A mirror holder for use in a total laparoscopy

Abstract

This utility model relates to a scope holder for use in all-around laparoscopic surgery. With the base fixed, the fixed end of the lifting mechanism can ensure stability, the movable end of the lifting mechanism can adjust and fix the height of the lateral movement mechanism, and the movable end of the lateral movement mechanism can adjust and fix the horizontal position of the swing mechanism. The swing mechanism can swing the scope holder by rotating relative to the movable end of the lateral movement mechanism, thereby adjusting the orientation of the scope holder, and thus adjusting the height, horizontal position, and orientation of the scope holder, which can better adapt to different scope holding conditions. Moreover, the lifting mechanism adopts a hydraulic lifting mechanism, which has a longer service life compared to the vertical setting of the motor shaft. The lateral movement mechanism adopts a hydraulic mechanism or a screw mechanism, so that the movable end of the lateral movement mechanism can be adjusted and fixed relative to the fixed end of the lateral movement mechanism in the length direction of the lateral movement mechanism, and the fixing method is more stable, which is beneficial to the safety of use.

Description

Technical Field

[0001] This utility model relates to the technical field of endoscope holding instruments used in laparoscopic surgery, and particularly to an endoscope holding device used in all-around laparoscopic surgery. Background Technology

[0002] Laparoscopic surgery is a minimally invasive procedure performed inside the abdominal cavity. A small incision is made in the abdominal cavity and a tube is inserted to serve as a channel for the surgical procedure. Specialized extended surgical instruments are used to complete the same steps as open surgery under video monitoring, achieving the same surgical results. The laparoscope can be inserted into the abdominal cavity, and the visualization effect through the monitor improves the precision and accuracy of the operation. At the same time, the endoscope holder replaces manual hand-holding, which can reduce the use of manpower, and the endoscope holder has higher stability than manual gripping equipment.

[0003] Utility model patent CN217244861U discloses a lens holder, in which a starter can control a locking member to leave a first position; a resetter is configured to drive the locking member back to the first position after the starter releases control of the locking member. A spherical connector is used as a movable joint, allowing for omnidirectional adjustment of the lens holder's angle and enabling lightweight and quick positioning.

[0004] However, the aforementioned endoscope holders used in laparoscopic surgery still have the following problems in actual use: Although the angle of the endoscope holder can be adjusted by a rotatable connecting rod, such endoscope holders are usually installed in a fixed manner, and the position of the endoscope holder needs to be adjusted according to different situations, but this type of device cannot be adjusted; at the same time, such connecting rods are inconvenient to adjust in height during use, and are prone to excessive rotation of the connecting rod, thus occupying a large area and affecting the operation of laparoscopic surgery.

[0005] Chinese utility model patent CN221769935U discloses an intraoperative laparoscopic lens support device, including a clamping base, a vertical support disposed on the upper part of the clamping base, and a horizontal support disposed on the upper part of the vertical support. A horizontal moving component is slidably connected to the horizontal support, and a multi-angle adjustment component is rotatably connected to the horizontal moving component. A support rod is disposed at the bottom of the multi-angle adjustment component, and a lens clamp is connected to the end of the support rod through a serpentine tube. An inflation fixation component is disposed inside the lens clamp. This utility model, through the setting of the clamping base, can be fixed in a selected position, which can reduce the physical exertion of the surgeon during laparoscopic surgery. Through the setting of the vertical support, the horizontal moving component, the multi-angle adjustment component, and the serpentine tube, the laparoscope can be moved flexibly. Through the setting of the inflation fixation component, laparoscopes of different diameters can be clamped, making it more adaptable.

[0006] However, this patent still has the following drawbacks:

[0007] (1) The clamping base uses the adjustment bolt to achieve clamping, which is relatively slow.

[0008] (2) The lifting function is achieved by using a moving sleeve on the electric screw assembly. The electric screw requires a motor, and the vertical setting of the motor shaft makes its bearing design complex and difficult to suppress vibration, which in turn makes it expensive. Moreover, the repeated forward and reverse adjustments during the operation will cause its bearings to wear faster than those with horizontal settings, resulting in a shorter lifespan.

[0009] (3) The lateral movement component includes a movable guide wheel that is rolled in the guide wheel groove, and its fixing method relies solely on friction, which may be unstable during use. Utility Model Content

[0010] The purpose of this invention is to overcome the shortcomings of existing intraoperative laparoscopic camera support devices, such as "the lifting function is achieved by using an electric screw assembly with a movable sleeve, resulting in a short lifespan; the lateral movement assembly includes a movable guide wheel that is rolled in the guide wheel groove, and its fixing method relies solely on friction, which may lead to instability during use," and to provide a comprehensive laparoscope holder for use in laparoscopic surgery.

[0011] In a first aspect, this utility model provides a scope holder for use in all-around laparoscopic surgery, comprising:

[0012] A base for stabilizing the lens holder;

[0013] The lifting mechanism is a hydraulic lifting mechanism, which is vertically arranged. The fixed end of the lifting mechanism is fixedly connected to the top of the base, and the movable end of the lifting mechanism is located above the fixed end. The height of the movable end of the lifting mechanism relative to the fixed end of the lifting mechanism can be adjusted and fixed.

[0014] A lateral movement mechanism, which employs a hydraulic mechanism or a screw mechanism, wherein the fixed end of the lateral movement mechanism is connected to the movable end of the lifting mechanism, and the movable end of the lateral movement mechanism can be adjusted and fixed relative to the fixed end of the lateral movement mechanism in the length direction of the lateral movement mechanism;

[0015] A swing mechanism, one end of which is rotatably connected to the movable end of the transverse mechanism, and the swing mechanism can be fixed to the transverse mechanism;

[0016] The laparoscope holding mechanism is located at the end of the swing mechanism and is used to fix the laparoscope.

[0017] The endoscope holder used in the all-around laparoscopic surgery described in this utility model features a stable lifting mechanism with a fixed base. The movable end of the lifting mechanism can adjust and fix the height of the lateral movement mechanism, while the movable end of the lateral movement mechanism can adjust and fix the horizontal position of the swing mechanism. The swing mechanism, through rotation relative to the movable end of the lateral movement mechanism, swings the endoscope holder, thereby adjusting its height, horizontal position, and orientation to better adapt to different endoscope holding conditions. Furthermore, the lifting mechanism uses a hydraulic lifting mechanism, which has a longer service life compared to a vertically oriented motor shaft. The lateral movement mechanism uses a hydraulic or screw mechanism, allowing the movable end of the lateral movement mechanism to be adjusted and fixed relative to the fixed end along its length, resulting in a more stable fixation and improved safety.

[0018] Preferably, the hydraulic lifting mechanism includes a hydraulic sleeve, a hydraulic slide rod, and a hydraulic connector. The lower end of the hydraulic sleeve is a fixed end, the upper end of the hydraulic slide rod is a movable end, the lower end of the hydraulic slide rod is movably disposed inside the upper end of the hydraulic sleeve, and the hydraulic connector is connected to the inside of the hydraulic sleeve.

[0019] By placing the hydraulic sleeve at the lower end, it is easier to install the hydraulic connector, which facilitates the provision of hydraulic control for the hydraulic lifting mechanism.

[0020] Preferably, the lens holder further includes a main positioning base, which is rotatably connected to the upper end of the hydraulic slide rod about the axis of the hydraulic slide rod, and the main positioning base can be fixed to the upper end of the hydraulic slide rod;

[0021] This allows the horizontal movement mechanism to rotate in the horizontal plane relative to the lifting mechanism, thereby increasing the freedom of movement of the lens holder.

[0022] The lateral movement mechanism adopts a lead screw mechanism, which includes an adjustable threaded rod, an adjustable sleeve, and an adjustable motor. The adjustable motor is fixedly installed inside the main positioning seat. One end of the adjustable threaded rod is coaxially and fixedly connected to the rotating shaft of the adjustable motor. The other end of the adjustable threaded rod is threadedly connected to one end of the adjustable sleeve. One end of the swing mechanism is rotatably connected to the other end of the adjustable sleeve.

[0023] The adjustable-pitch motor has a horizontally positioned rotating shaft, resulting in a long service life. Without compromising service life, the traverse mechanism uses a lead screw mechanism, which offers higher precision and lower maintenance costs compared to a hydraulic mechanism.

[0024] Preferably, the adjustable pitch motor is rotatably mounted inside the main positioning base via a horizontal rotating shaft, the horizontal rotating shaft being perpendicular to the rotation axis of the adjustable pitch motor, and the adjustable pitch motor and the main positioning base can be fixed.

[0025] This allows the horizontal movement mechanism to rotate at a certain angle relative to the lifting mechanism in the vertical plane, thereby increasing the freedom of movement of the lens holder.

[0026] Preferably, the base is a clamping mechanism, which includes a support base, a positioning platform, and an elastic bending plate. The positioning platform is located directly above the support base, and the elastic bending plate is connected between the support base and the positioning platform. One end of the support base and the positioning platform forms a clamping end, and the bending of the elastic bending plate is directed towards the clamping end. The fixed end of the lifting mechanism is fixedly connected to the top of the positioning platform.

[0027] Compared to fixed bases or large bases placed directly on the ground, it is much easier to move. Compared to clamping bases that use adjusting bolts to achieve clamping, it uses the elasticity of the flexible bending plate to open and close the clamping end, making operation more convenient and faster. Moreover, compared to spring-based return mechanisms, the elasticity of the flexible bending plate provides greater stability and better support.

[0028] Preferably, the support base has a concave opening at the clamping end that is inclined toward the positioning platform, and the positioning platform has a concave opening at the clamping end that is inclined toward the support base, making the clamping and fixing more stable.

[0029] Preferably, the lens holder further includes a secondary positioning seat, which is rotatably connected to the movable end of the transverse mechanism via a rotary shaft. The rotary shaft has an angle with the horizontal plane and is perpendicular to the axial direction of the transverse mechanism. The secondary positioning seat and the movable end of the transverse mechanism can be fixed.

[0030] The swing mechanism includes a main telescopic sleeve and a secondary telescopic sleeve, which are telescopic and fixed. The starting end of the main telescopic sleeve is hinged to the secondary positioning seat. The hinge axis between the starting end of the main telescopic sleeve and the secondary positioning seat is horizontally set and perpendicular to the axial direction of the transverse mechanism. The starting end of the secondary telescopic sleeve is connected to the end of the main telescopic sleeve through a first ball joint. The secondary telescopic sleeve and the main telescopic sleeve are fixed. The end of the secondary telescopic sleeve is connected to the lens holding mechanism through a second ball joint. The end of the secondary telescopic sleeve is fixed to the lens holding mechanism.

[0031] The lifting and traversing mechanisms can significantly adjust the position of the lens-holding mechanism, while the swing mechanism, with the aforementioned structure, can slightly adjust the position and posture of the lens-holding mechanism, which is beneficial for better use.

[0032] Preferably, it also includes a smoke suction pipe, the lower end and the upper end of which are detachably mounted on the lifting mechanism via positioning clips.

[0033] The fume extraction tube can extract the fumes generated by electrocautery and laser scalpels during surgery, making it easier to observe the fumes during the operation.

[0034] Preferably, the smoke suction tube can be extended and shortened to facilitate adjustment of the suction position according to the surgical situation.

[0035] Preferably, the smoke suction pipe has a corrugated metal section in the middle, which can be stretched and shortened, and a magnetic buckle is provided at the upper end of the smoke suction pipe, which can be attached to the lifting mechanism for easy use.

[0036] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0037] This invention provides a laparoscopic tool holder for use in all-around laparoscopic surgery. With the base fixed, the fixed end of the lifting mechanism ensures stability, the movable end of the lifting mechanism can adjust and fix the height of the lateral movement mechanism, and the movable end of the lateral movement mechanism can adjust and fix the horizontal position of the swing mechanism. The swing mechanism can swing the tool holder by rotating relative to the movable end of the lateral movement mechanism, thereby adjusting the orientation of the tool holder. That is, it can adjust the height, horizontal position, and orientation of the tool holder, better adapting to different tool holding conditions. Moreover, the lifting mechanism adopts a hydraulic lifting mechanism, which has a longer service life compared to a vertically set motor shaft. The lateral movement mechanism adopts a hydraulic mechanism or a screw mechanism, so that the movable end of the lateral movement mechanism can be adjusted and fixed relative to the fixed end of the lateral movement mechanism in the length direction of the lateral movement mechanism. Its fixing method is more stable and conducive to safety during use. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the endoscope holder used in the all-around laparoscopic surgery described in this utility model;

[0039] Figure 2 This is a schematic diagram of the structure of an elastic bending plate after bending deformation.

[0040] Figure 3 Schematic diagram of the smoke and dust suction pipe installation structure;

[0041] Figure 4 This is a schematic diagram of the installation structure of the adjustable threaded rod and the main positioning seat.

[0042] Figure 5 This is a schematic diagram of the three-dimensional structure of the mirror-holding mechanism;

[0043] Figure 6 This is a schematic diagram of the dust suction pipe and magnetic clip installation structure.

[0044] The markings in the diagram are: 1. Support base; 2. Positioning platform; 201. Closure; 3. Elastic bending plate; 4. Hydraulic sleeve; 5. Adjustable threaded rod; 6. Adjustable sleeve; 61. Rotary shaft; 7. Hydraulic connector; 8. Hydraulic slide rod; 9. Main positioning seat; 91. Horizontal rotating shaft; 10. Secondary positioning seat; 101. Hinge shaft; 11. Main telescopic sleeve; 111. First ball joint; 12. Secondary telescopic sleeve; 121. Secondary ball joint; 13. Corrugated metal section; 14. Endoscope holding mechanism; 15. Magnetic buckle; 16. Smoke suction tube; 17. Positioning clamp; 18. Side of operating table. Detailed Implementation

[0045] The present invention will be further described in detail below with reference to specific embodiments. However, it should not be construed as limiting the scope of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0046] Unless otherwise specified, the use of terms such as "upper," "lower," "left," "right," "center," "inner," and "outer" to indicate orientation or positional relationships in the description of specific embodiments of this utility model is based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product / equipment / device is typically placed during use. These terms are merely for the purpose of facilitating the description of the utility model solution or simplifying the description in specific embodiments, enabling those skilled in the art to quickly understand the solution, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific positional relationship. Therefore, they should not be construed as limitations on this utility model.

[0047] Furthermore, the use of terms such as "horizontal," "vertical," "suspended," "parallel," and "coaxial" does not imply that the corresponding device / component / element must be absolutely horizontal, vertical, suspended, parallel, or coaxial. Slight tilt or deviation is permissible, as long as it does not affect the normal function of the relevant component. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," not that the structure must be perfectly horizontal; a slight tilt is acceptable. "Coaxial" means that two components are arranged as coaxially as possible, allowing them to move coaxially or approximately coaxially when their relative positions change. Alternatively, it can be simplified to mean that the corresponding device / component / element, when arranged in "horizontal," "vertical," "suspended," "parallel," or "coaxial" directions, can have an error / deviation of ±10% relative to the corresponding direction, more preferably within ±8%, more preferably within ±6%, more preferably within ±5%, and more preferably within ±4%. For example, the deviation in the "coaxial" direction is controlled within 0.2-1mm, preferably within 0.2-0.5mm. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its function in the present invention.

[0048] Furthermore, the use of terms such as "first," "second," and "third" in terminology is merely for distinguishing descriptions of identical or similar components and should not be interpreted as emphasizing or implying the relative importance of a particular component.

[0049] Furthermore, in the description of the embodiments of this utility model, "several", "multiple", and "several" represent at least two. The number can be any number, such as two, three, four, five, six, seven, eight, or nine, and can even exceed nine.

[0050] Furthermore, in the description of the technical solution of this utility model, unless otherwise explicitly specified / limited / restricted, the terms "set up," "install," "connect," "link," "equipped with," "laid out," and "arranged" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to common connection methods in the art, such as welding, riveting, bolting, and threaded connections. Such connections can be mechanical, electrical, or communication connections; they can be direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components.

[0051] Example 1

[0052] like Figure 1 As shown, a scope holder used in omnidirectional laparoscopic surgery includes: a base, a lifting mechanism, a lateral movement mechanism, a swinging mechanism, and a scope holder 14.

[0053] The base is used to keep the scope holder stable. The base can be a structure that is placed on the ground, and can be fixed on the ground or not. It can even be equipped with rollers to facilitate the movement of the base. Alternatively, the base can be a fixed structure that is directly fixed to the operating table, or it can be a detachable fixing method to facilitate the adjustment of the position of the base on the operating table.

[0054] In this embodiment, the base is a clamping mechanism. Compared to a fixed base or a large base placed directly on the ground, it is easier to move, and its structure can be made more lightweight, facilitating repositioning. In the prior art, clamping is achieved by rotating adjusting bolts. In this embodiment, a preferred implementation method can be used, such as... Figure 2 As shown, the clamping mechanism includes a support base 1, a positioning platform 2, and an elastic bending plate 3. The positioning platform 2 is located directly above the support base 1. The elastic bending plate 3 connects the support base 1 and the positioning platform 2. One end of the support base 1 and the positioning platform 2 forms a clamping end. The bending of the elastic bending plate 3 faces the clamping end. The fixed end of the lifting mechanism is fixedly connected to the top of the positioning platform 2. The opening and rebound clamping of the clamping end are achieved through the elasticity of the elastic bending plate 3, making the operation more convenient and faster. Compared with the rebound mechanism using a spring, the elastic rebound of the elastic bending plate 3 provides higher stability and better support. Figure 6 As shown, the clamping ends of the support base 1 and the positioning platform 2 can be clamped onto the side 18 of the operating table for fixation. When the position needs to be changed, simply press the opposite end of the clamping end of the positioning platform 2 to deform the elastic bending plate 3, increasing the clamping opening at the clamping end. This allows the plate to be removed from the side 18 of the operating table and moved to a new position for clamping. The deformation of the elastic bending plate 3 increases the clamping opening at the clamping end, while the elastic rebound generated by the deformation of the elastic bending plate 3 decreases the clamping opening at the clamping end, ensuring clamping stability. In other words, after being flipped, the support base causes the upper elastic bending plate to bend, increasing the distance between the clamping ends of the support base 1 and the positioning platform 2 to fit the side of the operating table. The repositioning of the elastic bending plate causes the clamping ends of the support base and the positioning platform to flip, thus clamping onto the side of the operating table, ensuring stability and fit during subsequent laparoscopic surgery.

[0055] like Figures 1-2As shown, the rear end of the support base 1 is manually squeezed towards the positioning platform 2. The elastic bending plate 3 between the two bends under force, thereby increasing the distance between the support base 1 and the front end of the positioning platform 2 so that it can be placed on the side of the operating table. The reset of the elastic bending plate 3 causes the support base 1 and the positioning platform 2 to flip, thereby clamping them to the side 18 of the operating table, ensuring stability and fit during subsequent laparoscopic surgery.

[0056] Furthermore, such as Figure 2 As shown, the bearing base 1 has a constriction 201 that is inclined toward the positioning platform 2 at the clamping end, and the positioning platform 2 has a constriction 201 that is inclined toward the bearing base 1 at the clamping end, which makes the clamping and fixing more stable.

[0057] In this embodiment, the lifting mechanism is vertically arranged, the fixed end of the lifting mechanism is fixedly connected to the top of the base, and the movable end of the lifting mechanism is located above the fixed end of the lifting mechanism. The height of the movable end of the lifting mechanism relative to the fixed end of the lifting mechanism can be adjusted and fixed. Compared with the prior art that uses a vertically arranged motor shaft, in this embodiment, the lifting mechanism adopts a hydraulic lifting mechanism, which has a longer service life.

[0058] In an optional embodiment, the hydraulic lifting mechanism includes a hydraulic sleeve 4, a hydraulic slide rod 8, and a hydraulic connector 7. The lower end of the hydraulic sleeve 4 is a fixed end, and the upper end of the hydraulic slide rod 8 is a movable end. The lower end of the hydraulic slide rod 8 is movably disposed within the upper end of the hydraulic sleeve 4, and the hydraulic connector 7 is connected to the interior of the hydraulic sleeve 4. By placing the hydraulic sleeve 4 at the lower end, it is convenient to install the hydraulic connector 7, which facilitates hydraulic control of the hydraulic lifting mechanism. When adjusting the overall operating height according to usage requirements, the hydraulic connector 7 at the bottom of the hydraulic sleeve 4 is connected to a hydraulic cylinder. The hydraulic cylinder pressurizes or depressurizes to raise or lower the hydraulic slide rod 8 inside the hydraulic sleeve 4, thereby driving the horizontal movement mechanism at the top. The height is adjusted according to usage requirements for height adaptation and lifting. The hydraulic sleeve is connected hydraulically. The hydraulic sleeve is filled with liquid. After the liquid is delivered into the hydraulic sleeve, the hydraulic pressure inside the hydraulic sleeve increases, causing the hydraulic slide rod inside the hydraulic sleeve to rise. This method is similar to the hydraulic cylinder in the prior art; it rises when filled with air and descends when depressurized.

[0059] In this embodiment, the fixed end of the traversing mechanism is connected to the movable end of the lifting mechanism, and the movable end of the traversing mechanism can be adjusted and fixed relative to the fixed end of the traversing mechanism in the length direction of the traversing mechanism; the traversing mechanism adopts a hydraulic mechanism or a screw mechanism;

[0060] In an optional embodiment, the traverse mechanism is a lead screw mechanism, which includes an adjustable threaded rod 5, an adjustable sleeve 6, and an adjustable motor.

[0061] The lens holder also includes a main positioning base 9, which is rotatably connected to the upper end of the hydraulic slide rod 8 about the axis of the hydraulic slide rod 8. The main positioning base 9 can be fixed to the upper end of the hydraulic slide rod 8, so that the horizontal movement mechanism can rotate in the horizontal plane relative to the lifting mechanism, thereby improving the lens holding freedom of the lens holder. The main positioning seat 9 can be sleeved onto the upper end of the hydraulic slide rod 8, allowing it to rotate around the hydraulic slide rod 8. A step can be provided at the upper end of the hydraulic slide rod 8 to support the main positioning seat 9. When rotation of the main positioning seat 9 is required, external force is used to make it rotate around the hydraulic slide rod 8. When it is necessary to keep the main positioning seat 9 stationary relative to the hydraulic slide rod 8, the friction between the main positioning seat 9 and the upper step of the hydraulic slide rod 8 can be used; alternatively, a pin can be inserted through a pin hole between the main positioning seat 9 and the hydraulic slide rod 8 to keep the main positioning seat 9 stationary relative to the hydraulic slide rod 8; or the rotation and fixation of the main positioning seat 9 around the hydraulic slide rod 8 can be controlled by a motor or hydraulic system.

[0062] The adjustable-pitch motor can be fixedly installed inside the main positioning seat 9. One end of the adjustable-pitch threaded rod 5 is coaxially and fixedly connected to the rotating shaft of the adjustable-pitch motor, and the other end of the adjustable-pitch threaded rod 5 is threadedly connected to one end of the adjustable-pitch sleeve 6. One end of the swing mechanism is rotatably connected to the other end of the adjustable-pitch sleeve 6. The rotating shaft of the adjustable-pitch motor is horizontally set, resulting in a long service life. Without affecting the service life, the transverse movement mechanism adopts a screw mechanism, which has higher precision and lower maintenance costs compared to a hydraulic mechanism.

[0063] like Figure 4 As shown, the adjusting motor at the inner end of the main positioning seat 9 can drive the internal adjusting threaded rod 5 to rotate, while the adjusting sleeve 6, which is threaded to the adjusting threaded rod 5, is prevented from rotating due to the load at its outer end, so as to change the axial distance between the adjusting threaded rod 5 and the adjusting sleeve 6, and adjust the length and lock it according to different usage requirements.

[0064] In a preferred embodiment, the adjusting motor is rotatably mounted inside the main positioning base 9 via a horizontal rotating shaft 91, which is perpendicular to the rotation axis of the adjusting motor. The adjusting motor and the main positioning base 9 can be fixed together. This allows the lateral movement mechanism to rotate at a certain angle relative to the lifting mechanism in the vertical plane, improving the freedom of movement for holding the lens. The adjusting motor, rotatably mounted inside the main positioning base 9 via the horizontal rotating shaft 91, can be controlled by the motor to rotate and fix the horizontal rotating shaft 91; or it can be controlled by external force from the operator, and the relative friction between the main positioning base 9 and the adjusting motor, or by a pin, ensures that they do not rotate relative to each other without external force.

[0065] In this embodiment, one end of the swing mechanism is rotatably connected to the movable end of the transverse mechanism, and the swing mechanism can be fixed to the transverse mechanism;

[0066] In an optional embodiment, the lens holder further includes a secondary positioning seat 10, which is rotatably connected to the movable end of the transverse mechanism via a rotary shaft 61. The rotary shaft 61 has an angle with the horizontal plane (i.e., the rotary shaft 61 is not horizontally set) and is perpendicular to the axial direction of the transverse mechanism. The secondary positioning seat 10 and the movable end of the transverse mechanism can be fixed, so that the secondary positioning seat 10 can rotate along the bottom surface of the movable end of the transverse mechanism and can be fixed. It can change the orientation of the swing mechanism and ensure the stability after rotation, thereby ensuring the stability of the lens holder. To ensure stability after rotation, the motor can be coaxially connected to the rotary shaft 61 to control the rotary shaft 61 to rotate automatically or lock the rotary shaft 61; alternatively, the operator can pull the swing mechanism to rotate along the rotary shaft 61, and the friction between the swing mechanism and the auxiliary positioning seat 10 can be used to ensure that the swing mechanism and the auxiliary positioning seat 10 do not rotate when there is no external force; alternatively, the operator can pull the swing mechanism to rotate along the rotary shaft 61, and a pin can be inserted into the corresponding pin hole between the swing mechanism and the auxiliary positioning seat 10 to ensure that the swing mechanism and the auxiliary positioning seat 10 do not rotate.

[0067] The swing mechanism includes a main telescopic sleeve 11 and a secondary telescopic sleeve 12. The main telescopic sleeve 11 and the secondary telescopic sleeve 12 are telescopic and can be fixed. The starting end of the main telescopic sleeve 11 is hinged to the secondary positioning seat 10. The hinge axis 101 between the starting end of the main telescopic sleeve 11 and the secondary positioning seat 10 is horizontally arranged and perpendicular to the axial direction of the transverse mechanism. The starting end of the secondary telescopic sleeve 12 is connected to the end of the main telescopic sleeve 11 through a first ball joint 111. The secondary telescopic sleeve 12 and the main telescopic sleeve 11 can be fixed. The end of the secondary telescopic sleeve 12 is connected to the laparoscope holding mechanism 14 through a second ball joint 121. The main telescopic sleeve and the secondary telescopic sleeve change their length and change their angle in conjunction with the first ball joint 111 and the second ball joint 121 so that the laparoscope can be grasped and positioned by the laparoscope holding mechanism 14.

[0068] Both the main telescopic sleeve 11 and the auxiliary telescopic sleeve 12 are constructed with inner and outer sleeves. The extension and retraction of the main telescopic sleeve 11 and the auxiliary telescopic sleeve 12 can be controlled by a motor and screw; or by a hydraulic telescopic rod; or by the operator manually applying axial force to the main telescopic sleeve 11 and the auxiliary telescopic sleeve 12, utilizing their internal friction to ensure no extension or retraction occurs without external force; or by the operator manually applying axial force to the main telescopic sleeve 11 and the auxiliary telescopic sleeve 12, using pins inserted into the pin holes of each to ensure axial length fixation.

[0069] The first ball joint 111 and the second ball joint 121 can achieve their oscillation by adopting a ball-head-socket matching design. Through precision machining of the ball head (tolerance H7 / g6) and the spherical curved surface of the socket inner wall (Ra≤0.8μm), a fitting clearance of 0.02-0.05mm is achieved, ensuring a friction coefficient ≤0.15 during multi-degree-of-freedom oscillation. Using a PTFE composite coating can reduce friction by more than 30%. Alternatively, a preload adjustment device can be used. A disc spring assembly is installed at the socket cap, and a preload of 10-50kN is applied by adjusting the bolts, allowing the oscillation torque to be adjustable within the range of 5-200Nm. The intelligent ball joint can achieve dynamic preload compensation through a hydraulic servo system.

[0070] The first ball joint 111 and the second ball joint 121 can be fixed by means of a wedge locking mechanism, in which 6-12 hydraulically driven wedges are arranged around the ball socket with a wedge angle of 8°-15°. When the oil pressure is 20-35MPa, a normal locking force of 300-800kN can be generated to achieve a displacement constraint of ≤0.005mm; or magnetorheological locking can be used, in which the ball socket is filled with magnetorheological fluid with a carbonyl iron powder volume fraction of 30%. Under a magnetic field strength of 1.5T, the dynamic viscosity can be increased by 3 orders of magnitude and the response time is <20ms to achieve dynamic stiffness adjustment.

[0071] The laparoscope holding mechanism 14 is located at the end of the swing mechanism. The laparoscope holding mechanism 14 is used to fix the laparoscope, and the laparoscope holding mechanism 14 can adopt the clamping method in the prior art. The lifting mechanism and the lateral movement mechanism can adjust the position of the laparoscope holding mechanism 14 by a large margin, while the swing mechanism, with the above structure, can adjust the position and posture of the laparoscope holding mechanism 14 by a small margin, which is beneficial for better use.

[0072] like Figure 3 and Figure 5 As shown, the main telescopic sleeve and the auxiliary telescopic sleeve, which can be locked and installed, can be rotated and adjusted at multiple angles according to usage needs. At the same time, the length of the main telescopic sleeve and the auxiliary telescopic sleeve can be adjusted to accommodate different usage lengths. The lockable endoscope holding mechanism is used to grasp and position the laparoscope to ensure its stability during use. Compared with the manual grasping by the assistant during surgery, this mechanism can improve stability and avoid the need for special support from the physician's assistant.

[0073] In an optional embodiment, the endoscope holder further includes a smoke suction tube 16, the lower and upper ends of which are detachably mounted to the lifting mechanism via positioning clips 17. During surgery, the smoke suction tube draws in the smoke generated by the electrocautery or laser scalpel, preventing smoke accumulation from affecting the laparoscopic field of view, making observation easier and improving the precision of the surgeon's operation. The smoke suction tube 16 can be extended and shortened, allowing adjustment of its suction position according to the surgical situation. A corrugated metal section 13 is provided in the middle of the smoke suction tube 16, which can be extended and shortened. A magnetic snap-lock 15 is provided at the upper end of the smoke suction tube 16, allowing it to be attached to the lifting mechanism for convenient use. The extension of the corrugated metal section assists in the extension of the smoke suction tube, enabling it to be mounted to the desired location via the magnetic snap-lock, shortening the distance to the smoke and improving smoke removal efficiency. The end of the smoke extraction pipe can be freely installed using a magnetic attachment. Figure 6The location indicated is close to the laparoscope, which is located in the abdominal cavity. To avoid the aspiration tube occupying space during abdominal surgery, the best way is to install it close to the laparoscope. Of course, it can also be attached to other surgical instruments. At the same time, the end of the aspiration tube can be adapted to install instruments such as suction trays to improve convenience. The installation can be adjusted according to the actual needs of the operation.

[0074] In the above embodiments, the relative rotation of the two can be achieved by a motor and manual operation. The relative rotation of the two can be fixed by the self-locking of the motor, the relative friction of the two, or by fixing with pins. The axial movement of the two can be controlled by hydraulic control, motor screw control, or axial force applied by the operator. The axial locking of the two can be controlled by hydraulic control, motor control, friction control of the two, or pin control.

[0075] In this embodiment, the endoscope holder used in the all-around laparoscopic surgery comprises a support base 1 and a positioning platform 2, which form a resettable rotating mechanism via an inner elastic bending plate 3. Pressing the rear end of the support base 1 increases the distance between it and the positioning platform 2, and the reset of the elastic bending plate 3 improves the stability of the support base 1 and the positioning platform 2 clamped to the side 18 of the operating table. The lifting mechanism includes a hydraulic connector 7, which is connected to the lower part of the hydraulic sleeve 4. The hydraulic sleeve 4 is connected to the upper part of the positioning platform 2, and a hydraulic slide rod 8 is slidably provided at the top of the hydraulic sleeve 4. The height of the endoscope holder 14 can be changed by hydraulically altering the height of the hydraulic slide rod 8. The main positioning seat 9 is rotatably connected to the top of the hydraulic slide bar 8 via a fastening knob, allowing the transverse mechanism to rotate and be fixed in the horizontal plane relative to the hydraulic slide bar 8. The interior of the main positioning seat 9 is rotatably connected to the inner end of the adjusting threaded rod 5 via a fastening knob as a horizontal pivot 91, allowing the adjusting threaded rod 5 to rotate and be fixed in the vertical plane relative to the main positioning seat 9. Furthermore, the inner end of the adjusting threaded rod 5 is connected to the adjusting motor inside the main positioning seat 9, enabling the adjusting motor to control the adjusting sleeve 6 to move axially relative to the adjusting threaded rod 5, thereby changing the axial length of the transverse mechanism. The secondary positioning seat 10 is rotatably mounted on the bottom surface of the outer end of the adjusting sleeve 6 via a rotary shaft 61, allowing the secondary positioning seat 10 to rotate relative to the bottom surface of the adjusting sleeve 6. The interior of the secondary positioning seat 10 is rotatably connected to the upper end of the main telescopic sleeve 11 via a hinge 101 that can be tightened, allowing the main telescopic sleeve 11 to rotate vertically relative to the secondary positioning seat 10. The upper end of the secondary telescopic sleeve 12 and the bottom end of the main telescopic sleeve 11 are rotatably connected via a first ball joint 111, allowing for limited omnidirectional rotation. The rear end of the endoscope holding mechanism 14 is rotatably mounted to the bottom end of the secondary telescopic sleeve 12 via a second ball joint 121 in a lockable manner, and the endoscope holding mechanism 14 clamps and positions the laparoscope. A smoke suction tube 16 is provided at the rear of the supporting base 1. The lower and upper ends of the smoke suction tube 16 are both installed on the outer walls of the hydraulic sleeve 4 and the hydraulic slide rod 8 via detachable positioning clips 17. The smoke suction tube 16 is used to suction the smoke generated by the electrocautery scalpel and laser scalpel during surgery. A corrugated metal section 13 is provided above the smoke suction tube 16, and a magnetic buckle 15 is provided at the upper end of the smoke suction tube 16 so that after the corrugated metal section 13 is stretched, the end of the smoke suction tube 16 can be magnetically attached to the desired location via the magnetic buckle 15.

[0076] It can quickly adjust the position of the endoscope holder as needed in different situations; it can also quickly adjust the height of the endoscope, has a long service life, and the height adjustment occupies little space, reducing the impact on laparoscopic surgery. The lateral movement mechanism can rotate in the horizontal and vertical planes based on the lifting mechanism, which can adjust the endoscope holder posture of the endoscope holder 14 in all directions with a large range, and can also adjust the horizontal and vertical positions of the endoscope. The swing mechanism can adjust the endoscope holder posture of the endoscope holder 14 in all directions based on the lateral movement mechanism, and can also adjust the horizontal and vertical positions of the endoscope slightly. It has a high degree of freedom and is more flexible in operation. At the same time, the fume suction tube can suck up the fumes generated by the electrocautery knife and laser knife during the operation, preventing the accumulation of fumes from affecting the visualization range of the laparoscope.

[0077] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A scope holder for use in a total laparoscopy, characterized in that, include: A base for stabilizing the lens holder; The lifting mechanism is a hydraulic lifting mechanism, which is vertically arranged. The fixed end of the lifting mechanism is fixedly connected to the top of the base, and the movable end of the lifting mechanism is located above the fixed end. The height of the movable end of the lifting mechanism relative to the fixed end of the lifting mechanism can be adjusted and fixed. A lateral movement mechanism, which employs a hydraulic mechanism or a screw mechanism, wherein the fixed end of the lateral movement mechanism is connected to the movable end of the lifting mechanism, and the movable end of the lateral movement mechanism can be adjusted and fixed relative to the fixed end of the lateral movement mechanism in the length direction of the lateral movement mechanism; A swing mechanism, one end of which is rotatably connected to the movable end of the transverse mechanism, and the swing mechanism can be fixed to the transverse mechanism; The laparoscope holding mechanism (14) is located at the end of the swing mechanism and is used to fix the laparoscope.

2. A mirror holder for use in laparoscopy according to claim 1, characterized in that The hydraulic lifting mechanism includes a hydraulic sleeve (4), a hydraulic slide rod (8), and a hydraulic connector (7). The lower end of the hydraulic sleeve (4) is a fixed end, and the upper end of the hydraulic slide rod (8) is a movable end. The lower end of the hydraulic slide rod (8) is movably disposed inside the upper end of the hydraulic sleeve (4), and the hydraulic connector (7) is connected to the inside of the hydraulic sleeve (4).

3. The endoscope holder used in a comprehensive laparoscopic procedure according to claim 2, characterized in that, The lens holder also includes a main positioning base (9), which is rotatably connected to the upper end of the hydraulic slide rod (8) with the axis of the hydraulic slide rod (8) as the center, and the main positioning base (9) can be fixed to the upper end of the hydraulic slide rod (8); The transverse movement mechanism adopts a lead screw mechanism, which includes an adjustable threaded rod (5), an adjustable sleeve (6), and an adjustable motor. The adjustable motor is fixedly installed inside the main positioning seat (9). One end of the adjustable threaded rod (5) is coaxially fixedly connected to the rotating shaft of the adjustable motor, and the other end of the adjustable threaded rod (5) is threadedly connected to one end of the adjustable sleeve (6). One end of the swing mechanism is rotatably connected to the other end of the adjustable sleeve (6).

4. The endoscope holder used in a comprehensive laparoscopic procedure according to claim 3, characterized in that, The adjustable pitch motor is rotatably mounted inside the main positioning seat (9) via a horizontal rotating shaft (91). The horizontal rotating shaft (91) is perpendicular to the rotating shaft of the adjustable pitch motor, and the adjustable pitch motor and the main positioning seat (9) can be fixed.

5. The endoscope holder used in a comprehensive laparoscopic procedure according to claim 1, characterized in that, The base is a clamping mechanism, which includes a support base (1), a positioning platform (2) and an elastic bending plate (3). The positioning platform (2) is located directly above the support base (1). The elastic bending plate (3) is connected between the support base (1) and the positioning platform (2). One end of the support base (1) and the positioning platform (2) forms a clamping end. The bending of the elastic bending plate (3) is set towards the clamping end. The fixed end of the lifting mechanism is fixedly connected to the top of the positioning platform (2).

6. The endoscope holder used in a comprehensive laparoscopic procedure according to claim 5, characterized in that, The support base (1) has a concave opening (201) inclined toward the positioning platform (2) at the clamping end, and the positioning platform (2) has a concave opening (201) inclined toward the support base (1) at the clamping end.

7. The endoscope holder used in a comprehensive laparoscopic procedure according to claim 1, characterized in that, The lens holder also includes a secondary positioning seat (10), which is rotatably connected to the movable end of the transverse mechanism via a rotary shaft (61). The rotary shaft (61) has an angle with the horizontal plane and is perpendicular to the axial direction of the transverse mechanism. The secondary positioning seat (10) and the movable end of the transverse mechanism can be fixed. The swing mechanism includes a main telescopic sleeve (11) and a secondary telescopic sleeve (12). The main telescopic sleeve (11) and the secondary telescopic sleeve (12) are telescopic and fixed. The starting end of the main telescopic sleeve (11) is hinged to the secondary positioning seat (10). The hinge axis (101) between the starting end of the main telescopic sleeve (11) and the secondary positioning seat (10) is horizontally set and the hinge axis (101) is perpendicular to the axial direction of the transverse mechanism. The starting end of the secondary telescopic sleeve (12) is connected to the end of the main telescopic sleeve (11) through a first ball joint (111). The secondary telescopic sleeve (12) and the main telescopic sleeve (11) are fixed. The end of the secondary telescopic sleeve (12) is connected to the mirror holding mechanism (14) through a second ball joint (121). The end of the secondary telescopic sleeve (12) and the mirror holding mechanism (14) are fixed.

8. A laparoscope holder for use in all-around laparoscopic surgery according to any one of claims 1-7, characterized in that, It also includes a smoke suction pipe (16), the lower and upper ends of which are detachably mounted on the lifting mechanism via positioning clips (17).

9. The endoscope holder used in a comprehensive laparoscopic procedure according to claim 8, characterized in that, The smoke suction pipe (16) can be extended and shortened.

10. The endoscope holder used in a comprehensive laparoscopic procedure according to claim 9, characterized in that, The smoke suction pipe (16) has a corrugated metal section (13) in the middle, which can be stretched and shortened. The upper end of the smoke suction pipe (16) is provided with a magnetic buckle (15), which can be attracted to the lifting mechanism.

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