CN204698681U - A kind of surgery device - Google Patents

Abstract

The utility model provides a surgical device for minimally invasive surgery, which includes a fluid delivery device, an imaging device, and an imaging device operating arm; The power system provides power for the flow of fluid in the fluid delivery channel; the imaging device includes a camera and a working pipeline for operating the camera; the first end of the fluid delivery channel starts at the working pipeline A location or intermediate location is connected to the working pipe and extends lengthwise to and protruding from the end of the working pipe. The utility model changes the single-function defect of the camera arm, reduces the burden on the working arm of the surgical robot, and can realize quantitative and fixed-speed drug administration at specific parts, cleaning of the lens of imaging equipment, and absorption of effusion.

Description

a surgical device

technical field

The utility model relates to a surgical operation device which can be used for medical operation, in particular to a surgical operation device which can be used for minimally invasive operation.

Background technique

Since French physicians completed the first laparoscopic cholecystectomy in 1987, laparoscopic minimally invasive surgery has achieved revolutionary success in more and more traditional surgical fields and has become the main theme of global surgical development. Laparoscopic minimally invasive surgery is a new type of surgical treatment that uses slender surgical tools and laparoscopes to observe, and completes surgery through tiny incisions on the patient's body surface. It has the advantages of less trauma, less blood loss, and faster recovery.

Computer-aided surgery system (also known as surgical robot system) is the latest stage in the development of laparoscopic minimally invasive surgery. It generally consists of a camera arm (endoscope, etc.) and one or more working arms and auxiliary arms. Because it can overcome the problems of limited flexibility, complex process, uncoordinated eye-hand movement, long learning curve and unavoidable hand tremors during the operation of traditional minimally invasive techniques, and has extremely high control of surgical accuracy, It can also perform three-dimensional imaging, etc. Surgical robot systems have become the first choice in surgical operations, and surgical hand robots have also become the trend of future operations.

At present, whether it is endoscopic surgery or surgical robotic surgery, doctors usually need to apply drugs to tissues in the body. In clinical practice, narrow working channels (flushing and perfusion channels, biopsy forceps, etc.) are often used to administer drugs to designated parts of the body. Among them, (a) for liquid drugs (including mobile phases such as colloids, solutions, and liquid films), they mainly enter the working pipeline through catheter injection, and are further transported into body cavities or patient tissues; (b) for solid drugs ( Such as powder), the existing endoscope applicators are mostly open and connected mixing tubes at the upper and lower ends. Into the working pipeline, and then into the body cavity or patient tissue.

However, there are some problems in the current endoscopic drug delivery system. In the drug delivery process, the flow rate and flow control in the drug delivery process are mainly carried out by the doctor's experience, and the dose control also has problems that are not accurate enough, such as the abdominal cavity disclosed in the patent CN203677717U. Mirror multi-functional drug implanter, the drug is contained in the elastic balloon, after the balloon is pressed by hand, the liquid is discharged through the pipeline and sprayed out through the end nozzle; among them, the solid drug delivery still has problems of easy blockage and uneven mixing situation, in this regard, in the disclosed endoscope drug delivery device of Chinese patent application CN203139375U, the air inlet mode is set by dislocation in the circumferential direction of the mixing tube; The dry powder is continuously or intermittently delivered through the catheter with positive air pressure to prevent pipeline blockage during solid drug delivery. Although the above-mentioned technology has proposed an improved solution for solid drug delivery, the drug dosage and administration process are still unable to be accurately controlled.

The surgical operation of the surgical robot during the operation, such as electric cutting, suturing, hemostasis, and drug delivery, is performed by the working arm. Take the hemostasis process as an example: at present, suture and electrocoagulation or ultrasonic knife and radio frequency knife are mainly used. First of all, the suture operation process is more complicated, and the process of electrocoagulation needs to generate heat or smoke, which will damage the surrounding tissue or cause certain interference to the surgical process, and the operation of this method is more complicated and the time is slightly longer (or the preparation process is complicated) , and prone to rebleeding and oozing after hemostasis. The use of hemostatic materials is fast and effective, and can also prevent mishandling injuries, and can also be used to deal with rebleeding and oozing. The use of working arms for transportation may require the replacement of specific working arm devices or the addition of related working arms in advance, which is not conducive to fast, timely and effective processing, and will also increase the load on the working arms.

Utility model content

Aiming at the problems existing in the prior art, the utility model provides a surgical operation device that can be used for minimally invasive surgery, especially an endoscopic surgery system or a surgical robot system that can be used for minimally invasive surgery.

The surgical device provided by the utility model, especially the surgical device suitable for minimally invasive surgery, includes a fluid delivery device, an imaging device and an operating arm of the imaging device. Wherein, the fluid delivery device includes a power system and a fluid delivery channel through which both ends pass, wherein the power system provides power for the flow of fluid in the fluid delivery channel. The other end of the fluid delivery channel of the fluid delivery system is connected to the imaging device operating arm at the starting position or the middle position of the imaging device operating arm, and extends along the length direction to the end of the imaging device operating arm, and from The end protrudes.

Wherein, the fluid may be any one or a mixture of liquid, gas, and solid powder, and is preferably any one or a mixture of liquid and solid powder, especially preferably liquid or solid powder.

Wherein, the fluid may be any one or a combination of drugs, eluate, and effusion, preferably drugs, and may be anti-inflammatory drugs, anti-adhesion drugs, hemostatic drugs, tissue repair or repair materials any one or more of them.

Wherein, the effusion can be the effusion caused by diseases in the body, or the effusion produced during the operation, or a combination of both. Wherein, the effusion generated during the operation is not limited to body fluid, and may also include effusion formed by accumulation of drugs.

Wherein, the eluent may be a liquid used as a drug for tissue cleaning, or may be a eluent used to clean minimally invasive surgical equipment, such as endoscopes, cameras, surgical robots, and other surgical equipment.

Wherein, the power system is selected from a peristaltic pump, a gas delivery pump, or a combination thereof.

Wherein, the solution for connecting the fluid delivery channel to the operating arm of the imaging device is selected from:

The outer wall of the fluid delivery pipe is at least partially adhered to the outer wall of the imaging device operating arm; or the fluid delivery pipe and the imaging device operating arm are connected together through a clamping part; or the fluid delivery A tubing is placed within the imaging device manipulator arm.

In a preferred embodiment, a hollow channel is provided inside the operating arm of the imaging device, and the fluid conveying pipeline extends out to the imaging device after passing through the hollow channel.

In a preferred embodiment, the operating arm of the imaging device is provided with a hollow channel, and the hollow channel is provided with a side channel connected to the operating arm of the imaging device, and the side channel is communicated with the external drug channel . That is: in this preferred embodiment, the hollow channel and the side channel become part of the drug channel.

In a preferred embodiment of the present utility model, the fluid delivery device further includes a flow rate control device to control the fluid flow rate, flow rate, or a combination thereof in the fluid delivery channel. Wherein, the flow rate control device may be integrated into the power system, or independently installed on the fluid delivery channel.

Wherein, the flow rate control device may be adjusted manually, or automatically adjusted by a processor according to a preset value, for example, adjusted by an external computer device.

Without limitation, the flow rate control device can be a valve, such as a manual valve, a hydraulic valve, a pneumatic valve, an electric valve, etc.; but the utility model is not limited to a one-way valve, and is preferably a two-way valve; the power The system is also not limited to one-way delivery, and may also have a two-way delivery function, and preferably has a two-way delivery function.

In a preferred embodiment of the present invention, the fluid delivery channel is provided with one or both of the angle adjustment device at the end of the fluid delivery channel and the length adjustment device at one end (ie, the first end) of the imaging device.

In a preferred embodiment, the fluid delivery channel includes a telescopic section, the length adjusting device is provided with a slide bar and a slider sliding along the slide bar, and the slider drives the expansion and contraction of the telescopic section.

In a preferred embodiment of the present invention, at least part of the inner wall of the fluid delivery channel is provided with an air bag, wherein at least part or all of the partition wall between the air bag and the inner hollow channel of the fluid delivery channel is elastic material.

Wherein, the number of the airbags is not limited, and can be set by those skilled in the art according to the stability of fluid delivery.

Wherein, the airbag is preferably arranged downstream of the power system. The fluid delivery channel is provided with a mixing chamber, wherein the mixing chamber is preferably arranged downstream of the power system.

Wherein, the mixing chamber includes a cavity enlarged compared with the fluid delivery channel.

More preferably, the cavity in the mixing chamber is provided with a rotating cylinder, the rotating cylinder includes a cylinder wall and a fluid channel surrounded by the cylinder wall, and the inner surface of the cylinder wall is provided with a spiral that can be driven to rotate by air flow and/or liquid fluid bezel.

More preferably, the bladder is located downstream of the mixing chamber.

In a preferred embodiment of the present invention, a medicine storage container is further included, and the second end of the fluid delivery channel communicates with the medicine storage container.

Wherein, the drug storage container includes a hollow body, the hollow body is provided with a drug fluid outlet, and a connection part is arranged at the drug fluid outlet, and the connection part is sealed with the drug fluid outlet; the fluid delivery channel passes through The connection part is connected with the medicine storage container.

In a preferred embodiment of the present invention, the connecting part is a sealing plug, and the end of the fluid delivery channel connected to the drug storage container is provided with a hollow needle, and the hollow needle can be inserted through the sealing plug into the drug storage container.

In another preferred embodiment of the present utility model, the drug fluid outlet is provided with a protruding part, and the connecting part is provided with an inner chamber, one end of the inner chamber is open, and the other end is a closed end, and the closed end is provided with There is a hole, the fluid delivery channel is inserted into the inner cavity through the hole, and the fluid delivery channel is sealed with the connecting part; the protrusion is inserted into the inner cavity from one end opening of the inner cavity, and protrudes There is a seal between the part and the lumen wall.

In a more preferred embodiment, the connecting portion is connected to the protruding portion through a screw structure.

In a more preferred embodiment, the outer surface of the connecting part (preferably the closed end) is provided with a card slot, and a wedge-shaped accommodation space with an end pointing to the hole is formed on the side of the card slot near the hole; A clip is provided on the outer surface of the drug delivery pipeline, and the clip is provided with a protrusion protruding toward the slot.

More preferably, the end of the clip is provided with inclined or arc-shaped surfaces extending to both sides. Wherein, the end of the clamp here refers to the end of the clamp close to the bottom of the protruding part; the two sides refer to the outward direction centering on the fluid delivery pipe.

Wherein, the imaging device is preferably an endoscope, more preferably an imaging device of a surgical robot.

In a preferred embodiment, the surgical device is a surgical robot. The surgical robot described in the present invention can be any existing surgical robot, preferably, the surgical robot includes an imaging device and an operating arm of the imaging device.

In a more preferred embodiment, the fluid delivery channel is connected with the operating arm of the surgical robot endoscope at the starting position or the middle position.

Wherein, it should be understood that, in the above content of the present invention, the middle position refers to a position between the starting position and the end position, and does not specifically refer to the midpoint position.

In a preferred embodiment, the surgical robot further includes a working arm for performing surgical operations and a surgical device connected to the end of the working arm.

Wherein, the above-mentioned fluid delivery channel of the present invention can also be connected to other working arms of the surgical robot.

In a preferred embodiment, the surgical robot further includes a console and a driving mechanism, the console sends out operation instructions, and the driving mechanism drives the movement of the operating arm and the working arm of the imaging device according to the instructions.

In a preferred embodiment, the surgical device is an endoscope, comprising a camera, an optical fiber connected to the camera, and an optical fiber channel surrounding the optical fiber, and the drug delivery channel passes through the optical fiber channel until the camera head protrudes .

More preferably, the endoscope further includes a handle and a display terminal.

Wherein, the fluid delivery channel may penetrate into the optical fiber channel at the handle.

Endoscopes are not limited to digestive endoscopes, respiratory endoscopes, peritoneal endoscopes, biliary endoscopes, urinary system endoscopes, vascular endoscopes, arthroscopes, gynecological endoscopes, such as colonoscopes (such as colonoscopes, Proctoscope, enteroscope, duodenoscope), laryngoscope, thoracoscope, cystoscope, bronchoscope, esophagoscope, gastroscope, laparoscope, nephroscope, ureteroscope, ophthalmoscope, thoracoscope, endoscope, biliary tract Endoscopy, Colposcopy, Hysteroscopy, Vascular Endoscopy, Arthroscopy, etc.

It should be understood that the above-mentioned various preferred embodiments of the present invention can be combined without limitation by those skilled in the art as needed, and said combination is also within the scope of the present invention.

The surgical operation device described in the utility model can carry out drug administration through the working pipeline of the existing endoscope or the camera arm of the surgical robot, especially quantitative and fixed-speed drug delivery. The defect of single function of the camera arm is changed, and the burden on the working arm of the surgical robot is reduced, and the end of the adjustable drug delivery channel can also realize the cleaning of the lens of the imaging device and the suction of the effusion.

Description of drawings

Fig. 1 is a schematic structural view of a camera arm of a surgical robot connected to a fluid delivery device in an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a fluid delivery device connected to a drug storage container in an embodiment of the present invention;

Fig. 3 is a schematic diagram of the structure of the fluid transport channel airbag in an embodiment of the present invention;

Fig. 4 is a schematic diagram of the structure of the mixing chamber in an embodiment of the utility model;

Fig. 5 is a schematic diagram of the threaded connection structure between the connecting part and the drug storage container in an embodiment of the present invention;

Fig. 6 is a schematic diagram of the connection structure between the connecting part and the fluid delivery channel in an embodiment of the present invention;

Fig. 7 is a schematic diagram of the length adjustment and angle adjustment structure of the fluid conveying channel in an embodiment of the present invention;

Fig. 8 is a schematic structural view of an endoscope connection fluid delivery device in an embodiment of the present invention.

Detailed ways

The utility model will be further introduced and described below with reference to specific embodiments, but it should be understood that the following embodiments are only used as examples and do not constitute limitations to the protection content of the utility model.

Taking the surgical robot 5 as an example, with reference to FIGS. 1 and 2 , the surgical robot 5 includes an imaging device 51, a surgical tool 53, an imaging arm 52 that connects the imaging device 51 to a servo mechanism 55, and connects the surgical tool 53 to the servo mechanism 55. The working arm 54. At the position where the camera arm 52 is close to the servo mechanism 55, a fluid (such as a drug) delivery channel 2 is externally connected to the side, the fluid delivery channel 2 passes through the camera arm 52, and the second end extends along the camera arm 52 to the imaging device 51 stick out.

Wherein, as shown in Figure 1, a hollow channel 50 is provided inside the camera arm 52, and is connected to the external fluid delivery channel 2 through the side channel 20, and can be between the side channel 20 and the external fluid delivery channel 2 Integrated design, or detachable connection.

After the fluid delivery channel 2 passes through the peristaltic pump 1 , it is connected to the drug storage container 3 , and the peristaltic pump 1 pumps out the drug in the drug storage container 3 , and sends it through the fluid delivery channel 2 for forward delivery. On the inner wall of the fluid delivery channel 2, an air bag 23 is arranged downstream of the peristaltic pump 1, and the air bag 23 is separated from the fluid channel of the fluid delivery channel 2 by an elastic material wall 231. Since the other compressibility is greater than that of the liquid fluid, therefore, a The pulses can be cushioned by the air pockets, resulting in a stable fluid.

Referring to Fig. 2, Fig. 5 and Fig. 6, a protruding part 31 is provided at the drug outlet of the drug storage container 3, and the connecting part 4 is engaged with the protruding part 31 through a threaded structure to form a seal. After the medicine is used up, the medicine storage container 3 can be easily disassembled for medicine replacement or container replacement. In an alternative technical solution of the present invention, the connecting part 4 and the drug outlet can also be designed in one piece.

A hole 41 is provided at the closed end of the connection part, and the hole 41 faces toward the drug outlet. The drug inlet end of the fluid delivery channel 2 is inserted into the drug storage container 3 through the hole 41 , and a seal is formed between the fluid delivery channel 2 and the hole 41 . During the operation, since the camera arm 52 is in constant motion, in order to prevent the fluid delivery channel 2 from being pulled out of the drug storage container 3, as shown in Figure 6, the utility model is provided with a clip on the outer surface of the closed end of the connecting part 4. The groove 42 and the drug delivery channel are provided with a clip 22, and the clip 22 is inserted into the wedge-shaped accommodation chamber of the clip slot 42, thereby fixing the fluid delivery channel 2. The end of the clip 21 is provided with an arc-shaped surface extending outward, which is convenient for pressing the clip 21 back by hand and taking the clip 22 out of the slot 42 .

In another alternative technical solution of the present utility model, as shown in FIG. 4 , a mixing chamber 6 is provided in the fluid delivery channel 2. Compared with the fluid channel of the fluid delivery channel 2, the mixing chamber 6 has a larger cavity. The volume change can play a turbulent effect on the material and speed up the mixing of drugs, especially the mixing of solid powder drugs. The utility model is also provided with a rotating cylinder 61 in the mixing chamber 6, and the inner wall of the rotating cylinder 61 is provided with a spiral baffle 62. When the liquid flow or the gas flow blown out by the intake pump passes through the mixing chamber, the spiral baffle 62 can be pushed, Thereby, the rotary drum 61 is driven to rotate, and the drug mixing effect is promoted. This technical scheme is especially suitable for the delivery of solid powder medicine. Generally, the mixing chamber 6 should be located between the air bag and the peristaltic pump/air intake pump.

Among them, the end of the fluid delivery channel 2 near the imaging device 51 can remotely adjust the angle and/or length of the first end. Wash the lens when it is contaminated. As shown in Figure 7, the end of the imaging device 51 is a camera 510, and the fluid delivery channel 2 is provided with an angle control part 201 at the part protruding from the imaging device 51, and the remote control is carried out through a data line. There is a telescopic section 200 formed inside, which can be remotely controlled through the data cable to adjust the extension length of the drug delivery channel 2. Through the adjustment of the length and angle, on the one hand, the fixed-point delivery of the drug can be improved, and on the other hand, the fluid delivery channel 2 can also be avoided. Obstruction of the field of view of the camera 510, or contamination of the camera 510 by the output medicine.

Wherein, the peristaltic pump 1 (or air intake pump) can have the function of bidirectionally transporting fluid, for example, extracting the effusion existing in the operation site through the fluid transport channel 2 .

In other alternative embodiments, the surgical device is an endoscope. As shown in FIG. 8 , the channel of the endoscope surrounding the optical fiber communicates with the fluid delivery channel 2 behind the handle, and the optical fiber and the fluid delivery channel 2 extend in parallel in the outer layer surrounding the optical fiber.

The specific embodiments of the present invention have been described in detail above, but they are only examples, and the present invention is not limited to the specific embodiments described above. For those skilled in the art, any equivalent modifications and substitutions to the utility are also within the scope of the utility model. Therefore, all equivalent transformations and modifications made without departing from the spirit and scope of the present invention shall fall within the scope of the present invention.

Claims (10)

1. A surgical device, comprising a fluid delivery device, an imaging device, and an imaging device operating arm, wherein: The fluid delivery device includes a power system and a fluid delivery channel connected at both ends, wherein the power system provides power for the flow of fluid in the fluid delivery channel; The first end of the fluid delivery channel of the fluid delivery system is connected to the imaging device operating arm at the starting position or the middle position of the imaging device operating arm, and extends to the end of the imaging device operating arm along the length direction, and protrudes from said end. 2. The surgical device according to claim 1, wherein the fluid delivery device further comprises a flow rate control device to control the fluid flow rate, flow rate or a combination thereof in the fluid delivery channel. 3. The surgical device according to claim 1, wherein at least part of the inner wall of the fluid delivery channel is provided with an air bag, wherein the partition wall between the air bag and the hollow channel inside the fluid delivery channel, at least partially or entirely of elastic material. 4. The surgical device according to claim 1, wherein the fluid delivery channel is provided with a mixing chamber, wherein the mixing chamber is preferably arranged downstream of the power system; There is a rotating cylinder, and the rotating cylinder includes a cylinder wall and a fluid channel surrounded by the cylinder wall, and the inner surface of the cylinder wall is provided with a spiral baffle that can be driven to rotate by air flow and/or liquid fluid. 5. The surgical device according to claim 1, further comprising a drug storage container, the drug storage container comprising a hollow body, the hollow body is provided with a drug fluid outlet, and a connecting portion is arranged at the drug fluid outlet, The connection part is in sealing connection with the drug fluid outlet; the fluid delivery channel is connected with the drug storage container through the connection part. 6. The surgical device according to claim 5, wherein the drug fluid outlet is provided with a protruding portion, the connecting portion is provided with an inner cavity, one end of the inner cavity is open, and the other end is a closed end, so The closed end is provided with a hole, the fluid delivery channel is inserted into the inner cavity through the hole, and the fluid delivery channel is sealed with the connecting part; the protruding part is inserted into the inner cavity from one end opening of the inner cavity In the middle, and the protruding part is sealed with the inner cavity wall; the outer surface of the connecting part is provided with a card slot, and the card slot is formed on a side close to the hole with a wedge-shaped accommodation space whose end points to the hole; A clip is provided on the outer surface of the fluid delivery pipe, and the clip is provided with a protruding portion protruding toward the clip slot. 7. Surgical device according to claim 1, is characterized in that, described fluid delivery channel is provided with one or both in described fluid delivery channel terminal angle adjustment device, length adjustment device at one end of imaging equipment. 8. The surgical device according to claim 1, wherein the surgical device is one of a surgical robot, an endoscope or a combination thereof. 9. The surgical device according to claim 1, wherein the fluid is selected from any one or more of solid powder, liquid, and gaseous fluid. 10. Surgical device according to claim 9, is characterized in that, described fluid is selected from any one or the combination of several in medicine, eluate, effusion; Said medicine is selected from anti-inflammatory medicine, hemostasis Any one or more of drugs, anti-adhesion drugs, tissue repair or repair materials.