Bionic multi-pole negative pressure adsorption traction device for laparoscopic surgery

Abstract

The invention discloses a bionic multi-pole negative pressure adsorption traction device for laparoscopic surgery, and belongs to the technical field of medical instruments. The device comprises a tractor main body, a plurality of groups of traction units arranged in a circumferential array, a driving mechanism and an adjusting mechanism. Each traction unit comprises a fixed pipe, a deformable pipe movably arranged in the fixed pipe in a penetrating mode and a bionic adsorption head connected to the head of the deformable pipe through a universal connecting piece. The driving mechanism communicates with all the traction units and is used for driving the deformable pipe to be pushed out of the fixed pipe and restore the preset shape of the deformable pipe, and meanwhile the bionic adsorption head is triggered to enter the adsorbable state. And the adjusting mechanism is used for independently adjusting the rotation angle and the axial extension length of each deformable pipe. Self-adaptive attachment and stable traction with the tissue surface are achieved through the multiple sets of bionic adsorption heads capable of being independently adjusted, tissue damage and unstable traction caused by local clamping or single traction angle are avoided, and the tissue traction safety, adaptability and operation stability in the laparoscopic surgery are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically a biomimetic multipolar negative pressure adsorption traction device for laparoscopic surgery. Background Technology

[0002] Laparoscopic surgery has become a routine procedure in abdominal surgery due to its minimally invasive advantages. During the operation, it is often necessary to pull and expose the target tissue (such as tumors, cysts, or specific organs) to create a clear surgical field and operating space.

[0003] Currently, the mainstream mechanical grasping forceps in clinical practice mainly rely on the shearing force and local pressure generated by mechanical clamping to fix tissues. For delicate and highly vascularized tissues such as the spleen, liver margins, or cystic masses, this point-contact high stress concentration can easily lead to iatrogenic collateral injuries (such as capsular tears and subserosal hematomas). In addition, traditional negative pressure suction devices often use a single-hole rigid suction tip, which lacks compliance with irregular curved surfaces (such as the surface of multinodular tumors), making it difficult to form an effective vacuum seal and unable to provide multidimensional traction torque, resulting in poor intraoperative exposure. On the other hand, although traditional retractors can provide surface traction, their size is usually large and cannot be inserted into the body through a standard-sized laparoscopic trocar. This forces doctors to either enlarge the surgical incision, violating the principle of minimally invasive surgery, or abandon their use and instead adopt a higher-risk clamping method. Furthermore, once either grasping forceps or retractors are inserted into the body, the adjustment of their traction angle and traction point is extremely limited. The shape, size, and location of target tissues vary greatly during surgery, and existing instruments lack the ability to make multi-dimensional and multi-point coordinated adjustments within the body. This results in poor traction stability and an inability to achieve adaptive fit with the surface of the target tissue, which can easily lead to decreased accuracy of intraoperative operations, prolonged surgical time, and even, in extreme cases, accidental damage due to tissue displacement. Summary of the Invention

[0004] The purpose of this invention is to provide a biomimetic multipolar negative pressure adsorption traction device for laparoscopic surgery to solve the above-mentioned problems.

[0005] The technical solution of this invention is: A biomimetic multipolar negative pressure adsorption traction device for laparoscopic surgery includes: a traction device body for handheld use and providing a mounting base; a traction unit module comprising multiple traction units arranged in a circumferential array at one end of the traction device body; each traction unit comprising: a fixing tube fixedly mounted on the traction device body; a deformable tube movably inserted within the fixing tube, comprising an elastic support member with shape memory properties, the elastic support member being configured to restore a preset bending shape after the constraint is released; and a biomimetic adsorption head for adsorbing the target tissue surface through negative pressure, the biomimetic adsorption head being detachably connected to the deformable tube via a universal connector, and... The universal connector is used to enable the bionic adsorption head to deflect at multiple angles relative to the deformable tube; the drive mechanism, connected to each group of the traction units, is used to drive the deformable tube to move axially along the fixed tube to push or retract the deformable tube from the front end of the fixed tube, so that the deformable tube returns to its preset shape; and the negative pressure suction assembly, communicating with the internal channel of the deformable tube, is used to provide continuous negative pressure adsorption force when the bionic adsorption head abuts against the target tissue; the adjustment mechanism, connected to the deformable tube, is used to independently adjust the circumferential rotation angle of each group of deformable tubes and its axial extension length relative to the fixed tube.

[0006] Furthermore, the preset shape of the deformable tube is a curved shape pre-set according to the common shape of the target tissue, including at least one of arc shape, zigzag shape and three-dimensional curve shape that matches the surface contour of the tissue it adsorbs.

[0007] Furthermore, the biomimetic adsorption head is a suction cup structure with flexible edges, and its inner surface is provided with a micron-level biomimetic array structure or a concentric circle labyrinth sealing pattern to form a multi-level seal on the moist tissue surface; the adsorption surface of the biomimetic adsorption head is made of biocompatible silicone or polyurethane, and the surface is coated with a hydrophilic or hydrophobic coating to adapt to different tissue characteristics.

[0008] Furthermore, the adjustment mechanism includes: an angle adjustment component connected to the deformable tube for driving the deformable tube to rotate about its own axis; and a length adjustment component connected to the deformable tube for locking the axial position of the deformable tube within the fixed tube.

[0009] Furthermore, the angle adjustment component includes a rotating bracket rotatably disposed at the end of the fixed tube, the deformable tube passing through the rotating bracket and being linked with the rotating bracket; the length adjustment component includes a locking member disposed on the rotating bracket for securing the deformable tube after it has been axially moved to the target position.

[0010] Furthermore, the drive mechanism includes a manual push rod assembly or a linear motor, the output end of which is connected to the proximal end of the deformable tube; the negative pressure suction assembly includes a negative pressure pump, a suction pipe connecting the negative pressure pump to each of the deformable tubes, and a control valve disposed on the suction pipe.

[0011] Furthermore, it also includes a pressure monitoring module, which is connected to the internal cavity of the bionic adsorption head and is used to monitor the negative pressure value inside the bionic adsorption head in real time.

[0012] Furthermore, an intelligent negative pressure feedback control unit is also configured to receive the negative pressure value; when the negative pressure value is detected to fluctuate drastically or continuously exceed the tissue tolerance threshold, the intelligent negative pressure feedback control unit triggers the negative pressure suction component to switch to pulse adsorption mode or perform automatic pressure relief operation to prevent tissue ischemia necrosis or mechanical damage.

[0013] Compared with the prior art, the beneficial effects of the present invention are: This invention utilizes multiple traction units arranged in a circumferential array, combined with deformable tubes whose angles and extension lengths can be independently adjusted. This allows multiple biomimetic adsorption heads to adaptively conform to the complex surface contours of the target tissue from different orientations, forming a uniform and dispersed adsorption force field. This avoids single-point stress concentration, thereby significantly reducing the risk of damage to fragile tissues while achieving stable and reliable traction. Simultaneously, the drive mechanism pushes the deformable tubes back to their preset shape and triggers the adsorption function, enabling the device to complete the integrated operation from delivery to deployment and adsorption within the body. This not only achieves minimally invasive placement via a standard trocar but also empowers surgeons with the ability to flexibly and precisely control the traction posture and range of action during surgery through independent and precise adjustment of multiple traction units externally. While maintaining a minimally invasive approach, it achieves high tissue compliance, high stability of the traction process, and high flexibility of intraoperative adjustment, providing reliable technical assurance for safe and effective tissue exposure and traction in laparoscopic surgery. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention in its folded state.

[0015] Figure 2 This is a schematic diagram of the traction unit of the present invention.

[0016] Figure 3 This is a structural schematic diagram of one embodiment of the present invention.

[0017] The components include: 1. Traction device body; 2. Traction unit module; 3. Drive mechanism; 4. Adjustment mechanism; 5. Fixing tube; 6. Deformable tube; 7. Bionic adsorption head; 8. Universal connector; 9. Angle adjustment component; 10. Length adjustment component; 11. Start switch; 12. Air pump; 13. Air pipe; 14. Control valve; and 15. Pressure monitoring module. Detailed Implementation

[0018] The following is combined Figures 1 to 3 The specific embodiments of the present invention will be described in detail below. In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0019] 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, unless otherwise stated, "a plurality of" means two or more.

[0020] It should be noted that the circuit connections involved in this invention all adopt conventional circuit connection methods and do not involve any innovation.

[0021] Example This embodiment presents a biomimetic multipolar negative pressure adsorption traction device for laparoscopic surgery. It can be deployed within the abdominal cavity using a standard trocar and utilizes the principle of negative pressure adsorption to safely and effectively traction spherical masses, such as... Figure 1 As shown, the biomimetic multipolar negative pressure adsorption traction device for laparoscopic surgery includes: a traction device body 1, a traction unit module 2, a biomimetic adsorption head 7, a drive mechanism 3, and an adjustment structure 4.

[0022] like Figure 1As shown, the traction device body 1 is used for handheld operation and provides an installation base; the traction unit module 2 includes multiple traction units arranged in a circumferential array at one end of the traction device body 1; the multiple traction units are arranged in a ring array on the front end face of the traction device body 1, which can make each bionic adsorption head 7 form a uniform force point when adsorbing the tumor, improve the stability of the traction process, and avoid tumor tissue damage due to excessive force at a single point. Each traction unit includes: a fixed tube 5 and a deformable tube 6. The fixed tube 5 is fixedly set on the traction device body 1; the deformable tube 6 is movably inserted into the fixed tube 5, and its material is a metal material with a preset shape memory effect; the fixed tube 5 is made of medical grade stainless steel, and its inner diameter is fitted with the deformable tube 6 with a gap (with a sealing structure), and its outer diameter is 0.05mm-0.1mm larger, ensuring that the deformable tube 6 can slide and rotate smoothly in the fixed tube 5; in this embodiment, the material of the deformable tube 6 is medical grade nickel-titanium alloy, which utilizes its superelasticity to achieve large deformation recovery. To enhance biocompatibility, the tube surface is coated with a diamond-like carbon (DLC) coating or a parylene film using physical vapor deposition (PVD) to prevent nickel ion deposition and reduce the coefficient of sliding friction. The deformable tube 6 has an outer diameter of 2mm-3mm and a wall thickness of 0.3mm-0.5mm, ensuring structural strength while minimizing invasive damage to internal tissues. The biomimetic adsorption head 7 is used to adsorb the target tissue surface using negative pressure. The biomimetic adsorption head 7 is detachably connected to the deformable tube 6 via a universal connector 8, which is made of medical-grade titanium alloy and has an anti-detachment function. ， Its internal structure is equipped with a ball bearing structure, which allows the bionic adsorption head 7 to bend at any angle from 0° to 360° relative to the deformable tube 6, adapting to the surface adsorption needs of tumors of different shapes.

[0023] The biomimetic adsorption head 7 is made of biocompatible silicone or polyurethane, a soft material with excellent biocompatibility that will not cause allergic or inflammatory reactions in human tissues. The adsorption end face of the biomimetic adsorption head 7 has a diameter of 5mm to 8mm, suitable for the surface adsorption size of common clinical tumors.

[0024] The drive mechanism 3 is connected to each group of traction units and is used to provide driving force to the fixed tube 5 so as to push the deformable tube 6 out of the front end of the fixed tube 5. During or after the pushing process, the deformable tube 6 restores its preset shape and triggers the bionic adsorption head 7 to enter the adsorption state. The adjustment mechanism 4 is connected to the deformable tube 6 and is used to independently adjust the circumferential rotation angle of each set of deformable tubes 6 and its axial extension length relative to the fixed tube 5.

[0025] like Figure 2 and Figure 3As shown, the preset shape of the deformable tube 6 is a curved shape pre-set according to the common shape of the target tissue, including at least one of arc shape, zigzag shape and three-dimensional curve shape that matches the surface contour of the tissue it is adsorbed. According to the clinically common spherical, ellipsoidal and irregular tumors, this embodiment pre-processes the deformable tube 6 into three preset shapes: arc shape (curvature radius of 10-20mm) for spherical tumors, zigzag shape (bend angle of 120-150°) for ellipsoidal tumors and irregular curve shape (processed according to the contour scanning data of typical irregular tumors).

[0026] The biomimetic adsorption head 7 is an expandable structure, specifically in the form of an umbrella-shaped skeleton support structure, a petal-shaped opening and closing structure, or an airbag expansion structure. The biomimetic adsorption head 7 is a suction cup structure with flexible edges, and its inner surface is provided with a micron-level biomimetic array structure or a concentric circle labyrinth sealing texture to form a multi-level seal on the moist tissue surface. The texture depth is 0.2 mm and the texture spacing is 1 mm. This anti-slip texture can increase the friction between the biomimetic adsorption head 7 and the tumor surface, and at the same time, it can accommodate a small amount of body fluid on the tumor surface, improve the sealing and adhesion stability during adsorption, and avoid slippage during adsorption. The adsorption surface of the biomimetic adsorption head 7 is made of biocompatible silicone or polyurethane, and the surface is coated with a hydrophilic or hydrophobic coating to adapt to different tissue characteristics.

[0027] The adjustment mechanism 4 includes an angle adjustment component 9 and a length adjustment component 10. The angle adjustment component 9 is connected to the deformable tube 6 and is used to drive the deformable tube 6 to rotate around its own axis. The length adjustment component 10 is connected to the deformable tube 6 and is used to lock the axial position of the deformable tube 6 in the fixed tube 5.

[0028] The angle adjustment component 9 includes a rotating bracket rotatably mounted on the end of the fixed tube 5. The deformable tube 6 passes through the rotating bracket and is linked to it. The length adjustment component 10 includes a locking element mounted on the rotating bracket, used to secure the deformable tube 6 after it has been axially moved to the target position. The operator can manually rotate the rotating bracket to drive the deformable tube 6 to rotate synchronously, achieving an angle adjustment of 0-180° with an adjustment accuracy of up to 1°, which can precisely adapt to the adsorption needs of different tumor sites. The length adjustment component 10 includes a locking bolt threaded to the side wall of the rotating bracket. As a locking element, the end of the locking bolt is equipped with a locking structure such as a "clamp-type lock" or a "ratchet structure". After the deformable tube 6 is adjusted to the target depth, the locking bolt is tightened to make the locking structure fit tightly against the outer wall of the deformable tube 6, achieving position locking. After locking, the axial displacement of the deformable tube 6 does not exceed 0.1mm, ensuring the stability of the depth.

[0029] The drive mechanism 3 includes a manual push rod assembly or a linear motor, the output of which is connected to the proximal end of the deformable tube 6. In this embodiment, the drive mechanism 3 adopts a mechanical drive method, including multiple sets of manual push rods (or electric sliders) set on the traction device body 1. The push rods are fixedly connected to the tail end of the deformable tube 6. Pushing the push rods can directly drive the deformable tube 6 to extend precisely, and the extension length can be adjusted within the range of 0mm to 50mm. This device provides adsorption force through a negative pressure suction assembly. The air pump 12 is a medical silent negative pressure pump with a maximum vacuum degree of -80kPa. The air tube 13 is connected to the hollow inner cavity of the deformable tube 6, and the control valve 14 is used to independently control the suction state of each suction head.

[0030] The control valve 14 is an electromagnetic control valve, which is installed on the main pipeline of the air pipe 13. Its on / off state is controlled by the start switch 11. The start switch 11 is a foot switch, which is convenient for the operator to perform other operations with both hands. The control valve 14 can control the air supply by adjusting the valve opening, thereby controlling the speed at which the deformable tube 6 is blown out.

[0031] It also includes a pressure monitoring module 15, which is connected to the internal cavity of the bionic adsorption head 7 and is used to monitor the negative pressure value inside the bionic adsorption head 7 in real time. The pressure monitoring module 15 includes a pressure sensor, a data transmission unit, and a display unit. The display unit is used to display the negative pressure value and issue a prompt when the negative pressure value exceeds a preset range. The pressure sensor is embedded in the middle of the inner wall of the bionic adsorption head 7, with a detection range of -0.1MPa to 0MPa and a detection accuracy of 0.001MPa, and can monitor the negative pressure value inside the bionic adsorption head 7 in real time. The data transmission unit adopts a wired transmission method and is connected to the control module inside the traction device body 1 through an internal wire to transmit the real-time data collected by the pressure sensor to the display unit, such as an LCD screen. The display screen displays the negative pressure value of each bionic adsorption head 7 in real time. When the negative pressure value is lower than the preset threshold of -0.05MPa or higher than the preset threshold of -0.01MPa, the display terminal will issue an audible and visual alarm to remind the operator to make timely adjustments.

[0032] It also includes an intelligent negative pressure feedback control unit, which receives the negative pressure value; when the negative pressure value is detected to fluctuate drastically or continuously exceed the tissue tolerance threshold, the intelligent negative pressure feedback control unit controls the negative pressure suction component to switch to pulse adsorption mode or perform automatic pressure relief operation to prevent tissue ischemia necrosis or mechanical damage.

[0033] The specific workflow of the negative pressure traction device in this embodiment is as follows: Step 1: Based on the specific shape of the tumor to be pulled, select a deformable tube 6 with a corresponding preset shape and assemble it into the fixed tube 5 to ensure smooth cooperation between the deformable tube 6, the rotating seat, and the fixed tube 5.

[0034] Step 2: Align the front end of the traction device body 1 with the location of the tumor. The operator manually rotates the rotating brackets at the ends of each fixing tube 5 to adjust the angle of the deformable tube 6 so that the adsorption end face of the bionic adsorption head 7 faces the target adsorption point on the tumor surface. At the same time, push the deformable tube 6 to move along the axis of the fixing tube 5 to adjust its length into the body. After the adjustment is completed, tighten the locking bolt to lock the position of the deformable tube 6.

[0035] Step 3: The operator operates the drive mechanism 3 (such as pushing the handle) to mechanically push the deformable tube 6 out of the fixed tube 5, and uses the shape memory alloy properties to restore the preset bending shape, and adjusts the position until the bionic adsorption head 7 is in physical contact with the tumor surface; then, the air pump 12 and the corresponding control valve 14 are turned on to draw the bionic adsorption head 7, so that a negative pressure is instantly formed inside it, so as to achieve stable adsorption with the tumor surface.

[0036] Step 4: After adsorption is complete, the system enters the intelligent pressure monitoring mode. The pressure monitoring module 15 samples the negative pressure data of each channel at a frequency of 50Hz. If a sudden drop in negative pressure is detected at a certain adsorption head (indicating air leakage), the system automatically increases the suction flow rate of that channel; if the negative pressure is detected to be higher than -70kPa for more than 30 seconds (indicating the risk of tissue ischemia), the system automatically activates the pulse adsorption program (e.g., a cycle of 5 seconds of adsorption followed by 1 second of release) to maintain traction while ensuring tissue microcirculation perfusion and avoiding tissue necrosis caused by prolonged continuous negative pressure.

[0037] Step 5: After confirming that each bionic adsorption head 7 is adsorbed stably, apply traction power through the adjustment mechanism 4 on the main body 1 of the traction device to slowly pull the tumor. During the traction process, continuously monitor the negative pressure value of each bionic adsorption head 7 and the traction status of the tumor to ensure that the traction process is safe and stable.

[0038] Step 6: After traction is completed, turn off the air pump 12, open the exhaust channel of the control valve 14 to release the negative pressure in the bionic adsorption head 7. After the negative pressure value returns to 0 MPa, rotate the rotating seat in the opposite direction to retract the deformable tube 6 into the fixed tube 5, thus completing the entire traction operation.

[0039] The above-disclosed embodiments are merely preferred embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A bionic multi-pole negative pressure adsorption traction device for laparoscopic surgery, characterized in that, The traction device comprises: a traction device body for hand holding and providing a mounting base; a traction unit module comprising a plurality of traction units arranged in a circumferential array at one end of the traction device body; each group of the traction units comprises a fixed tube fixedly arranged on the traction device body, a deformable tube movably arranged in the fixed tube, an elastic support with shape memory characteristics, and a bionic suction head for suctioning a target tissue surface by negative pressure, the bionic suction head being detachably connected to the deformable tube through a universal connecting piece, and the universal connecting piece being used to realize multi-angle deflection of the bionic suction head relative to the deformable tube; a driving mechanism connected to each group of the traction units, used to drive the deformable tube to move axially along the fixed tube, so as to push or retract the deformable tube from the front end of the fixed tube, and make the deformable tube recover its preset shape; and a negative pressure suction assembly in communication with an internal passage of the deformable tube, used to provide continuous negative pressure suction force when the bionic suction head abuts against a target tissue; an adjusting mechanism connected to the deformable tube, used to independently adjust the circumferential rotation angle of each group of the deformable tube and the axial extension length of the deformable tube relative to the fixed tube.

2. The bionic multi-pole negative pressure adsorption traction device for laparoscopic surgery according to claim 1, characterized in that, The preset shape of the deformable tube is a curved shape pre-set according to the common shape of a target tissue, including at least one of an arc shape, a broken line shape, and a three-dimensional curve shape matching the profile of the tissue surface to be suctioned.

3. The bionic multi-pole negative pressure adsorption traction device for laparoscopic surgery according to claim 1, characterized in that, The bionic suction head is a suction disc structure with a flexible edge, and the inner surface of the bionic suction head is provided with a micron-level bionic array structure or a concentric circular labyrinth seal pattern, used to form a multi-stage seal on a wet tissue surface; the suction surface of the bionic suction head is biocompatible silica gel or polyurethane, and the surface is covered with a hydrophilic or hydrophobic coating to adapt to different tissue characteristics.

4. The bionic multi-pole negative pressure adsorption traction device for laparoscopic surgery according to claim 1, characterized in that, The adjusting mechanism comprises: an angle adjusting assembly connected to the deformable tube, used to drive the deformable tube to rotate around its own axis; a length adjusting assembly connected to the deformable tube, used to lock the axial position of the deformable tube in the fixed tube.

5. The bionic multi-pole negative pressure adsorption traction device for laparoscopic surgery according to claim 4, characterized in that, The angle adjusting assembly comprises a rotating card holder rotatably arranged at the end of the fixed tube, and the deformable tube is arranged in the rotating card holder and linked with the rotating card holder; the length adjusting assembly comprises a locking piece arranged on the rotating card holder, used to fasten the deformable tube after the deformable tube moves axially to a target position.

6. The bionic multi-pole negative pressure adsorption traction device for laparoscopic surgery according to claim 1, characterized in that, The driving mechanism comprises a manual push rod assembly or a linear motor, and the output end of the driving mechanism is connected to the proximal end of the deformable tube; the negative pressure suction assembly comprises a negative pressure pump, an air suction pipe connected between the negative pressure pump and each deformable tube, and a control valve arranged on the air suction pipe.

7. The bionic multi-pole negative pressure adsorption traction device for laparoscopic surgery according to claim 1, characterized in that, Further comprising a pressure monitoring module in communication with the internal cavity of the bionic suction head, used to monitor the negative pressure value in the bionic suction head in real time.

8. The bionic multi-pole negative pressure adsorption traction device for laparoscopic surgery according to claim 7, characterized in that, The negative pressure value is monitored by a negative pressure feedback control unit. When the negative pressure value is monitored to fluctuate sharply or exceed the tissue tolerance threshold, the negative pressure feedback control unit triggers the negative pressure suction assembly to switch to a pulse suction mode or perform an automatic pressure relief operation.

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