Vaginal cannula and laparoscopic surgical system

Abstract

The vaginal cannula (1) includes an illumination module (10). The illumination module (10) includes an entrance end (101), a light guide (102) with one end connected to the entrance end (101), and an illumination end (103) connected to the other end of the light guide (102) and located at the proximal end (120) of the vaginal cannula (1). Light rays from the entrance end (101) are guided through the light guide (102) to the illumination end (103) and emitted from the illumination end (103). The laparoscopic surgical system (100) includes the vaginal cannula (1), an endoscope (2), and a robotic arm (3) connected to the endoscope (2) and configured to adjust the orientation of the field of view of the endoscope (2). The robotic arm (3) is configured to adjust the orientation of the endoscope's (2) field of view to align with the area indicated by the visual marker formed by the illumination module (10) of the vaginal cannula (1).

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical instruments, and in particular, relates to a vaginal cannula and a laparoscopic surgical system.

BACKGROUND ART

[0002] In hysterectomy using a laparoscope, it is always necessary to incise the cervix and the vagina to remove the uterus through the vagina. However, since it is difficult to quickly and accurately position the surgical target site with the laparoscope inserted into the abdominal cavity, the difficulty of the surgery is increased, and the safety of the surgery is reduced. For example, in extreme cases, unexpected uterine perforation or deviation of the incision position may occur.

SUMMARY OF INVENTION

PROBLEMS TO BE SOLVED BY THE INVENTION

[0003] Based on the above, it is necessary to provide a vaginal cannula and a laparoscopic surgical system to address the above technical problems. In surgery using the laparoscopic surgical system, the vaginal cannula having an illumination module is inserted into the patient's vagina, and the light beam from the illumination module passes through the vaginal wall at the cervix-vagina boundary (vaginal fornix) to form a visual marker indicating the position. By observing the visual marker through the laparoscope inserted into the abdominal cavity, the surgical target site can be accurately positioned. Thereby, the operator can easily and quickly position the surgical target site, reduce the difficulty of the surgery, and improve the safety of the surgery.

MEANS FOR SOLVING THE PROBLEMS

[0004] According to one aspect of the present application, a vaginal cannula including an illumination module is provided. The illumination module includes a light incident end, a light guide part with one end connected to the light incident end, and an illumination end connected to the other end of the light guide part and disposed at the proximal end (120) of the vaginal cannula (1). The light beam from the light incident end is guided to the illumination end via the light guide part and exits from the illumination end.

[0005] The illumination module according to the embodiment of the present invention can form a visual marker on the patient's vaginal wall during surgery (for example, laparoscopic hysterectomy), and by observing the visual marker through a laparoscope inserted into the abdominal cavity, the surgical site can be accurately positioned. This allows the surgeon (for example, a surgeon or surgical assistant) to easily and quickly position the surgical site, reducing the difficulty of the surgery and improving surgical safety.

[0006] In one embodiment, the lighting module further includes a light-emitting section, which is provided at the incident end.

[0007] In one embodiment, the vaginal cannula further includes a power supply unit, which is electrically connected to a light-emitting unit and supplies energy to the light-emitting unit.

[0008] In one embodiment, the incident end is connected to an external light source.

[0009] In one embodiment, the lighting module further includes a fixing portion, which is provided at the lighting end and is configured to fix the lighting module to the inner wall of the vaginal cannula.

[0010] In one embodiment, the incident end is provided at the distal end of the vaginal cannula, and the light guide portion includes the base of the vaginal cannula and the cannula body.

[0011] In one embodiment, the illumination end includes an annular light-emitting member.

[0012] In one embodiment, the vaginal cannula further includes a base having a first through-hole and a cannula body fitted to the base and having a second through-hole. The first and second through-holes communicate with each other and jointly define a third through-hole, and the illumination module is located within the third through-hole.

[0013] In one embodiment, the base is provided with a first groove extending along the axial direction of the first through-hole, the cannula body is provided with a second groove extending along the axial direction of the second through-hole, the first groove and the second groove are configured to be aligned and communicate with each other, jointly defining a housing groove, and the lighting module is housed in the housing groove.

[0014] In one embodiment, the base includes a first part and a second part connected to each other, a first through-hole passing through the first part and the second part, the outer diameter of the second part being slightly smaller than the inner diameter of the second through-hole, the second part being fitted into the second through-hole of the cannula body, and the first groove being provided at least within the second part.

[0015] In one embodiment, the power supply unit is provided in the first part, and the light-emitting unit is electrically connected to the power supply unit by passing through the first groove.

[0016] In one embodiment, the fixing portion is made of an elastic material and has an arc-shaped structure, and the fixing portion is pressed against the inner wall of the third through-hole by repulsive force, thereby fixing the lighting module inside the third through-hole.

[0017] In one embodiment, the fixed part is provided with a connection hole, and the lighting end of the lighting module is inserted into the connection hole via the first end of the connection hole, thereby connecting the lighting module to the fixed part.

[0018] In one embodiment, the second end of the connection hole facing the first end is provided with a light-passing hole for allowing light rays emitted from the illumination end to pass through.

[0019] Another aspect of the present invention provides a laparoscopic surgical system comprising a vaginal cannula, an endoscope, and a robotic arm connected to the endoscope and configured to adjust the orientation of the endoscope's field of view. The robotic arm can adjust at least the orientation of the endoscope's field of view to align with a region indicated by a visual marker formed by the illumination module of the vaginal cannula. [Effects of the Invention]

[0020] A laparoscopic surgery system according to an embodiment of the present application aligns the orientation of the field of view of an endoscope with the region indicated by the visual marker formed by the illumination module of the vaginal cannula in a surgery (for example, hysterectomy using a laparoscope), so that an operator (for example, a surgeon or a surgical assistant) can easily and quickly position the target surgical site, reduce the difficulty of the surgery, and improve the safety of the surgery.

[0021] The above and other objects, features and advantages of the present application will become more apparent from the detailed description of the preferred embodiments of the present application shown in the drawings. In all the drawings, like reference numerals are assigned to like parts, and the drawings are not drawn to actual scales, with emphasis placed on illustrating the gist of the present application.

[0022] Other features, objects and advantages of the present application will become clearer by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings. [Brief Description of the Drawings]

[0023] [Figure 1] 1 is a schematic structural diagram of a vaginal cannula according to an embodiment of the present application. [Figure 2] 2 is a schematic structural diagram of the vaginal cannula shown in FIG. 1 from another perspective. [Figure 3] 3 is a schematic structural diagram of the vaginal cannula shown in FIG. 1 from another perspective. [Figure 4] 4 is a schematic structural diagram from another perspective after the illumination module is removed from the vaginal cannula shown in FIG. 1. [Figure 5] 5 is a schematic structural diagram after the illumination module is removed from the vaginal cannula shown in FIG. 1. [Figure 6] 6 is a schematic structural diagram of an illumination module according to an embodiment of the present application. [Figure 7] 7 is a schematic structural diagram of the base of a vaginal cannula according to an embodiment of the present application. [Figure 8] 8 is a schematic structural diagram of the base of the vaginal cannula shown in FIG. 7 from another perspective. [Figure 9]This is a schematic diagram of the structure of a base and lighting module according to one embodiment of the present invention. [Figure 10] This is a schematic diagram of the structure of a vaginal cannula according to one embodiment of the present invention. [Figure 11] Figure 10 is a schematic diagram of the structure of the lighting module in the vaginal cannula. [Figure 12] This is a schematic diagram of the structure of the fixing part of a lighting module according to one embodiment of the present invention. [Figure 13] Figure 12 is a schematic diagram of the fixing part of the lighting module from a different viewpoint. [Figure 14] This is a partially exploded view of a vaginal cannula according to one embodiment of the present invention. [Figure 15] Figure 14 is a schematic cross-sectional view of the incident end 101. [Figure 16] This is a partially exploded view of a vaginal cannula according to one embodiment of the present invention. [Figure 17] This is a schematic diagram of the structure of a laparoscopic surgical system according to one embodiment of the present invention. [Figure 18] This is a schematic diagram of the lighting area of ​​a lighting module according to one embodiment of the present invention. [Modes for carrying out the invention]

[0024] To facilitate understanding of this application, the application will be described more comprehensively below with reference to the relevant drawings. The drawings show preferred embodiments of the application. However, the application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to provide a more complete and comprehensive understanding of the disclosure of the application.

[0025] When one element is considered to be "connected" to the other element, it may be directly connected to the other element and coupled together as one, or it may be connected to the other element via an intermediate element. The terms "attached," "one end," "the other end," and similar expressions used herein are for illustrative purposes only.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which this application pertains. The terms used herein in this description are for illustrative purposes only and are not intended to limit this application. The terms "and / or" as used herein include any and all combinations of one or more related items.

[0027] As shown in Figures 1 to 3 and Figure 6, one embodiment of the present invention provides a vaginal cannula 1 comprising a lighting module 10, a base 11, and a cannula body 12. The base 11 is provided with a first through-hole 111. The cannula body 12 is fitted onto the base 11 and is provided with a second through-hole 121. The first through-hole 111 and the second through-hole 121 communicate with each other and jointly define a third through-hole 13. The lighting module 10 is positioned within the third through-hole 13. The vaginal cannula 1 includes a proximal end 120 and a distal end 110. The proximal end 120 is for insertion into the patient's tissue (e.g., the vagina). The distal end 110 is the end of the vaginal cannula 1 opposite to the proximal end 120.

[0028] In one embodiment, the illumination module 10 includes an incident end 101, a light guide 102, and an illumination end 103. One end of the light guide 102 is connected to the incident end 101. The illumination end 103 is connected to the other end of the light guide 102 and is located at the proximal end 120 of the vaginal cannula 1. Light rays from the incident end 101 are guided through the light guide 102 to the illumination end 103 and exit through the illumination end 103 from the proximal end 120 of the vaginal cannula 1. Specifically, when the vaginal cannula 1 is inserted into the patient's tissue (e.g., the vagina), the light rays from the illumination end 103 located at the proximal end 120 penetrate the wall of human tissue (e.g., the vaginal wall), thereby forming a visual marker (e.g., a light spot) on the wall of the human tissue. This visual marker provides visual assistance to other surgical instruments inserted into the abdominal cavity. For example, the visual marker can be observed using a laparoscope, which allows for easy and rapid positioning of the surgical site, such as the incision location.

[0029] As shown in Figures 4 and 5, in one embodiment, the base 11 is provided with a first groove 112, which extends along the axial direction of the first through-hole 111. The cannula body 12 is provided with a second groove 122, which extends along the axial direction of the second through-hole 121. The first groove 112 and the second groove 122 are configured to be aligned and communicate with each other, jointly defining a housing groove 14, in which the illumination module 10 is housed. The housing groove 14 provides space for mounting and fixing the illumination module 10, so that the illumination module 10 can be inserted into the patient's body together with the vaginal cannula 1 and form a visual marker on the wall of human tissue indicating the surgical site.

[0030] As shown in Figures 7 to 9, in one embodiment, the base 11 includes a first portion 113 and a second portion 114 connected to each other. A first through-hole 111 penetrates both the first portion 113 and the second portion 114. The outer diameter of the second portion 114 is slightly smaller than the inner diameter of the second through-hole 121, and the second portion 114 is fitted into the second through-hole 121 of the cannula body 12, with the first groove 112 provided at least within the second portion 114. The first portion 113 and the second portion 114 form a stepped tubular structure. Specifically, the outer diameter of the first portion 113 is slightly larger than the outer diameter of the second portion 114. However, this is merely an example, and those skilled in the art can appropriately set the outer diameters of the first portion 113 and the second portion 114 as needed.

[0031] As shown in Figures 6 and 9, in one embodiment, the lighting module 10 further includes a light-emitting unit 104. The light-emitting unit 104 is provided at the incident end 101. Optionally, the light-emitting unit 104 includes an LED light source. Light from the light-emitting unit 104 is guided through a light guide unit 102 to the illumination end 103 and emitted from the illumination end 103 to form a visual marker on the wall of human tissue indicating the surgical site.

[0032] As shown in Figure 7, in one embodiment, the lighting module 10 further includes a power supply unit 105, which is electrically connected to the light-emitting unit 104 and supplies energy to the light-emitting unit 104. Preferably, the power supply unit 105 includes a rechargeable battery. Preferably, the power supply unit 105 is provided on the outer surface of the first portion 113, and the light-emitting unit 104 is electrically connected to the power supply unit 105 by passing through the first groove 112. As will be understood by those skilled in the art, the power supply unit 105 may be provided in other suitable locations, for example, within the first portion 113, if practically necessary.

[0033] As shown in Figure 10, in one embodiment, the incident end 101 of the illumination module 10 may not have a light-emitting section 104, but may be connected to an external light source. Specifically, the incident end 101 of the illumination module 10 may protrude from the distal end 110 of the vaginal cannula 1 and be connected to an external light source. Light rays from the external light source are guided to the illumination end 103 via the light guide section 102 and emitted from the illumination end 103, forming a visual marker on the wall of human tissue indicating the surgical site.

[0034] In the embodiments shown in Figures 10 and 11, the vaginal cannula 1 is a McCartney Tube®, and the illumination module 10 is fixed to the inner wall of the vaginal cannula 1 by a fixing part 106 provided at the illumination end 103. Specifically, the fixing part 106 is a substantially arc-shaped structure made of an elastic material, and the diameter of this arc-shaped structure is slightly larger than the diameter of the third through-hole 13. During assembly, when the fixing part 106 is pressed into the end of the vaginal cannula 1 that is inserted into the patient's body, the fixing part 106 deforms, thereby generating a repulsive force. The fixing part 106 is pressed against the inner wall of the third through-hole 13 by this repulsive force, fixing the illumination module 10 inside the third through-hole 13. During removal, the lighting module 10 can be removed by simply pressing the arc-shaped structure of the fixing part 106 toward the center of the third through hole 13, thereby detaching the fixing part 106 from the inner wall of the third through hole 13.

[0035] As shown in Figures 12 and 13, in one embodiment, the fixing part 106 is provided with a connection hole 1061, and the illumination end 103 of the lighting module 10 is inserted into the connection hole 1061 via the first end 1062 of the connection hole 1061, thereby connecting the lighting module 10 to the fixing part 106. The second end 1063 of the connection hole 1061, opposite the first end 1062, is further provided with a light passage hole 1064 for allowing light rays emitted from the illumination end 103 to pass through.

[0036] In the embodiments shown in Figures 10 to 13, the illumination module 10 is detachably attached to a vaginal cannula 1, such as a McCartney tube. This is very convenient for conventional vaginal cannulas 1 because it allows for the formation of visual markers on the walls of human tissue indicating the surgical site without modifying the structure of the conventional vaginal cannula 1, enabling easy and rapid positioning of the surgical site, such as the incision site.

[0037] As shown in Figures 14 and 15, in one embodiment, the incident end 101 of the illumination module 10 is formed in an annular shape and fixed to the distal end 110 of the vaginal cannula 1. At least a portion of the base 11 and cannula body 12 of the vaginal cannula 1 is made of a light-guiding material (e.g., a transparent material), so that the base 11 and cannula body 12 function as a light guide 102. In this embodiment, the light rays from the light-emitting part 104 become uniformly distributed rays in an annular shape via the annular incident end 101, and these uniformly distributed rays are guided by the base 11 and cannula body 12 to the illumination end 103, which is then emitted from the proximal end 120 of the vaginal cannula 1. Optionally, the illumination end 103 includes an annular light-emitting member 1030 so that the emitted rays are retained in a uniformly distributed annular shape. Selectively, covers are provided on the outer surfaces of the base 11 and the cannula body 12, thereby directing the light rays only to the illumination end 103 inside the base 11 and the cannula body 12. The light rays from the illumination end 103 penetrate the walls of human tissue (e.g., the vaginal wall) to form a visual marker (e.g., a light spot) on the wall of the human tissue. This visual marker provides visual assistance to other surgical instruments inserted into the abdominal cavity. For example, the visual marker can be observed with a laparoscope, thereby allowing for easy and rapid positioning of the surgical site, such as the incision site.

[0038] Figure 16 shows another embodiment of the present invention. Compared to the embodiments shown in Figures 1 to 13, the vaginal cannula 1 in this embodiment has the same structure, but the difference is that the illumination end 103 in this embodiment includes an annular light-emitting member 1030. The light ray from the incident end 101 is guided to the annular light-emitting member 1030 via the light guide 102, and the annular light-emitting member 1030 distributes the light ray uniformly in an annular shape. The annular light ray is suitable in several application scenarios; for example, it is more appropriate to select an annular light ray when it is not necessary to rotate the vaginal cannula 1 during a hysterectomy.

[0039] As shown in Figures 17 and 18, a laparoscopic surgical system 100 is provided, which includes a vaginal cannula 1, an endoscope 2, and a robotic arm 3. The robotic arm 3 is connected to the endoscope 2 and configured to adjust the orientation of the endoscope 2's field of view. The robotic arm 3 can adjust at least the orientation of the endoscope 2's field of view to align with the region indicated by the visual markers formed by the illumination module 10 of the vaginal cannula 1. In the laparoscopic surgical system 100 according to the embodiment of the present invention, when the vaginal cannula 1 is inserted into the patient's body, for example, into the uterus 4, the surgeon can adjust the orientation of the field of view A1 of the endoscope 2 by operating the robotic arm 3 to align the field of view A1 with the region A2 indicated by the visual markers formed by the illumination module 10 of the vaginal cannula 1. Specifically, during surgery, the surgeon or surgical assistant adjusts the position of the uterus by manipulating the vaginal cannula 1 (for example, by tilting or rotating the vaginal cannula 1). The endoscope 2, attached to the robotic arm 3, automatically tracks the vaginal cannula 1 using visual markers formed by light rays from the illumination module 10 as a reference. This allows for easy and rapid positioning of the surgical site, reducing the difficulty of the surgery and improving surgical safety.

[0040] The technical features of the embodiments described above can be combined in any way, and for the sake of brevity, not all possible combinations of the technical features in the embodiments described above have been described. However, as long as these combinations of technical features are inconsistent, they should be considered to fall within the scope described herein.

[0041] The embodiments described above illustrate only a few embodiments of the present application, and while these descriptions are specific and detailed, they should not be interpreted as limiting the scope of the patent of this application. Furthermore, a person skilled in the art may make various modifications and improvements as long as they do not deviate from the spirit of this application, and both such modifications and improvements fall within the scope of protection of this application. Therefore, the scope of protection of the patent of this application should be based on the attached claims.

Claims

1. A vaginal cannula (1) including a lighting module (10), wherein the lighting module (10) is The incident end (101) and, A light guide (102) is connected at one end to the incident end (101), It includes an illumination end (103) connected to the other end of the light guide portion (102) and provided at the proximal end (120) of the vaginal cannula (1), A vaginal cannula (1) characterized in that a light ray from the incident end (101) is guided to the illumination end (103) via the light guide portion (102) and emitted from the illumination end (103).

2. The vaginal cannula (1) according to claim 1, wherein the lighting module (10) further includes a light-emitting unit (104), and the light-emitting unit (104) is provided at the incident end (101).

3. The vaginal cannula (1) according to claim 2, further comprising a power supply unit (105), the power supply unit (105) being electrically connected to the light-emitting unit (104) and supplying energy to the light-emitting unit (104).

4. The vaginal cannula (1) according to claim 1, characterized in that the incident end (101) is connected to an external light source.

5. The vaginal cannula (1) according to claim 1, further comprising a fixing portion (106), the fixing portion (106) being provided on the illumination end (103), and the fixing portion (106) being configured to fix the illumination module (10) to the inner wall of the vaginal cannula (1).

6. The vaginal cannula (1) according to any one of claims 1 to 5, characterized in that the incident end (101) is provided at the distal end (110) of the vaginal cannula (1), and the light guide portion (102) includes the base (11) of the vaginal cannula (1) and the cannula body (12).

7. The vaginal cannula (1) according to claim 1, characterized in that the illumination end (103) includes an annular light-emitting member (1030).

8. A base (11) in which a first through hole (111) is provided, The cannula body (12), which is fitted onto the base (11) and has a second through-hole (121), further includes The vaginal cannula (1) according to claim 1, characterized in that the first through-hole (111) and the second through-hole (121) communicate with each other and jointly define a third through-hole (13), and the illumination module (10) is disposed within the third through-hole (13).

9. The vaginal cannula (1) according to claim 8, characterized in that the base (11) is provided with a first groove (112), the first groove (112) extends along the axial direction of the first through hole (111), the cannula body (12) is provided with a second groove (122), the second groove (122) extends along the axial direction of the second through hole (121), the first groove (112) and the second groove (122) are configured to be aligned and communicate with each other, jointly defining a housing groove (14), and the illumination module (10) is housed in the housing groove (14).

10. The vaginal cannula (1) according to claim 9, characterized in that the base (11) includes a first portion (113) and a second portion (114) connected to each other, the first through-hole (111) penetrates the first portion (113) and the second portion (114), the outer diameter of the second portion (114) is slightly smaller than the inner diameter of the second through-hole (121), the second portion (114) is fitted into the second through-hole (121) of the cannula body (12), and the first groove (112) is provided at least within the second portion (114).

11. The vaginal cannula (1) according to claim 10, characterized in that the power supply unit (105) is provided in the first portion (113), and the light-emitting unit (104) is electrically connected to the power supply unit (105) by passing through the first groove (112).

12. The vaginal cannula (1) according to claim 8, characterized in that the fixing portion (106) is made of an elastic material and has an arc-shaped structure, and the fixing portion (106) is pressed against the inner wall of the third through-hole (13) by repulsive force to fix the lighting module (10) inside the third through-hole (13).

13. The vaginal cannula (1) according to claim 12, characterized in that the fixing portion (106) is provided with a connection hole (1061), and the lighting end (103) of the lighting module (10) is inserted into the connection hole (1061) via the first end (1062) of the connection hole (1061) to connect the lighting module (10) to the fixing portion (106).

14. The vaginal cannula (1) according to claim 13, characterized in that a light-passing hole (1064) for allowing the light rays emitted from the illumination end (103) to pass through is provided at the second end (1063) of the connecting hole (1061) opposite to the first end (1062).

15. A vaginal cannula (1) according to any one of claims 1 to 14, Endoscope (2), The robot arm (3) is connected to the endoscope (2) and configured to adjust the orientation of the field of view of the endoscope (2), The laparoscopic surgical system (100) is characterized in that the robotic arm (3) is configured to adjust the orientation of the field of view of the endoscope (2) to align with the region indicated by the visual marker formed by the illumination module (10) of the vaginal cannula (1).

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