CN111616753A - Endoscopic stapling device with angular deflection tracking guidance and ultrasonic positioning functions - Google Patents

Abstract

The invention discloses an endoscope stapling device with the functions of angle deflection tracking guide and ultrasonic positioning. There is a staple cartridge seat assembly; the end face of the top end portion is fixedly provided with a chopping board; one side of the staple cartridge seat is provided with an angle tracking sensor; the end face of the top end portion is provided with an ultrasonic detector; There is an ultrasonic reflector, which corresponds to the ultrasonic detector; the ultrasonic reflector can judge whether the anvil at the top part is well matched with the position of the nail cartridge seat of the rigid section. The invention skillfully combines the endoscope angle deflection tracking and the ultrasonic positioning function, and can accurately determine the position of the stapling point and the relative positions between the plurality of stapling points, thereby improving the therapeutic effect of the operation.

Description

Endoscopic stapling device with angular deflection tracking guidance and ultrasonic positioning functions

technical field

The invention relates to a minimally invasive surgical treatment instrument, in particular to an endoscopic stapling device with the functions of angular deflection tracking and guiding and ultrasonic positioning.

Background technique

At present, with the continuous development of endoscopy technology, the role of endoscopy has undergone tremendous changes, from a simple diagnostic tool to an advanced tool integrating diagnosis and treatment. Endoscopic minimally invasive surgery is favored by both doctors and patients due to its advantages of less trauma, shorter operation time, and faster postoperative recovery, and has become an indispensable tool in the diagnosis and treatment of digestive system diseases.

Gastroesophageal reflux disease (GERD) refers to the reflux of excess contents of the stomach or duodenum into the esophagus, causing symptoms such as acid reflux and heartburn, and can lead to esophagitis and pharynx, larynx, trachea and other diseases outside the esophagus. tissue damage. Gastroesophageal reflux disease (GERD) is a common disease in Western countries. Studies have shown that in recent years, the incidence of GERD in Western countries is about 10% to 20%, in Australia it is about 11.6%, and the incidence in Asian countries is about 10% to 20%. about 5%. The incidence rate increases with age. The peak age of onset is 40 to 60 years old. There is no difference between men and women. However, there are more men than women with reflux esophagitis. With the improvement of residents' living standards, people's requirements for quality of life are also constantly improving. According to the statistics of the Chinese Medical Association Gastroenterology Branch, the prevalence of gastroesophageal reflux in China is 5.77%. For patients with normal gastroesophageal reflux disease, it can be cured with lifestyle changes or medication. However, for patients with cardiac laxity or hiatal hernia, some have poor effect after drug treatment, some can only resolve some symptoms after drug treatment, and some patients need to take the drug for a long time. For such patients, it is necessary to Perform surgical treatment. Studies have shown that about 25% to 30% of GERD patients are ineffective in drug treatment or cannot tolerate long-term medication, and require surgical treatment.

The existing surgical treatment of gastroesophageal reflux disease generally adopts laparoscopic fundoplication or endoscopic suturing technique and radiofrequency ablation technique. Although the problem of recurrent symptoms can be solved, postoperative complications are often accompanied. The quality of life after surgery has a great impact, so surgical treatment of gastroesophageal reflux disease has not been popularized.

In addition, in traditional endoscopic surgery, the doctor needs to use other auxiliary visualization equipment to perform the operation, and the angle deflection is often inconvenient to judge intuitively, and can only rely on the doctor's individual surgical clinical experience and skills, and rely on the doctor's familiarity with the tissue and conditions. Surgical experience brings blind subjectivity to the surgical positioning process.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide an endoscopic stapling device with the functions of angle deflection tracking guide and ultrasonic positioning, which can improve the accuracy of positioning during the operation, thereby improving the accuracy of the operation.

In order to solve the above-mentioned technical problems, the technical solution of the endoscope stapling device with the functions of angle deflection, tracking and guidance and ultrasonic positioning of the present invention is:

It includes a handle 1, a conical protective sleeve 2, an insertion tube 3, a rigid section 4, a curved part 5, and a top end 6. The front end of the handle 1 is fixedly connected to the insertion tube 3 through the conical protective sleeve 2, and the front end of the insertion tube 3 is fixedly connected in turn. The rigid section 4, the curved section 5 and the top section 6; the side of the rigid section 4 and the end of the top section 6 form a stapling mechanism; the bending angle of the curved section 5 is controlled by the handle 1, so that the end face of the top section 6 can be connected to the rigid section 6. The sides of the segment 4 correspond to each other, so that the top end 6 is in a stapled state; the side of the rigid segment 4 is provided with a staple cartridge seat assembly, and the staple cartridge seat assembly is provided with a plurality of slots for accommodating titanium nails 4-4. Titanium nail accommodating groove 4-3-1; the end face of the top end 6 is fixedly provided with an anvil 6-2; when the top end 6 is in the stapled state, the titanium nails 4-4 on the nail cartridge seat assembly The cutting board 6-2 of the top part 6 corresponds to; the side of the cartridge seat assembly is provided with an angle tracking sensor 7; the angle tracking sensor 7 is fixedly arranged on the side of the rigid section 4; the angle tracking sensor 7 and the cartridge seat assembly are located The same circumferential direction of the rigid section 4; the end face of the top part 6 is provided with an ultrasonic detector 10; the nail cartridge seat assembly is provided with a mirror accommodating groove 4-3-2, and a mirror accommodating groove 4-3 -2 is equipped with an ultrasonic mirror 4-5, and the ultrasonic mirror 4-5 corresponds to the ultrasonic detector 10; the ultrasonic mirror 4-5 can reflect the ultrasonic signal emitted by the ultrasonic detector 10, and reflect the reflected ultrasonic signal 10. The ultrasonic signal is sent to the ultrasonic detector 10, so as to determine whether the anvil plate 6-2 of the top end 6 and the staple cartridge seat assembly of the rigid section 4 are in good position.

In another embodiment, the surface of the anvil plate 6-2 is an arc that matches the surface of the staple cartridge seat assembly; the length direction of the anvil plate 6-2 corresponds to the circumferential direction of the staple cartridge seat assembly; when the top end When the part 6 is in the stapled state, the surface of the anvil 6-2 matches the side of the rigid segment 4, and the surface of the anvil 6-2 can provide a bending reaction force for the titanium nail 4-4 shot from the rigid segment 4, so that the two legs of the titanium nails 4-4 are bent.

In another embodiment, an end positioning pin 11 is movably provided on one side of the ultrasonic detector 10, and the end positioning pin 11 can perform telescopic movement relative to the top end 6 under the action of the positioning pin driving motor; the A positioning pin hole 4-3-3 is formed on the cartridge seat assembly; the positioning pin 11 at the end corresponds to the positioning pin hole 4-3-3.

In another embodiment, the bending angle of the bending portion 5 ranges from 0° to 270°.

In another embodiment, the rigid segment 4 includes a rigid segment housing 4-1, one end of the rigid segment housing 4-1 is fixedly connected to a sensor positioning plate 4-2, and a side portion of the sensor positioning plate 4-2 is provided with a The sensor positioning groove 4-2-1, the angle tracking sensor 7 is fixedly arranged in the sensor positioning groove 4-2-1; the angle tracking sensor 7 is connected to the angle signal control system through the angle tracking sensor signal line 7-1.

In another embodiment, the sensor positioning groove 4-2-1 and the staple cartridge seat assembly are located in the same circumferential direction of the rigid section 4.

In another embodiment, the end surface of the top end housing 6-1 is provided with an ultrasonic detector installation hole 6-1-7, and the ultrasonic detector installation hole 6-1-7 reflects the reflection of the nail cartridge seat assembly The mirror accommodating grooves 4-3-2 correspond.

In another embodiment, the outer diameter of the insertion tube 3 , the rigid section 4 , the curved portion 5 , and the tip portion 6 is smaller than the inner diameter of the esophagus 201 .

The technical effect that the present invention can achieve is:

In the present invention, an angle tracking sensor is arranged on the rigid segment. When the handle rotates around the axial direction, the rigid segment is deflected in the axial direction, and the angle tracking sensor is also deflected together. The angle tracking sensor transmits the deflection angle signal in real time to The main board, after receiving the deflection angle signal, the main board finally visually displays it on the display screen. The invention can accurately determine the relative position of the top part and the esophagus through the angle tracking sensor, so as to determine the specific position of another gastric fundus, thereby determining the relative position of each stapling point, and provide accurate and intuitive visual guidance for fundoplication. .

The invention can track the angular deflection of the endoscope in real time and remind the deviation of the positioning target position, so that the top end of the endoscope can be accurately determined.

The invention determines the position of the top end and the staple cartridge seat of the rigid segment by the ultrasonic detector, so that the folding and stapling position of the gastric fundus and the lower esophagus can be accurately determined, and the deviation of the positioning target position can be reminded. It is like providing the doctor with the third eye and hand, which can accurately treat the patient's body and provide an objective, accurate, intuitive and scientific means for the surgeon's operation plan.

The invention cleverly combines the endoscope angle deflection tracking and the ultrasonic positioning function, and can accurately determine the position of the stapling point and the relative position between multiple stapling points, and remind the deviation of the positioning target position, thereby Improve the efficacy of surgery. The invention can effectively improve the quality of the operation, ensure the safety of the operation, and reduce the unpredictable risk during the operation.

Description of drawings

It should be understood by those skilled in the art that the following description is merely illustrative of the principles of the invention, which may be applied in various ways to implement many different and alternative embodiments. These descriptions are intended to illustrate the general principles of the teachings of the present invention only and are not meant to limit the inventive concepts disclosed herein.

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the foregoing general description and the following detailed description of the drawings, serve to explain the principles of the invention.

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments:

Fig. 1 is the schematic diagram of the endoscopic stapling device with angular deflection tracking guide and ultrasonic positioning functions of the present invention;

2 to 8 are schematic diagrams of the operation process of the present invention;

Fig. 9 is the schematic diagram of the titanium nail of the present invention, and the titanium nail in the figure is in the original state;

Figure 10 is a schematic diagram of the titanium nail of the present invention, the titanium nail in the figure is in a nailed state;

Figure 11 is a schematic view of a rigid segment of the present invention;

Figure 12 is an exploded schematic view of the rigid segment assembly of the present invention;

Fig. 13 is the schematic diagram of the staple cartridge seat of the present invention;

Figure 14 is a schematic view of the tip portion of the present invention;

15 is a schematic end view of the tip portion of the present invention;

Fig. 16 is the A-A sectional schematic diagram of Fig. 15;

Fig. 17 is the schematic diagram of the cutting board of the present invention;

Figure 18 is an exploded schematic view of the tip portion of the present invention;

19 is a schematic cross-sectional view of the tip portion of the present invention;

Figure 20 is a schematic view of a tip seat of the present invention;

Figure 21 is a side schematic view of the tip seat of the present invention;

FIG. 22 is a schematic cross-sectional view taken along line B-B of FIG. 21 .

Description of the reference numbers in the figure:

100 is an endoscope stapling device,

1 is the handle, 2 is the tapered protective sleeve,

3 is the insertion tube, 4 is the rigid segment,

5 is the curved part, 6 is the top part,

7 is an angle tracking sensor, 8 is a miniature camera,

9 is LED light, 10 is ultrasonic detector,

11 is the end positioning pin,

4-1 is the rigid segment shell, 4-2 is the sensor positioning plate,

4-3 is the nail cartridge seat, 4-4 is the titanium nail,

4-5 are ultrasonic mirrors,

4-2-1 is the sensor positioning slot,

4-3-1 is the titanium nail accommodating groove, 4-3-2 is the mirror accommodating groove,

4-3-3 is the positioning pin hole, 4-3-4 is the screw fitting hole of the cutting board,

6-1 is the top seat, 6-2 is the cutting board,

6-3 is the screw of the cutting board, 6-4 is the driving shaft of the cutting board,

6-5 is the driven gear, 6-6 is the cutting board screw guide seat,

6-7 is the driven gear locating pin, 6-8 is the cutting board locating pin,

6-1-1 is the top seat body, 6-1-2 is the positioning groove of the cutting board,

6-1-3 is the hole for the driving shaft of the cutting board, 6-1-4 is the hole for the driven gear shaft,

6-1-5 is the LED light positioning hole, 6-1-6 is the miniature camera positioning hole,

6-1-7 is the installation hole for the ultrasonic detector, 6-1-8 is the accommodating hole for the end positioning pin,

6-1-9 is the hole for the driven gear positioning pin, 6-1-10 is the limit boss,

6-2-0 is the cutting board body, 6-2-1 is the cutting board screw hole,

6-2-2, 6-2-3, 6-2-4, 6-2-5, 6-2-6 are titanium nail bending guide grooves,

6-2-7 is the first gear lug, 6-2-8 is the second gear lug,

7-1 is the signal line of the angle tracking sensor,

9-1 is the LED lampshade,

201 is the esophagus, and 202 is the stomach.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some, but not all, embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention. Unless otherwise defined, technical or scientific terms used herein should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.

As shown in FIG. 1 , the endoscopic stapling device 100 with the functions of angle deflection tracking and ultrasonic positioning according to the present invention includes a handle 1 , a conical protective sleeve 2 , an insertion tube 3 , a rigid section 4 , a curved part 5 , and a top end 6 , the front end of the handle 1 is fixedly connected to the insertion tube 3 through the conical protective sleeve 2, and the front end of the insertion tube 3 is fixedly connected to the rigid section 4, the curved section 5 and the top section 6 in turn; the side surface of the rigid section 4 and the end face of the top section 6 form a nail joint organization;

The outer diameter of the insertion tube 3, the rigid section 4, the curved part 5, and the top end 6 is smaller than the inner diameter of the esophagus 201, so that the front end of the endoscopic stapling device can be inserted into the stomach 202 through the esophagus 201 through the oral cavity;

The handle 1 is provided with a bending angle control mechanism, and the bending angle control mechanism can control the bending angle of the bending part 5, so that the angle between the top end parts 6 at both ends of the bending part 5 and the rigid section 4 is changed in the range of 0°～270° , thereby driving the end face of the top end portion 6 to move relative to the side surface of the rigid segment 4;

In the initial state, the bending angle of the bending part 5 is 0°, then the tip part 6, the bending part 5 and the rigid section 4 are on the same line; The rigid segment 4) is inserted into the stomach 202 through the oral cavity and through the esophagus 201. At this time, the internal situation (such as the mucosal structure) of the stomach 202 can be observed through the miniature camera 8 of the top end 6, as shown in FIG. 2;

As shown in FIG. 3 , when the rigid segment 4 is located at the bottom of the esophagus 201 , the angle control mechanism of the handle 1 is manipulated to gradually bend the curved portion 5 , so that the top portion 6 moves relative to the rigid segment 4 , thereby changing the top end The relative position between the end face of the part 6 and the side face of the rigid section 4;

When the bending angle of the bending portion 5 reaches 180°, the end face of the top portion 6 abuts against the inner wall of part of the fundus; when the bending angle of the bending portion 5 increases from 180° to 270°, the end face of the top portion 6 passes through the Push this part of the stomach fundus toward the esophagus, as shown in Figure 4;

As shown in Fig. 5, when the bending angle of the bending part 5 is 270°, the part of the stomach fundus is pushed by the end face of the top part 6 to overlap with the lower segment of the esophagus, thereby realizing the folding of part of the stomach fundus and the esophagus; at this time, the rigid segment The side surface of 4 is opposite to the end face of the top part 6, and the ultrasonic mirrors 4-5 of the rigid section 4 can reflect all the ultrasonic signals emitted by the ultrasonic detector 10 of the top part 6, and send the reflected ultrasonic signals to the ultrasonic detector. 10, the bending portion 5 is bent in place, and the top end portion 6 is in a stapled state, as shown in Figure 6;

The end positioning pin 11 is driven by the positioning pin to drive the motor to extend outward, so that the tip of the end positioning pin 11 of the top part 6 penetrates the two layers of tissue of the stomach fundus and the esophagus and extends into the positioning pin hole 4-3- of the rigid section 4 3. Keep the top end portion 6 in the nailed state, thereby realizing the positional positioning between the top end portion 6 and the rigid section 4; since the hole depth of the positioning pin hole 4-3-3 is smaller than the extension length of the end positioning pin 11, When the end positioning pin 11 is extended in place, a distance H1 is formed between the end surface of the top end 6 and the side surface of the rigid section 4, and the distance H1 is the thickness of the two layers of tissue;

Then, the two anvil screws 6-3 are driven out by the anvil screw driving mechanism, so that the tip of the anvil screw 6-3 of the top part 6 passes through the two layers of tissue and is screwed into the nail box seat 4-3 of the rigid section 4. Chopping block screw fitting hole 4-3-4; during the inward screwing process of the chopping block screw 6-3, the two cutting board screws 6-3 respectively pass through the two layers of tissue along the thickness direction and jointly extrude the two layers of tissue; Since the hole depth of the anvil screw fitting hole 4-3-4 is smaller than the protruding length of the anvil screw 6-3, when the anvil screw 6-3 is extended in place, a gap is formed between the end face of the top end 6 and the side surface of the rigid section 4. Spacing H2, spacing H2 is the nailing thickness of titanium nails 4-4; H1>H2; after the anvil screw 6-3 is extended in place, the end positioning pin 11 can be retracted;

Start the titanium nail firing mechanism, and shoot the five titanium nails 4-4 of the nail cartridge seat assembly (at this time, the titanium nails 4-4 are in the shape shown in Figure 9, and the nail legs of the titanium nails 4-4 are outward) at the same time. After the titanium nails 4-4 are shot out, they penetrate the lower esophagus and part of the fundus tissue in turn, and receive the reaction force of the anvil plate 6-2 on the end face of the top part 6, so that the two nail legs of the titanium nails 4-4 are bent inwards. , forming a B-shape as shown in FIG. 10 . At this time, the titanium nails 4-4 can staple the lower esophagus and part of the stomach fundus together to form a folded staple 200, as shown in FIG. At this time, the titanium nails 4-4 can tightly fix the two layers of tissue together, thereby forming a new acute His angle α;

Replace the new staple cartridge seat assembly, and then rotate the handle 1 at an angle around the axial direction, so that the end surface of the top part 6 contacts the inner wall of the other gastric fundus, then the folding and nailing of the other gastric fundus and the lower esophagus can be realized. According to the actual situation, multiple places (such as three places) are folded and stapled around the circumference of the esophagus, so that the His angle α around the esophagus is restored to an acute angle, thereby restoring the gastroesophageal flap valve , establish an effective barrier to prevent gastroesophageal reflux.

The present invention realizes the relative positional positioning between the top end portion 6 and the rigid segment 4 before stapling through the end positioning pin 11, so as to realize the preliminary positioning of the tissue to be stapled, and avoid or reduce the occurrence of tissue positioning during the stapling process. The offset of the position, thereby improving the surgical precision.

In the present invention, the tissue to be stapled is squeezed and positioned by the anvil screw 6-3, so that the titanium nail 4-4 can tightly fix the two layers of tissue in the stapling process after the legs of the titanium nail 4-4 are bent. together without separation, thus ensuring that the newly formed angle of His (gastroesophageal angle) does not change for a long time. In addition, the present invention determines the stapling thickness of the titanium nails 4-4 through the anvil plate screws 6-3, thereby ensuring that the titanium nails 4-4 can be accurately launched to the titanium nail bending guide grooves of the anvil plate 6-2, so that the device can It can be applied to different groups of people. Even if the thickness of the individual's stomach fundus and esophagus is different due to different physical constitutions, it will not cause the phenomenon of weak stapling and reduced surgical effect.

The present invention precisely controls the protruding stroke of the anvil screw 6-3 through the anvil screw driving mechanism, so that the thickness of the two layers of tissue between the end face of the top end 6 and the side surface of the rigid section 4 is gradually reduced and reaches the titanium nail 4-4. The stapling thickness that can be stapled; the thickness variation of the two layers of tissue can be monitored by the ultrasonic detector 10, so as to precisely control the stapling thickness.

The bending angle control mechanism for controlling the bending portion 5 in the present invention is in the prior art, and details are not described herein again.

As shown in FIG. 11 , the rigid segment 4 includes a rigid segment housing 4-1, one end of the rigid segment housing 4-1 is fixedly connected to a sensor positioning plate 4-2, and a sensor positioning groove is opened on the side of the sensor positioning plate 4-2 4-2-1, an angle tracking sensor 7 is fixed in the sensor positioning groove 4-2-1; the angle tracking sensor 7 is connected to one end of the angle tracking sensor signal line 7-1, and the other end of the angle tracking sensor signal line 7-1 Connect to the main board to achieve synchronous transmission and feedback of signals;

The side part of the rigid segment housing 4-1 is provided with a nail cartridge seat groove 4-1-1 extending in the axial direction, and a titanium nail firing member 4-7 is movably arranged in the nail cartridge seat groove 4-1-1. The length of the firing piece 4-7 is less than the length of the nail magazine seat slot 4-1-1; one end of the titanium nail firing piece 4-7 is fixedly connected to one end of the firing wire 4-8, and the other end of the firing wire 4-8 is connected to the handle 1 ; By controlling the handle 1, the firing wire 4-8 can be pulled, thereby driving the titanium nail firing piece 4-7 to move back and forth along the nail magazine seat groove 4-1-1;

The nail cartridge seat slot 4-1-1 is provided with a nail cartridge seat assembly, and the nail cartridge seat assembly is provided with five titanium nail accommodating slots 4-3-1, and the titanium nail accommodating slot 4-3-1 is used for accommodating Titanium nail 4-4 and pusher 4-6; pusher 4-6 touches the bottom of titanium nail 4-4;

The staple cartridge seat assembly includes a staple cartridge seat 4-3, and the surface of the staple cartridge seat 4-3 is part of the circumference of the rigid segment housing 4-1 (that is, the arcuate surface of the staple cartridge seat 4-3 is the rigid segment housing 4-1). 1 part of the circumference);

As shown in FIG. 13 , five titanium nail accommodating grooves 4-3-1 are opened on the nail cartridge base 4-3, and titanium nails 4-4 and a pusher 4 are accommodated in the titanium nail accommodating groove 4-3-1. -6; thrusters 4-6 are located at the bottom of titanium pegs 4-4;

The nail cartridge seat 4-3 is also provided with a reflecting mirror accommodating groove 4-3-2, and the reflecting mirror accommodating groove 4-3-2 houses an ultrasonic reflecting mirror 4-5, and the ultrasonic reflecting mirror 4-5 is used for reflection The ultrasonic signal emitted by the ultrasonic detector 10, and the reflected ultrasonic signal is sent to the ultrasonic detector 10;

The nail magazine seat 4-3 is also provided with a positioning pin hole 4-3-3 corresponding to the end positioning pin 11, and two anvil screw matching holes 4-3-4 corresponding to the anvil screw 6-3; The hole depth of the positioning pin hole 4-3-3 is smaller than the extension length of the end positioning pin 11, and the hole depth of the chopping block screw fitting hole 4-3-4 is smaller than the extension length of the chopping block screw 6-3.

In the present invention, the ultrasonic reflector 4-5 is arranged near the titanium nail accommodating groove 4-3-1, and the ultrasonic detector 10 is arranged on the end face of the top end 6. With the assistance of the ultrasonic detector 10, the nails can be accurately determined Therefore, the operation accuracy of fundoplication can be greatly improved.

In the present invention, an angle tracking sensor 7 is arranged on the rigid segment 4. When the handle 1 rotates around the axial direction, the rigid segment 4 is deflected in the axial direction, and the angle tracking sensor 7 is also deflected together. The deflection angle signal is transmitted to the mainboard in real time, and after the mainboard receives the deflection angle signal, it is finally visually displayed on the display screen. The present invention can accurately determine the relative position of the top part 6 and the esophagus through the angle tracking sensor 7, so as to determine the specific position of another gastric fundus, and provide accurate and intuitive visual guidance for fundoplication.

As shown in FIGS. 14 to 16 , the top end portion 6 includes a top end seat 6-1, and the end surface of the top end seat 6-1 is provided with a cutting board 6-2, a micro camera 8, an LED light 9, an ultrasonic detector 10 and an end positioning pin 11. The cutting board 6-2 is fixedly arranged in the middle of the end face, the length of the cutting board 6-2 extends longitudinally, and the surface of the cutting board 6-2 protrudes from the end face of the top seat 6-1, so as to provide bending for the titanium nails 4-4 force; the micro camera 8 and the LED light 9 are located on one side of the cutting board 6-2, the ultrasonic detector 10 and the end positioning pin 11 are located on the other side of the cutting board 6-2; the LED light 9 is used to provide the light source for illumination, and the micro camera 8 The ultrasonic detector 10 is used for image acquisition; the ultrasonic detector 10 is used for transmitting and receiving ultrasonic signals; the ultrasonic detector 10 is matched with the ultrasonic mirrors 4-5 of the rigid section 4, and the ultrasonic detector 10 transmits ultrasonic signals, which are transmitted through the ultrasonic mirror 4. -5 is reflected back to the ultrasonic detector 10, and the ultrasonic detector 10 judges whether the top part 6 is in good condition with the position of the staple cartridge seat 4-3 of the rigid section 4 according to the change of the strength of the received signal; when the ultrasonic signal is in a stable state Afterwards, the end positioning pin 11 is extended out and matched with the positioning pin hole 4-3-3 of the rigid segment 4, so as to realize the positioning of the tissue;

An external thread 11-1 is formed in the middle of the end positioning pin 11, and the end positioning pin 11 is connected to the top seat 6-1 through a thread; the free end of the end positioning pin 11 is a tip, and the fixed end of the end positioning pin 11 is connected to the positioning pin Drive motor; drive the end positioning pin 11 to rotate through the positioning pin, so as to realize the telescopic movement of the end positioning pin 11 relative to the top seat 6-1; the free end of the end positioning pin 11 and the positioning pin hole of the rigid section 4 4-3-3 matching, enabling tissue positioning to avoid or reduce the deviation of the positioning position of the tissue during the operation.

Since the side surface of the rigid section 4 is opposite to the end face of the top end 6 in the stapled state, the viewing angle of the micro camera 8 located at the top end 6 is blocked by the fundus tissue, so image information cannot be collected, resulting in the entire stapled state being in blind spot. In the present invention, ultrasonic mirrors 4-5 and an ultrasonic detector 10 are respectively provided on the side surface of the rigid segment 4 and the end surface of the top end 6, which can monitor the relative position between the rigid segment 4 and the top end 6 during the stapling process, so that the The operator can still intuitively observe the position information between the rigid segment 4 and the tip portion 6 in the stapling state.

As shown in FIG. 17 , the cutting board 6-2 includes a cutting board body 6-2-0 with an arc-shaped surface, and the arc-shaped surface of the cutting board body 6-2-0 matches the side of the rigid section 4; the cutting board body 6-2 The length direction of -0 corresponds to the circumferential direction of the staple cartridge seat 4-3 (ie, the arc length direction); when the top end 6 is in the stapled state, the surface of the anvil body 6-2-0 is in contact with the side of the rigid section 4 Cooperate;

Both ends of the cutting board body 6-2-0 are respectively provided with cutting board screw penetration holes 6-2-1, and cutting board screw penetration holes 6-2-1 are movably provided with cutting board screws 6-3, and the cutting board screws 6-3 are connected An anvil screw driving mechanism built in the top seat 6-1; an anvil screw 6-3 can perform telescopic motion relative to anvil body 6-2-0 under the action of the anvil screw driving mechanism;

There are five groups of titanium nail bending guide grooves 6-2-2, 6-2-3, 6-2-4, 6-2-5, 6-2-6 ( In the figure, five different patterns are used to represent the groove bottoms of the five groups of titanium nail bending guide grooves); each group of titanium nail bending guide grooves includes two parallel bending guide grooves, each bending guide groove The groove corresponds to one nail leg of titanium nails 4-4; the groove bottom of each bending guide groove is an arc shape with high ends and a low middle, and the arc groove bottom of each group of titanium nail bending guide grooves Symmetrical arrangement; the bending guide groove can guide the bending direction of the nail legs of the titanium nails 4-4.

The side part of the chopping block body 6-2-0 is provided with two blocking ears, the first blocking lug 6-2-7 is located above and outside the LED light 9, and is located directly above the water outlet; the second blocking lug 6-2- 8 is located above and outside the micro camera 8, and is located just above the air outlet; the bottom surfaces of the two blocking ears are perpendicular to the water outlet and the air outlet respectively; Reflect, so that the water flow is sprayed to the micro camera 8 and the LED light 9, so as to flush the lens of the micro camera 8 and the LED light 9; The air flow is sprayed to the micro camera 8 and the LED lamp 9, thereby purging the lens of the micro camera 8 and the LED lamp 9.

As shown in Fig. 18 and Fig. 19 , the screw drive mechanism of the anvil plate includes a drive shaft 6-4 of the anvil plate, and the drive shaft 6-4 of the anvil plate can be rotated under power driving; a driving gear is arranged on the driving shaft 6-4 of the anvil plate, and two parts of the driving gear are provided with a driving gear. The two driven gears 6-5 are respectively engaged with a driven gear 6-5; the two driven gears 6-5 are respectively fixed and connected to the cutting board screws 6-3;

The bottom of the cutting board 6-2 is fixedly provided with two cutting board screw guide seats 6-6, and the cutting board screw guide base 6-6 is connected with the cutting board screw 6-3 by threads; A corresponding and coaxial arrangement;

The bottom of the driven gear 6-5 is provided with a driven gear positioning pin 6-7; the driven gear positioning pin 6-7 is longitudinally penetrated into the driven gear positioning pin hole 6-1-9 of the top seat 6-1 ; The driven gear positioning pin 6-7 can limit the driven gear 6-5 to prevent the driven gear 6-5 from axial displacement, so as to ensure the transmission accuracy of the anvil screw drive mechanism;

The two driven gears 6-5 are driven to rotate synchronously by the cutting board drive shaft 6-4, thereby driving the cutting board screw 6-3 to perform telescopic movement relative to the cutting board 6-2; the cutting board screw guide seat 6-6 can guide the cutting board screw 6-3 Guided so that the travel of the anvil screw 6-3 can be precisely controlled.

As shown in FIGS. 20 to 22 , the top end seat 6-1 includes a top end seat body 6-1-1, and a cutting board positioning groove 6-1-2 extending in the longitudinal direction is provided in the middle of the end surface of the top end seat body 6-1-1. The cutting board positioning groove 6-1-2 is matched with the bottom of the cutting board 6-2, and the cutting board 6-2 is fixedly arranged in the cutting board positioning groove 6-1-2; the two ends of the cutting board positioning groove 6-1-2 respectively form limit positions The width of the boss 6-1-10, the limit boss 6-1-10 is matched with the width of the chopping board 6-2, so as to realize the limit of the chopping board 6-2 in the width direction (ie lateral direction);

The anvil plate positioning groove 6-1-2 is provided with an anvil plate drive shaft through hole 6-1-3 and two driven gear shaft through holes 6-1-4; the anvil plate drive shaft through holes 6-1-3 and The driven gear shaft through hole 6-1-4 extends in the axial direction;

A micro camera positioning hole 6-1-6 and an LED light positioning hole 6-1-5 are opened on one side of the top seat body 6-1-1, and a micro camera 8 is fixed in the micro camera positioning hole 6-1-6. An LED lamp cover 9-1 is fixedly arranged at the end of the LED lamp positioning hole 6-1-5, and an LED lamp 9 is fixedly arranged in the LED lamp positioning hole 6-1-5;

The other side of the top seat body 6-1-1 is provided with an end positioning pin accommodating hole 6-1-8 and an ultrasonic detector installation hole 6-1-7, and the ultrasonic detector installation hole 6-1-7 is fixed inside. An ultrasonic detector 10 is provided; an inner threaded hole 6-1-8' is formed in the lower part of the end positioning pin accommodating hole 6-1-8, and the lower inner threaded hole 6 of the end positioning pin accommodating hole 6-1-8 -1-8' by screwing the end positioning pin 11;

The end face of the top seat 6-1 forms an arc 6-20 in the longitudinal direction that matches the side of the rigid section 4; The first inclined surface 6-31 and the second inclined surface 6-32 are formed, the positioning hole 6-1-6 of the micro camera and the positioning hole 6-1-5 of the LED light are located on the first inclined surface 6-31, and the end positioning pin accommodating hole 6 -1-8 and ultrasonic detector mounting holes 6-1-7 are located on the second slope 6-32;

An anvil positioning pin hole 6-11 is laterally opened at the connecting portion between the top seat 6-1 and the two ends of the anvil 6-2, and an anvil positioning pin 6-8 is passed through the anvil positioning pin hole 6-11; through the two anvil positioning pins 6-8 enables lengthwise (ie longitudinal) positioning between the anvil 6-2 and the tip seat 6-1.

In the present invention, the micro camera 8, the LED light 9, the end positioning pin 11 and the ultrasonic detector 10 located on the end face of the top end are all arranged on the slopes on both sides of the anvil 6-2 to avoid the interference of the stapling action, regardless of the equipment. Whether it is in the stapling state, the micro camera 8, the LED light 9, the end positioning pin 11 and the ultrasonic detector 10 can ensure their respective working states.

Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, provided that these modifications of the present invention fall within the scope of the claims of the present invention and their technical equivalents, the present invention is also intended to include these changes and modifications.

Claims (8)

1. An endoscope nailing device with angle deflection tracking guiding and ultrasonic positioning functions is characterized by comprising a handle (1), a conical protective sleeve (2), an insertion tube (3), a rigid section (4), a bending part (5) and a top end part (6), wherein the front end of the handle (1) is fixedly connected with the insertion tube (3) through the conical protective sleeve (2), and the front end of the insertion tube (3) is sequentially and fixedly connected with the rigid section (4), the bending part (5) and the top end part (6); the side part of the rigid section (4) and the end part of the top end part (6) form a nailing mechanism; the bending angle of the bending part (5) is controlled by the handle (1), so that the end surface of the top end part (6) corresponds to the side surface of the rigid section (4), and the top end part (6) enters a nailing state;

a nail bin seat assembly is arranged on the side surface of the rigid section (4), and a plurality of titanium nail accommodating grooves (4-3-1) for accommodating titanium nails (4-4) are formed in the nail bin seat assembly; a chopping board (6-2) is fixedly arranged on the end surface of the top end part (6); when the top end part (6) is in a nailing state, the titanium nails (4-4) on the nail bin seat component correspond to the chopping board (6-2) at the top end part (6);

an angle tracking sensor (7) is arranged on one side of the nail bin seat component; the angle tracking sensor (7) is fixedly arranged on the side surface of the rigid section (4); the angle tracking sensor (7) and the nail bin seat assembly are positioned in the same circumferential direction of the rigid section (4);

an ultrasonic detector (10) is arranged on the end face of the top end part (6); the nail bin seat assembly is provided with a reflector accommodating groove (4-3-2), an ultrasonic reflector (4-5) is accommodated in the reflector accommodating groove (4-3-2), and the ultrasonic reflector (4-5) corresponds to the ultrasonic detector (10); the ultrasonic reflector (4-5) can reflect the ultrasonic signal emitted by the ultrasonic detector (10) and send the reflected ultrasonic signal to the ultrasonic detector (10), so that whether the anvil plate (6-2) at the top end part (6) is perfectly matched with the position of the nail bin seat assembly of the rigid section (4) or not is judged.

2. An endoscopic stapling device with angular deflection tracking guiding and ultrasonic positioning function according to claim 1, characterized in that the surface of said anvil plate (6-2) is arc-shaped to match the surface of the cartridge holder assembly; the length direction of the cutting board (6-2) corresponds to the circumferential direction of the nail bin seat component; when the top end part (6) is in a nailing state, the surface of the chopping board 6-2 is matched with the side part of the rigid section (4), and the surface of the chopping board (6-2) can provide bending reaction force for the titanium nail (4-4) ejected from the rigid section (4) so as to bend two nail legs of the titanium nail (4-4).

3. An endoscope nailing device with angular deflection tracking guiding and ultrasonic positioning functions according to claim 1, characterized in that one side of the ultrasonic detecting instrument (10) is movably provided with an end positioning pin (11), and the end positioning pin (11) can perform telescopic motion relative to the top end part (6) under the action of a positioning pin driving motor; the nail bin seat component is provided with a positioning pin hole (4-3-3); the end positioning pin (11) corresponds to the positioning pin hole (4-3-3).

4. An endoscopic stitching device with angular deflection tracking guidance and ultrasonic positioning function according to claim 1, characterized in that the bending angle of the bending portion (5) ranges from 0 ° to 270 °.

5. An endoscope nailing device with angular deflection tracking guiding and ultrasonic positioning functions as claimed in claim 1, wherein the rigid section (4) comprises a rigid section shell (4-1), one end of the rigid section shell (4-1) is fixedly connected with a sensor positioning disc (4-2), a sensor positioning groove (4-2-1) is formed in the side part of the sensor positioning disc (4-2), and the angle tracking sensor (7) is fixedly arranged in the sensor positioning groove (4-2-1); the angle tracking sensor (7) is connected with an angle signal control system through an angle tracking sensor signal wire (7-1).

6. An endoscopic stapling device with angular deflection tracking guiding and ultrasonic positioning function according to claim 1, characterized in that said sensor positioning slot (4-2-1) and cartridge holder assembly are located in the same circumferential direction of the rigid section (4).

7. An endoscope nailing device with angular deflection tracking guiding and ultrasonic positioning functions according to claim 1, wherein the end face of the tip portion housing (6-1) is provided with an ultrasonic probe mounting hole (6-1-7), the ultrasonic probe mounting hole (6-1-7) corresponding to the mirror receiving groove (4-3-2) of the cartridge deck assembly.

8. An endoscopic stapling device with angular deflection tracking guiding and ultrasonic positioning function according to claim 1, characterized in that the outer diameter of said insertion tube (3), rigid section (4), bending section (5), apical section (6) is smaller than the inner diameter of esophagus (201).

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