Trans-armpit inflation-free endoscope thyroid surgery drag hook and control system thereof

Abstract

The invention provides a trans-armpit inflation-free endoscopic thyroid surgery drag hook and a control system thereof, and relates to the technical field of thyroid surgery drag hooks, and the control system of the trans-armpit inflation-free endoscopic thyroid surgery drag hook comprises a sensor module, a processing unit and a feedback device; the sensor module comprises a tension sensor, the tension sensor is arranged on the drag hook body, and the tension sensor is used for transmitting collected tension data to the processing unit; the processing unit is used for judging whether the tension value is normal or not according to the tension data and a preset threshold value and sending a corresponding processing instruction to the feedback device; and the feedback device is used for sending corresponding feedback information according to the processing instruction for the surgeon to read. According to the control system, a good tension feedback mechanism is established, the situation that a doctor cannot perceive too large or too small tension in the operation process is avoided, whether the drag hook body normally draws tissue at present or not is known through tension feedback, and therefore a good operation environment is provided for the doctor in the operation, and the operation success rate is increased.

Description

Technical Field

[0001] This invention relates to the field of thyroid surgery retractor technology, and in particular to a retractor for transaxillary airless endoscopic thyroid surgery and its control system. Background Technology

[0002] The thyroid gland is a vital part of the human endocrine system. Thyroid nodules are a common thyroid condition, a general term for thyroid lumps, usually detected during physical examinations. When symptoms such as malignancy or compression occur, surgical treatment is necessary. Surgical methods generally include traditional open thyroidectomy and endoscopic thyroidectomy. In endoscopic thyroidectomy, traditional pneumatic endoscopic surgery creates an anterior cervical subcutaneous air space by injecting carbon dioxide gas during the procedure. This creates a clear operating space between the anterior cervical subcutaneous tissue and the thyroid gland, facilitating the entry of endoscopic instruments and providing both visual exposure and hemostasis. However, it also carries potential complications such as subcutaneous emphysema, mediastinal emphysema, gas embolism, and increased cardiopulmonary burden. Pneumatic-free endoscopic thyroidectomy has emerged, relying on mechanical traction rather than anterior cervical subcutaneous inflation to open the surgical field, significantly improving surgical safety and providing patients with a more ideal postoperative recovery experience.

[0003] In existing technologies, the retractors used in thyroid surgery have the following problems: the pulling force is uncontrollable, doctors rely on experience to operate, and cannot perceive the pulling force value in real time, which can easily lead to excessive or insufficient pulling force. Insufficient pulling force may indicate that the retractor is not in contact with the tissue and cannot play its role in opening up the surgical space, while excessive pulling force may catch the tissue and increase the risk of complications such as damage to the pectoralis major muscle fascia. Summary of the Invention

[0004] In view of this, the present invention proposes a retractor and its control system for transaxillary airless endoscopic thyroid surgery, in order to solve the technical problems mentioned in the background art, such as the uncontrollable retractor force, the doctor's reliance on experience to operate, the inability to perceive the retractor force value in real time, the easy occurrence of excessive or insufficient retractor force, excessive retractor force may snag tissue and increase the risk of complications such as damage to the pectoralis major muscle fascia, and insufficient retractor force cannot open up the surgical space.

[0005] The technical solution of this invention is implemented as follows: In a first aspect, the present invention provides a control system for a retractor used in axillary pneumatic endoscopic thyroid surgery. The retractor includes a retractor body, and the control system includes a sensor module, a processing unit, and a feedback device, wherein: The sensor module includes a tension sensor, which is disposed on the hook body and is used to transmit the collected tension data to the processing unit. The processing unit is used to determine whether the tensile force value is normal based on the tensile force data according to a preset threshold, and to send the corresponding processing instruction to the feedback device. The feedback device is used to issue corresponding feedback information according to the processing instructions, which is then read by the surgeon.

[0006] In some optional implementations, preferably, the processing unit is used to determine whether the tension value is normal based on the tension data according to a preset threshold, and send a corresponding processing instruction to the feedback device, including: when the lower normal limit A ≤ tension value ≤ upper normal limit B, it is determined that the tension is in a normal state, and the processing unit sends a processing instruction indicating that the current state is normal to the feedback device; when the tension value ≤ the excessively small threshold C, the hook body has lost effective traction, and it is determined that the hook is in an "unloaded" or "slipped" state, and the processing unit sends a processing instruction indicating an abnormality to the feedback device; when the tension value ≥ the excessively large threshold D, the tension is too large, and it is determined that the hook is in a dangerous and emergency state, and the processing unit sends a processing instruction indicating a strong warning to the feedback device.

[0007] In some optional implementations, preferably, the preset threshold is recommended by the processing unit based on the input patient and surgical parameters, including tissue type, patient tissue toughness, degree of obesity, and surgical stage.

[0008] In some alternative implementations, preferably, the feedback device is one or a combination of several of the following: an indicator light, a buzzer, and a vibration motor.

[0009] In some optional embodiments, preferably, the control system further includes a data transmission unit, and the feedback device is a display or AR glasses. The data transmission unit is connected to the sensor module and the feedback device respectively, and is used to send real-time data to the display or AR glasses, which are used to display the tension curve and feedback information.

[0010] In some optional embodiments, preferably, the sensor module further includes a temperature sensor and a humidity sensor disposed on the hook body, wherein the temperature sensor and the humidity sensor respectively transmit the detected temperature data and humidity data to the processing unit, and the processing unit is further used to determine the tissue contact state based on the temperature data and humidity data.

[0011] In a second aspect, the present invention provides a retractor for transaxillary pneumatic endoscopic thyroid surgery, comprising a support, a moving component, and a retractor body, wherein: The support includes an upright and a crossbar. The upright is mounted on the side of the operating table, and the crossbar is connected to the upright and perpendicular to it. The moving component includes a lateral moving unit, a longitudinal moving unit, and an angle adjustment unit. The lateral moving unit is connected to the crossbar and the longitudinal moving unit, and is used to move the longitudinal moving unit along the X-axis. The longitudinal moving unit is connected to the angle adjustment unit, and is used to drive the angle adjustment unit to move along the Z-axis. The angle adjustment unit is connected to the hook body, and is used to drive the hook body to rotate around the longitudinal moving unit.

[0012] In some alternative embodiments, preferably, the lateral movement unit includes a moving block and a locking bolt, the moving block being slidably mounted on the crossbar, and the locking bolt being mounted on the moving block and used to abut against the crossbar; The longitudinal movement unit includes a pawl, a rack, and an adjusting handwheel. The pawl is rotatably mounted on the moving block, the rack is slidably mounted on the moving block along the Z-axis and engages with the pawl, the adjusting handwheel is connected to the pawl, and one end of the rack is connected to the angle adjustment unit.

[0013] In some optional embodiments, preferably, the angle adjustment unit includes a mounting cylinder, a ball seat, an adjusting plate, an adjusting bolt, and a connecting rod. The mounting cylinder is connected to one end of the rack and has a mounting hole. The ball seat is located at the bottom of the mounting hole. The adjusting plate has a spherical hole that matches the ball seat and is slidably installed in the mounting hole. The bottom of the adjusting bolt is connected to the adjusting plate and threaded to the top surface of the mounting cylinder. One end of the connecting rod is connected to the ball seat, and the other end is connected to the hook body.

[0014] In some alternative embodiments, preferably, a negative pressure tube and a negative pressure connector are also included. The negative pressure tube is embedded in the hook body, and the negative pressure connector is located on the top surface of the hook body and connected to the negative pressure tube. The negative pressure tube is used to aspirate smoke generated during the surgery.

[0015] The retractor and its control system for transaxillary, airless endoscopic thyroid surgery of the present invention have the following advantages over the prior art: (1) The collected tension data is transmitted to the processing unit through the tension sensor. The processing unit judges whether the tension value is normal according to the tension data and a preset threshold, and sends the corresponding processing instruction to the feedback device. The feedback device is used to issue the corresponding feedback information according to the processing instruction for the surgeon to read, thereby establishing a good tension feedback mechanism, avoiding the tension being too large or too small during the operation and the surgeon being unable to perceive it. Through the tension feedback, it can be known whether the retractor body is currently pulling the tissue normally, thereby providing a good operating environment for the surgeon and improving the success rate of the operation. (2) When the lower limit of normal A ≤ tension value ≤ upper limit of normal B, it is determined that the tension is in a normal tension state, and the processing unit sends a processing instruction for the current state to the feedback device; when the tension value ≤ the lower threshold C, the hook body has lost effective traction, and it is determined that the hook is in an "unloaded" or "slipped" state, and the processing unit sends a processing instruction to the feedback device to indicate an abnormality; when the tension value ≥ the higher threshold D, the tension is too large, and it is determined that the hook is in a dangerous and emergency state, and the processing unit sends a processing instruction to the feedback device to issue a strong warning; by sending corresponding processing instructions to the feedback device through the correspondence between the tension value and different thresholds, corresponding feedback information is sent to the doctor, which can better assist the doctor in surgery and improve the success rate of the doctor's surgery; (3) The preset threshold is used to make recommendations for the processing unit based on the input patient and surgical parameters, including tissue type, patient tissue toughness, degree of obesity and surgical stage. The preset threshold is refined to better suit the patient's condition, improve the matching, and enhance the reliability of the system. (4) The feedback device is one or a combination of one or more of the following: indicator light, buzzer and vibration motor. Different states correspond to different light, sound and vibration prompts, thereby improving the doctor's visual, auditory and tactile prompts. The prompt effect is better, and the doctor can make faster processing based on the feedback information, thereby improving the efficiency of surgery. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the control system for the retractor in axillary airless endoscopic thyroid surgery according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the retractor structure for transaxillary airless endoscopic thyroid surgery in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the lateral movement unit in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the longitudinal moving unit in an embodiment of the present invention; Figure 5 This is a schematic diagram of the angle adjustment unit in an embodiment of the present invention; Figure 6 This is a schematic diagram of the ball seat and adjusting plate in an embodiment of the present invention; Figure 7This is a schematic diagram of the structure of the hook body, negative pressure pipe, and negative pressure connector in an embodiment of the present invention; Figure 8 This is a schematic diagram of the retractor for transaxillary airless endoscopic thyroid surgery, as described in an embodiment of the present invention, mounted on the operating table.

[0018] Explanation of reference numerals in the attached diagram: 1-bracket, 2-moving component, 3-hook body, 4-negative pressure pipe, 5-negative pressure connector, 6-control panel; 100 - Operating table; 110 - Slide rail; 120 - Slider; 121 - Through hole; 200 - Tension sensor; 11-Uprights, 12-Horizontal bars; 21- Lateral movement unit, 211-Moving block, 212-Locking bolt, 22-Longitudinal movement unit, 221-Pawl, 222-Rack, 223-Adjusting handwheel, 23-Angle adjustment unit, 231-Mounting cylinder, 2311-Mounting hole, 232-Ball seat, 233-Adjusting plate, 2331-Spherical hole, 234-Adjusting bolt, 235-Connecting rod. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0020] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0021] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and 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 embodiments of the present invention.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0023] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. Additionally, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0025] The technical solution will now be explained in detail: Reference Figure 1 As shown, in a first aspect of the present invention, a control system for a retractor in axillary pneumatic endoscopic thyroid surgery is provided. The retractor in axillary pneumatic endoscopic thyroid surgery includes a retractor body 3, which is C-shaped. The control system includes a sensor module, a processing unit, and a feedback device, wherein: The sensor module includes a tension sensor 200, which is mounted on the hook body 3. The tension sensor 200 transmits the collected tension data to the processing unit. A mounting groove is provided on the bottom surface of the end of the hook body 3, and the tension sensor 200 is embedded in the mounting groove. The tension sensor 200 can be a high-precision strain gauge sensor or a piezoelectric sensor. The strain gauge sensor works by stress causing strain, which changes the resistance, and the output is measured by a bridge circuit. It has the advantages of high precision, small thickness, and high temperature resistance, making it suitable for static tensile force measurement. It is particularly suitable for applications such as medical devices where space is limited and high precision is required. A strain gauge sensor is preferred for measuring the tension of surgical hooks. The processing unit is used to determine whether the tensile force value is normal according to the tensile force data and a preset threshold, and to send the corresponding processing instructions to the feedback device; the processing unit has a built-in microcontroller (such as ARM Cortex-M series) running a real-time operating system to process the tensile force data of the tensile force sensor 200, identify normal tensile force mode, too small tensile force (not in contact with tissue) and too large tensile force (snagging on tissue), and predict potential risks; The feedback device is used to issue corresponding feedback information according to the processing instructions, which is then read by the surgeon.

[0026] The control system for the retractor in axillary airless endoscopic thyroid surgery proposed in this embodiment transmits the collected tension data to the processing unit via a tension sensor 200. The processing unit determines whether the tension value is normal based on the tension data according to a preset threshold and sends a corresponding processing instruction to the feedback device. The feedback device issues corresponding feedback information based on the processing instruction for the surgeon to read, thereby establishing a good tension feedback mechanism. This avoids the surgeon being unable to perceive excessive or insufficient tension during the operation. Through tension feedback, the surgeon can determine whether the retractor body 3 is currently properly pulling the tissue, thus providing a good operating environment for the surgeon and improving the success rate of the operation.

[0027] In some embodiments, the processing unit is used to determine whether the tension value is normal based on the tension data according to a preset threshold, and to send a corresponding processing instruction to the feedback device, including: when the lower normal limit A ≤ tension value ≤ upper normal limit B, it is determined that the tension is in a normal tension state, and the processing unit sends a processing instruction indicating that the current state is normal to the feedback device; when the tension value ≤ the lower threshold C, the hook body 3 has lost effective traction, and it is determined that the tension is in an "unloaded" or "slipped" state, and the processing unit sends a processing instruction indicating an abnormality to the feedback device; when the tension value ≥ the higher threshold D, the tension is too high, and it is determined that the tension is in a dangerous and emergency state, and the processing unit sends a processing instruction indicating a strong warning to the feedback device. For typical patients, the lower limit of normal tension (A) is 0.5N. This is a crucial "contact threshold." When the tension is consistently above 0.5N, it usually means that the retractor has made effective contact with the tissue and begun to apply traction. Below this value, it is likely that the retractor has slipped or failed to effectively hook the tissue. The upper limit of normal tension (B) is 3.0N. When performing routine exposure in the thyroid region (such as traction of the anterior neck muscles or the thyroid gland itself), 3.0N is a relatively safe empirical upper limit. Exceeding this value, the doctor needs to be alert to whether the retractor has hooked the wrong structure (such as blood vessels or nerves deep to the bandgap muscle) or whether the traction angle is inappropriate. The threshold for being too small (C) is 0.2N. When the system detects that the tension is consistently below 0.2N, it can be highly certain that the retractor has lost effective traction and is in a "no load" or "slipped" state. In this case, the system should immediately issue an abnormal warning. The threshold for being too large (D) is 5.0N. This is a threshold requiring a strong warning. When the pulling force reaches or exceeds 5.0 N, a dangerous situation is highly likely to have occurred, such as: (1) the tip of the retractor accidentally hooks into the deep fascia of the sternothyroid muscle or the deeper tissue surrounding the carotid sheath; (2) very tough scar tissue is pulled (common in secondary surgeries); (3) the assistant and the surgeon are pulling in opposite directions, creating a "struggle". In this case, the system must activate the highest level of strong warning.

[0028] In some embodiments, the preset threshold is recommended by the processing unit based on input patient and surgical parameters, including tissue type, tissue resilience, degree of obesity, and surgical stage. By using the preset threshold to recommend thresholds based on input patient and surgical parameters, the preset threshold recommendations are refined, thus better adapting to the patient's condition, improving matching accuracy, and enhancing system reliability.

[0029] In one specific embodiment, for patients with fragile tissues (such as young, thin, first-time female patients), the system recommends the following preset thresholds: upper limit of normal B: 2.5 N (slightly lower than the standard value because the tissue is more delicate), excessive threshold D: 4.0 N (significantly reduced to maximize the protection of muscles and nerves), while the lower limit of normal A and the excessive threshold C remain unchanged.

[0030] In another specific embodiment, for patients with tough tissue (such as middle-aged, obese, or male patients with neck scars from a second surgery), the system recommends the following preset thresholds: upper limit of normal B: 4.0 N (allowing greater force to effectively traction fibrotic tissue), excessive threshold D: 6.0 ~ 7.0 N (appropriately increased, but still with a safe upper limit to avoid violent traction), lower limit of normal A: can be finely adjusted to 0.8 N (because fat and tissue are thicker, requiring slightly greater force to achieve effective traction contact), and excessive threshold C remains unchanged.

[0031] This preset threshold can be set with reference to a standard weight of 50-70kg. The average data generated by pulling the shoulder can be set as a commonly used threshold. For specific obesity, the reference coefficient can be calculated by the doctor before surgery based on the actual weight multiplied by a certain coefficient. The value that the shoulder will be about to leave the operating table when pulled can be calculated by using 45-50-55-60-65-70kg respectively. This coefficient can be calculated.

[0032] In some specific embodiments, the preset threshold needs to be dynamically adjusted according to the surgical stage. For example, when the surgical stage is to separate the upper pole of the thyroid gland (near the superior laryngeal nerve), the system recognizes that the surgery has entered this delicate area and can automatically and temporarily lower the excessive threshold D from 5.0N to 3.5N, providing stricter protection and preventing traction damage to the fragile nerve. When the surgical stage is to pull the anterior neck muscles to expose the middle lobe of the thyroid gland, a larger exposure space is required. The system can temporarily raise the normal upper limit B to 4.0N while keeping the excessive threshold D at 5.0N, achieving a balance between safety and effectiveness.

[0033] In some embodiments, the control system further includes a control screen 6, which is mounted on the hook body 3 and connected to the processing unit. These thresholds can be dynamically adjusted by the doctor on the touch screen.

[0034] In some embodiments, the feedback device is one or a combination of several of the following: an indicator light, a buzzer, and a vibration motor. By corresponding different lights, sounds, and vibrations to different states, doctors are provided with enhanced visual, auditory, and tactile cues, resulting in better feedback and allowing doctors to make faster decisions based on the feedback information, thus improving surgical efficiency.

[0035] The following uses a typical patient as an example to illustrate the three types of feedback devices: The indicator lights have three colors: green, yellow, and red. When the tension is between 0.5N and 3.0N, the traction is effective and within a safe range, and the indicator light is green. When the tension is between 0.2N and 0.5N, the light flashes yellow slowly, indicating "Insufficient traction, possible slippage or poor contact." When the tension is between 3.0N and 5.0N, the light is solid yellow, indicating "Excessive traction, please check the traction position and direction." When the tension is ≥5.0N, the light is solid red or flashes rapidly, and in conjunction with other feedback modes, it indicates "Excessive traction, risk of tissue damage, please adjust immediately!"

[0036] For the buzzer, when the tension value is between 0.5N and 3.0N, it does not make a sound; when the tension value is between 0.2N and 0.5N, the buzzer makes an intermittent sound; when the tension value is ≥5.0N, the buzzer makes a rapid sound.

[0037] For a vibration motor, when the tension value is between 0.5N and 3.0N, it does not vibrate; when the tension value is between 0.2N and 0.5N, the vibration motor vibrates slightly; when the tension value is ≥5.0N, the vibration motor vibrates strongly.

[0038] In some embodiments, the control system further includes a data transmission unit, and the feedback device is a display or AR glasses. The data transmission unit is connected to both the sensor module and the feedback device, and is used to send real-time data to the display or AR glasses. The display or AR glasses are used to display the tension curve and feedback information. The data transmission unit can use Bluetooth 5.0 or Wi-Fi modules to wirelessly transmit data to external devices (such as displays or AR glasses) to record tension data throughout the surgical process; it can also upload the data to the cloud for long-term analysis, surgical quality assessment, and medical research, supporting remote expert guidance.

[0039] In some embodiments, the sensor module further includes a temperature sensor and a humidity sensor disposed on the retractor body 3. The temperature sensor and the humidity sensor transmit the detected temperature data and humidity data to the processing unit, respectively. The processing unit is further used to determine the tissue contact status based on the temperature data and humidity data. Theoretically, the surface temperature of thyroid tissue exposed to the operating room environment is usually slightly lower than the core body temperature (37°C), approximately between 35-36°C, depending on the operating room temperature, exposure time, anesthesia status, and whether it has been rinsed with irrigation fluid. The temperature of the metal retractor tip that has not been in contact with the tissue is even lower, close to the operating room ambient temperature (usually 20-24°C). By monitoring the temperature data through the temperature sensor, it is possible to determine whether the retractor body 3 is in contact with the tissue. Theoretically, the retractor tip that is not in contact with the tissue is relatively dry (operating room air humidity). Once it comes into contact with the tissue, it will immediately become contaminated with tissue fluid, blood, or irrigation fluid, causing a sharp increase in humidity in its microenvironment. By detecting humidity changes through the humidity sensor, it is possible to help determine whether the retractor body 3 is in contact with the tissue.

[0040] In some embodiments, a power module is also included, which is connected to the sensor module, processing unit, feedback device, and wireless transmission module to supply power to the aforementioned components. The power module may be powered by a rechargeable lithium battery, supports fast charging and wireless charging, has a low-power mode, and automatically enters sleep mode when idle to extend battery life.

[0041] Based on the same concept, see [link / reference] Figures 2-8 As shown, a second aspect of the present invention provides a retractor for transaxillary pneumatic endoscopic thyroid surgery, comprising a support 1, a movable component 2, and a retractor body 3, wherein: The support 1 includes an upright frame 11 and a crossbar 12. The upright frame 11 is installed on the side of the operating table 100, and the crossbar 12 is connected to the upright frame 11 and is perpendicular to it. The side of the operating table 100 is provided with a slide rail 110 arranged along the Y-axis. A slider 120 is slidably installed on the slide rail 110. The slider 120 is provided with a vertical through hole 121. The upright frame 11 passes through the through hole 121. The side of the slider 120 is locked to the upright frame 11 by bolts. The height of the crossbar 12 can be adjusted by the length of the upright frame 11 passing through the through hole 121. Here, the crossbar 12 is coarsely adjusted along the Z-axis. The moving component 2 includes a lateral moving unit 21, a longitudinal moving unit 22, and an angle adjusting unit 23. The lateral moving unit 21 is connected to the crossbar 12 and the longitudinal moving unit 22, and is used to move the longitudinal moving unit 22 along the X-axis. The longitudinal moving unit 22 is connected to the angle adjusting unit 23, and is used to drive the angle adjusting unit 23 to move along the Z-axis. The angle adjusting unit 23 is connected to the hook body 3, and is used to drive the hook body 3 to rotate around the longitudinal moving unit 22. The hook body 3 is made of medical-grade titanium alloy or stainless steel, and the sensor part is encapsulated in biocompatible material. It can be sterilized at high temperature and pressure or used with a disposable sterile sleeve.

[0042] The retractor for transaxillary endoscopic thyroid surgery proposed in this embodiment allows for adjustment along the Y-axis by moving the slider 120 along the slide rail 110. The height of the crossbar 12 is adjusted by the length of the upright 11 passing through the through hole 121, enabling coarse adjustment of the crossbar 12 along the Z-axis. The longitudinal moving unit 22 moves along the X-axis via the lateral moving unit 21, and the longitudinal moving unit 22 drives the angle adjustment unit 23 to move along the Z-axis. The angle adjustment unit 23 causes the retractor body 3 to rotate around the longitudinal moving unit 22, thus enabling movement of the retractor body 3 along the X, Y, and Z axes, as well as rotation around the longitudinal moving unit 22. This provides greater freedom of movement for the retractor body 3, facilitating adjustment of different positions and angles, and thus improving adaptability.

[0043] In some embodiments, the lateral movement unit 21 includes a moving block 211 and a locking bolt 212. The moving block 211 is slidably mounted on the crossbar 12, and the locking bolt 212 is mounted on the moving block 211 and is used to abut against the crossbar 12. The moving block 211 has a through hole through which the crossbar 12 passes. After the moving block 211 moves to a designated position on the crossbar 12, the locking bolt 212 is rotated so that its end abuts against the crossbar 12, thereby fixing the moving block 211. The longitudinal moving unit 22 includes a pawl 221, a rack 222, and an adjusting handwheel 223. The pawl 221 is rotatably mounted on the moving block 211. The rack 222 is slidably mounted on the moving block 211 along the Z-axis and engages with the pawl 221. The adjusting handwheel 223 is connected to the pawl 221. One end of the rack 222 is connected to the angle adjusting unit 23.

[0044] In this embodiment, by adjusting the rotation of the handwheel 223, the pawl 221 is rotated, thereby moving the rack 222, which moves the rack 222 along the Z-axis, driving the angle adjustment unit 23 to make fine adjustments along the Z-axis. The adjustment is linear and highly reliable, which can make the adjustment of the hook body 3 more precise and improve stability and reliability.

[0045] In some embodiments, the angle adjustment unit 23 includes a mounting cylinder 231, a ball seat 232, an adjusting plate 233, an adjusting bolt 234, and a connecting rod 235. The mounting cylinder 231 is connected to one end of the rack 222 and has a mounting hole 2311. The ball seat 232 is located at the bottom of the mounting hole 2311. The adjusting plate 233 has a spherical hole 2331 that matches the ball seat 232 and is slidably installed in the mounting hole 2311. The bottom of the adjusting bolt 234 is connected to the adjusting plate 233 and threadedly connected to the top surface of the mounting cylinder 231. One end of the connecting rod 235 is connected to the ball seat 232, and the other end is connected to the hook body 3. By adjusting the bolt 234, the adjusting plate 233 is pushed upward in the mounting hole 2311, the spherical hole 2331 disengages from the ball seat 232, thus unlocking the ball seat 232. The ball seat 232 rotates, thereby driving the connecting rod 235 and the hook body 3 to rotate together. After rotating a certain angle, the adjusting bolt 234 pushes the adjusting plate 233 downward in the mounting hole 2311, and the spherical hole 2331 abuts against the ball seat 232, thus locking the ball seat 232. This allows the hook body 3 to rotate around the axis of the mounting cylinder 231, achieving angle adjustment and fixing the hook body 3.

[0046] In some embodiments, the retractor for transaxillary pneumatic endoscopic thyroid surgery further includes a negative pressure tube 4 and a negative pressure connector 5. The negative pressure tube 4 is embedded within the retractor body 3, and the negative pressure connector 5 is located on the top surface of the retractor body 3 and connected to the negative pressure tube 4. The negative pressure tube 4 is used to aspirate smoke generated during the surgery. By embedding the negative pressure tube 4 into the retractor body 3, human tissue is not damaged, smoke is aspirated to create a clear surgical field, improve operational convenience, create a perfect surgical environment, and increase the success rate of the surgery.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A control system for a retractor used in axillary pneumatic endoscopic thyroid surgery, characterized in that, The retractor for transaxillary airless endoscopic thyroid surgery includes a retractor body, and the control system includes a sensor module, a processing unit, and a feedback device, wherein: The sensor module includes a tension sensor, which is disposed on the hook body and is used to transmit the collected tension data to the processing unit. The processing unit is used to determine whether the tensile force value is normal based on the tensile force data according to a preset threshold, and to send the corresponding processing instruction to the feedback device. The feedback device is used to issue corresponding feedback information according to the processing instructions, which is then read by the surgeon.

2. The control system for the retractor in axillary pneumatic endoscopic thyroid surgery as described in claim 1, characterized in that, The processing unit is used to determine whether the tension value is normal based on the tension data according to a preset threshold, and to send corresponding processing instructions to the feedback device, including: when the lower normal limit A ≤ tension value ≤ upper normal limit B, it is determined that the tension is in a normal state, and the processing unit sends a processing instruction to the feedback device indicating that the current state is normal; when the tension value ≤ the lower threshold C, the hook body has lost effective traction, and it is determined that the hook is in an "unloaded" or "slipped" state, and the processing unit sends an abnormality warning processing instruction to the feedback device; when the tension value ≥ the upper threshold D, the tension is too high, and it is determined that the hook is in a dangerous and emergency state, and the processing unit sends a strong warning processing instruction to the feedback device.

3. The control system for the retractor in axillary pneumatic endoscopic thyroid surgery as described in claim 2, characterized in that, The preset threshold is recommended by the processing unit based on the input patient and surgical parameters, which include tissue type, patient tissue toughness, degree of obesity, and surgical stage.

4. The control system for the retractor in axillary pneumatic endoscopic thyroid surgery as described in claim 1, characterized in that, The feedback device is one or a combination of several of the following: an indicator light, a buzzer, and a vibration motor.

5. The control system for the retractor in axillary pneumatic endoscopic thyroid surgery as described in claim 1, characterized in that, The control system further includes a data transmission unit, and the feedback device is a display or AR glasses. The data transmission unit is connected to the sensor module and the feedback device respectively, and is used to send real-time data to the display or AR glasses. The display or AR glasses is used to display the tension curve and feedback information.

6. The control system for the retractor in axillary pneumatic endoscopic thyroid surgery as described in claim 1, characterized in that, The sensor module also includes a temperature sensor and a humidity sensor disposed on the hook body. The temperature sensor and the humidity sensor respectively transmit the detected temperature data and humidity data to the processing unit. The processing unit is also used to determine the tissue contact state based on the temperature data and humidity data.

7. A retractor for transaxillary, airless endoscopic thyroid surgery, characterized in that, Includes a bracket, a moving component, and a hook body, wherein: The support includes an upright and a crossbar. The upright is mounted on the side of the operating table, and the crossbar is connected to the upright and perpendicular to it. The moving component includes a lateral moving unit, a longitudinal moving unit, and an angle adjustment unit. The lateral moving unit is connected to the crossbar and the longitudinal moving unit, and is used to move the longitudinal moving unit along the X-axis. The longitudinal moving unit is connected to the angle adjustment unit, and is used to drive the angle adjustment unit to move along the Z-axis. The angle adjustment unit is connected to the hook body, and is used to drive the hook body to rotate around the longitudinal moving unit.

8. The retractor for transaxillary pneumatic endoscopic thyroid surgery as described in claim 7, characterized in that, The lateral movement unit includes a moving block and a locking bolt. The moving block is slidably mounted on the crossbar, and the locking bolt is mounted on the moving block and used to abut against the crossbar. The longitudinal movement unit includes a pawl, a rack, and an adjusting handwheel. The pawl is rotatably mounted on the moving block, the rack is slidably mounted on the moving block along the Z-axis and engages with the pawl, the adjusting handwheel is connected to the pawl, and one end of the rack is connected to the angle adjustment unit.

9. The retractor for transaxillary pneumatic endoscopic thyroid surgery as described in claim 8, characterized in that, The angle adjustment unit includes a mounting cylinder, a ball seat, an adjusting plate, an adjusting bolt, and a connecting rod. The mounting cylinder is connected to one end of the rack and has a mounting hole. The ball seat is located at the bottom of the mounting hole. The adjusting plate has a spherical hole that matches the ball seat and is slidably installed in the mounting hole. The bottom of the adjusting bolt is connected to the adjusting plate and threaded to the top surface of the mounting cylinder. One end of the connecting rod is connected to the ball seat, and the other end is connected to the hook body.

10. The retractor for transaxillary pneumatic endoscopic thyroid surgery as described in any one of claims 7-9, characterized in that, It also includes a negative pressure tube and a negative pressure connector. The negative pressure tube is embedded in the hook body, and the negative pressure connector is located on the top surface of the hook body and connected to the negative pressure tube. The negative pressure tube is used to aspirate the smoke generated during the operation.

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