A precision-controlled manipulator-assisted hepatobiliary surgical stone removal device

Abstract

The present invention relates to the technical field of hepatobiliary auxiliary instruments, and specifically to a precision-controlled manipulator-assisted hepatobiliary surgical stone removal device, comprising a puncture tube for performing puncture in the body, one end of the puncture tube being provided with an expansion mechanism for forming a support space in the body; the expansion mechanism comprising a processing groove provided inside the puncture tube, and a plurality of expansion strips being gap-fitted in the processing groove; a driving shaft being rotatably fitted at the center of the puncture tube; a collecting port being connected to one side of the processing groove, and a cutting mechanism for cutting tissue in the body being rotatably fitted on the driving shaft, and the cutting mechanism being gap-fitted with the collecting port; a camera for real-time image data collection is also fixedly connected inside the puncture tube, and the camera is located at the top of the processing groove, and the position of the camera corresponds to the position of the collecting port; the camera is electrically connected to a control panel, and the control panel is used to display image data in real time; the present invention facilitates the regulation of the stone removal position, and stone removal can be repeated multiple times according to the needs of stone removal, thereby improving the accuracy and efficiency of stone removal.

Description

Technical Field

[0001] The present invention relates to the technical field of hepatobiliary auxiliary instruments, and in particular to a precisely controlled manipulator-assisted hepatobiliary surgical lithotomy device. Background Art

[0002] Hepatobiliary stones are common diseases of the biliary system, with complex and variable clinical manifestations. Gallstones in the gallbladder are often round or polyhedral, with diameters ranging from a few millimeters to several centimeters. Bile duct stones also have irregular shapes, ranging from mud-like to cast-like to coral-like. Traditional surgical lithotomy relies on forceps for grasping, requiring a high level of surgical experience. Inexperienced surgeons can misjudge stone location and bile duct anatomy.

[0003] In addition, in the traditional lithotripsy process, in addition to requiring high physician experience, large stones often need to be crushed. When the stone is broken, the release of internal stress may cause fragments to burst out in all directions, potentially damaging surrounding tissues. At the same time, the edges of the broken stones may cause scratches. Therefore, a stone removal basket can be used to wrap the stone. However, for large or complex stones, the stone removal basket may not be able to accurately operate on narrow stones, and multiple stone removals may be required. This not only brings instability during use, but also increases the risk of stone removal surgery for patients. Therefore, the present invention provides a stone removal device that is easy to operate, which is convenient for repeated stone removal according to the distribution of stones in the body, thereby improving the accuracy and efficiency of stone removal. Summary of the Invention

[0004] To solve the above problems, the present invention provides a precisely controlled manipulator-assisted hepatobiliary surgical lithotripsy device, which facilitates the adjustment of the stone removal position and allows repeated stone removal according to stone removal needs, thereby improving the accuracy and efficiency of stone removal.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: a precision-controlled manipulator-assisted hepatobiliary surgical lithotomy device, comprising a puncture tube for performing intracorporeal puncture, one end of which is provided with an expansion mechanism for forming a support space within the body; the expansion mechanism comprises a machining groove provided within the puncture tube, the machining groove having a plurality of expansion strips interspaced therein;

[0006] The center of the puncture tube is rotated with a driving shaft; one side of the processing groove is connected to a collection port, and a cutting mechanism for cutting tissue in the body is rotated on the driving shaft, and the cutting mechanism is in clearance with the collection port;

[0007] A camera for real-time image data collection is also fixedly connected to the puncture tube. The camera is located at the top of the processing tank, and the position of the camera corresponds to the collection port. The camera is electrically connected to a control panel, which is used to display image data in real time.

[0008] Furthermore, a shielding plate is slidably fitted on one side of the puncture tube near the collection port, a push-pull rod is fixedly connected to the top of the shielding plate, the push-pull rod is slidably fitted with the puncture tube, and the end of the push-pull rod away from the processing groove passes through the puncture tube.

[0009] Furthermore, the cutting mechanism includes a handle and a blade body, wherein a rotating shaft is rotatably engaged between one end of the handle and an end of the driving shaft close to the processing groove, and a torsion spring is sleeved on the rotating shaft;

[0010] One end of the handle away from the driving shaft is fixedly connected to the spring sheet, and both ends of the spring sheet away from the handle are fixedly connected to the blade body respectively. One end of the blade body away from the handle is fixedly connected to a pull rope, and the ends of the pull rope away from the blade body pass through the driving shaft, and the pull rope and the driving shaft are in sliding cooperation.

[0011] When the end of the driving shaft close to the processing groove is located above the collecting port, the handle and the blade body are hidden inside the driving shaft, and the torsion spring and the spring leaf are both in a compressed state; when the end of the driving shaft close to the processing groove is parallel to the bottom of the collecting port, the torsion spring and the spring leaf are both in a normal state, the handle and the blade body are located outside the puncture tube, and the adjacent blade body is in an open state.

[0012] Furthermore, a negative pressure pipe is opened at the center of the driving shaft, and one end of the negative pressure pipe away from the processing groove is connected to a negative pressure pump;

[0013] A concave hole is opened at one end of the puncture tube close to the processing groove, and a crushing block is fixedly connected to one end of the driving shaft close to the processing groove, and the crushing block corresponds to the concave hole.

[0014] Furthermore, a top block is fixedly connected to the center of the recessed hole, and the top block matches the diameter of the negative pressure tube; and a control button is fixedly connected to one end of the active shaft close to the recessed hole, and the control button is electrically connected to the negative pressure pump.

[0015] Furthermore, the lengths of adjacent blade bodies increase in sequence in the counterclockwise direction, and a scale line is fixedly connected to one end of the driving shaft away from the processing groove, and the position of the scale line corresponds to the position of the conductor.

[0016] Furthermore, a slide groove is provided on the blade body, the slide groove is located between adjacent blade bodies, a telescopic rod is provided in the slide groove, the output end of the telescopic rod is fixedly connected to a slider, and the slider is slidably matched with the slide groove;

[0017] The end of the telescopic rod away from the slider is connected to the air pipe, and the end of the air pipe away from the telescopic rod is connected to the negative pressure pipe. A three-way solenoid valve is connected between the air pipe, the negative pressure pipe and the outside world. The three-way solenoid valve is used to control the connection between the air pipe, the negative pressure pipe and the outside world. The three-way solenoid valve is electrically connected to the control panel; and a spring is fixedly connected between the slider and the end of the knife body close to the handle, and a retractable matching rope is fixedly connected between adjacent sliders.

[0018] Furthermore, a pressure sensor is fixedly connected to one side of the expansion strip away from the processing groove, and the pressure sensor is electrically connected to the control panel; an end of the expansion strip close to the processing groove is fixedly connected to the puncture tube, and an end of the expansion strip away from the processing groove is fixedly connected to a pusher, and the pusher is slidably engaged with the puncture tube, and an indicator light is fixedly connected to the end of the pusher away from the processing groove, and the position of the indicator light corresponds to that of the expansion strip;

[0019] The pressure sensor is used to measure the real-time pressure data of the expansion bar during the contact process with external flesh and blood, and send the real-time pressure data to the control panel; the control panel is used to compare the real-time pressure data with the set standard value. If the real-time pressure data is greater than the standard value, a start instruction is sent to the corresponding indicator light; if the real-time pressure data is less than the standard value, a standby instruction is sent to the corresponding indicator light.

[0020] Furthermore, the control panel is also used to calculate the pressure difference corresponding to the real-time pressure data before and after the current time during the stone removal process, and compare the pressure difference with the set fluctuation value. If the pressure difference is greater than the fluctuation value, a flashing instruction is sent to the indicator light; if the pressure difference is less than the fluctuation value, a maintenance instruction is sent to the indicator light.

[0021] Furthermore, the control panel is also used to input the organ distribution model, the position to be operated on, and the puncture position, and input the position to be operated on and the puncture position into the organ distribution model to obtain the maximum support force corresponding to each expansion bar;

[0022] Based on the reference direction of the puncture position toward the surgical position, the maximum support force corresponding to each expansion mechanism is obtained based on the reference direction, and then the maximum support force is adjusted to the standard value corresponding to each pressure sensor.

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

[0024] 1. This solution supports the external flesh and blood through an expansion mechanism to provide processing space for the cutting knife, so that the cutting knife can perform cutting processing; at the same time, the expansion mechanism supports the external flesh and blood, and maintains the support stability of the puncture tube during the separation process of the external flesh and blood, so as to facilitate the stability of the subsequent cutting process of the cutting knife and facilitate the stable removal of stones in the body.

[0025] 2. This solution uses real-time display of image data to facilitate users to determine the stone removal location during the stone removal process, thereby improving the accuracy of the stone removal location; at the same time, a camera hidden inside the processing groove is used to reduce the contact between the camera surface and the outside world during the movement of the puncture tube in the body, thereby improving the clarity of subsequent image acquisition.

[0026] 3. This solution uses a retractable cutting mechanism to display and process image data to determine the contact between the cutting mechanism and the external flesh and blood during the stone removal process, so as to cut and obtain the stones in the external flesh and blood through the flexibly controlled cutting mechanism, and use the active shaft to drive the cutting mechanism to rotate, so as to accurately control the cutting mechanism to cut stones in different directions, facilitate multiple repeated stone removal, and improve the accuracy and efficiency of stone removal.

[0027] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is an axonometric diagram of an embodiment of the precision-controlled manipulator-assisted hepatobiliary surgical lithotomy device of the present invention;

[0029] Figure 2 A top view of an embodiment of the precision-controlled manipulator-assisted hepatobiliary surgical lithotomy device of the present invention;

[0030] Figure 3 for Figure 2 Schematic diagram of the cross section along the AA direction;

[0031] Figure 4 for Figure 1 Schematic diagram of the expansion of the middle expansion strip;

[0032] Figure 5 for Figure 4 Top view of the puncture tube;

[0033] Figure 6 It is a cross-sectional schematic diagram along the BB direction in FIG5 ;

[0034] Figure 7 for Figure 6 Enlarged schematic diagram of part C in the middle.

[0035] The figure marks in the drawings of the specification include: 1. puncture tube; 11. processing groove; 12. recessed hole; 13. top block; 14. collecting port; 15. camera; 2. expansion bar; 21. pushing part; 22. indicator light; 3. shielding plate; 31. push-pull rod; 4. driving shaft; 41. negative pressure tube; 42. pull rope; 43. scale line; 5. handle; 51. knife body; 52. slide groove; 53. matching rope; 54. telescopic rod; 55. spring. DETAILED DESCRIPTION

[0036] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0037] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0038] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0039] The following is further described in detail through specific implementation methods:

[0040] Example 1:

[0041] As attached Figures 1 to 7 As shown: A precision-controlled manipulator-assisted hepatobiliary surgical stone removal device includes a puncture tube 1 for performing puncture in the body, and an expansion mechanism is provided at one end of the puncture tube 1 for forming a support space in the body; the expansion mechanism includes a processing groove 11 opened inside the puncture tube 1, and a plurality of expansion strips 2 are fitted in the gap within the processing groove 11.

[0042] A driving shaft 4 is rotatably engaged at the center of the puncture tube 1, and the driving shaft 4 slides with the processing groove 11; a collecting port 14 is connected to one side of the processing groove 11, and a cutting mechanism for cutting internal tissue is rotatably engaged on the driving shaft 4, and the cutting mechanism is gap-fitted with the collecting port 14; a baffle plate 3 is slidably engaged on the side of the puncture tube 1 close to the collecting port 14, and a push-pull rod 31 is fixedly connected to the top of the baffle plate 3, and the push-pull rod 31 slides with the puncture tube 1, and the end of the push-pull rod 31 away from the processing groove 11 passes through the puncture tube 1.

[0043] The cutting mechanism includes a handle 5 and a blade 51. A rotating shaft rotatably engages one end of the handle 5 with the end of the driving shaft 4 near the processing groove 11. A torsion spring is mounted on the rotating shaft, one end of which is fixedly connected to the rotating shaft, and the other end of which is fixedly connected to the driving shaft 4. The end of the handle 5 away from the driving shaft 4 is fixedly connected to a spring sheet (not shown). The ends of the spring sheet away from the handle 5 are respectively fixedly connected to the blade 51. A pull cord 42 is fixedly connected to the end of the blade 51 away from the handle 5. The ends of the pull cord 42 away from the blade 51 extend through the driving shaft 4 and slidably engage with the driving shaft 4. The lengths of adjacent blades 51 increase counterclockwise. A scale mark 43 is fixedly connected to the end of the driving shaft 4 away from the processing groove 11. The position of the scale mark 43 corresponds to the position of the conductor.

[0044] When the end of the driving shaft 4 close to the processing groove 11 is located above the collecting port 14, the handle 5 and the blade 51 are hidden inside the driving shaft 4, and the torsion spring and the spring leaf are both in a compressed state; when the end of the driving shaft 4 close to the processing groove 11 is parallel to the bottom of the collecting port 14, the torsion spring and the spring leaf are both in a normal state, the handle 5 and the blade 51 are located outside the puncture tube 1, and the adjacent blade body 51 is in an open state.

[0045] A camera 15 for real-time image data collection is also fixedly connected to the puncture tube 1. The camera 15 is located at the top of the processing tank 11 and corresponds to the position of the collection port 14. The camera 15 is electrically connected to a control panel (not shown in the figure), which is used to display image data in real time.

[0046] The specific implementation process is as follows:

[0047] First, based on the location where the stone needs to be removed, the puncture tube 1 is pushed to a position close to the stone. The image data collected by the camera 15 facilitates the user to determine the stone removal position during the stone removal process to improve the accuracy of the stone removal position; at the same time, the baffle 3 is used to block the camera 15 inside the processing groove 11 to reduce the contact between the surface of the camera 15 and the outside world during the movement of the puncture tube 1 in the body, thereby improving the clarity of the subsequent image acquisition process.

[0048] According to the display of image data and the determination of the stone position, the push-pull rod 31 is used to drive the shielding plate 3 to slide inside the puncture tube 1 to control the sealing of the collecting port 14 by the shielding plate 3. When the shielding plate 3 seals the collecting port 14, it reduces the obstruction caused by external blood and flesh entering the collecting port 14 during the movement of the puncture tube 1, thereby ensuring the smoothness of the movement. At the same time, the shielding plate 3 is used to form a sealed space to reduce the falling of stones collected inside, or the movement of residual blood or residual blood and flesh inside, thereby improving safety during use.

[0049] During the stone removal process, the active shaft 4 slides inside the puncture tube 1. When one end of the active shaft 4 close to the processing groove 11 is located above the collecting port 14, the blade 51 is pulled back by the pull rope 42 to control the corresponding handle part 5 to be hidden inside the active shaft 4, thereby realizing the hidden and fixed treatment of the handle part 5 and the blade 51, which is convenient for the movement of the puncture tube 1; when one end of the active shaft 4 close to the processing groove 11 is parallel to the bottom of the collecting port 14, the compressed torsion spring drives the handle part 5 to rotate, so as to drive the blade to rotate outside the collecting port 14, so that the blade extends out of the collecting port 14. At this time, the spring sheet pushes the adjacent blade to open, and the blade pulls the pull rope 42 to extend.

[0050] During the extension of the blade 51, the blade 51 is used to cut the external flesh and blood, forming an eight-shaped wound to facilitate the falling off of the stones in the flesh and blood; at the same time, the blade 51 drives the pull rope 42 to contact the stones in the flesh and blood, and then the pull rope 42 is pulled to drive the blade 51 to be pulled back. By rotating the blade 51, the top of the blade 51 is squeezed with the stones in the flesh and blood, so that the stones in the flesh and blood roll along the direction of the blade 51 to the inside of the processing groove 11, thereby realizing the stone removal work.

[0051] When multiple stones are present in the surrounding flesh and blood, the stones are cut and retrieved by a flexibly controlled cutting mechanism based on the stone position and orientation. The active shaft 4 is used to drive the cutting mechanism to rotate, thereby accurately controlling the cutting mechanism to cut stones in different orientations, facilitating repeated stone removal and improving the accuracy and efficiency of stone removal. At the same time, the length of the blade 51 is sequentially changed, so that the blade 51 can be replaced and cut according to the length required based on the depth of the external flesh and blood stone, thereby facilitating the separation and collection of the stones. The indication of the scale line 43 is then used to confirm the correspondence between the blade 51 and the collection port 14, so that different blades 51 can be controlled for cutting, facilitating the adjustment of the stone removal position and improving the efficiency of stone removal.

[0052] Example 2:

[0053] The difference from Example 1 is that a negative pressure tube 41 is opened at the center of the driving shaft 4, and the end of the negative pressure tube 41 away from the processing groove 11 is connected to a negative pressure pump, which is not shown in the figure, and the negative pressure pump is a prior art, so it is not described in detail in this embodiment; a recessed hole 12 is opened at the end of the puncture tube 1 close to the processing groove 11, and a crushing block is fixedly connected to the end of the driving shaft 4 close to the processing groove 11, and the crushing block corresponds to the recessed hole 12.

[0054] A top block 13 is fixedly connected to the center of the recessed hole 12, and the top block 13 matches the diameter of the negative pressure tube 41; and a control button (not shown in the figure) is fixedly connected to the end of the driving shaft 4 close to the recessed hole 12, and the control button is electrically connected to the negative pressure pump.

[0055] The specific implementation process is as follows: during the stone removal process, the negative pressure suction force generated by the negative pressure tube 41 is used to continuously suck the area around the collection port 14 to facilitate the adsorption and fixation of the stones; the pull rope 42 is used to keep the knife body 51 fixed to push the active shaft 4 to squeeze the inside of the recessed hole 12, and squeeze and crush the stones inside the recessed hole 12, so as to facilitate the subsequent recovery of the crushed stones through the negative pressure tube 41, reduce the residual stones inside, and facilitate the continuous recovery of the stones.

[0056] At the same time, the contact between the control button on the active shaft 4 and the top block 13 is used to control the negative pressure pump to pause its work, so as to remove the negative pressure state inside the negative pressure tube 41, so that the stones that may be blocked inside can fall into the processing groove 11; at the same time, the top block 13 is used to penetrate into the negative pressure tube 41. Since the stones or blood and other debris inside the negative pressure tube 41 first enter the side of the negative pressure tube 41 close to the processing groove 11, the top block 13 is used to push the stones that may accumulate inside the negative pressure tube 41 to be cleared, so as to keep the inside of the negative pressure tube 41 unobstructed, and to facilitate the continuous collection of debris accumulated inside the processing groove 11, thereby improving the work efficiency during the stone removal process.

[0057] Example 3:

[0058] The difference from Example 2 is that a slide groove 52 is provided on the blade body 51, and the slide groove 52 is located between adjacent blade bodies 51. A telescopic rod 54 is provided in the slide groove 52. In this embodiment, the telescopic rod 54 is an existing syringe structure, which will not be described in detail in this embodiment. The output end of the telescopic rod 54 is fixedly connected to a slider, and the slider slides in cooperation with the slide groove 52; the end of the telescopic rod 54 away from the slider is connected to the air pipe (not shown in the figure), and the end of the air pipe away from the telescopic rod 54 is connected to the negative pressure pipe 41. A three-way solenoid valve is connected between the air pipe, the negative pressure pipe 41 and the outside world, which is not shown in the figure. In this embodiment, the outside world is the processing tank 11. The three-way solenoid valve is used to control the connection between the air pipe, the negative pressure pipe 41 and the outside world, and the three-way solenoid valve is electrically connected to the control panel; and a spring 55 is fixedly connected between the slider and the end of the blade body 51 close to the handle 5, and a retractable matching rope 53 is fixedly connected between adjacent sliders.

[0059] The specific implementation process is as follows: the control panel controls the connectivity of the three-way solenoid valve. During the process of the telescopic rod 54 being connected to the negative pressure tube 41 through the trachea, the negative pressure generated between the inside of the telescopic rod 54 and the outside world is used to pull the output end of the telescopic rod 54 to overcome the resistance of the spring 55 and retract, thereby reducing the obstruction during the cutting process between the knife body 51 and the external flesh and blood, and ensuring the smoothness of the cutting process of the knife body 51; during the process of the telescopic rod 54 being connected to the outside world through the trachea, the reset spring 55 pushes the slider to move in the slide groove 52, and the matching rope 53 between adjacent sliders is used to receive and process the bottom of the stone in the flesh and blood, so as to drive the stone back to the inside of the processing groove 11, thereby facilitating the stone removal.

[0060] Example 4:

[0061] The difference from Example 3 is that the side of the expansion bar 2 away from the processing groove 11 is fixedly connected to a pressure sensor, and the pressure sensor is electrically connected to the control panel; the end of the expansion bar 2 close to the processing groove 11 is fixedly connected to the puncture tube 1, and the end of the expansion bar 2 away from the processing groove 11 is fixedly connected to a pushing part 21, the pushing part 21 slides with the puncture tube 1, and the end of the pushing part 21 away from the processing groove 11 is fixedly connected to an indicator light 22, and the indicator light 22 corresponds to the position of the expansion bar 2.

[0062] The pressure sensor is used to measure the real-time pressure data of the expansion strip 2 during the contact process with external flesh and blood, and send the real-time pressure data to the control panel; the control panel is used to compare the real-time pressure data with the set standard value. If the real-time pressure data is greater than the standard value, a start instruction is sent to the corresponding indicator light 22; if the real-time pressure data is less than the standard value, a standby instruction is sent to the corresponding indicator light 22.

[0063] For example, real-time pressure data is compared and processed to control the operation of the corresponding indicator light 22, and the indicator light 22 is used for indication processing to confirm whether the currently extended part of the expansion strip 2 is in contact with the outside world, so as to judge whether the puncture tube 1 forms a stable support based on the lighting of the indicator light 22, thereby providing a reference basis for subsequent stone removal operations.

[0064] The control panel is also used to calculate the pressure difference corresponding to the real-time pressure data before and after the current time during the stone removal process, and compare the pressure difference with the set fluctuation value. If the pressure difference is greater than the fluctuation value, a flashing instruction is sent to the indicator light 22; if the pressure difference is less than the fluctuation value, a maintenance instruction is sent to the indicator light 22.

[0065] For example, during the process of fixing and supporting the puncture tube 1, when the blade body 51 collides with the stone in the body, the stone will exert a reaction force through the blade body 51 to push the puncture tube 1 to move, causing the pressure sensor on the expansion bar 2 to be squeezed and changed accordingly, thereby judging whether the blade body 51 performs the corresponding stone removal operation based on the real-time pressure data, and then flashing the indicator light 22 to remind, so as to facilitate subsequent stone recovery processing.

[0066] Example 5:

[0067] The difference from Example 4 is that the control panel is also used to enter the organ distribution model, the position to be operated on and the puncture position, and the position to be operated on and the puncture position are input into the organ distribution model to obtain the maximum support force corresponding to each expansion bar 2; based on the puncture position toward the position to be operated as a reference direction, the maximum support force corresponding to each expansion mechanism is obtained based on the reference direction, and then the maximum support force is adjusted to the standard value corresponding to each pressure sensor.

[0068] For example, input processing is performed through the organ distribution model, the position to be operated on, and the puncture position to understand the supportable and unsupportable parts, and the maximum support strength is adjusted to reduce the squeezing damage to the organs when the expansion bar 2 supports. Real-time reminders are given through the indicator light 22, so that the user can reduce the damage to the internal organs while maintaining the support strength.

[0069] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A precision-controlled manipulator-assisted hepatobiliary surgical stone removal device, comprising a puncture tube (1) for performing puncture in the body, wherein one end of the puncture tube (1) is provided with an expansion mechanism for forming a support space in the body; characterized in that: The expansion mechanism includes a processing groove (11) provided inside the puncture tube (1), and a plurality of expansion strips (2) are fitted into the processing groove (11) in a gap. A driving shaft (4) is rotatably engaged at the center of the puncture tube (1); a collecting port (14) is connected to one side of the processing groove (11); a cutting mechanism for cutting tissue in the body is rotatably engaged on the driving shaft (4); and the cutting mechanism and the collecting port (14) are clearance-matched; A camera (15) for collecting image data in real time is also fixedly connected to the puncture tube (1), and the camera (15) is located at the top of the processing tank (11), and the position of the camera (15) corresponds to the position of the collection port (14); the camera (15) is electrically connected to a control panel, and the control panel is used to display the image data in real time; The cutting mechanism comprises a handle portion (5) and a blade body (51), wherein a rotating shaft is rotatably engaged between one end of the handle portion (5) and one end of the driving shaft (4) close to the processing groove (11), and a torsion spring is sleeved on the rotating shaft; One end of the handle portion (5) away from the driving shaft (4) is fixedly connected to a spring sheet, and both ends of the spring sheet away from the handle portion (5) are fixedly connected to the blade body (51), and one end of the blade body (51) away from the handle portion (5) is fixedly connected to a pull rope (42), and one end of the pull rope (42) away from the blade body (51) passes through the driving shaft (4), and the pull rope (42) and the driving shaft (4) are slidably matched; When the end of the driving shaft (4) close to the processing groove (11) is located above the collecting port (14), the handle (5) and the blade (51) are hidden inside the driving shaft (4), and the torsion spring and the spring sheet are both in a compressed state; when the end of the driving shaft (4) close to the processing groove (11) is parallel to the bottom of the collecting port (14), the torsion spring and the spring sheet are both in a normal state, the handle (5) and the blade (51) are located outside the puncture tube (1), and the adjacent blade (51) is in an open state; A negative pressure tube (41) is provided at the center of the driving shaft (4), a slide groove (52) is provided on the blade body (51), the slide groove (52) is located between adjacent blade bodies (51), a telescopic rod (54) is provided in the slide groove (52), an output end of the telescopic rod (54) is fixedly connected to a slider, and the slider is slidably matched with the slide groove (52); The end of the telescopic rod (54) away from the slider is connected to the air pipe, and the end of the air pipe away from the telescopic rod (54) is connected to the negative pressure pipe (41). A three-way solenoid valve is connected between the air pipe, the negative pressure pipe (41) and the outside world. The three-way solenoid valve is used to control the connection between the air pipe, the negative pressure pipe (41) and the outside world. The three-way solenoid valve is electrically connected to the control panel; and a spring (55) is fixedly connected between the slider and the end of the knife body (51) close to the handle (5), and a retractable matching rope (53) is fixedly connected between adjacent sliders.

2. The precision-controlled manipulator-assisted hepatobiliary surgical stone removal device according to claim 1 is characterized in that: A shielding plate (3) is slidably engaged with one side of the puncture tube (1) near the collection port (14), a push-pull rod (31) is fixedly connected to the top of the shielding plate (3), the push-pull rod (31) is slidably engaged with the puncture tube (1), and the end of the push-pull rod (31) away from the processing groove (11) passes through the puncture tube (1).

3. The precision-controlled manipulator-assisted hepatobiliary surgical stone removal device according to claim 2 is characterized in that: One end of the negative pressure pipe (41) away from the processing tank (11) is connected to a negative pressure pump; A recessed hole (12) is formed at one end of the puncture tube (1) close to the processing groove (11), and a crushing block is fixedly connected to one end of the driving shaft (4) close to the processing groove (11), and the crushing block corresponds to the recessed hole (12).

4. The precision-controlled manipulator-assisted hepatobiliary surgical stone removal device according to claim 3 is characterized in that: A top block (13) is fixedly connected to the center of the recessed hole (12), and the top block (13) matches the diameter of the negative pressure tube (41); and a control button is fixedly connected to one end of the driving shaft (4) close to the recessed hole (12), and the control button is electrically connected to the negative pressure pump.

5. The precision-controlled manipulator-assisted hepatobiliary surgical stone removal device according to claim 4 is characterized in that: The lengths of adjacent blade bodies (51) increase in sequence in a counterclockwise direction, and a scale line (43) is fixedly connected to one end of the driving shaft (4) away from the processing groove (11), and the position of the scale line (43) corresponds to the position of the conductor.

6. The precision-controlled manipulator-assisted hepatobiliary surgical stone removal device according to claim 5 is characterized in that: The expansion strip (2) is fixedly connected to a pressure sensor on one side away from the processing groove (11), and the pressure sensor is electrically connected to the control panel; the end of the expansion strip (2) close to the processing groove (11) is fixedly connected to the puncture tube (1), and the end of the expansion strip (2) away from the processing groove (11) is fixedly connected to a push portion (21), the push portion (21) and the puncture tube (1) are slidably matched, and the end of the push portion (21) away from the processing groove (11) is fixedly connected to an indicator light (22), and the indicator light (22) corresponds to the position of the expansion strip (2); The pressure sensor is used to measure the real-time pressure data of the expansion strip (2) during the contact process with the external flesh and blood, and send the real-time pressure data to the control panel; the control panel is used to compare the real-time pressure data with the set standard value, and if the real-time pressure data is greater than the standard value, a start instruction is sent to the corresponding indicator light (22); if the real-time pressure data is less than the standard value, a standby instruction is sent to the corresponding indicator light (22).

7. The precision-controlled manipulator-assisted hepatobiliary surgical stone removal device according to claim 6 is characterized in that: The control panel is also used to calculate the pressure difference corresponding to the real-time pressure data before and after the current time during the stone removal process, compare the pressure difference with the set fluctuation value, and send a flashing instruction to the indicator light (22) if the pressure difference is greater than the fluctuation value; if the pressure difference is less than the fluctuation value, send a maintenance instruction to the indicator light (22).

8. The precision-controlled manipulator-assisted hepatobiliary surgical stone removal device according to claim 7 is characterized in that: The control panel is also used to input the organ distribution model, the position to be operated on and the puncture position, input the position to be operated on and the puncture position into the organ distribution model, and obtain the maximum support force corresponding to each expansion bar (2); Based on the reference direction of the puncture position toward the surgical position, the maximum support force corresponding to each expansion mechanism is obtained based on the reference direction, and then the maximum support force is adjusted to the standard value corresponding to each pressure sensor.

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