Tumor minimally invasive surgery resection device

Abstract

The invention relates to the technical field of medical equipment, in particular to a tumor minimally invasive surgery resection device which comprises an outer sleeve, the two ends of the outer sleeve are an operation end and an equipment end respectively, a bent telescopic pipe is arranged in the outer sleeve, a plurality of symmetrical transmission ropes are arranged in the bent telescopic pipe, and the bent telescopic pipe comprises a plurality of bent joints. The bending joint comprises a plurality of annular plates, a plurality of hinge lock assemblies are arranged on the sides, close to each other, of the adjacent annular plates, a driving assembly is arranged at the equipment end of the outer sleeve, and the driving assembly is in signal connection with a control system. The operation end of the outer sleeve is provided with a cutting assembly, and the equipment end of the outer sleeve is provided with an operation rod. The operation end of the outer sleeve is further provided with a collection assembly and a suction assembly. The active deformable tube body structure is optimally designed, an intelligent tissue recognition system is integrated to monitor the tumor cutting edge in real time, the operation precision and safety are improved, meanwhile, the operation process is simplified, the operation time is shortened, and the pain of a patient is relieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a minimally invasive tumor resection device. Background Art

[0002] Minimally invasive surgery, with its minimal trauma and rapid recovery, has become a core approach to cancer treatment. Currently, mainstream laparoscopic surgical systems (such as laparoscopes and thoracoscopes) establish operating channels through multi-port punctures and utilize long-stem instruments in conjunction with an endoscope to separate and remove tissue.

[0003] In the prior art, patent document CN119385655A proposes a laparoscopic minimally invasive tumor resection device, comprising a tubular body with a tool holder and a controller mounted on its front and rear ends, respectively; a cutting head mounted at the front end of the tool holder, the controller connected to the cutting head via a cable assembly to control the cutting head to cut the tumor; and a camera and a fill light mounted at the front end of the tool holder and disposed on the periphery of the cutting head, the camera and fill light connected to the controller via a cable assembly. This document's design uses a controller to control the cutting head to cut the tumor mass. By connecting the internal collection cavity of the cutting head to a collection tube, the cut tumor mass can be sucked up by negative pressure, enabling timely intraoperative removal of the tumor mass. The device is also convenient and time-saving, thereby reducing surgical risk and difficulty, and facilitating the normal progress of tumor surgery for the patient.

[0004] However, in actual applications, the above-mentioned documents are limited by the rigid structure and passive operation of the tube body, and expose significant defects in the treatment of complex anatomical areas and large-volume tumors. Therefore, it is necessary to design a minimally invasive tumor resection device. By optimizing the design of the active deformable tube body structure and integrating an intelligent tissue recognition system to monitor the tumor cutting margin in real time, the surgical accuracy and safety can be improved, while simplifying the operation process and reducing the operation time and patient pain. Summary of the Invention

[0005] To solve the above problems, the present invention provides a minimally invasive tumor surgical resection device. By optimizing the design of an active deformable tube structure and integrating an intelligent tissue recognition system to monitor the tumor cutting margin in real time, the surgical accuracy and safety are improved, while simplifying the operating process, reducing operation time and patient pain.

[0006] To achieve the above-mentioned objectives, the technical solution of the present invention is as follows: a minimally invasive tumor resection device, comprising an outer sleeve, the outer sleeve having an operating end and a device end at its two ends, a bendable telescopic tube provided in the outer sleeve, a plurality of symmetrical transmission cables housed therein, the bendable telescopic tube including a plurality of bending joints, adjacent bending joints being hinged to each other, the bending joints comprising a plurality of coaxially stacked ring plates, adjacent ring plates being provided with a plurality of hinge assemblies on a side close to each other, the device end of the outer sleeve being provided with a drive assembly for achieving synchronous equidistant extension and retraction of a group of mutually symmetrical transmission cables or differential coordinated extension and retraction of the transmission cables on both sides, the drive assembly being signal-connected to a control system that controls the drive assembly to adjust the length of the transmission cables according to a demand signal, and when adjacent ring plates form an angle, the hinge assembly achieves hinged locking of the ring plates to fix the distance between the adjacent ring plates, thereby facilitating subsequent resection operations by the doctor;

[0007] The operating end of the outer cannula is provided with a cutting assembly for cutting tumor cells, and the device end of the outer cannula is provided with an operating rod for collecting the doctor's operating signal to remotely control the movement of the cutting assembly. Both the cutting assembly and the remote control assembly are connected to the control system signal;

[0008] The operating end of the outer tube is also provided with a collection component for collecting image information and a suction component for sucking tumor fragments after cutting.

[0009] The technical principle behind this solution is as follows: flexible, multi-degree-of-freedom motion is achieved through a flexible, telescopic tube within an outer sleeve. Its core principle is the synergistic effect of differential control of symmetrical drive cables and a hinge assembly. The drive assembly controls the deformation of the stacked ring plates in the bending joint by adjusting the synchronous or differential extension and contraction of the drive cables, causing the flexible tube to bend in the desired direction. When adjacent ring plates form a specific angle due to differential cable tension, the hinge assembly secures the relative position of the plates through a mechanical locking mechanism, ensuring the stability of the bending configuration and providing rigid support for surgical procedures. The cutting assembly at the operating end is linked to the control system via an operating lever, receiving the surgeon's commands in real time and translating them into cutting motions. Simultaneously, the image acquisition assembly feeds surgical field information back to the control system, assisting the surgeon in precisely locating tumor boundaries. Tissue debris generated during the cutting process is simultaneously removed by the suction assembly to prevent secondary contamination. The control system integrates the input signals from the operating lever, dynamic feedback of the cutting resistance, and image data. Using a closed-loop algorithm, the control system dynamically adjusts the cable tension and drive assembly output power, ensuring stability and precision in complex anatomical environments, ultimately achieving minimally invasive, efficient, and safe tumor resection.

[0010] The above scheme has the following beneficial effects:

[0011] 1. This solution utilizes a multi-jointed, articulated design of the bending telescopic tube and differential control of the transmission cable to achieve continuous bending and precise positioning of the instrument in narrow cavities (such as the pelvis and skull base). When adjacent ring plates form a specific angle, the hinge assembly automatically locks the distance between the ring plates, ensuring the rigid fixation of the bending shape during operation. This prevents positioning drift caused by flexible deformation of traditional instruments, thereby enhancing the stability of deep tumor resection and improving operational flexibility and stability in complex anatomical areas.

[0012] 2. In this solution, the drive assembly dynamically adjusts the synchronous or differential expansion and contraction of the transmission cable based on operational signals, automatically controlling the deflection angle and extension length of the bending joint, enabling the cutting assembly to conform to the tumor boundary for resection. Combined with real-time image feedback, the system automatically identifies tissue differences and dynamically adjusts cutting parameters to minimize accidental damage to blood vessels and nerves. This achieves millimeter-level precision and adaptive cutting for tumor resection, significantly improving tumor clearance rates.

[0013] 3. In this solution, the image acquisition component uses high-definition imaging to map the surgical field in real time, assisting the surgeon in planning the resection path. The suction component simultaneously removes cutting debris to prevent secondary contamination. Highly responsive signal transmission between the joystick and control system enables intuitive instrument manipulation, shortening surgical time and reducing the risk of postoperative complications.

[0014] Furthermore, the hinge assemblies include a connecting tube, both sides of which are rotatably connected with connecting plates, the inner edge walls of adjacent ring plates are provided with displacement grooves, both sides of the inner walls of the displacement grooves are provided with sliding grooves, displacement blocks are provided in the displacement grooves, the displacement blocks are slidably connected to the displacement grooves through the sliding grooves on both sides, and the two connecting plates are respectively hinged to the displacement blocks located on the adjacent ring blocks.

[0015] Beneficial Effects: The hinge assembly's displacement block and sliding slot are designed to work together. When adjacent ring plates form an angle due to cable tension, the displacement block moves along the sliding slot and locks, ensuring the flexed joint remains rigidly fixed during surgery. The synergistic action of the trapezoidal slot and spring automatically completes the locking process, preventing joint loosening due to external interference and enhancing the instrument's operational reliability in complex procedures.

[0016] Furthermore, a plurality of trapezoidal grooves are provided in the displacement grooves, and the displacement blocks include sliding covers, and movable sliders integrally formed with the sliding covers are provided on both sides of the sliding covers, and the movable sliders are slidably fitted in the sliding grooves, and a trapezoidal block corresponding to the shape of the trapezoidal grooves is slidably fitted in the sliding covers, and a second spring is provided between the trapezoidal block and the inner wall of the sliding cover, and the two ends of the second spring are respectively fixedly connected to the inner wall of the sliding cover and one side of the trapezoidal block;

[0017] The sliding grooves include a through groove and a reset groove corresponding to the shape of the movable slider. The reset groove is located on the side of the through groove close to the displacement block, and both ends of the reset groove are connected to the through groove.

[0018] Beneficial Effects: The elastic reset mechanism of the trapezoidal block and spring within the displacement slot allows the joint to be released from the locked state with only minimal external force. The interconnected design of the reset slot further simplifies the reset path. This principle enables rapid switching of bending angles, accommodating dynamic adjustments during surgery, while also reducing mechanical wear and extending service life.

[0019] Furthermore, the drive assembly includes a drive box fixedly connected to the equipment end of the outer sleeve, a plurality of cross-integrated partitions are fixedly connected to the drive box, servo motors are slidably connected to the partitions, the servo motors are connected to the control system signal, the output ends of the servo motors are coaxially fixedly connected to the connecting blocks, the ends of the connecting blocks away from the servo motors are fixedly connected to the input pulleys, and the partitions are rotatably connected to two transmission pulleys on the same side as the input pulleys;

[0020] There are four rope holes on the ring plate along its circumference. The rope holes corresponding to each other on several ring plates form a rope channel. Both ends of the transmission rope start from the input pulley, pass around the corresponding transmission pulley and are fixedly connected to the ring plate near the operating end through the corresponding rope channel.

[0021] Beneficial Effects: The pulley assembly of the drive assembly works in conjunction with the servo motor to control the deformation of the bending joint by adjusting the synchronous or differential expansion and contraction of the transmission cable. Furthermore, the diameter ratio of the input and transmission pulleys optimizes transmission efficiency, reduces motor load, ensures rapid bending response, and improves the positioning accuracy of deep-seated tumors.

[0022] Furthermore, the partitions are provided with driving grooves and transmission grooves, the driving slides are slidably connected in the driving grooves, the servo motors are fixedly connected to the driving slides, the connecting blocks are slidably connected in the transmission grooves, and the driving box is fixedly connected with an electric hydraulic cylinder, which is connected to the control system signal. The output end of the electric hydraulic cylinder is fixedly connected to a main rod, and two branch rods are provided on the main rod, and the two branch rods are respectively fixedly connected to the corresponding driving slides.

[0023] Beneficial effects: The electric-controlled hydraulic cylinder drives the slider displacement through the main rod and branch rod, dynamically adjusts the input pulley height, and changes the effective length of the transmission cable. This enables the design to support the telescopic-bending compound movement of the curved telescopic tube, adapt to different tumor depths and locations, reduce the frequency of intraoperative instrument replacement, and improve operational continuity.

[0024] Furthermore, the cutting assembly includes a remote control arm and a blade assembly, wherein one end of the remote control arm is fixedly connected to the operating end of the outer sleeve, and the blade assembly is provided at one end of the remote control arm away from the outer sleeve;

[0025] The remote control assembly includes an operating lever, which is equipped with a built-in torque sensor and a photoelectric encoder.

[0026] Beneficial effects: The operating lever integrates a torque sensor and a photoelectric encoder to capture the doctor's hand movements in real time and convert them into high-precision electrical signals. The remote control arm drives the blade assembly to perform cutting. Combined with resistance feedback, the system automatically matches the cutting parameters to avoid tissue damage caused by excessive force and reduce the risk of accidental blood vessel cutting.

[0027] Furthermore, the blade assembly includes a cutter head and a brake, one end of the brake is fixedly connected to the remote control arm, the cutter head includes several symmetrical blades, and the several blades can form a conical structure when closed. The blades are all hinged to the brake, and the brake is connected to the control system signal.

[0028] Beneficial effects:

[0029] Furthermore, the blades are all embedded with ultrasonic vibration sheets, and the ultrasonic vibration sheets are all connected to the control system signal.

[0030] Beneficial effects: The design of the ultrasonic vibrator pulverizes calcified tissue through cavitation effect, while processing soft tissue through low-frequency mechanical shearing. The control system dynamically switches the vibration mode according to the resistance data to ensure accurate cutting edges, reduce damage to healthy tissue, and simultaneously seal tiny blood vessels to reduce intraoperative bleeding.

[0031] Furthermore, the input pulleys include an inner core fixedly connected to the connecting block, anti-slip plates are fixedly connected to the edges of both sides of the inner core, wheel diameter adjustment components are provided between the anti-slip plates, the wheel diameter adjustment components include two staggered cable plates, both sides of the cable plates are provided with clamping blocks integrally formed with the cable plates, oblique grooves corresponding to the clamping blocks are provided on the surfaces of the anti-slip plates, and a plurality of clamping grooves corresponding to the clamping blocks are provided on the side of the oblique groove away from the inner core, and a plurality of third springs are provided between the cable plates and the inner core, and the two ends of the third springs are respectively fixedly connected to the cable plates and the outer wall of the inner core.

[0032] Beneficial effects: The wheel diameter adjustment component automatically reduces the input pulley diameter to reduce driving energy consumption when the cutting resistance increases through the linkage of the spring and the block; under vibration interference, the diameter is expanded to compensate for tension fluctuations. The design balances transmission efficiency and vibration resistance, ensuring the locking stability of the bending joint in a high-frequency vibration environment.

[0033] Furthermore, the control system includes a remote control cutting module, an image acquisition and display module, a telescopic adjustment module, a bending adjustment module, a cutting resistance detection module, and a cutting resistance feedback module;

[0034] The remote-controlled cutting module uses a torque sensor and photoelectric encoder to capture the doctor's hand movements in real time, converting them into spatial coordinates and joint angle parameters. It then calculates and maps the joystick movements to the target position of the remote-controlled arm, generates a remote-controlled drive signal, and drives the remote-controlled arm to perform the corresponding positioning movement.

[0035] The image acquisition and display module is used to obtain image information from the patient's body through the acquisition component and generate real-time images. The processed images are output to an external display for display;

[0036] The telescopic adjustment module is used to receive tumor positioning information, extract the depth data between the puncture point and the target tumor, and transmit the telescopic drive signal to the electronically controlled hydraulic cylinder to determine the depth of the bending telescopic tube according to the depth data;

[0037] The bending adjustment module is used to receive the positioning information of the tumor, extract the offset data between the puncture point and the target tumor, convert it into a differential bending drive signal, and transmit the signal to the corresponding servo motor;

[0038] Cutting resistance detection module, used to collect cutting resistance data in real time through resistance sensor, and analyze and detect tissue hardness;

[0039] The cutting resistance feedback module is used to extract cutting resistance data, combine the transmission cable tension fluctuations and ultrasonic vibration frequency, predict the instability risk of the bending joint, and transmit different rotation drive signals to the servo motor according to the instability risk to maintain the tension of the transmission cable and keep the bending joint in a locked state.

[0040] Beneficial Effects: The control system integrates image, resistance, and position signals to generate a real-time 3D surgical field navigation map and predict the risk of joint instability. A closed-loop algorithm dynamically adjusts cable tension and drive power, synchronizing cutting, imaging, and debris removal, shortening surgery time and significantly reducing the incidence of postoperative complications.

[0041] 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

[0042] Figure 1 This is a schematic diagram of the overall structure of an embodiment of a minimally invasive tumor resection device according to the present invention;

[0043] Figure 2 An axonometric diagram of a group of adjacent ring plates in an embodiment of the minimally invasive tumor resection device of the present invention;

[0044] Figure 3 An axonometric cross-sectional view of the arrangement of the hinge assembly in an embodiment of the minimally invasive tumor resection device of the present invention;

[0045] Figure 4 This is an axonometric cross-sectional view of a driving box in an embodiment of the minimally invasive tumor resection device of the present invention;

[0046] Figure 5 This is an axonometric reverse sectional view of the drive box in the embodiment of the minimally invasive tumor resection device of the present invention.

[0047] Figure 6 This is an axonometric cross-sectional view of an input pulley in an embodiment of the minimally invasive tumor resection device of the present invention;

[0048] Figure 7 This is an axonometric view of the operating end of an embodiment of the minimally invasive tumor resection device of the present invention.

[0049] The reference numerals in the drawings of the specification include: 1, outer sleeve; 101, operating end; 102, equipment end; 2, ring plate; 3, connecting cylinder; 4, first spring; 5, connecting piece; 6, displacement groove; 7, sliding groove; 701, through groove; 702, reset groove; 8, displacement block; 801, sliding cover; 802, moving slider; 803, trapezoidal block; 804, second spring; 9, trapezoidal groove; 10, drive box; 11, partition; 12, servo motor; 13, connecting block ; 14. Input pulley; 1401. Inner core; 1402. Anti-slip plate; 1403. Rope plate; 1404. Third spring; 1405. Block; 15. Transmission pulley; 16. Rope hole; 17. Transmission rope; 18. Drive slide; 19. Transmission slide; 20. Drive slider; 21. Electric hydraulic cylinder; 22. Main rod; 23. Branch rod; 24. Remote control arm; 25. Operating lever; 26. Blade; 27. Inclined groove; 28. Card slot; 29. Suction assembly. DETAILED DESCRIPTION

[0050] 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.

[0051] 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.

[0052] 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.

[0053] The following is further described in detail through specific implementation methods:

[0054] Example 1:

[0055] As attached Figure 1 、 Figure 2 and Figure 3 As shown, a minimally invasive tumor resection device includes an outer sleeve 1, which is made of a rigid material. A bending telescopic tube is provided inside the outer sleeve 1. The bending telescopic tube includes a plurality of bending joints. Adjacent bending joints are hinged to each other through elastic hinges. The bending joints include a plurality of ring plates 2 with annular structures. The plurality of ring plates 2 are coaxially stacked. Adjacent ring plates 2 are provided with a plurality of hinge assemblies on the side close to each other. The hinge assemblies include a connecting tube 3. A first spring 4 is provided on the outer side of the connecting tube 3. Connecting pieces 5 are rotatably connected to both sides of the connecting tube 3 through bearings. The two ends of the first spring 4 are respectively welded to the connecting pieces 5 on both sides. Displacement grooves 6 are provided on the inner edge walls of adjacent ring plates 2. 6 is provided with sliding grooves 7 on both sides of the inner wall, and displacement blocks 8 are provided in the displacement grooves 6. The displacement blocks 8 are slidably connected to the displacement grooves 6 through the sliding grooves 7 on both sides. The two connecting pieces 5 are respectively hinged to the displacement blocks 8 located on the adjacent ring blocks. Taking one group of adjacent ring plates 2 as an example, when there is a driving force to move closer to each other on one side of the adjacent ring plates 2 (that is, the bending joint bends toward that side), at this time, the adjacent ring plates 2 on that side move closer to each other, while the opposite sides move away from each other. The displacement blocks 8 on the side that move closer to each other move closer to each other along the sliding grooves 7, while the displacement blocks 8 on the side that move away from each other move away from each other. The sliding grooves 7 guide the moving direction of the displacement blocks 8 to ensure that the bending direction of the stacked structure of multiple ring plates 2 is controllable.

[0056] There are several trapezoidal grooves 9 in the displacement groove 6, as shown in FIG. Figure 3As shown, the displacement blocks 8 include a sliding cover 801 with a "concave" structure, and movable sliders 802 integrally formed with the sliding cover 801 are provided on both sides of the sliding cover 801. A trapezoidal block 803 corresponding to the shape of the trapezoidal groove 9 is slidably fitted in the sliding cover 801, and a second spring 804 is provided between the trapezoidal block 803 and the inner wall of the sliding cover 801. The two ends of the second spring 804 are welded to the inner wall of the sliding cover 801 and one side of the trapezoidal block 803 respectively. As the relative deflection of the adjacent ring plates 2 gradually increases, the sliding cover 801 continues to displace as a whole. Under the pre-tightening force of the second spring 804, the trapezoidal block 803 in the sliding cover 801 always slides close to the side wall of the trapezoidal groove 9, and the geometric position of the trapezoidal groove 9 is gradually aligned with the movement trajectory of the trapezoidal block 803 to achieve locking of the bending angle.

[0057] Specific as Figure 3 As shown, the sliding grooves 7 include a through groove 701 and a reset groove 702. The reset groove 702 is located on the side of the through groove 701 close to the displacement block 8. Both ends of the reset groove 702 are connected to the through groove 701. When the relative deflection angle of the adjacent ring plates 2 continues to increase, the displacement block 8 slides along the through groove 701 to the entrance of the reset groove 702. When the moving slider 802 enters the reset groove 702, after the driving force is eliminated, the first spring 4 will release the stored elastic force to reset the connecting pieces 5 on both sides to the initial state, and the trapezoidal block 803 will no longer be restricted by the engagement of the trapezoidal groove 9, driving the displacement block 8 to slide along the reset groove 702 to the initial position, thereby realizing the reset operation of the displacement block 8.

[0058] Through the locking and resetting principle of the displacement block 8, the curved telescopic tube of the minimally invasive tumor resection device can flexibly and stably adjust and fix the bending angle, greatly improving the applicability and accuracy of the device in surgical operations, and helping doctors to perform minimally invasive tumor resection operations more conveniently and safely.

[0059] Combine Figure 1 、 Figure 4 and Figure 5As shown, the outer tube 1 includes an operating end 101 and a device end 102. The operating end 101 is the end that penetrates into the patient's body to perform operations such as cutting, imaging, and bending. The device end 102 is the end above the patient's body surface for the doctor to hold and control. The device end 102 of the outer tube 1 is welded with a drive box 10. Two cross-integrated partitions 11 are welded inside the drive box 10. A servo motor 12 is provided on each partition 11. The output end of the servo motor 12 is fixedly connected to a connecting block 13 through a coupling. , the connecting block 13 is welded with an input pulley 14 at one end away from the servo motor 12, and two transmission pulleys 15 close to the corresponding input pulley 14 are rotatably connected on the two partitions 11 through bearings. Several transmission pulleys 15 are symmetrically arranged, and four rope holes 16 are opened on the ring plate 2 along its circumference. The rope holes 16 on adjacent ring plates 2 correspond to each other and form a rope channel. A transmission rope 17 is provided on each input pulley 14. Both ends of the transmission rope 17 extend along the input pulley 14 and bypass the corresponding transmission pulley. 15 and is welded to the ring plate 2 near the operating end 101 through the corresponding rope passage. Taking one of the servo motors 12 driving the transmission pulley 14 to rotate as an example, when the servo motor 12 is started, its output shaft drives the input pulley 14 to rotate, driving the transmission rope 17 wound thereon to produce linear displacement. The transmission rope 17 is driven by the transmission pulleys 15 on both sides, so that the tension of the transmission rope 17 on both sides of the corresponding directions of the ring plates 2 is different. The tightening and release of the transmission rope 17 control the mutual approach and distance between the ring plates 2 and the ring plates 2, so as to achieve the effect of bending along one side along the multiple bending joints; and the design of the transmission pulley 15, on the one hand, can improve the output power of the servo motor 12 by designing the diameter ratio of the transmission pulley 15 and the input pulley 14, that is, the transmission ratio of the pulley transmission; on the other hand, when the operating end 101 needs to bend to one side, the design can make the transmission rope 17 on the opposite side release the corresponding length, so as to achieve the tension balance of the transmission ropes 17 on both sides, thereby improving the stability of the operating end 101 during the bending process.

[0060] A driving groove 18 and a transmission groove 19 are provided on the partition 11. A driving slider 20 is slidably connected in the driving groove 18. The servo motor 12 is fixedly connected to the driving slider 20 by bolts. The connecting blocks 13 are slidably connected in the transmission groove 19. An electric hydraulic cylinder 21 is fixedly connected to the driving box 10 by bolts. The output end of the electric hydraulic cylinder 21 is fixedly connected to the main rod 22 through a coupling. The main rod 22 is provided with two branch rods 23 integrally formed with the main rod 22. The two branch rods 23 are respectively welded to the corresponding driving slider 20. When the electric hydraulic cylinder 21 is started, it pushes or contracts the main rod 22 to move vertically linearly, and the driving force is synchronously transmitted to the driving sliders 20 on both sides through the branch rods 23. The driving slider 20 slides in the driving groove 18 of the partition 11, driving the servo motor 12 and the input pulley 14 fixed thereon to move as a whole. At this time, the height of the input pulley 14 is adjusted, specifically as follows: first, the main rod 22 is pushed forward, and the branch rod 23 pushes the drive slider 20 to slide closer to the operating end 101, causing the input pulley 14 to move downward; second, the main rod 22 is retracted, and the drive slider 20 slides in the opposite direction, causing the input pulley 14 to move upward. The height displacement of the input pulley 14 changes the length of the transmission rope 17 in the rope passage, and the tension of the transmission rope 17 changes synchronously, causing the drive ring plate 2 to extend axially (the input pulley 14 moves upward) or contract (the input pulley 14 moves downward). In this design, since the height of each transmission pulley 15 remains unchanged, the height difference between the input pulley 14 and the corresponding two transmission pulleys 15 (i.e., the height adjustment of the input pulley 14) is used to adjust the length of the transmission rope 17 in the drive housing 10, and then adjust the length of the transmission rope 17 in the outer sleeve 1, i.e., the length of the overall ring plate 2, to achieve telescopic adjustment of the insertion length.

[0061] The signal of the electric-controlled hydraulic cylinder 21 is connected to the control system, and the several servo motors 12 are all connected to the control system signal. Through the closed-loop control of the stroke of the electric-controlled hydraulic cylinder 21 and the servo motor 12, the whole formed by the several bending joints can achieve dynamic expansion-contraction compound movement to adapt to different tumor depths and uncertain tumor positions.

[0062] The interior of the bent telescopic tube is hollow, combined with Figure 1 and Figure 7 As shown, the operating end 101 is equipped with a remote control arm 24 fixedly connected to the inner wall of the curved telescopic tube. The remote control arm 24 is connected to the control system signal. The remote control arm 24 is provided with a blade assembly at the end away from the curved telescopic tube. The top of the drive box 10 is provided with an operating lever 25, which is connected to the control system signal. The operating lever 25 has a built-in torque sensor and photoelectric encoder. The doctor applies multi-dimensional movements (pushing, pulling, rotation, deflection) through the operating lever 25. The torque sensor and photoelectric encoder built into the operating lever 25 capture the doctor's operating behavior in real time and transmit it to the control system. The control system transmits signals to control the movement of the remote control arm 24.

[0063] The blade assembly includes a blade head and a brake. One end of the brake is fixedly connected to the remote control arm 24 by a bolt. The blade head includes four symmetrical blades 26. The four blades 26 are closed to form a cone structure. The blades 26 are hinged to the brake. The brake is connected to the control system signal. The brake is preferably a piezoelectric ceramic actuator. Before cutting the tumor, the blades 26 are closed to form a cone. When the tumor is aligned and cut, the control system transmits a signal to the brake to expand several blades 26 to form a cross blade, so as to facilitate the cutting of the root of the tumor; the blades 26 are all It is embedded with ultrasonic vibrators, which are connected to the control system signal. When the control system transmits a driving signal to the ultrasonic vibrators, the ultrasonic vibrators convert electrical energy into mechanical vibrations. The high-frequency vibrations produce periodic pressure changes in the tissue fluid, triggering the instantaneous generation and collapse of microbubbles (cavitation effect), directly destroying the tumor cell membrane structure and also having a crushing effect on calcified tissue; in addition, the ultrasonic energy is partially converted into heat energy in the tissue, which increases the temperature of the cutting area, causing the tumor cell protein to denature and coagulate, while sealing the tiny blood vessels to achieve hemostasis.

[0064] The remote control arm 24 is equipped with a resistance sensor, which is used to detect the cutting resistance during tumor excision. Because the vibration frequency of the ultrasonic vibrator can be adjusted by the control system, the resistance sensor detects the cutting resistance and transmits it to the control system for analysis. The ultrasonic vibrator then receives the frequency modulation signal from the control system and automatically switches modes based on tissue hardness, including soft tissue mode (low-frequency, high-amplitude mechanical shearing) and bone tissue mode (high-frequency, low-amplitude ultrasonic cavitation pulverization). This allows for the excision of soft tumor tissue as well as other hard tissues such as bone, making the excision process minimally invasive, precise, and safe.

[0065] During the cutting process, especially when cutting bone tissue in a bent state, the vibration generated by the ultrasonic vibrator will affect the bending stability of the outer sleeve 1 (that is, the hinged locking between several ring plates 2 and ring plates 2). The special feature of this solution is that the engagement of the trapezoidal groove 9 on the lock groove with the trapezoidal block 803 can not only help improve the tensioning stability of the transmission cable 17, but also consume part of the vibration force transmitted during the cutting process, thereby preventing the ring plate 2 from being disengaged from the limit.

[0066] In addition, combined Figure 5 and Figure 6As shown, the input pulley 14 includes an inner core 1401 welded to the connecting block 13, and anti-slip plates 1402 are welded to the edges of both sides of the inner core 1401. A wheel diameter adjustment assembly is provided between the anti-slip plates 1402, and the wheel diameter adjustment assembly includes two staggered cable plates 1403. Both sides of the cable plates 1403 are provided with clamping blocks 1405 integrally formed with the cable plates 1403. The surface of the anti-slip plates 1402 is provided with oblique grooves 27 corresponding to the clamping blocks 1405, and the side edge of the oblique groove 27 away from the inner core 1401 is provided with a plurality of clamping grooves 28 corresponding to the shape of the clamping blocks 1405. A plurality of third springs 1404 are provided between the cable plates 1403 and the inner core 1401, and the two ends of the third springs 1404 are respectively welded to the cable plates 1403 and the outer wall of the inner core 1401.

[0067] This design, firstly, in the process of searching for tumor cells, when the bending angle of the bending telescopic tube increases, the tension of the transmission cable 17 will increase linearly. At this time, the tension of the transmission cable 17 is converted into normal pressure through the surface of the cable plate 1403 and applied to the surface of the cable plate 1403. As the normal pressure increases, the cable plate 1403 is pressed to push the block 1405 to slide along the inclined groove 27. The block 1405 is gradually embedded in the corresponding groove 28 under the action of the inclined surface force, causing the cable plate 1403 to shrink toward the inner core 1401. At this time, the effective diameter of the input pulley 14 is reduced, and the torque demand for driving the input pulley 14 is immediately reduced. This design is conducive to reducing the driving energy consumption of the servo motor 12.

[0068] Secondly, during the process of tumor cutting or bone tissue cutting, the ultrasonic vibrator generates lateral vibration, which is superimposed with the cutting resistance, causing the tension of the transmission cable 17 to fluctuate. The direction of the cutting resistance is consistent with the direction of the tension. When the vibration direction also coincides with the direction of the tension, the surface pressure of the cable plate 1403 will decrease instantaneously, and the third spring 1404 releases the pre-stored elastic force to push the block 1405 out of the slot 28. After the block 1405 is disengaged, the cable plate 1403 moves outward under the action of the spring, and the diameter of the input pulley 14 expands. At this time, the effective length of the transmission cable 17 increases. The normal transmission cable 17 is used to supplement the side with greater tension, that is, the dorsal side of the bend. At this time, the tension that may cause the trapezoidal block 803 to disengage from the trapezoidal slot 9 is reduced. This design dynamically adjusts the effective length of the transmission cable 17 according to the cutting resistance and cutting vibration force to increase the locking stability for bending fixation.

[0069] The operating terminal 101 is also provided with an image acquisition component, which is preferably a CMOS image sensor. The image acquisition component is connected to the control system signal. The image acquisition component transmits the surgical field light to the sensor through a dual-channel optical fiber bundle. The sensor converts the light signal into a digital signal and transmits it to the control system in real time through the interface for image processing. The control system distinguishes blood vessels (oxygenated hemoglobin absorption peak), nerves (lipid characteristic spectrum) and tumors (abnormal metabolite fluorescence), and fuses them to generate an enhanced image; the processed image data is output to an external medical display for display to assist doctors in performing minimally invasive surgery.

[0070] The operating end 101 of the outer cannula 1 is also provided with a suction component 29 for sucking tumor fragments after cutting. The suction component 29 includes a micro negative pressure generator integrated in the device end 102 of the outer cannula 1. The micro negative pressure generator is preferably a piezoelectric ceramic-driven diaphragm pump body, which is connected to the suction head of the operating end 101 through a flexible catheter to achieve instant suction of tumor fragments.

[0071] Example 2:

[0072] The difference from Example 1 is that the control system includes a remote control cutting module, an image acquisition and display module, a telescopic adjustment module, a bending adjustment module, a cutting resistance detection module and a cutting resistance feedback module.

[0073] The remote-controlled cutting module uses torque sensors and photoelectric encoders to capture the doctor's hand movements in real time, converting them into spatial coordinates and joint angle parameters. By calculation, the movement of the operating lever 25 is mapped to the target posture of the remote-controlled arm 24, and a remote-controlled drive signal is generated to drive the remote-controlled arm 24 to perform corresponding positioning movements.

[0074] The image acquisition and display module obtains image information from the patient's body through the acquisition component and generates real-time images. The processed images are displayed by outputting them to an external display.

[0075] The telescopic adjustment module receives the positioning information of the tumor, extracts the depth data between the puncture point and the target tumor, and transmits the telescopic drive signal to the electronically controlled hydraulic cylinder 21 according to the depth data to position the depth of the bent telescopic tube.

[0076] The bending adjustment module is used to receive the positioning information of the tumor, extract the offset data between the puncture point and the target tumor, convert it into a differential bending drive signal, and transmit the signal to the corresponding servo motor 12.

[0077] The cutting resistance detection module collects cutting resistance data in real time through the resistance sensor and analyzes and detects tissue hardness.

[0078] The cutting resistance feedback module extracts cutting resistance data and combines it with the transmission cable tension fluctuation and ultrasonic vibration frequency to predict the instability risk of the bending joint. Based on the instability risk, it transmits different rotation drive signals to the servo motor to maintain the tension of the transmission cable and keep the bending joint locked.

[0079] 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 minimally invasive tumor resection device, comprising an outer sleeve (1), wherein the two ends of the outer sleeve (1) are an operating end (101) and a device end (102), and wherein: A bending telescopic tube is provided inside the outer sleeve (1), and a plurality of symmetrical transmission cables (17) are built into the bending telescopic tube. The bending telescopic tube includes a plurality of bending joints, and adjacent bending joints are hinged to each other. The bending joints include a plurality of coaxially stacked ring plates (2). Adjacent ring plates (2) are provided with a plurality of hinge assemblies on one side close to each other. The device end (102) of the outer sleeve (1) is provided with a driving assembly for realizing synchronous equidistant extension and contraction of a group of mutually symmetrical transmission cables (17) or differential coordinated extension and contraction of transmission cables (17) on both sides. The driving assembly signal is connected to a control system for controlling the driving assembly to adjust the length of the transmission cables (17) according to a demand signal. When adjacent ring plates (2) form an angle, the hinge assembly realizes the hinged locking of the ring plates (2) and the ring plates (2) to fix the distance between the adjacent ring plates (2), so as to facilitate the doctor to perform subsequent resection operations. The operating end (101) of the outer sleeve (1) is provided with a cutting assembly for cutting tumor cells, and the device end (102) of the outer sleeve (1) is provided with an operating rod (25) for collecting a doctor's operating signal to remotely control the movement of the cutting assembly, and both the cutting assembly and the remote control assembly are connected to the control system signal. The operating end (101) of the outer sleeve (1) is also provided with a collection component for collecting image information and a suction component (29) for sucking tumor fragments after cutting.

2. The minimally invasive tumor resection device according to claim 1, characterized in that: The hinge assembly comprises a connecting cylinder (3), both sides of the connecting cylinder (3) are rotatably connected with connecting pieces (5), the inner edge walls of adjacent ring plates (2) are provided with displacement grooves (6), both sides of the inner wall of the displacement groove (6) are provided with sliding grooves (7), and displacement blocks (8) are provided in the displacement grooves (6). The displacement blocks (8) are slidably connected to the displacement grooves (6) through the sliding grooves (7) on both sides, and the two connecting pieces (5) are respectively hinged to the displacement blocks (8) located on the adjacent ring blocks.

3. The minimally invasive tumor resection device according to claim 2, characterized in that: A plurality of trapezoidal grooves (9) are provided in the displacement groove (6), and the displacement blocks (8) include a sliding cover (801). Both sides of the sliding cover (801) are provided with movable sliders (802) integrally formed with the sliding cover (801). The movable sliders (802) are slidably fitted in the sliding groove (7). A trapezoidal block (803) corresponding to the shape of the trapezoidal groove (9) is slidably fitted in the sliding cover (801). A second spring (804) is provided between the trapezoidal block (803) and the inner wall of the sliding cover (801), and the two ends of the second spring (804) are fixedly connected to the inner wall of the sliding cover (801) and one side of the trapezoidal block (803) respectively. The sliding grooves (7) each include a through groove (701) and a reset groove (702) corresponding to the shape of the movable slider (802). The reset groove (702) is located on the side of the through groove (701) close to the displacement block (8). Both ends of the reset groove (702) are connected to the through groove (701).

4. The minimally invasive tumor resection device according to claim 3, characterized in that: The drive assembly comprises a drive housing (10) fixedly connected to the equipment end (102) of the outer sleeve (1); a plurality of cross-integrated partitions (11) are fixedly connected in the drive housing (10); a servo motor (12) is slidably connected to the partitions (11); the servo motors (12) are connected to the control system signal; the output ends of the servo motors (12) are coaxially fixedly connected to the connection blocks (13); the ends of the connection blocks (13) away from the servo motors (12) are fixedly connected to the input pulleys (14); and the partitions (11) are rotatably connected to two transmission pulleys (15) on the same side as the input pulleys (14); Four rope holes (16) are provided on each ring plate (2) along its circumference, and the rope holes (16) corresponding to each other on a plurality of ring plates (2) form a rope passage. Both ends of the transmission rope (17) start from the input pulley (14), pass around the corresponding transmission pulley (15), and are fixedly connected to the ring plate (2) near the operating end (101) through the corresponding rope passage.

5. The minimally invasive tumor resection device according to claim 4, characterized in that: The partition (11) is provided with a driving chute (18) and a transmission chute (19), the driving chute (18) is slidably connected with a driving slider (20), the servo motor (12) is fixedly connected to the driving slider (20), the connecting block (13) is slidably connected to the transmission chute (19), the driving box (10) is fixedly connected with an electric hydraulic cylinder (21), the electric hydraulic cylinder (21) is connected to the control system signal, the output end of the electric hydraulic cylinder (21) is fixedly connected with a main rod (22), the main rod (22) is provided with two branch rods (23), and the two branch rods (23) are respectively fixedly connected to the corresponding driving slider (20).

6. The minimally invasive tumor resection device according to claim 5, characterized in that: The cutting assembly comprises a remote control arm (24) and a blade assembly, wherein one end of the remote control arm (24) is fixedly connected to the operating end (101) of the outer sleeve (1), and the blade assembly is provided at one end of the remote control arm (24) away from the outer sleeve (1); The remote control assembly comprises an operating rod (25), wherein the operating rod (25) is provided with a built-in torque sensor and a photoelectric encoder.

7. The minimally invasive tumor resection device according to claim 6, characterized in that: The blade assembly includes a cutter head and a brake, one end of the brake is fixedly connected to a remote control arm (24), the cutter head includes a plurality of symmetrical blades (26), the plurality of blades (26) can form a conical structure when closed, the blades (26) are hinged to the brake, and the brake is connected to a control system signal.

8. The minimally invasive tumor resection device according to claim 7, characterized in that: The blades (26) are all embedded with ultrasonic vibration sheets, and the ultrasonic vibration sheets are all connected to the control system signal.

9. The minimally invasive tumor resection device according to claim 8, characterized in that: The input pulley (14) includes an inner core (1401) fixedly connected to the connecting block (13), and anti-slip plates (1402) are fixedly connected to the edges of both sides of the inner core (1401). A wheel diameter adjustment component is provided between the anti-slip plates (1402). The wheel diameter adjustment component includes two staggered cable plates (1403). Both sides of the cable plates (1403) are provided with a clamping block (1405) integrally formed with the cable plates (1403). The anti-slip plates (1401) are fixedly connected to the edges of both sides of the inner core (1401). 02) are provided with an inclined groove (27) corresponding to the clamping block (1405), and a side edge of the inclined groove (27) away from the inner core (1401) is provided with a plurality of clamping grooves (28) corresponding to the clamping block (1405), and a plurality of third springs (1404) are provided between the cable plate (1403) and the inner core (1401), and the two ends of the third springs (1404) are fixedly connected to the cable plate (1403) and the outer wall of the inner core (1401) respectively.

10. The minimally invasive tumor resection device according to claim 9, characterized in that: The control system includes a remote control cutting module, an image acquisition and display module, a telescopic adjustment module, a bending adjustment module, a cutting resistance detection module and a cutting resistance feedback module; The remote control cutting module is used to capture the doctor's hand movements in real time through a torque sensor and a photoelectric encoder, convert them into spatial coordinates and joint angle parameters, map the operation lever (25) movements into the target posture of the remote control arm (24) through calculation, generate a remote control drive signal, and drive the remote control arm (24) to perform corresponding positioning movement; The image acquisition and display module is used to obtain image information from the patient's body through the acquisition component and generate real-time images. The processed images are output to an external display for display; The telescopic adjustment module is used to receive the positioning information of the tumor, extract the depth data between the puncture point and the target tumor, and transmit the telescopic drive signal to the electric-controlled hydraulic cylinder (21) according to the depth data to position the depth of the bent telescopic tube; a bending adjustment module, configured to receive positioning information of the tumor, extract offset data between the puncture point and the target tumor, convert the data into a differential bending drive signal, and transmit the signal to a corresponding servo motor (12); Cutting resistance detection module, used to collect cutting resistance data in real time through resistance sensor, and analyze and detect tissue hardness; The cutting resistance feedback module is used to extract cutting resistance data, combine the tension fluctuation of the transmission cable (17) and the ultrasonic vibration frequency, predict the instability risk of the bending joint, and transmit different rotation drive signals to the servo motor (12) according to the instability risk, so as to maintain the tension of the transmission cable (17) and keep the bending joint in a locked state.

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