Biological specimen recovery device

Abstract

The biological specimen recovery device comprises a handle, a sheathing canal, a containing bag, an opening device and a locking mechanism. The sheathing canal comprises an inner sheathing canal and an outer sheathing canal; the locking mechanism is arranged on the inner sheath tube and / or the outer sheath tube, when the locking mechanism is in a locking state, the outer sheath tube and the opening device do not move relatively, the movement of the outer sheath tube drives the opening device to move, and then the bag opening of the bag body is driven to move. Due to the fact that action linkage can be achieved between the outer sheath tube and the opening device through the locking mechanism, the action of the opening device can be controlled through the action of the outer sheath tube to drive the bag opening to move, and therefore the surgical requirements of the surgical robot can be well met.

Description

Technical Field

[0001] This utility model relates to a laparoscopic surgical instrument, and more particularly to a biological specimen retrieval device used in laparoscopic surgery. Background Technology

[0002] Laparoscopic surgery has been used more and more widely. In order to safely remove the excised biological specimens through small incisions, prevent residual tissue fragments or leakage of fluid in the body, and especially avoid the spread and implantation of cancer cells, specimen retrieval devices are now commonly used in surgery to safely remove surgical specimens.

[0003] With technological advancements, surgical robots have begun to be gradually applied in clinical surgery. In surgical robots, instrument control involves gripping the handles, outer tubes, and other parts of the instruments using clamping instruments, and then controlling the movement of the robotic arm to perform the surgical procedure.

[0004] Currently, conventional laparoscopic specimen retrieval devices consist of an inner sheath and an outer sheath. The outer and inner sheaths can move relative to each other. The opening and closing mechanisms of the retrieval bag are typically mounted on the inner sheath, and the direction of the bag opening is adjusted by controlling the inner sheath. Since the operation is manually controlled by the surgeon, the inner sheath can be manually manipulated to retrieve tissue. However, surgical robots, which are held in place by the outer sheath and control the specimen retrieval device through it, cannot control the opening mechanism mounted on the inner sheath through the movement of the outer sheath, as the movements of the outer and inner sheaths are relatively independent.

[0005] Therefore, existing specimen retrieval devices need further improvement to meet the clinical operation requirements of surgical robots. Summary of the Invention

[0006] This utility model, through the design of a locking mechanism, enables the outer sheath tube and the opening device to be linked in operation under the locking action of the locking mechanism. The outer sheath tube is clamped, and the movement of the outer sheath tube can control the movement of the opening device, thereby driving the bag opening to move.

[0007] The biological specimen recovery device of this utility model includes a handle 1, a sheath 2, a storage bag 3, an opening device 4, and a locking mechanism 5, characterized in that:

[0008] A. The sheath 2 includes an inner sheath 21 and an outer sheath 22; the proximal end of the inner sheath 21 is connected to the connecting part 11 of the handle 1, and the distal end of the inner sheath 21 is connected to the opening device 4.

[0009] B. The storage bag 3 includes a bag body 31 and a tensioning device 32; the opening device 4 is installed on the bag body 31, and the proximal end of the opening device 4 is connected to the distal end of the inner sheath tube 21; the proximal end of the tensioning device 32 is connected to the handle 1 or the inner sheath tube 21.

[0010] C. The locking mechanism 5 is disposed on the inner sheath tube 21 and / or the outer sheath tube 22. When the locking mechanism 5 is in the locked state, there is no relative movement between the outer sheath tube 22 and the opening device 4. The movement of the outer sheath tube 22 drives the opening device 4 to move, thereby driving the bag opening 31-1 of the bag body 31 to move.

[0011] When the biological specimen recovery device 100 contains only the inner sheath 21 and the outer sheath 22, the opening device 4 is typically composed of a single elastic wire. A wire groove 31-11 passes through the bag opening 31-1 and is located at the bag opening 31-1, with both ends connected to the distal ends of the inner sheath 21. When the opening device 4 is extended, it opens the bag opening 31-1. When the handle 1 is pulled back, the inner sheath 21 drives the opening device 4 to move back, using the distal end of the inner sheath 21 as a fulcrum to close the bag opening 31-1. The opening device 4 also constitutes the tightening device 32. In this case, the locking mechanism 5 can be installed separately on the inner sheath 21 or the outer sheath 22, or different components can be installed on the inner sheath 21 and the outer sheath 22 respectively and combined to form the locking mechanism 5.

[0012] In use, the inner sheath 21 is pushed out from the outer sheath 22, the opening device 4 opens the bag opening 31-1, and the locking mechanism 5 locks the inner sheath 21 and the outer sheath 22 together. The surgical robot's gripper holds the outer sheath 22 and manipulates the outer sheath 22 to move, which in turn moves the inner sheath 21, thereby moving the opening device 4 at the distal end of the inner sheath 21, which in turn moves the bag opening 31-1 of the bag body 31, so as to adjust the orientation of the bag opening 31-1 in real time according to the needs of the surgery, so as to facilitate the loading of the excised tissue into the storage bag 3.

[0013] Since the locking mechanism 5 can link the outer sheath tube 22 and the opening device 4, the movement of the opening device 4 can be controlled by the movement of the outer sheath tube 22 to drive the bag opening 31-1 to move. Therefore, it can well meet the surgical needs of the surgical robot.

[0014] The locking mechanism 5 employs mechanical control, and / or magnetic control, and / or electric control. The applicant has only illustrated these three control methods here. In practical applications, those skilled in the art can design different control methods as needed, or combine different control methods. The applicant will not provide examples of each method here, but none of these methods depart from the scope of protection of this application.

[0015] The locking mechanism 5 is a convex-concave locking mechanism 51. The convex-concave locking mechanism 51 preferably uses a mechanical control method for locking and unlocking. By utilizing the convex-concave engagement between the card block and the positioning groove, locking and unlocking can be achieved through simple sliding.

[0016] The convex-concave locking mechanism 51 includes a positioning groove 51-1 and a positioning block 51-2. The positioning block 51-2 is embedded in the positioning groove 51-1 to achieve state locking.

[0017] The positioning groove 51-1 can be vertically set on the inner wall of the outer sheath tube 22, and the positioning block 51-2 can be vertically set on the outer wall of the inner sheath tube 21. When the outer sheath tube 22 is retracted and the inner sheath tube 21 is pushed out, the positioning block 51-2 slides into the positioning groove 51-1, and the outer sheath tube 22 and the inner sheath tube 21 are locked. When the outer sheath tube 22 is rotated, the opening device 4 connected to the far end of the inner sheath tube 21 rotates accordingly, causing the bag opening 31-1 to move.

[0018] Alternatively, the positioning block 51-2 can be disposed on the outer sheath tube 22, and the positioning groove 51-1 can be disposed on the inner sheath tube 21, with the positioning block 51-2 embedded in the positioning groove 51-1 to achieve state locking. To better ensure the continuous locking effect, the size of the positioning groove 51-1 can be designed to be slightly smaller than the size of the positioning block 51-2, using an interference fit to enhance the locking effect; or matching limiting protrusions can be provided on the positioning groove 51-1 and the positioning block 51-2 to achieve a better locking effect.

[0019] The convex-concave locking mechanism 51 includes at least one set of positioning grooves 51-1 and positioning blocks 51-2. The convex-concave locking mechanism 51 can be set in different positions. To enhance the locking effect, multiple sets of the convex-concave locking mechanism 51 can be set in different positions to achieve multiple locking between different components.

[0020] The locking mechanism 5 is a rotary locking mechanism 52. The rotary locking method allows for easy locking and unlocking of the locking structure 5 through rotation around an axis. During surgery, locking and unlocking can be performed as needed without affecting the open state of the storage bag 3.

[0021] The rotary locking mechanism 52 includes a rotary groove 52-1 and a locking slider 52-2. When the sheath 2 is rotated, the locking slider 52-2 rotates along the rotary groove 52-1 to achieve locking or unlocking.

[0022] The rotating groove 52-1 can be horizontally set on the inner wall of the outer sheath tube 22, and the positioning block 51-2 can be horizontally set on the outer wall of the inner sheath tube 21. In clinical use, the outer sheath tube 22 is retracted to completely push out the inner sheath tube 21. The outer sheath tube 22 is rotated, and the locking slider 52-2 slides into the rotating groove 52-1, locking the outer sheath tube 22 and the inner sheath tube 21. When the outer sheath tube 22 is rotated, the opening device 4 connected to the distal end of the inner sheath tube 21 rotates accordingly, causing the bag opening 31-1 to move.

[0023] Alternatively, the locking slider 52-2 can be mounted on the outer sheath 22, and the rotating groove 52-1 can be mounted on the inner sheath 21. The locking slider 52-2 can then be embedded within the rotating groove 52-1 to achieve state locking. Since the rotating groove 52-1 and the locking slider 52-2 are arranged laterally, the sidewall of the rotating groove 52-1 effectively prevents axial slippage.

[0024] The sheath 2 also includes a middle sheath 23.

[0025] The locking mechanism 5 is disposed on the outer sheath tube 22 and / or the middle sheath tube 23. The end of the middle sheath tube 23 is provided with a limiting groove 23-1, which is connected to the far end of the inner sheath tube 21 through the limiting groove 23-1. The limiting groove 23-1 enables the movement of the middle sheath tube 23 and the opening device 4 to be linked. When the locking mechanism 5 is in the locked state, the movement of the outer sheath tube 22 and the middle sheath tube 23 is linked, and then the movement of the opening device 4 is linked. The movement of the outer sheath tube 22 drives the opening device 4 to move, and then drives the bag opening 31-1 of the bag body 31 to move.

[0026] When the sheath tube 2 also includes the middle sheath tube 23, the opening device 4 can adopt a sheet-like opening structure. The sheet-like opening device 4 has one end passing through a wire groove 31-11 at the bag opening 31-1, and the other end passing through the limiting groove 23-1 and connecting to the distal end of the inner sheath tube 21, which is located inside the middle sheath tube 23. The tensioning device 32 adopts a wire-like structure, with the wire groove 31-11 passing through it once and then extending out from the distal end of the middle sheath tube 23.

[0027] When the locking mechanism 5 uses a convex-concave locking mechanism 51, the positioning groove 51-1 can be vertically set on the inner wall of the outer sheath tube 22, and the positioning block 51-2 can be vertically set on the outer wall of the middle sheath tube 23. When the outer sheath tube 22 is retracted to push out the middle sheath tube 23, the positioning block 51-2 slides into the positioning groove 51-1, and the outer sheath tube 22 and the middle sheath tube 23 are locked. Rotating the outer sheath tube 22 causes the middle sheath tube 23 to rotate as well, since the outer sheath tube 22 and the middle sheath tube 23 are locked. Because the limiting groove 23-1 links the movement of the middle sheath tube 23 with the movement of the opening device 4, the opening device 4 connected to the distal end of the inner sheath tube 21 rotates accordingly, causing the bag opening 31-1 to move.

[0028] Alternatively, the positioning block 51-2 can be disposed on the outer sheath tube 22, and the positioning groove 51-1 can be disposed on the middle sheath tube 23, with the positioning block 51-2 embedded in the positioning groove 51-1 to achieve state locking. To better ensure the continuous locking effect, the size of the positioning groove 51-1 can be designed to be slightly smaller than the size of the positioning block 51-2, using an interference fit to enhance the locking effect; or matching limiting protrusions can be provided on the positioning groove 51-1 and the positioning block 51-2 to achieve a better locking effect.

[0029] The biological specimen recovery device 100 includes two sets of locking mechanisms 5; one set of locking mechanisms 5 is disposed on the inner sheath 21 and / or the middle sheath 23. When the locking mechanism 5 is in the locked state, the middle sheath 23 and the inner sheath 21 move in tandem; the other set of locking mechanisms 5 is disposed on the outer sheath 22 and / or the middle sheath 23. When the locking mechanism 5 is in the locked state, the middle sheath 23 and the outer sheath 22 move in tandem. The movement of the outer sheath 22 drives the opening device 4 to move, which in turn drives the bag opening 31-1 of the bag body 31 to move.

[0030] Since the biological specimen recovery device 100 contains a total of three sheaths: the inner sheath 21, the middle sheath 23, and the outer sheath 22, multiple sets of locking mechanisms can be set to enhance the locking effect between the sheaths. For example, locking mechanisms 5 can be set between the inner sheath 21 and the middle sheath 23, and between the middle sheath 23 and the outer sheath 22, to ensure effective locking between the sheaths.

[0031] The bag body 31 is made of medical elastic material. The bag body 31 is made of medical elastic material, especially medical elastic film material, which has good strength to ensure the safety of the tissue removal process, and can be folded up and placed into the outer sheath 22 for easy insertion into the body.

[0032] The medical elastic material is a composite film, which is a composite film composed of nylon and thermoplastic polyurethane (TPU), or a composite film composed of polypropylene and thermoplastic polyurethane (TPU). To enhance the strength of the storage bag 3, the storage bag 3 is typically made of a medical composite material. The medical composite material is a composite film made of woven fabric and medical film. The applicant has only listed the composite material structure made of woven fabric and medical film here. Those skilled in the art can also choose composite materials made of various other materials, without departing from the scope of protection claimed in this application. The applicant has also only listed the above two composite materials for the composite film here. In practical applications, those skilled in the art can also choose other medical materials to form a composite film, without departing from the scope of protection of this application.

[0033] The opening device 4 is made of shape memory alloy. When the biological specimen recovery device of this invention enters the human body, the opening device 4 will automatically open under the action of body temperature, and the bag body 31 will automatically open the bag opening 31-1 under the action of the opening device 4, making the use process more convenient.

[0034] The opening device 4 is installed at the bag opening 31-1 of the bag body 31. The installation of the opening device at the bag opening (31-1) of the bag body 31 is not only convenient, but also ensures that the bag opening 31-1 of the bag body 31 opens automatically.

[0035] The biological specimen recovery device of this utility model includes a handle 1, a sheath 2, a storage bag 3, an opening device 4, and a locking mechanism 5. The sheath 2 includes an inner sheath 21 and an outer sheath 22; the locking mechanism 5 is disposed on the inner sheath 21 and / or the outer sheath 22. When the locking mechanism 5 is in the locked state, there is no relative movement between the outer sheath 22 and the opening device 4. The movement of the outer sheath 22 drives the opening device 4 to move, which in turn drives the bag opening 31-1 of the bag body 31 to move. In use, the inner sheath 21 is pushed out from the outer sheath 22, the opening device 4 opens the bag opening 31-1, and the locking mechanism 5 locks the inner sheath 21 and the outer sheath 22 together. The surgical robot's gripper holds the outer sheath 22, and the movement of the outer sheath 22 drives the movement of the inner sheath 21, thereby driving the opening device 4 at the distal end of the inner sheath 21 to move, which in turn drives the bag opening 31-1 of the bag body 31 to move, so as to adjust the orientation of the bag opening 31-1 in real time according to the needs of the surgery, making it convenient to put the excised tissue into the storage bag 3. Since the locking mechanism 5 can realize the linkage between the outer sheath 22 and the opening device 4, the movement of the opening device 4 can be controlled by the movement of the outer sheath 22 to drive the movement of the bag opening 31-1, thus well meeting the surgical needs of the surgical robot. Attached Figure Description

[0036] Figure 1 This is a perspective view of the biological specimen recovery device of this utility model, which includes a set of convex and concave locking mechanisms.

[0037] Figure 1-1 yes Figure 1 A 3D image of the storage bag when it is pushed out and opened.

[0038] Figure 1-2 yes Figure 1-1 A sectional view.

[0039] Figure 1-3 yes Figure 1-2 Enlarged view of point A.

[0040] Figure 1-4 yes Figure 1 Exploded view.

[0041] Figure 2 This is a perspective view of the biological specimen recovery device of this utility model, which includes two sets of convex and concave locking mechanisms.

[0042] Figure 2-1 yes Figure 2 A 3D image of the storage bag when it is pushed out and opened.

[0043] Figure 2-2 yes Figure 2-1 A sectional view.

[0044] Figure 2-3 yes Figure 2-2 Enlarged view of point B.

[0045] Figure 2-4 yes Figure 2 Exploded view.

[0046] Figure 3 This is a perspective view of the biological specimen recovery device of this utility model, which includes a rotary locking mechanism.

[0047] Figure 3-1 yes Figure 3 A 3D image of the storage bag when it is pushed out and opened.

[0048] Figure 3-2 yes Figure 3-1 A sectional view.

[0049] Figure 3-3 yes Figure 3-2 Enlarged view of point C.

[0050] Figure 3-4 yes Figure 3-1 Cross-sectional view.

[0051] Figure 3-5 yes Figure 3 Exploded view.

[0052] In the above figure:

[0053] 100 is the biological specimen recovery device of this utility model.

[0054] 1 is the handle, 2 is the sheath, 3 is the storage bag, 4 is the opening device, and 5 is the locking mechanism.

[0055] 11 is the connecting part.

[0056] 21 is the inner sheath, 22 is the outer sheath, 23 is the middle sheath, and 23-1 is the limiting groove.

[0057] 31 is the bag body, 32 is the tightening device; 31-1 is the bag opening, and 31-11 is the wire groove.

[0058] 51 is a convex-concave locking mechanism, 52 is a rotary locking mechanism; 51-1 is a positioning groove, 51-2 is a positioning block, 52-1 is a rotary slide, and 52-2 is a locking slider. Detailed Implementation

[0059] Example 1: Biological specimen recovery device of this utility model with concave-convex locking mechanism

[0060] refer to Figures 1 to 1-4The biological specimen recovery device in this embodiment includes a handle 1, a sheath 2, a storage bag 3, an opening device 4, and a locking mechanism 5.

[0061] refer to Figure 1-2 and Figure 1-4 The sheath 2 includes an inner sheath 21 and an outer sheath 22; the proximal end of the inner sheath 21 is connected to the connecting part 11 of the handle 1, and the distal end of the inner sheath 21 is connected to the opening device 4.

[0062] refer to Figure 1-1 The storage bag 3 includes a bag body 31 and a tensioning device 32. The opening device 4 is composed of a single shape memory alloy wire, which passes through the wire groove 31-11 of the bag opening 31-1 and is located at the bag opening 31-1, with both ends connected to the distal ends of the inner sheath tube 21. When the opening device 4 is in the extended state, it opens the bag opening 31-1. When the handle 1 is pulled back, the inner sheath tube 21 drives the opening device 4 to move back, closing the bag opening 31-1 with the distal end of the inner sheath tube 21 as a fulcrum. The opening device 4 also constitutes the tensioning device 32.

[0063] refer to Figure 1-2 and Figure 1-3 In this embodiment, the locking mechanism 5 is a mechanically controlled tactile locking mechanism 51. The tactile locking mechanism 51 preferably uses a mechanically controlled method for locking and unlocking, utilizing the tactile engagement between the locking block and the positioning groove, allowing for simple sliding to achieve locking and unlocking.

[0064] The locking mechanism 5 can also employ magnetic control and / or electric control. The applicant has only illustrated the above three control methods here. In practical applications, those skilled in the art can design different control methods as needed, or combine different control methods. The applicant will not provide examples of each method here, but none of them depart from the scope of protection of this application.

[0065] refer to Figure 1-3 and Figure 1-4 The convex-concave locking mechanism 51 includes a positioning groove 51-1 and a positioning block 51-2. The positioning block 51-2 is embedded in the positioning groove 51-1 to achieve state locking.

[0066] In this embodiment, the positioning groove 51-1 is vertically disposed on the inner wall of the outer sheath tube 22, and the positioning block 51-2 is vertically disposed on the outer wall of the inner sheath tube 21. When the outer sheath tube 22 is retracted to push out the inner sheath tube 21, the positioning block 51-2 slides into the positioning groove 51-1, and the outer sheath tube 22 and the inner sheath tube 21 are locked. When the outer sheath tube 22 is rotated, the opening device 4 connected to the distal end of the inner sheath tube 21 rotates accordingly, causing the bag opening 31-1 to move.

[0067] In practical applications, the positioning block 51-2 can also be disposed on the outer sheath tube 22, and the positioning groove 51-1 can be disposed on the inner sheath tube 21. The positioning block 51-2 can be embedded in the positioning groove 51-1 to achieve state locking. To better ensure the continuous locking effect, the size of the positioning groove 51-1 can be designed to be slightly smaller than the size of the positioning block 51-2, using an interference fit to enhance the locking effect; or matching limiting protrusions can be provided on the positioning groove 51-1 and the positioning block 51-2 to achieve a better locking effect.

[0068] refer to Figures 2 to 2-4 When the sheath tube 2 also includes a middle sheath tube 23, the end of the middle sheath tube 23 is provided with a limiting groove 23-1, for reference. Figure 3-5 The opening device 4 can adopt a sheet-like opening structure. One end of the sheet-like opening device 4 passes through the wire groove 31-11 of the bag opening 31-1 and is located at the bag opening 31-1. The other end passes through the limiting groove 23-1 and connects to the distal end of the inner sheath tube 21. The inner sheath tube 21 is located inside the middle sheath tube 23. The limiting groove 23-1 allows the movement of the middle sheath tube 23 and the opening device 4 to be linked. (Refer to...) Figure 2-1 and Figure 3-5 .

[0069] refer to Figure 2-1 The tensioning device 32 has a wire-like structure, which passes through the wire groove 31-11 once and extends out from the distal end of the middle sheath tube 23.

[0070] The locking mechanism 5 is disposed on the outer sheath tube 22 and / or the middle sheath tube 23, and is connected to the distal end of the inner sheath tube 21 through the limiting groove 23-1 with the opening device 4. When the locking mechanism 5 is in the locked state, the outer sheath tube 22 and the middle sheath tube 23 move in conjunction with each other, and in turn move in conjunction with the opening device 4. The movement of the outer sheath tube 22 drives the opening device 4 to move, and in turn drives the bag opening 31-1 of the bag body 31 to move.

[0071] refer to Figure 2 and Figure 2-2In this embodiment, since the biological specimen recovery device 100 contains three layers of sheaths—the inner sheath 21, the middle sheath 23, and the outer sheath 22—to enhance the locking effect between the layers of sheaths, the biological specimen recovery device 100 includes two sets of locking mechanisms 5. One set of locking mechanisms 5 is disposed on the inner sheath 21 and / or the middle sheath 23. When the locking mechanism 5 is in the locked state, the middle sheath 23 and the inner sheath 21 move in tandem. The other set of locking mechanisms 5 is disposed on the outer sheath 22 and / or the middle sheath 23. When the locking mechanism 5 is in the locked state, the middle sheath 23 and the outer sheath 22 move in tandem. The movement of the outer sheath 22 drives the opening device 4 to move, which in turn drives the bag opening 31-1 of the bag body 31 to move.

[0072] In this embodiment, for the locking mechanism 5 provided on the inner sheath tube 21 and the middle sheath tube 23, the positioning groove 51-1 is vertically provided on the inner wall of the middle sheath tube 23, and the positioning block 51-2 is vertically provided on the outer wall of the inner sheath tube 21. When the middle sheath tube 23 and the inner sheath tube 21 are assembled in place, the positioning block 51-2 slides into the positioning groove 51-1, and the inner sheath tube 21 and the middle sheath tube 23 are locked.

[0073] Alternatively, the positioning block 51-2 can be disposed on the middle sheath tube 23, and the positioning groove 51-1 can be disposed on the inner sheath tube 21, with the positioning block 51-2 embedded in the positioning groove 51-1 to achieve state locking. To better ensure the continuous locking effect, the size of the positioning groove 51-1 can be designed to be slightly smaller than the size of the positioning block 51-2, using an interference fit to enhance the locking effect; or matching limiting protrusions can be provided on the positioning groove 51-1 and the positioning block 51-2 to achieve a better locking effect.

[0074] Regarding the locking mechanism 5 disposed on the outer sheath 22 and the middle sheath 23, the positioning groove 51-1 is vertically disposed on the inner wall of the outer sheath 22, and the positioning block 51-2 is vertically disposed on the outer wall of the middle sheath 23. When the outer sheath 22 is retracted to push out the middle sheath 23, the positioning block 51-2 slides into the positioning groove 51-1, and the outer sheath 22 and the middle sheath 23 are locked. When the outer sheath 22 is rotated, the middle sheath 23 rotates accordingly because the outer sheath 22 and the middle sheath 23 are locked.

[0075] Alternatively, the positioning block 51-2 can be disposed on the outer sheath tube 22, and the positioning groove 51-1 can be disposed on the middle sheath tube 23, with the positioning block 51-2 embedded in the positioning groove 51-1 to achieve state locking. To better ensure the continuous locking effect, the size of the positioning groove 51-1 can be designed to be slightly smaller than the size of the positioning block 51-2, using an interference fit to enhance the locking effect; or matching limiting protrusions can be provided on the positioning groove 51-1 and the positioning block 51-2 to achieve a better locking effect.

[0076] The convex-concave locking mechanism 51 can also be set in different positions. To enhance the locking effect, multiple sets of the convex-concave locking mechanism 51 can be set in different positions to achieve multiple locking between different components.

[0077] The bag body 31 is made of medical elastic material. The bag body 31 is made of medical elastic material, especially medical elastic film material, which has good strength to ensure the safety of the tissue removal process, and can be folded up and placed into the outer sheath 22 for easy insertion into the body.

[0078] The medical elastic material is a composite film, which is a composite film composed of nylon and thermoplastic polyurethane (TPU), or a composite film composed of polypropylene and thermoplastic polyurethane (TPU). To enhance the strength of the storage bag 3, the storage bag 3 is typically made of a medical composite material. The medical composite material is a composite film made of woven fabric and medical film. The applicant has only listed the composite material structure made of woven fabric and medical film here. Those skilled in the art can also choose composite materials made of various other materials, without departing from the scope of protection claimed in this application. The applicant has also only listed the above two composite materials for the composite film here. In practical applications, those skilled in the art can also choose other medical materials to form a composite film, without departing from the scope of protection of this application.

[0079] The opening device 4 is made of shape memory alloy. When the biological specimen recovery device of this invention enters the human body, the opening device 4 will automatically open under the action of body temperature, and the bag body 31 will automatically open the bag opening 31-1 under the action of the opening device 4, making the use process more convenient.

[0080] The opening device 4 is installed at the bag opening 31-1 of the bag body 31. Installing the opening device at the bag opening 31-1 of the bag body 31 not only facilitates installation but also ensures that the bag opening 31-1 of the bag body 31 opens automatically.

[0081] In use, the inner sheath 21 is pushed out from the outer sheath 22, the opening device 4 opens the bag opening 31-1, and the locking mechanism 5 locks the inner sheath 21 and the outer sheath 22 together. The surgical robot's gripper holds the outer sheath 22 and manipulates the outer sheath 22 to move, which in turn moves the inner sheath 21, thereby moving the opening device 4 at the distal end of the inner sheath 21, which in turn moves the bag opening 31-1 of the bag body 31, so as to adjust the orientation of the bag opening 31-1 in real time according to the needs of the surgery, so as to facilitate the loading of the excised tissue into the storage bag 3.

[0082] In this embodiment, since the locking mechanism 5 can link the outer sheath tube 22 and the opening device 4, the movement of the opening device 4 can be controlled by the movement of the outer sheath tube 22 to drive the bag opening 31-1 to move. Therefore, it can well meet the surgical needs of the surgical robot.

[0083] Example 2: Biological specimen recovery device of this utility model with a rotary locking mechanism

[0084] refer to Figures 3 to 3-5 The difference between this embodiment and embodiment 1 is that in this embodiment, the locking mechanism is a rotary locking mechanism 52.

[0085] The rotary locking mechanism 52 includes a rotary groove 52-1 and a locking slider 52-2. By rotating the sheath 2, the locking slider 52-2 rotates along the rotary groove 52-1 to achieve locking or unlocking.

[0086] refer to Figure 3 , Figure 3-2 and Figure 3-4 In this embodiment, the rotating groove 52-1 is horizontally disposed on the inner wall of the outer sheath tube 22, and the positioning block 51-2 is horizontally disposed on the outer wall of the inner sheath tube 21. In clinical use, the outer sheath tube 22 is retracted to completely push out the inner sheath tube 21. The outer sheath tube 22 is rotated, and the locking slider 52-2 slides into the rotating groove 52-1, locking the outer sheath tube 22 and the inner sheath tube 21. When the outer sheath tube 22 is rotated, the opening device 4 connected to the distal end of the inner sheath tube 21 rotates accordingly, causing the bag opening 31-1 to move.

[0087] In practical applications, the locking slider 52-2 can also be mounted on the outer sheath 22, and the rotating groove 52-1 can be mounted on the inner sheath 21. The locking slider 52-2 can then be embedded within the rotating groove 52-1 to achieve state locking. Since the rotating groove 52-1 and the locking slider 52-2 are arranged laterally, the axial slippage can be effectively prevented by the sidewall of the rotating groove 52-1.

[0088] In this embodiment, the locking mechanism 5 is a rotary locking mechanism 52. The rotary locking method allows for easy locking and unlocking of the locking structure 5 through rotation around an axis. During surgery, locking and unlocking can be performed as needed without affecting the open state of the storage bag 3.

[0089] It should be noted that the structures disclosed and described herein can be replaced by other structures with the same effect, and the embodiments described herein are not the only structures for implementing this utility model. Although preferred embodiments of this utility model have been described and illustrated herein, those skilled in the art will understand that these embodiments are merely illustrative, and those skilled in the art can make numerous variations, improvements, and substitutions without departing from this utility model. Therefore, the scope of protection of this utility model should be defined in accordance with the spirit and scope of the appended claims.

Claims

1. A biological specimen recovery device (100), comprising a handle (1), a sheath (2), a storage bag (3), an opening device (4), and a locking mechanism (5), characterized in that: A. The sheath (2) includes an inner sheath (21) and an outer sheath (22); the proximal end of the inner sheath (21) is connected to the connecting part (11) of the handle (1), and the distal end of the inner sheath (21) is connected to the opening device (4); B. The storage bag (3) includes a bag body (31) and a tensioning device (32); the opening device (4) is installed on the bag body (31), and the proximal end of the opening device (4) is connected to the distal end of the inner sheath (21); the proximal end of the tensioning device (32) is connected to the handle (1) or the inner sheath (21); C. The locking mechanism (5) is provided on the inner sheath (21) and / or the outer sheath (22). When the locking mechanism (5) is in the locked state, there is no relative movement between the outer sheath (22) and the opening device (4). The movement of the outer sheath (22) drives the opening device (4) to move, which in turn drives the bag opening (31-1) of the bag body (31) to move.

2. The biological specimen recovery device according to claim 1, characterized in that: The locking mechanism (5) adopts a mechanical control method, and / or a magnetic control method, and / or an electric control method.

3. The biological specimen recovery device according to claim 1, characterized in that: The locking mechanism (5) is a convex-concave locking mechanism (51).

4. The biological specimen recovery device according to claim 3, characterized in that: The convex-concave locking mechanism (51) includes a positioning groove (51-1) and a positioning block (51-2). The positioning block (51-2) is embedded in the positioning groove (51-1) to achieve state locking.

5. The biological specimen recovery device according to claim 4, characterized in that: The convex-concave locking mechanism (51) includes at least one set of the positioning groove (51-1) and the positioning block (51-2).

6. The biological specimen recovery device according to claim 1, characterized in that: The locking mechanism (5) is a rotary locking mechanism (52).

7. The biological specimen recovery device according to claim 6, characterized in that: The rotary locking mechanism (52) includes a rotary groove (52-1) and a locking slider (52-2). By rotating the sheath (2), the locking slider (52-2) rotates along the rotary groove (52-1) to lock or unlock.

8. The biological specimen recovery device according to claim 1, characterized in that: The sheath (2) also includes a middle sheath (23).

9. The biological specimen recovery device according to claim 8, characterized in that: The locking mechanism (5) is provided on the outer sheath (22) and / or the middle sheath (23). The end of the middle sheath (23) is provided with a limiting groove (23-1), which is connected to the far end of the inner sheath (21) through the limiting groove (23-1). The limiting groove (23-1) causes the movement of the middle sheath (23) and the opening device (4) to be linked. When the locking mechanism (5) is in the locked state, the movement between the outer sheath (22) and the middle sheath (23) is linked, and then the movement between them is linked with the movement of the opening device (4). The movement of the outer sheath (22) drives the opening device (4) to move, and then drives the bag opening (31-1) of the bag body (31) to move.

10. The biological specimen recovery device according to claim 8, characterized in that: The biological specimen recovery device (100) includes two sets of locking mechanisms (5); one set of locking mechanisms (5) is disposed on the inner sheath (21) and / or the middle sheath (23). When the locking mechanism (5) is in the locked state, the middle sheath (23) and the inner sheath (21) move in conjunction; the other set of locking mechanisms (5) is disposed on the outer sheath (22) and / or the middle sheath (23). When the locking mechanism (5) is in the locked state, the middle sheath (23) and the outer sheath (22) move in conjunction. The movement of the outer sheath (22) drives the opening device (4) to move, which in turn drives the bag opening (31-1) of the bag body (31) to move.

11. The biological specimen recovery device according to claim 1, characterized in that: The bag (31) is made of medical elastic material.

12. The biological specimen recovery device according to claim 11, characterized in that: The medical elastic material is a composite film, which is a composite film composed of nylon and thermoplastic polyurethane (TPU), or a composite film composed of polypropylene and thermoplastic polyurethane (TPU).

13. The biological specimen recovery device according to claim 1, characterized in that: The opening device (4) is made of shape memory alloy.

14. The biological specimen recovery device according to claim 1, characterized in that: The opening device (4) is installed at the opening (31-1) of the bag body (31).

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