pitch axis, the support platform is provided with a pitch driving member, the support platform is connected to the pitch axis and can rotate around the pitch axis under the drive of the pitch driving member. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a three-dimensional structural diagram of the uterine manipulator provided in an embodiment of the present invention.

[0023] Figure 2 The explosion of the uterine manipulator provided by the embodiment of the present invention Figure 1 .

[0024] Figure 3 It is a cross-sectional view of the uterine lifting mechanism provided in an embodiment of the present invention.

[0025] Figure 4 It is an exploded view of the uterine lifting mechanism provided in an embodiment of the present invention.

[0026] Figure 5It is a three-dimensional structure diagram of the driving mechanism provided by an embodiment of the present invention.

[0027] Figure 6 It is an exploded view of the uterine manipulator provided by an embodiment of the present invention Figure 2 .

[0028] Figure 7 It is a three-dimensional structure diagram of the attitude adjustment mechanism provided by an embodiment of the present invention.

[0029] The reference numerals in the figure are as follows:

[0030] 100, uterine manipulator;

[0031] 1, trolley mechanism; 2, driving mechanism; 3, attitude adjustment mechanism; 4, uterine lifting mechanism;

[0032] 11, base; 12, first column; 13, second column; 15, support platform; 16, pitching shaft body; 18, moving wheel; 21, sliding track; 22, sliding frame; 23, sliding driving member; 24, wire driving unit; 25, coupling; 31, first rotating unit; 32, second rotating unit; 33, third rotating unit; 41, uterine lifting cup body; 42, cup body sleeve; 43, scale rod;

[0033] 241, wire driving motor; 242, driving wire wheel; 243, driving wire; 221, first sliding frame body; 222, second sliding frame body; 223, third sliding frame body; 224, manual gear; 225, manual operation structure; 226, electric gear; 227, first pulley; 228, second pulley; 251, first coupling unit; 252, second coupling unit; 410, uterine cavity; 411, uterine lifting cup connection seat; 412, cup body part; 431, inner scale rod; 432, outer scale rod; 433, first air pressure mechanism; 434, telescopic cavity; 435, airbag; 436, second air pressure mechanism; 437, airbag cavity; 438, first ventilation pipe; 439, second ventilation pipe; 440, force sensor;

[0034] 4131, lead screw; 4132, driving part; 2211, lock; 2431, driving end;

[0035] 41321, gear disc; 41311, gear. Detailed implementation manners

[0036] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0037] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected or indirectly connected to the other element.

[0038] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "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 does not indicate that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0039] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating relative importance or indicating the number of technical features. In the description of the present invention, the meaning of "a plurality of" is two or more unless otherwise specifically defined. The following describes the specific implementation of the present invention in more detail with reference to specific embodiments:

[0040] As Figures 1 to 3 shown, a uterine manipulator 100 provided by an embodiment of the present invention includes:

[0041] A trolley mechanism 1, a driving mechanism 2 disposed on the trolley mechanism 1, an attitude adjustment mechanism 3 connected to the driving mechanism 2, and a uterine lifting mechanism 4 connected to the attitude adjustment mechanism 3 and the driving mechanism 2; the trolley mechanism 1 is used to carry the driving mechanism 2, the attitude adjustment mechanism 3, and the uterine lifting mechanism 4; the driving mechanism 2 is used to drive the attitude adjustment mechanism 3 and the uterine lifting mechanism 4 to operate; the attitude adjustment mechanism 3 is used to adjust the attitude of the uterine lifting mechanism 4; the uterine lifting mechanism 4 is used to be inserted into the corresponding human body part;

[0042] The uterine lifting mechanism 4 includes a uterine lifting cup body 41, a cup body sleeve 42 sleeved on the uterine lifting cup body 41, and a scale rod 43 connected to the uterine lifting cup body 41; the cup body sleeve 42 has elasticity and forms a uterine cavity 410. The uterine lifting cup body 41 can expand or contract in its own radial direction, so that the radial dimension of the uterine cavity 410 is adjustable; the scale rod 43 is located on the axis of the uterine lifting cup body 41 and can expand and contract along the axial direction of the uterine lifting cup body 41.

[0043] Specifically, the trolley mechanism 1 refers to a mechanism that enables the uterine manipulator 100 to have a movable function. The trolley mechanism 1 carries the driving mechanism 2, the attitude adjustment mechanism 3, and the uterine lifting mechanism 4; the trolley mechanism 1 can be moved to the target position by setting moving wheels, facilitating the operator to move the uterine manipulator 100 to the target position.

[0044] The driving mechanism 2 refers to a power mechanism that provides operation for the posture adjustment mechanism 3 and the uterine lifting mechanism 4; the driving mechanism 2 includes but is not limited to a motor mechanism.

[0045] The posture adjustment mechanism 3 is a mechanism for adjusting the posture of the uterine lifting mechanism 4 .

[0046] The uterine lifting mechanism 4 refers to a mechanism that is inserted into the corresponding part of the human body, and is used to lift the uterus so as to expose the surgical field of view; the uterine lifting mechanism 4 includes a uterine lifting cup body 41, a cup body sleeve 42 and a ruler rod 43; wherein, the cup body sleeve 42 is elastic, and the cup body sleeve 42 forms a uterine lifting cavity 410, and the cup body sleeve 42 is arranged on the uterine lifting cup body 41; the uterine lifting cup body 41 has deformation ability, and the uterine lifting cup body 41 can expand or shrink in its own radial direction to adjust its own radial size, so that the radial size of the cup body sleeve 42 is adjustable at the same time, and finally the radial size of the uterine lifting cavity 410 is adjustable to adapt to uteruses of different sizes; the ruler rod 43 is located on the axis of the uterine lifting cup body 41, and at the same time, the ruler rod 43 can be extended and retracted along the axial direction of the uterine lifting cup body 41, thereby realizing the adjustable position of the ruler rod 43 in the axial direction.

[0047] By adopting the above technical solution, the size and position of the uterine lifting mechanism 4 can be electrically adjusted, which has strong applicability and helps save the operator's physical strength and improve surgical efficiency.

[0048] Please also read Figure 4 In one embodiment, the uterine lifting cup body 41 includes a uterine lifting cup connecting seat 411, a plurality of cup body parts 412 arranged in sequence around the axis of the uterine lifting cup body 41 on the uterine lifting cup connecting seat 411, and a cup body driving member 413 that is transmission-connected to the cup body part 412; the uterine lifting cup connecting seat 411 is connected to the posture adjustment mechanism 3, and the cup body driving member 413 is used to drive the plurality of cup body parts 412 to move radially along the uterine lifting cup body 41.

[0049] Specifically, the uterine lifting cup connecting seat 411 refers to a seat body used to support the cup body 412 and the cup body driving member 413, and the uterine lifting cup connecting seat 411 is connected to the posture adjustment mechanism 3; multiple cup body parts 412 are used to enclose the axis of the uterine lifting cup body 41 and are arranged in sequence, so that the multiple cup body parts 412 are arranged in sequence along the circumference of the uterine lifting cup body 41, and each cup body part 412 can move radially along the uterine lifting cup body 41; the cup body driving member 413 includes but is not limited to a motor mechanism, and the cup body driving member 413 is used to drive the multiple cup body parts 412 to move radially along the uterine lifting cup body 41.

[0050] By adopting the above technical solution, the uterine lifting cup body 41 includes a plurality of cup body parts 412 with adjustable radial positions, thereby achieving adjustable radial dimensions of the uterine lifting cup body 41.

[0051] In one embodiment, the cup body driving member 413 includes a lead screw 4131 provided on the uterine cup connecting seat 411 and a driving portion 4132 in transmission connection with the lead screw 4131; the lead screw 4131 extends along the radial direction of the uterine cup body 41, and the lead screw 4131 is in threaded cooperation with the cup body portion 412; the lead screw 4131 drives the cup body portion 412 to move along the radial direction of the uterine cup body 41 under the drive of the driving portion 4132.

[0052] Specifically, the lead screw 4131 is a mechanical transmission device that converts rotational motion into linear motion, usually composed of a screw (threaded shaft) and a nut. The screw of the lead screw 4131 is in transmission connection with the driving portion 4132, the nut of the lead screw 4131 is connected to the cup body portion 412, the driving portion 4132 is used to drive the lead screw 4131 to rotate, and the lead screw 4131 drives the cup body portion 412 to move along the radial direction of the uterine cup body 41.

[0053] By adopting the above technical solution, the radial movement of the cup body portion 412 is realized.

[0054] In one embodiment, the driving portion 4132 is provided with a gear disk 41321, and the lead screw 4131 is provided with a gear 41311 in transmission connection with the gear disk 41321; the gear disk 41321 is located on the axis of the uterine cup body 41, and the gear 41311 is in meshing cooperation with the gear disk 41321.

[0055] Specifically, the driving portion 4132 includes but is not limited to a motor. The power output shaft of the driving portion 4132 is connected with a gear disk 41321, the lead screw 4131 is provided with a gear 41311, the gear 41311 is meshed with the gear disk 41321. When the driving portion 4132 drives the gear disk 41321 to rotate, it drives the gear 41311 to rotate, and then drives the screw of the lead screw 4131 to rotate.

[0056] By adopting the above technical solution, the reliability of the power output of the driving mechanism 2 is improved.

[0057] In one embodiment, the scale rod 43 includes an inner scale rod 431, an outer scale rod 432 movably sleeved on the inner scale rod 431, and a first air pressure mechanism 433 for adjusting air pressure. The inner scale rod 431 is connected to the uterine cup body 41. A telescopic cavity 434 is provided between the inner scale rod 431 and the outer scale rod 432. The telescopic cavity 434 is used to communicate with the first air pressure mechanism 433 and expand or contract under the drive of the first air pressure mechanism 433, so that the outer scale rod 432 can telescopically relative to the inner scale rod 431.

[0058] Specifically, the ruler rod 43 realizes expansion and contraction by arranging a cylinder structure inside itself; the ruler rod 43 includes an inner ruler rod 431, an outer ruler rod 432, and a first pneumatic mechanism 433; the inner ruler rod 431 is connected to the uterine lifting cup body 41, and the inner ruler rod 431 is coaxial with the uterine lifting cup body 41. The outer ruler rod 432 is movably sleeved on the inner ruler rod 431, and the outer ruler rod 432 is also coaxial with the uterine lifting cup body 41. The outer ruler rod 432 is in clearance fit with the inner ruler rod 431 so that the outer ruler rod 432 can move along the axial direction of the inner ruler rod 431. A telescopic cavity 434 is formed between the inner ruler rod 431 and the outer ruler rod 432, and the telescopic cavity 434 is used to communicate with the first pneumatic mechanism 433. The first pneumatic mechanism 433 includes but is not limited to an air intake mechanism, such as a air pump mechanism; the first pneumatic mechanism 433 adjusts the air pressure in the telescopic cavity 434 by intake and extraction of air, and the acting force of the air pressure applied on the outer ruler rod 432 causes the outer ruler rod 432 to expand and contract relative to the inner ruler rod 431.

[0059] By adopting the above technical solution, the telescopic function of the ruler rod 43 is realized.

[0060] In one embodiment, the ruler rod 43 further includes an airbag 435 provided on the outer ruler rod 432 and a second pneumatic mechanism 436 for adjusting air pressure. The airbag 435 is provided with an airbag cavity 437 communicating with the second pneumatic mechanism 436, and the airbag cavity 437 can be expanded or contracted under the drive of the second pneumatic mechanism 436.

[0061] Specifically, the airbag 435 is elastic and can deform under the action of air pressure. The airbag 435 is provided on the outer ruler rod 432, and the airbag 435 is located at one end of the outer ruler rod 432 away from the uterine lifting cup body 41. The airbag 435 is communicated with the second pneumatic mechanism 436. The second pneumatic mechanism 436 includes but is not limited to an air intake mechanism, such as a air pump mechanism; the second pneumatic mechanism 436 adjusts the air pressure of the airbag 435 by intake and extraction of air, and the acting force of the air pressure applied on the airbag 435 causes the airbag 435 to expand or contract. The airbag 435 is used to prevent the rigid end of the ruler rod 43 from damaging the uterus.

[0062] It should be further explained that by shrinking the airbag 435, it is convenient for the ruler rod 43 to enter the uterus, and after the ruler rod 43 enters the uterus, the airbag 435 is expanded to reduce the possibility of the ruler rod 43 damaging the uterus.

[0063] By adopting the above technical solution, the adjustable size of the airbag 435 takes into account both the entry performance and the protection performance of the ruler rod 43.

[0064] In one embodiment, the first pneumatic mechanism 433 is provided with a first ventilation pipe 438 that penetrates the inner ruler rod 431 and communicates with the telescopic cavity 434; the second pneumatic mechanism 436 is provided with a second ventilation pipe 439 that penetrates the inner ruler rod 431 and is disposed in the telescopic cavity 434, and the second ventilation pipe 439 extends to the airbag 435 and communicates with the airbag cavity 437.

[0065] Specifically, the first ventilation pipe 438 communicates the first pneumatic mechanism 433 and the telescopic cavity 434. One end of the first ventilation pipe 438 penetrates and is disposed through the inner gear rod and extends to the telescopic cavity 434, and the other end of the first ventilation pipe 438 is exposed outside the inner ruler rod 431 and communicates with the first pneumatic mechanism 433; the second ventilation pipe 439 communicates the second pneumatic mechanism 436 and the airbag cavity 437. One end of the second ventilation pipe 439 penetrates the inner gear rod and is disposed in the telescopic cavity 434, and at the same time, it also extends to the airbag 435. The other end of the second ventilation pipe 439 is exposed outside the inner ruler rod 431 and communicates with the second pneumatic mechanism 436.

[0066] By adopting the above technical solution, the structural integration degree of the ruler rod 43 is high, which is beneficial to reducing the volume of the ruler rod 43 and facilitating the entry of the ruler rod 43.

[0067] In one embodiment, the ruler rod 43 is further provided with a force sensor 440 at one end of the ruler rod 43 facing away from the airbag 435. The force sensor 440 is used to obtain the interaction force between the ruler rod 43 and the uterine cavity to avoid damaging the uterine cavity due to excessive force.

[0068] By adopting the above technical solution, the force sensor 440 is used to monitor in real time the compression force when the ruler rod 43 contacts the human uterine cavity, which is more convenient for exploring the size of the uterine cavity and protecting the patient.

[0069] Please refer to again Figure 2 , in one embodiment, the trolley mechanism 1 includes a base 11, a first column 12 disposed on the base 11, a second column 13 slidably connected to the first column 12, a lifting driving member connecting the first column 12 and the second column 13, and a support platform 15 disposed on the second column 13; the second column 13 can be lifted relative to the first column 12 under the drive of the lifting driving member; the support platform 15 is used to carry the driving mechanism 2.

[0070] Specifically, the lifting driving member includes but is not limited to a motor component; the support platform 15 is used to connect with the driving mechanism 2, and further drives the attitude adjustment mechanism 3 and the uterine lifting mechanism 4 to lift.

[0071] By adopting the above technical solution, the lifting of the uterine lifting mechanism 4 is realized.

[0072] In one embodiment, the second column 13 is provided with a pitch axis 16 , the support platform 15 is provided with a pitch driving member, and the support platform 15 is connected to the pitch axis 16 and can rotate around the pitch axis 16 under the driving of the pitch driving member.

[0073] Specifically, the pitch driving member includes but is not limited to a motor component; the support platform 15 is connected to the pitch axis 16 , and the support platform 15 can rotate the pitch axis 16 under the driving of the pitch driving member.

[0074] By adopting the above technical solution, the pitch angle of the uterine lifting mechanism 4 can be adjusted.

[0075] In one embodiment, a plurality of moving wheels 18 are disposed at the bottom of the base 11 .

[0076] By adopting the above technical solution, the trolley mechanism 1 can be moved, thereby driving the uterine lifting mechanism 4 to move.

[0077] Please also read Figure 5 and Figure 6 In one embodiment, the driving mechanism 2 includes a sliding rail 21 arranged on the trolley mechanism 1, a sliding frame 22 sliding on the sliding rail 21, a sliding driving member 23 drivingly connected to the sliding frame 22, and a wire driving unit 24 arranged on the sliding frame 22; the sliding driving member 23 is used to drive the sliding frame 22 to slide along the sliding rail 21; the wire driving unit 24 includes a wire driving motor 241 arranged on the sliding frame 22, a driving wire wheel 242 arranged on the sliding frame 22, and a driving wire 243 wound around the driving wire wheel 242, the wire driving motor 241 is used to drive the driving wire wheel 242 to retract and release the driving wire 243, and the driving wire 243 is used to drive the posture adjustment mechanism 3 to move.

[0078] Specifically, the sliding rail 21 refers to a rail used to enable the driving mechanism 2 to slide relative to the trolley mechanism 1 on the trolley mechanism 1. The sliding rail 21 has a preset direction. In this embodiment, the sliding rail 21 is parallel to the horizontal direction, that is, the driving mechanism 2 can move along the horizontal direction, thereby driving the posture adjustment mechanism 3 and the uterine lifting mechanism 4 to move along the horizontal direction.

[0079] The sliding frame 22 is used to support the line drive unit 24 . The sliding frame 22 is slidably disposed on the sliding rail 21 . The sliding frame 22 can move along the length direction of the sliding rail 21 , so that the sliding frame 22 can drive the line drive unit 24 to move in the horizontal direction.

[0080] The sliding drive member 23 is used to drive the sliding frame 22 to slide, and provide power for the sliding frame 22 to slide on the sliding track 21. The sliding drive member 23 includes but is not limited to a motor component;

[0081] The wire drive unit 24 includes a wire drive motor 241, a drive wire wheel 242, and a drive wire 243; the wire drive motor 241 and the drive wire wheel 242 are arranged on the sliding frame 22, the drive wire 243 is wound around the drive wire wheel 242, the wire drive motor 241 is used to drive the drive wire wheel 242 to wind and unwind the drive wire 243, and the drive wire 243 is used to drive the attitude adjustment mechanism 3 to move, so as to enable the attitude adjustment mechanism 3 to adjust the attitude of the uterine lifting mechanism 4.

[0082] By adopting the above technical solution, the wire drive unit 24 drives the attitude adjustment mechanism 3 to adjust the attitude of the uterine lifting mechanism 4 in a wire drive manner. Its adjustment method is flexible, and the position adjustment accuracy is high, which is beneficial to improving the surgical efficiency and surgical accuracy.

[0083] In one embodiment, the sliding frame 22 includes a first sliding frame body 221 and a second sliding frame body 222 detachably connected to the first sliding frame body 221. The first sliding frame body 221 is slidably arranged on the sliding track 21. The first sliding frame body 221 is provided with the wire drive motor 241, and the second sliding frame body 222 is provided with the drive wire wheel 242.

[0084] Specifically, the sliding frame 22 is of a detachable design. The sliding frame 22 includes a first sliding frame body 221 and a second sliding frame body 222, and the two are detachably connected through the cooperation of corresponding sliders and chutes. The first sliding frame body 221 is provided with the wire drive motor 241, and the second sliding frame body 222 is provided with the drive wire wheel 242, so that the drive motor and the drive wire wheel 242 can be connected and disconnected with the disassembly and assembly of the first sliding frame body 221 and the second sliding frame body 222.

[0085] By adopting the above technical solution, it is beneficial to form a modular structure of the attitude adjustment mechanism 3, the uterine lifting mechanism 4 and part of the drive mechanism 2 and is beneficial to the disassembly of the modular structure.

[0086] In one embodiment, the drive mechanism 2 further includes a third sliding frame body 223 connected to the first sliding frame body 221, a manual gear 224 arranged on the third sliding frame body 223, a manual operation structure 225 in transmission connection with the manual gear 224, and an electric gear 226 connected to the power output shaft of the wire drive motor 241; the manual gear 224 is in transmission connection with the electric gear 226, and the wire drive motor 241 is in transmission connection with the drive wire wheel 242 through the electric gear 226 and the manual gear 224.

[0087] Specifically, the driving mechanism 2 further includes a third sliding frame body 223, a manual gear 224, a manual operation structure 225, and an electric gear 226; the third sliding frame body 223 is connected to the first sliding frame body 221, the manual gear 224 is arranged on the third sliding frame body 223 and can rotate around its own axis, the manual operation structure 225 is for the operator to operate, and the manual operation structure 225 includes but is not limited to a knob. By rotating the manual operation structure 225, the manual gear 224 is driven to rotate; the electric gear 226 is in transmission connection with the manual gear 224, and the wire driving motor 241 is in transmission connection with the driving wire wheel 242 through the electric gear 226 and the manual gear 224.

[0088] It should be further explained that the wire driving unit 24 has two driving modes: electric and manual. First, when the wire driving motor 241 of the wire driving unit 24 operates normally, the power output shaft of the wire driving motor 241 drives the electric gear 226 to rotate. Since the electric gear 226 is in transmission connection with the manual gear 224, the electric gear 226 drives the manual gear 224 to rotate, and the manual gear 224 then drives the driving wire wheel 242 to rotate, finally driving the driving wire wheel 242 to rotate; second, when the wire driving motor 241 cannot operate normally, the operator directly operates the manual operation structure 225 to drive the manual gear 224 to rotate, and then drives the driving wire wheel 242 to rotate; in this way, two driving modes of electric and manual for the driving mechanism 2 are realized.

[0089] In one embodiment, the driving mechanism 2 further includes a coupling 25. The coupling 25 includes a first coupling unit 251 arranged on the third sliding frame body 223 and a second coupling unit 252 arranged on the second sliding frame body 222 and detachably connected to the first coupling unit 251. The first coupling unit 251 is coaxially connected to the manual gear 224, and the second coupling unit 252 is coaxially connected to the driving wire wheel 242.

[0090] Specifically, the coupling 25 refers to a device used in mechanical transmission to connect two shaft-like components and transmit torque and rotational motion. It can not only achieve efficient power transmission, but also compensate for the installation deviation between the two shafts, and at the same time play a role in buffering, vibration reduction or overload protection. In this embodiment, the coupling 25 includes a first coupling unit 251 and a second coupling unit 252. The first coupling unit 251 is arranged on the third sliding frame body 223, and the second coupling unit 252 is arranged on the second sliding frame body 222. The second coupling unit 252 is detachably connected to the first coupling unit 251 through a keyway structure. The first coupling unit 251 is coaxially connected to the manual gear 224 and can rotate synchronously with the manual gear 224; the second coupling unit 252 is coaxially connected to the driving wire wheel 242 and can rotate synchronously with the driving wire wheel 242.

[0091] By adopting the above technical solution, the coupling 25 realizes the disassembly and assembly of the manual gear 224 and the driving wire wheel 242.

[0092] In one embodiment, a latch 2211 is provided on the first sliding frame body 221. The latch 2211 and the second coupling unit 252 are respectively located on opposite sides of the first sliding frame body 221, and a latch space for accommodating the second sliding frame body 222 is formed therebetween. The latch 2211 can limit the second sliding frame body 222 within the latch space, enabling the docking of the first coupling unit 251 and the second coupling unit 252.

[0093] Specifically, in this embodiment, the latch 2211 is rotatably connected to the first sliding frame body 221. The latch 2211 can rotate upward to form a limiting protrusion, and the limiting protrusion limits the second sliding frame body 222 within the latch space; the latch 2211 can rotate downward so that the limiting protrusion no longer limits the second sliding frame body 222, and the second sliding frame body 222 can be disassembled from the latch space.

[0094] By adopting the above technical solution, it is beneficial for the operator to disassemble and assemble the second sliding frame body 222, thereby facilitating the disassembly of the modular structure formed by the attitude adjustment mechanism 3, the uterine lifting mechanism 4, and a part of the driving mechanism 2.

[0095] In one embodiment, the sliding frame 22 further includes a first pulley 227 provided on the first sliding frame body 221. The axis of the first pulley 227 is perpendicular to the axis of the driving wire wheel 242, and the driving wire 243 is wound around the first pulley 227.

[0096] Specifically, the first pulley 227 is used to adjust the extending direction of the driving wire 243. The axis of the first pulley 227 is perpendicular to the axis of the driving wire wheel 242. In this way, the extending direction of the driving wire 243 when wound around the first pulley 227 is perpendicular to the extending direction of the driving wire wheel 242.

[0097] It should be further explained that the first pulley 227 is used to adjust the extending direction of the driving wire 243 and can simultaneously increase the tension of the driving wire 243.

[0098] By adopting the above technical solution, it prevents the driving wire 243 from falling off the first pulley 227 and the driving wire wheel 242.

[0099] In one embodiment, the sliding frame 22 further includes a second pulley 228 provided on the first sliding frame body 221. The axis of the second pulley 228 is parallel to the axis of the first pulley 227, and the driving wire 243 is wound around the first pulley 227 and the second pulley 228.

[0100] Specifically, the second pulley 228 is used to adjust the extension direction of the drive line 243. The axis of the second pulley 228 is parallel to the axis of the first pulley 227. In this way, the extension direction of the drive line 243 when wound around the first pulley 227 and the second pulley 228 is perpendicular to the extension direction of the drive line wheel 242.

[0101] It should be further explained that the first pulley 227 and the second pulley 228 are used to jointly adjust the extension direction of the drive line 243 and at the same time can increase the tension degree of the drive line 243.

[0102] By adopting the above technical solution, the drive line 243 is prevented from falling off the first pulley 227, the second pulley 228 and the drive line wheel 242.

[0103] As Figure 7 shown, in one embodiment, the attitude adjustment mechanism 3 includes a first rotation unit 31 and a second rotation unit 32 axially connected to the first rotation unit 31. The first rotation unit 31 is connected to the sliding frame 22. The first rotation unit 31 defines a first rotation axis. The second rotation unit 32 is connected to the uterine lifting mechanism 4. The second rotation unit 32 can rotate around the first rotation axis. The second rotation unit 32 is connected to the drive line 243.

[0104] Specifically, the attitude adjustment mechanism 3 includes a first rotation unit 31 and a second rotation unit 32. The first rotation unit 31 is connected to the sliding frame 22. In detail, the first rotation unit 31 is connected to the second sliding frame body 222. The first rotation unit 31 defines a first rotation axis. The second rotation unit 32 is axially connected to the first rotation unit 31 and can rotate around the first rotation axis. One end of the second rotation unit 32 facing away from the first rotation unit 31 is connected to the uterine lifting mechanism 4. The drive line 243 is connected to the second rotation unit 32 and rotates around the first rotation axis under the drive of the drive line 243.

[0105] In detail, the drive line 243 has two drive ends 2431. The two drive ends 2431 are respectively connected to two sides of the second rotation unit 32 located on both sides of its own axis. The drive line 243 is wound around the drive line wheel 242. The drive line wheel 242 rotates to take in and release the drive line 243. Among them, when one drive end 2431 is released, the other drive end 2431 is taken in. In this way, the second rotation unit 32 can rotate around the first rotation axis, and finally drive the uterine lifting mechanism 4 to rotate around the first rotation axis.

[0106] By adopting the above technical solution, the uterine lifting mechanism 4 has a rotational adjustment degree of freedom.

[0107] In one embodiment, the attitude adjustment mechanism 3 includes a third rotation unit 33 axially connected to the second rotation unit 32. The second rotation unit 32 defines a second rotation axis, and the third rotation unit 33 can rotate about the second rotation axis. The number of wire drive units 24 is two. One of the drive wires 243 is connected to the first rotation unit 31, and the other drive wire 243 is connected to the second rotation unit 32.

[0108] Specifically, the attitude adjustment mechanism 3 further includes a third rotation unit 33. The second rotation unit 32 defines a second rotation axis. The third rotation unit 33 is axially connected to the second rotation unit 32 and can rotate about the second rotation axis. The third rotation unit 33 is connected to the second rotation unit 32 and the uterine lifting mechanism 4. The drive wire 243 is connected to the third rotation unit 33 and rotates about the second rotation axis under the drive of the drive wire 243.

[0109] In detail, the drive wire 243 has two drive ends 2431. The number of drive wires 243 in this embodiment is two. The two drive wires 243 are respectively connected to the second rotation unit 32 and the third rotation unit 33. The two drive ends 2431 of the drive wire 243 connected to the third rotation unit 33 are respectively connected to two sides of the third rotation unit 33 located on both sides of its own axis. The drive wire 243 is wound around a drive wire wheel 242 different from the second rotation unit 32. The drive wire wheel 242 rotates to wind and unwind the drive wire 243. When one drive end 2431 is released, the other drive end 2431 is retracted, so that the third rotation unit 33 can rotate about the second rotation axis, and finally drive the uterine lifting mechanism 4 to rotate about the second rotation axis.

[0110] It should be further explained that the first rotation axis is perpendicular to the second rotation axis.

[0111] By adopting the above technical solution, the uterine lifting mechanism 4 has two degrees of freedom for rotational adjustment.

[0112] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A uterine manipulator, characterized in that, include: A trolley mechanism, a driving mechanism arranged on the trolley mechanism, a posture adjustment mechanism connected to the driving mechanism, and a uterine lifting mechanism connected to the posture adjustment mechanism and the driving mechanism; the trolley mechanism is used to carry the driving mechanism, the posture adjustment mechanism and the uterine lifting mechanism; the driving mechanism is used to drive the posture adjustment mechanism and the uterine lifting mechanism to operate; the posture adjustment mechanism is used to adjust the posture of the uterine lifting mechanism; the uterine lifting mechanism is used to be placed in a corresponding part of the human body; The uterine lifting mechanism includes a uterine lifting cup body, a cup body sleeve mounted on the uterine lifting cup body, and a ruler rod connected to the uterine lifting cup body; the cup body sleeve is elastic and forms a uterine lifting cavity, the uterine lifting cup body can expand or shrink in its own radial direction, so that the radial size of the uterine lifting cavity is adjustable; the ruler rod is located on the axis of the uterine lifting cup body and can be extended and retracted along the axial direction of the uterine lifting cup body.

2. The uterine manipulator according to claim 1, characterized in that, The uterine lifting cup body includes a uterine lifting cup connecting seat, a plurality of cup body parts arranged in sequence around the axis of the uterine lifting cup body on the uterine lifting cup connecting seat, and a cup body driving member drivingly connected to the cup body parts; the uterine lifting cup connecting seat is connected to the posture adjustment mechanism, and the cup body driving member is used to drive the plurality of cup body parts to move along the radial direction of the uterine lifting cup body.

3. The uterine manipulator according to claim 2, wherein, The cup body driving component includes a screw rod arranged on the uterine lifting cup connecting seat and a driving part connected to the screw rod; the screw rod extends along the radial direction of the uterine lifting cup body, and the screw rod is threadedly matched with the cup body; the screw rod drives the cup body to move along the radial direction of the uterine lifting cup body under the drive of the driving part.

4. The uterine manipulator according to claim 3, characterized in that, The driving part is provided with a gear plate, and the screw rod is provided with a gear drivingly connected to the gear plate; the gear plate is located on the axis of the uterine lifting cup body, and the gear is meshed with the gear plate.

5. The uterine manipulator according to claim 1, characterized in that, The ruler rod includes an inner ruler rod, an outer ruler rod movably mounted on the inner ruler rod, and a first pneumatic mechanism for adjusting air pressure. The inner ruler rod is connected to the uterine lifting cup body. A telescopic cavity is provided between the inner ruler rod and the outer ruler rod. The telescopic cavity is used to communicate with the first pneumatic mechanism and expand or shrink under the drive of the first pneumatic mechanism, so that the outer ruler rod can be telescoped relative to the inner ruler rod.

6. The uterine manipulator according to claim 5, wherein, The ruler rod also includes an airbag arranged on the outer ruler rod and a second pneumatic mechanism for adjusting air pressure. The airbag is provided with an airbag cavity connected to the second pneumatic mechanism, and the airbag cavity can be expanded or shrunk under the drive of the second pneumatic mechanism.

7. The uterine manipulator according to claim 6, characterized in that, The first pneumatic mechanism is provided with a first ventilation pipe which passes through the inner rod and is connected to the telescopic cavity; the second pneumatic mechanism is provided with a second ventilation pipe which passes through the inner rod and is arranged in the telescopic cavity, and the second ventilation pipe extends to the airbag and is connected to the airbag cavity.

8. The uterine manipulator according to claim 6, characterized in that, The ruler rod is also provided with a force sensor located at one end of the ruler rod away from the airbag.

9. The uterine manipulator according to claim 1, wherein The trolley mechanism includes a base, a first column provided on the base, a second column slidably connected to the first column, a lifting drive member connecting the first column and the second column, and a support platform provided on the second column; The second column can be lifted relative to the first column under the drive of the lifting drive member; the support platform is used to carry the drive mechanism.

10. The uterine manipulator according to claim 9, wherein, The second column is provided with a pitching shaft body, the support platform is provided with a pitching drive member, and the support platform is connected to the pitching shaft body and can rotate around the pitching shaft body under the drive of the pitching drive member.

Images