Uterine manipulator auxiliary device based on laparoscopic surgery

Abstract

The invention relates to the technical field of medical auxiliary instruments, in particular to a laparoscopic surgery-based uterus manipulator auxiliary device which is mounted on a uterus lifting rod of an existing balloon type uterus manipulator and comprises a sensing part and an equipment part, the sensing part comprises a plurality of auxiliary bags, attaching layers are arranged at the bottoms of the auxiliary bags, and the auxiliary bags adhere to the outer side wall of the balloon of the uterus lifting head through the attaching layers; the equipment part comprises a connector assembly, and the multiple auxiliary bags communicate with the connector assembly. The equipment part further comprises an attached shell, the attached shell is of an annular structure, a plurality of contact grooves are formed in the outer side of the attached shell, pressed feedback assemblies are arranged in the contact grooves, and the pressed feedback assemblies communicate with the auxiliary bags in a one-to-one correspondence mode; the pressure sensing part is integrated on an existing balloon type uterine manipulator to capture the pressure change of the uterine tissue, the equipment part is integrated to transmit the sensing feedback information of the compressive strength of the inner wall of the uterus of a patient to an operator, and the defect that the operator of the existing uterine manipulator cannot visually sense the compressive strength of the uterine tissue in real time is overcome.

Description

Technical Field

[0001] This invention relates to the field of medical auxiliary device technology, specifically to a uterine manipulator auxiliary device based on laparoscopic surgery. Background Technology

[0002] Uterine lifters are medical devices used in gynecological surgery to fix, elevate, or adjust the position of the uterus. They are mainly used in laparoscopic surgery or robot-assisted surgery (such as total hysterectomy) to help doctors have a clearer view and more precise operation.

[0003] The currently used YS206 JGQ multifunctional uterine manipulator (described in "Endoscopic Surgical Instruments" proposed by Tonglu YouShi Medical Devices Co., Ltd. and Hangzhou Youmei Medical Equipment Co., Ltd.) uses five replaceable manipulator heads (including independent curved ends and curved ends combined with manipulator cups), which, together with the handheld operating unit, allow for manual adjustment and support of the patient's uterine cavity during surgery. Meanwhile, the "Design and Development of a Semi-Disposable Balloon Uterine Manipulator" proposed by Yang Kangya, Xu Hongyan, et al. (Affiliated Obstetrics and Gynecology Hospital of Zhejiang University School of Medicine) involves a semi-disposable balloon uterine manipulator. Through a sliding fit structure between the manipulator rod and the central axis of the manipulator cup, an injection-adjustable balloon is integrally formed on the manipulator rod. This product abandons the clamp-type (including curved rigid manipulator heads) or conical screw structure commonly used in traditional uterine manipulators, effectively avoiding pressure damage to cervical tissue when screwed into the cervix, thereby reducing the risk of tumor cells entering the bloodstream due to pressure and causing metastasis.

[0004] However, both rigid and balloon-type uterine manipulators rely on the surgeon's visual observation of changes in uterine shape to adjust the application of lifting force during laparoscopic surgery. This makes it difficult to quantify and directly perceive the pressure on uterine tissue. For example, during the assistant's traction of the uterus, the surgeon cannot obtain the pressure threshold in real time, which can easily lead to cervical tissue damage due to excessive or insufficient force. Therefore, there is an urgent need to develop a uterine manipulator auxiliary device for laparoscopic surgery to help the assistant to accurately and dynamically adjust the application of lifting force and improve surgical safety. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides a uterine manipulator auxiliary device based on laparoscopic surgery. It integrates a pressure sensing unit on an existing balloon-type uterine manipulator to capture changes in uterine tissue pressure, and integrates a device unit to transmit feedback information on the pressure intensity of the patient's uterine wall to the operator, thus solving the defect that the operator of existing uterine manipulators cannot intuitively perceive the pressure intensity of uterine tissue in real time.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: a uterine maneuver auxiliary device based on laparoscopic surgery, which is installed on the maneuver rod of an existing balloon-type uterine maneuver, including a sensing part and a device part;

[0007] The sensing unit includes several strip-shaped auxiliary sacs, each with an adhesive layer at its bottom. The auxiliary sacs are attached to the outer wall of the balloon-type uterine lifting device through the adhesive layer.

[0008] The equipment includes a filling assembly for providing fluid transport for the inflation of several auxiliary bladders, all of which are in communication with the filling assembly;

[0009] The equipment also includes an attachment housing, which is a ring-shaped structure. The attachment housing can be detachably nested and fixed to the outer periphery of the handle of the uterine lift rod. Several contact grooves are provided on the outer side of the attachment housing, and each contact groove is equipped with a pressure feedback component. The pressure feedback component is connected to the auxiliary capsule one by one. The pressure feedback component is used to transmit feedback information that is positively correlated with the pressure intensity to the operator based on the pressure change of the uterine tissue borne by the corresponding auxiliary capsule.

[0010] The technical principle of the above solution is as follows: This solution sets up several auxiliary capsules as pressure sensing units, which are attached to the outside of the existing balloon-type uterine manipulator through an adhesive layer. Then, by using a connector assembly to connect to the existing balloon filling mechanism, fluid is supplied to the auxiliary capsules to maintain their expansion state. At the same time, an attachment shell is nested around the outer periphery of the existing rod handle. The attachment shell is equipped with a pressure feedback component that corresponds to each auxiliary capsule. The pressure change of uterine tissue borne by each auxiliary capsule is converted into feedback information that is positively correlated with the pressure intensity and can be felt by the operator, so as to realize the real-time transmission of the uterine tissue pressure state to the operator.

[0011] The above approach has the following beneficial effects:

[0012] 1. This solution uses several auxiliary capsules attached to the outside of the balloon, which serve as sensing and support components. This not only helps to improve the support and adjustment effect of the original balloon, but also captures pressure changes from multiple directions.

[0013] 2. This solution overcomes the deficiency of existing uterine manipulators where operators cannot directly perceive the pressure intensity on uterine tissue. By connecting the auxiliary capsule with the corresponding pressure feedback component, the operator can obtain pressure information in real time, solving the problem of lack of pressure perception and avoiding excessive or insufficient pressure.

[0014] Furthermore, several auxiliary balloons are evenly distributed along the circumference of the balloon.

[0015] Beneficial effects: The design of several auxiliary capsules evenly arranged around the circumference of the balloon allows each auxiliary capsule to collect pressure signals from multiple directions of the uterine wall simultaneously, achieving all-round force monitoring. At the same time, it provides balanced support for the uterine tissue, avoiding concentrated force in one direction, helping the operator to quickly locate a stable support position, reducing the number of repeated fine adjustments, and improving the efficiency of uterine lifting regulation.

[0016] Furthermore, the cross-section of the auxiliary capsule is a semi-circular structure after it is filled with fluid.

[0017] Beneficial effects: After being filled with fluid, the assisted capsule has a semi-circular structure, which ensures good fit with the uterine wall, increases the contact area for force, and produces uniform deformation under pressure, making the internal fluid pressure change more linear and improving the accuracy of pressure sensing. At the same time, the semi-circular structure has good elastic recovery, which extends the service life of the assisted capsule.

[0018] Furthermore, the attachment shell is made of polycarbonate material, and the adhesive layer is made of silicone rubber pressure-sensitive film.

[0019] Beneficial effects: The attachment shell is made of polycarbonate material, which has high strength, impact resistance and biocompatibility, ensuring structural stability during surgery; while the attachment layer is made of silicone rubber pressure-sensitive film, which has strong adhesion and is soft, can closely fit the outside of the balloon to prevent it from falling off, and does not irritate uterine tissue, thus improving the safety and reliability of the auxiliary device.

[0020] Furthermore, the fluid filling assembly includes a multi-port connector, with several output ends of the multi-port connector connected to the balloon and several auxiliary balloons respectively, and the input end of the multi-port connector connected to the output end of the one-way valve of the uterine lift rod.

[0021] Beneficial effects: By using a multi-connector design, the output end of the existing uterine manipulator's one-way valve is connected to the balloon and auxiliary balloon. The existing pumping equipment is used to supply and fill the auxiliary balloon with fluid, simplifying the system structure and eliminating the need for additional devices. This ensures that the pressure of the balloon and auxiliary balloon is synchronized, making the feedback information consistent with the actual uterine stress state and reducing operational complexity.

[0022] Furthermore, the liquid filling assembly includes a pump and a one-way valve, with several auxiliary bladders connected to the output end of the one-way valve and the pump connected to the input end of the one-way valve.

[0023] Beneficial effects: The filling assembly integrating the pump and one-way valve allows the auxiliary device to independently fill the auxiliary bladder without relying on external pumping equipment, making it suitable for uterine lift devices without matching pumps; in addition, the one-way valve prevents fluid backflow, ensuring stable pressure in the auxiliary bladder and expanding the device's applicability and operational stability.

[0024] Furthermore, each pressure feedback component includes a hydraulic box, which is embedded in the attachment housing. Each hydraulic box has a pressure chamber, a first cylindrical cavity, and a second cylindrical cavity. The pressure chamber, the first cylindrical cavity, and the second cylindrical cavity are all cylindrical chambers. The first cylindrical cavity is connected to the corresponding second cylindrical cavity. The pressure chamber is located at the top of the first cylindrical cavity. Several pressure chambers are respectively connected to several auxiliary bladders. Each pressure chamber has a pressure piston that is sealed and slidably fitted inside. Each pressure piston passes through the corresponding pressure chamber and the first cylindrical cavity.

[0025] The top of the second cylinder cavity penetrates the top wall of the hydraulic box and corresponds to the position of the contact groove. The second cylinder cavity is sealed and slidably fitted with the first convex contact block. Both the first and second cylinder cavities are filled with hydraulic oil, which is located at the bottom of the pressing piston and the bottom of the first convex contact block.

[0026] Beneficial effects: The piston assembly inside the hydraulic box converts the pressure changes of the auxiliary balloon fluid into mechanical motion. The hydraulic oil transmits pressure to push the protruding contact block to extend, allowing the operator to intuitively perceive the pressure intensity through hand contact. The reset spring ensures that the assembly is reset, enabling repeated use. The feedback is positively correlated with the pressure, helping to accurately adjust the force and improve the safety and controllability of the surgery.

[0027] Furthermore, the radius of the first cylinder cavity is equal to the radius of the pressure cavity, and the radius of the first cylinder cavity is smaller than the radius of the second cylinder cavity.

[0028] Beneficial effects: The equal radius of the first cylinder and the pressure chamber ensures linear and stable pressure transmission. The larger radius of the second cylinder allows the displacement distance driven by the air pressure of the corresponding auxiliary bladder in the first cylinder during hydraulic transmission to be transferred to the second cylinder to adapt to the shape of the first convex block, which is larger than the diameter of the first cylinder. This makes the operator more sensitive to pressure changes, while avoiding excessive displacement that could cause structural interference, thus balancing feedback accuracy and structural safety.

[0029] Furthermore, each pressure feedback component includes a pressure sampling pipe, which is embedded within the attachment housing. Each pressure sampling pipe is connected to a corresponding auxiliary bladder. A fluid pressure sensor is fixedly connected to the inner wall of each pressure sampling pipe. A controller is integrated within the attachment housing, and several fluid pressure sensors are connected to the controller signal.

[0030] Each contact groove has an actuator fixedly connected to it, and each actuator's output end is fixedly connected to a second protruding contact block. Each actuator is connected to the controller via signal. The controller receives and analyzes the flow pressure data collected by each fluid pressure sensor, and uses the signal to regulate the drive of each actuator.

[0031] Beneficial effects: The pressure sensor inside the pressure sampling pipeline collects the pressure signal of the auxiliary bladder. After the controller analyzes the data, it adjusts the actuator to drive the displacement of the convex block, converting the pressure signal into quantitative mechanical feedback. This solves the problem of traditional mechanical feedback relying on experience-based adjustment, meets the quantitative feedback requirements of precision surgery, and improves the accuracy of feedback.

[0032] Furthermore, the specific processing procedure for the controller signal to regulate the drive of each actuator is as follows:

[0033] The controller first receives the pressure signals of the fluid inside the uterine cavity collected by each fluid pressure sensor in real time and converts the pressure signals into pressure data. Based on the pressure data, it compares it with the preset clinical safety threshold and calculates the external pressure intensity of the patient's uterine wall that the corresponding uterine cavity is subjected to. Finally, the controller adjusts the drive displacement of the actuator according to the pressure intensity signal.

[0034] Beneficial effects: The controller receives pressure signals in real time and converts them into data. After comparing the data with the preset threshold, it calculates the uterine wall pressure intensity and then adjusts the actuator displacement to form a closed-loop feedback control. This limits the pressure on each auxiliary sac within a safe range, avoids tissue damage or uterine instability, ensures real-time and accurate feedback, and improves the quality of the surgery.

[0035] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the auxiliary device for the uterine maneuver based on laparoscopic surgery according to the present invention, with the auxiliary device installed on an existing balloon-type uterine maneuver.

[0037] Figure 2 This is a schematic diagram of the overall structure of the auxiliary device in an embodiment of the uterine manipulator auxiliary device based on laparoscopic surgery of the present invention;

[0038] Figure 3 for Figure 2 A schematic diagram showing the arrangement of several auxiliary pouches at point A in the middle;

[0039] Figure 4 This is a front cross-sectional schematic diagram of the hydraulically attached housing of the uterine manipulator auxiliary device based on laparoscopic surgery according to an embodiment of the present invention.

[0040] Figure 5 for Figure 4 A magnified view of the hydraulic cylinder's piston at point B;

[0041] Figure 6 This is a front cross-sectional view of the pressure-collecting pipe-type attached shell of the uterine manipulator auxiliary device based on laparoscopic surgery according to an embodiment of the present invention.

[0042] The reference numerals in the accompanying drawings include: 1. Lifting rod; 2. Fixed housing; 3. Balloon; 4. Rod handle; 5. One-way valve; 6. Auxiliary bladder; 7. Multi-port connector; 8. Attachment housing; 9. Contact groove; 10. Hydraulic box; 11. Pressing chamber; 12. First cylinder cavity; 13. Second cylinder cavity; 14. Pressing piston; 141. First piston plate; 142. Connecting rod; 143. Second piston plate; 144. Return spring; 15. First convex contact block; 16. Hydraulic oil; 17. Pressure sampling pipe; 18. Fluid pressure sensor; 19. Actuator; 20. Second convex contact block. Detailed Implementation

[0043] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., 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 the invention and for simplifying the description, and do not 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 the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0045] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0046] The following detailed description illustrates the specific implementation method:

[0047] Example 1:

[0048] First, it should be clarified that existing balloon-type uterine manipulators (specifically as described in the literature "Design of Uterine Manipulators with Cutting and Flushing Functions" (Li Yunfeng, Xinruide Medical Technology Co., Ltd.)) are as follows: Figure 1As shown, it includes a separate lifting rod 1 and a fixed outer shell 2. The lifting rod 1 has a hollow structure. A balloon 3 and a rod handle 4 are integrally formed on the lifting rod 1. A one-way valve 5 is provided at the bottom of the rod handle 4. The output end of the one-way valve 5 is connected to the lifting rod 1, and the input end of the one-way valve 5 is connected to a pumping device.

[0049] This embodiment addresses the technical deficiency of existing uterine manipulators, where operators find it difficult to perceive the pressure applied to uterine tissue during adjustment. It provides a uterine manipulator auxiliary device based on laparoscopic surgery, combined with... Figure 1 and Figure 2 As shown, the auxiliary device is installed on the lifting rod 1 and includes a sensing unit and a device unit:

[0050] The sensing unit includes several strip-shaped auxiliary sacs 6, each with an adhesive layer at its bottom (not shown in the figure; the adhesive layer is made of silicone rubber pressure-sensitive film with a thickness controlled between 0.1 and 0.2 mm). Each auxiliary sac 6 is attached to the outer wall of the balloon 3 of the uterine maneuvering head via the adhesive layer (the auxiliary sacs 6 are filled with fluid during uterine maneuvering). During laparoscopic surgery, when the operator adjusts the position or angle of the balloon 3 on the maneuvering rod 1 using the force applied by the operator, the patient's uterine tissue will generate a corresponding reaction force in the direction and intensity of the corresponding auxiliary sac 6. This causes the fluid-filled auxiliary sac 6 to deform under pressure within its elastic deformation range, resulting in changes in internal fluid pressure. These independent auxiliary sacs 6 can convert the stress on the uterine tissue under different uterine maneuvering operations into quantifiable fluid pressure changes, thereby visualizing the force applied by the operator and laying the foundation for accurate transmission of subsequent pressure sensing.

[0051] In addition, combined Figure 2 and Figure 3 As shown, several auxiliary balloons 6 are evenly distributed around the circumference of the balloon 3. With this evenly distributed circumferential design, each fluid-filled and independent auxiliary balloon 6 can provide balanced support and precise force feedback from multiple directions of the uterine wall. The operator can quickly locate the stable support position of the uterus based on the pressure change signals of the auxiliary balloons 6 in different directions, avoiding repeated fine adjustments caused by force concentration or support blind spots when lifting the uterus with a single balloon 3, thereby effectively improving the efficiency of uterine lifting adjustment and reducing unnecessary adjustments.

[0052] The equipment section includes connector assemblies for providing fluid transfer for the expansion of several auxiliary bladders 6, such as... Figure 2As shown, the connector assembly includes a multi-port connector 7. The output end of the multi-port connector 7 connects to the balloon 3 and several auxiliary balloons 6, and the input end of the multi-port connector 7 connects to the output end of the one-way valve 5. Based on the existing fluid filling mechanism (the design of the balloon 3 and the one-way valve 5) in the structure of the existing balloon 3 type uterine manipulator, the design of the multi-port connector 7 in this embodiment can realize centralized fluid diversion and transmission between the balloon 3 and several auxiliary balloons 6. This ensures that the balloon 3 and auxiliary balloons 6 receive a stable fluid supply to maintain the required expansion state, avoids expansion failure or pressure fluctuations caused by fluid backflow during the operation, and simplifies the connection structure of the fluid transmission pipeline, reducing operational complexity.

[0053] The equipment also includes an attachment housing 8, such as Figure 2 and Figure 4 As shown, the attachment housing 8 is a ring-shaped structure (the attachment housing 8 is made of polycarbonate material), and the attachment housing 8 can be detachably nested and fixed to the outer periphery of the handle 4 of the uterine lifting rod 1.

[0054] The special feature is that several contact grooves 9 are provided on the outer side of the attachment housing 8, and each contact groove 9 is equipped with a pressure feedback component, specifically as follows: Figure 4 As shown, the pressure feedback components correspond one-to-one with the auxiliary bladder 6. Each pressure feedback component includes a hydraulic box 10, which is embedded within the attachment housing 8. Each hydraulic box 10 has a pressure chamber 11, a first cylindrical cavity 12, and a second cylindrical cavity 13. The pressure chamber 11, the first cylindrical cavity 12, and the second cylindrical cavity 13 are all cylindrical chambers. Each first cylindrical cavity 12 communicates with its corresponding second cylindrical cavity 13 (the radius of each first cylindrical cavity 12 is equal to the radius of the pressure chamber 11, and the radius of each first cylindrical cavity 12 is smaller than the radius of the second cylindrical cavity 13). To ensure linear stability of pressure transmission, the smaller radius of the first cavity 12 is designed to accommodate the smaller air pressure force of the auxiliary bladder 6 used to contact the patient's uterine wall tissue. At the same time, the larger radius of the second cavity 13 allows the second cavity 13 to be more clearly perceived by the operator through its larger area, thereby amplifying the air pressure change when the auxiliary bladder 6 is compressed. The pressure chamber 11 is located at the top of the first cavity 12, and several pressure chambers 11 are respectively connected to several auxiliary bladders 6. Each pressure chamber 11 is sealed and slidably fitted with a pressure piston 14.

[0055] Combination Figure 4 and Figure 5As shown, each of the pressing pistons 14 includes a first piston plate 141. A connecting rod 142 is fixedly connected to the bottom of each first piston plate 141. A second piston plate 143 is fixedly connected to the end of the connecting rod 142 away from the first piston plate 141. The first piston plate 141 is slidably engaged with the pressing cavity 11. The second piston plate 143 is slidably engaged with the first cylindrical cavity 12. A return spring 144 is fused to the bottom wall of each pressing cavity 11. The end of the return spring 144 away from the bottom wall of the pressing cavity 11 is fused to the first piston plate 141. The top of each second cylindrical cavity 13 penetrates the top wall of the hydraulic box 10 and corresponds to the position of the contact groove 9. A first protruding contact block 15 is slidably engaged in the second cylindrical cavity 13. Both the first cylindrical cavity 12 and the second cylindrical cavity 13 are filled with hydraulic oil 16. The hydraulic oil 16 is located at the bottom of the corresponding second piston plate 143 and the bottom of the first protruding contact block 15.

[0056] When any auxiliary capsule 6 is subjected to pressure from the patient's uterine tissue or when the operator rotates / swings the uterine lift rod 1 via the handle, the corresponding fluid pressure change inside the auxiliary capsule 6 is transmitted to the corresponding pressure chamber 11 through the connecting pipe. This causes the first piston plate 141 to compress the reset spring 144 and drive the second piston plate 143 to slide downward along the first cylinder 12 via the connecting rod 142. This compresses the hydraulic oil 16 filled in the first cylinder 12 and the second cylinder 13, thereby pushing the first protruding contact block 15 in the second cylinder 13 to slide upward along the contact groove 9. This design converts the fluid pressure signal (deformation under pressure) of the auxiliary capsule 6 into a mechanical feedback signal that can be directly perceived by the operator (the contact between the first protruding contact block 15 and the operator's palm). The reset spring 144 can drive each piston assembly to reset to the initial state after the pressure is released, ensuring the reusability and operational stability of the feedback system and achieving precise mechanical feedback transmission of the uterine tissue pressure state.

[0057] Furthermore, based on the piston movement driven by the flow pressure and the transmission combination of hydraulic amplification, the greater the pressure on the auxiliary energy, the greater and more obvious the displacement distance of the first convex contact block 15, forming a positive correlation between the displacement of the first convex contact block 15 and the pressure intensity of the auxiliary sac 6. This allows the operator to intuitively and in real time perceive the pressure level of the uterine tissue through the degree of protrusion of the first convex contact block 15 touched by hand. The greater the pressure, the more significant the convex feedback, helping to accurately adjust the operating force and avoid excessive pressure that could cause tissue damage. This meets the design specifications for the intuitiveness and controllability of medical device safety operation and feedback systems, improving the safety and accuracy of surgical operations.

[0058] Example 2:

[0059] Based on the laparoscopic surgery-based uterine manipulator auxiliary device described in Embodiment 1, this embodiment optimizes the filling component (not shown in the figure) to adapt to application scenarios where the uterine manipulator does not include a pump. The filling component includes a pump and a one-way valve. Several auxiliary bladders 6 are connected to the output end of the one-way valve, and the pump is connected to the input end of the one-way valve. This design integrates the pump and the one-way valve into the uterine manipulator auxiliary device, eliminating the dependence on external pump equipment. The device can independently complete the filling operation of the auxiliary bladders 6, effectively adapting to clinical application scenarios without a matching pump. At the same time, the one-way valve ensures unidirectional flow of fluid to avoid pressure backflow, improving operational stability and safety, and expanding the applicability and clinical practicality of the uterine manipulator auxiliary device of this solution.

[0060] Example 3:

[0061] Based on the uterine manipulator assist device for laparoscopic surgery described in Example 1, its core feedback mechanism is that the assist sac 6 deforms under pressure and squeezes the fluid inside the cavity, thereby realizing real-time feedback of the relative pressure between the uterine tissue and the assist sac 6 through changes in fluid pressure. Although it has the technical advantages of rapid response, positive correlation between pressure feedback and pressure degree, and intuitive perception by the operator's hand, which can help the operator obtain the pressure status of the uterine tissue in a timely manner, this feedback mechanism still requires the operator to adjust the pressure based on clinical experience and to make adjustments after becoming familiar with the device, which is difficult to meet the quantitative feedback requirements of precise surgical operations.

[0062] Therefore, specifically as follows Figure 5 As shown, this embodiment optimizes several pressure feedback components in embodiment 1. Each pressure feedback component includes a pressure sampling pipe 17, which is embedded in the attachment housing 8. Each pressure sampling pipe 17 is connected to the corresponding auxiliary bladder 6. A fluid pressure sensor 18 is fixedly connected to the inner wall of each pressure sampling pipe 17. A controller is integrated in the attachment housing 8, and several fluid pressure sensors 18 are connected to the controller signal.

[0063] Each contact groove 9 is fixedly connected to an actuator 19, and each actuator 19 is fixedly connected to a second protruding contact 20 at its output end. Each actuator 19 is connected to the controller via signal. The controller receives and analyzes the flow pressure data collected by each fluid pressure sensor 18, and uses the signal to regulate the drive of each actuator 19.

[0064] The specific processing procedure for controller signal regulation of each actuator 19 drive is as follows:

[0065] The controller first receives the simulated fluid pressure signals inside the auxiliary sac 6 transmitted by each fluid pressure sensor 18 in real time. It digitizes the signals through a built-in analog-to-digital converter and uses a Kalman filter algorithm to eliminate noise caused by interference factors such as instrument vibration and fluid pulsation in the surgical environment, thus obtaining stable pressure data. Subsequently, the controller compares the pre-processed pressure value with preset clinical safety thresholds (including the minimum lower limit of pressure for effective expansion of the auxiliary sac 6 and the maximum upper limit of pressure tolerable by uterine tissue). At the same time, based on the elastic modulus and force-bearing area parameters of the auxiliary sac 6, it calculates the external pressure intensity of the uterine wall that the corresponding auxiliary sac 6 bears through a mechanical model. Then, based on the linear mapping relationship between pressure intensity and the drive displacement of the actuator 19 (this relationship has been verified by clinical trials to ensure feedback accuracy), the controller outputs a pulse width modulation (PWM) control signal to the corresponding actuator 19, driving the second convex contact block 20 to make axial linear displacement along the contact groove 9.

[0066] For example, when the pressure exceeds the preset benchmark value, the distance the second convex contact 20 extends outward increases with the increase of pressure, and conversely, it retracts proportionally. Finally, the controller continuously collects pressure data in a loop and dynamically adjusts the output of the actuator 19 to form a closed-loop feedback control, ensuring that the force state of each auxiliary bladder 6 can be transmitted to the user in real time and accurately through the position change of the second convex contact 20, while strictly limiting the pressure value within the safe threshold range to avoid uterine tissue damage or insufficient uterine stability.

[0067] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A uterine maneuver auxiliary device based on laparoscopic surgery, installed on the maneuver rod (1) of an existing balloon-type uterine maneuver, characterized in that, Including the sensing department and the equipment department; The sensing part includes several strip-shaped auxiliary sacs (6), each of which has an adhesive layer at its bottom. The auxiliary sacs (6) are all attached to the outer wall of the balloon (3) of the balloon-type uterine lifter through the adhesive layer. The equipment includes a filling assembly for providing fluid transport for the expansion of a plurality of auxiliary bladders (6), all of which are in communication with the filling assembly; The equipment also includes an attachment housing (8), which is a ring structure. The attachment housing (8) can be detachably nested and fixed to the outer periphery of the handle (4) of the lifting rod (1). Several contact grooves (9) are provided on the outer side of the attachment housing (8). Each contact groove (9) is provided with a pressure feedback component. The pressure feedback component corresponds to the auxiliary sac (6) one by one. The pressure feedback component is used to transmit feedback information that is positively correlated with the pressure intensity to the operator based on the pressure change of the uterine tissue borne by the corresponding auxiliary sac (6).

2. The uterine maneuver auxiliary device based on laparoscopic surgery according to claim 1, characterized in that, Several auxiliary capsules (6) are evenly distributed along the circumference of the balloon (3).

3. The uterine maneuver auxiliary device based on laparoscopic surgery according to claim 2, characterized in that, The auxiliary capsule (6) has a semi-circular cross-section after being filled with fluid.

4. The uterine maneuver auxiliary device based on laparoscopic surgery according to claim 3, characterized in that, The attachment shell (8) is made of polycarbonate material, and the attachment layer is made of silicone rubber pressure-sensitive film.

5. The uterine maneuver auxiliary device based on laparoscopic surgery according to claim 4, characterized in that, The fluid filling assembly includes a multi-port connector (7), with several output ends of the multi-port connector (7) connected to the balloon (3) and several auxiliary balloons (6) respectively, and the input end of the multi-port connector (7) connected to the output end of the one-way valve (5) of the lifting rod (1).

6. The uterine maneuver auxiliary device based on laparoscopic surgery according to claim 4, characterized in that, The filling assembly includes a pump and a one-way valve. The auxiliary bladder (6) is connected to the output end of the one-way valve, and the pump is connected to the input end of the one-way valve.

7. The uterine maneuver auxiliary device based on laparoscopic surgery according to claim 5, characterized in that, All pressure feedback components include a hydraulic box (10), which is embedded in the attachment housing (8). Each hydraulic box (10) has a pressure chamber (11), a first cylindrical cavity (12), and a second cylindrical cavity (13). Each pressure chamber (11), the first cylindrical cavity (12), and the second cylindrical cavity (13) are cylindrical chambers. Each first cylindrical cavity (12) is connected to the corresponding second cylindrical cavity (13). The pressure chamber (11) is located at the top of the first cylindrical cavity (12). Several pressure chambers (11) are connected to several auxiliary bladders (6). Each pressure chamber (11) has a pressure piston (14) that is sealed and slidably fitted inside. Each pressure piston (14) passes through the corresponding pressure chamber (11) and the first cylindrical cavity (12). The top of the second cylinder (13) penetrates the top wall of the hydraulic box (10) and corresponds to the position of the contact groove (9). The second cylinder (13) is sealed and slidably fitted with the first protruding contact block (15). The first cylinder (12) and the second cylinder (13) are filled with hydraulic oil (16). The hydraulic oil (16) is located at the bottom of the press piston (14) and the bottom of the first protruding contact block (15).

8. The uterine maneuver auxiliary device based on laparoscopic surgery according to claim 7, characterized in that, The radius of the first cavity (12) is equal to the radius of the pressure cavity (11), and the radius of the first cavity (12) is smaller than the radius of the second cavity (13).

9. The uterine maneuver auxiliary device based on laparoscopic surgery according to claim 5, characterized in that, All pressure feedback components include pressure sampling pipes (17), which are embedded in the attachment housing (8). The pressure sampling pipes (17) are connected to the corresponding auxiliary bladders (6). Fluid pressure sensors (18) are fixedly connected to the inner sidewalls of the pressure sampling pipes (17). A controller is integrated in the attachment housing (8), and several fluid pressure sensors (18) are connected to the controller signal. Each contact groove (9) is fixedly connected to an actuator (19), and each actuator (19) is fixedly connected to a second protruding contact block (20). Each actuator (19) is connected to the controller via signal. The controller receives and analyzes the flow pressure data collected by each fluid pressure sensor (18) and uses the signal to control the drive of each actuator (19).

10. The uterine maneuver auxiliary device based on laparoscopic surgery according to claim 9, characterized in that, The specific processing procedure for controlling the actuators (19) driven by the controller signals is as follows: The controller first receives the pressure signal of the fluid inside the auxiliary sac (6) collected by each fluid pressure sensor (18) in real time and converts the pressure signal into pressure data. Based on the pressure data, it compares it with the preset clinical safety threshold and calculates the external pressure intensity of the patient's uterine wall that the corresponding auxiliary sac (6) bears. Finally, the controller adjusts the drive displacement of the actuator (19) according to the pressure intensity signal.

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