Multifunctional ligation and cutting device for minimally invasive surgery of appendicitis

Abstract

The present application relates to the technical field of medical apparatus, and discloses a multifunctional ligation and cutting device for single-hole completion of appendicitis minimally invasive surgery, which comprises a sleeve, a plurality of operators for completing ligation and cutting work movably arranged in the sleeve, a plurality of operation driving parts corresponding to the plurality of operators respectively for controlling the operation of the operators, a linear driving part connected with the plurality of operation driving parts respectively for controlling linear reciprocating movement of each operation driving part, and a connecting rod connecting the sleeve with a fixed end of the linear driving part. The operators for completing ligation and cutting of the appendix are integrated in the sleeve, the linear driving part and the operation driving part for controlling the operation of the operators are integrated outside the sleeve, the single-hole minimally invasive surgery of the appendix of a patient without obvious adhesion can be completed, the linear driving part and the operation driving part can be used to control the operation of the plurality of operators, and the operation is convenient; the operation is simpler, and the trauma of the 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 a connecting rod connecting the sleeve with the fixed end of the linear driving part.

[0007] Preferably, the operation device comprises an operation execution arm and a function part arranged at one end of the operation execution arm.

[0008] The function part is a lens, a grabber, a ligation cutter or a cutting knife.

[0009] Preferably, the operation execution arm comprises: a straight arm and a flexible arm, one end of the straight arm is connected with the operation driving part, the other end is hinged with one end of the flexible arm, the other end of the flexible arm is provided with the function part; a plurality of first control wires are arranged in the flexible arm, one end of the first control wire is connected with the end of the flexible arm close to the function part, the other end of the first control wire is connected with the operation driving part after passing through the straight arm.

[0010] Preferably, the loop ligator comprises: a second control wire and a loop ligating rope, one end of the second control wire is connected with the operation driving part after passing through the operation execution arm, one end of the loop ligating rope is provided with a one-way locking sleeve, the other end of the loop ligating rope is connected with the other end of the second control wire after passing through the one-way locking sleeve.

[0011] Preferably, the end of the sleeve is provided with an annular groove, and the loop ligating rope of the loop ligator can be positioned in the annular groove.

[0012] Preferably, one side of the loop ligating 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.

[0013] Preferably, the loop ligator further comprises a clamping mechanism, the clamping mechanism comprises: a fixed part connected with one end of the operation execution arm, the fixed part is provided with a fixed clamping block away from one end of the operation execution arm, the fixed part is hinged with a movable clamping block, the movable clamping block is connected with two third control wires, the other end of the third control wire passes through the fixed part and the operation execution arm and is connected with the corresponding operation driving part for controlling the rotation of the movable clamping block; a part of the loop ligating rope and the second control wire can pass through between the movable clamping block and the fixed clamping block.

[0014] Preferably, the flexible arm comprises: a plurality of connecting blocks, adjacent connecting blocks are rotationally connected through shafts;

[0015] The connecting block is provided with a first through hole, the outer side of the first through hole is provided with at least four second through holes, the second through holes are used for allowing the first control wire to pass through, the outer side of the connecting block is provided with two oppositely arranged first connecting plates and two oppositely arranged second connecting plates, one end of the first connecting plate is provided with a third through hole, the end of the second connecting plate away from the third through hole is provided with a fourth through hole, the axis of the third through hole and the fourth through hole is perpendicular to the axis of the first through hole;

[0016] The shaft is provided with two first shaft bodies corresponding to the third through hole, and is also provided with two second shaft bodies corresponding to the fourth through hole, the shaft is also provided with a fifth through hole, the axis of the fifth through hole is parallel to the axis of the first through hole.

[0017] Preferably, a plurality of sixth through holes are arranged in the sleeve, and an operator is movably arranged in each sixth through hole.

[0018] Preferably, the linear driving part comprises a shell, a plurality of linear driving bodies are arranged in the shell, and each linear driving body is connected with an operation driving part through a transmission mechanism; an operation handle is arranged on the outside of the shell, the operation handle is connected with the connecting rod as the fixed end of the linear driving part, and is used for fixing the sleeve.

[0019] Compared with the prior art, the present application has at least the following beneficial effects:

[0020] The multifunctional sleeve ligation cutter for single-hole completion of appendicitis minimally invasive surgery can integrate the operators for completing the sleeve ligation cutting of the appendix into the sleeve, and integrate the linear driving part and the operation driving part for controlling the operation of the operators outside the sleeve, can complete the single-hole appendicitis minimally invasive surgery of the patient without obvious adhesion, and can control the operation of the plurality of operators by using the linear driving part and the operation driving part, and the operation is convenient; the single-hole completion of the appendicitis minimally invasive surgery makes the operation simpler and the trauma of the patient smaller.

[0021] The multifunctional sleeve ligation cutter for single-hole completion of appendicitis minimally invasive surgery, other advantages, objects and characteristics of the present application will be embodied in part through the following description, and part will be understood by those skilled in the art through research and practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with embodiments of the present application, and do not constitute a limitation of the present application. In the drawings:

[0023] Figure 1 The structure schematic view of the multifunctional sleeve ligation cutter for single-hole completion of appendicitis minimally invasive surgery is shown in the drawings.

[0024] Figure 2 The structure schematic view of the multifunctional sleeve ligation cutter for single-hole completion of appendicitis minimally invasive surgery is shown in the drawings.

[0025] Figure 3 The structure schematic view of the multifunctional sleeve ligation cutter for single-hole completion of appendicitis minimally invasive surgery is shown in the drawings.

[0026] Figure 4 The structure schematic view of the multifunctional sleeve ligation cutter for single-hole completion of appendicitis minimally invasive surgery is shown in the drawings.

[0027] Figure 5 Structure diagram of flexible arm in multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery according to the present application;

[0028] Figure 6 Structure diagram of flexible arm in multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery according to the present application;

[0029] Figure 7 Connection diagram of first control wire and operation driving part in multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery according to the present application;

[0030] Figure 8 Structure diagram of ligation rope placed in annular groove in multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery according to the present application;

[0031] Figure 9 Structure diagram of ligation rope when it is out of annular groove in multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery according to the present application;

[0032] Figure 10 Structure diagram of ligation cutter in multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery according to the present application;

[0033] Figure 11 Exploded structure diagram of ligation cutter in multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery according to the present application;

[0034] Figure 12 Structure diagram of connection of ligation rope and one-way locking sleeve in multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery according to the present application;

[0035] Figure 13 Connection diagram of third control wire and operation driving part in multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery according to the present application;

[0036] Figure 14 Exploded diagram of grabber in multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery according to the present application;

[0037] Figure 15 Connection diagram of fourth control wire and operation driving part in multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery according to the present application;

[0038] Figure 16 Connection exploded diagram of two adjacent connecting blocks in multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery according to the present application;

[0039] Figure 17 Structure diagram of the middle shaft of the multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery according to the present application;

[0040] Figure 18 Structure diagram of two adjacent connecting blocks of the multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery according to the present application;

[0041] Figure 19 Structure diagram of the bottom of the sleeve of the multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery according to the present application;

[0042] Figure 20 Structure diagram of the bottom of the plurality of operation driving parts of the multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery according to the present application.

[0043] In the drawings, 1 is a sleeve, 12 is an annular groove, 13 is a limiting protrusion, 2 is an operation driving part, 21 is a first driving motor, 22 is a first driving wheel, 23 is a first guide wheel, 24 is a third driving motor, 25 is a third driving wheel, 26 is a third guide wheel, 27 is a fourth driving motor, 28 is a fourth driving wheel, 29 is a fourth guide wheel, 3 is a straight line driving part, 31 is a screw rod, 32 is a guide rod, 33 is a driving block, 4 is a connecting rod, 5 is an operation execution arm, 6 is a ligation cutter, 61 is a second control wire, 62 is a ligation 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, 641 is a first fixed part, 642 is a fixed clamping block, 643 is a movable clamping block, 645 is a third control wire, 7 is a grabber, 71 is a second fixed part, 72 is a fixed grab, 73 is a movable grab, 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 operation handle, 16 is a lens, and 17 is a cutting knife. DETAILED DESCRIPTION

[0044] The present application will be further described below in conjunction with the drawings and examples, so that those skilled in the art can implement it according to the description.

[0045] It should be understood that the terms such as "have", "contain" and "include" used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0046] As Figure 1As shown, the present application provides a multifunctional ligation cutter for single-hole completion of appendicitis minimally invasive surgery, comprising: a sleeve 1, which is movably provided with a plurality of operators for completing ligation cutting work; a plurality of operation driving parts 2 corresponding to the plurality of operators respectively, for controlling the operation of the operators; a linear driving part 3 connected with the plurality of operation driving parts 2 respectively, for controlling the linear reciprocating motion of each operation driving part 2; and a connecting rod 4 connecting the sleeve 1 with the fixed end of the linear driving part 3.

[0047] The multifunctional ligation cutter is powered by an external power supply. In use, the sleeve 1 is placed in a single hole, the size of which is generally 10mm-12mm. Each operator can be driven to move linearly by the linear driving part 3, so that the operator extends into the patient's abdominal cavity. Each operator can be controlled to work in the abdominal cavity by the operation driving part 2. The sleeve 1 is connected with the fixed end of the linear driving part 3, so that the sleeve 1 will not change its position due to the influence of the linear driving part 3 and the operation driving part 2.

[0048] As shown in Figure 2 and Figure 3 , wherein the operator comprises: an operation execution arm 5 and a function part provided at one end of the operation execution arm 5.

[0049] The function part is a lens 16, a grabber 7, a ligation device 6 or a cutting knife 17.

[0050] The end of the operation execution arm 5 is provided with a function part. In the present application, the number of operators is set to four, and each operation execution arm 5 is provided with a function part at its end. The operation execution arm 5 can extend and retract from the sleeve 1, and the part of the operation execution arm 5 close to the function part can bend in multiple directions under the control of the operation driving part 2, which is more convenient for operating the appendix in the patient's abdominal cavity.

[0051] Specifically, in use, the operation driving part 2 corresponding to the lens 16 can be controlled to move by the linear driving part 3, so that the operation execution arm 5 corresponding to the lens 16 extends out of the sleeve 1. The lens 16 can acquire images in the abdominal cavity and transmit them to an external display device for the doctor to observe the situation. If no obvious adhesion of the appendix is found, no separation and suction operation is needed, and the multifunctional ligation cutter can be used for single-hole minimally invasive surgery. If there is obvious adhesion, the traditional three-hole operation can be replaced as needed.

[0052] 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;

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] The straight arm 10 is fixedly connected with the outer side of the operation driving part 2, and the flexible arm 9 is hinged with the straight arm 10, so that the operation driving part 2 controls the bending of the flexible arm 9, and the operation driving part 2 controls the action of the flexible arm 9 by pulling and releasing the plurality of first control wires 11.

[0058] As shown in Figure 7 each of the operation driving parts 2 is provided with a plurality of first driving motors 21, first driving wheels 22 and first guide wheels 23 corresponding to the first control wires 11, the output end of the first driving motor 21 is provided with the first driving wheel 22, and the other end of the first control wire 11 passes through the straight arm 10 and the first guide wheel 23 in turn, and then is connected with the first fixed column on the outer circumferential surface of the first driving wheel 22.

[0059] The first control wire 11 is preferably provided with four first control wires 11, each of which corresponds to one first driving motor 21, one first driving wheel 22 and one first guide wheel 23, the first driving motor 21 works to drive the first driving wheel 22 to rotate, then the first control wire 11 fixedly connected with the outer side of the first driving wheel 22 will be wound on the first driving wheel 22, or released from the first driving wheel 22, so as to realize the pulling and releasing of the first control wire 11; the first guide wheel 23 is used for guiding the first control wire 11 to prevent the plurality of first control wires 11 from being wound together.

[0060] As shown in Figure 6 and Figures 16-18 In one embodiment, the flexible arm 9 comprises: a plurality of connecting blocks 91, adjacent connecting blocks 91 are rotationally connected through shafts 92;

[0061] The connecting block 91 is provided with a first through hole 911, at least four second through holes 912 are provided on the outer side of the first through hole 911, the second through holes 912 are used for passing through the first control wire 11, the outer side of the connecting block 91 is provided with two oppositely arranged first connecting plates 93 and two oppositely arranged second connecting plates 94, one end of the first connecting plate 93 is provided with a third through hole 931, the end of the second connecting plate 94 away from the third through hole 931 is provided with a fourth through hole 941, the axis of the third through hole 931 and the fourth through hole 941 is perpendicular to the axis of the first through hole 911;

[0062] 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, and the shaft 92 is further provided with a fifth through hole 923, the axis of the fifth through hole 923 is parallel to the axis of the first through hole 911.

[0063] A plurality of wires can be arranged in the first through hole 911 and the fifth through hole 923 of the shaft 92, such as data lines and power lines connected with the lens 16, a wire for controlling the grabber 7, a wire for the ligation device 6, data lines and power lines connected with the cutting knife 17, and the like, so as to connect each functional part with an external device to realize corresponding functions.

[0064] The second through hole 912 is provided with four second control wires 11.

[0065] The two first connecting plates 93 of one of the two adjacent connecting blocks 91 are rotationally connected with the first shaft body 921 of the shaft 92, and the two second connecting plates 94 of the other connecting block 91 are rotationally connected with the second shaft body 922 of the shaft 92, so that the two adjacent connecting blocks 91 have a plurality of rotational degrees of freedom, facilitating the flexible arm 9 to be bent in multiple directions, and improving the flexibility of the functional part.

[0066] As shown in FIG. 1, in one embodiment, the ligation device 6 comprises a second control wire 61 and a ligation rope 62. One end of the second control wire 61 is connected with the operation driving part 2 after passing through the operation execution arm 5. One end of the ligation rope 62 is provided with a one-way locking sleeve 63, and the other end of the ligation rope 62 is connected with the other end of the second control wire 61 after passing through the one-way locking sleeve 63. Figure 11

[0067] The operation driving part 2 corresponding to the ligation device 6 is provided with a second driving motor, a second driving wheel and a second guide wheel corresponding to the second control wire 61. The output end of the second driving motor is provided with the second driving wheel. One end of the second control wire 61 is connected with the second fixed column on the outer circumferential surface of the second driving wheel after passing through the operation execution arm 5.

[0068] Before use, the other end of the ligation rope 62 is arranged in the one-way locking sleeve 63 to form a loop. The one-way locking sleeve 63 can only move in the direction of reducing the loop and cannot move reversely. Then, the ligation rope 62 is connected with the second control wire 61, for example, by knotting or by any other connection method.

[0069] In use, the loop formed by the ligation rope 62 can be arranged in the root of the appendix. Then, the second driving motor is operated to drive the second driving wheel to rotate, so that the second control wire 61 is wound on the second driving wheel. The ligation device 6 limits the one-way locking sleeve 63, so that the loop formed by the ligation rope 62 is reduced and tightened to ligate the root of the appendix.

[0070] ​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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] like Figure 11 and Figure 13As shown, in one embodiment, the ligator 6 further comprises a clamping mechanism 64, which comprises a first fixing member 641 connected with one end of the operation execution arm 5, a fixed clamping block 642 arranged in the first fixing member 641 away from one end of the operation execution arm 5, an active clamping block 643 hinged on the first fixing member 641, two third control wires 645 connected with the active clamping block 643, and the other ends of the third control wires 645 connected with the corresponding operation driving part 2 after passing through the first fixing member 641 and the operation execution arm 5, for controlling the rotation of the active clamping block 643; a part of the ligature rope 62 and the second control wire 61 can pass through between the active clamping block 643 and the fixed clamping block 642.

[0078] The first fixing member 641 can be screwed with the connecting block 91 at the end, after the ligature rope 62 is sleeved on the root of the appendix, the third control wire 645 close to the fixed clamping block 642 is controlled to be tightened by the operation driving part 2, so that the gap distance between the active clamping block 643 and the fixed clamping block 642 can only make the part of the ligature rope 62 connected with the second control wire 61 pass through, but the one-way locking sleeve 63 cannot pass through, then the second control wire 61 is controlled to be tightened by the operation driving part 2, the fixed clamping block 642 and the active clamping block 643 limit the one-way locking sleeve 63, so that the ligature rope 62 gradually reduces the size of the loop, thereby ligating the root of the appendix;

[0079] The side opposite to the active clamping block 643 and the fixed clamping block 642 is also provided with a cutter capable of cutting the ligature rope 62 or any component capable of cutting the ligature rope 62, after the appendix is cut, the third control wire 645 close to the fixed clamping block 642 is continuously controlled to be tightened by the operation driving part 2, the clamping force of the active clamping block 643 and the fixed clamping block 642 is increased, the ligature rope 62 is cut by the cutter, so that the part of the ligature rope 62 forming the loop is ligated on the root of the appendix.

[0080] As shown, Figure 13 As shown, the operation driving part 2 corresponding to the ligator 6 is provided with a third driving motor 24, a third driving wheel 25 and a third guide wheel 26 corresponding to the third control wire 645, the output end of the third driving motor 24 is provided with the third driving wheel 25, and one end of the third control wire 645 is connected with the third fixed column on the outer circumferential surface of the third driving wheel 25 after passing through the operation execution arm 5.

[0081] Each third control wire 645 corresponds to a third driving motor 24, a third driving wheel 25 and a third guide wheel 26; as Figure 13As shown, the third driving motor 24 located at the upper side works to drive the third driving wheel 25 to rotate, so that the third control wire 645 located at the upper side is tightened or released, and when tightened, the clamping force of the movable clamping block 643 and the fixed clamping block 642 is increased, and when released, the clamping force of the movable clamping block 643 and the fixed clamping block 642 is reduced. The third driving motor 24 located at the lower side works in cooperation with the third driving motor 24 located at the upper side to complete the adjustment of the clamping force of the movable clamping block 643 and the fixed clamping block 642.

[0082] As shown in the drawings, Figure 14 In one embodiment, the gripper 7 comprises a second fixed part 71 connected to one end of the operation execution arm 5, the second fixed part 71 is provided with a fixed gripper 72 away from one end of the operation execution arm 5, and a movable gripper 73 is hinged on the second fixed part 71, and two fourth control wires 74 are connected to the movable gripper 73, and the other end of the fourth control wire 74 is connected to the corresponding operation driving part 2 after passing through the second fixed part 71 and the operation execution arm 5, for controlling the rotation of the movable gripper 73.

[0083] As shown in the drawings, Figure 15 The operation driving part 2 corresponding to the gripper 7 is provided with a fourth driving motor 27, a fourth driving wheel 28 and a fourth guide wheel 29 corresponding to the fourth control wire 74, the output end of the fourth driving motor 27 is provided with the fourth driving wheel 28, and one end of the fourth control wire 74 is connected to the fourth fixed column on the outer circumferential surface of the fourth driving wheel 28 after passing through the operation execution arm 5.

[0084] The operation driving part 2 controls the fourth control wire 74, so as to realize the clamping force adjustment of the fixed gripper 72 and the movable gripper 73, and the fixed gripper 72 and the movable gripper 73 can grasp the appendix, and the opposite side of the two can be provided with a protruding part for increasing the friction, so as 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 that of the movable clamping block 643 and the fixed clamping block 642, which will not be described here.

[0085] As shown in the drawings, Figure 19 In one embodiment, the sleeve 1 is provided with a plurality of sixth through holes 14, and each sixth through hole 14 is movably provided with an operator.

[0086] Each operator is separately arranged in a sixth through hole 14, so that when one operator moves, the position of another operator will not be affected, and there will be no interference between them.

[0087] As shown in the drawings, Figure 1As shown in the drawings, in one embodiment, the linear driving part 3 comprises a shell, the inside of which is provided with a plurality of linear driving bodies, each of which is connected with an operation driving part 2 through a transmission mechanism; the outside of the shell is provided with an operation handle 15, which is connected with the connecting rod 4 as the fixed end of the linear driving part 3, and is used for fixing the sleeve 1.

[0088] The operation handle 15 is convenient for an operator to hold, and a plurality of keys for controlling the operation of the plurality of operators are integrated on the operation handle 15, so that in use, the operator only needs to press the corresponding key, and the corresponding operator can be controlled to move through the linear driving part 3 and the operation driving part 2, which is convenient for use.

[0089] As shown in the drawings, Figure 20 The transmission mechanism comprises a screw rod 31 connected with the output end of the linear driving body, and a guide rod 32 arranged in parallel with the screw rod 31 and fixedly connected with the shell, and the outside of the operation driving part 2 is provided with a driving block 33, which is provided with a threaded hole corresponding to the screw rod 31 and a guide hole corresponding to the guide rod 32.

[0090] The linear driving body is a motor, the output end of the motor is connected with the screw rod 31, the end portions of the screw rod 31 and the guide rod 32 away from the linear driving body are connected through a fixed plate, the screw rod 31 is rotationally connected with the fixed plate, and the guide rod 32 is fixedly connected with the fixed plate; after the linear driving body works, the screw rod 31 is driven to rotate, so that the driving block 33 moves linearly along the axial direction of the guide rod 32, thereby driving the operation driving part 2 to move linearly, so that the operation execution arm 5 connected with the operation driving part 2 moves synchronously, and the linear reciprocating movement of each operator is controlled.

[0091] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0092] In this application, unless otherwise clearly indicated and limited, the terms "mounting", "connection", "connecting", "fixed", and the like should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection or communication with each other; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0093] Although the embodiments of the present application have been disclosed as above, it is not limited to the application listed in the specification and the embodiments, and can be fully applied to various fields suitable for the present application, and additional modifications can be easily realized by those skilled in the art, and therefore the present application is not limited to specific details and the figures shown and described herein without departing from the general concept defined by the present application.

Claims

1. A multifunctional ligation cutter for single hole completion of appendicitis minimally invasive surgery, characterized in that, The application relates to a sleeve pipe (1) which is movably provided with a plurality of operating devices for completing sleeve ligation and cutting work; a plurality of operating driving parts (2) corresponding to the operating devices respectively are used for controlling the operating devices to work; a linear driving part (3) is connected with the operating driving parts (2) respectively and is used for controlling linear reciprocating movement of each operating driving part (2); the sleeve pipe (1) is connected with a fixed end of the linear driving part (3) through a connecting rod (4); the operating device comprises an operating execution arm (5) and a functional part arranged at one end of the operating execution arm (5); the functional part is a lens (16), a grabber (7), a sleeve ligation device (6) or a cutting knife (17); the sleeve ligation device (6) comprises a second control wire (61) and a sleeve ligation rope (62), one end of the second control wire (61) is connected with the operating driving part (2) after penetrating through the operating execution arm (5), one end of the sleeve ligation rope (62) is provided with a one-way locking sleeve (63), and the other end of the sleeve ligation rope (62) is connected with the other end of the second control wire (61) after penetrating through the one-way locking sleeve (63); an end of the sleeve pipe (1) is provided with an annular groove (12), and the sleeve ligation rope (62) of the sleeve ligation device (6) can be positioned and placed in the annular groove (12); the sleeve ligation device (6) further comprises a clamping mechanism (64), the clamping mechanism (64) comprises a first fixing part (641) connected with one end of the operating execution arm (5), a fixed clamping block (642) is arranged in the end of the first fixing part (641) away from the operating execution arm (5), an active clamping block (643) is hinged on the first fixing part (641), two third control wires (645) are connected on the active clamping block (643), the other ends of the third control wires (645) are connected with corresponding operating driving parts (2) after penetrating through the first fixing part (641) and the operating execution arm (5) and are used for controlling rotation of the active clamping block (643), and a part of the sleeve ligation rope (62) and the second control wire (61) can penetrate through the active clamping block (643) and the fixed clamping block (642). The operating execution arm (5) comprises a straight arm (10) and a flexible arm (9), one end of the straight arm (10) is connected with the operating driving part (2), the other end is hinged with one end of the flexible arm (9), and the other end of the flexible arm (9) is provided with the functional part; a plurality of first control wires (11) are arranged in the flexible arm (9), one end of the first control wire (11) is connected with the end of the flexible arm (9) close to the functional part, and the other end of the first control wire (11) is connected with the operating driving part (2) after penetrating through the straight arm (10). One side of the sleeve ligation rope (62) is provided with a plurality of first locking teeth (621), and the inner side of the one-way locking sleeve (63) is provided with a plurality of second locking teeth (631) corresponding to the first locking teeth (621). The flexible arm (9) comprises a plurality of connecting blocks (91), adjacent connecting blocks (91) are rotationally connected through shafts (92). ​ ​ ​ ​ ​ 2. The multi-functional ligation cutter for minimally invasive surgery of appendicitis through a single hole according to claim 1, characterized in that, ​ 3. The multi-functional ligation cutter for minimally invasive surgery of appendicitis in a single hole according to claim 1, characterized in that, ​ 4. The multi-functional ligation cutter for minimally invasive surgery of appendicitis through a single hole according to claim 2, characterized in that, ​ The connecting block (91) is provided with a first through hole (911), and the outer side of the first through hole (911) is provided with at least four second through holes (912) for the first control wire (11) to pass through; the outer side of the connecting block (91) is provided with two oppositely arranged first connecting plates (93) and two oppositely arranged second connecting plates (94); one end of the first connecting plate (93) is provided with a third through hole (931); one end of the second connecting plate (94) away from the third through hole (931) is provided with a fourth through hole (941); the axis of the third through hole (931) and the fourth through hole (941) is perpendicular to the axis of the first through hole (911); The shaft member (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 member (92) is further 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).

5. The multi-functional ligation cutter for minimally invasive surgery of appendicitis through a single hole completion according to claim 1, characterized in that, The sleeve (1) is provided with a plurality of sixth through holes (14), and each sixth through hole (14) is movably provided with an operator.

6. The multi-functional ligation cutter for minimally invasive appendicitis surgery in a single hole according to claim 1, characterized in that, The linear driving part (3) comprises a shell, the inside of the shell is provided with a plurality of linear driving bodies, each linear driving body is connected with an operation driving part (2) through a transmission mechanism; the outer side of the shell is provided with an operation handle (15), the operation handle (15) is connected with the connecting rod (4) as the fixed end of the linear driving part (3), and is used for fixing the sleeve (1).

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