Medical ureteroscope system

Abstract

The present invention discloses a medical ureteroscope system, comprising a ureteroscope body and a visualization system. The ureteroscope body comprises a tube and a working component, wherein the working component is mounted on the tube so as to extend forward from a distal end of the tube, wherein the distal end of the tube has an imaging end face and a suction end face located forward of the imaging end face, and the ureteroscope body comprises a suction channel extending axially within the tube to form a suction opening at the suction end face of the distal end. The visualization system comprises a camera and a display device communicatively connected to the camera, wherein the camera is mounted on the imaging end face of the distal end and is configured to capture the suction opening and the working component extending from the distal end, so that images of the suction opening and the working component are displayed on the display device.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a medical ureteroscope system. Background Art

[0002] Urinary stones are a common disease. According to statistics, the prevalence of urolithiasis in adults is as high as 6.5%, with a five-year recurrence rate of up to 50%, which continues to rise annually, posing a serious threat to public health. In recent years, with the development of minimally invasive treatment technologies, flexible ureteroscopy has become an important treatment for this disease. However, if large stones are crushed to approximately 2 mm, existing holmium laser technology is difficult to pulverize, and effective stone removal devices are lacking. As a result, approximately 60%-90% of the crushed stones remain in the renal pelvis, requiring natural excretion. This method not only has a low excretion rate but also forms stone steps in the ureter, obstructing the ureter and contributing to the high recurrence rate. Furthermore, the entire treatment process is lengthy, and existing flexible ureteroscopy cannot precisely control the pressure within the renal pelvis, which can cause irreversible damage to the pelvis.

[0003] In order to solve this problem, clinical experts have proposed using the principle of negative pressure suction to promptly draw the crushed stones out of the body. Figure 1 As shown, a self-irrigation and drainage ureteroscope 1P was applied for in the Chinese utility model patent CN212574841U. Compared with the existing flexible ureteroscope, its advantage is that the suction function is added, and the diameter of the insertion part of the ureteroscope is increased to replace the guide sheath of the ureter. The advantage is that the head of the ureteroscope is designed with an irrigation hole 10P and a suction hole 20P to flush the gravel by irrigation water flow, so as to achieve close-range low-negative pressure suction to improve the efficiency of stone removal. However, in the actual test process, problems such as the entire ureteroscope tip cannot be fully visualized, the camera and optical fiber are blocked by the inner wall of the renal pelvis, the fragmented stones are hit and escape, or the self-irrigation and drainage circulation system is uncontrollable are prone to occur. For example, Figure 2 As shown, since the camera 30P is in front of the suction hole 20P, the suction hole 20P is outside the field of view of the camera 30P. Therefore, it is impossible to observe whether the crushed gravel enters the suction hole 20P or whether the suction hole 20P is blocked, which brings a considerable safety risk to the operation. Summary of the Invention

[0004] An advantage of the present invention is that it provides a medical ureteroscope system that can visualize the distal end of the ureteroscope body to accurately guide the doctor's operation.

[0005] Another advantage of the present invention is that it provides a medical ureteroscope system. In one embodiment of the present invention, the medical ureteroscope system can design the positional arrangement of the suction port and the optical fiber so that the stone, the suction hole and the optical fiber head are all within the field of view of the camera, so as to capture the working status image of the tip of the ureteroscope in the renal pelvis for the doctor to observe and judge.

[0006] Another advantage of the present invention is that it provides a medical ureteroscope system, wherein, in one embodiment of the present invention, the medical ureteroscope system can synchronize the optical fiber striking aiming point with the image without occlusion, thereby improving the reliability and safety of the system.

[0007] Another advantage of the present invention is that it provides a medical ureteroscope system. In one embodiment of the present invention, the medical ureteroscope system can use the adsorption force of the suction port on stone fragments to offset the impact force of laser energy, prevent the stone from escaping, and help improve the lithotripsy efficiency.

[0008] Another advantage of the present invention is that it provides a medical ureteroscope system, wherein, in one embodiment of the present invention, the medical ureteroscope system can enable the irrigation fluid to form an approximately semi-circular continuous circulating motion trajectory (i.e., vortex) between the irrigation opening and the suction opening, so as to drive the gravel into the suction opening and be discharged from the body.

[0009] Another advantage of the present invention is that it provides a medical ureteroscope system. In one embodiment of the present invention, the medical ureteroscope system can control the movement trajectory of the irrigation fluid by adjusting the irrigation flow rate and the size of the suction force, thereby achieving targeted and controllable suction of the gravel, which helps to significantly improve the stone removal efficiency.

[0010] Another advantage of the present invention is to provide a medical ureteroscope system. In one embodiment of the present invention, the medical ureteroscope system can improve the overall reliability, safety and operational accuracy of the system.

[0011] Another advantage of the present invention is that it provides a medical ureteroscope system, wherein, in order to achieve the above advantages, the present invention does not require a complex structure or design. Therefore, the present invention successfully and effectively provides a solution that not only provides a simple medical ureteroscope system, but also increases the practicality and reliability of the medical ureteroscope system.

[0012] In order to achieve at least one of the above advantages or other advantages and purposes, the present invention provides a medical ureteroscope system, comprising:

[0013] A ureteroscope body, wherein the ureteroscope body includes a scope tube and a working component, wherein the working component is mounted on the scope tube so as to extend forward from a distal end portion of the scope tube, wherein the distal end portion of the scope tube has an imaging end surface and a suction end surface located forward of the imaging end surface, and the ureteroscope body includes a suction channel extending axially within the scope tube to form a suction opening at the suction end surface of the distal end portion; and

[0014] A visual system, wherein the visual system includes a camera and a display device communicatively connected to the camera, wherein the camera is mounted on the imaging end face of the tip portion, and is used to photograph the suction opening and the working part extending from the tip portion, so as to display an image of the suction opening and an image of the working part through the display device.

[0015] According to an embodiment of the present application, the visual system further includes at least one light source, wherein the light source and the camera are installed adjacent to each other on the imaging end surface of the distal end portion.

[0016] According to one embodiment of the present application, the visual system further includes an image processing unit, wherein the image processing unit includes an image acquisition module, an image processing module, a posture calculation module and a data transmission module that are communicatively connected in sequence, wherein the image acquisition module is communicatively connected to the camera for acquiring original image information captured by the camera, wherein the original image information includes an image of the suction opening, an image of the head of the working component and an image of the stone, wherein the image processing module is used to denoise and filter the original image information to obtain preprocessed image information, wherein the posture calculation module is used to target the preprocessed image information to calculate the posture transformation data between the head of the working component and the stone; wherein the data transmission module is communicatively connected to the display device for transmitting the posture change data to the display device for display through the display device.

[0017] According to one embodiment of the present application, the working component is an optical fiber, which is used to emit laser to perform lithotripsy.

[0018] According to an embodiment of the present application, the suction end surface of the leading end portion extends obliquely forward from the imaging end surface of the leading end portion.

[0019] According to one embodiment of the present application, the ureteroscope body further includes a working channel for passing the working part, wherein the working channel passes through the scope tube, and the working channel extends obliquely at the front end of the scope tube, so that the working part extends forward obliquely from the front end under the guidance of the working channel.

[0020] According to an embodiment of the present application, the working component extending from the working channel extends forward to the meridional image plane of the camera.

[0021] According to an embodiment of the present application, the working component extending from the working channel extends within the meridional image plane of the camera.

[0022] According to an embodiment of the present application, the working opening of the working channel faces the suction opening of the suction channel.

[0023] According to an embodiment of the present application, the working channel extends forwardly and inwardly in the leading end portion to the inner wall surface of the suction channel to form the working opening on the inner wall surface of the suction channel.

[0024] According to one embodiment of the present application, the medical ureteroscope system further includes a negative pressure suction system, wherein the negative pressure suction system includes a negative pressure generating device connected to the suction channel, which is used to form a negative pressure area at the suction opening of the suction channel.

[0025] According to one embodiment of the present application, the negative pressure suction system further includes a stone collection device and a negative pressure regulator, wherein the stone collection device is arranged in the passage between the suction channel and the negative pressure generating device, and is used to collect gravel discharged through the suction channel; wherein the negative pressure regulator is used to adjust the negative pressure in the suction channel to adjust the adsorption force at the suction opening as needed.

[0026] According to one embodiment of the present application, the ureteroscope body further includes an irrigation channel running through the scope tube, and the irrigation channel extends radially within the tip portion to the outer peripheral side of the tip portion to form one or more irrigation openings on the outer peripheral side of the tip portion.

[0027] According to one embodiment of the present application, the medical ureteroscope system further includes an irrigation system, wherein the irrigation system includes an irrigation device connected to the irrigation channel, which is used to continuously transport irrigation fluid to the irrigation channel to infuse the irrigation fluid from the peripheral side of the distal end portion through the irrigation opening.

[0028] According to one embodiment of the present application, the scope tube of the ureteroscope body includes the leading end portion, a bendable portion extending backward from the leading end portion, and an insertion portion extending backward from the bendable portion, wherein the bendable portion of the scope tube is bent or straightened relative to the insertion portion.

[0029] According to an embodiment of the present application, the ureteroscope body further includes an operating portion disposed at the rear end of the scope tube, and the bendable portion of the scope tube is controlled by the operating portion to bend or straighten.

[0030] Further objects and advantages of the present invention will be fully apparent from an understanding of the following description and accompanying drawings.

[0031] These and other objects, features and advantages of the present invention will be more fully understood from the following detailed description, accompanying drawings and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A partial structural diagram of a self-irrigation ureteroscope in the prior art is shown.

[0033] Figure 2 A schematic diagram of the application of the self-irrigation ureteroscope is shown.

[0034] Figure 3 FIG. 1 is a block diagram of a medical ureteroscope system according to an embodiment of the present invention.

[0035] Figure 4 A schematic diagram showing the status of the medical ureteroscope system according to the above embodiment of the present invention is shown.

[0036] Figure 5 A partially enlarged schematic diagram of the medical ureteroscope system according to the above embodiment of the present invention is shown.

[0037] Figure 6 A partial longitudinal cross-sectional schematic diagram of the medical ureteroscope system according to the above embodiment of the present invention is shown.

[0038] Figure 7 A schematic diagram of the application of the medical ureteroscope system according to the above embodiment of the present invention is shown.

[0039] Figure 8 A block diagram of an image processing unit of a visual system in the medical ureteroscope system according to the above embodiment of the present invention is shown.

[0040] Figure 9 A schematic diagram of the visual system according to the above embodiment of the present invention is shown.

[0041] Figure 10 A partial top view schematically shows the medical ureteroscope system according to the above embodiment of the present invention.

[0042] Figure 11 A partial transverse cross-sectional schematic diagram of the medical ureteroscope system according to the above embodiment of the present invention is shown.

[0043] Figure 12 A schematic diagram of the lithotripsy operation of the medical ureteroscope system according to the above embodiment of the present invention is shown. DETAILED DESCRIPTION

[0044] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are for illustrative purposes only, and those skilled in the art will readily appreciate other obvious variations. The basic principles of the present invention defined in the following description may be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0045] Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0046] In the present invention, the term "a" or "an" in the claims and the specification should be understood as "one or more." That is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple. Unless the disclosure of the present invention clearly indicates that the number of the element is only one, the term "a" or "an" should not be understood as a unique or singular element, and the term "a" or "an" should not be understood as a limitation on the quantity.

[0047] In the description of the present invention, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through a medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0049] Application Overview

[0050] As described in the background art, during actual testing, the existing self-irrigation ureteroscope, compared to the existing flexible ureteroscope, has added a suction function and increased the diameter of the insertion portion of the ureteroscope to replace the guide sheath of the ureter, so that an irrigation hole and a suction hole are designed at the head of the ureteroscope to flush the gravel by irrigation water flow, thereby achieving close-range low-negative pressure suction to improve the efficiency of stone removal. However, during actual testing, problems such as the inability to fully visualize the entire front end of the ureteroscope are prone to occur. For example, whether the crushed gravel enters the suction hole or whether the suction hole is blocked cannot be observed, which brings considerable safety risks to the operation.

[0051] Specifically, the technical concept of this application is to creatively design the tip of the ureteroscope while fully considering the characteristics of lithotripsy and the actual application scenarios of the ureteroscope, so that while meeting the needs of minimally invasive treatment surgery, the images of the suction opening and the optical fiber are within the field of view of the camera, making the working of the tip of the ureteroscope body visible to accurately guide the doctor's operation.

[0052] Based on this, the present application provides a medical ureteroscope system, comprising: a ureteroscope body, wherein the ureteroscope body includes a scope tube and a working part, wherein the working part is installed on the scope tube to extend forward from the front end of the scope tube, wherein the front end of the scope tube has a camera end face and a suction end face located in front of the camera end face, and the ureteroscope body includes a suction channel extending axially in the scope tube to form a suction opening on the suction end face of the front end; and a visual system, wherein the visual system includes a camera and a display device communicatively connected to the camera, wherein the camera is installed on the camera end face of the front end for photographing the suction opening and the working part extending from the front end, so as to display an image of the suction opening and an image of the working part through the display device.

[0053] Illustrative embodiments

[0054] With reference to the accompanying drawings of the present invention Figures 3 to 12 One embodiment of the present invention provides a medical ureteroscope system 1 that can be used to treat diseases such as urinary stones. For example, when performing a lithotripsy using the medical ureteroscope system 1 of this application, in addition to observing the location and condition of stones in the body using the medical ureteroscope system 1, it is usually necessary to first perform lithotripsy and other operations using the medical ureteroscope system 1. Those skilled in the art should understand that, for ease of description, this application defines the direction of the medical ureteroscope system 1 entering the body as the front direction, and the direction of the medical ureteroscope system 1 outside the body as the back direction.

[0055] Specifically, if Figures 3 to 9 As shown, the medical ureteroscope system 1 may include a ureteroscope body 10 and a visualization system 20. The ureteroscope body 10 may include a scope tube 11 and a working component 12, wherein the working component 12 is mounted on the scope tube 11 to extend forward from a distal end portion 110 of the scope tube 11, wherein the distal end portion 110 of the scope tube 11 has an imaging end surface 1101 and a suction end surface 1102 located in front of the imaging end surface 1101, and the ureteroscope body 10 includes a suction channel 101 extending axially within the scope tube 11 to form a suction opening 1010 on the suction end surface 1102 of the distal end portion 110. The visual system 20 includes a camera 21 and a display device 22 communicatively connected to the camera 21, and the camera 21 is installed on the camera end surface 1101 of the tip end portion 110, for photographing the suction opening 1010 and the working part 12 extending from the tip end portion 110, so as to display the image of the suction opening 1010 and the image of the working part 12 through the display device 22.

[0056] It can be understood that the camera end face 1101 and the suction end face 1102 of the distal end portion 110 of the present application jointly form the front end face of the endoscope tube 11, so that when the endoscope tube 11 of the medical ureteroscope system 1 is inserted into a human organ, the liquid or gravel in the human organ can enter the suction channel 101 from the front end face of the distal end portion 110 through the suction opening 1010 to be discharged from the body.

[0057] It is worth noting that since the camera 21 and the suction opening 1010 are respectively located at the imaging end surface 1101 and the suction end surface 1102 of the tip end 110, and the suction end surface 1102 is located in front of the imaging end surface 1101, the suction opening 1010 will be in front of the camera 21 to achieve the technical effect of suction in front and imaging in the back, so as to ensure that the suction opening 1010 is partially or completely within the field of view of the camera 21. At the same time, the working part 12 installed on the mirror tube 11 extends forward from the distal end 110 and is also within the field of view of the camera 21, so that the image of the suction opening 1010 and the image of the working part 12 can be displayed by the display device 22, thereby observing the working status of the suction opening 1010 and the working part 12 in real time, such as whether gravel enters the suction opening 1010, or whether the suction opening 1010 is blocked, or whether the working part 12 is working normally, etc., which helps doctors make timely and accurate judgments on the surgical status.

[0058] More specifically, if Figure 5 and Figure 6 As shown, the working component 12 can be, but is not limited to, implemented as an optical fiber 121, so that the laser can be emitted through the optical fiber 121 to perform lithotripsy. It will be understood by those skilled in the art that the type of the working component 12 can also vary depending on the application scenario of the medical ureteroscope system 1, and the operator can choose according to their needs. Of course, in other examples of the present application, the working component 12 can also be, but is not limited to, implemented as a guidewire, wherein the guidewire can guide the scope tube 11 into the target position.

[0059] In addition, when the medical ureteroscope system 1 is used for diagnosis and treatment, the distal end 110 of the scope tube 11 will be inserted into the human body, that is, the camera 21 installed at the distal end 110 will be in a dark environment. Figure 5 and Figure 7 As shown, in order to ensure that the camera 21 can collect image information, the visual system 20 usually needs to further include at least one light source 23, wherein the light source 23 is used to emit light to illuminate the object to be photographed, such as the renal pelvis cavity or the suction opening 1010, and the camera 21 is used to receive the light reflected back by the object to be photographed to capture the image of the object to be photographed, so that the captured image data is transmitted outside the body to be displayed on a monitor, so that doctors and other personnel can observe the internal situation.

[0060] For example, Figure 5 and Figure 10As shown, the camera 21 and the light source 23 are both installed on the imaging end surface 1101 of the tip portion 110, and the light source 23 is located near the camera 21. That is, the camera 21 and the light source 23 are installed adjacent to each other on the imaging end surface 1101 of the tip portion 110, which helps to ensure that the light emitted by the light source 23 can be better received by the camera 21 to obtain image information after being reflected by the object to be photographed.

[0061] Specifically, the light source 23 can be, but is not limited to, an LED or a cold light source, and the number of light sources 23 can be one or more. In addition, the light source 23 can be located on one side or both sides of the camera 21. The specific configuration can be based on needs and space, and this application will not go into details. It is understood that the camera 21 can be, but is not limited to, a camera module consisting of a lens assembly and a CMOS image sensor, and can also be implemented as other types of camera modules as long as they can capture image information.

[0062] It is worth noting that Figure 7 As shown, the display device 22 of the visual system 20 can be, but is not limited to, implemented as a display screen 221, for displaying the image of the suction opening 1010 and the image of the working component 12 captured by the camera 21, allowing the doctor to observe the working status of the distal end portion 110 of the endoscope tube 11 to guide the doctor in performing the corresponding surgical operation. It is understood that the display device 22 can also be implemented as other electronic devices with display functions, such as computers, notebooks, smart watches, AR / VR, etc., as long as they can display the corresponding images for the doctor to observe. This application will not elaborate on this.

[0063] In addition, the display device 22 of the visualization system 20 can be fixedly mounted on the ureteroscope body 10 or can be independent of the ureteroscope body 10, as long as the display device 22 can be communicatively connected to the camera 21. Of course, the display device 22 can be connected via wired or wireless communication.

[0064] In particular, since the images displayed by the display device 22 are typically flat image frames, not only does distance information get lost, but visual aberrations are also prone to occur, making it difficult for doctors to accurately estimate the distance and orientation between the tip of the optical fiber 121 and the stone. If the distance between the tip of the optical fiber 121 and the stone is too large, or if the orientation of the tip of the optical fiber 121 is misaligned with the orientation of the stone, the laser light emitted by the optical fiber 121 will fail to shatter the stone and may even accidentally damage tissue in human organs, causing unnecessary harm to the patient.

[0065] To solve this problem, Figure 3 、 Figure 8 as well as Figure 9 As shown, the visual system 20 of the present application may further include an image processing unit 24, wherein the image processing unit 24 includes an image acquisition module 241, an image processing module 242, a posture calculation module 243 and a data transmission module 244 that are communicatively connected in sequence, wherein the image acquisition module 241 is communicatively connected to the camera 21 for acquiring original image information captured by the camera 21, wherein the original image information includes an image of the suction opening 1010, an image of the head of the working part 12 and an image of the stone; wherein the image processing module 242 is used to The original image information is denoised and filtered to obtain pre-processed image information; wherein the posture calculation module 243 is used to perform target positioning on the pre-processed image information to calculate the posture transformation data between the head of the working component 12 and the stone; wherein the data transmission module 244 is communicatively connected to the display device 22, and is used to transmit the posture transformation data to the display device 22 for display through the display device 22, so that the doctor can accurately grasp the distance and orientation between the head of the working component 12 and the stone, so as to make reasonable medical operations in time.

[0066] It is worth noting that in the process of denoising and filtering the original image information by the image processing module 242, Gaussian filtering can be performed, and each pixel in the image can be scanned with a template, and the weighted average grayscale value of the pixels in the area determined by the template is used to replace the value of the center pixel of the template to ensure the high definition and accuracy of the image, thereby ensuring the accuracy of subsequent data calculations.

[0067] According to the above embodiments of the present application, Figure 5 and Figure 6 As shown, the suction end surface 1102 of the front end portion 110 of the mirror tube 11 extends obliquely forward from the camera end surface 1101 of the front end portion 110, so that the camera 21 installed on the camera end surface 1101 is at the back, and the suction opening 1010 formed on the suction end surface 1102 is at the front, and the suction opening 1010 is an oblique cut, so as to ensure that the suction opening 1010 is partially or completely within the field of view of the camera 21.

[0068] In addition, if Figure 6As shown, the ureteroscope body 10 may further include a working channel 102 for passing the working part 12, wherein the working channel 102 passes through the scope tube 11, and the working channel 102 extends obliquely at the front end 110 of the scope tube 11, so that the working part 12 extends forward obliquely from the front end 110 of the scope tube 11 under the guidance of the working channel 102.

[0069] Preferably, the working component 12 extending from the working channel 102 can extend forward to the meridional image plane 211 of the camera 21, so that the image of the head of the working component 12 is located on the visual axis 210 of the camera 21. In other words, in the image captured by the camera 21, the image of the head of the working component 12 will be located on the visual axis 210 of the camera 21. At this time, simply by aligning the image of the head of the working component 12 with the stone image along the visual axis 210 of the camera 21, the stone can be placed directly in front of the working component 12, thereby controlling the aiming point of the working component 12, helping to improve lithotripsy efficiency and reduce the risk of accidental injury to human organs. It will be understood that the meridional image plane 211 of the camera 21 is perpendicular to the sagittal image plane of the camera 21, that is, the horizontal image plane of the camera 21, and the meridional image plane 211 of the camera 21 forms the visual axis 210 of the camera 21 in the image captured by the camera 21.

[0070] More preferably, if Figure 5 and Figure 6 As shown, the working part 12 extending from the working channel 102 can extend within the meridian image plane 211 of the camera 21. At this time, the image of the working part 12 coincides with the visual central axis 210 of the camera 21, that is, the head image of the working part 12 must be located on the visual central axis 210 of the camera 21.

[0071] It is understandable that the medical ureteroscope system 1 of the present application may have not only front and back divisions, but also up, down, left and right divisions. For example, in an example of the present application, Figure 5 and Figure 6 As shown, the camera 21 can be located above the working component 12 extending from the working channel 102, such that the camera 21 is positioned upward and the working channel 102 is positioned downward. In this case, the image of the working component 12 extending from the working channel 102 is located at the bottom of the display screen. It will be understood that the terms "up", "down", "left", and "right" mentioned herein are defined based on the image captured by the camera 21 when the camera is positioned upright. That is, the terms "up", "down", "left", and "right" mentioned herein correspond to the upper, lower, left, and right directions of the camera 21 when the camera is positioned upright, respectively.

[0072] In addition, if Figure 6 As shown, the optical axis 212 of the camera 21 can be biased toward the central axis 1011 of the suction channel 101, and the optical axis 212 of the camera 21 intersects with the central axis 1011 of the suction channel 101, that is, the shooting direction of the camera 21 is different from the axial direction of the suction channel 101, so that the medical ureteroscope system 1 of the present application can visualize the distal end of the ureteroscope body 10 without increasing the field of view of the camera 21, which helps to observe whether the suction opening 1010 of the distal end 110 is blocked or whether gravel enters the suction opening 1010.

[0073] It is worth mentioning that in a modified implementation of the embodiment of the present application, the optical axis 212 of the camera 21 may be parallel to the central axis 1011 of the suction channel 101 , which is not limited to the present application.

[0074] Exemplarily, the field of view angle of the camera 21 can be, but is not limited to, implemented as 120°. According to the above arrangement of the present application, of course, in other examples of the present application, the field of view angle of the camera 21 can also be implemented as other angles.

[0075] Preferably, if Figures 4 to 6 As shown, the working opening 1020 of the working channel 102 faces the suction opening 1010 of the suction channel 101, so that the optical fiber 121 passing through the working channel 102 can extend from the suction opening 1010, which helps to ensure that the extended portion of the optical fiber 121 can be within the field of view of the camera 21, making it easy to observe the position and status of the extended portion of the optical fiber 121.

[0076] More preferably, if Figure 6 As shown, the working channel 102 extends forward and inwardly in the front end portion 21 to the inner wall surface of the suction channel 101 to form the working opening 1020 on the inner wall surface of the suction channel 101, that is, relative to the suction channel 101, the part of the working channel 102 in the front end portion 21 is implemented as an inclined hole, so that the optical fiber 121 passing through the working channel 102 can extend from the inner wall of the suction channel 101, so as to avoid the optical fiber 121 hindering the flow of gravel or fluid in the suction channel 101 and being discharged smoothly.

[0077] It is understood that, since the working channel 102 extends forward obliquely at the distal end 110 and the working opening 1020 corresponds to the suction opening 1010, the optical fiber 121 passing through the working channel 102 can extend forward obliquely from the suction opening 1010. Thus, when the optical fiber 121 is operated to extend from the suction opening 1010 of the suction channel 101, the laser light emitted through the optical fiber 121 can strike stones in human organs to perform lithotripsy. Furthermore, when the optical fiber 121 is operated to retract into the suction opening 1010 of the suction channel 101, the laser light emitted through the optical fiber 121 is released at the suction opening 1010. At this time, if the suction opening 1010 is clogged with stones, the released holmium laser light will strike the clogged stones, thereby clearing the suction opening 1010.

[0078] For example, in the above embodiments of the present application, Figures 5 to 7 As shown, the working channel 102 at the front end 21 can extend obliquely from top to bottom, so that the optical fiber 121 passing through the working channel 102 extends obliquely downward from the upper side of the suction channel 101 out of the suction opening 1010, so that the optical fiber 121 extending from the suction opening 1010 extends within the meridian image plane 211 of the camera 21, so that the image of the optical fiber 121 basically extends along the visual central axis 210 of the camera 21, that is, the center line of the image of the optical fiber 121 basically coincides with the visual central axis 210 of the camera 21, so that it will not be blocked by tissue at the turning point of the renal pelvis cavity, and not only the stone can be observed, but also the impact position of the optical fiber 121 can be seen.

[0079] In particular, the optical fiber 121 extending from the working channel 102 can extend to the optical axis 212 of the camera 21, so that the laser emitted through the optical fiber 121 can be emitted along the optical axis 212 of the camera 21 to break up the stones within the field of view of the camera 21.

[0080] It is worth noting that when the medical ureteroscope system 1 is used to treat urinary stones, the laser emitted through the optical fiber 121 will exert laser energy impact force on the stones when breaking them up, causing the stones or broken stones to move away from the head of the optical fiber 121 and further away from the suction opening 1010 of the suction channel 101, making it impossible to break and discharge the stones smoothly. In order to solve this problem, Figure 3 and Figure 4As shown, the medical ureteroscope system 1 of the present application may further include a negative pressure suction system 30, wherein the negative pressure suction system 30 includes a negative pressure generating device 31 connected to the suction channel 101, which is used to form a negative pressure area at the suction opening 1010 of the suction channel 101 to generate an adsorption force on the stones or gravel near the suction opening 1010 to offset the impact force of the laser energy, so that the stones remain relatively fixed at the suction opening 1010 to prevent them from escaping, so as to utilize the high-frequency energy of the holmium laser to effectively act on the stones and smash them. At the same time, the gravel enters the suction channel 101 under the negative pressure suction of the suction opening 1010 to be discharged from the body, which not only improves the efficiency of stone crushing, but also greatly improves the efficiency of stone removal.

[0081] Preferably, if Figure 4 As shown, the negative pressure suction system 30 may further include a stone collection device 32, which is disposed in the passage between the suction channel 101 and the negative pressure generating device 31 and is used to collect gravel discharged through the suction channel 101 to prevent the gravel from entering the negative pressure generating device 31 and affecting the normal operation of the negative pressure generating device 31. It is understood that the negative pressure generating device 31 may be, but is not limited to, implemented as a vacuum pump; and the stone collection device 32 may be, but is not limited to, implemented as a filtering container.

[0082] More preferably, the negative pressure suction system 30 further includes a negative pressure regulator 33, wherein the negative pressure regulator 33 is used to adjust the negative pressure in the suction channel 101, so as to adjust the adsorption force at the suction opening 1010 as needed. It is understandable that the negative pressure regulator 33 can be implemented as, but not limited to, a regulating valve connected to the suction channel 101, so as to adjust the negative pressure in the suction channel 101 by adjusting the opening of the regulating valve. Of course, in other examples of the present application, the negative pressure regulator 33 can also be implemented as a switch communicatively connected to the negative pressure generating device 31, so as to directly control the negative pressure generated by the negative pressure generating device 31, and still achieve the effect of adjusting the negative pressure in the suction channel 101.

[0083] According to the above embodiments of the present application, Figure 5 and Figure 11As shown, the ureteroscope body 10 of the medical ureteroscope system 1 may further include an irrigation channel 103 that passes through the scope tube 11, which is used to discharge the irrigation fluid transmitted through the irrigation channel 103 from the distal end 110 to be irrigated into the human organ. In this way, when the medical ureteroscope system 1 is operated, after the medical ureteroscope system 1 is inserted into the kidney, irrigation fluid such as water flows through the irrigation channel 103 to the distal end 21 to be irrigated into the kidney to achieve irrigation; and working components 12 such as optical fibers 121 extend through the working channel 102 and out of the suction opening 1010 to perform lithotripsy. At the same time, excess irrigation fluid and fragments can enter the suction channel 101 from the suction opening 1010 to be discharged from the body.

[0084] Preferably, if Figure 11 and Figure 12 As shown, the perfusion channel 103 extends radially within the tip portion 110 to the outer peripheral side surface 1103 of the tip portion 110 to form one or more perfusion openings 1030 on the outer peripheral side surface 1103 of the tip portion 110, so that the perfusion liquid flows outward from the outer peripheral side surface 1103 of the tip portion 110 through the perfusion openings 1030, so as to form a controllable and orderly fluid circulation in front of the tip portion 110, which helps to drive the gravel to the suction opening 1010 in all directions for efficient suction.

[0085] It can be understood that according to the law of conservation of momentum and the principle of negative pressure attraction in fluid mechanics, the kinetic energy of the perfusion fluid during high-speed flow is used to push the heavier fragmented stones (litholiths) deposited at the bottom of the renal pelvis to move, and after encountering obstruction on the inner surface of the renal pelvis, they change direction and move upward along the inner wall of the renal pelvis. When they reach the front of the suction opening 1010, the pressure near the suction opening 1010 is lower, and the perfusion fluid is forced to flow toward the suction opening 1010, thereby driving the litholiths into the suction channel 101 until they are excreted from the body.

[0086] It is worth noting that according to the above embodiments of the present application, Figure 3 and Figure 4As shown, the ureteroscope body 10 may further include an irrigation system 40, wherein the irrigation system 40 includes an irrigation device 41 in communication with the irrigation channel 103, for continuously delivering irrigation liquid to the irrigation channel 103, so as to infuse the irrigation liquid into the human organ from the outer peripheral side surface 1103 of the distal end portion 110 through the irrigation opening 1030 of the irrigation channel 103. It is understood that the continuous liquid irrigation and suction during this process can cause the irrigation liquid to form a continuous circulating motion trajectory (vortex) approximately semi-circular between the irrigation opening 1030 and the suction opening 1010. By adjusting the flow rate and the magnitude of the suction force, the diameter or motion trajectory of the semi-circle can be controlled, thereby achieving targeted and controllable suction of the lithotripsy, thereby significantly improving the lithotripsy efficiency.

[0087] In addition, since the area of ​​the outer peripheral side surface 1103 of the tip portion 110 is larger, the number and size of the perfusion openings 1030 do not have to be restricted by the smaller end surface of the tip portion 110, so that the effective area of ​​the perfusion openings 1030 can be greatly increased, which helps to form a larger perfusion flow at a relatively low perfusion pressure, and form a larger suction flow in the suction channel 101 under the same negative pressure, thereby achieving the optimal perfusion and suction ratio and enhancing the stone removal efficiency.

[0088] It is worth noting that the perfusion device 41 of the perfusion system 40 can be, but is not limited to, implemented as a fluid pump connected to a container containing perfusion liquid, so as to deliver perfusion liquid of a predetermined pressure to the perfusion channel 103 to meet the perfusion flow requirement.

[0089] According to the above embodiments of the present application, Figure 4 As shown, the scope tube 11 of the ureteroscope body 10 of the medical ureteroscope system 1 may include the front end portion 110, a bendable portion 111 extending backward from the front end portion 110, and an insertion portion 112 extending backward from the bendable portion 111, wherein the bendable portion 111 of the scope tube 11 may be bent or straightened relative to the insertion portion 112, so that the front end portion 110 is close to the target position, such as the stone position in the renal pelvis, so as to perform the corresponding medical operation.

[0090] In particular, if Figure 4As shown, the ureteroscope body 10 may further include an operating portion 13 disposed at the rear end of the scope tube 11, and the bendable portion 112 of the scope tube 11 can be controlled to bend or straighten by the operating portion 13. It is understood that the suction channel 101, the working channel 102, and the irrigation channel 103 of the ureteroscope body 10 of the present application can all extend from the operating portion 13 to the distal end 110 of the scope tube 11, so as to achieve communication between the inside and outside of the human body through the ureteroscope body 10, such as irrigation, lithotripsy, suction, and stone removal.

[0091] Preferably, the perfusion channel 103 has a special-shaped structure and is wrapped around the suction channel 101, so as to increase the effective diameter of the perfusion channel 103 without increasing the outer diameter of the endoscope tube 11, thereby helping to increase the perfusion flow rate. Exemplarily, the perfusion channel 103 may have an annular cross-sectional structure so that the perfusion channel 103 surrounds the suction channel 101. It is worth noting that the annular in the annular cross-sectional structure may also refer to a gap ring, that is, the suction channel 101 is partially surrounded by the perfusion channel 103; of course, in other examples of the present application, the annular in the annular cross-sectional structure may refer to a full ring, that is, the suction channel 101 is completely surrounded by the perfusion channel 103.

[0092] Optionally, the perfusion channel 103 and the working channel 102 jointly surround the suction channel 101, thereby maximizing the inner diameter of the suction channel 101 without increasing the outer diameter of the endoscope tube 11, thereby reducing the risk of the suction channel 101 being blocked by gravel. In other words, the suction channel 101 can have a circular or elliptical cross-section, and the perfusion channel 103 can have a notched annular cross-section, partially covering the circumference of the suction channel 101, and forming a notch around the suction channel 101 for arranging the working channel 102, so that the perfusion channel 103 and the working channel 102 jointly surround the suction channel 101.

[0093] It is worth noting that the working channel 102 and the perfusion channel 103 can be independent of each other; or, the working channel 102 and the perfusion channel 103 can also be interconnected, that is, the working channel 102 and the perfusion channel 103 are interconnected to form a complete annular channel around the suction channel 101, which helps to simplify the structure of the scope tube 11 and reduce the manufacturing cost of the medical ureteroscope system 1.

[0094] Those skilled in the art will appreciate that the embodiments of the present invention described above and shown in the accompanying drawings are intended to be illustrative only and are not intended to limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and illustrated in the embodiments. Any variations or modifications may be made to the embodiments of the present invention without departing from the principles described.

Claims

1. A medical ureteroscope system, characterized in that: include: A ureteroscope body, wherein the ureteroscope body comprises a scope tube and a working component, wherein the working component is mounted on the scope tube so as to extend forward from a distal end portion of the scope tube, wherein the distal end portion of the scope tube has an imaging end surface and a suction end surface located forward of the imaging end surface, and the ureteroscope body comprises a suction channel extending axially within the scope tube to form a suction opening at the suction end surface of the distal end portion; and a visual system, wherein the visual system includes a camera and a display device communicably connected to the camera, wherein the camera is mounted on the imaging end surface of the tip portion and is configured to capture images of the suction opening and the working component extending from the tip portion, so as to display images of the suction opening and the working component on the display device; the suction end surface of the tip portion extends obliquely forward from the imaging end surface of the tip portion; The ureteroscope body further comprises a working channel for passing the working component, wherein the working channel passes through the scope tube and extends obliquely at the distal end of the scope tube, so that the working component extends obliquely forward from the distal end under the guidance of the working channel; The working component extending from the working channel extends forward to the meridional image plane of the camera; The working component extending from the working channel extends within the meridional image plane of the camera; The working opening of the working channel faces the suction opening of the suction channel; The working channel extends in the front end portion at an angle forward and inward to the inner wall surface of the suction channel to form the working opening on the inner wall surface of the suction channel.

2. The medical ureteroscope system according to claim 1, wherein: The visual system further includes at least one light source, wherein the light source and the camera are adjacently mounted on the imaging end surface of the distal end portion.

3. The medical ureteroscope system according to claim 2, wherein: The visual system further includes an image processing unit, wherein the image processing unit includes an image acquisition module, an image processing module, a posture calculation module, and a data transmission module that are communicatively connected in sequence, wherein the image acquisition module is communicatively connected to the camera and is used to acquire original image information captured by the camera, wherein the original image information includes an image of the suction opening, an image of the head of the working component, and an image of the stone, wherein the image processing module is used to perform denoising and filtering on the original image information to obtain pre-processed image information, wherein the posture calculation module is used to perform target positioning on the pre-processed image information to calculate posture transformation data between the head of the working component and the stone; The data transmission module is communicatively connected to the display device and is used to transmit the posture transformation data to the display device for display via the display device.

4. The medical ureteroscope system according to claim 1, wherein: The working component is an optical fiber, which is used to emit laser to perform lithotripsy.

5. The medical ureteroscope system according to any one of claims 1 to 4, further comprising a negative pressure suction system, wherein the negative pressure suction system comprises a negative pressure generating device connected to the suction channel, for forming a negative pressure area at the suction opening of the suction channel.

6. The medical ureteroscope system according to claim 5, wherein: The negative pressure suction system further comprises a stone collecting device and a negative pressure regulator, wherein the stone collecting device is arranged in the passage between the suction channel and the negative pressure generating device, and is used to collect the gravel discharged through the suction channel; The negative pressure regulator is used to adjust the negative pressure in the suction channel to adjust the adsorption force at the suction opening as needed.

7. The medical ureteroscope system according to claim 5, wherein: The ureteroscope body further includes an irrigation channel penetrating the scope tube, and the irrigation channel radially extends within the distal end portion to the outer peripheral side of the distal end portion to form one or more irrigation openings on the outer peripheral side of the distal end portion.

8. The medical ureteroscope system according to claim 7, further comprising an irrigation system, wherein the irrigation system comprises an irrigation device connected to the irrigation channel, for continuously delivering irrigation liquid to the irrigation channel to infuse the irrigation liquid from the peripheral side of the distal end portion through the irrigation opening.

9. The medical ureteroscope system according to any one of claims 1 to 4, wherein: The scope tube of the ureteroscope body includes the distal end portion, a bendable portion extending rearward from the distal end portion, and an insertion portion extending rearward from the bendable portion, wherein the bendable portion of the scope tube is bent or straightened relative to the insertion portion.

10. The medical ureteroscope system according to claim 9, wherein: The ureteroscope body further includes an operating portion provided at a rear end of the scope tube, and the bendable portion of the scope tube is controlled by the operating portion to bend or straighten.

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