A lateral approach thyroid surgery operating device

Abstract

The present application relates to the technical field of medical devices, in particular to a side-entry thyroid surgery operating device, comprising a main sleeve, a plurality of interconnected connecting blocks are arranged in the main sleeve, and a handle is fixedly connected to one end of the main sleeve; a driving mechanism for reversing the connecting blocks is arranged in the handle; a field of view mechanism for providing operation lighting is arranged at the other end of the main sleeve; the field of view mechanism adjusts the lighting direction synchronously when the driving mechanism operates. The device further comprises an operating mechanism and a protection mechanism, the operating mechanism is used for performing surgical operations, and the protection mechanism is used for protecting the device when the operating mechanism is not in operation. Through the linkage design of the driving mechanism and the field of view mechanism, the present application realizes the matching of the operation direction and the lighting angle, reduces the tissue recognition error caused by the blurred field of view, provides stable visual guidance for fine separation, clamping and other operations, and improves the operation precision.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a lateral-entry thyroid surgery operating device. Background Technology

[0002] Thyroid surgery is the primary treatment for diseases such as thyroid nodules, hyperthyroidism, or thyroid cancer. Traditional thyroid surgery involves open surgery, requiring a 6-8cm incision in the neck, which often results in noticeable scarring after recovery and carries the risk of damaging cervical nerves (such as the recurrent laryngeal nerve and superior laryngeal nerve) and blood vessels. With the development of minimally invasive techniques, endoscopic thyroid surgery has become increasingly common. It is mainly performed through concealed approaches (such as through the chest and breast, behind the ear, or under the armpit) to achieve minimal or no scarring in the neck, reduce pain, and shorten the recovery period.

[0003] In existing technologies, such as the clinical application of the da Vinci Xi robot in thyroid surgery, the device uses a multi-interactive robotic arm to support the simultaneous operation of endoscopes and multiple instruments. In thyroid surgery, the device is mainly used to assist in thyroid resection via the oral, axillary, or subclavian approaches. Its advantages lie in precise anatomy, nerve protection, and reduced hand tremors, thereby improving surgical efficiency.

[0004] The aforementioned products are mainly designed for endoscopic operations. Their structure is a rigid straight rod, which cannot actively adjust its direction according to anatomical obstacles during entry. At the same time, their illumination source is usually fixed around the lens, and the light is emitted along the axis. In the lateral entry path, it is easily blocked by muscles, blood vessels or adipose tissue, forming local shadows and making the lesion boundary unclear. Therefore, it is necessary to propose a precise and flexible lateral entry thyroid surgery operating device. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides a lateral-entry thyroid surgery operating device. Through the linkage design of the drive mechanism and the visual field mechanism, the operating direction and illumination angle are matched, reducing tissue identification errors caused by blurred vision. This provides stable visual guidance for delicate separation, clamping, and other operations, thereby improving the precision of surgical operations.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: A lateral-entry thyroid surgery operating device includes a main tube, a plurality of interconnected connecting blocks are provided inside the main tube, and a handle is fixedly connected to one end of the main tube; a drive mechanism for driving the connecting blocks to change direction is provided inside the handle; a field of view mechanism for providing operating illumination is provided at the other end of the main tube; the field of view mechanism is synchronously driven to adjust the illumination direction when the drive mechanism is running.

[0007] It also includes an operating mechanism and a protection mechanism. The operating mechanism is used to perform surgical procedures, and the protection mechanism is used to provide protection for the device when the operating mechanism is not in operation.

[0008] The technical principles of the above solution are as follows:

[0009] Flexible steering is achieved through hinged connecting blocks within the main sleeve. A built-in drive mechanism in the handle reverses the direction of the connecting blocks, while a mechanical linkage simultaneously adjusts the illumination direction of the front-end visual field mechanism, ensuring the operating direction matches the illumination angle and reducing obstruction of the lateral entry channel's field of vision. The operating mechanism is integrated at the end of the connecting blocks, performing surgical operations such as clamping and separation. The protective mechanism employs a retractable protective structure that is linked to the operating mechanism. When the operating mechanism is in operation, the protective structure protrudes from its working end; in non-operational states, it resets to form a barrier, preventing accidental contact with surrounding tissues and improving the safety of lateral entry surgery.

[0010] The above approach has the following beneficial effects:

[0011] 1. This solution achieves matching between the operating direction and the illumination angle through the linkage design of the drive mechanism and the visual field mechanism. When the handle drive connecting block adjusts the surgical angle, the visual field mechanism synchronously deflects the illumination direction through transmission, ensuring that the light source is focused on the working area of ​​the operating end, reducing the problems of light obstruction or blind spots in traditional instruments. This collaborative mechanism coordinates the surgical field illumination range with the operating path, allowing doctors to clearly observe detailed information about the thyroid lesion area, reducing tissue identification errors caused by blurred vision, providing stable visual guidance for delicate dissection, clamping, and other operations, and improving the precision of surgical operations.

[0012] 2. The hinged connecting blocks within the main cannula of this design overcome the operational limitations of traditional rigid instruments. Driven by a handle mechanism, multi-directional flexible reversal is possible, accommodating the narrow and curved anatomical characteristics of the lateral entry channel. Compared to straight-rod instruments, this design allows for multi-angle adjustments at the operating end within a confined space, eliminating the need for frequent instrument changes or patient repositioning. This flexibility enables surgeons to more naturally simulate hand movements during open surgery, reducing operational fatigue.

[0013] 3. The retractable and interconnected design of the protective mechanism in this solution establishes an active safety barrier. When the operating mechanism is not in operation, the protective structure forms a wraparound barrier, reducing the risk of accidental contact between the instrument tip and the thyroid capsule, blood vessels, or nerves. When the operating mechanism is activated, it automatically unfolds through mechanical linkage, without affecting the surgical procedure. This response mechanism of protection during non-operation and avoidance during operation reduces the risk of accidental injury to surrounding tissues by the instrument, protects critical structures around the thyroid gland such as the vulnerable recurrent laryngeal nerve and parathyroid glands, and helps reduce the incidence of postoperative complications such as bleeding and nerve damage.

[0014] Furthermore, the drive mechanism includes a controller, a drive component, and a transmission rope. The controller is electrically connected to the drive component, and the drive component is fixedly connected to the inner wall of the handle. The output shaft of the drive component is coaxially fixedly connected to a transmission wheel, and the end of the main sleeve away from the handle is rotatably fitted with a tensioning wheel. The transmission rope is tensioned on the outer walls of the transmission wheel and the tensioning wheel, and the connecting block at the top is fixedly connected to the transmission rope.

[0015] Beneficial effects: Power control is achieved through electrical connection between the controller and the drive unit. The transmission rope is tensioned on the outer wall of the transmission wheel and the tensioning wheel, which improves the transmission efficiency. When the drive unit drives the transmission wheel to rotate, it simultaneously drives the two sides of the transmission rope to move. When the transmission rope moves, it drives the connecting blocks on both sides to be tightened or stretched, realizing the reversal of the connecting blocks and stable transmission, thus improving the operation accuracy and reliability.

[0016] Furthermore, the vision mechanism includes an upper gear ring that is rotatably fitted to one end of the main sleeve near the tensioning wheel, with a light strip fixedly connected to the outer wall of the upper gear ring; a main gear is coaxially fixedly connected to the tensioning wheel, and the main gear meshes with the top of the upper gear ring.

[0017] Beneficial effects: Through the meshing transmission of the main gear and the upper gear ring, the rotation of the light strip and the operating mechanism is synchronized in real time, ensuring that the illumination direction is dynamically adjusted with the surgical angle and reducing blind spots. The mechanical linkage structure provides stable transmission without the need for additional drive components, simplifying the complexity of the device; the movable light strip arrangement enhances the illumination range, adapts to the narrow space of the side entry channel, and improves the clarity of the surgical field.

[0018] Furthermore, the operating mechanism includes an operating arm symmetrically hinged to one end of the main sleeve near the upper gear ring, and a movable rod slidably fitted on the inner wall of the main sleeve; a connecting rod is symmetrically hinged to one end of the movable rod away from the main sleeve, and the ends of the connecting rods away from the movable rod are all hinged to the middle of the operating arm; a transmission component for driving the movable rod to move is provided on the handle.

[0019] Beneficial effects: The linkage between the movable rod and the connecting rod drives the opening and closing of the symmetrically hinged operating arm, ensuring smooth transmission and controllable clamping and separation actions. The transmission components integrated on the handle simplify the operating logic, conform to the doctor's hand habits, and reduce fatigue; the overall structure is compact, adaptable to small surgical spaces, and improves operational flexibility and safety.

[0020] Furthermore, the transmission assembly includes a lever hinged to the handle, a first pull wire fixedly connected to the lever, and the end of the first pull wire away from the lever fixedly connected to the movable rod; a spring is also fixedly connected to the outer wall of the movable rod, and the end of the spring away from the outer wall of the movable rod is fixedly connected to the inner wall of the main sleeve; a torsion spring is also sleeved on the hinge shaft between the lever and the handle.

[0021] Beneficial effects: The linkage between the lever and the first pull line enables displacement control of the movable lever, adapting to the doctor's hand movements; the spring and torsion spring work together to reset, ensuring the movable lever returns to its original position when not in operation, avoiding accidental operation of the operating arm; the overall transmission path is simple, reducing mechanical redundancy, improving operation response speed and stability, and adapting to the needs of confined surgical spaces.

[0022] Furthermore, the protective mechanism includes a protective cover fitted onto the end of the main sleeve away from the handle, and a second pull wire fixedly connected to the movable rod, with the end of the second pull wire away from the movable rod fixedly connected to the protective cover.

[0023] Beneficial effects: By linking the second pull line with the movable rod, the protective cover can move synchronously with the operation, adapting to changes in the surgical area and reducing accidental damage to surrounding tissues by the instrument. The structure requires no additional drive, simplifying the device's complexity; it follows the operation path in real time, improving surgical safety; and its compact overall design ensures efficient coordination between operation and protection.

[0024] Furthermore, an ultrasonic sensor is fixedly connected to the edge of the protective cover, and a vibrating element is also fixedly connected to the handle. Both the ultrasonic sensor and the vibrating element are electrically connected to the controller. When the ultrasonic sensor detects a blood flow signal within a preset distance, it triggers the vibrating element to generate a tactile alarm.

[0025] Beneficial effects: Utilizing an ultrasonic sensor to detect blood flow signals in real time, a tactile alarm is triggered by vibration within a preset distance, providing safety feedback. Doctors sense danger through the vibration of the handle, preventing vascular damage; the response is rapid and with minimal interference, making it suitable for delicate surgical procedures and improving surgical field safety and operational precision.

[0026] Furthermore, an image sensor is fixedly connected to the outer wall of the upper gear ring. The controller is used to acquire image information emitted by the image sensor and control the operation of the drive components based on the image information.

[0027] Beneficial effects: The system utilizes image sensors to acquire real-time images of the surgical area, and the controller intelligently adjusts the operation of the drive components based on the image information to achieve dynamic adaptation of operating parameters; visual feedback control improves the accuracy of instrument movements and reduces human error; and the adaptive adjustment response is rapid, enhancing the stability of surgical operations.

[0028] Furthermore, several angle sensors are fixedly connected to the main bushing. The controller is used to acquire the angle information emitted by the angle sensors and control the operation of the drive components based on the angle information.

[0029] Beneficial effects: The angle sensor monitors posture changes in real time, and the controller dynamically adjusts the drive components based on the angle information; it improves the accuracy of instrument movements and reduces human angle errors; real-time feedback ensures posture stability and avoids tissue damage caused by angle deviations; its high structural integration adapts to confined spaces and enhances operational safety.

[0030] Furthermore, it also includes an operating system for controlling the operation of the device, the operating system comprising the following modules:

[0031] The image processing module is used to receive and analyze image data acquired by the image sensor, and to identify anatomical structures and surgical operation areas.

[0032] The attitude analysis module is used to fuse motion data from the angle sensor and the connecting block to establish the position and pose information of the main sleeve during operation.

[0033] The collaborative control module is used to adjust the operating parameters of the drive components based on the analysis results of the image processing module and the attitude analysis module, so as to match the coordination between the lighting direction of the vision mechanism and the movement of the manipulator.

[0034] The safety warning module is used to receive blood flow signals from the ultrasound sensor and combine them with image data to determine whether it is approaching an important risk area. If the risk threshold is within the range, it will trigger a vibration alarm and limit the further operation of the manipulator.

[0035] Beneficial effects: The image processing module identifies anatomical structures and surgical areas, improving the reliability of image feedback; the posture analysis module integrates multiple data to construct real-time pose information, optimizing operation positioning accuracy; the collaborative control module dynamically adjusts drive parameters to achieve coordination between illumination and manipulator movements, enhancing operational smoothness; the safety warning module combines ultrasound and image data to trigger alarms and restrict operations, avoiding risky areas, thereby improving surgical safety and operational precision. Attached Figure Description

[0036] Figure 1 This is an isometric view of the lateral-entry thyroid surgery operating device of the present invention.

[0037] Figure 2 for Figure 1 A cross-sectional view from the center.

[0038] Figure 3 for Figure 2 Enlarged view of section B.

[0039] Figure 4 for Figure 3 Axonometric view of the upper gear ring.

[0040] Figure 5 This is a structural block diagram of the operating system in the lateral-entry thyroid surgery device of the present invention.

[0041] The reference numerals in the accompanying drawings of the instruction manual include: 1. Main sleeve; 2. Connecting block; 3. Handle; 4. Drive component; 5. Transmission wheel; 6. Tensioning wheel; 7. Upper gear ring; 8. Main gear; 9. Operating arm; 10. Movable rod; 11. Connecting rod; 12. Lever; 13. Protective cover; 14. Vibrating component. Detailed Implementation

[0042] 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.

[0043] The following detailed description illustrates the specific implementation method:

[0044] The basic implementation examples are as follows: Figures 1-4 As shown: A lateral-entry thyroid surgery operating device includes a main tube 1, with a plurality of interconnected connecting blocks 2 inside the main tube 1, and a handle 3 fixedly attached to one end of the main tube 1; the handle 3 has a drive mechanism for driving the connecting blocks 2 to change direction; the other end of the main tube 1 has a field of vision mechanism for providing operating illumination; when the drive mechanism is running, it synchronously drives the field of vision mechanism to adjust the illumination direction.

[0045] The drive mechanism includes a controller, a drive component 4, and a transmission rope. In this embodiment, the controller can be a PLC, CPU, or microcontroller, and the drive component 4 is a servo motor. The controller is electrically connected to the drive component 4, and the drive component 4 is bolted to the inner wall of the handle 3. The output shaft of the drive component 4 is coaxially and fixedly connected to a transmission wheel 5. The end of the main sleeve 1 away from the handle 3 is rotatably fitted with a tensioning wheel 6. The transmission rope is tensioned on the outer walls of the transmission wheel 5 and the tensioning wheel 6, and the connecting blocks 2 at the top are fixedly bonded to the transmission rope. In this embodiment, when the main sleeve 1 is in the initial vertical position, the connecting blocks 2 on both sides are in the same horizontal position. In some preferred embodiments, the number of drive components 4 and transmission components can be increased to achieve multi-directional rotation of the main sleeve 1, thereby increasing the flexibility of the device.

[0046] The vision mechanism includes an upper gear ring 7 (e.g., rotatably fitted to one end of the main sleeve 1 near the tensioning wheel 6) Figure 4 As shown, the upper gear ring 7 is fixedly connected to the light strip by screws on the outer wall; the main gear 8 is coaxially fixed to the tensioning wheel 6, and the main gear 8 meshes with the top of the upper gear ring 7.

[0047] Specifically, when the controller starts the drive unit 4, the drive unit 4 drives the transmission wheel 5 to rotate. The transmission rope tensioned between the transmission wheel 5 and the tensioning wheel 6 pulls the tensioning wheel 6 to rotate. The transmission rope will be displaced on both sides. Since the top connecting block 2 is fixed to the transmission rope, the displacement on both sides of the transmission rope will cause one side of the connecting block 2 to be compressed, while the other side of the connecting block 2 will be stretched. This causes the connecting block 2 to turn, converting the linear motion of the transmission rope into the deflection force of the connecting block 2, so that the hinged connecting blocks 2 rotate together, thereby driving the front end of the main sleeve 1 to complete the reversing action.

[0048] Simultaneously, the main gear 8, coaxially fixed to the tightening wheel 6, meshes synchronously with the upper gear ring 7, driving the upper gear ring 7 and the outer wall lamp strip to rotate, thus realizing real-time adjustment of the lighting direction according to the reversing action of the main sleeve 1. Throughout the process, the power of the drive mechanism is synchronously transmitted to the connecting block 2 and the lamp strip through the transmission rope and gear meshing structure, making the output optical axis of the lamp strip correspond to the surgical operation area, reducing field of vision folding, and forming a linkage between drive, reversing and lighting. The operation direction and lighting angle can be adapted without additional control commands. Through the mechanical action of the transmission structure, it is ensured that the lighting always accurately covers the surgical area when the surgical instruments are adjusted in the operation direction, realizing the coordination of operation action and field of vision lighting, and improving the continuity and accuracy of operation in narrow surgical fields.

[0049] This embodiment also includes an operating mechanism and a protection mechanism. The operating mechanism is used to perform surgical procedures, and the protection mechanism is used to provide protection for the device when the operating mechanism is not in operation.

[0050] The operating mechanism includes an operating arm 9 symmetrically hinged to one end of the main sleeve 1 near the upper gear ring 7, and a movable rod 10 slidably fitted on the inner wall of the main sleeve 1; a connecting rod 11 is symmetrically hinged to one end of the movable rod 10 away from the main sleeve 1, and the ends of the connecting rod 11 away from the movable rod 10 are all hinged to the middle of the operating arm 9; the handle 3 is provided with a transmission component for driving the movable rod 10 to move.

[0051] The transmission assembly includes a lever 12 hinged to the handle 3, with a first pull cable fixedly sleeved on the lever 12. The end of the first pull cable away from the lever 12 is fixedly sleeved to the movable rod 10. A spring is also screwed to the outer wall of the movable rod 10, with the end of the spring away from the outer wall of the movable rod 10 fixedly screwed to the inner wall of the main sleeve 1. A torsion spring is also sleeved on the hinge shaft between the lever 12 and the handle 3. In this embodiment, the first pull cable can be pulled by the operating arm 9, which in turn moves the movable rod 10; the spring can be used to reset the movable rod 10.

[0052] The protective mechanism includes a protective cover 13 (e.g., sleeved on the end of the main sleeve 1 away from the handle 3) Figure 3 As shown), a second pull wire is fixedly sleeved on the movable rod 10. The end of the second pull wire away from the movable rod 10 is fixedly sleeved with the protective cover 13. In this embodiment, the protective cover 13 is made of elastic material.

[0053] Specifically, in the initial state, the torque of the torsion spring causes the lever 12 to pull the first pull line, which in turn pulls the movable rod 10 along the axis of the main sleeve 1 towards the handle 3. This compresses the spring and drives the connecting rod 11 to pull the middle of the operating arm 9, causing the symmetrically hinged operating arm 9 to close inward with the hinge point as the fulcrum. At the same time, the movable rod 10 pulls the protective cover 13 along the axis of the main sleeve 1 through the second pull line, causing the protective cover 13 to gradually cover the closed operating arm 9. This allows the operating arm 9 to be housed inside the protective cover 13, thus preventing damage to the inner wall of the tissue during the feeding process and increasing the safety of the device.

[0054] When medical staff turn the lever 12 on the handle 3, the lever 12 rotates around the hinge axis and compresses the torsion spring, releasing the tension of the first pull cable. Meanwhile, the movable rod 10 moves away from the handle 3 under the action of the spring. The movable rod 10 pushes the operating arm 9 to rotate around its center point via the connecting rod 11, causing the front end of the operating arm 9 to unfold to the working position. Simultaneously, the second pull cable resets, and the protective cover 13 slides as the operating arm 9 unfolds, releasing the protective covering of the operating arm 9. During this process, the operating arm 9 can be freely operated. Through the linkage of various components, a process of operation triggering, protection release, operation reset, and protection closure is formed, ensuring that the protective cover 13 automatically avoids obstacles when the operating mechanism is unfolded and automatically protects when idle, achieving a mechanical coupling of operational convenience and safety.

[0055] An ultrasonic sensor is fixedly bonded to the edge of the protective cover 13, and a vibrating element 14 is fixedly connected to the handle 3 with screws. In this embodiment, the vibrating element 14 is a vibration motor, and the ultrasonic sensor adopts existing technology. Both the ultrasonic sensor and the vibrating element 14 are electrically connected to the controller. When the ultrasonic sensor detects blood flow signals within a preset distance, it triggers the vibrating element 14 to generate a tactile alarm.

[0056] Specifically, an ultrasound sensor is used to detect blood flow signals in real time, triggering a tactile alarm on the vibrating component 14 within a preset distance, thus providing safety feedback. Doctors can sense danger through the vibration of the handle 3, avoiding vascular damage; the response is rapid and with minimal interference, making it suitable for delicate surgical procedures and improving the safety and precision of the surgical field.

[0057] This embodiment achieves efficient collaboration through multi-mechanical linkage, enhancing surgical safety and precision. When the drive mechanism reverses the direction of the connecting block 2, it synchronously drives the visual field mechanism via a transmission rope and gear meshing structure, ensuring the illumination direction of the light strip adjusts in real-time with the rotation of the main sleeve 1, guaranteeing dynamic adaptation between the surgical field and the operating path. The operating mechanism, through the linkage of the lever 12, pull wire, and spring assembly, achieves coordinated actions of opening and closing the operating arm 9 and automatically avoiding and covering the protective cover 13. The protective cover 13 is closed for protection when idle and released during use to prevent tissue damage. The ultrasonic sensor and vibrating element 14 form a safety feedback linkage, instantly triggering a tactile alarm when a dangerous blood flow signal is detected. The various mechanisms, through mechanical coupling, form multiple linkages of drive-reversal-illumination, operation-protection, and detection-early warning, achieving coordinated actions and improving the continuity and safety of operations in narrow surgical fields.

[0058] In another embodiment, an image sensor is also fixedly connected to the outer wall of the upper gear ring 7 with screws. The controller is used to acquire image information emitted by the image sensor and control the operation of the drive unit 4 based on the image information.

[0059] The specific implementation process is as follows: An image sensor is used to acquire real-time images of the surgical area. The controller intelligently adjusts the operation of the drive component 4 based on the surgical area image information, achieving dynamic adaptation of operating parameters. Visual feedback control improves the accuracy of instrument movements and reduces human error. Adaptive adjustment provides rapid response and enhances the stability of surgical operations. Furthermore, the rotation of the upper gear ring 7 drives the image sensor to move synchronously, ensuring that the acquired image data is aligned with the operating area. The image data also reflects the occlusion status of the operating area, thereby flexibly adjusting the direction of the main sleeve 1. This collaborative control capability further improves the safety and applicability of the device.

[0060] In another embodiment, a number of angle sensors are also fixedly connected to the main sleeve 1 with screws. The controller is used to acquire the angle information emitted by the angle sensors and control the operation of the drive component 4 based on the angle information.

[0061] The specific implementation process is as follows: The angle sensor monitors the posture changes in real time, and the controller dynamically adjusts the drive component 4 based on the angle information; this improves the accuracy of the instrument's movements and reduces human error in the angle; real-time feedback ensures posture stability and avoids tissue damage caused by angle deviation; the high degree of structural integration adapts to narrow spaces and enhances operational safety.

[0062] In other embodiments, combined with Figure 5 As shown, this embodiment also provides an operating system for controlling the operation of the device. The operating system includes an image processing module, a posture analysis module, a cooperative control module, and a safety warning module. The functions of each module are as follows:

[0063] The image processing module receives and analyzes image data acquired by the image sensor to identify anatomical structures and surgical operation areas. In this embodiment, the image sensor uses a high-definition miniature camera. After receiving the image data, the image quality is optimized through preprocessing such as noise reduction and contrast enhancement. Then, key anatomical structures such as the thyroid gland, trachea, and recurrent laryngeal nerve are segmented using deep learning algorithms (such as U-Net). The surgical operation area is located by combining edge detection and texture analysis. The position of the instrument tip is tracked in real time, and blind spots are marked, providing accurate spatial anatomical information for subsequent modules.

[0064] The attitude analysis module is used to fuse motion data from angle sensors (such as gyroscopes or inclinometers) and connecting block 2 to establish the pose information of the main sleeve 1 during operation. Specifically, the attitude analysis module uses a Kalman filter algorithm to eliminate measurement noise and establish the pose relationship of the main sleeve 1 in three-dimensional space (including position coordinates and pitch / yaw angles), providing a high-precision motion reference for cooperative control.

[0065] The collaborative control module adjusts the operating parameters of the drive component 4 based on the analysis results of the image processing module and the posture analysis module, matching the lighting direction of the field of view mechanism with the movement of the operating arm 9. This module dynamically adjusts the output parameters (such as speed and torque) of the servo motor through a fuzzy PID algorithm, so that the steering movement of the main sleeve 1 is adapted to the surgical area; at the same time, it adjusts the brightness of the light strip according to the illumination intensity of the surgical field in the image, and coordinates with the extension range of the operating arm 9 (controlled by the displacement feedback of the movable rod 10), forming a coordination of instrument position, illumination angle, and operating space, realizing precise operation in a narrow surgical field.

[0066] The safety warning module receives blood flow signals (such as blood flow velocity and blood vessel diameter data) from the ultrasound sensor and combines them with image data to determine whether it is approaching a critical risk area (such as the distribution of blood vessels and nerves). If the risk threshold is within the threshold range, the vibrator 14 is triggered to sound an alarm and the operating arm 9 is restricted from further operation. This module calculates the distance between the operating arm 9 and the risk area using a risk assessment model. When the arm approaches the safety boundary, the vibrator 14 emits a vibration alert.

[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 lateral-entry thyroid surgery operating device, comprising a main cannula (1), characterized in that, The main sleeve (1) is provided with several connecting blocks (2) that are hinged to each other. One end of the main sleeve (1) is fixedly connected to a handle (3). The handle (3) is provided with a drive mechanism for driving the connecting blocks (2) to change direction. The other end of the main sleeve (1) is provided with a vision mechanism for providing operating lighting. When the drive mechanism is running, it synchronously drives the vision mechanism to adjust the lighting direction. It also includes an operating mechanism and a protection mechanism. The operating mechanism is used to perform surgical procedures, and the protection mechanism is used to provide protection for the device when the operating mechanism is not in operation.

2. The lateral-entry thyroid surgery operating device according to claim 1, characterized in that, The drive mechanism includes a controller, a drive component (4) and a transmission rope. The controller is electrically connected to the drive component (4), and the drive component (4) is fixedly connected to the inner wall of the handle (3). The output shaft of the drive component (4) is coaxially fixedly connected to a transmission wheel (5), and the end of the main sleeve (1) away from the handle (3) is rotatably fitted with a tightening wheel (6). The transmission rope is tensioned on the outer walls of the transmission wheel (5) and the tightening wheel (6), and the connecting block (2) at the top is fixedly connected to the transmission rope.

3. The lateral-entry thyroid surgery operating device according to claim 2, characterized in that, The vision mechanism includes an upper gear ring (7) that rotates and engages with the main sleeve (1) near the end of the tightening wheel (6), and a light strip is fixedly connected to the outer wall of the upper gear ring (7); a main gear (8) is coaxially fixedly connected to the tightening wheel (6), and the main gear (8) meshes with the top of the upper gear ring (7).

4. The lateral-entry thyroid surgery operating device according to claim 3, characterized in that, The operating mechanism includes an operating arm (9) symmetrically hinged to the end of the main sleeve (1) near the upper gear ring (7), and a movable rod (10) is also slidably fitted on the inner wall of the main sleeve (1); a connecting rod (11) is symmetrically hinged to the end of the movable rod (10) away from the main sleeve (1), and the end of the connecting rod (11) away from the movable rod (10) is hinged to the middle of the operating arm (9); a transmission component for driving the movable rod (10) to move is provided on the handle (3).

5. The lateral-entry thyroid surgery operating device according to claim 4, characterized in that, The transmission assembly includes a lever (12) hinged to the handle (3), a first pull wire fixedly connected to the lever (12), and the end of the first pull wire away from the lever (12) fixedly connected to the movable rod (10); a spring is also fixedly connected to the outer wall of the movable rod (10), and the end of the spring away from the outer wall of the movable rod (10) is fixedly connected to the inner wall of the main sleeve (1); a torsion spring is also sleeved on the hinge shaft between the lever (12) and the handle (3).

6. The lateral-entry thyroid surgery operating device according to claim 5, characterized in that, The protective mechanism includes a protective cover (13) fitted onto the end of the main sleeve (1) away from the handle (3), and a second pull wire is fixedly connected to the movable rod (10), with the end of the second pull wire away from the movable rod (10) fixedly connected to the protective cover (13).

7. The lateral-entry thyroid surgery operating device according to claim 6, characterized in that, An ultrasonic sensor is fixedly connected to the edge of the protective cover (13), and a vibrating element (14) is also fixedly connected to the handle (3). Both the ultrasonic sensor and the vibrating element (14) are electrically connected to the controller. When the ultrasonic sensor detects blood flow signals within a preset distance, the vibrating element (14) is triggered to generate a tactile alarm.

8. The lateral-entry thyroid surgery operating device according to claim 7, characterized in that, An image sensor is also fixedly connected to the outer wall of the upper gear ring (7). The controller is used to acquire the image information emitted by the image sensor and control the operation of the drive unit (4) based on the image information.

9. The lateral-entry thyroid surgery operating device according to claim 8, characterized in that, Several angle sensors are also fixedly connected to the main sleeve (1). The controller is used to obtain the angle information emitted by the angle sensors and control the operation of the drive unit (4) based on the angle information.

10. The lateral-entry thyroid surgery operating device according to claim 9, characterized in that, It also includes an operating system for controlling the operation of the device, which comprises the following modules: The image processing module is used to receive and analyze image data acquired by the image sensor, and to identify anatomical structures and surgical operation areas; The attitude analysis module is used to fuse the motion data of the angle sensor and the connecting block (2) to establish the position and pose information of the main sleeve (1) during operation. The collaborative control module is used to adjust the operating parameters of the drive component (4) according to the analysis results of the image processing module and the posture analysis module, and match the coordination between the lighting direction of the vision mechanism and the movement of the operating arm (9). The safety warning module is used to receive blood flow signals from the ultrasound sensor and combine them with image data to determine whether it is close to an important risk area. If the risk threshold is within the range, the vibrating element (14) alarm is triggered and the operation arm (9) is restricted from further operation.

Images