Minimally invasive surgical magnetic anchoring system

Abstract

The application discloses a minimally invasive surgery magnetic anchoring system, which comprises an extracorporeal magnetic traction device and a minimally invasive surgery auxiliary device; the minimally invasive surgery auxiliary device comprises a control part, an anchoring clamp and an intracorporeal magnet which are connected in sequence; the control part is used for controlling the anchoring clamp to open and close so as to grab and pull the target tissue in the body; the intracorporeal magnet is used for forming magnetic coupling with the extracorporeal magnetic traction device to provide a tissue traction force; the intracorporeal magnet comprises a first magnet, the first magnet comprises a first magnetic column and a traction line, the first magnetic column comprises a first end and a second end, the second end is partially spherical and forms a magnetic pole; or the second end and the side wall of the first magnetic column are connected through a round corner, and the round corner forms a magnetic pole; one end of the traction line is connected to the first end, and the traction line is used for sleeving the anchoring clamp.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a minimally invasive surgical magnetic anchoring system. Background Technology

[0002] Minimally invasive surgeries such as endoscopic submucosal dissection (ESD) have been widely used in the clinical treatment of early gastrointestinal lesions. However, due to the narrow space of the gastrointestinal lumen, the soft and easily collapsed tissues, and the lesions easily obscuring the operation area, the surgical field is not sufficiently exposed, which significantly increases the difficulty of the operation and the risk of complications.

[0003] To improve the aforementioned issues with surgical field exposure, magnetic anchoring assisted traction technology is often used in clinical practice. This technology combines an in-body magnet with a tissue clamping device, and uses the magnetic field generated by an external magnetic traction device to act on the in-body magnet, thereby lifting and traction the lesion tissue and thus assisting in exposing the surgical field.

[0004] However, when using multiple magnets in series for traction, existing magnetic anchoring traction devices are prone to lateral attraction between adjacent magnets, making it impossible to maintain a series connection. This leads to technical problems such as disordered magnet combination shape, uncontrolled traction direction, and unstable surgical field exposure, making it difficult to meet the requirements for safe and smooth implementation of minimally invasive surgery. Summary of the Invention

[0005] In order to solve at least one of the above-mentioned technical problems existing in the prior art, the present invention provides a minimally invasive surgical magnetic anchoring system.

[0006] A minimally invasive surgical magnetic anchoring system includes an external magnetic traction device and a minimally invasive surgical auxiliary device. The minimally invasive surgical auxiliary device includes a control unit, an anchoring clamp, and an internal magnet connected in sequence. The control unit is used to operate the anchoring clamp to grasp and lift target tissue inside the body. The internal magnet is used to form magnetic coupling with the external magnetic traction device to provide tissue traction force. The internal magnet includes a first magnet, which includes a first magnetic column and a traction wire. The first magnetic column includes a first end and a second end, and the second end is partially spherical and forms a magnetic pole; or the second end transitions to the side wall of the first magnetic column with a rounded corner, and a magnetic pole is formed at the rounded corner. One end of the traction wire is connected to the first end, and the traction wire is used to be sleeved on the anchoring clamp.

[0007] The minimally invasive surgical magnetic anchoring system provided in this application uses anchoring clips to hold the target tissue to be removed in the body. Combined with an external magnetic traction device and an internal magnet, this creates a stable traction force on the target tissue, pulling it up in real time. This helps expose the surgical field, facilitating lesion removal, reducing the difficulty of minimally invasive surgery, and improving surgical efficiency. Furthermore, the first magnet uses a simple combination structure of a first magnetic column and a traction wire, resulting in a simple overall structure and convenient processing, significantly reducing manufacturing costs. Additionally, the second end of the first magnetic column forms a magnetic pole, exhibiting high magnetic strength at the end and relatively weak magnetic strength on the sidewalls. When the first magnet is used in conjunction with other magnets, the first magnet can preferentially complete the magnetic attraction at its end, effectively avoiding lateral adsorption and side-by-side adhesion. This helps to stably maintain the series connection of multiple magnets end to end, shortens the distance between the end of the internal magnet and the external magnetic traction device, expands the effective range of the magnetic field formed by the internal magnet, and significantly enhances the traction force between the internal magnet and the external magnetic traction device. At the same time, it can effectively regulate the posture and shape of the entire internal magnet in the cavity, and can be well adapted to minimally invasive diagnostic and treatment operations in narrow body cavity environments.

[0008] The second end of the first magnetic column forms a magnetic pole at a partially spherical or rounded transition point. On the one hand, when used in conjunction with other magnets, the series-connected magnetic columns can achieve magnetic attraction through the spherical surface. The contact position on the spherical surface can be adaptively adjusted according to the curvature angle of the endoscope channel, smoothly adapting to the channel shape for passage. On the other hand, the spherical structure can reduce the frictional resistance with the endoscope tube wall during passage, avoiding tube scratching problems, and also reduce the impact damage to human tissues, while improving the compatibility of component assembly. Attached Figure Description

[0009] The accompanying drawings are provided to further illustrate the embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. It should be noted that, in order to clearly illustrate the technical solutions of this application, some drawings are not drawn strictly according to the scale, and key parts have been enlarged or shifted.

[0010] Figure 1 A schematic diagram of the minimally invasive surgical magnetic anchoring system provided in this application; Figure 2 for Figure 1 A magnified structural diagram of region A shown in the figure; Figure 3 for Figure 2 The diagram shows the structure of the first magnet. Figure 4 A schematic diagram of the structure of a second magnet provided in another embodiment of this application; Figure 5A schematic diagram of the structure of an internal magnet provided for another embodiment of this application, wherein the internal magnet includes a first magnet and a plurality of second magnets connected end to end; Figure 6 A cross-sectional view of the second magnet along its axis provided in a modified embodiment of this application, wherein a covering layer is provided on the surface of the second magnet; Figure 7A This is a schematic diagram of the structure of a first magnet provided in an optional embodiment of this application; Figure 7B for Figure 7A A schematic diagram of the first magnet from another angle is shown; Figure 8 for Figure 7B A schematic cross-sectional view of the first magnet along line AA; Figure 9A for Figure 3 The diagram shows a cross-sectional view of the first magnetic post along its axis, where the through hole is a blind hole formed along the axial direction of the first magnetic post. Figure 9B for Figure 9A The first variation of the wire hole in the first magnetic pillar shown; Figure 9C for Figure 9A The second variation of the wire hole in the first magnetic post shown; Figure 9D for Figure 9A The third variation of the wire hole in the first magnetic post shown; Figure 10 for Figure 9A The diagram shows a cross-sectional view of the first magnetic post along its axis in an improved embodiment, wherein the wire hole is a through hole formed along the axial direction of the first magnetic post. Figure 11 A cross-sectional view of the first magnetic post along its axis provided for other embodiments of this application, wherein the through hole is a blind hole formed radially along the first magnetic post; Figure 12 for Figure 11 The diagram shows a cross-sectional view of the wire hole along the axis of the first magnetic post in another improved embodiment, wherein the wire hole is a through hole formed radially along the first magnetic post. Figure 13A for Figure 9A A schematic cross-sectional view of the first magnetic column along line BB; Figure 13B for Figure 13A The first variation of the cross-sectional shape of the first magnetic column is shown; Figure 13C for Figure 13A The second variation of the cross-sectional shape of the first magnetic column shown; Figure 13D for Figure 13A The third variation of the cross-sectional shape of the first magnetic column shown; Figure 13E for Figure 13A The fourth variation of the cross-sectional shape of the first magnetic column shown; Figure 14A for Figure 3 A schematic diagram of the first variation structure of the first magnetic column shown; Figure 14B for Figure 3 A schematic diagram of the second variation of the first magnetic column shown; Figure 14C for Figure 3 A schematic diagram of the third variation structure of the first magnetic column shown; Figure 15A for Figure 7A The first magnetic column shown is a cross-sectional view along line CC in one of the variant embodiments. Figure 15B for Figure 7A The first magnetic column shown is a cross-sectional view along the CC line in another variation embodiment.

[0011] Attached icon number 1. Minimally invasive surgical magnetic anchoring system; 10. External magnetic traction device; 11. External magnet; 30. Minimally invasive surgical aids; 100. Control unit; 300, Anchoring clamp; 310, First clamping arm; 330, Second clamping arm; 500. Internal magnet; 600, First magnet; 610, First magnetic post; P, First end; Q, Second end; 620. Sleeve; 630. Traction line; 611. Threading hole; 612. First hole; 613. Second hole; 615. Magnetic strip; 700, Second magnet; 710, Second magnetic column; 720, Second sleeve. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0013] The technical solution of this patent will be further described in detail below with reference to specific embodiments.

[0014] The embodiments of this patent are described in detail below, examples of which 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 this patent, and should not be construed as limiting this patent.

[0015] In the description of this patent, it should be understood that the terms “center,” “upper,” “lower,” “front,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this patent 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 patent.

[0016] In the description of this patent, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection or setting, a detachable connection or setting, or an integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this patent according to the specific circumstances.

[0017] Please see Figures 1 to 3 This application provides a minimally invasive surgical magnetic anchoring system 1, which is an auxiliary traction device for endoscopic surgery. It mainly relies on the cooperation of magnetic fields inside and outside the cavity to achieve non-invasive tissue lifting. The minimally invasive surgical magnetic anchoring system 1 is mostly used in minimally invasive gastrointestinal surgeries and is suitable for surgeries such as mucosal dissection, polyp and submucosal protrusion resection. It can pull up protruding lesions, improve cavity obstruction, optimize intraoperative vision, reduce surgical difficulty, and reduce intraoperative complications. Especially for special anatomical sites such as the cecum, conventional surgical methods often have problems such as difficulty in reaching the lesion and limited traction and lifting of distant target tissues. This system can effectively make up for the shortcomings of existing technologies.

[0018] The minimally invasive surgical magnetic anchoring system 1 includes an external magnetic traction device 10 and a minimally invasive surgical auxiliary device 30. The minimally invasive surgical auxiliary device 30 includes a control unit 100, an anchoring clamp 300, and an internal magnet 500 connected in sequence. The control unit 100 is used to control the opening and closing of the anchoring clamp 300 to grasp and lift the target tissue inside the body. The internal magnet 500 is used to form magnetic coupling with the external magnetic traction device 10 to provide tissue traction force. The internal magnet 500 includes a first magnet 600, which includes a first magnetic post 610 and a traction line 630. The first magnetic post 610 includes a first end P and a second end Q. The second end Q is partially spherical and forms a magnetic pole. Alternatively, the second end Q transitions to the side wall of the first magnetic post 610 with a rounded corner, and a magnetic pole is formed at the rounded corner. One end of the traction line 630 is connected to the first end P, and the traction line 630 is used to be sleeved on the anchoring clamp 300.

[0019] In the minimally invasive surgical magnetic anchoring system 1 provided in this application, the target tissue to be removed is held by the anchoring clip 300, and magnetic coupling is formed between the external magnetic traction device 10 and the internal magnet 500. This can generate a stable traction force on the target tissue, pull and lift the target tissue to be removed in real time, help expose the surgical field, facilitate lesion removal, reduce the operation difficulty of minimally invasive surgery, and improve surgical efficiency. In addition, the first magnet 600 adopts a simple combination structure of the first magnetic column 610 and the traction wire 630. The overall structure is simple and easy to process, which can significantly reduce the processing and manufacturing cost. Furthermore, the end of the first magnetic column 610 forms a magnetic pole for magnetic attraction with the external magnetic traction device 10. The end forms an N pole or S pole, with high magnetic strength at the end and relatively weak magnetic strength on the side wall. When the first magnet 600 is used in conjunction with other magnets, the first magnet can preferentially complete the magnetic attraction at its end, effectively avoiding lateral adsorption and side-by-side adhesion. This helps to stably maintain the series connection of multiple magnets end to end, shortens the distance between the end of the internal magnet 500 and the external magnetic traction device 10, expands the effective range of the magnetic field formed by the internal magnet 500, and significantly enhances the traction force between the internal magnet 500 and the external magnetic traction device 10. At the same time, it can effectively regulate the posture and shape of the entire internal magnet 500 in the cavity, and can be well adapted to minimally invasive diagnostic and treatment operations in narrow body cavity environments.

[0020] The second end Q of the first magnetic column 610 forms a magnetic pole at a partially spherical or rounded transition point. On the one hand, when used in conjunction with other magnets, the series-connected magnetic columns can achieve magnetic attraction through the spherical surface. The contact position on the spherical surface can be adaptively adjusted according to the curvature angle of the endoscope channel, so as to smoothly adapt to the channel shape for passage. On the other hand, the spherical structure can reduce the frictional resistance with the endoscope tube wall during passage, avoid the problem of tube scratching, reduce the impact damage to human tissue, and improve the compatibility of component assembly.

[0021] like Figure 2As shown, the anchoring clip 300 can be a tissue clip or a hemostatic clip. The anchoring clip 300 is preferably made of materials such as titanium, titanium alloy, or stainless steel. These materials are all weakly magnetic materials with extremely low magnetic susceptibility and almost no ferromagnetic adsorption capacity. They will not generate autonomous magnetic attraction in a magnetic field environment, which can avoid problems such as mis-adsorption and magnetic interference between the internal magnet 500 and the external magnetic traction device 10, and is suitable for use in internal magnetically controlled minimally invasive surgery.

[0022] The anchoring clip 300 has a first clamping arm 310 and a second clamping arm 330 at its end, both of which are partially annular structures. Under the control of the control unit 100, the ends of the first clamping arm 310 and the second clamping arm 330 can come together to close, forming a complete annular structure to clamp and fix the target tissue inside the body; they can also separate and open to release the target tissue or to load the internal magnet 500. After the anchoring clip 300 stably clamps the target tissue inside the body, the operator can operate the control unit to disengage the anchoring clip 300 from the control unit 100, thereby facilitating the external magnetic traction device 10 to pull the anchoring clip 300 and the target tissue inside the body through the internal magnet 500, thereby exposing the surgical field.

[0023] In this embodiment, the internal magnet 500 includes only one first magnet 600. The first magnet 600 contains only one first magnetic post 610, which makes the internal magnet 500 simple in structure, convenient in processing and assembly, and can significantly reduce the processing and manufacturing cost.

[0024] Please combine Figure 1 participate Figure 4 and Figure 5 The external magnetic traction device 10 includes an external magnet 11, and an internal magnet 500 can form a magnetic coupling with the external magnet 11. The external magnet 11 pulls the internal magnet 500, the anchoring clamp 300, and the target tissue in the body to move through magnetic attraction, thereby pulling and lifting the target tissue to be removed in real time and assisting in exposing the surgical field. When only the first magnet 600 is set, the traction force between the internal magnet 500 and the external magnet 11 may be insufficient to meet the tissue traction requirements due to the small volume of the first magnetic column 610. Therefore, in some embodiments, a second magnet 700 can be added to the internal magnet 500 and magnetically connected to the end of the first magnet 600 to shorten the distance between the end of the internal magnet 500 and the external magnetic traction device 10, expand the effective range of the magnetic field formed by the internal magnet 500, and significantly enhance the traction force between the internal magnet 500 and the external magnetic traction device 10.

[0025] In this embodiment, the first magnetic post 610 is cylindrical and has magnetic poles formed at its ends, facilitating magnetic attraction and connection to the second magnet 700 via end magnetic coupling. This shortens the distance between the end of the internal magnet 500 and the external magnetic traction device 10, enhancing the magnetic attraction force between the internal magnet 500 and the external magnetic traction device 10. In some embodiments, the first magnetic post 610 is axially magnetized, forming opposite magnetic poles at both ends, i.e., one end forms an N pole and the other an S pole. In this embodiment, the second end Q of the cylindrical first magnetic post 610 is partially spherical and forms a magnetic pole (e.g., ...). Figure 14A (As shown); or the second end Q transitions to the rounded corner of the side wall of the first magnetic post 610, forming a magnetic pole at the rounded corner (as shown). Figure 3 (As shown).

[0026] like Figure 4 and Figure 5 As shown, in some embodiments, the internal magnet 500 includes at least one second magnet 700, the second magnet 700 including a second magnetic post 710, the end of the second magnetic post 710 forming a magnetic pole, the second magnetic post 710 may be cylindrical, and the second end Q of the first magnetic post 610 is used for magnetic attraction connection with the end of the second magnetic post 710. In some embodiments, the second magnetic post 710 is axially magnetized, and its two ends form N poles and S poles respectively.

[0027] It is understandable that the number of second magnetic pillars 710 in the internal magnet 500 can be one or more, that is, the first magnetic pillar 610 and multiple second magnetic pillars 710 can be connected end to end in sequence and arranged linearly.

[0028] Both the first magnetic post 610 and the second magnetic post 710 have a covering layer on their surfaces. The covering layer can isolate the magnetic post substrate and improve biocompatibility. If the covering layer covers the sidewalls of the magnetic posts, it can effectively weaken the magnetic attraction between the sidewalls of the magnetic posts and effectively avoid the phenomenon of side-by-side adsorption during the use of multiple magnets.

[0029] The covering layer includes a coating layer that completely covers the surfaces of the first magnetic post 610 and the second magnetic post 710, specifically covering the two end faces and sidewalls of the magnetic posts. The coating material can be at least one or a combination of Teflon, nickel, titanium nitride, and pyrene, which can isolate the magnetic post substrate, weaken the magnetism of the sidewalls, improve the surface smoothness of the magnetic posts, prevent adhesion to tissues, improve biocompatibility, and also have corrosion resistance and wear resistance, making it suitable for minimally invasive intracavitary procedures.

[0030] In some implementations, the covering layer includes a sleeve, which may be open at one end or both ends.

[0031] like Figure 6 As shown, the covering layer includes a sleeve. Figure 6The sleeve fitted onto the surface of the second magnetic post 710 is a second sleeve 720. The second sleeve 720 is open at both ends and fits onto the side wall surface of the second magnet 700. The ends of the second magnetic post 710 are not covered by the sleeve, thereby weakening the magnetic attraction between the side walls of the second magnetic post 710 and maintaining the magnetic attraction at the ends of the second magnetic post 710. Correspondingly, the surface of the first magnetic post 610 can also be provided with... Figure 6 The sleeve shown is open at both ends.

[0032] Preferably, the coating layer comprises a two-layer protective structure consisting of a coating layer and a sleeve. Specifically, a coating layer can be prepared first on the outer surface of the magnetic post, and then the sleeve can be fitted onto the outside of the coated magnetic post to achieve double-layer protection.

[0033] The cannula can be made of at least one or a combination of PVC, PU, ​​FEP, Teflon, Pebax or other medical polymer materials.

[0034] Please see Figure 7A , Figure 7B and Figure 8 In some embodiments, the sleeve 620 fitted outside the first magnetic post 610 is open at one end, that is, the sleeve 620 is cylindrical, with one end open and the other end closed. The end of the first magnetic post 610 corresponding to the open end of the sleeve 620 (the second end Q) is used to connect the second magnet 700. The closed end of the sleeve 620 is integrally formed with the traction wire 630, thereby simplifying the connection structure between the traction wire 630 and the first magnetic post 610, strengthening the connection strength between the traction wire 630 and the first magnetic post 610, reducing the magnetic attraction force on the side wall of the first magnetic post 610, and maintaining the magnetic attraction effect between the ends of the first magnetic post 610 and the second magnetic post 710.

[0035] Please combine Figure 3 See Figure 9A , Figure 9B , Figure 9C , Figure 9D and Figure 10 ,exist Figure 3 In the first magnet 600 shown, the first magnetic post 610 has a threading hole 611. One end of the traction wire 630 is accommodated and fixed in the threading hole 611, and the other end of the traction wire 630 extends from the opening of the threading hole to the outside of the first magnetic post 610. It is understood that the end of the traction wire 630 can be fixed inside the threading hole 611 by interference fit and / or adhesive at the knot.

[0036] like Figure 9A As shown, the wire hole 611 is formed inside the first magnetic post 610. The wire hole 611 is a blind hole formed along the axial direction of the first magnetic post 610. The blind hole is a straight hole, that is, the radial dimension of the wire hole 611 is the same at any position along its axial direction.

[0037] In some variations of the implementation, Figure 9A The hole 611 shown can also be other types of blind holes. For example, in... Figure 9B , Figure 9C and Figure 9D In the embodiment shown, the threading hole 611 is configured as a blind hole structure. The opening diameter of the threading hole 611 is smaller than the diameter of the hole at other positions along its axis, forming a hole structure with a small opening and a large inner cavity. This facilitates the concealment of the knotted structure of the traction wire 630 inside the threading hole 611 and increases the internal adhesive space of the threading hole 611, allowing for the injection of more adhesive and effectively improving the connection strength and structural stability between the traction wire 630 and the first magnetic post 610.

[0038] Preferably, such as Figure 9B , Figure 9C and Figure 9D As shown, the wire hole 611 adopts a stepped structure with a small opening and a large bottom, and its opening diameter is smaller than the bottom diameter.

[0039] Figure 9B In the middle, the threading hole 611 is an inverted conical hole, which is truncated cone-shaped.

[0040] Figure 9C In the design, the threading hole 611 is a countersunk hole, shaped like the letter "T". The threading hole 611 includes two interconnected holes, a first hole 612 and a second hole 613. Both the first hole 612 and the second hole 613 are straight holes, meaning that the diameter of the first hole 612 is consistent at all points along its axial direction, and the diameter of the second hole 613 is consistent at all points along its axial direction. The first hole 612 is used to form the opening of the threading hole 611, and the diameter of the first hole 612 is smaller than the diameter of the second hole 613.

[0041] Figure 9D In this design, the threading hole 611 is an inverted conical countersunk hole, resembling the letter "T". The threading hole 611 includes two interconnected holes, a first hole 612 and a second hole 613. The first hole 612 is a straight hole, and the second hole 613 is a conical hole in the shape of a frustum. That is, the diameter of the first hole 612 is uniform, and the first hole 612 forms the opening of the threading hole 611. The diameter of the second hole 613 gradually increases in the direction away from the first hole 612.

[0042] Understandable, Figure 9A The threading hole 611 shown may also be in other regular or irregular shapes not mentioned in the embodiments of this application.

[0043] like Figure 10 As shown, in some embodiments, a wire-passing hole 611 is formed inside the first magnetic post 610, and the wire-passing hole 611 is a through hole formed along the axial direction of the first magnetic post 610. It is understood that... Figure 10 The thread hole 611 shown can be similar to Figure 9B, Figure 9C , Figure 9D The through holes shown are in the form of inverted conical holes, countersunk through holes, inverted conical countersunk holes, etc., or through holes of other regular or irregular shapes.

[0044] Please see Figure 11 and Figure 12 In some other embodiments, the wire hole 611 is formed inside the first magnetic post 610, and the wire hole 611 is a blind hole or a through hole formed radially along the first magnetic post 610. It is understood that... Figure 9A , Figure 9B , Figure 9C , Figure 9D and Figure 10 The various axially arranged through-hole 611 deformation structures shown can be adapted for application Figure 11 and Figure 12 The implementation of the radially arranged wire holes 611 shown will not be described in detail here.

[0045] Figure 9A , Figure 9B , Figure 9C , Figure 9D , Figures 10 to 12 This example only illustrates the formation direction of the threading hole 611. It is understood that in other embodiments, the threading hole 611 may also be formed in the first magnetic post 610, distinct from... Figure 9A , Figure 9B , Figure 9C , Figure 9D , Figures 10 to 12 The location shown.

[0046] The traction line 630 can be made of at least one material selected from polyethylene fiber, polyester fiber, yarn, nylon, and polypropylene.

[0047] like Figure 3 and Figure 8 As shown, the traction line 630 forms at least one loop, which can be sleeved and installed on the anchoring clamp 300. Figure 3 In the illustrated embodiment, the traction suture 630 is wound to form a loop structure, and the knot of the loop can be fixed inside the thread hole 611. This not only makes the overall structure simple and compact but also improves the connection strength of the traction suture 630, ensuring traction stability during surgery. Figure 8 In the embodiment shown, the end of the traction line 630 forms a loop for fitting onto the anchoring clamp 300.

[0048] The traction suture 630 can be made of wire with a cross-section that is circular, elliptical, rectangular, capsule-shaped, serrated, or other regular or irregular shapes. When the traction suture 630 has a circular cross-section, the wire diameter can be set to 0.15-1.5 mm. This wire diameter range balances the structural strength and flexibility of the traction suture 630, preventing breakage during traction due to an excessively small diameter and ensuring reliable traction of soft tissues. It also reduces the overall volume of the traction suture 630, decreasing resistance during passage through the endoscope, facilitating smooth delivery during surgery, and adapting to the minimally invasive operating environment of narrow cavities in the human body.

[0049] like Figures 3 to 5 As shown, in some embodiments, the first magnetic column 610 and / or the second magnetic column 710 are provided with polarity markings to distinguish the magnetic poles at both ends of the magnetic column. During the delivery of the second magnet 700 into the body, the operator can quickly identify the magnetic poles by relying on the polarity markings, placing the end of the second magnetic column 710 that is magnetically attracted to the free end of the magnet 500 in the body at the far end of the delivery channel. This prevents magnetic pole repulsion between the subsequently delivered second magnetic column 710 and the end of the magnet in the body, avoiding problems such as magnetic column series failure, misplacement and scattering of magnets in the cavity, difficulty in magnet retrieval, and failure of tissue traction. At the same time, the polarity markings facilitate the operator to deliver multiple magnetic columns at once, quickly completing the end-to-end assembly of multiple magnetic columns connected in series.

[0050] Polarity markings include color markings and / or character markings. For example, red and / or the character "N" can be used to mark the North Pole, and blue and / or the character "S" can be used to mark the South Pole. In some implementations, the polarity of the magnetic post can be marked using either color markings or character markings alone.

[0051] In some embodiments, the sleeve is provided with the aforementioned polarity markings to distinguish the magnetic poles at both ends of the magnetic column.

[0052] The first magnetic column 610 and the second magnetic column 710 can be pushed into the body cavity through the working channel of the endoscope (such as an electronic gastrointestinal endoscope) or the operating channel established on the body surface, or they can be withdrawn from the cavity by traction.

[0053] like Figures 3 to 4 As shown, the radial dimension of the first magnetic post 610 and the second magnetic post 710 is denoted as D, and the axial dimension is denoted as L. The radial dimension D refers to the diameter of the end face of the cylindrical first magnetic post 610 and the second magnetic post 710, and the axial dimension L refers to the length between the two ends of the first magnetic post 610 and the second magnetic post 710.

[0054] The radial dimension D of the first magnetic column 610 and the second magnetic column 710 is 1.5-12 mm, and the axial dimension L is 2.0-30 mm. This size range can balance the magnetic performance of the magnetic column with the passageway, ensuring that the magnetic column can be smoothly transported through the curved channel. In clinical applications, the first magnetic column 610 and the second magnetic column 710 can be transported during the gastroscopy and colonoscopy process. The electronic gastroscope has a working channel for inserting minimally invasive instruments such as biopsy forceps, cell brushes, hemostatic clips, and tissue clips; both the first magnetic column 600 and the second magnetic column 700 can be transported and withdrawn intraluminally through the working channel.

[0055] If the radial dimensions of the first magnetic column 610 and the second magnetic column 710 are smaller than the inner diameter of the working channel, for example, when the radial dimensions are controlled within 1.5mm ≤ D ≤ 3mm, the first magnetic column 610, the second magnetic column 710, and the anchoring clamp 300 can be transported into the cavity through the working channel as needed during gastroscopy and colonoscopy. Correspondingly, the axial dimensions of the first magnetic column 610 and the second magnetic column 710 are set to 2mm ≤ L ≤ 30mm. This dimension ensures that the magnetic columns can pass smoothly through the working channel and optimizes the magnetic properties of the magnetic columns within a limited volume, thereby increasing the magnetic field strength.

[0056] If the radial dimensions of the first magnetic post 610 and the second magnetic post 710 are greater than or equal to the inner diameter of the working channel, for example, if the radial dimensions are controlled within 3mm < D ≤ 12mm, the anchoring clip 300 and at least a portion of the control part 100 can be pre-loaded inside the working channel before the endoscope is inserted into the body cavity. The end of the anchoring clip 300 away from the control part 100 should extend from the distal end of the working channel. The operator then places the in vivo magnet 500 onto the anchoring clip 300 via the traction line 630 and pulls the control part 100 proximally, causing the anchoring clip 300 and the in vivo magnet 500 to move proximally synchronously until the end of the in vivo magnet 500 is positioned and abuts against the end of the flexible tube's channel opening. At this point, the in vivo magnet 500 and the end of the flexible tube abut against each other, and the flexible tube, along with the anchoring clip 300 and the in vivo magnet 500, can be inserted into the body cavity. After the procedure, the anchoring clip 300 and the in vivo magnet 500 are withdrawn from the body synchronously with the flexible tube. Accordingly, the axial dimensions of the first magnetic column 610 and the second magnetic column 710 are set to 2mm ≤ L ≤ 30mm. This dimension is suitable for pre-assembly delivery, ensuring that the magnetic columns can smoothly enter the body cavity along with the flexible tube, and also optimizes the magnetic properties of the magnetic columns within a limited structural volume, strengthening the magnetic field strength to meet the traction requirements of intracavitary tissue. With further optimization, the radial dimensions of the first magnetic column 610 and the second magnetic column 710 are 3mm < D ≤ 12mm.

[0057] It is understandable that the dimensions of the first magnetic post 610 and the second magnetic post 710 may be the same or different.

[0058] Both the first magnet 600 and the second magnet 700 are permanent magnets, and the material can be selected from at least one of neodymium iron boron, samarium cobalt, ferrite and AlNiCo.

[0059] Please combine Figure 9A See Figure 13A , Figure 13B , Figure 13C , Figure 13D and Figure 13E The cross-section of the first magnetic post 610 provided in this embodiment can be circular (e.g., ...). Figure 13A As shown), partially circular (such as) Figure 13B As shown), elliptical (as shown) Figure 13C As shown), rectangle (as shown) Figure 13D (as shown) and rounded rhombuses (such as) Figure 13E (as shown) and other shapes.

[0060] Figure 13B The cross-section of the first magnetic post 610 shown is partially circular; specifically, in this embodiment, an oval cross-section is adopted.

[0061] Figure 13E The cross-section of the first magnetic post 610 shown is a rounded rhombus. The cross-section of the first magnetic post 610 is approximately rhomboid, and all four corners of the rhombus are rounded.

[0062] In other embodiments, Figure 13B , Figure 13D The corners of both types of cross-sections of the first magnetic post 610 shown can be rounded to facilitate the smooth passage of instruments through the cavity, reduce the risk of tissue abrasion, and improve assembly compatibility.

[0063] It is understood that the cross-section of the first magnetic post 610 and / or the second magnetic post 710 can be circular, partially circular, elliptical, rectangular, or rounded rhomboid, etc. In some embodiments, the cross-sections of the first magnetic post 610 and the second magnetic post 710 can also adopt other regular or irregular shapes not mentioned in this application.

[0064] Combination Figure 3 See Figure 14A and Figure 14B , Figure 3 The first magnetic post 610 is a roughly cylindrical structure, with its first end P being planar and its second end Q being planar, and the side wall of the second end Q of the first magnetic post having a rounded transition. In a variant embodiment, such as Figure 14A and Figure 14B At least one end of the first magnetic post 610 and / or the second magnetic post 710 is partially spherical. Figure 14A In the middle, one end of the first magnetic post 610 is partially spherical; Figure 14BIn this configuration, both ends of the first magnetic post 610 are partially spherical. In some embodiments, the second magnetic post 710 has a rounded corner transition at the junction of its end face and sidewall.

[0065] This structure allows multiple magnetic pillars connected in series to achieve magnetic attraction through the spherical surface. The contact position on the spherical surface can be adaptively adjusted according to the curvature angle of the endoscope channel, so as to smoothly adapt to the channel shape for passage. On the other hand, the spherical structure can reduce the frictional resistance with the endoscope tube wall during passage, avoid the problem of tube scratching, reduce the impact damage to human tissue, and improve the compatibility of component assembly.

[0066] Please see Figure 14C In some embodiments, the first magnetic post 610 and / or the second magnetic post 710 are spherical.

[0067] Please combine Figure 7A See Figure 15A and Figure 15B , Figure 7A In the embodiment shown, the first magnetic post 610 is a single, complete magnetic post. In some embodiments, such as... Figure 15A and Figure 15B As shown, the first magnetic post 610 is in the form of a Heilbeck array, and magnetic poles are formed at the ends of the first magnetic post 610.

[0068] The first magnetic post 610 includes multiple magnetic strips 615. The magnetic strips 615 extend in a strip-like shape along the axial direction of the first magnetic post 610, and the multiple magnetic strips 615 are arranged in a ring along the circumference of the first magnetic post 610, so that the ends of the first magnetic post 610 form magnetic poles. The magnetic strips 615 are strip-shaped magnets. It can be understood that the number of magnetic strips 615 included in the magnetic post can be flexibly set according to needs, such as... Figure 15A As shown, the first magnetic column 610 includes eight magnetic strips 615 arranged in a ring. Figure 15B In the embodiment shown, the first magnetic post 610 includes 16 magnetic strips 615 arranged in a ring.

[0069] The Helbeck array-type magnetic columns can concentrate the magnetic field at the end, reduce lateral magnetic field divergence, effectively enhance the magnetic attraction force at the end, optimize the traction and coordination with external magnets, reduce interference from stray magnetic fields, and ensure a smooth and reliable magnetic traction process.

[0070] In some embodiments, the first magnetic post 610 and / or the second magnetic post 710 are in the form of a Heilbeck array.

[0071] It is understandable that the shape, internal wire hole form and internal magnet arrangement of the first magnetic post 610 and the second magnetic post 710 can be flexibly set as needed, and the two do not need to be consistent.

[0072] like Figure 1As shown, the external magnetic traction device 10 includes an external magnet 11, which is used to form magnetic coupling with the internal magnet 500 to provide tissue traction force. At least one point on the surface of the external magnet 11 has a magnetic field strength greater than or equal to 100 mT. This magnetic field strength ensures that the external magnet 11 has sufficient magnetic adsorption capacity, enhances the magnetic coupling force between the external magnet 11 and the internal magnet 500, and ensures effective traction of the lesion tissue even under the tension of the curved cavities of the digestive tract and soft tissue, ensuring stable exposure of the surgical field and meeting the traction requirements for minimally invasive surgery. In this embodiment, the external magnet 11 is cylindrical and axially magnetized, with a magnetic field strength greater than or equal to 100 mT at the geometric center of its end. In some embodiments, the external magnet 11 is a permanent magnet, and the material can be at least one of neodymium iron boron, samarium cobalt, ferrite, and AlNiCo.

[0073] In some implementations, the operator can dynamically and precisely adjust the spatial position and deflection direction of the external magnet 11 through the external magnetic traction device 10 according to the needs of intraoperative diagnosis and treatment. At the same time, the external magnetic traction device 10 has a stable hovering function, which can keep the external magnet 11 in a stationary position and stable posture relative to the external magnetic traction device 10, and provide stable and continuous lifting traction for the internal magnet 500, which is convenient for surgical observation and removal of lesions.

[0074] Preferably, the external magnetic traction device 10 can control the external magnet 11 to rotate in all directions, with a rotation angle of up to 360°, enabling omnidirectional adjustment without blind spots and adapting to different placement postures and traction angles of the internal magnet 500; preferably, the external magnetic traction device 10 can control the vertical height of the external magnet 11 within a range of 0.2m-1.5m, allowing for flexible adjustment of the magnetic field's position based on the patient's position, the depth of the body cavity, and the surgical operation height; preferably, when the robotic arm in the external magnetic traction device 10 is in a horizontally extended state, the arm span is greater than 0.7m, providing a larger coverage area to meet the diagnostic and treatment needs of patients of different body types, while avoiding intraoperative instrument interference, improving the flexibility and adaptability of external magnetic field control, and ensuring the smooth conduct of magnetically controlled traction surgery.

[0075] Terminology definition: The distal end: the end of the medical device that is furthest from the operator along the delivery channel.

[0076] Proximal end: The end of the medical device that is closest to the operator along the delivery channel.

[0077] Distal side: The side of the medical device facing the distal end along the delivery channel.

[0078] Proximal side: The side of the medical device facing proximal along the delivery channel.

[0079] The optional embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above embodiments. Within the scope of the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within the protection scope of the embodiments of the present invention.

[0080] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not describe the various possible combinations separately.

[0081] Furthermore, various different embodiments of the present invention can be combined arbitrarily, as long as they do not violate the spirit of the embodiments of the present invention, they should also be regarded as the content disclosed by the embodiments of the present invention.

Claims

1. A minimally invasive surgical magnetic anchoring system, characterized in that, It includes an external magnetic traction device and a minimally invasive surgical aid; the minimally invasive surgical aid includes a control unit, an anchoring clamp, and an internal magnet connected in sequence; the control unit is used to operate the anchoring clamp to grasp and lift the target tissue inside the body; The in vivo magnet is used to form a magnetic coupling with the external magnetic traction device to provide tissue traction force; the in vivo magnet includes a first magnet, the first magnet includes a first magnetic column and a traction line, the first magnetic column includes a first end and a second end, the second end is partially spherical and forms a magnetic pole; or the second end transitions to the side wall of the first magnetic column with a rounded corner, and a magnetic pole is formed at the rounded corner; one end of the traction line is connected to the first end, and the traction line is used to be sleeved on the anchoring clamp.

2. The minimally invasive surgical magnetic anchoring system according to claim 1, characterized in that, The in-body magnet includes at least one second magnet, the second magnet includes a second magnetic column, the end of the second magnetic column forms a magnetic pole, and the second end of the first magnetic column is magnetically connected to the end of the second magnetic column.

3. The minimally invasive surgical magnetic anchoring system according to claim 2, characterized in that, The surfaces of the first magnetic post and the second magnetic post are provided with a covering layer.

4. The minimally invasive surgical magnetic anchoring system according to claim 3, characterized in that, The covering layer includes a coating layer that fully covers the outer surface of the first magnetic post and / or the second magnetic post.

5. The minimally invasive surgical magnetic anchoring system according to claim 4, characterized in that, The covering layer includes a sleeve, which may be open at one end or at both ends.

6. The minimally invasive surgical magnetic anchoring system according to claim 5, characterized in that, The sleeve fitted outside the first magnetic post has an opening at one end. The end of the first magnetic post corresponding to the opening of the sleeve is used to connect to the second magnet. The closed end of the sleeve is integrally formed with the traction line.

7. The minimally invasive surgical magnetic anchoring system according to any one of claims 1-5, characterized in that, The first magnetic post has a through hole, one end of the traction wire is accommodated and fixed in the through hole, and the other end of the traction wire extends from the opening of the through hole to the outside of the first magnetic post.

8. The minimally invasive surgical magnetic anchoring system according to claim 7, characterized in that, The wire hole is formed inside the first magnetic post. The wire hole is either a blind hole or a through hole formed radially along the first magnetic post, or a blind hole or a through hole formed axially along the first magnetic post.

9. The minimally invasive surgical magnetic anchoring system according to any one of claims 2-6, characterized in that, The first magnetic post and / or the second magnetic post are provided with polarity markings, which include color markings and / or character markings.

10. The minimally invasive surgical magnetic anchoring system according to any one of claims 2-6, characterized in that, The radial dimension of the first magnetic post and the second magnetic post is denoted as D, where 1.5mm ≤ D ≤ 12mm, and the axial dimension is denoted as L, where 2mm ≤ L ≤ 30mm; and / or The external magnetic traction device includes an external magnet, which is used to form a magnetic coupling with the internal magnet to provide tissue traction force, and the magnetic field strength at least one point on the surface of the external magnet is greater than or equal to 100mT.

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