Multifunctional loop ligature cutter for completing appendicitis minimally invasive surgery through single hole

Abstract

The invention relates to the technical field of medical apparatus and instruments, and discloses a multifunctional loop ligature cutter for completing appendicitis minimally invasive surgery through a single hole, comprising: a cannula in which a plurality of operators for completing loop ligature cutting work are movably arranged; the plurality of operation driving parts respectively correspond to the plurality of operators and are used for controlling the operation of the operators; the linear driving part is respectively connected with the plurality of operation driving parts and is used for controlling each operation driving part to do linear reciprocating motion; and the sleeve is connected with the fixed end of the linear driving part through a connecting rod. According to the single-hole appendix minimally invasive surgery device, the manipulators used for completing appendix loop ligature cutting can be integrated in the sleeve, the linear driving part and the operation driving part which are used for controlling the manipulators to act are integrated on the outer side of the sleeve, single-hole appendix minimally invasive surgery of a patient without obvious adhesion can be completed, and the manipulators can be controlled to work through the linear driving part and the operation driving part; the operation is convenient; the operation is simpler, and the trauma of a patient is smaller.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, and more particularly, to a multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery. BACKGROUND

[0002] At present, most of the appendicitis minimally invasive surgeries are performed by using three holes, which are one observation hole and two operation holes. Among the two operation holes, one is an auxiliary operation hole for separation and traction, and the other is a main operation hole for completing the resection, ligation and removal actions by using a discharge knife, an ultrasonic knife, a ligation cutter or a suction device.

[0003] However, in clinical practice, about 30% of the appendicitis patients belong to the early stage, and do not need complex operation and equipment if the needs of these patients can be met through single-hole operation, so as to make the trauma smaller and the incision more beautiful.

[0004] Therefore, it is necessary to provide a multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery to at least partially solve the problems in the prior art. SUMMARY

[0005] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the specific embodiment section. The summary section of the present application does not mean to attempt to limit the key features and necessary technical features of the claimed technical solution, and even less to determine the protection scope of the claimed technical solution.

[0006] To at least partially solve the above problems, the present application provides a multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery, comprising: a sleeve, which is movably provided with a plurality of operation devices for completing ligation and cutting work; a plurality of operation driving parts corresponding to the plurality of operation devices, for controlling the operation of the operation devices; a linear driving part connected with the plurality of operation driving parts, for controlling the linear reciprocating motion of each operation driving part; and the sleeve is connected with the fixed end of the linear driving part through a connecting rod.

[0007] Preferably, the operation device comprises an operation execution arm and a function part arranged at one end of the operation execution arm. The function part is a lens, a grabber, a ligation cutter or a cutting knife.

[0008] Preferably, the operating arm includes a straight arm and a flexible arm. One end of the straight arm is connected to the operating drive unit, and the other end is hinged to one end of the flexible arm. The other end of the flexible arm is provided with the functional unit. A plurality of first control wires are threaded through the flexible arm. One end of the first control wire is connected to the end of the flexible arm near the functional unit, and the other end of the first control wire passes through the straight arm and is connected to the operating drive unit.

[0009] Preferably, the ligator includes: a second control wire and a ligating rope, one end of the second control wire passes through the operating arm and is connected to the operating drive unit, one end of the ligating rope is provided with a one-way locking sleeve, and the other end of the ligating rope passes through the one-way locking sleeve and is connected to the other end of the second control wire.

[0010] Preferably, the end of the sleeve is provided with an annular groove, and the tying rope of the tying device can be placed within the annular groove.

[0011] Preferably, one side of the binding rope is provided with a plurality of first locking teeth, and the inner side of the one-way locking sleeve is provided with a plurality of second locking teeth corresponding to the first locking teeth.

[0012] Preferably, the ligator further includes a clamping mechanism, which includes: a fixing member connected to one end of the operating arm; a fixing clamping block disposed at the end of the fixing member away from the operating arm; a movable clamping block hinged to the fixing member; two third control wires connected to the movable clamping block; the other end of the third control wires passing through the fixing member and the operating arm and then connected to the corresponding operating drive unit for controlling the rotation of the movable clamping block; a portion of the ligating rope and the second control wires can pass between the movable clamping block and the fixing clamping block.

[0013] Preferably, the flexible arm includes: a plurality of connecting blocks, with adjacent connecting blocks being rotatably connected by shafts; The connecting block is provided with a first through hole, and at least four second through holes are provided on the outside of the first through hole. The second through holes are used to allow the first control wire to pass through. The outside of the connecting block is provided with two opposing first connecting plates and two opposing second connecting plates. One end of the first connecting plate is provided with a third through hole, and the end of the second connecting plate away from the third through hole is provided with a fourth through hole. The axes of the third through hole and the fourth through hole are perpendicular to the axis of the first through hole. The shaft is provided with two first shaft bodies corresponding to the third through hole, and two second shaft bodies corresponding to the fourth through hole. The shaft is also provided with a fifth through hole, the axis of which is parallel to the axis of the first through hole.

[0014] Preferably, the sleeve is provided with a plurality of sixth through holes, and an actuator is movably installed in each sixth through hole.

[0015] Preferably, the linear drive unit includes: a housing, inside which are provided a plurality of linear drive bodies, each linear drive body being connected to an operating drive unit via a transmission mechanism; an operating handle is provided on the outer side of the housing, the operating handle serving as the fixed end of the linear drive unit and connected to a connecting rod for fixing the sleeve.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects: The multifunctional ligation and cutting device for single-port minimally invasive appendectomy described in this invention integrates all the manipulators for appendiceal ligation and cutting within the cannula, while the linear drive unit and the operation drive unit for controlling the manipulator's movement are integrated on the outside of the cannula. This allows for single-port minimally invasive appendectomy in patients without significant adhesions. Furthermore, the linear drive unit and the operation drive unit can control the operation of multiple manipulators, making the procedure convenient. Performing minimally invasive appendectomy through a single port simplifies the procedure and reduces patient trauma.

[0017] The multifunctional ligation cutter for single-port minimally invasive appendectomy described in this invention, other advantages, objectives and features of the invention will be apparent in part from the following description, and in part will be understood by those skilled in the art through study and practice of the invention. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the multifunctional ligation and cutting device for performing minimally invasive appendicitis surgery via a single port, as described in this invention. Figure 2 This is a schematic diagram of the lens and grasper inside the cannula in the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention. Figure 3 This is a schematic diagram of the ligator and the cutting blade inside the cannula in the multifunctional ligator and cutting tool for single-port minimally invasive appendectomy as described in this invention. Figure 4 This is a schematic diagram of the connection between the operating arm and the operating drive unit in the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention. Figure 5 This is a schematic diagram of the flexible arm in the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention. Figure 6 This is a detailed structural diagram of the flexible arm in the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention. Figure 7 This is a schematic diagram showing the connection between the first control wire and the operation drive unit in the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention. Figure 8 This is a schematic diagram of the structure of the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention, in which the ligation cord is placed in the annular groove. Figure 9 This is a schematic diagram of the structure of the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention, when the ligation cord comes out of the annular groove. Figure 10 This is a schematic diagram of the ligator in the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention. Figure 11 This is an exploded structural diagram of the ligator in the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention. Figure 12 This is a schematic diagram of the connection between the ligating rope and the one-way locking sleeve in the multifunctional ligating cutter for single-port minimally invasive appendectomy as described in this invention. Figure 13 This is a schematic diagram showing the connection between the third control wire and the operation drive unit in the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention. Figure 14 This is an exploded view of the grasper in the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention. Figure 15 This is a schematic diagram showing the connection between the fourth control wire and the operation drive unit in the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention. Figure 16 This is an exploded view of the connection between two adjacent connecting blocks in the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention. Figure 17 This is a schematic diagram of the central shaft of the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention. Figure 18 This is a schematic diagram of the structure of two adjacent connecting blocks in the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention. Figure 19 This is a schematic diagram of the bottom structure of the cannula in the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention. Figure 20 This is a schematic diagram of the bottom structure of multiple operating drive units in the multifunctional ligation cutter for single-port minimally invasive appendectomy as described in this invention.

[0019] In the attached drawings, 1 is a sleeve, 12 is an annular groove, 13 is a limiting protrusion, 2 is an operating drive unit, 21 is a first drive motor, 22 is a first drive wheel, 23 is a first guide wheel, 24 is a third drive motor, 25 is a third drive wheel, 26 is a third guide wheel, 27 is a fourth drive motor, 28 is a fourth drive wheel, 29 is a fourth guide wheel, 3 is a linear drive unit, 31 is a screw, 32 is a guide rod, 33 is a drive block, 4 is a connecting rod, 5 is an operating arm, 6 is a ligator, 61 is a second control wire, 62 is a ligating rope, 621 is a first locking tooth, 63 is a one-way locking sleeve, 631 is a second locking tooth, 64 is a clamping mechanism, and 641 is... 642 is a fixed clamping block, 643 is a movable clamping block, 645 is a third control wire, 7 is a gripper, 71 is a second fixed component, 72 is a fixed gripper, 73 is a movable gripper, 74 is a fourth control wire, 9 is a flexible arm, 91 is a connecting block, 911 is a first through hole, 912 is a second through hole, 92 is a shaft, 921 is a first shaft body, 922 is a second shaft body, 923 is a fifth through hole, 93 is a first connecting plate, 931 is a third through hole, 94 is a second connecting plate, 941 is a fourth through hole, 10 is a straight arm, 11 is a first control wire, 14 is a sixth through hole, 15 is an operating handle, 16 is a lens, and 17 is a cutting blade. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments, so that those skilled in the art can implement it based on the description.

[0021] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0022] like Figure 1 As shown, the present invention provides a multifunctional ligation and cutting device for performing minimally invasive appendectomy with a single port, comprising: a cannula 1, which has multiple manipulators movably disposed inside for performing ligation and cutting operations; multiple operation drive units 2 corresponding to the multiple manipulators respectively, for controlling the operation of the manipulators; and a linear drive unit 3 connected to the multiple operation drive units 2 respectively, for controlling the linear reciprocating motion of each operation drive unit 2; the cannula 1 is connected to the fixed end of the linear drive unit 3 through a connecting rod 4.

[0023] The multi-functional ligation cutter is powered by an external power source. When in use, the cannula 1 is inserted into a single hole, the size of which is generally 10mm to 12mm. Each manipulator can be driven linearly by the linear drive unit 3 to extend into the patient's abdominal cavity. The operation drive unit 2 can control the operation of each manipulator in the abdominal cavity. The cannula 1 is connected to the fixed end of the linear drive unit 3, so that the position of the cannula 1 will not be affected by the linear drive unit 3 and the operation drive unit 2.

[0024] like Figure 2 and Figure 3 As shown, the operator includes: an operation execution arm 5 and a functional part disposed at one end of the operation execution arm 5; The functional components are lens 16, gripper 7, ligator 6, or cutter 17.

[0025] The end of the operating arm 5 is provided with a functional part. In this invention, the number of operators is set to four. The end of each operating arm 5 is provided with a functional part. The operating arm 5 can extend and retract from the cannula 1. The part of the operating arm 5 near the functional part can bend in multiple directions under the control of the operating drive unit 2, which makes it easier to operate the appendix in the patient's abdominal cavity. Specifically, during use, the linear drive unit 3 can control the movement of the operation drive unit 2 corresponding to the lens 16, so that the operation execution arm 5 corresponding to the lens 16 extends out of the cannula 1. The lens 16 can acquire images inside the abdominal cavity and transmit them to an external display device so that the doctor can observe the situation. If no obvious adhesions are found in the appendix, there is no need to perform separation and suction operations, and the multifunctional ligation cutter can continue to be used for single-port minimally invasive surgery. If there are obvious adhesions, the traditional three-port operation can be switched as needed. When continuing with single-hole operation, the operation drive unit 2 controls the operation arm 5 to bend away from the axis of the cannula 1, so that the lens 16 is in a suitable position without affecting the operation of other operators; then the linear drive unit 3 controls the operation drive unit 2 corresponding to the gripper 7 to move, so that the operation arm 5 corresponding to the gripper 7 extends out of the cannula 1, and then the operation drive unit 2 controls the gripper 7 to work, grip the appendix, and then adjust the position of the gripper 7 and the lens 16 (the lens 16 can be retracted to the cannula 1 first) so that the ligator 6 can ligate the root of the appendix; During ligation, the linear drive unit 3 controls the movement of the operation drive unit 2 corresponding to the ligator 6, so that the operation execution arm 5 corresponding to the ligator 6 extends out of the cannula 1, and the ligator 6 can slide along the gripper 7 towards the appendix and ligate the root of the appendix. After ligation, adjust the position of lens 16, and then control the operation drive unit 2 corresponding to the cutting blade 17 to move through the linear drive unit 3, so that the operation execution arm 5 corresponding to the cutting blade 17 extends out of the cannula 1. Control the cutting blade 17 to cut the appendix through the operation drive unit 2. The cutting blade 17 can be an electrocautery knife, and the cutting blade 17 can be integrated with an electrocoagulation closure device, so that after the appendix is ​​cut, the closure device can be used to close the incision at the appendix to achieve the purpose of hemostasis. After the cutting is completed, retract lens 16, cutting blade 17 and ligator 6 into cannula 1. Grasp device 7 always grasps the appendix, and then remove cannula 1 to remove the appendix.

[0026] Through the above design, all the manipulators used to perform appendectomy and ligation can be integrated into the cannula 1, and the linear drive unit 3 and the operation drive unit 2 used to control the movement of the manipulators can be integrated into the outside of the cannula 1. This allows for single-port minimally invasive appendectomy for patients without significant adhesions. Furthermore, the linear drive unit 3 and the operation drive unit 2 can be used to control the operation of multiple manipulators, making the operation convenient. Performing minimally invasive appendectomy through a single port simplifies the operation and reduces trauma to the patient.

[0027] like Figures 4-6 As shown, in one embodiment, the operation execution arm 5 includes a straight arm 10 and a flexible arm 9. One end of the straight arm 10 is connected to the operation drive unit 2, and the other end is hinged to one end of the flexible arm 9. The other end of the flexible arm 9 is provided with the functional unit. A plurality of first control wires 11 are threaded through the flexible arm 9. One end of the first control wire 11 is connected to the end of the flexible arm 9 near the functional unit, and the other end of the first control wire 11 passes through the straight arm 10 and is connected to the operation drive unit 2.

[0028] The straight arm 10 is fixedly connected to the outside of the operation drive unit 2, and the flexible arm 9 is hinged to the straight arm 10, so that the operation drive unit 2 can control the bending of the flexible arm 9. The operation drive unit 2 controls the flexible arm 9 to produce movement by pulling and releasing multiple first control threads 11.

[0029] like Figure 7 As shown, each of the operation drive units 2 is provided with a plurality of first drive motors 21, first drive wheels 22 and first guide wheels 23 corresponding to the first control wire 11. The output end of the first drive motor 21 is provided with the first drive wheel 22. The other end of the first control wire 11 passes through the straight arm 10 and the first guide wheel 23 in sequence, and then connects to the first fixed post on the outer peripheral surface of the first drive wheel 22.

[0030] Preferably, there are four first control wires 11. Each first control wire 11 corresponds to a first drive motor 21, a first drive wheel 22, and a first guide wheel 23. When the first drive motor 21 is working, it drives the first drive wheel 22 to rotate. The first control wire 11, which is fixedly connected to the outside of the first drive wheel 22, will be wound around the first drive wheel 22 or released from the first drive wheel 22, so as to realize the pulling and releasing of the first control wire 11. The first guide wheel 23 is used to guide the first control wire 11 and prevent multiple first control wires 11 from getting tangled together.

[0031] like Figure 6 as well as Figures 16-18 As shown, in one embodiment, the flexible arm 9 includes: a plurality of connecting blocks 91, adjacent connecting blocks 91 being rotatably connected by a shaft 92; The connecting block 91 is provided with a first through hole 911, and at least four second through holes 912 are provided on the outside of the first through hole 911. The second through holes 912 are used to allow the first control wire 11 to pass through. The outer side of the connecting block 91 is provided with two opposing first connecting plates 93 and two opposing second connecting plates 94. One end of the first connecting plate 93 is provided with a third through hole 931, and the end of the second connecting plate 94 away from the third through hole 931 is provided with a fourth through hole 941. The axes of the third through hole 931 and the fourth through hole 941 are perpendicular to the axis of the first through hole 911. The shaft 92 is provided with two first shaft bodies 921 corresponding to the third through hole 931, and two second shaft bodies 922 corresponding to the fourth through hole 941. The shaft 92 is also provided with a fifth through hole 923, and the axis of the fifth through hole 923 is parallel to the axis of the first through hole 911.

[0032] Multiple wires can be threaded through the first through hole 911 and the fifth through hole 923 of the shaft 92, such as data and power cables connected to the lens 16, wires used to control the gripper 7, wires used for the ligator 6, data and power cables connected to the cutter 17, etc., to enable each functional unit to connect to external devices and realize corresponding functions. Four second through holes 912 are provided, and a first control wire 11 is threaded through each second through hole 912; On two adjacent connecting blocks 91, the two first connecting plates 93 of one connecting block 91 are rotatably connected to the first shaft 921 of the shaft member 92, and the two second connecting plates 94 of the other connecting block 91 are rotatably connected to the second shaft 922 of the shaft member 92, so that the two adjacent connecting blocks 91 have multiple degrees of rotational freedom, which makes it easy for the flexible arm 9 to bend and adjust in multiple directions, and improves the flexibility of the functional part.

[0033] like Figure 11As shown, in one embodiment, the bandaging device 6 includes: a second control wire 61 and a bandaging rope 62. One end of the second control wire 61 passes through the operation execution arm 5 and is connected to the operation drive unit 2. One end of the bandaging rope 62 is provided with a one-way locking sleeve 63. The other end of the bandaging rope 62 passes through the one-way locking sleeve 63 and is connected to the other end of the second control wire 61.

[0034] The operation drive unit 2 corresponding to the bandage 6 is equipped with a second drive motor, a second drive wheel and a second guide wheel corresponding to the second control wire 61. The output end of the second drive motor is equipped with a second drive wheel. One end of the second control wire 61 passes through the operation execution arm 5 and is connected to the second fixed post on the outer circumference of the second drive wheel.

[0035] Before use, insert the other end of the tying rope 62 into the one-way locking sleeve 63 to form a loop. The one-way locking sleeve 63 can only move in the direction that reduces the size of the loop and cannot move in the opposite direction. Then connect the tying rope 62 to the second control wire 61, for example by knotting or by any other method. When in use, the loop formed by the ligating rope 62 can be inserted into the root of the appendix. Then, the second drive motor drives the second drive wheel to rotate, so that the second control wire 61 is wound around the second drive wheel. The ligator 6 then limits the one-way locking sleeve 63, so that the loop formed by the ligating rope 62 is reduced and tightened, thus ligating the root of the appendix.

[0036] The above-mentioned ligator 6 can be used to ligate the base of the appendix, which facilitates subsequent cutting. Furthermore, both the ligation cord 62 and the one-way locking sleeve 63 can be made of bioabsorbable materials, so that the ligation cord 62 can remain in the patient's body for a period of time and be slowly absorbed by the body.

[0037] like Figures 8-10 As shown, in one embodiment, the end of the sleeve 1 is provided with an annular groove 12, and the tying rope 62 of the tying device 6 can be placed in the annular groove 12.

[0038] The annular groove 12 has a limiting protrusion 13 on its side wall. The limiting protrusion 13 is elastic, and the gap between the limiting protrusion 13 and the annular groove 12 is smaller than the width of the tying rope 62, thereby preventing the tying rope 62 from automatically coming off.

[0039] Before use, after the ligating rope 62 is connected to the second control wire 61, the ligating rope 62 is placed into the annular groove 12. The position of the ligating rope 62 is restricted by the limiting protrusion 13, so that the ligating rope 62 will not fall off the sleeve 1 when the ligator 6 is not extended from the sleeve 1. Only when the ligator 6 extends from the sleeve 1 can it pull the ligating rope 62, causing the ligating rope 62 to come out of the annular groove 12. Then the loop formed by the ligating rope 62 can slide along the gripper 7 towards the appendix, thereby ligating the root of the appendix.

[0040] With the above design, after the appendix is ​​grasped, the ligation rope 62 can slide along the operating arm 5 of the grasper 7 to the appendix, enabling a quick ligation operation on the appendix.

[0041] like Figure 12 As shown, in one embodiment, the tying rope 62 has a plurality of first locking teeth 621 on one side, and the one-way locking sleeve 63 has a plurality of second locking teeth 631 corresponding to the first locking teeth 621 on the inner side.

[0042] One-way locking sleeve 63 and tying rope 62 are subjected to Figure 12 When the force indicated by the arrow is applied, the inclined surfaces of the first locking tooth 621 and the second locking tooth 631 come into contact, thereby generating relative movement, which causes the loop formed by the tying rope 62 to shrink. If both are subjected to the force... Figure 12 When opposite forces are applied as indicated by the arrows, the right-angled surfaces of the first locking tooth 621 and the second locking tooth 631 come into contact, which can prevent movement and thus achieve stability of the appendix ligation.

[0043] like Figure 11 and Figure 13 As shown, in one embodiment, the ligator 6 further includes a clamping mechanism 64, which includes: a first fixing member 641 connected to one end of the operating arm 5; a fixing clamping block 642 disposed at the end of the first fixing member 641 away from the operating arm 5; a movable clamping block 643 hinged to the first fixing member 641; two third control wires 645 connected to the movable clamping block 643; the other end of the third control wires 645 passing through the first fixing member 641 and the operating arm 5 and then connected to the corresponding operating drive unit 2 for controlling the rotation of the movable clamping block 643; a portion of the ligating rope 62 and the second control wire 61 can pass between the movable clamping block 643 and the fixing clamping block 642.

[0044] The first fixing member 641 can be threadedly connected to the connecting block 91 located at the end. After the ligating rope 62 is looped around the root of the appendix, the third control wire 645 near the fixed clamping block 642 is tightened by the operation drive unit 2, so that the gap between the movable clamping block 643 and the fixed clamping block 642 is only enough for the part of the ligating rope 62 connected to the second control wire 61 to pass through, but not for the one-way locking sleeve 63 to pass through. Then, the second control wire 61 is tightened by the operation drive unit 2, so that the fixed clamping block 642 and the movable clamping block 643 limit the one-way locking sleeve 63, so that the loop of the ligating rope 62 gradually shrinks, thereby ligating the root of the appendix. The movable clamping block 643 and the fixed clamping block 642 are also provided with a cutter or any component capable of cutting the ligature rope 62 on the opposite side. After the appendix is ​​cut, the third control wire 645 near the fixed clamping block 642 can be controlled by the operation drive unit 2 to continue to tighten, increasing the clamping force between the movable clamping block 643 and the fixed clamping block 642. The cutter cuts the ligature rope 62, so that the loop portion of the ligature rope 62 is tied around the root of the appendix.

[0045] like Figure 13 As shown, the operation drive unit 2 corresponding to the bandage 6 is provided with a third drive motor 24, a third drive wheel 25 and a third guide wheel 26 corresponding to the third control wire 645. The output end of the third drive motor 24 is provided with the third drive wheel 25. One end of the third control wire 645 passes through the operation execution arm 5 and is connected to the third fixed post on the outer peripheral surface of the third drive wheel 25.

[0046] Each third control wire 645 corresponds to a third drive motor 24, a third drive wheel 25, and a third guide wheel 26; such as Figure 13 As shown, the upper third drive motor 24 operates, driving the third drive wheel 25 to rotate, causing the upper third control wire 645 to tighten or release. When tightened, the clamping force of the movable clamping block 643 and the fixed clamping block 642 is increased; when released, the clamping force of the movable clamping block 643 and the fixed clamping block 642 is decreased. The lower third drive motor 24 works in conjunction with the upper third drive motor 24 to adjust the clamping force of the movable clamping block 643 and the fixed clamping block 642.

[0047] like Figure 14As shown, in one embodiment, the gripper 7 includes: a second fixing member 71 connected to one end of the operation execution arm 5, a fixed gripper 72 provided in the end of the second fixing member 71 away from the operation execution arm 5, a movable gripper 73 hinged to the second fixing member 71, two fourth control wires 74 connected to the movable gripper 73, the other end of the fourth control wires 74 passing through the second fixing member 71 and the operation execution arm 5 and connected to the corresponding operation drive unit 2, for controlling the rotation of the movable gripper 73.

[0048] like Figure 15 As shown, the operation drive unit 2 corresponding to the gripper 7 is provided with a fourth drive motor 27, a fourth drive wheel 28 and a fourth guide wheel 29 corresponding to the fourth control wire 74. The output end of the fourth drive motor 27 is provided with the fourth drive wheel 28. One end of the fourth control wire 74 passes through the operation execution arm 5 and is connected to the fourth fixed column on the outer peripheral surface of the fourth drive wheel 28.

[0049] The operation drive unit 2 controls the fourth control wire 74, thereby adjusting the clamping force of the fixed gripper 72 and the movable gripper 73. The fixed gripper 72 and the movable gripper 73 can grasp the appendix. A protrusion to increase friction can be provided on the opposite side of the two to facilitate the grasping of the appendix. The specific working principle of the clamping force adjustment of the fixed gripper 72 and the movable gripper 73 is the same as the principle of the clamping force adjustment of the movable clamping block 643 and the fixed clamping block 642, and will not be described again here.

[0050] like Figure 19 As shown, in one embodiment, the sleeve 1 is provided with a plurality of sixth through holes 14, and an operator is movably disposed in each sixth through hole 14.

[0051] Each actuator is individually housed in a sixth through hole 14, ensuring that the movement of one actuator does not affect the position of another actuator, and that they do not interfere with each other.

[0052] like Figure 1 As shown, in one embodiment, the linear drive unit 3 includes: a housing, inside which are provided a plurality of linear drive bodies, each linear drive body being connected to an operation drive unit 2 via a transmission mechanism; an operation handle 15 is provided on the outer side of the housing, the operation handle 15 serving as the fixed end of the linear drive unit 3 and connected to the connecting rod 4 for fixing the sleeve 1.

[0053] The operating handle 15 is easy for the operator to hold, and multiple buttons for controlling the operation of multiple operators are integrated on the operating handle 15. When in use, the operator only needs to press the corresponding button to control the corresponding operator to perform the action through the linear drive unit 3 and the operation drive unit 2, which is convenient to use.

[0054] likeFigure 20 As shown, the transmission mechanism includes a screw 31 connected to the output end of the linear drive body, and a guide rod 32 arranged parallel to the screw 31 and fixedly connected to the housing. The outer side of the operation drive unit 2 is provided with a drive block 33, and the drive block 33 is provided with a threaded hole corresponding to the screw 31 and a guide hole corresponding to the guide rod 32.

[0055] The linear drive body is a motor, and the output end of the motor is connected to the screw 31. The ends of the screw 31 and the guide rod 32 away from the linear drive body are connected by a fixed plate. The screw 31 is rotatably connected to the fixed plate, and the guide rod 32 is fixedly connected to the fixed plate. After the linear drive body works, it drives the screw 31 to rotate, causing the drive block 33 to move linearly along the axis of the guide rod 32, thereby driving the operation drive unit 2 to move linearly, so that the operation execution arm 5 connected to the operation drive unit 2 moves synchronously, realizing the control of the linear reciprocating motion of each operator.

[0056] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0057] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0058] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the present invention, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A multifunctional ligation and cutting device for single-port minimally invasive appendectomy, characterized in that, include: The sleeve (1) has multiple manipulators inside for completing the ligation and cutting work; Multiple operation drive units (2) are respectively associated with multiple operators and are used to control the operation of the operators; linear drive units (3) are respectively connected to multiple operation drive units (2) and are used to control the linear reciprocating motion of each operation drive unit (2); the sleeve (1) is connected to the fixed end of the linear drive unit (3) through the connecting rod (4).

2. The multifunctional ligation and cutting device for single-port minimally invasive appendectomy as described in claim 1, characterized in that, The operator includes: an operation execution arm (5) and a functional part disposed at one end of the operation execution arm (5); The functional parts are a lens (16), a gripper (7), a ligator (6), or a cutter (17).

3. The multifunctional ligation and cutting device for single-port minimally invasive appendectomy as described in claim 2, characterized in that, The operation execution arm (5) includes a straight arm (10) and a flexible arm (9). One end of the straight arm (10) is connected to the operation drive unit (2), and the other end is hinged to one end of the flexible arm (9). The other end of the flexible arm (9) is provided with the functional unit. A plurality of first control wires (11) are threaded through the flexible arm (9). One end of the first control wire (11) is connected to the end of the flexible arm (9) near the functional unit, and the other end of the first control wire (11) passes through the straight arm (10) and is connected to the operation drive unit (2).

4. The multifunctional ligation and cutting device for single-port minimally invasive appendectomy as described in claim 2, characterized in that, The banding device (6) includes a second control wire (61) and a banding rope (62). One end of the second control wire (61) passes through the operation arm (5) and is connected to the operation drive unit (2). One end of the banding rope (62) is provided with a one-way locking sleeve (63). The other end of the banding rope (62) passes through the one-way locking sleeve (63) and is connected to the other end of the second control wire (61).

5. The multifunctional ligation and cutting device for single-port minimally invasive appendectomy as described in claim 4, characterized in that, The end of the sleeve (1) is provided with an annular groove (12), and the tying rope (62) of the tying device (6) can be placed in the annular groove (12).

6. The multifunctional ligation and cutting device for single-port minimally invasive appendectomy as described in claim 4, characterized in that, The tying rope (62) has a plurality of first locking teeth (621) on one side, and the one-way locking sleeve (63) has a plurality of second locking teeth (631) corresponding to the first locking teeth (621) on the inner side.

7. The multifunctional ligation and cutting device for single-port minimally invasive appendectomy as described in claim 4, characterized in that, The ligator (6) further includes a clamping mechanism (64), which includes: a first fixing member (641) connected to one end of the operating arm (5), a fixed clamping block (642) provided in the end of the first fixing member (641) away from the operating arm (5), a movable clamping block (643) hinged on the first fixing member (641), two third control wires (645) connected on the movable clamping block (643), the other end of the third control wires (645) passing through the first fixing member (641) and the operating arm (5) and connected to the corresponding operating drive unit (2) for controlling the rotation of the movable clamping block (643); a part of the ligating rope (62) and the second control wire (61) can pass between the movable clamping block (643) and the fixed clamping block (642).

8. The multifunctional ligation and cutting device for single-port minimally invasive appendectomy as described in claim 3, characterized in that, The flexible arm (9) includes: a plurality of connecting blocks (91), adjacent connecting blocks (91) being rotatably connected by shafts (92); The connecting block (91) is provided with a first through hole (911), and at least four second through holes (912) are provided on the outside of the first through hole (911). The second through holes (912) are used to allow the first control wire (11) to pass through. The connecting block (91) is provided with two opposing first connecting plates (93) and two opposing second connecting plates (94) on the outside. One end of the first connecting plate (93) is provided with a third through hole (931), and the end of the second connecting plate (94) away from the third through hole (931) is provided with a fourth through hole (941). The axes of the third through hole (931) and the fourth through hole (941) are perpendicular to the axis of the first through hole (911). The shaft (92) is provided with two first shaft bodies (921) corresponding to the third through hole (931) and two second shaft bodies (922) corresponding to the fourth through hole (941). The shaft (92) is also provided with a fifth through hole (923), and the axis of the fifth through hole (923) is parallel to the axis of the first through hole (911).

9. The multifunctional ligation and cutting device for single-port minimally invasive appendectomy as described in claim 1, characterized in that, The sleeve (1) is provided with a plurality of sixth through holes (14), and an operator is movably installed in each sixth through hole (14).

10. The multifunctional ligation and cutting device for single-port minimally invasive appendectomy as described in claim 1, characterized in that, The linear drive unit (3) includes: a housing, which has multiple linear drive bodies inside, each of which is connected to an operation drive unit (2) through a transmission mechanism; and an operation handle (15) is provided on the outside of the housing, which serves as the fixed end of the linear drive unit (3) and is connected to the connecting rod (4) for fixing the sleeve (1).

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