Uterus lifting instrument and medical auxiliary robot

Abstract

The utility model discloses a uterus lifting instrument and a medical auxiliary robot, the uterus lifting instrument comprises a manipulator, a positioning device and a fixer, and the positioning device is connected with the front end of the manipulator; the fixing device is arranged on the positioning device in a sleeved mode, the fixing device is provided with a first buckling structure, one of the manipulator and the positioning device is provided with a second buckling structure matched with the first buckling structure, and the first buckling structure is operably connected to the second buckling structure in a clamped mode. The fixing device can be operably connected to one of the manipulator and the positioning device in the front-back direction. According to the fixing device, due to the arrangement of the buckling structure, the complex structure of the fixing device is simplified, buckling operation is simple, a doctor can easily and rapidly complete installation of the fixing device and a manipulator or a positioning device, operation steps of pre-operation preparation of the doctor are reduced, installation efficiency is improved, and the problem that installation is wrong or not in place can be avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of surgical instruments, and more particularly to a uterine manipulator and a medical assistance robot including the uterine manipulator. Background Art

[0002] Laparoscopic hysterectomy is a minimally invasive surgery, which is a complete hysterectomy of a patient completed entirely through the laparoscopic approach. In laparoscopic hysterectomy, a uterine manipulator (also known as a uterine lifter, uterine rod, etc.) is required. This instrument is inserted into the patient's body through the patient's vagina and is used to manipulate the uterus. In some scenarios, in order to facilitate the uterine resection surgery, an assisting doctor needs to stand between the patient's legs to operate the uterine manipulator. During the surgery, the assisting doctor manipulates the patient's uterus to the required position according to the instructions of the operating doctor. The assisting doctor should also keep the uterine manipulator in the required position so that the operating doctor can perform the surgery better. Summary of the Utility Model

[0003] A series of simplified concepts are introduced in the summary part of the utility model, which will be further elaborated in the detailed implementation part. The summary part of the utility model does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0004] To at least partially solve the above problems, the utility model provides a uterine manipulator, which includes:

[0005] A manipulator;

[0006] A positioning device, the positioning device is connected to the front end of the manipulator; and

[0007] A fixator, the fixator is sleeved on the positioning device,

[0008] wherein, the fixator is provided with a first fastening structure, and one of the manipulator and the positioning device is provided with a second fastening structure that cooperates with the first fastening structure. The first fastening structure is operably clamped to the second fastening structure so that the fixator is operably connected to the one of the manipulator and the positioning device in the front-rear direction.

[0009] Optionally, the positioning device includes a positioning joint, the positioning joint is provided with the second fastening structure, the fixator includes a uterine cup, the uterine cup is penetrated along the front-rear direction, the uterine cup is provided with an annular side wall, the annular side wall is sleeved on the periphery of the positioning joint, and the annular side wall is provided with the first fastening structure.

[0010] Optionally, the first fastening structure is configured as an elastic buckle, the elastic buckle includes an elastic portion and a buckle portion, the buckle portion is connected to the annular side wall through the elastic portion, the buckle portion includes a engaging surface facing the front end of the uterine lifting cup, the positioning joint has a fastening surface as the second fastening structure, the fastening surface faces the rear end of the positioning device, and the engaging surface contacts the fastening surface.

[0011] Optionally, a notch is formed on the annular side wall, the elastic buckle is located in the notch, and the elastic buckle is spaced apart from the annular side wall in the circumferential direction along the annular side wall.

[0012] Optionally, the elastic portion is configured as a bent structure that bulges radially outward along the annular side wall.

[0013] Optionally, the uterine lifting cup includes a boss that protrudes radially inward from the inner circumferential surface of the annular side wall, the boss includes a limiting surface facing the rear end of the uterine lifting cup, and the limiting surface contacts the top surface of the positioning joint facing the front end of the positioning device.

[0014] Optionally, one of the first fastening structure and the second fastening structure is configured as a protrusion, and the other of the first fastening structure and the second fastening structure is configured as a fastening groove, the fastening groove has an entrance, and the protrusion enters through the entrance and rotates circumferentially into the fastening groove so that the protrusion is clamped in the fastening groove in the front-rear direction.

[0015] Optionally, the protrusion protrudes inward from the inner circumferential surface of the annular side wall, and the fastening groove is recessed inward from the outer circumferential surface of the positioning joint. Or the protrusion protrudes outward from the outer circumferential surface of the positioning joint, and the fastening groove is recessed outward from the inner circumferential surface of the annular side wall.

[0016] Optionally, the shape of the fastening groove is a long strip extending in the circumferential direction.

[0017] Optionally, the fixator further includes a balloon member, and the balloon member is sleeved on the outer circumferential surface of the annular side wall.

[0018] Optionally, the fixator includes a uterine lifting cup and a connecting member, the connecting member is located at the rear end of the uterine lifting cup and is connected to the uterine lifting cup, the connecting member is provided with a cantilever extending in the front-rear direction, the cantilever is provided with the first fastening structure, and the front end of the manipulator is provided with the second fastening structure.

[0019] Optionally, the front end of the manipulator has a rotating joint. The first fastening structure is configured as a convex portion protruding inward, and the second fastening structure is configured as a concave groove. The convex portion is movably engaged in the concave groove so that the convex portion can move in the concave groove as the rotating joint moves.

[0020] Optionally, the rotating joint has a degree of freedom of rotation about a rotation axis perpendicular to the front-rear direction, and the shape of the concave groove is an annular shape extending around the rotation axis.

[0021] Optionally, a pair of the cantilevers are symmetrically provided on the connecting member. The front end of the manipulator is located between the pair of cantilevers. The first fastening structure is provided on each of the cantilevers, and the second fastening structure is provided on two sides of the manipulator facing the pair of cantilevers respectively.

[0022] Optionally, the fixator further includes a balloon member located at the rear end of the uterine manipulator cup, and a part of the balloon member is located between the uterine manipulator cup and the connecting member.

[0023] According to another aspect of the present invention, there is provided a medical assistance robot, which includes a robotic arm and a uterine manipulator according to any one of the above aspects, wherein the uterine manipulator is detachably connected to the robotic arm.

[0024] According to the uterine manipulator and the medical assistance robot of the present invention, the fixator of the uterine manipulator is connected to both the manipulator and the positioning device through a fastening structure. The setting of the fastening structure simplifies the complex structure of the fixator. The fastening operation is simple, and it is easy and fast for a doctor to complete the installation of the fixator and the manipulator or the positioning device, reducing the operation steps for preoperative preparation of the doctor, improving the installation efficiency, and avoiding problems such as incorrect installation or incomplete installation. As a disposable consumable, the simpler structure and installation operation of the fixator help to reduce the use cost and assembly cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The following drawings of the present invention are used as a part of the present invention to understand the present invention. The embodiments and descriptions of the present invention are shown in the drawings to explain the principles of the present invention.

[0026] In the drawings:

[0027] Figure 1 is a perspective view of a medical assistance robot according to an embodiment of the present invention;

[0028] Figure 2 is a perspective view of a uterine manipulator according to an embodiment of the present invention;

[0029] Figure 3Stereogram of the front end of the uterine manipulator according to the first example of the present utility model, with the balloon member removed;

[0030] Figure 4 Is Figure 3 Cross-sectional view of the front end of the uterine manipulator shown in;

[0031] Figure 5 Cross-sectional view of the front end of the second example of the uterine manipulator according to the present utility model;

[0032] Figure 6 Is Figure 5 Exploded stereogram of the front end of the uterine manipulator shown in, with the balloon member removed;

[0033] Figure 7 Stereogram of the front end of the third example of the uterine manipulator according to the present utility model, with the balloon member removed;

[0034] Figure 8 Is Figure 7 Stereogram of the connecting member shown in;

[0035] Figure 9 Is Figure 7 Stereogram of the front end of the manipulator shown in.

[0036] Explanation of reference numerals:

[0037] 1 Medical assistance robot 2 Robot arm

[0038] 3 Connecting arm 4 Instrument holding arm

[0039] 5 Instrument drive module 6 / 160 / 260 Uterine manipulator

[0040] 10 Manipulator 11 Rotating joint

[0041] 20 Positioning device 21 Positioning joint

[0042] 22 Uterine positioning rod 30 Fixator

[0043] 31 Uterine cup 32 Balloon member

[0044] 33 Annular side wall 34 Elastic buckle

[0045] 35 Elastic part 36 Buckle part

[0046] 37 Notch 38 Bending structure

[0047] 39 Boss 40 Rear-end drive module

[0048] 51 First fastening structure 52 Second fastening structure

[0049] 101 Protrusion 102 Fastening groove

[0050] 103 Inlet, 201 Connector

[0051] 202 Cantilever, 203 Arm Rod Portion

[0052] 204 Arm Head, 205 Convex Portion

[0053] 206 Groove Detailed Embodiment

[0054] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present utility model. However, it will be apparent to one of ordinary skill in the art that the present utility model may be practiced without one or more of these details. In other instances, well-known features have not been described in order to avoid obscuring the present utility model.

[0055] In order to thoroughly understand the present utility model, a detailed description will be presented in the following. Obviously, the implementation of the embodiments of the present utility model is not limited to the specific details familiar to those skilled in the art. The preferred embodiments of the present utility model are described in detail below. However, in addition to these detailed descriptions, the present utility model may have other embodiments.

[0056] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present utility model. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, they specify the presence of the stated features, wholes, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or combinations thereof.

[0057] The ordinal numbers such as "first" and "second" cited in the present utility model are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" does not imply the existence of a "second component" by itself, and the term "second component" does not imply the existence of a "first component" by itself.

[0058] It should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer" and similar expressions used herein are for illustrative purposes only and are not restrictive.

[0059] Now, exemplary embodiments according to the present utility model will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many different forms and should not be construed as being limited only to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the present utility model is thorough and complete, and the concept of these exemplary embodiments is fully conveyed to those of ordinary skill in the art.

[0060] The terms "front end" and "rear end" used in the present utility model are orientation terms, which are common terms in the field of interventional medical devices. Among them, the "front end" refers to the end closer to the patient during the surgical process, and the "rear end" refers to the end farther from the patient during the surgical process.

[0061] The "parallel" / "perpendicular" and similar expressions used in the present utility model include absolute parallel / perpendicular relationships and substantially parallel / perpendicular relationships (for example, relationships within a range of -5° to +5° from absolute parallel / perpendicular), which can achieve equivalent effects.

[0062] As a part of the uterine manipulator that directly contacts the human body, in order to satisfy the swing of the uterine cup along with the swing rod of the uterine manipulator, various complex hinge or flexible structures are usually designed to be connected to the uterine cup. If the doctor does not use it proficiently, problems such as incorrect installation or incomplete installation often occur during this connection, greatly increasing the installation and operation difficulty for the doctor before the surgery. And this hinge or flexible structure is relatively complex in design. As a disposable consumable, it increases the use cost and assembly cost.

[0063] Therefore, the present utility model proposes a uterine manipulator to improve or overcome at least one of the above problems.

[0064] In some application scenarios, the uterine manipulator of the present utility model can be used for manual operation, and its proximal part includes a handle for the doctor to hold and operate. In other application scenarios, the uterine manipulator of the present utility model can be used for motorized operation, and a transmission interface is provided at its proximal part. For example, the uterine manipulator can be held by the robotic arm of a medical assistance robot, and the transmission interface of the uterine manipulator can be adapted to the output end interface of the instrument drive module on the robotic arm, so that the uterine manipulator can perform operations such as uterine positioning under the drive of the instrument drive module.

[0065] Now, taking the application scenario of motorized operation as an example, exemplary embodiments according to the present utility model will be described in more detail with reference to the accompanying drawings.

[0066] See Figure 1, the medical assistance robot 1 may include at least one robotic arm 2. The robotic arm 2 has a plurality of connecting arms 3. Adjacent two connecting arms 3 are relatively movable with specific degrees of freedom, so that the end of the robotic arm 2 can achieve multi-degree-of-freedom movement. The end of the robotic arm 2 is a tool holding arm 4, and a surgical instrument (not shown in the figure) is detachably mounted on the tool holding arm 4 and docked with an instrument driving module 5 provided on the tool holding arm 4. The surgical instrument may be an instrument for performing surgical operations, such as an electrocautery device, a clamp, a vascular occluder, etc., or may be a camera for image acquisition of the surgical area, such as an endoscope, or may be other surgical instruments. Specifically, in the present utility model, the surgical instrument is a uterine manipulator 6.

[0067] As Figure 2 shown, the rear-end transmission module 40 of the uterine manipulator 6 is designed with an interface to connect the instrument driving module 5 on the tool holding arm 4 and the rear-end transmission module 40 of the uterine manipulator 6, so that the instrument driving module 5 drives the rear-end transmission module 40 to control the distal end actuator of the uterine manipulator 6 and realize the maneuver control of the uterine manipulator 6. It can be understood that the instrument driving module 5 communicates with a control system (not shown in the figure), so that the doctor controls the instrument driving module 5 through the control system and further controls the uterine manipulator 6.

[0068] In the state where the uterine manipulator 6 is installed in place on the robotic arm 2, the interface of the rear-end transmission module 40 of the uterine manipulator 6 is accurately docked with the output end interface of the instrument driving module 5 on the robotic arm 2. Generally, a linear driving module (not marked) and an instrument driving module 5 are provided on the robotic arm 2, and the instrument driving module 5 and the surgical instrument mounted thereon can move along a linear direction under the drive of the linear driving module. During the operation, the linear driving module on the robotic arm 2 provides the forward feeding movement, and the instrument driving module 5 on the robotic arm 2 provides the uterine manipulation movement.

[0069] Figure 2 Schematically shows the structure of the uterine manipulator 6 according to an embodiment of the present utility model. As Figure 2 shown, the uterine manipulator 6 mainly includes a manipulator 10, a positioning device 20, a fixator 30 and the above-mentioned rear-end transmission module 40.

[0070] The manipulator 10 is rod-shaped and extends along the front-rear direction D1. The front-rear direction can also be simply referred to as the front-back direction D1. The manipulator 10 is used to extend into the human vagina so as to extend the positioning device 20 into the uterus. The positioning device 20 is used to support the uterus and drive the uterus to swing up and down. The positioning device 20 is movably connected to the front end of the manipulator 10. The fixator 30 is sleeved on the positioning device 20, specifically at the connection between the manipulator 10 and the positioning device 20, and is used to fix the vaginal fornix after the positioning device 20 extends into the uterus.

[0071] In order to manipulate the positioning device 20, the front end of the manipulator 10 has a rotary joint 11. The rotary joint 11 has the freedom to rotate around the rotation axis, and when the rotary joint 11 rotates around the rotation axis, the positioning device 20 moves with the rotary joint 11. Optionally, the rotation axis of the rotary joint 11 is perpendicular to the front-to-back direction D1. The manipulator 10 is also provided with a transmission member (not shown) that transmits and connects the rotary joint 11 and the rear end transmission module 40, such as a transmission rod, a transmission rope, etc. The rear end transmission module 40 is used to connect the instrument drive module 5 on the mechanical arm 2, and under the drive of the instrument drive module 5, the rear end transmission module 40 actuates the transmission member on the manipulator 10 to drive the positioning device 20 through the rotary joint 11 to realize the uterine positioning operation.

[0072] At the front end of the uterine lifting device 6, the fixator 30 is connected to the manipulator 10 or the positioning device 20 through a buckling structure. Specifically, the fixator 30 is provided with a first buckling structure 51, and one of the manipulator 10 and the positioning device 20 is provided with a second buckling structure 52 that matches the first buckling structure 51. The first buckling structure 51 is operably engaged with the second buckling structure 52, so that the fixator 30 is operably connected to one of the manipulator 10 and the positioning device 20 in the front-to-back direction D1. The setting of the buckling structure simplifies the complex structure of the fixator 30, and the buckling operation is simple. The doctor can easily and quickly complete the installation of the fixator 30 and the manipulator 10 or the positioning device 20, which reduces the doctor's preoperative preparation operation steps, improves the installation efficiency, and can avoid installation errors or inadequate installation. As a disposable consumable, the simpler structure and installation operation of the fixator 30 help reduce the use cost and assembly cost.

[0073] See also Figure 3 and Figure 4 , schematically shows a first example of the front end of the uterine lifting device 6 according to the utility model.

[0074] The fixator 30 mainly includes a uterine lifting cup 31 and a balloon component 32. The uterine lifting cup 31 is used to fix the vaginal vault. The uterine lifting cup 31 is constructed as a hollow structure to expose the position of the vaginal vault and provide a field of view for surgical operations. The balloon component 32 is used to maintain the patient's pneumoperitoneum during surgery. The balloon component 32 is located at the rear end of the uterine lifting cup 31, and a portion of the balloon component 32 covers the uterine lifting cup 31. Exemplarily, the balloon component 32 and the uterine lifting cup 31 can be fixed together by bonding or other connecting methods. In this example, the first buckle structure 51 is provided on the uterine lifting cup 31, and the second buckle structure 52 is provided on the positioning device 20. The fixator 30 is operably connected to the positioning device 20 by using a snap-fit ​​structure, and the structural strength of the uterine lifting cup 31 is greater than the structural strength of the balloon component 32. The buckle structure is provided on a component with greater structural strength to make the fixing structure more firm and reliable.

[0075] The uterine manipulator cup 31 penetrates through in the front-rear direction D1, and a part of the positioning device 20 extends into the uterine manipulator cup 31. Specifically, the positioning device 20 mainly includes a positioning joint 21 and a uterine manipulation rod 22. The positioning joint 21 is located at the rear end of the uterine manipulation rod 22, and the uterine manipulation rod 22 extends from the positioning joint 21 towards the front end direction. The positioning joint 21 is detachably connected to the rotating joint 11, for example, by snap connection, threaded connection, etc. The uterine manipulator cup 31 is provided with an annular side wall 33, and the annular side wall 33 of the uterine manipulator cup 31 is sleeved around the periphery of the positioning joint 21. The positioning joint 21 is used to connect the positioning device 20 to the uterine manipulator cup 31 of the fixator 30. Exemplarily, the outer peripheral shape of the positioning joint 21 is adapted to the inner peripheral shape of the annular side wall 33. The positioning joint 21 may be provided with the second fastening structure 52. The annular side wall 33 of the uterine manipulator cup 31 may be provided with the first fastening structure 51. Arranging the fastening structure at the connection between the structurally compact positioning joint 21 and the annular side wall 33 is beneficial to making the fixing structure more firm and reliable.

[0076] The first fastening structure 51 is configured as an elastic buckle 34. The positioning joint 21 has a fastening surface F21 as the second fastening structure 52. The elastic buckle 34 can be snapped onto the fastening surface F21 of the positioning joint 21. Specifically, the elastic buckle 34 mainly includes an elastic part 35 and a buckle part 36. The buckle part 36 is connected to the annular side wall 33 through the elastic part 35. The elastic part 35 extends in the front-rear direction D1. The buckle part 36 protrudes radially inwards along the annular side wall 33 from the end of the elastic part 35. The buckle part 36 includes a engaging surface F31 facing the front end of the uterine manipulator cup 31, the fastening surface F21 faces the rear end of the positioning device 20, and the engaging surface F31 can contact the fastening surface F21. By using the elastic buckle 34, the fixator 30 and the positioning device 20 are operably connected. The elastic buckle 34 can be radially outwardly sprung open under the action of the positioning joint 21 during the installation process. After being installed in place, the movement of the fixator 30 relative to the positioning device 20 in the front-rear direction D1 is restricted by the contact between the engaging surface F31 and the fastening surface F21, so as to achieve the positioning effect and prevent the uterine manipulator cup 31 from disengaging from the positioning device 20. When it is necessary to remove the fixator 30 from the positioning device 20, the elastic buckle 34 is operated to make the engaging surface F31 disengage from the fastening surface F21, and the uterine manipulator cup 31 is released from the restriction and can be disengaged from the positioning device 20.

[0077] To facilitate the setting of the elastic buckle 34, as Figure 3As shown, the annular side wall 33 may be provided with a notch 37, and the elastic buckle 34 is located in the notch 37. The elastic buckle 34 can be spaced apart from the annular side wall 33 along the circumference of the annular side wall 33, that is, there is a gap between the elastic buckle 34 and the mouth wall of the notch 37 along the circumference of the annular side wall 33. Such a configuration can avoid interference between the elastic buckle 34 and the annular side wall 33 during deformation, so that the operation of the elastic buckle 34 can be carried out smoothly. Optionally, as Figure 4 As shown, the elastic portion 35 can be configured as a bending structure 38 that bulges radially outward along the annular side wall 33 , so as to improve the elastic deformation capacity of the elastic buckle 34 and facilitate the installation and removal of the fastener 30 .

[0078] Optionally, the cup 31 includes a boss 39 that protrudes radially inward from the inner circumferential surface of the annular side wall 33. The boss 39 includes a limiting surface F32 facing the rear end of the cup 31, and the limiting surface F32 can contact the top surface of the positioning joint 21 facing the front end of the positioning device 20. The movement of the fixture 30 relative to the positioning device 20 in the front-to-back direction D1 is limited by the contact between the limiting surface F32 and the top surface of the positioning device 20, thereby achieving a positioning effect and preventing the cup 31 from escaping from the positioning device 20. In this way, the positioning joint 21 is clamped between the limiting surface F32 and the engaging surface F31. After the positioning joint 21 is installed in place, the boss 39 and the elastic buckle 34 can jointly limit the position of the positioning joint 21. Exemplarily, the shape of the boss 39 can be annular.

[0079] The specific operation process is as follows: after the positioning device 20 is connected to the manipulator 10, the fixture 30 is inserted from one end of the swing rod 22 of the positioning device 20. When the fixture 30 hits the positioning joint 21 of the positioning device 20, the elastic buckle 34 is radially outwardly ejected, and when the positioning joint 21 is installed in place against the boss 39, the elastic buckle 34 is reset, and the snap-fit ​​surface F31 of the elastic buckle 34 can contact the snap-fit ​​surface F21 of the positioning joint 21 to prevent the fixture 30 from being disengaged from the positioning device 20. When the fixture 30 needs to be removed from the positioning device 20, the protrusion of the elastic buckle 34 is moved to disengage the fixture 30 from the positioning device 20.

[0080] See also Figure 5 and Figure 6 , schematically shows a second example of the front end of the uterine lifting device 160 according to the present invention. Figure 3 and Figure 4 The first example shown is different in the arrangement of the snap-fit ​​structure, and for the sake of brevity, the same structural parts will not be repeated.

[0081] like Figure 5As shown, through the fastening structure in this example, the fixator 30 can be operably connected to the positioning device 20 in a rotational fastening manner. The annular side wall 33 of the uterine manipulator cup 31 can be provided with the first fastening structure 51, and the positioning joint 21 can be provided with the second fastening structure 52.

[0082] One of the first fastening structure 51 and the second fastening structure 52 is configured as a protrusion 101, and the other of the first fastening structure 51 and the second fastening structure 52 is configured as a fastening groove 102. The fastening groove 102 has an entrance 103, and the protrusion 101 enters through the entrance 103 and rotates circumferentially into the fastening groove 102, so that the protrusion 101 is clamped in the fastening groove 102 in the front-rear direction D1. By using the protrusion 101 and the fastening groove 102, the fixator 30 is operably connected to the positioning device 20. The protrusion 101 can be operated during installation to enter from the entrance 103 of the fastening groove 102. By relatively rotating the fixator 30 and the positioning device 20, the protrusion 101 enters the interior of the fastening groove 102, that is, the installation is in place (see Figure 5 ). After the installation is in place, the movement of the fixator 30 relative to the positioning device 20 in the front-rear direction D1 is restricted by the protrusion 101 being restricted in the fastening groove 102, thereby achieving the effects of fixation and positioning and preventing the uterine manipulator cup 31 from disengaging from the positioning device 20. When it is necessary to remove the fixator 30 from the positioning device 20, the fixator 30 and the positioning device 20 are relatively rotated in the reverse direction and withdrawn from the entrance 103 of the fastening groove 102, so that the protrusion 101 disengages from the engagement groove, and the uterine manipulator cup 31 is released from the restriction and can be disengaged from the positioning device 20.

[0083] Exemplarily, as shown in the illustrated example, the first fastening structure 51 is configured as a protrusion 101, and the second fastening structure 52 is configured as a fastening groove 102. The protrusion 101 can protrude inward from the inner circumferential surface of the annular side wall 33, and the fastening groove 102 can be recessed inward from the outer circumferential surface of the positioning joint 21. The entrance 103 of the fastening groove 102 faces the front end of the positioning device 20. Alternatively, the first fastening structure 51 is configured as a fastening groove 102, and the second fastening structure 52 is configured as a protrusion 101. The protrusion 101 can protrude outward from the outer circumferential surface of the positioning joint 21, and the fastening groove 102 can be recessed outward from the inner circumferential surface of the annular side wall 33. The entrance 103 of the fastening groove 102 faces the rear end of the manipulator 10.

[0084] The shape of the snap-in groove 102 is a long strip extending circumferentially. With such a setting, the protrusion 101 can be stuck at a position a certain distance away from the entrance 103 of the snap-in groove 102, preventing the protrusion 101 from disengaging from the entrance 103 of the snap-in groove 102. Optionally, the snap-in groove 102 is configured such that the protrusion 101 rotates by a certain angle within the snap-in groove 102, such as 30°, 45°, or 60°, etc. The protrusions 101 are arranged at circumferential intervals, for example, centrosymmetrically arranged; correspondingly, the snap-in grooves 102 are also arranged at circumferential intervals, for example, centrosymmetrically arranged. The protrusions 101 and the snap-in grooves 102 are in one-to-one correspondence. The illustrated example schematically shows that the number of protrusions 101 is 2, and the number of snap-in grooves 102 is also 2.

[0085] Referring to Figures 7 to 9 , a third example of the front end of the uterine manipulator 260 according to the present utility model is schematically shown. The difference between this example and the first example shown in Figure 3 and Figure 4 lies in the setting of the snap-in structure. For the sake of brevity, the same structural parts will not be described again.

[0086] As Figure 7 shown, the holder 30 further includes a connecting member 201. The connecting member 201 is located at the rear end of the uterine cup 31 and is connected to the uterine cup 31. Exemplarily, the connecting member 201 and the uterine cup 31 can be fixed together by bonding or other connection means. Exemplarily, the connecting member 201 penetrates in the front-rear direction D1, and a part of the balloon member 32 is located between the uterine cup 31 and the connecting member 201. Exemplarily, the uterine cup 31 and the balloon member 32 can be fixed together by bonding or other connection means.

[0087] As Figure 7As shown, the connecting member 201 is provided with cantilevers 202 extending in the front-rear direction D1. The cantilevers 202 are arranged at intervals along the circumferential direction of the connecting member 201, for example, centrosymmetrically arranged. The cantilever 202 mainly includes an arm rod portion 203 and an arm head portion 204. The dimension of the arm head portion 204 in the circumferential direction is larger than that of the arm rod portion 203 in the circumferential direction. The balloon member 32 forms an inner balloon portion and an outer balloon portion by flipping at the front end. The inner balloon portion is located between the connecting member 201 and the uterine manipulator cup 31, and the outer balloon portion is sleeved around the periphery of the connecting member 201. The cantilever 202 is provided with a first fastening structure 51, specifically located at the arm head portion 204. The front end of the manipulator 10 is provided with a second fastening structure 52. The fixator 30 and the manipulator 10 are operably connected by using the connecting member 201 with the cantilever 202. The cantilever 202 can radially expand outward under the action of the manipulator 10 during the installation process. After being installed in place, the cantilever 202 rebounds and restricts the movement of the fixator 30 relative to the manipulator 10 in the front-rear direction D1 through the fastening structure, so as to achieve the positioning effect and prevent the uterine manipulator cup 31 from disengaging from the manipulator 10. When it is necessary to remove the fixator 30 from the manipulator 10, the cantilever 202 is operated to disengage the fastening structures from each other, and the uterine manipulator cup 31 is released from the restriction and can be disengaged from the manipulator 10.

[0088] As Figure 8 and Figure 9 shown, the first fastening structure 51 is configured as a convex portion 205 protruding inward, and the second fastening structure 52 is configured as a groove 206 recessed inward. The convex portion 205 is movably clamped in the groove 206, so that the convex portion 205 can move in the groove 206 with the movement of the rotating joint 11. As described above, the rotating joint 11 has a degree of freedom of rotating around the rotation axis, and the rotation axis is perpendicular to the front-rear direction D1. The shape of the groove 206 is an annular shape extending around the rotation axis. When the rotating joint 11 moves, the connecting member 201 rotates around the rotation axis, and the convex portion 205 rotates around the rotation axis in the groove 206 with the rotation of the connecting member 201. The groove 206 allows the convex portion 205 to move circumferentially while restricting the radial movement of the convex portion 205. Therefore, the connecting member 201 can remain connected to the manipulator 10 and at the same time can move with the rotating joint 11.

[0089] The connecting member 201 is symmetrically provided with a pair of cantilevers 202, and the front end of the manipulator 10 is located between the pair of cantilevers 202. Each cantilever 202 is provided with a first fastening structure 51, and the second fastening structure 52 is provided on both sides of the manipulator 10 facing the pair of cantilevers 202 respectively.

[0090] The specific operation process is as follows: when installing, first connect the uterine cup 31, the connector 201 and the balloon component 32, then put the fixture 30 and the positioning device 20 together, then slide the protrusions 101 of the two cantilever arms 202 on the fixture 30 into the grooves 206 on the manipulator 10, and finally install the positioning device 20 on the manipulator 10. When disassembling, first remove the positioning device 20 from the manipulator 10, then align the parallel grooves of the cantilever arms 202 of the fixture 30 with the corresponding grooves of the positioning device 20, and then remove it.

[0091] In the foregoing, examples of the uterine lifting device of the present invention in the application scenario of robot operation are introduced in conjunction with the accompanying drawings. However, it is understandable that the uterine lifting device of the present invention can also be applied to the scenario of manual operation. When applied to the scenario of manual operation, the rear end transmission module 40 of the uterine lifting device is replaced with a handle for hand-held operation, or the rear end transmission module 40 of the uterine lifting device is connected to the matching handle for transmission.

[0092] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used herein are only for describing specific implementation purposes and are not intended to limit the present invention. The features described herein in one embodiment may be applied to another embodiment alone or in combination with other features, unless the feature is not applicable or otherwise specified in the other embodiment.

[0093] The present invention has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and explanation, and the present invention is not limited to the above-mentioned embodiments. According to the teachings of the present invention, more variations and modifications can be made, and these variations and modifications all fall within the scope of protection required by the present invention.

Claims

1. A uterine lifting device, characterized in that: include: Manipulator; A positioning device connected to the front end of the manipulator; as well as A fixer, the fixer is sleeved on the positioning device, Among them, the fixer is provided with a first buckling structure, and one of the manipulator and the positioning device is provided with a second buckling structure matching the first buckling structure, and the first buckling structure can be operably engaged with the second buckling structure so that the fixer can be operably connected to the one of the manipulator and the positioning device in the front-to-back direction.

2. The uterine lifting device according to claim 1, characterized in that: The positioning device includes a positioning joint, which is provided with the second buckling structure. The fixer includes a uterine lifting cup, which is through-through in the front-to-back direction. The uterine lifting cup is provided with an annular side wall, which is sleeved on the periphery of the positioning joint and is provided with the first buckling structure.

3. The uterine lifting device according to claim 2, characterized in that: The first buckling structure is configured as an elastic buckle, which includes an elastic portion and a buckle portion. The buckle portion is connected to the annular side wall via the elastic portion. The buckle portion includes a buckling surface facing the front end of the cup. The positioning joint has a buckling surface serving as the second buckling structure. The buckling surface faces the rear end of the positioning device, and the buckling surface contacts the buckling surface.

4. The uterine lifting device according to claim 3, characterized in that: The annular side wall is provided with a notch, the elastic buckle is located in the notch, and the elastic buckle is spaced apart from the annular side wall along the circumferential direction of the annular side wall.

5. The uterine lifting device according to claim 3, characterized in that: The elastic portion is configured as a bent structure that bulges outward in a radial direction of the annular side wall.

6. The uterine lifting device according to claim 2, characterized in that: The uterine lifting cup includes a boss protruding radially inward from the inner circumferential surface of the annular side wall, and the boss includes a limiting surface toward the rear end of the uterine lifting cup, and the limiting surface contacts the top surface of the positioning joint toward the front end of the positioning device.

7. The uterine lifting device according to claim 2, characterized in that: One of the first snap-fitting structure and the second snap-fitting structure is configured as a protrusion, and the other of the first snap-fitting structure and the second snap-fitting structure is configured as a snap-fitting groove, the snap-fitting groove has an entrance, the protrusion enters through the entrance and rotates circumferentially into the snap-fitting groove, so that the protrusion is snap-fitted to the snap-fitting groove in the front-to-back direction.

8. The uterine lifting device according to claim 7, characterized in that: The protrusion protrudes inward from the inner peripheral surface of the annular side wall, and the buckling groove is recessed inward from the outer peripheral surface of the positioning joint; or The protrusion protrudes outward from the outer peripheral surface of the positioning joint, and the buckling groove is recessed outward from the inner peripheral surface of the annular side wall.

9. The uterine lifting device according to claim 7, characterized in that: The buckling groove is in the shape of a long strip extending along the circumferential direction.

10. The uterine lifting device according to any one of claims 2 to 9, characterized in that: The fixator further comprises a balloon component, and the balloon component is sleeved on the outer peripheral surface of the annular side wall.

11. The uterine lifting device according to claim 1, characterized in that: The fixator includes a uterine lifting cup and a connecting piece, wherein the connecting piece is located at the rear end of the uterine lifting cup and connected to the uterine lifting cup, the connecting piece is provided with a cantilever extending in the front-to-back direction, the cantilever is provided with the first buckling structure, and the front end of the manipulator is provided with the second buckling structure.

12. The uterine lifting device according to claim 11, characterized in that: The front end of the manipulator has a rotating joint, the first snap-fit ​​structure is configured as a convex portion protruding inward, the second snap-fit ​​structure is configured as an inwardly recessed groove, the convex portion can be movably engaged in the groove, so that the convex portion can move in the groove with the movement of the rotating joint.

13. The uterine lifting device according to claim 12, characterized in that: The rotation joint has the freedom to rotate around a rotation axis, the rotation axis is perpendicular to the front-rear direction, and the groove is in the shape of a ring extending around the rotation axis.

14. The uterine lifting device according to any one of claims 11 to 13, characterized in that: The connecting member is symmetrically provided with a pair of cantilevers, the front end of the manipulator is located between the pair of cantilevers, each of the cantilevers is provided with the first buckling structure, and the second buckling structure is provided on both sides of the manipulator facing the pair of cantilevers respectively.

15. The uterine lifting device according to any one of claims 11 to 13, characterized in that: The fixator further comprises a balloon component, which is located at the rear end of the uterine lifting cup, and a part of the balloon component is located between the uterine lifting cup and the connector.

16. A medical assistance robot, characterized in that: It comprises a robotic arm and a uterine manipulation device according to any one of claims 1 to 15, wherein the uterine manipulation device is detachably connected to the robotic arm.

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