Fetal intrauterine positioning fixation device and system thereof

A fetal intrauterine positioning fixation manipulator, entering an amniotic cavity through a vaginal cervical fetal membrane access and/or abdominal wall uterine fetal membrane access to adjust and fix a fetal position in a maternal uterus, comprising:

• a wrist joint configured to flex, extend and/or rotate a plurality of finger wrist joints,
• a first finger configured to clamp and/or hold a fetus, the first finger being connected with a first finger wrist joint, and
• a second finger configured to clamp and/or hold the fetus and cooperate with the first finger, the second finger being connected with a second finger wrist joint;
• wherein the second finger comprises a second arc rod, a second connecting tube, a third pull rod, and a fourth pull rod, the second arc rod and the second connecting tube is detachably connected, the second connecting tube, the third pull rod, and the fourth pull rod rotate around the second finger wrist joint, the second connecting tube, the third pull rod and the fourth pull rod are fixedly connected with each other.

A fetal intrauterine positioning fixation manipulator, entering an amniotic cavity through a vaginal cervical fetal membrane access and/or abdominal wall uterine fetal membrane access to adjust and fix a fetal position in a maternal uterus, comprising:

• a wrist joint configured to flex, extend and/or rotate a plurality of finger wrist joints,
• a first finger configured to clamp and/or hold a fetus, the first finger being connected with a first finger wrist joint, and
• a second finger configured to clamp and/or hold the fetus and cooperate with the first finger, the second finger being connected with a second finger wrist joint;
• wherein the wrist joint is connected with a first flange by sliding and rotating, the first flange is connected with an outer sleeve of a mechanical arm fixedly, and a power device of a surgical robot through a wire rope threaded through the mechanical arm;
• wherein the wrist joint comprises a shell, a first anchorage, an eighth steel wire rope, a second anchorage, and a ninth steel wire rope, configured to realize an extension and flexion of the wrist joint.

A fetal intrauterine positioning fixation mechanical arm, comprising:

• a main mechanical arm configured to assist a manipulator to enter an amniotic cavity, implement fetal positioning and fixation, and build an operation space for fetal intrauterine surgery, the main mechanical arm being connected with the manipulator, and a surgical robot body or a handle,
• a first auxiliary mechanical arm configured to coordinate the main mechanical arm to enter the amniotic cavity for fetal position adjustment, and
• a second auxiliary mechanical arm configured to clamp and carry a camera into the amniotic cavity to collect image data;
• wherein the main mechanical arm comprises an intra amniotic segment mechanical arm and an outer amniotic segment mechanical arm, a distal end of the intra amniotic segment mechanical arm is fixedly connected with a first flange, a proximal end of the intra amniotic segment mechanical arm is connected in series with the outer amniotic segment mechanical arm through a second flange, and a proximal end of the outer amniotic segment mechanical arm is connected in series through a third flange and an adapter is connected with a handle or a surgical robot.

A fetal intrauterine positioning fixation mechanical arm, comprising:

• a main mechanical arm configured to assist a manipulator to enter an amniotic cavity, implement fetal positioning and fixation, and build an operation space for fetal intrauterine surgery, the main mechanical arm being connected with the manipulator, and a surgical robot body or a handle,
• a first auxiliary mechanical arm configured to coordinate the main mechanical arm to enter the amniotic cavity for fetal position adjustment, and
• a second auxiliary mechanical arm configured to clamp and carry a camera into the amniotic cavity to collect image data;
• wherein the first auxiliary mechanical arm comprises a suction cup configured to adsorb a fetus, wherein the suction cup comprises a disc body, a disc edge, a vent hole, a mounting joint, an air path, and a sensor, a center of the disc body is the vent hole, the mounting joint is configured to connect the first auxiliary mechanical arm, the sensor is arranged on the disc body to collect pressure data between the disc body and the fetus, and the vent hole is connected with an air pump of a surgical robot through an air path, the air pump is electrically connected with a control processor.