A surgical assisting mechanical device

Abstract

The present invention discloses a surgical assisting mechanical device, which relates to the field of surgical assisting technology, comprising: a movable base, a swinging extension structure fixed on the third connecting member in the swinging structure, an extension clamp structure installed at the bottom of the extension swing arm on the swinging extension structure, and an elastic paddle is pushed to slide by a telescopic electric push rod to achieve its extension and deformation. When penetrating into the surgical incision, the elastic paddle contracts, and the two extension clamp bodies form an inverted cone structure, which is convenient for penetrating deep into the surface skin and reducing the tearing of the incision; after penetrating deep into the incision, the elastic paddle expands outward and contacts the incision in an eight-shaped state, providing a good force point for incision expansion, avoiding slippage between the incision skin and the paddle, thereby providing surgical personnel with a better visual environment inside the incision, and by setting a pressure-limiting structure for protection, avoiding wound tearing caused by excessive expansion, effectively protecting the incision, reducing the risk of surgical operation, and improving the safety factor of surgical operation.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical assistance, and in particular to a surgical assistance mechanical device. Background Art

[0002] Surgical assistive devices play an important role in modern medical surgery, providing support for the smooth progress of surgical operations. However, existing surgical assistive devices still have many shortcomings in terms of incision expansion.

[0003] The present invention discloses a surgical robot arm with announcement number CN118000919B, comprising a guide rail fixedly mounted on the edge of a surgical operating bed, a mounting seat being arranged on one side of the guide rail, and an adjustment mechanism being arranged on the mounting seat, the mounting seat comprising a base, a screw, the screw being rotatably mounted below the base, a screw sleeve being screwed on the screw, four sets of connecting rods, one end of each of the four sets of connecting rods being hinged on the screw sleeve, four sets of support rods, the other ends of the four sets of connecting rods being hinged to the four sets of support rods respectively, rollers being rotatably mounted at the lower ends of the support rods, and the upper ends of the support rods being hinged to the base, the setting of the rollers makes it more convenient for staff to carry the device, and secondly, the position of the guide sleeve can be flexibly adjusted, so that staff can quickly realize the engagement between the guide sleeve and the guide rail, making it more convenient and labor-saving for staff to install and disassemble the robot arm, and secondly, the guide sleeve can slide along the guide rail, so that the device can flexibly move along the edge of the surgical operating bed, thereby facilitating the adjustment of the position of the device by staff;

[0004] During surgical operations, surgical incisions are often expanded through surgical auxiliary structures. Existing expansion structures expand surgical incisions through simple mechanical expansion. During the incision expansion process, there is a lack of effective anti-slip measures, which can easily lead to relative slippage between the expander and the incision skin, and easily cause excessive traction on the tissues on both sides of the incision, resulting in incision tears and other injuries, increasing the difficulty of postoperative recovery and the risk of complications for patients. Moreover, these devices are difficult to provide stable expansion force and cannot be accurately adjusted according to the actual needs of the incision, affecting the clarity of the surgical field of view. Summary of the Invention

[0005] The purpose of the present invention is to provide a surgical auxiliary mechanical device to solve the following technical problems: during the incision expansion process, there is a lack of effective anti-slip measures, which can easily lead to relative slippage between the expander and the incision skin, and easily lead to excessive traction of the tissues on both sides of the incision, causing incision tearing and other injuries, increasing the difficulty of postoperative recovery and the risk of complications for patients, and these devices are difficult to provide stable expansion force.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] A surgical auxiliary mechanical device includes: a mobile base, on which is mounted a swinging structure mainly composed of a first connecting arm and a second connecting arm, a swinging extension structure fixed to the third connecting member in the swinging structure, and an extended clamp structure installed at the bottom of the extended swing arm on the swinging extension structure.

[0008] The expansion pliers structure comprises an expansion pliers body, a sliding groove is provided on the outer side surface of the bottom of the expansion pliers body, sliding holes are symmetrically provided on the groove walls on both sides of the sliding groove, and an elastic pick is slidably provided in the sliding groove.

[0009] Limiting rods are fixed on both sides of the top of the elastic pick respectively. The limiting rods are movably arranged in the sliding hole. A limiting cap is arranged at the end of the sliding hole. The diameter of the limiting cap is greater than the width of the sliding hole.

[0010] A receiving groove is provided on the bottom side wall of the sliding groove, and a limit swing rod is swingably installed in the receiving groove. The other end of the limit swing rod is fixed on both sides of the bottom of the latex tooth.

[0011] The elastic pick slides upward to the limit value one, the limit swing arm swings and is stored in the storage groove, and the bottom inner wall of the elastic pick is in contact with the sliding groove wall. When the bottom of the extended clamp structure penetrates into the surgical incision, the elastic pick contracts into the interior of the extended clamp body. The two extended clamp bodies form an inverted cone structure, which can better penetrate into the deep of the surface skin through the slit incision. During the penetration process, the tearing of the incision position can be reduced, and the entry is smoother.

[0012] The elastic pick slides downward to the second limit value, the top of the limit rocker swings outward, and the bottom of the elastic pick swings to the maximum swing angle with the wall of the slide groove. During the sliding of the elastic pick, it is supported and limited by the limit rocker, and the limit rocker, the expansion clamp body and the bottom of the elastic pick are in a triangular shape. The bottom of the elastic pick is deformed and expanded outward, so that the elastic pick is in an outward-expanding posture and contacts the surgical incision. With the cooperation of the two elastic picks, the bottoms of the two elastic picks are in an eight-shaped state, and the bottom ends of the elastic picks are located on the lower side of the surface skin, which has a better force application point for the expansion of the surgical incision, and can prevent the incision skin and the elastic pick from slipping during the expansion of the incision.

[0013] As a further solution of the present invention: the expansion pliers structure also includes a telescopic electric push rod, which is installed on the top of the expansion pliers body. The output end of the telescopic electric push rod is equipped with a telescopic rod, the bottom end of the telescopic rod is connected to the top center position of the elastic paddle, and a rotating cap is fixed to the top side of the expansion pliers body, and the rotating cap is used to connect with the bottom end of the expansion swing arm of the swing expansion structure.

[0014] As a further solution of the present invention: a pressure limiting structure is installed on the outer side of the expansion pliers body, and the pressure limiting structure includes an airbag, which is adhesively fixed to the middle part of the outer side of the elastic pick, and the airbag is arranged parallel to the latex teeth. A transparent tank body is fixed to the outer side of the top of the expansion pliers body, and a piston is slidably installed inside the transparent tank body. A spring is fixed between the piston and the bottom inner wall of the transparent tank body, and a first electrode sheet is installed on the top side of the piston. A second electrode sheet is installed on the top inner wall of the transparent tank body. The bottom of the transparent tank body is connected to the airbag through a connecting tube, and the connecting tube is fitted with the side wiring of the elastic pick. A warning light is installed on the top of the transparent tank body. When expanding the wound, in order to ensure that the force applied to the wound will not cause tearing of the incision, the force applied to the wound must be limited; the force obtained by the elastic coefficient of the spring used in this case and the spacing between the stretching length is the maximum expansion force of the skin incision.

[0015] As a further solution of the present invention: the top of the transparent tank is provided with wire holes and air holes, the wire holes are used for routing the first electrode sheet and the second electrode sheet, and the first electrode sheet, the warning light, the second electrode sheet and the power supply are connected to form a series circuit.

[0016] As a further solution of the present invention: the swing extension structure includes a mounting plate, the mounting plate is fixed on the third connecting member in the swing structure, the side of the mounting plate is swingably mounted with an extended swing arm through a hinge, the middle part of the mounting plate is fixed with an extended electric push rod, the end of the action rod of the extended electric push rod is fixedly connected to a fourth connecting seat, the bottom inner wall of the extended swing arm is fixedly connected to a fourth connecting ear, a connecting rod is connected between the fourth connecting seat and the fourth connecting ear, and the two symmetrical connecting rods are arranged in an eight-shaped shape.

[0017] As a further solution of the present invention: the bottom end of the expansion swing arm is connected to the rotating cap in the expansion clamp structure through a damping shaft, and the end of the damping shaft is provided with an external thread, and a locking nut is rotatably installed on the threaded section of the damping shaft. With the cooperation of the damping shaft, the medical staff can manually adjust the angle between the expansion clamp structure and the expansion swing arm appropriately. After adjustment, the locking nut is tightened to avoid relative rotation between the adjusted rotating cap and the expansion swing arm, which can better adapt to the expansion operation of the incision.

[0018] As a further solution of the present invention: the swing structure includes a first rotating seat, the first rotating seat is fixed on the top side of the mobile base, the first rotating motor is installed on the first rotating seat, and the rotating shaft of the first rotating motor is passed through and arranged between the two side walls of the first rotating seat, the first connecting member is fixed on the rotating shaft of the first rotating motor, the first connecting member is installed on the rotating shaft of the first rotating motor, the top of the first connecting arm is fixed with the second connecting member, the top side of the second connecting member is fixed with the second rotating motor, the second connecting seat is fixed on the output shaft of the second rotating motor, the second connecting arm is fixed on the second connecting seat, and the top of the second connecting arm is fixed with the third connecting seat, the third rotating motor is installed on one side of the third connecting seat, the rotating shaft of the third rotating motor is passed through and between the two side walls of the third connecting seat, the third connecting member is fixed on the rotating shaft of the third rotating motor, and the mounting plate of the swing extension structure is fixed to the third connecting member.

[0019] As a further solution of the present invention: the first rotating seat of the swinging structure is fixed on the top side of the mobile base, a control panel is installed on the mobile base, and universal wheels are installed at the four corners of the bottom side of the mobile base to provide stable support for the overall expansion structure, and a locking pedal is provided at the position of the universal wheel to achieve stability of the mobile base.

[0020] As a further solution of the present invention: a power conversion module and a control module are provided in the mobile base, the power conversion module is used to supply power to the first rotating motor, the second rotating motor, the third rotating motor, the extended electric push rod, the telescopic electric push rod, and the warning light, the control module is used to control the operation of the first rotating motor, the second rotating motor, the third rotating motor, the extended electric push rod, the telescopic electric push rod, and the warning light, the control panel is connected in parallel with a mobile keyboard, and the operation commands of the mobile keyboard are synchronized with the control panel.

[0021] Beneficial effects of the present invention:

[0022] The elastic pick is pushed to slide by the telescopic electric push rod to achieve its extension and deformation. When penetrating into the surgical incision, the elastic pick contracts, and the two expansion forceps bodies form an inverted cone structure, which is convenient for penetrating deep into the surface skin and reducing tearing of the incision; after penetrating, the elastic pick expands outward and contacts the incision in an eight-shaped state, providing a good force point for incision expansion, avoiding slippage between the incision skin and the pick, thereby providing surgical personnel with a better visual environment of the inside of the incision and facilitating surgical operations. By extending the extension of the electric push rod, the connecting rod can be pushed to separate or close the two extension swing arms to both sides, thereby driving the bottom expansion forceps structure to separate or close, thereby achieving expansion or closure of the incision, and the degree of expansion can be adjusted according to the needs of the surgical operation to better meet the requirements of the surgical operation for incision expansion.

[0023] By setting up a pressure-limiting structural protection, the airbag acts as an intermediate medium between the elastic paddle and the side wall of the incision. The degree of pressure it is subjected to can represent the degree of expansion force applied to the incision skin. When the airbag is pressurized, the gas enters the bottom chamber of the transparent tank to lift the piston and stretch the spring. Surgical personnel can understand the force applied to the incision by observing the rising state of the piston. The elastic coefficient and stretching length spacing of the spring determine the maximum expansion force of the skin incision. When the spring is stretched to the maximum value, the warning light comes on to avoid excessive expansion and wound tearing, effectively protecting the incision, reducing surgical risks, and improving the safety factor of surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below with reference to the accompanying drawings.

[0025] Figure 1 This is a schematic diagram of the first perspective three-dimensional structure of the present invention;

[0026] Figure 2 is a schematic diagram of a second perspective three-dimensional structure of the present invention;

[0027] Figure 3 It is a schematic diagram of the expanded structure of the present invention;

[0028] Figure 4 It is a schematic diagram of the unilateral swing expansion structure of the present invention;

[0029] Figure 5 It is a schematic structural diagram of the expansion clamp of the present invention;

[0030] Figure 6 It is a schematic diagram of the positional relationship between the pressure limiting structure and the expansion clamp body in the present invention;

[0031] Figure 7 It is a schematic diagram of the cross-sectional structure of the transparent tank in the pressure-limiting structure;

[0032] Figure 8 1. It is a schematic diagram of the elastic pick structure;

[0033] In the figure: 1. Mobile base; 21. Universal wheel; 22. Control panel; 23. First rotating base; 24. First rotating motor; 25. First connecting member; 26. First connecting arm; 27. Second connecting member; 28. Second connecting base; 29. ​​Second connecting arm; 210. Third rotating motor; 211. Third connecting base; 212. Third connecting member; 213. Second rotating motor; 3. Swing extension structure; 4. Extension clamp structure; 5. Pressure limiting structure; 31. Mounting plate; 32. Hinge; 34. Extended electric push rod; 35. Extended swing arm; 36. Fourth connecting seat; 37. Fourth connecting ear; 38. Connecting rod; 41. Rotating cap; 42. Extended pliers body; 43. Telescopic electric push rod; 44. Sliding hole; 45. Limit rod; 46. Telescopic rod; 47. Elastic paddle; 48. Limit swing arm; 49. Latex teeth; 51. Airbag; 52. Connecting pipe; 53. Transparent tank; 54. Spring; 55. Piston; 56. First electrode sheet; 57. Warning light; 58. Second electrode sheet. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0035] See also Figure 1-Figure 3 、 Figure 5 As shown, the present invention is a surgical auxiliary mechanical device, 1. It includes a mobile base 1, and the mobile base 1 is equipped with a swing structure composed of a first connecting arm 26 and a second connecting arm 29 as the main body. The third connecting member 212 in the swing structure is fixed with a swing extension structure 3, and the bottom of the extension swing arm 35 on the swing extension structure 3 is installed with an extension clamp structure 4. The extension clamp structure 4 is mainly used for expanding both sides of the surgical incision to avoid friction between the surgical instrument and the incision skin, and at the same time provide a better visual environment inside the incision for surgical personnel.

[0036] like Figure 5 、 Figure 8 As shown, the expansion clamp structure 4 includes an expansion clamp body 42, a sliding groove is provided on the outer side surface of the bottom of the expansion clamp body 42, and sliding holes 44 are symmetrically provided on the groove walls on both sides of the sliding groove. An elastic paddle 47 is slidingly provided in the sliding groove, and the elastic paddle 47 can be deformed within a certain range to achieve local bending and can be outwardly bent to provide a better force-bearing surface for the side of the incision.

[0037] Limiting rods 45 are fixed on both sides of the top of the elastic paddle 47. The limiting rods 45 are movably arranged in the sliding hole 44. A limiting cap is provided at the end of the sliding hole 44. The diameter of the limiting cap is greater than the width of the sliding hole 44. The limiting rods 45 limit the sliding of the elastic paddle 47 to ensure the maximum deformation of the elastic paddle 47.

[0038] A storage groove is provided on the bottom side wall of the sliding groove, and a limit rocker 48 is swingably installed in the storage groove. The other end of the limit rocker 48 is fixed on both sides of the bottom of the latex teeth 49. The latex teeth 49 can provide better anti-slip effect. At the same time, latex is more skin-friendly, and has a better supporting and limiting effect on the incision, and no blood will be infiltrated, which is convenient for later disinfection.

[0039] The elastic paddle 47 slides upward to the limit value 1, and the limit swing rod 48 swings and is stored in the storage groove, and the bottom inner wall of the elastic paddle 47 is in contact with the sliding groove wall;

[0040] When the bottom of the extended clamp structure 4 penetrates into the surgical incision, the elastic paddle 47 contracts into the inside of the extended clamp body 42. The two extended clamp bodies 42 form an inverted cone structure, which can better penetrate into the deep of the surface skin through the slit incision. During the penetration process, the tearing of the incision position can be reduced, and the entry is smoother.

[0041] The elastic paddle 47 slides downward to the second limit value, the top of the limit rocker 48 swings outward, and the bottom of the elastic paddle 47 swings to the maximum swing angle with the wall of the slide groove; during the sliding process of the elastic paddle 47, the limit rocker 48 is supported and limited, and the bottom of the limit rocker 48, the expansion clamp body 42 and the elastic paddle 47 are in a triangular shape, and the bottom of the elastic paddle 47 is deformed and expanded outward, so that the elastic paddle 47 is in an outward-expanding posture and contacts the surgical incision. With the cooperation of the two elastic paddles 47, the bottom of the two elastic paddles 47 is in an eight-shaped state, and the bottom end of the elastic paddle 47 is located on the lower side of the surface skin, which has a better force application point for the expansion of the surgical incision, and can prevent the incision skin and the elastic paddle 47 from slipping during the expansion of the incision.

[0042] like Figure 5 As shown, the extended pliers structure 4 also includes a telescopic electric push rod 43, which is installed on the top of the extended pliers body 42. The output end of the telescopic electric push rod 43 is equipped with a telescopic rod 46, and the bottom end of the telescopic rod 46 is connected to the top center position of the elastic paddle 47, and a rotating cap 41 is fixed to the top side of the extended pliers body 42, and the rotating cap 41 is used to connect with the bottom end of the extended swing arm 35 of the swing extension structure 3.

[0043] When performing a surgical operation on a patient, in order to facilitate the surgical operation or provide a good surgical field of view for the surgical staff, the incision needs to be expanded. During the expansion process, the expansion clamp structure 4 is extended to the surgical incision position of the patient through the cooperation with other electrical equipment. During the expansion process of the surgical incision, when the bottom of the expansion clamp structure 4 penetrates into the surgical incision, the elastic paddle 47 is retracted into the interior of the expansion clamp body 42. The two expansion clamp bodies 42 form an inverted cone structure, which can better penetrate into the deep layer of the surface skin through the slit incision. During the penetration process, the tearing of the incision position can be reduced, and the entry is smoother.

[0044] After the extension pliers body 42 has penetrated into the incision to a certain position, the telescopic electric push rod 43 is operated, and in cooperation with the operation of the telescopic rod 46, the top of the elastic pick 47 can be pushed to slide downward;

[0045] During the sliding down process of the elastic pick 47, the limit rocker 48 supports and limits the bottom of the limit rocker 48, the expansion clamp body 42 and the elastic pick 47 are in a triangular shape, and the bottom of the elastic pick 47 is deformed and expanded outward, so that the elastic pick 47 is in an outward-expanding posture and contacts the surgical incision. With the cooperation of the two elastic picks 47, the bottoms of the two elastic picks 47 are in an eight-shaped state, and the bottom ends of the elastic picks 47 are located on the lower side of the surface skin, which has a better force point for the expansion of the surgical incision, and can prevent the incision skin and the elastic pick 47 from slipping during the expansion of the incision.

[0046] Example 1: Figure 6 As shown, a pressure limiting structure 5 is installed on the outer side of the expansion forceps body 42. The pressure limiting structure 5 includes an airbag 51. The airbag 51 is adhesively fixed to the middle part of the outer side of the elastic paddle 47. As the expansion forceps structure 4 descends, the airbag 51 outside the elastic paddle 47 descends to the side of the incision. The side of the surgical incision contacts the airbag 51, which indicates that the expansion forceps structure 4 is properly descended. At this time, the elastic paddle 47 also has a good force point for the side of the incision.

[0047] like Figure 7As shown, the airbag 51 is arranged parallel to the latex teeth 49, and a transparent tank body 53 is fixed to the outer side of the top of the expansion clamp body 42, and a piston 55 is slidably installed inside the transparent tank body 53. A spring 54 is fixed between the piston 55 and the bottom inner wall of the transparent tank body 53, and a first electrode piece 56 is installed on the top side of the piston 55. A second electrode piece 58 is installed on the top inner wall of the transparent tank body 53. The bottom of the transparent tank body 53 is connected to the airbag 51 through a connecting tube 52, and the connecting tube 52 is fitted with the side wiring of the elastic paddle 47. A warning light 57 is installed on the top of the transparent tank body 53. When expanding the wound, in order to ensure that the force applied to the wound does not cause tearing of the incision, the force applied to the wound must be limited; the force obtained by the elastic coefficient of the spring 54 used in this case and the spacing between the stretching lengths is the maximum expansion force of the skin incision.

[0048] The top of the transparent tank body 53 is provided with wire holes and air holes. The wire holes are used for routing the first electrode sheet 56 and the second electrode sheet 58. The air holes are used to allow the gas inside the transparent tank body 53 to escape when the piston 55 moves upward, or to replenish the gas into the upper space of the transparent tank body 53 when the piston 55 moves downward. The first electrode sheet 56, the warning light 57, the second electrode sheet 58 and the power supply are connected to form a series circuit.

[0049] During operation, as the expansion clamp structure 4 descends, the airbag 51 outside the elastic paddle 47 descends to the side of the incision; the side of the surgical incision contacts the airbag 51, which not only indicates that the expansion clamp structure 4 has been properly lowered, but also that the elastic paddle 47 now has a good force point for the side of the incision. When the incision is expanded to both sides, the airbag 51 acts as an intermediate medium between the elastic paddle 47 and the side wall of the incision, and the degree of pressure can represent the degree of force applied to the expansion of the incision skin.

[0050] When expanding the wound, in order to ensure that the force applied to the wound does not cause tearing of the incision, the force applied to the wound expansion must be limited. The force obtained by the elastic coefficient of the spring 54 and the distance between the stretched lengths is the maximum expansion force of the skin incision. The normal length of the spring 54 is L1. When the piston 55 moves upward, the spring 54 is stretched to the maximum value L2, and its deformation distance is L2-L1. The maximum expansion force of the skin incision is determined by the deformation distance of the spring 54 and the elastic coefficient of the spring 54.

[0051] When the airbag 51 is gradually compressed, the gas in the airbag 51 can enter the bottom chamber of the transparent tank body 53 through the connecting tube 52, and the piston 55 can be lifted. As the spring 54 is stretched, the force applied to the surgical incision is increasing. During this period, the surgical staff can observe the rising state of the piston 55 through the outer wall of the transparent tank body 53, and avoid excessive expansion of the incision while expanding the caliber appropriately. When the spring 54 is stretched to the maximum value, the first electrode sheet 56 and the second electrode sheet 58 are in contact, and the warning light 57 can be powered on and flash, which can issue a warning in time to avoid wound tearing caused by excessive expansion of the incision, thereby improving the safety factor of the surgical operation.

[0052] Example 2: Figure 3-4 As shown, the swing extension structure 3 includes a mounting plate 31, the mounting plate 31 is fixed on the third connecting member 212 in the swing structure, the side of the mounting plate 31 is swingably mounted with an extension swing arm 35 through a hinge 32, the middle of the mounting plate 31 is fixed with an extension electric push rod 34, the end of the action rod of the extension electric push rod 34 is fixedly connected to a fourth connecting seat 36, a fourth connecting ear 37 is fixedly connected to the bottom inner wall of the extension swing arm 35, a connecting rod 38 is connected between the fourth connecting seat 36 and the fourth connecting ear 37, and the two symmetrical connecting rods 38 are arranged in an eight-shaped shape. When expanding, When the position of the expansion clamp structure 4 deep into the incision is determined, the extension operation of the expansion electric push rod 34 can push the fourth connecting seat 36 to move. Under the cooperation of the connecting rod 38, the two expansion swing arms 35 with an initial V-shaped form can be pushed to both sides to separate, which can drive the two expansion clamp structures 4 at the bottom to separate. Among them, the two expansion electric push rods 34 act separately. Due to the different positions of the expansion clamp structure 4 in the incision, it is impossible to accurately achieve synchronous expansion at the incision. Through the separate operation of the expansion electric push rod 34, in cooperation with the pressure limiting structure 5, the expansion state of the incision can be better determined.

[0053] The bottom end of the extended swing arm 35 is connected to the rotating cap 41 in the extended clamp structure 4 through a damping shaft, and the end of the damping shaft is provided with an external thread, and a locking nut is rotatably installed on the threaded section of the damping shaft. Since the two extended swing arms 35 can achieve synchronous cooperation and independent diffusion and expansion under the independent operation of the two extended electric push rods 34, they can be better adapted to the surgical operation environment; wherein the extended clamp structure 4 can be connected to the extended swing arm 35 through the rotating cap 41, and with the cooperation of the damping shaft, the medical staff can manually adjust the angle between the extended clamp structure 4 and the extended swing arm 35 appropriately. After the adjustment, the locking nut is tightened to avoid relative rotation between the adjusted rotating cap 41 and the extended swing arm 35, which can better adapt to the expansion operation of the incision.

[0054] During operation, when the expansion is carried out, after the position of the expansion clamp structure 4 deep into the incision is determined, the fourth connecting seat 36 can be pushed to move by extending the electric push rod 34. Under the cooperation of the connecting rod 38, the two expansion swing arms 35 with an initial V-shape can be pushed to both sides to separate, which can drive the two expansion clamp structures 4 at the bottom to separate. The two expansion electric push rods 34 act separately. Due to the different incision positions when the expansion clamp structure 4 operates, it is not possible to accurately achieve synchronous expansion of the incision. By the separate operation of the electric push rod 34, in cooperation with the pressure limiting structure 5, the expansion state of the incision can be better determined.

[0055] When the expansion electric push rod 34 performs a contraction movement, the two expansion clamp bodies 42 are brought together. When the incision expansion operation is not performed, the required flow limiting clamping of the pipe can be achieved by clamping the two expansion clamp bodies 42.

[0056] like Figure 1-2 As shown, the swing structure includes a first rotating seat 23, which is fixed to the top side of the mobile base 1, and a first rotating motor 24 is installed on the first rotating seat 23, and the rotating shaft of the first rotating motor 24 is passed through between the two side walls of the first rotating seat 23, and a first connecting member 25 is fixed on the rotating shaft of the first rotating motor 24, and a first connecting arm 26 is installed on the first connecting member 25, and a second connecting member 27 is fixed on the top of the first connecting arm 26, and a second rotating motor 213 is fixed on the top side of the second connecting member 27, and a second connecting seat 28 is fixed on the output shaft of the second rotating motor 213, and a second connecting arm 29 is fixed on the second connecting seat 28, and a third connecting seat 211 is fixed on the top of the second connecting arm 29, and a third rotating motor 210 is installed on one side of the third connecting seat 211. The rotating shaft of the third rotating motor 210 is passed through and between the two side walls of the third connecting seat 211. A third connecting member 212 is fixed on the rotating shaft of the third rotating motor 210. The mounting plate 31 of the swing extension structure 3 is fixedly connected to the third connecting member 212. The first connecting arm 26 and the second connecting arm 29 serve as the extension support body. The swing of the first connecting arm 26 is realized by rotating the rotating shaft of the first rotating motor 24. During the driving process of the second rotating motor 213, the swing of the second connecting arm 29 can be realized. With the rotation cooperation of the rotating shaft of the third rotating motor 210, the angle adjustment of the swing extension structure 3 is realized, and the support swing operation can be realized through coordinated cooperation. The models of the first rotating motor 24, the second rotating motor 213 and the third rotating motor 210 are 86 stepping motors, and the second rotating motor 213 is a built-in installation form.

[0057] The first rotating seat 23 of the swinging structure is fixed on the top side of the mobile base 1, and a control panel 22 is installed on the mobile base 1. The four corners of the bottom side of the mobile base 1 are equipped with universal wheels 21, which can provide stable support for the overall expansion structure, and a locking pedal is provided at the position of the universal wheel 21 to achieve stability of the mobile base 1.

[0058] A power conversion module and a control module are provided in the mobile base 1. The power conversion module is used to supply power to the first rotating motor 24, the second rotating motor 213, the third rotating motor 210, the extended electric push rod 34, the telescopic electric push rod 43, and the warning light 57. The control module is used to control the operation of the first rotating motor 24, the second rotating motor 213, the third rotating motor 210, the extended electric push rod 34, the telescopic electric push rod 43, and the warning light 57. The control panel 22 is connected in parallel with a mobile keyboard, and the operation commands of the mobile keyboard are synchronized with the control panel 22.

[0059] Working principle: When assisting surgical operations, in order to avoid friction between surgical instruments and the incision skin, and at the same time provide surgical personnel with a better visual environment inside the incision;

[0060] Universal wheels 21 are installed at the four corners of the bottom side of the mobile base 1 to provide stable support for the entire expansion structure, and locking pedals are provided at the positions of the universal wheels 21 to achieve stability of the mobile base 1;

[0061] The first connecting arm 26 and the second connecting arm 29 serve as the extension support body. The first connecting arm 26 is rotated by the rotating shaft of the first rotating motor 24 to achieve the swing of the first connecting arm 26. The second connecting arm 29 is driven by the second rotating motor 213 to achieve the swing of the second connecting arm 29. The rotation of the rotating shaft of the third rotating motor 210 cooperates to achieve the angle adjustment of the swing extension structure 3.

[0062] During expansion, after the position of the expansion clamp structure 4 deep into the incision is determined, the fourth connecting seat 36 can be pushed to move by extending the electric push rod 34. Under the cooperation of the connecting rod 38, the two expansion swing arms 35 with an initial V-shape can be pushed to both sides to separate, which can drive the two expansion clamp structures 4 at the bottom to separate. The two expansion electric push rods 34 act separately. Due to the different incision positions when the expansion clamp structure 4 operates, it is not possible to accurately achieve synchronous expansion of the incision. By the separate operation of the electric push rod 34, in cooperation with the pressure limiting structure 5, the expansion state of the incision can be better determined.

[0063] During the expansion process, the expansion clamp structure 4 is extended to the surgical incision position of the patient through the cooperation with other electrical equipment. During the expansion process of the surgical incision, when the bottom of the expansion clamp structure 4 penetrates into the surgical incision, the elastic paddle 47 contracts into the interior of the expansion clamp body 42. The two expansion clamp bodies 42 form an inverted cone structure, which can better penetrate into the deep layer of the surface skin through the slit incision. During the penetration process, it can reduce the tearing of the incision position and make the entry smoother.

[0064] After the extension pliers body 42 has penetrated into the incision to a certain position, the telescopic electric push rod 43 is operated, and in cooperation with the operation of the telescopic rod 46, the top of the elastic pick 47 can be pushed to slide downward;

[0065] During the downward movement of the elastic pick 47, the limit swing rod 48 supports and limits the position of the limit swing rod 48, the bottom of the limit swing rod 48, the expansion forceps body 42 and the elastic pick 47 form a triangular shape, and the bottom of the elastic pick 47 deforms and expands outward, so that the elastic pick 47 contacts the surgical incision in an outward-expanding posture. Under the cooperation of the two elastic picks 47, the bottoms of the two elastic picks 47 form an eight-shaped state, and the bottom ends of the elastic picks 47 are located on the lower side of the surface skin, which provides a good force point for the expansion of the surgical incision and can prevent the incision skin and the elastic pick 47 from slipping during the expansion process of the incision.

[0066] As the expansion clamp structure 4 descends, the airbag 51 outside the elastic paddle 47 descends to the side of the incision; the side of the surgical incision contacts the airbag 51, which indicates that the expansion clamp structure 4 has been properly lowered. At this time, the elastic paddle 47 also has a good force point for the side of the incision. When the incision is expanded to both sides, the airbag 51 serves as an intermediate medium between the elastic paddle 47 and the side wall of the incision, and the degree of pressure can represent the degree of force applied to the expansion of the incision skin.

[0067] When expanding the wound, in order to ensure that the force applied to the wound does not cause tearing of the incision, the force applied to the wound expansion must be limited. The force obtained by the elastic coefficient of the spring 54 and the distance between the stretched lengths is the maximum expansion force of the skin incision. The normal length of the spring 54 is L1. When the piston 55 moves upward, the spring 54 is stretched to the maximum value L2, and its deformation distance is L2-L1. The maximum expansion force of the skin incision is determined by the deformation distance of the spring 54 and the elastic coefficient of the spring 54.

[0068] When the airbag 51 is gradually compressed, the gas in the airbag 51 can enter the bottom chamber of the transparent tank body 53 through the connecting tube 52, and the piston 55 can be lifted. As the spring 54 is stretched, the force applied to the surgical incision is increasing. During this period, the surgical staff can observe the rising state of the piston 55 through the outer wall of the transparent tank body 53, and avoid excessive expansion of the incision while expanding the caliber appropriately. When the spring 54 is stretched to the maximum value, the first electrode sheet 56 and the second electrode sheet 58 are in contact, and the warning light 57 can be powered on and flash, which can issue a warning in time to avoid wound tearing caused by excessive expansion of the incision, thereby improving the safety factor of the surgical operation.

[0069] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A surgical assisting mechanical device, characterized in that: include: A mobile base (1), wherein the mobile base (1) is equipped with a swing structure composed mainly of a first connecting arm (26) and a second connecting arm (29), a swing extension structure (3) is fixed to a third connecting member (212) in the swing structure, and an extension clamp structure (4) is installed at the bottom of the extension swing arm (35) on the swing extension structure (3); The expansion clamp structure (4) comprises an expansion clamp body (42), a sliding groove is provided on the outer side surface of the bottom of the expansion clamp body (42), sliding holes (44) are symmetrically provided on the groove walls on both sides of the sliding groove, and an elastic pick (47) is slidably provided in the sliding groove; Limiting rods (45) are fixed on both sides of the top of the elastic paddle (47), and the limiting rods (45) are movably arranged in the sliding hole (44). A limiting cap is provided at the end of the sliding hole (44), and the diameter of the limiting cap is larger than the width of the sliding hole (44); A receiving groove is provided on the bottom side wall of the sliding groove, and a limit swing rod (48) is swingably installed in the receiving groove, and the other end of the limit swing rod (48) is fixed to both sides of the bottom of the latex teeth (49); The elastic pick (47) slides upward to a limit value of one, and the limit swing rod (48) swings and is stored in the storage groove, and the bottom inner wall of the elastic pick (47) is in contact with the sliding groove wall. When the bottom of the expansion clamp structure (4) penetrates into the surgical incision, the elastic pick (47) contracts to the inside of the expansion clamp body (42), and the two expansion clamp bodies (42) form an inverted cone structure; The elastic paddle (47) slides downward to the second limit value, the top of the limit swing rod (48) swings outward, and the bottom of the elastic paddle (47) swings to form a maximum swing angle with the wall of the chute, the bottoms of the two elastic paddles (47) are in an eight-shaped state, and the bottom ends of the elastic paddles (47) are located on the lower side of the surface skin.

2. A surgical assisting mechanical device according to claim 1, characterized in that: The expansion clamp structure (4) further comprises a telescopic electric push rod (43), which is mounted on the top of the expansion clamp body (42), and an output end of the telescopic electric push rod (43) is equipped with a telescopic rod (46), the bottom end of the telescopic rod (46) is connected to the top center position of the elastic paddle (47), and a rotating cap (41) is fixed to the top side of the expansion clamp body (42), and the rotating cap (41) is used to connect to the bottom end of the expansion swing arm (35) of the swing expansion structure (3).

3. A surgical assisting mechanical device according to claim 2, characterized in that: A pressure limiting structure (5) is installed on the outer side of the expansion pliers body (42), and the pressure limiting structure (5) includes an airbag (51). The airbag (51) is adhesively fixed to the middle part of the outer side of the elastic pick (47). The airbag (51) is arranged parallel to the latex teeth (49). A transparent tank (53) is fixed on the outer side of the top of the expansion pliers body (42). A piston (55) is slidably installed inside the transparent tank (53). A spring (54) is fixed between the piston (55) and the bottom inner wall of the transparent tank (53). A first electrode sheet (56) is installed on the top side of the piston (55). A second electrode sheet (58) is installed on the top inner wall of the transparent tank (53). The bottom of the transparent tank (53) is connected to the airbag (51) through a connecting pipe (52). The connecting pipe (52) is aligned with the side of the elastic pick (47). A warning light (57) is installed on the top of the transparent tank (53).

4. A surgical assisting mechanical device according to claim 3, characterized in that: The top of the transparent tank (53) is provided with a wire hole and an air hole, the wire hole is used for routing the first electrode sheet (56) and the second electrode sheet (58), and the first electrode sheet (56), the warning light (57), the second electrode sheet (58) and the power supply are connected to form a series circuit.

5. The surgical assisting mechanical device according to claim 1, characterized in that: The swing extension structure (3) includes a mounting plate (31), the mounting plate (31) is fixed on a third connecting member (212) in the swing structure, an extension swing arm (35) is mounted on the side of the mounting plate (31) through a hinge (32) in cooperation with the swing, an extension electric push rod (34) is fixed to the middle of the mounting plate (31), an action rod end of the extension electric push rod (34) is fixedly connected to a fourth connecting seat (36), a fourth connecting ear (37) is fixedly connected to the bottom inner side wall of the extension swing arm (35), a connecting rod (38) is connected between the fourth connecting seat (36) and the fourth connecting ear (37), and two symmetrical connecting rods (38) are arranged in an eight-shaped shape.

6. The surgical assisting mechanical device according to claim 5, characterized in that: The bottom end of the extended swing arm (35) is connected to the rotating cap (41) in the extended clamp structure (4) via a damping shaft, and the end of the damping shaft is provided with an external thread, and a locking nut is rotatably mounted on the threaded section of the damping shaft.

7. The surgical assisting mechanical device according to claim 6, characterized in that: The swing structure includes a first rotating seat (23), the first rotating seat (23) is fixed on the top side of the mobile base (1), a first rotating motor (24) is installed on the first rotating seat (23), and the rotating shaft of the first rotating motor (24) is arranged between the two side walls of the first rotating seat (23), a first connecting member (25) is fixed on the rotating shaft of the first rotating motor (24), a first connecting arm (26) is installed on the first connecting member (25), a second connecting member (27) is fixed on the top end of the first connecting arm (26), and a second rotating motor (213) is fixed on the top side of the second connecting member (27). A second connecting seat (28) is fixed on the output shaft of the second rotating motor (213), a second connecting arm (29) is fixed on the second connecting seat (28), a third connecting seat (211) is fixed on the top of the second connecting arm (29), a third rotating motor (210) is installed on one side of the third connecting seat (211), a rotating shaft of the third rotating motor (210) passes through the two side walls of the third connecting seat (211), a third connecting member (212) is fixed on the rotating shaft of the third rotating motor (210), and a mounting plate (31) of the swing expansion structure (3) is fixed to the third connecting member (212).

8. The surgical assisting mechanical device according to claim 6, characterized in that: The first rotating seat (23) of the swing structure is fixed on the top side of the mobile base (1), a control panel (22) is mounted on the mobile base (1), and universal wheels (21) are mounted on the four corners of the bottom side of the mobile base (1).

9. The surgical assisting mechanical device according to claim 8, characterized in that: A power conversion module and a control module are provided in the mobile base (1). The power conversion module is used to supply power to the first rotating motor (24), the second rotating motor (213), the third rotating motor (210), the extended electric push rod (34), the telescopic electric push rod (43), and the warning light (57). The control module is used to control the operation of the first rotating motor (24), the second rotating motor (213), the third rotating motor (210), the extended electric push rod (34), the telescopic electric push rod (43), and the warning light (57). The control panel (22) is connected in parallel with a mobile keyboard, and the operation commands of the mobile keyboard are synchronized with the control panel (22).

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