A surgical hook device for hepatobiliary surgery

Abstract

This invention discloses a surgical hook device for hepatobiliary surgery in the field of medical auxiliary devices, comprising a support, a support ring, several bases slidably fitted on the support ring, and an outer shell rotatably connected to the bases. A slidable hook plate is provided within the outer shell. The hook plate engages with a shaped groove within a limiting carrier via a rotatably connected irregular block on its sidewall, achieving mechanical self-locking during traction. The device also includes a traction force acquisition unit and a control unit, which can control the pre-limiting mechanism to drive the limiting carrier to move based on the target traction force, achieving pre-setting and closed-loop precise control of the traction force. Simultaneously, the angle and position of the hook plate can be easily adjusted through a unique adjustment and fixing mechanism. This solution enables rapid and precise stepless adjustment during surgery as needed.

Description

Technical Field

[0001] This invention belongs to the field of medical auxiliary devices, specifically a surgical hook device for hepatobiliary surgery. Background Technology

[0002] Hepatobiliary surgery is one of the most complex types of surgery in general surgery. Its target organs (liver and biliary system) are located deep within the human anatomy, surrounded by important blood vessels and organs such as the portal vein, hepatic artery, inferior vena cava, duodenum, and pancreas. Therefore, the success of the surgery highly depends on a stable, clear, and adequately exposed surgical field.

[0003] Currently, the main types of instruments used for surgical field exposure in clinical practice are: handheld retractors (such as the Deaver retractor and S-shaped retractor), which require complete manual holding by an assistant for traction. Disadvantages: Assistant fatigue can easily lead to hand tremors, resulting in an unstable surgical field and affecting the surgeon's ability to perform precise operations. The traction force depends entirely on the assistant's experience; too little force results in insufficient exposure, while too much force may injure or tear liver tissue and surrounding organs.

[0004] Mechanically fixed retractors: These use a rigid frame fixed to the side of the operating table to connect multiple adjustable retractor arms, achieving mechanical fixation and traction. Disadvantages: Once fixed, fine-tuning the position and angle is extremely cumbersome, requiring loosening and re-locking multiple joints, making it unsuitable for rapidly changing exposure requirements during surgery.

[0005] Given the shortcomings of existing technologies, there is an urgent need for a new type of surgical hook device for hepatobiliary surgery that can achieve more convenient and precise intraoperative adjustments while ensuring traction stability, so as to meet the actual needs of hepatobiliary surgery. Summary of the Invention

[0006] To address the aforementioned problems, the present invention aims to provide a surgical hook device for hepatobiliary surgery that enables rapid and precise stepless adjustment during surgery as needed.

[0007] To achieve the above objectives, the technical solution of the present invention is as follows:

[0008] A surgical hook device for hepatobiliary surgery includes a support frame with a support ring. Several bases are slidably fitted onto the support ring, and each base is rotatably connected to an outer shell. Each outer shell has a first groove, and a hook plate is slidably fitted within each first groove. The bases also have a fixing mechanism for fixing the bases to the support ring and an adjusting mechanism for adjusting the rotation angle of the outer shells. Each outer shell also has a second groove, and each second groove contains a limiting carrier and a pre-limiting mechanism. The limiting carrier has a shaped groove, and the hook plate slidably fits into the shaped groove. A shaped block is rotatably connected to the side wall of the hook plate, and the shaped block slidably fits into the first groove. The shaped groove engages with the shaped block based on its different postures, adjusting the rotation angle of the shaped block until the shaped block dynamically switches between engaging and unlocking with the shaped groove. The pre-limiting mechanism is used to move the limiting carrier to the target traction level position in advance.

[0009] It also includes a data acquisition unit and a control unit. The data acquisition unit is used to acquire the traction force between the hook plate and the tissue, and the control unit is used to control the secondary operation of the pre-limiting mechanism based on the magnitude of the traction force until the traction force between the hook plate and the tissue reaches the target traction force.

[0010] Working Principle: First, the entire device's support frame is securely fixed beside the operating table. The operator can manually slide the base on the support ring and rotate the outer shell to roughly move the hook plate to the vicinity of the tissue requiring traction. The angle between the base and the outer shell is initially fixed through the fixing and adjusting mechanisms. A desired target traction force value is set via the control unit (such as a touchscreen or buttons). The control unit then drives the pre-limiting mechanism to move the limiting carrier within the second slide groove to a preset position corresponding to the target force value, completing the pre-setting of the traction force "gear".

[0011] When the operator pulls the hook plate backward (in the traction direction), the hook plate moves the irregularly shaped block on its side wall along with it.

[0012] The irregularly shaped block first slides within the first groove (this stage is the free sliding stage, during which the irregularly shaped block maintains its original posture). When the pulling continues, the irregularly shaped block will slide from the first groove into the irregularly shaped slot within the limiting carrier.

[0013] As the block slides into the shaped groove, its unique shape contacts the inner wall of the groove and forces it to rotate until it reaches a specific angle and fully engages with the groove. This process is like an automatic latch; once in place, it clicks shut, fixing the displacement of the hook plate and thus achieving traction on the tissue. At this point, the traction force is initially established.

[0014] The acquisition unit begins to monitor the actual traction force between the hook plate and the tissue in real time and feeds the data back to the control unit.

[0015] The control unit compares the actual traction force with the preset target traction force.

[0016] If there is a deviation (such as a decrease in force due to tissue relaxation or contraction, or an increase in force due to edema), the control unit will again control the pre-limiting mechanism to make an extremely precise secondary movement, slightly adjusting the position of the limiting carrier.

[0017] The change in the position of the limiting carrier will cause the position of the entire irregular groove engagement point to change, thereby precisely adjusting the extension length of the hook plate, and ultimately making the traction force applied to the tissue dynamically and accurately stabilize at the target value.

[0018] The above approach has the following beneficial effects:

[0019] 1. Compared to handheld retractors, this method does not rely entirely on the assistant's manual grip for traction, avoiding the problem of unstable surgical field caused by assistant fatigue and hand tremors. The fixation mechanism secures the substrate to the support ring, and the engaging and fixing hook plate between the irregular block and the irregular groove provides a stable and clear surgical field, facilitating precise operations by the surgeon and improving surgical quality and success rate.

[0020] 2. This solution, through the coordinated operation of the acquisition unit and control unit, enables real-time acquisition and precise control of the traction force between the hook plate and the tissue. The surgeon can adjust the target traction force level via the control unit according to the specific surgical situation, and make secondary fine adjustments during the procedure to ensure the traction force remains within an appropriate range. This avoids the problems of insufficient force leading to inadequate exposure or excessive force causing tissue damage due to reliance on the assistant's experience, thus improving the precision and safety of the surgery.

[0021] Through three core steps—"presetting, self-locking, and fine-tuning"—the entire process from coarse adjustment to fine adjustment is automated. Automatic fine-tuning transforms the abstract "feeling of tension" into precise digital force values. It not only instantly reaches the preset force value but also continuously counteracts tension changes caused by tissue relaxation or contraction, providing a dynamically stable traction effect and fundamentally eliminating the risks associated with insufficient or excessive tension.

[0022] 3. This design, through the sliding fit of the substrate on the support ring and the adjustment mechanism for adjusting the rotation angle of the outer shell, allows surgeons to make rapid and precise stepless adjustments during surgery as needed. Compared to mechanically fixed retractors, where fine-tuning the position and angle is very cumbersome once fixed, this device can more flexibly adapt to rapidly changing exposure requirements during surgery, improving surgical efficiency and flexibility.

[0023] Furthermore, the adjustment mechanism includes a fixed column rotatably connected to one side of the base. A cover is provided at the end of the fixed column away from the base. Several guide grooves are circumferentially formed on the outer side of the fixed column. A collar is slidably fitted in the guide groove. Several locking grooves are circumferentially formed on the outer side of the collar. The length of the collar is less than the length of the guide groove. A second spring is provided between the collar and the cover. The second spring is used to support the collar in contact with the base. A protrusion is also provided on the side of the base near the fixed column. The protrusion is slidably fitted with the locking groove. When the collar contacts the fixed column, the protrusion engages with the locking groove.

[0024] The fixed column is coaxially fixedly connected to the second gear, the second gear meshes with the first gear, and the first gear is coaxially fixedly connected to the outer shell.

[0025] Beneficial effects: When adjusting the hook plate angle, the operator simply pinches the collar with their fingers and gently pulls it outward. The collar overcomes the elastic force of the second spring and slides outward along the guide groove. During the sliding process, the protrusion on the base body always moves within the collar's groove (serving a guiding function) until the collar reaches the end of its stroke, at which point the protrusion completely disengages from the groove. At this point, the ratchet engagement between the collar and the base body is released, and the collar (and the fixed post connected to it) enters a state of free rotation.

[0026] With the collar in the extended position, rotate it directly. The rotation of the collar is transmitted to the fixed post through the guide groove, and the fixed post drives the second gear to rotate. The second gear meshes with the first gear fixed on the outer shell, thereby transmitting power and ultimately driving the entire outer shell along with the hook plate to rotate, achieving stepless angle adjustment.

[0027] After the angle is adjusted to the correct position, release the collar. The spring force of the second spring will immediately push the collar back towards the base. During the return stroke, as long as any slot on the collar aligns with the protrusion on the base, the protrusion will quickly slide into the slot under the action of the spring force, making a "click" sound, completing the engagement and locking. At this point, the entire transmission system is once again rigidly fixed, and the angle is firmly locked.

[0028] The entire adjustment process can be completed with one hand (pinch-pull-rotate-release), and the operation is simple, natural, and quick. It avoids the tedious steps of using tools or tightening multiple bolts by hand, greatly shortening the adjustment time and perfectly adapting to the rapidly changing exposure requirements during surgery.

[0029] The protrusion and slot mechanism, pressurized by the second spring, form a highly efficient one-way clutch. Unlocking requires active application of force, while locking is automatically accomplished by the spring. This design ensures that the mechanism remains in a self-locking state when not in operation, and its angle will never change due to vibration or accidental contact, providing extremely high stability and safety.

[0030] The rotation operation is transmitted from the side collar to the rotation axis of the outer shell through a gear set at a 90-degree angle. This ingenious design saves space and makes the entire base structure compact, without causing too much interference above the surgical field.

[0031] Through a clever mechanical design, it integrates convenient one-handed operation, fast and reliable locking / unlocking, unlimited precise adjustment, and stable holding capability, ensuring rapid and precise stepless adjustment during surgery.

[0032] Furthermore, the fixing mechanism includes several circumferentially opened positioning holes on the support ring, and a positioning pin is slidably fitted on the base. When the positioning pin enters the positioning hole, the positioning pin and the positioning hole are slidably fitted.

[0033] Beneficial effect: When it is necessary to fix the base body to a certain position of the support ring, simply push the positioning pin into the positioning hole at that position.

[0034] By using the locating pin and the locating hole to fit together, all degrees of freedom (especially sliding degrees of freedom) between the base and the support ring are effectively restricted, thus achieving a firm fixation.

[0035] When the base needs to be moved, simply pull the locating pin out of the locating hole to unlock it, slide the base to the new position, and then reinsert the locating pin.

[0036] The operation is extremely simple and quick, achieving "one-click fixation".

[0037] Furthermore, the pre-limiting mechanism includes a servo motor located on one side of the second slide, a lead screw coaxially fixedly connected to the output shaft of the servo motor, and a threaded groove opened in the limiting carrier, with the lead screw threadedly engaged with the threaded groove.

[0038] Beneficial effects: The servo motor starts, and its output shaft drives the lead screw to rotate. Because the lead screw engages with the threaded groove inside the limiting carrier, the rotational motion of the lead screw is precisely converted into linear motion of the limiting carrier within the second slide. After the limiting carrier moves to the target position, the servo motor stops. At this time, the irregularly shaped groove also reaches a precise position corresponding to the target traction force. After the hook plate locks, the acquisition unit monitors the actual traction force. The control unit then drives the servo motor again, causing the limiting carrier to move forward or backward at the micrometer level, thereby performing a final, precise calibration of the traction force.

[0039] Driven by a servo motor, the traction force is no longer set manually based on experience, but rather by a precise and repeatable digital value determined by the control system. Operators can input an absolutely safe and effective force value (such as 5N or 8N), fundamentally avoiding the risk of tissue damage due to excessive traction or insufficient exposure due to insufficient traction, thus greatly improving the safety of the surgery.

[0040] Furthermore, the irregularly shaped block switches back and forth between locking and unlocking within the irregularly shaped groove along a preset direction. The preset direction includes a first moving direction from the irregularly shaped block approaching the irregularly shaped groove and a second moving direction from the irregularly shaped block away from the irregularly shaped groove.

[0041] When locking is required, the irregular block is in the first moving direction. The irregular block contacts the side wall of the irregular groove for the first time. The side wall of the irregular groove prevents the irregular block from moving forward and forces the irregular block to rotate around the side wall of the irregular groove by a first preset angle. Then the irregular block switches to the second moving direction. When the irregular block contacts the side wall of the irregular groove for the second time, the side wall of the irregular groove prevents the irregular block from moving forward and forces the irregular block to rotate around the side wall of the irregular groove by a second preset angle. At this time, the irregular block and the irregular groove are engaged in the second moving direction.

[0042] When unlocking is required, the irregular block switches to the first moving direction again until it contacts the side wall of the irregular groove again. The side wall of the irregular groove then prevents the irregular block from moving forward and forces it to rotate around the side wall of the irregular groove by a third preset angle. Then the irregular block switches to the second moving direction. When the irregular block contacts the side wall of the irregular groove again, the side wall of the irregular groove prevents it from moving forward and forces it to rotate around the side wall of the irregular groove by a fourth preset angle. At this time, the irregular block and the irregular groove are disengaged in the second moving direction.

[0043] The alien block completes one locking and unlocking cycle, and then rotates one full rotation.

[0044] Beneficial effects: All locking steps are automatically completed with a simple linear pull. This "pull-to-lock" operation is highly intuitive, requiring no additional steps (such as pressing buttons or toggling switches), greatly simplifying the procedure, shortening intraoperative preparation time, and perfectly meeting the speed requirements of surgery. The entire locking and unlocking process is accomplished entirely by the shape and interaction of the mechanical structure, without relying on any sensors or control systems.

[0045] This means that even in extreme situations such as circuit failure or system power outage, its most basic traction locking function remains effective, providing extremely high reliability and fault safety, which is crucial for critical surgical equipment.

[0046] Furthermore, it also includes an unlocking mechanism; the unlocking mechanism includes a groove in the hook plate, an inner rod that slides in the groove, a shaped block that is rotatably connected to one end of the inner rod, and the other end of the inner rod that extends out of the groove and is fixedly connected to a buckle plate; a through groove is provided on the outer side of the hook plate, a pusher is slidably connected in the through groove, a receiving groove is provided on the side of the inner rod near the through groove, a first spring and a locking block are provided in the receiving groove, the two ends of the first spring are fixedly connected to the locking block and the side wall of the receiving groove respectively, and the locking block slides in cooperation with the receiving groove and the through groove respectively.

[0047] Beneficial effects: Press-to-release (first step of unlocking): When it is necessary to unlock the hook plate, the operator presses the button with their finger. The button moves inward through the slot, squeezing the end face of the locking block. Under pressure, the locking block overcomes the elastic force of the first spring and is pushed completely back into the receiving groove. At this time, the locking block no longer restricts the sliding of the inner rod in the groove, and the inner rod enters a state of free movement.

[0048] Slide to unlock (second step): While holding the button down, simultaneously use the same finger or the other hand to pull the latch backward. Since the latch is fixedly connected to the inner rod, the inner rod slides backward within the groove. The movement of the inner rod causes the irregularly shaped block at its end to move as well, forcing the irregularly shaped block to move along the preset unlocking path (i.e., the "first direction of movement" mentioned above) within the irregularly shaped groove, completing a series of rotational movements, and finally releasing the engagement with the irregularly shaped groove.

[0049] Unlocking requires two consecutive and related actions: first, press the latch, then pull the latch plate to slide. This dual-action design significantly reduces the risk of accidental unlocking of the hook plate due to accidental touch or a single misoperation, ensuring absolute stability of traction during critical surgical steps. Despite being a two-step operation, the entire process is designed to be smooth and can be completed with one hand (e.g., thumb presses the latch, index finger pulls the latch plate). The operation is natural and fast, solving the pain points of complex mechanical locks such as "not being able to find the switch and being difficult to operate," and greatly improving the efficiency of intraoperative adjustments.

[0050] Furthermore, a handle is provided at the end of the hook plate away from the tissue, and a movable groove is provided on one side of the handle, with the buckle plate slidingly engaging with the movable groove.

[0051] Beneficial effects: The grip, located at the end of the hook plate, provides the operator with an ergonomic grip. The grip offers a stable structure specifically designed for handheld use, allowing for a more secure grip and easier application of force during unlocking operations, avoiding the slippage that can occur when directly gripping a smooth hook plate.

[0052] Integrating the snap plate into the movable slot provides a clear guide and storage space for the fingers. The fingers can naturally find and hook onto the snap plate, enabling "blind operation." The surgeon can accurately unlock the device without taking their eyes off the surgical field, greatly improving operational efficiency and surgical smoothness.

[0053] Furthermore, an LED light is also provided at the end of the hook plate near the tissue.

[0054] Beneficial effects: Hepatobiliary surgery involves deep incisions and challenging angles. The light from traditional surgical shadowless lamps is easily blocked by the head or arms of the surgeon or assistant, or forms shadows in deep cavities.

[0055] Integrating the LED light into the hook head is equivalent to placing the light source directly in front of the surgical target area to be illuminated. The light is emitted from the end of the traction device, illuminating the surgical field directly from the inside, completely avoiding external obstruction and providing a bright, shadow-free lighting effect.

[0056] Furthermore, it also includes a camera and an interactive interface; the camera is used to collect the field of view of the surgical area; the interactive interface is used to display the surgical area and obtain the target traction force value; the interactive interface is electrically connected to the control unit.

[0057] Beneficial effects: The camera displays the deep surgical field, traditionally visible only to the surgeon, in real-time on the interactive screen, allowing the entire surgical team to clearly see the current tissue status and traction effect. The target traction force value is input through the interactive interface, enabling the control unit to execute the corresponding action.

[0058] Furthermore, it also includes an overload protection unit, which is used to control the pre-limiting mechanism to run in reverse when the traction force collected by the acquisition unit exceeds the preset safety threshold, until the traction force is reduced to a safe range.

[0059] Beneficial effects: Although a targeted traction force is set, unexpected situations such as patient positional changes or muscle spasms during surgery may occur, leading to a sudden surge in tension. The overload protection function acts like a "fuse," automatically releasing excessive tension to prevent tissue damage or tearing. Attached Figure Description

[0060] Figure 1 This is a three-dimensional structural schematic diagram of the surgical hook device for hepatobiliary surgery of the present invention.

[0061] Figure 2 for Figure 1 A bottom view of a surgical hook device used in hepatobiliary surgery.

[0062] Figure 3 for Figure 2 Sectional view along the AA direction.

[0063] Figure 4 for Figure 3 A schematic diagram of the internal structure of the outer shell.

[0064] Figure 5 for Figure 4 A magnified view of a portion of point M in the middle.

[0065] Figure 6 for Figure 4 A magnified view of a portion of point N in the middle.

[0066] Figure 7 This is a top view of the base of the surgical hook device for hepatobiliary surgery of the present invention.

[0067] Figure 8 for Figure 7 Cross-sectional view of the matrix along the BB direction.

[0068] Figure 9 This is a schematic diagram illustrating the movement process of the irregularly shaped block in the surgical hook device for hepatobiliary surgery of the present invention.

[0069] The reference numerals in the accompanying drawings include: 1. Bracket; 2. Support ring; 3. Base; 201. Positioning hole; 301. Positioning pin; 302. Outer shell; 303. Hook plate; 304. Second slide groove; 305. Handle; 306. Movable groove; 307. Inner rod; 308. Buckle plate; 309. Limiting carrier; 310. Servo motor; 311. Lead screw; 312. Irregular block; 313. Irregular groove; 314. Press; 315. Receiving groove; 316. First spring; 317. Locking block; 318. Through groove; 319. Rotating groove; 320. Rotating shaft; 321. First gear; 322. Second gear; 323. Fixed column; 324. Guide groove; 325. Locking groove; 326. Protrusion; 327. Reset groove; 328. Second spring; 329. Cover plate; 330. Collar. Detailed Implementation

[0070] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown 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 are only used to explain the present invention, and should not be construed as limiting the present invention.

[0071] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "vertical", "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 this 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 this invention.

[0072] In the description of this invention, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two components. They can be direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0073] The following detailed description illustrates the specific implementation method:

[0074] The basic implementation examples are as follows: Figures 1-9 The image shows a surgical hook device for hepatobiliary surgery, mainly comprising a support 1. In this embodiment, the support 1 is detachably fixed to the operating table by bolts. A support ring 2 is welded and fixed to the support 1, and several bases 3 are slidably fitted onto the support ring 2. Each base 3 is rotatably connected to an outer shell 302. Specifically, the outer shell 302 is a long strip structure, and each outer shell 302 has a first sliding groove (not shown in the figure). A hook plate 303 is slidably fitted into each first sliding groove, and the hook plate 303 is used to pull tissue. An LED light is also installed at the end of the hook plate 303 near the tissue. A ring of cold light source LED lights is embedded at the edge of the head of each hook plate 303 to provide sufficient and shadowless local illumination for the deep surgical field.

[0075] The base 3 is also provided with a fixing mechanism for fixing the base 3 to the support ring 2 and an adjustment mechanism for adjusting the rotation angle of the outer shell 302. Specifically, the fixing mechanism includes several positioning holes 201 circumferentially opened on the top of the support ring 2. A positioning pin 301 is slidably fitted on the base 3. After the bottom of the positioning pin 301 is embedded in the top of the base 3, it is slidably fitted with the base 3. When the positioning pin 301 coincides with any positioning hole 201, the positioning pin 301 can enter into it. When the positioning pin 301 enters the positioning hole 201, the positioning pin 301 is slidably fitted with the positioning hole 201.

[0076] Specifically, in conjunction with the appendix Figure 8 As shown, the adjustment mechanism includes a fixed column 323 rotatably connected to one side of the base 3. A cover is welded to the end of the fixed column 323 away from the base 3. Several guide grooves 324 are circumferentially formed on the outer side of the fixed column 323. A collar 330 is slidably fitted in the guide grooves 324. Specifically, in this embodiment, the collar 330 is slidably fitted with each guide groove 324. Several retaining grooves 325 are circumferentially formed on the outer side of the collar 330. The length of the collar 330 is less than the length of the guide grooves 324, that is, there is a certain movable area between the collar 330 and the cover. A second spring 328 is provided between the collar 330 and the cover. Specifically, a reset groove 327 is formed in the collar 330. The second spring 328 is located in the reset groove 327. The two ends of the second spring 328 are welded and fixed to the inner wall of the reset groove 327 and the side wall of the cover plate 329, respectively. The second spring 328 is used to support the collar 330 in contact with the base 3. The base 3 is also integrally provided with a protrusion 326 on the side near the fixed post 323. The protrusion 326 slides with the slot 325. When the collar 330 contacts the fixed post 323, the protrusion 326 engages with the slot 325.

[0077] A second gear 322 is coaxially fixedly connected to a fixed column 323. The second gear 322 meshes with a first gear 321, and the first gear 321 is coaxially fixedly connected to the outer casing 302. Specifically, both the first gear 321 and the second gear 322 are located within a cavity formed inside the base 3, and both are rotatably connected to the side wall of the cavity. A rotating groove 319 is provided at the bottom of the base 3, and the outer casing 302 is rotatably connected to the rotating groove 319 via a rotating shaft 320. The rotating shaft 320 is coaxially keyed to the first gear 321.

[0078] Combined with appendix Figure 4 and attached Figure 5 As shown, each of the outer casings 302 also has a second slide groove 304. The second slide groove 304 and the first slide groove are both elongated structures and are interconnected. The first slide groove passes through the second slide groove 304. Each of the second slide grooves 304 is provided with a limiting carrier 309 and a pre-limiting mechanism. The pre-limiting mechanism is used to move the limiting carrier 309 to the target traction gear position in advance. Specifically, the pre-limiting mechanism includes a servo motor 310 located on one side of the second slide groove 304. The servo motor 310 is fixedly connected to one side of the second slide groove 304 by screws. A lead screw 311 is coaxially fixedly connected to the output shaft of the servo motor 310 through a coupling. The limiting carrier 309 has a threaded groove, and the lead screw 311 is threadedly engaged with the threaded groove.

[0079] Preferably, the limiting carrier 309 is a rectangular block structure, and an irregular groove 313 is provided inside the limiting carrier 309. The hook plate 303 slides with the irregular groove 313. An irregular block 312 is also rotatably connected to the side wall of the hook plate 303. Specifically, in this embodiment, the irregular block 312 is rectangular in shape, and right angles are provided at both ends of the irregular block 312. The irregular block 312 slides with the first sliding groove. The irregular groove 313 cooperates with the irregular block 312 based on different postures of the irregular block 312, and adjusts the rotation angle of the irregular block 312 until the irregular block 312 completes the dynamic switching of engaging and unlocking with the irregular groove 313.

[0080] Specifically, in conjunction with the appendix Figure 9 As shown, the irregularly shaped block 312 switches back and forth between locking and unlocking in the irregularly shaped groove 313 along a preset direction. The preset direction includes a first moving direction from the irregularly shaped block 312 to the irregularly shaped groove 313 and a second moving direction from the irregularly shaped block 312 to the irregularly shaped groove 313.

[0081] When locking is required, see attached Figure 9 As shown in diagrams a→d, when the operator pulls the hook plate 303, the irregularly shaped block 312 moves along with the hook plate 303, and the irregularly shaped block 312 is in the first direction of movement (within the first direction of movement). Figure 9 Taking moving to the left as an example, that is... Figure 9From a to d), the irregular block 312 first contacts the side wall of the irregular groove 313. The side wall of the irregular groove 313 hinders the irregular block 312 from continuing to move forward. The reaction force generated by the side wall of the irregular groove 313 forces the irregular block 312 to rotate around the side wall of the irregular groove 313 by a first preset angle (as shown in the attached figure). Figure 9 (As shown in b), then the irregular block 312 switches to the second moving direction. When the irregular block 312 contacts the side wall of the irregular groove 313 for the second time, the side wall of the irregular groove 313 hinders the irregular block 312 from continuing to move forward and forces the irregular block 312 to rotate around the side wall of the irregular groove 313 by a second preset angle. At this time, the irregular block 312 and the irregular groove 313 form an engagement in the second moving direction (i.e., attached). Figure 9 (as shown in d)

[0082] When unlocking is required, see attached Figure 9 As shown in d→g, the irregular block 312 switches back to the first moving direction until it contacts the side wall of the irregular groove 313 again. The side wall of the irregular groove 313 then obstructs the irregular block 312 from moving forward again and forces it to rotate around the side wall of the irregular groove 313 by a third preset angle (i.e., the attached angle). Figure 9 (As shown in f), then the irregular block 312 switches to the second moving direction. When the irregular block 312 contacts the side wall of the irregular groove 313 again, the side wall of the irregular groove 313 obstructs the irregular block 312 from continuing to move forward and forces the irregular block 312 to rotate around the side wall of the irregular groove 313 by a fourth preset angle. At this time, the irregular block 312 and the irregular groove 313 are disengaged in the second moving direction (as shown in the attached figure). Figure 9 (as shown in g)

[0083] The alien block 312 completes one locking and unlocking cycle, and then rotates one full rotation.

[0084] Preferably, it also includes an unlocking mechanism; the unlocking mechanism includes a groove formed in the hook plate 303, an inner rod 307 slidably fitted in the groove, a shaped block 312 specifically located on the inner rod 307 within the hook plate 303, the shaped block 312 and the inner rod 307 being rotatably connected to the side wall at the deepest end of the groove, and the other end of the inner rod 307 extending outside the groove and welded to a buckle plate 308, preferably, the buckle plate 308 having an arc-shaped structure. (See attached diagram) Figure 4 and attached Figure 6 As shown, a through groove 318 is provided on the outer side of the hook plate 303. A pusher 314 is slidably connected in the through groove 318. The pusher 314 is a long rod structure. An inner rod 307 is provided with a receiving groove 315 on the side near the through groove 318. When the inner rod 307 abuts against the deepest part of the groove, the receiving groove 315 coincides with the through groove 318. A first spring 316 and a locking block 317 are provided in the receiving groove 315. The two ends of the first spring 316 are respectively bonded and fixed to the locking block 317 and the side wall of the receiving groove 315. The locking block 317 is slidably engaged with the receiving groove 315 and the through groove 318.

[0085] Preferably, a handle 305 is welded and fixed to the end of the hook plate 303 away from the tissue (muscle tissue in the surgical area). The handle 305 has a circular structure and a movable groove 306 is provided on one side of the handle 305. One end of the inner rod 307 is located in the groove, and the other end of the inner rod 307 is located in the movable groove 306. The buckle plate 308 slides in conjunction with the movable groove 306.

[0086] It also includes a data acquisition unit and a control unit. Preferably, the data acquisition unit is a force sensor array arranged on the head of the hook plate 303. The data acquisition unit is used to acquire the traction force between the hook plate 303 and the tissue. The control unit is used to control the servo motor 310 to run twice based on the magnitude of the traction force until the traction force between the hook plate 303 and the tissue reaches the target traction force.

[0087] Preferably, it also includes a camera and an interactive interface; the camera is mounted on the end of the hook plate 303 near the tissue and is used to acquire the field of view of the surgical area. The interactive interface is used to display the surgical field image transmitted by the camera in real time and provides a digital input box for the operator to set the target traction force.

[0088] Preferably, it also includes an overload protection unit, which is used to control the servo motor 310 to run in reverse when the traction force collected by the acquisition unit exceeds a preset safety threshold, until the traction force is reduced to a safe range.

[0089] The specific implementation process is as follows:

[0090] First, the support 1 is securely fixed to the predetermined position on the operating table with bolts to ensure the stability of the entire device.

[0091] Begin setting up the traction points. The operator manually slides the base 3, moving it on the support ring 2 to approximately above the target area. After determining the position, the positioning pin 301 is pushed downwards into the corresponding positioning hole 201 on the support ring 2 to achieve initial fixation of the base 3.

[0092] Subsequently, fine-tuning of the angle is performed. The operator uses their thumb and forefinger to pinch and pull the collar 330 outward, overcoming the elasticity of the second spring 328, causing it to disengage from the protrusion 326 on the base 3. While keeping the collar 330 in the pulled-out state, it is rotated. The rotation of the collar 330 is transmitted through the guide groove 324 on the fixed post 323, causing the fixed post 323 and the coaxial second gear 322 to rotate together. The second gear 322 drives the meshing first gear 321 to rotate, and the first gear 321, in turn, drives the entire outer shell 302 and hook plate 303 to rotate via the rotating shaft 320. When the angle of the hook plate 303 is adjusted to the optimal direction to align with the tissue to be pulled, the collar 330 is released. The second spring 328 pushes it back, causing the groove 325 on the collar 330 to re-engage with the protrusion 326 on the base 3, firmly locking the angle.

[0093] Before traction begins, the operator sets a target traction force value (e.g., 8N) based on surgical needs (e.g., traction of the left lobe of the liver) via the touchscreen on the interactive interface. Upon receiving this command, the control unit immediately drives the servo motor 310. The servo motor 310 drives the lead screw 311 to rotate, and the limiting carrier 309, which is threaded into the lead screw 311, moves precisely in a straight line within the second slide groove 304 to reach a preset position corresponding to the 8N pulling force.

[0094] Hold the handle 305 at the end of the hook plate 303 and place the head of the hook plate 303, equipped with an LED light, below the lower edge of the liver or other tissues requiring traction. Then, gently pull the hook plate 303 away from the tissue. During this process, the irregularly shaped block 312 on the side wall of the hook plate 303 moves accordingly. When the irregularly shaped block 312 enters the irregularly shaped groove 313 of the limiting carrier 309 from the first groove, it will move according to the attached... Figure 9 a to appendix Figure 9 The path shown in d (the power of the irregular block 312 during the process from a to b is provided by the operator until the operator feels resistance, that is, the irregular block 312 can no longer move forward, and the operator releases the handle 305; during the process from b to c, the power of the irregular block 312 is provided by the traction force formed between the tissue and the hook plate 303, that is, the muscle tissue contraction) interacts with the side wall of the irregular groove 313, and rotates at a specific angle, eventually engaging with the irregular groove 313, completing the mechanical self-locking, and initially establishing traction.

[0095] After self-locking is completed, the force sensor integrated into the head of the hook plate 303 begins to monitor the actual traction force between the hook plate 303 and the tissue in real time, and continuously transmits the data to the control unit. The control unit compares the real-time traction force with the preset target value of 8N. If there is a deviation, the control unit sends a fine-tuning command to the servo motor 310, driving the limiting carrier 309 to make extremely precise forward and backward movements, thereby adjusting the final extension length of the hook plate 303 until the real-time traction force is accurately stabilized at 8N. This closed-loop control process can dynamically compensate for changes in tension caused by tissue relaxation or contraction.

[0096] If you need to adjust the angle again, simply repeat the above angle fine-tuning steps.

[0097] During the procedure, the camera transmits the surgical field image to the interactive screen in real time. If the traction force needs to be changed, a new force value can be directly entered on the screen, and the device will automatically make the adjustment. If an unexpected situation occurs during the procedure and the traction force momentarily exceeds the preset safety threshold (e.g., 15N), the overload protection function will be activated immediately. The control unit commands the servo motor 310 to make a reverse fine adjustment, releasing part of the tension and protecting the tissue from damage.

[0098] When it is necessary to release the traction, the operator presses the button 314 on the hook plate 303 with their finger, pushes the locking block 317 back into the receiving groove 315, and releases the restriction on the inner rod 307. Then, the operator hooks the buckle plate 308 in the movable groove 306 of the handle 305 with their index finger, pulls it back, and then pushes it forward, causing the inner rod 307 and the irregular block 312 to move in the preset direction, triggering the attached... Figure 9 d to append Figure 9 The unlocking path shown in g allows the irregular block 312 to disengage from the irregular groove 313, thus safely removing the hook plate 303.

[0099] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific structures and / or characteristics in the solutions are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the structure of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A surgical hook device for hepatobiliary surgery, comprising a support (1), a support ring (2) disposed on the support (1), a plurality of bases (3) slidably fitted on the support ring (2), an outer shell (302) rotatably connected to each base (3), a first sliding groove being provided in each outer shell (302), and a hook plate (303) slidably fitted in each first sliding groove; characterized in that: The base (3) is also provided with a fixing mechanism for fixing the base (3) to the support ring (2) and an adjustment mechanism for adjusting the rotation angle of the outer shell (302). The outer shell (302) is also provided with a second slide groove (304). The second slide groove (304) is provided with a limiting carrier (309) and a pre-limiting mechanism. The limiting carrier (309) is provided with a shaped groove (313). The hook plate (303) slides with the shaped groove (313). 303) A shaped block (312) is rotatably connected to the side wall. The shaped block (312) slides with the first groove. The shaped groove (313) adjusts the rotation angle of the shaped block (312) based on the different postures of the shaped block (312) and realizes the dynamic switching of the engagement and unlocking of the shaped block (312) and the shaped groove (313). The pre-limiting mechanism is used to move the limiting carrier (309) to the target traction gear position in advance. It also includes a data acquisition unit and a control unit. The data acquisition unit is used to acquire the traction force between the hook plate (303) and the tissue, and the control unit is used to control the secondary operation of the pre-limiting mechanism based on the magnitude of the traction force until the traction force between the hook plate (303) and the tissue reaches the target traction force.

2. The surgical hook device for hepatobiliary surgery according to claim 1, characterized in that: The adjustment mechanism includes a fixed column (323) rotatably connected to one side of the base (3). A cover is provided at the end of the fixed column (323) away from the base (3). Several guide grooves (324) are provided on the outer circumference of the fixed column (323). A collar (330) is slidably fitted in the guide groove (324). Several slots (325) are provided on the outer circumference of the collar (330). The length of the collar (330) is less than the length of the guide groove (324). A second spring (328) is provided between the collar (330) and the cover. The second spring (328) is used to support the collar (330) in contact with the base (3). A protrusion (326) is also provided on the side of the base (3) near the fixed column (323). The protrusion (326) is slidably fitted with the slots (325). When the collar (330) is in contact with the fixed column (323), the protrusion (326) is engaged with the slots (325). The fixed column (323) is coaxially fixedly connected to the second gear (322), the second gear (322) meshes with the first gear (321), and the first gear (321) is coaxially fixedly connected to the outer shell (302).

3. The surgical hook device for hepatobiliary surgery according to claim 2, characterized in that: The fixing mechanism includes several circumferentially opened positioning holes (201) on the support ring (2), and a positioning pin (301) is slidably fitted on the base (3). When the positioning pin (301) enters the positioning hole (201), the positioning pin (301) and the positioning hole (201) are slidably fitted.

4. The surgical hook device for hepatobiliary surgery according to claim 3, characterized in that: The pre-limiting mechanism includes a servo motor (310) located on one side of the second slide (304). The output shaft of the servo motor (310) is coaxially fixedly connected to a lead screw (311). A threaded groove is provided in the limiting carrier (309), and the lead screw (311) is threadedly engaged with the threaded groove.

5. The surgical hook device for hepatobiliary surgery according to claim 4, characterized in that: When the irregular block (312) switches back and forth between locking and unlocking in the irregular groove (313) along a preset direction, the preset direction includes a first moving direction from the irregular block (312) to the irregular groove (313) and a second moving direction from the irregular block (312) to the irregular groove (313). When locking is required, the irregular block (312) is in the first moving direction. The irregular block (312) contacts the side wall of the irregular groove (313) for the first time. The side wall of the irregular groove (313) prevents the irregular block (312) from moving forward and forces the irregular block (312) to rotate around the side wall of the irregular groove (313) by a first preset angle. Then the irregular block (312) switches to the second moving direction. When the irregular block (312) contacts the side wall of the irregular groove (313) for the second time, the side wall of the irregular groove (313) prevents the irregular block (312) from moving forward and forces the irregular block (312) to rotate around the side wall of the irregular groove (313) by a second preset angle. At this time, the irregular block (312) and the irregular groove (313) are engaged in the second moving direction. When unlocking is required, the irregular block (312) switches to the first moving direction again until the irregular block (312) contacts the side wall of the irregular groove (313) again. The side wall of the irregular groove (313) again prevents the irregular block (312) from moving forward and forces the irregular block (312) to rotate around the side wall of the irregular groove (313) by a third preset angle. Then the irregular block (312) switches to the second moving direction. When the irregular block (312) contacts the side wall of the irregular groove (313) again, the side wall of the irregular groove (313) prevents the irregular block (312) from moving forward and forces the irregular block (312) to rotate around the side wall of the irregular groove (313) by a fourth preset angle. At this time, the irregular block (312) and the irregular groove (313) are disengaged in the second moving direction. The irregular block (312) completes one locking and unlocking cycle, and the irregular block (312) rotates one full circle.

6. The surgical hook device for hepatobiliary surgery according to claim 5, characterized in that: It also includes an unlocking mechanism; the unlocking mechanism includes a groove opened in the hook plate (303), an inner rod (307) slidingly fitted in the groove, a shaped block (312) rotatably connected to one end of the inner rod (307), and the other end of the inner rod (307) extends out of the groove and is fixedly connected to a buckle plate (308). A through groove (318) is provided on the outer side of the hook plate (303). A pusher (314) is slidably connected in the through groove (318). A receiving groove (315) is provided on the side of the inner rod (307) near the through groove (318). A first spring (316) and a locking block (317) are provided in the receiving groove (315). The two ends of the first spring (316) are fixedly connected to the side wall of the locking block (317) and the receiving groove (315) respectively. The locking block (317) is slidably engaged with the receiving groove (315) and the through groove (318) respectively.

7. The surgical hook device for hepatobiliary surgery according to claim 6, characterized in that: The hook plate (303) is also provided with a handle (305) at the end away from the tissue. A movable groove (306) is provided on one side of the handle (305), and the buckle plate (308) slides in conjunction with the movable groove (306).

8. The surgical hook device for hepatobiliary surgery according to claim 7, characterized in that: An LED light is also provided at the end of the hook plate (303) near the tissue.

9. The surgical hook device for hepatobiliary surgery according to claim 8, characterized in that: It also includes a camera and an interactive interface; the camera is used to acquire the field of view of the surgical area; the interactive interface is used to display the surgical area and obtain the target traction force value; the interactive interface is electrically connected to the control unit.

10. The surgical hook device for hepatobiliary surgery according to claim 9, characterized in that: The control unit also includes an overload protection unit, which controls the pre-limiting mechanism to run in reverse when the traction force collected by the acquisition unit exceeds a preset safety threshold, until the traction force is reduced to a safe range.

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