Small channel surgery robot flexible prodder with tongue pressing mechanism

Abstract

The application provides a small-cavity operation robot flexible poking card with a tongue pressing mechanism and relates to the technical field of operation poking cards.The application comprises a medical operation robot, the medical operation robot is fixedly installed with an operation instrument, the surface of the medical operation robot is provided with a flexible channel wall, the material of the flexible channel wall is medical soft silica gel, the side surface of the flexible channel wall is provided with a lateral air bag support plate, the lateral air bag support plate is designed in sections, the side surface of the flexible channel wall is provided with a channel erecting mechanism, and the channel erecting mechanism can assist medical staff in puncturing the oral mucosa and tissue of a patient.In the application, the tongue pressing mechanism composed of a ring-shaped gas channel, a vertical support plate, a lateral air bag support plate, a special-shaped support air bag, an air flow exchange device, an air inlet pipeline and a gas conveying pipeline is arranged, air flow enters the ring-shaped gas channel through the air inlet pipeline and the gas conveying pipeline, and then flows into the special-shaped support air bag to make it expand.

Description

Technical Field

[0001] This invention belongs to the field of surgical puncture card technology, and more specifically, it relates to a flexible puncture card for small-cavity surgical robots with a tongue depressor mechanism. Background Technology

[0002] Medical trocars are indispensable core instruments in minimally invasive surgery. They typically consist of a puncture sheath, a puncture rod, and an external fixation disc, with diameters ranging from 3 to 12 mm. Smaller diameters are suitable for delicate procedures, while larger diameters are suitable for complex surgeries. Their working principle involves the surgeon making a small incision in the patient's skin, inserting the trocar, and allowing the slender tube to enter the surgical site, such as the abdominal cavity, thoracic cavity, or joint cavity. The external disc remains fixed on the body surface, serving as a channel for the laparoscopic camera and surgical instruments to enter and exit. It also allows for the injection of carbon dioxide gas into the cavity to expand the operating space, effectively maintaining intracavitary pressure, reducing gas leakage, and protecting surrounding tissues from direct instrument damage. Currently, medical trocars are widely used in gynecology, hepatobiliary and pancreatic surgery, urology, cardiothoracic surgery, and other fields, supporting various minimally invasive surgeries such as laparoscopic cholecystectomy, hysterectomy, and arthroscopic meniscus repair.

[0003] At least the following technical problems have been found in current medical swabs: First, in small oral cavity surgeries, patients' tongues are prone to voluntary movement and the soft palate is prone to posterior displacement. This has a significant impact on the operation and patient safety. Tongue movement and soft palate displacement directly encroach on the already narrow oral operating space, greatly reducing the range of instrument operation for medical staff. This makes it difficult for surgical instruments to accurately reach the lesion area, increasing the difficulty of the operation. Soft palate displacement may obstruct the airway, affecting the patient's normal breathing during the operation and even threatening their respiratory safety. Voluntary tongue movement may also interfere with the surgical process, further increasing the uncertainty of the surgical operation and hindering the accurate and safe conduct of the surgery.

[0004] Secondly, in small-cavity surgeries within the oral cavity, traditional trocars often employ a single rigid channel design. While this can maintain the shape of the surgical channel to some extent, the narrow oral space and soft, sensitive internal tissues make this single rigid channel prone to compressing surrounding sensitive tissues during use. On the one hand, this may directly cause damage such as scratches to the visceral capsule or rupture of blood vessels. On the other hand, it lacks the flexibility to adapt to the complex morphology of the oral cavity and cannot adjust its shape according to the tissue contour or surgical requirements, further increasing the risk of tissue damage and failing to meet the safety and adaptability requirements of small-cavity oral surgeries. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a flexible trocar for small-cavity surgical robots with a tongue depressor mechanism.

[0006] A flexible trocar for small-cavity surgical robots with a tongue depressor mechanism includes a medical surgical robot on which surgical instruments are fixedly mounted. The surface of the surgical robot has a flexible channel wall made of medical-grade soft silicone. A lateral airbag support plate is provided on the side of the flexible channel wall; the lateral airbag support plate is segmented. A channel erection mechanism is provided on the side of the flexible channel wall to assist medical personnel in piercing the patient's oral mucosa and tissues to establish a surgical channel. A tongue depressor mechanism is provided on the side of the flexible channel wall; this mechanism can lift and open the lateral airbag support plate via the airbag, expanding the operating space within the patient's oral cavity and maintaining unobstructed oral breathing.

[0007] Preferably, the channel erection mechanism includes an external channel, an external handle slidably installed within the external channel, a puncture device fixedly installed on the external handle, the puncture device located inside the external channel, the puncture device slidably installed inside the flexible channel wall, the puncture device having a beveled puncture head at its front end, the puncture device being located inside the flexible channel wall, the flexible channel wall having a rigid channel wall, the rigid channel wall being made of medical stainless steel, the rigid channel wall having anti-slip threads, the medical surgical robot slidably installed inside the puncture device, and a sealing valve made of medical silicone material being installed inside the rigid channel wall.

[0008] Preferably, the tongue depressor includes an annular gas channel with an airflow channel within it. At least three vertical support plates are arranged in a ring on the circumferential surface of the annular gas channel. Each vertical support plate has a groove. A lateral airbag support plate is fixedly mounted on the vertical support plate, arranged in a ring around the center point of the annular gas channel. Both the vertical support plates and the lateral airbag support plate are made of medical-grade silicone rubber. A shaped support airbag is located within the vertical support plate, with its lower end positioned within the lateral airbag support plate. One end of the device is connected to the airflow channel within the annular gas channel. An airflow exchange device is fixedly installed on the external channel. An air intake pipe is fixedly installed on the airflow exchange device. One end of the air intake pipe is connected to an airbag. An air delivery pipe is fixedly installed on the airflow exchange device. The air delivery pipe is connected to the airflow channel within the annular gas channel. The air intake pipe is connected to the air delivery pipe. A negative pressure suction pipe is fixedly installed on the airflow exchange device. A negative pressure suction device is fixedly installed at the lower end of the airflow exchange device. One end of the negative pressure suction device is connected to the negative pressure suction pipe. The other end of the negative pressure suction device is fixedly installed at the front end of the medical surgical robot.

[0009] Compared with the prior art, the present invention has the following beneficial effects: In this invention, a tongue-pressing mechanism is provided, consisting of an annular gas channel, a vertical support plate, a lateral airbag support plate, a shaped support airbag, an airflow exchange device, an air intake pipe, and an air delivery pipe. Airflow enters the annular gas channel through the air intake pipe and the air delivery pipe, and then flows into the shaped support airbag to inflate it, thereby pushing the vertical support plate and the lateral airbag support plate to unfold. This mechanism can both press down the tongue and support the soft palate to expand the operating space in the oral cavity, while ensuring the patient's breathing is comfortable and reducing the risk of accidentally touching sensitive tissues.

[0010] In this invention, a combination of rigid and flexible channel walls achieves the synergistic advantages of stable support and flexible protection for the surgical channel. The rigid channel wall, made of medical-grade stainless steel, stably supports the surgical channel, effectively preventing collapse and facilitating precise control of the surgical direction and depth by medical personnel. Its anti-slip surface prevents trocars from slipping and falling off, and its easy-to-clean surface reduces the risk of oral secretions or contaminants remaining, ensuring safe use. The flexible channel wall, made of medical-grade soft silicone, can be slightly bent when the surgical robot adjusts its direction, avoiding pressure on surrounding tissues like a purely rigid channel, thus reducing tissue damage such as visceral capsule abrasions and vascular rupture. The combination of these two elements ensures the stability and reliability of the surgical channel, providing a foundation for precise operation, while its flexibility protects patient tissues, further enhancing the safety and applicability of small-cavity surgeries.

[0011] In this invention, a channel-setting mechanism comprising an external channel, an external handle, and a puncture device is provided. Medical personnel can manipulate the external handle to precisely slide the puncture device along the external channel. With the help of the beveled puncture head at the front end of the puncture device, the patient's oral mucosa and underlying tissues can be quickly punctured, establishing a surgical channel connecting the patient's internal and external systems. This reduces the operation time during tissue puncture. During the channel establishment phase, the puncture device is located inside the flexible channel wall, providing effective support and preventing the flexible channel wall from collapsing or shifting due to its material properties. This ensures that the surgical channel maintains a stable shape and position, laying a solid foundation for the subsequent entry of a medical surgical robot into the channel for operation and improving the overall smoothness and reliability of the surgery.

[0012] In this invention, a negative pressure suction device and a negative pressure suction tube are provided. One end of the negative pressure suction device is connected to the negative pressure suction tube, and the other end is fixed to the front end of a medical surgical robot. It can move synchronously closer to the surgical site as the robot is operated. During the operation, the system can promptly and efficiently assist in cleaning up the generated blood and tissue exudate, preventing these fluids from accumulating in the surgical field of vision and affecting observation. By continuously maintaining a clear field of vision in the surgical area, it provides strong support for medical staff to accurately determine the location of the lesion and smoothly carry out the surgical operation, reducing operational deviations caused by obstructed vision, and further improving the safety and accuracy of small cavity surgery. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the annular gas channel structure of the present invention; Figure 3 This is a schematic diagram of the irregular support airbag structure of the present invention; Figure 4 This is a schematic diagram of the rigid channel wall structure of the present invention; Figure 5 This is a schematic diagram of the puncture device of the present invention; Figure 6 This is a schematic diagram of the structure of the medical surgical robot of the present invention; Figure 7 This is the present invention. Figure 4 A schematic diagram of the structure at point A in the middle.

[0014] In the diagram, the correspondence between the component names and the attached drawing numbers is as follows: 1. External channel; 2. Annular gas channel; 3. Vertical support plate; 4. Lateral airbag support plate; 5. Irregularly shaped support airbag; 6. Gas delivery pipe; 7. Airflow exchange device; 8. Inlet pipe; 9. Negative pressure suction pipe; 10. External handle; 11. Puncture device; 12. Rigid channel wall; 13. Flexible channel wall; 14. Negative pressure suction device; 15. Medical surgical robot; 17. Surgical instruments. Detailed Implementation

[0015] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0016] Please see Figures 1-7This invention provides a flexible trocar for small-cavity surgical robots with a tongue depressor mechanism, including a medical surgical robot 15. Surgical instruments 17 are fixedly mounted on the medical surgical robot 15. The surgical instruments 17 can be replaced with different instruments depending on the situation, such as hemostatic forceps, scalpels, medical tweezers, etc. The medical surgical robot 15 is a retractable surgical robot, controlled by an external worktable. Due to its retractable structure, the medical surgical robot 15 can adjust and control the depth and range of the surgical instruments 17, allowing the surgical instruments 17 to be positioned at the optimal surgical location and angle. The surface of the medical surgical robot 15 is provided with... The flexible channel wall 13 is made of medical-grade soft silicone. The design of the flexible channel wall 13 allows the surgical robot 15 to bend slightly with the angle of the instrument when adjusting its direction, rather than compressing the surrounding tissues like a rigid front end. This avoids scratching the visceral capsule and rupturing blood vessels. The flexible channel wall 13 has a lateral airbag support plate 4 on its side. The lateral airbag support plate 4 is used to press down on the patient's tongue and lift up their soft palate. This expands the oral cavity operating space, exposes the deep pharyngeal area, ensures smooth breathing for the patient, facilitates precise operation by the doctor during surgery, and reduces the risk of accidentally touching sensitive tissues.

[0017] The flexible channel wall 13 is equipped with a channel setting mechanism on its side. The channel setting mechanism can assist medical staff in quickly piercing the patient's oral mucosa and submucosal tissue to establish a surgical channel. The flexible channel wall 13 is equipped with a tongue depressor on its side. The tongue depressor can lift and open the lateral airbag support plate 4 through the airbag, expand the operating space in the patient's oral cavity and keep the patient's oral breathing unobstructed.

[0018] like Figure 1 , Figure 4 and Figure 5As shown, the channel establishment mechanism includes an external channel 1, an external handle 10 slidably installed inside the external channel 1, and a puncture device 11 fixedly installed on the external handle 10. The puncture device 11 is located inside the external channel 1 and slidably installed inside the flexible channel wall 13. The puncture device 11 has a beveled puncture head at its front end. The puncture device 11 penetrates the oral mucosa and other tissues through the puncture head at its front end to establish a microchannel, facilitating subsequent operations. The puncture device 11 is located inside the flexible channel wall 13, and during the channel establishment stage, the puncture device 11... The flexible channel wall 13 provides support, and a rigid channel wall 12 is provided on top of the flexible channel wall 13. The rigid channel wall 12 is made of medical-grade stainless steel and has anti-slip threads to prevent the trocar from slipping and falling off. The rigid design of the rigid channel wall 12 can stably support the surgical channel and prevent it from collapsing, allowing medical staff to accurately control the direction and depth of the operation. The anti-slip threads also help to prevent the trocar from slipping when it is fixed in place. At the same time, its rigid surface is easy to clean, reducing the risk of oral secretions or contaminants remaining, improving the safety of use. The surgical robot 15 is slidably installed inside the puncture device 11. The working principle of the medical surgical robot 15 is as follows: it works by relying on nestable execution arms. After the doctor issues instructions through the main control panel, the execution arms can flexibly extend or retract to adapt to different surgical spaces such as the abdominal cavity and deep oral cavity. The sensors on the execution arms will provide real-time feedback on position and force information to avoid damage to surrounding tissues during operation, ultimately achieving precise and safe surgical operation. Medical staff first disinfect and mark the entire device and the surgical site where a channel needs to be established for the patient. Then, the front end of the puncture device 11 is aligned with the marked area, and the puncture head at the front end of the puncture device 11 punctures the oral mucosa and the underlying tissue. Then, the flexible channel wall 13 and the rigid channel wall 12 enter into it to establish a stable channel between the patient's body and the outside. The rigid channel wall 12 is equipped with a sealing valve made of medical silicone material. The sealing valve in the rigid channel wall 12 is used to reduce the contact between the patient's body and the outside air. This sealing valve is elastic. When the surgical instrument 17 passes through, it will fit tightly against the outer wall of the instrument. When no instrument passes through, it will automatically close to block the flow of air between the inside and outside.

[0019] like Figure 2 , Figure 3 , Figure 6 and Figure 7As shown, the tongue depressor includes an annular gas channel 2, within which an airflow channel is provided. At least three vertical support plates 3 are provided on the circumferential surface of the annular gas channel 2, arranged in a ring. Each vertical support plate 3 has a groove. Lateral airbag support plates 4 are fixedly installed on the vertical support plates 3, arranged in a ring around the center point of the annular gas channel 2. Both the vertical support plates 3 and the lateral airbag support plates 4 are made of medical-grade silicone rubber. The vertical support plates 3 can be folded into the grooves on their respective plates, and each vertical support plate 3 contains a uniquely shaped support. The airbag 5, with its lower end located within the lateral airbag support plate 4, is a segmented design that better conforms to the shape of the soft palate and the patient's tongue. One end of the irregularly shaped support airbag 5 is connected to the airflow channel within the annular gas channel 2. An airflow exchange device 7 is fixedly installed on the external channel 1, and an air inlet pipe 8 is fixedly installed on the airflow exchange device 7. One end of the air inlet pipe 8 is connected to the airbag. An air delivery pipe 6 is fixedly installed on the airflow exchange device 7, and the air delivery pipe 6 is connected to the airflow channel within the annular gas channel 2. The air inlet pipe 8 is connected to the air delivery pipe 6. Next, after the device establishes a channel in the patient's body, medical staff control the airbags to deploy the vertical support plate 3 and the lateral airbag support plate 4. The lower vertical support plate 3 and lateral airbag support plate 4 are used to press down the patient's tongue, preventing it from being pulled into the throat. This, combined with the patient's position, reduces the amount of saliva and vomit entering the trachea. The two sets of vertical support plates 3 and lateral airbag support plates 4 at the upper end work together to support the patient's soft palate, preventing it from falling back and obstructing the airway, and exposing the pharynx or nasopharynx for the operating field of view. A negative pressure inhalation tubing 9 is fixedly installed on the airflow exchange device 7. One end of the negative pressure inhalation tubing 9 is connected to a negative pressure device. A negative pressure suction device 14 is fixedly installed at the lower end of the flow exchange device 7. One end of the negative pressure suction device 14 is connected to the negative pressure suction line 9. The negative pressure suction device 14 is used to assist in cleaning up blood and tissue exudate generated during surgery. The other end of the negative pressure suction device 14 is fixedly installed at the front end of the medical surgical robot 15. After the vertical support plate 3 and the lateral airbag support plate 4 are deployed and the device is fixed, the medical staff pulls out the puncture device 11 through the external handle 10, so that the flexible channel wall 13 returns to a flexible state. At this time, the medical staff manipulates the negative pressure suction device 14 to extend and retract. After reaching the designated depth, the surgery on the affected area begins.

[0020] Working principle: The first step involves medical staff disinfecting and marking the entire equipment and the oral cavity area where the surgical channel needs to be established. Then, the tip of the puncture device 11 is aligned with the marked area, and the beveled puncture head at the tip of the puncture device 11 punctures the oral mucosa and the tissue below it. At the same time, the flexible channel wall 13 and the rigid channel wall 12 are pushed into the tissue along with the puncture device 11, initially establishing a channel connecting the patient's body and the outside. During this stage, the puncture device 11 provides support for the flexible channel wall 13, and the rigid channel wall 12, made of medical-grade stainless steel, prevents the channel from collapsing.

[0021] In the second step, after the initial establishment of the channel, the airflow exchange device 7 is activated. The airflow enters the gas delivery pipe 6 through the air intake pipe 8, and is then delivered to the airflow channel in the annular gas channel 2 through the gas delivery pipe 6, and finally flows into the irregular support airbag 5 in the vertical support plate 3. After the irregular support airbag 5 is inflated, it pushes the vertical support plate 3 to unfold from the folded state, and drives the lateral airbag support plate 4 to open simultaneously. The lower vertical support plate 3 and the lateral airbag support plate 4 press down on the patient's tongue, while the two sets of vertical support plates 3 and the lateral airbag support plate 4 at the upper end support the patient's soft palate. At the same time, the anti-slip threads on the rigid channel wall 12 are used to fix the device and prevent it from sliding, further stabilizing the surgical channel.

[0022] Third, medical staff use the external handle 10 to pull the puncture device 11 out of the flexible channel wall 13, so that the flexible channel wall 13 returns to its flexible state; then they operate the negative pressure suction device 14, one end of which is connected to the negative pressure suction tube 9 on the airflow exchange device 7, and the other end is fixed to the front end of the medical surgical robot 15. The negative pressure suction device 14 is adjusted to a designated depth close to the surgical site to prepare for cleaning up the blood and tissue exudate generated during the operation.

[0023] Fourth, the doctor issues commands through the external worktable to control the nestable execution arm of the medical surgical robot 15 to extend or retract, adapting to the deep surgical space of the oral cavity; the sensors on the execution arm provide real-time feedback on position and force information to avoid damage to surrounding tissues; the surgical instrument 17 at the end of the medical surgical robot 15 can be replaced with hemostats, scalpels, medical forceps, etc., to perform precise surgical operations on the affected area; during the operation, the negative pressure suction device 14 works continuously to promptly clear blood and exudate from the surgical area, ensuring a clear surgical field until the operation is completed.

[0024] The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A flexible trocar for small-cavity surgical robots with a tongue depressor mechanism, including a medical surgical robot (15), characterized in that: The medical surgical robot (15) is fixedly equipped with surgical instruments (17). The surface of the medical surgical robot (15) is provided with a flexible channel wall (13). The material of the flexible channel wall (13) is medical soft silicone. The side of the flexible channel wall (13) is provided with a lateral airbag support plate (4). The lateral airbag support plate (4) is a segmented design. The flexible channel wall (13) is provided with a channel erection mechanism on the side. The channel erection mechanism can assist medical staff in piercing the patient's oral mucosa and tissue to establish a surgical channel. The flexible channel wall (13) is provided with a tongue depressor on the side. The tongue depressor can lift and open the lateral airbag support plate (4) through the irregular support airbag (5) to expand the operating space in the patient's oral cavity and keep the patient's oral breathing unobstructed. The channel erection mechanism includes an external channel (1), an external handle (10) is slidably installed inside the external channel (1), and a puncture device (11) is fixedly installed on the external handle (10). The puncture device (11) is located inside the external channel (1). The tongue depressor includes an annular gas channel (2), which has an airflow channel. The annular gas channel (2) has at least three vertical support plates (3) arranged in a ring on the circumferential surface of the annular gas channel (2). A groove is provided on the vertical support plate (3), and the lateral airbag support plate (4) is fixedly installed on the vertical support plate (3). The lateral airbag support plate (4) is arranged in a ring with the center point of the annular gas channel (2) as the center. The vertical support plate (3) and the lateral airbag support plate (4) are made of medical grade silicone rubber. The vertical support plate (3) is provided with an irregular support airbag (5), the lower end of the irregular support airbag (5) is located in the side airbag support plate (4), one end of the irregular support airbag (5) is connected to the airflow channel in the annular gas channel (2), and an airflow exchange device (7) is fixedly installed on the external channel (1). An air intake pipe (8) is fixedly installed on the air exchange device (7), one end of which is connected to a shaped support airbag (5), and an air delivery pipe (6) is fixedly installed on the air exchange device (7).

2. The flexible trocar with tongue depressor mechanism for small-cavity surgical robots as described in claim 1, characterized in that, The puncture device (11) is slidably installed inside the flexible channel wall (13). The front end of the puncture device (11) is provided with a slanted puncture head. The puncture device (11) is located inside the flexible channel wall (13). The flexible channel wall (13) is provided with a rigid channel wall (12).

3. The flexible trocar with tongue depressor mechanism for small-cavity surgical robots as described in claim 2, characterized in that, The rigid channel wall (12) is made of medical stainless steel. The rigid channel wall (12) is provided with anti-slip threads. The medical surgical robot (15) is slidably installed in the puncture device (11). The rigid channel wall (12) is provided with a sealing valve made of medical silicone material.

4. The flexible trocar with tongue depressor mechanism for small-cavity surgical robots as described in claim 3, characterized in that, The gas delivery pipe (6) is connected to the airflow channel in the annular gas channel (2), the air intake pipe (8) is connected to the gas delivery pipe (6), and a negative pressure suction pipe (9) is fixedly installed on the airflow exchange device (7).

5. The flexible trocar with tongue depressor mechanism for small-cavity surgical robots as described in claim 4, characterized in that, The lower end of the airflow exchange device (7) is fixedly installed with a negative pressure suction device (14). One end of the negative pressure suction device (14) is connected to the negative pressure suction pipe (9), and the other end of the negative pressure suction device (14) is fixedly installed at the front end of the medical surgical robot (15).

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