Visual catheter with perfusion and suction functions

Abstract

The invention provides a visual catheter with perfusion and suction functions, the catheter comprises a catheter body and a camera shooting assembly, the catheter body comprises an operation part and an intubation tube from the near end to the far end, the camera shooting assembly comprises a camera installed at the head end of the intubation tube, and the operation part is connected with the camera shooting assembly. The operation part comprises an operation part shell, and a perfusion joint, a suction joint and an instrument inlet which are arranged on the operation part shell; a main channel extending in the longitudinal direction, at least one liquid drainage channel and at least one instrument channel allowing instruments to pass through are arranged in the cannula, and the main channel, the liquid drainage channel and the instrument channel are arranged in a separated mode.

Description

Technical Field

[0001] The invention relates to a flexible endoscopic surgery through a natural cavity, and in particular to a visual catheter with both irrigation and suction functions. Background Art

[0002] At present, ureteral guide sheath and ureteroscope are mainly used in natural cavity flexible endoscopic surgery. The ureteral guide sheath enters the urinary cavity through the patient's urethra to establish an effective channel so that surgical instruments such as ureteroscope can smoothly enter and exit the urinary cavity for surgical operations. During the operation, the existing technology is that water enters the working channel of the endoscope, and water flows out of the gap between the endoscope and the sheath tube, forming a negative pressure suction to suck away the gravel hit by the laser in time. During the stone suction process, since the gap between the endoscope and the sheath tube is too small, it is easy for gravel to be blocked between the sheath tube and the endoscope. Therefore, the endoscope needs to be withdrawn from the sheath tube to suck away the gravel in time. During the operation, the endoscope needs to be moved back and forth continuously, and the whole process is relatively cumbersome. Summary of the invention

[0003] In view of the above-mentioned defects and shortcomings, one of the purposes of the present invention is to provide a new type of visual catheter, the catheter body of which can avoid the continuous retraction of the endoscope, and integrate the two instrument functions of the sheath and the endoscope into a visual catheter. That is, the present invention aims to provide a device that integrates perfusion, suction, visualization, and laser, without the need to use two structural components.

[0004] Compared with the existing endoscope and sheath, the visual catheter provided by the present invention has a more reasonable configuration of the suction channel and the perfusion channel, and is more conducive to the target object (such as stones, or polyp tissue, coagulated blood clots, etc.) to approach the suction outlet. The catheter includes a catheter body and a camera assembly, the catheter body includes an operating part and a cannula from the proximal end to the distal end, the camera assembly includes a camera installed at the cannula head end, the operating part includes an operating part shell, a perfusion joint arranged on the operating part shell, a suction joint and an instrument inlet; the cannula has a main channel extending longitudinally, at least one drainage channel and at least one instrument channel for the instrument to pass through, and the main channel is separated from the drainage channel and the instrument channel.

[0005] In some embodiments, the inner diameter of the head end of the main channel is larger than the inner diameter of the head end of the drainage channel, the main channel is connected to the suction connector, the drainage channel is connected to the perfusion connector, and the instrument channel is connected to the instrument interface.

[0006] In some embodiments, the extension direction of the cannula from the proximal end to the distal end includes a main tube section, a curved section and a head end, and the curved section is driven by the operating part to drive the head end to deflect.

[0007] In some embodiments, the main channel is located in the middle of the cannula.

[0008] In some embodiments, the cannula has two instrument channels therein.

[0009] In some embodiments, the tube wall of the cannula defines a lumen, in which a main tube, at least one laser outer tube and a signal harness are disposed, and the remaining gap in the lumen constitutes a drainage channel.

[0010] In some embodiments, the curved section includes a flexible tube section, and the main tube section includes a hard tube section. At least one pull wire extends longitudinally inside the main tube section and the flexible tube section of the cannula. The tube walls of the main tube section and the flexible tube section of the cannula are provided with a pull wire outer tube. The pull wire can be slidably inside the pull wire outer tube. The distal end of the pull wire is fixed to the flexible tube section or the head end, and is controlled by the operating unit to drive the pull wire to move longitudinally relative to the main tube section, thereby driving the flexible tube section to deflect.

[0011] In some embodiments, four pull wires extending longitudinally are provided inside the main tube section and the flexible tube section of the cannula, and the four pull wires are distributed at equal intervals.

[0012] In some embodiments, the tube wall of the flexible tube segment includes an outer tube, a support layer and an inner tube, the support layer is formed between the outer tube and the inner tube layer, and the pull wires are arranged inside or in the gap between the outer tube, the support layer and the inner tube.

[0013] In some embodiments, the support layer is an elastic layer; preferably a spring tube.

[0014] In some embodiments, a power transmission component is disposed in the operating portion, and the proximal end of the pull wire is disposed on the power transmission component. The power transmission component is suitable for connecting to a motor so that the pull wire is driven by the power transmission machine to slide longitudinally. Preferably, the power transmission component is a turntable, and the proximal end of the pull wire is wound on the turntable. The counterclockwise or clockwise rotation of the turntable drives the pull wire to move longitudinally toward the proximal or distal side.

[0015] In some embodiments, a plurality of arched limiting grooves extending in the longitudinal direction are formed in the tube wall of the insertion tube, the plurality of limiting grooves are arranged at equal intervals along the tube wall of the insertion portion, and the pull wire outer tube is embedded in the limiting grooves.

[0016] In some embodiments, the cannula wall defines a pressure measuring channel, a pressure measuring hole is provided at the distal side of the cannula wall, and a pressure detecting member is provided on the pressure measuring channel or any path connected thereto.

[0017] The present invention replaces the endoscope + sheath product combination currently widely used in the market with a flexible catheter body, realizes liquid infusion and suction through the catheter body, reduces resource waste and lowers surgical costs while improving the doctor's operating convenience and comfort and surgical efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the head end of the cooperation between the sheath tube and the endoscope in the prior art; Figure 2-Figure 3 A schematic diagram of the structure of the visual catheter provided by the present invention; Figure 4-Figure 6 A schematic diagram of the structure of various visual catheter tips provided by the present invention; Figure 7 A schematic diagram of the structure of the operating portion of the visual catheter provided by the present invention; Figure 8 A schematic diagram of the structure of the proximal end of the cannula of the visual catheter provided by the present invention; Fig. 9 A cross-sectional view of the transverse structure of the distal end of the cannula of one of the deflectable visualization catheters provided by the present invention; Fig.10 A longitudinal structural cross-sectional view of the distal end of the cannula of one of the deflectable visualization catheters provided by the present invention; Fig.11 A transverse structural cross-sectional view of the distal end of the cannula of another deflectable visualization catheter provided by the present invention; Fig.12 A longitudinal structural cross-sectional view of the distal end of the cannula of another deflectable visual catheter provided by the present invention; Fig.13 A transverse structural cross-sectional view of the distal end of the cannula of another deflectable visualization catheter provided by the present invention; Fig.14 A transverse structural cross-sectional view of the distal end of the cannula of another deflectable visualization catheter provided by the present invention; Fig.15 A longitudinal structural cross-sectional view of the distal end of the cannula of another deflectable visual catheter provided by the present invention; Figure 16-Figure 18 A schematic diagram of adjusting the direction of the head end of the visual catheter provided by the present invention; Figure 19-21 A schematic diagram of the fixing structure of the visual catheter pull wire provided by the present invention; Fig. 22 It is a structural schematic diagram of the wire-pulling power transmission member of the visual catheter of the present invention; Fig.23 for Fig. 22 A partial enlarged view of . DETAILED DESCRIPTION

[0019] The present invention or the technical solution of the invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings; In the description of the present invention, "proximal end" or "proximal side" refers to the end of the medical device close to the doctor during normal operation, while "distal end" or "distal side" usually refers to the end that first enters the patient's body.

[0020] In the description of the present invention, it should be noted that, unless otherwise specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection of two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0021] See also Figure 1 In the current natural cavity flexible endoscopic surgery, the endoscope 91 is located in the middle of the sheath 92 ( Figure 1 The schematic diagram of the head end of the sheath and the endoscope is shown), water flows out of the clamp channel of the endoscope 91, and water flows into the gap between the sheath 92 and the endoscope 91. In actual operation, the target object in front is easily hit by the water column flowing out of the water outlet of the clamp channel of the endoscope 91 in the middle, making it further away from the sheath 92 and difficult to be effectively sucked out. In addition, since the target object needs to flow out from the gap between the endoscope 91 and the sheath 92, but the position and shape of the endoscope 91 in the sheath 92 cannot remain stable, the gap is large in some places and small in some places. The target object may be stuck in a position with a small gap, causing the liquid to be unable to be sucked out in time, resulting in the formation of high pressure in the cavity, resulting in a higher risk. At this time, the endoscope needs to be pulled out of the sheath to achieve the outflow of the target object; the "target object" here includes but is not limited to stones, polyp tissue, tumors, coagulated blood clots, etc.

[0022] Based on the above technical issues, please refer to Figure 2 and Figure 3 This embodiment provides a visual catheter with both irrigation and suction functions. The catheter body includes a catheter body and a camera assembly. The catheter body includes an operating part 3 and a cannula 2 from the proximal end to the distal end. The camera assembly includes a camera installed at the head end 1 of the cannula 2. The cannula 2 has a proximal end and a distal end. Please refer to Figure 7 and Fig.23 The operating part 3 is connected to the proximal end of the cannula 2, and the operating part 3 includes an operating part housing 31 and an infusion joint 33, a suction joint 34 and an instrument inlet 32 ​​arranged on the operating part housing 31. Figure 8The cannula 2 has a main channel 15 extending longitudinally, at least one drainage channel and at least one instrument channel 14 for passing instruments. The main channel 15 is separated from the drainage channel and the instrument channel 14. The inner diameter of the head end of the main channel 15 is larger than the inner diameter of the head end of the drainage channel. The main channel 15 is connected to the suction joint 34, the drainage channel 14 is connected to the perfusion joint 33, and the instrument channel 14 is connected to the instrument interface 32. In this way, the camera at the head end of the cannula 2 is convenient for the doctor to understand the cavity situation. The instrument channel 14 is used for external instruments such as laser beams to pass through and reach the head end to crush stones or cut tissues in the target cavity. Liquid is injected into the body cavity through the drainage channel, and the liquid in the cavity with stones or tissues is sucked out of the body through the main channel with a larger inner diameter. Compared with the existing perfusion and suction working process of the endoscope 91 and the sheath tube 92, the main channel 15 provided in this embodiment has a large inner diameter at the distal end, which is more conducive to the approach of the target object so that the target object can be discharged from the body through the main channel.

[0023] Furthermore, the inner diameter of the main channel 15 is larger than the inner diameters of the drainage channel and the instrument channel, and the main channel 15 is located in the middle position of the cannula. The middle position here can refer to being set coaxially with the cannula, or it can be set deviated from the coaxial line of the cannula. It can be roughly close to the center position, which is convenient for the target object to approach.

[0024] When performing pyelolithotomy, the tip 1 of the cannula 2 needs to be able to bend toward the target object, such as the endoscope 91 is provided with a bending portion to drive the bending deflection of the tip 1. Based on this, please refer to Figure 3 The cannula provided by the present invention includes a main tube section 22, a curved section 21 and a head end 1 extending from the proximal end to the distal end. Figure 6 , the head end 1 has a main opening 151 at the distal end of the main channel, at least one drainage port 113, 114 at the distal end of the drainage channel, and at least one laser port at the distal end of the laser channel. The curved section 21 is driven by the operating unit to drive the head end to deflect. Specifically, the visual catheter needs to be equipped with a camera 13 and at least one laser beam. The laser beam extends through the laser channel 14 of the cannula and is used to crush stones or cut tissues. The camera 13 is installed at the head end 1 of the cannula 2 to facilitate observation of the tissue or stones in the cavity. In order to facilitate the installation of the camera 3 and the laser beam, the head end 1 has a camera port for installing a camera and at least one laser port for installing a laser beam. A signal harness 130 extends longitudinally in the cannula. The proximal end of the signal harness 130 is suitable for connecting to an external device to display the camera image. The camera 13 is connected to the distal end of the signal harness 130. In some embodiments, please refer to Figure 4-Figure 5 , providing an instrument channel, the head end has a laser port 110, which is arranged on the left or right side of the camera 13. In other examples, see Figure 6 and Figure 8 , providing two instrument channels 14, the left laser fiber and the right laser fiber longitudinally extend in the laser channel 14 of the cannula and extend from the left laser port 112 and the right laser port 111 respectively; the head end is provided with a camera 112, a left laser port 112 and a right laser port 111, a main opening 151, a left drainage port 114 and a right drainage port 113. At present, under normal circumstances, the laser fiber can only be inserted into one of the forceps channels of the endoscope, and the position cannot be adjusted. For some targets with special positions, the lack of more options leads to the inability to hit the target object, but the visual catheter has two positions of laser fibers to choose from, and the position of the laser fiber can be adjusted in time according to the doctor's preference or the orientation of the target object, which has more flexibility and convenience. At the same time, the other channel without the laser fiber can also be perfused with water to achieve a larger perfusion volume. The liquid in the target cavity is attracted by negative pressure, and the liquid flows out from the main channel 15, then reaches the suction joint 34 inside the catheter body, and then flows into the equipment waste liquid collection bottle. Accordingly, the visual catheter provided in this embodiment integrates a camera, drainage, suction, and laser, and can realize the functions of crushing stones, cutting tissues, perfusing liquids, and visual operation while facilitating the suction of the target object out of the body. The present invention provides a visual catheter with both perfusion and suction functions. The proximal end of the visual catheter is connected to a robotic device, and the camera image of the catheter body is displayed through the device. The perfusion connector 33 is connected to the perfusion system to achieve perfusion of physiological saline, and the suction connector 34 is connected to a negative pressure suction device to suction and discharge the liquid in the target cavity such as the renal pelvis.

[0025] In this embodiment, the wall of the cannula 2 defines a lumen. Figure 8 , a main body, two laser outer tubes and a signal harness are arranged in the lumen, the main body constitutes the main channel, the laser outer tube constitutes the laser channel, the remaining gap of the lumen constitutes the drainage channel, and the laser beam reaches the head end through the laser outer tube; in this way, the main body is connected to the suction joint 34, the instrument inlet 32 ​​is connected to the proximal end of the laser outer tube, the remaining gap is connected to the perfusion joint to achieve liquid perfusion, and the head end 1 has a plurality of drainage ports connected to the gap. Specifically, the physiological saline reaches the perfusion joint 33 with the pressure of the perfusion pump, comes to the inside of the cannula 2, reaches the left drainage port 114 and the right drainage port 113 of the catheter body head end 1 through the drainage channel inside the cannula 2, and then is discharged into the target position.

[0026] This embodiment integrates the two functions of water inlet and outlet within a limited space size, while ensuring that the outer diameter of the catheter body is not larger than the outer diameter of the sheath currently used in clinical practice. This design fully utilizes the space inside the catheter body and achieves good results. The flexible catheter body will not have this situation due to the stable structure of the integrated catheter body and the larger size of the clamp channel, which is more conducive to the discharge of the target object.

[0027] In some examples, the bending section 21 may be formed of a snake bone, and the operating portion may have a pull wire that drives the snake bone to bend.

[0028] In some other embodiments, see Figure 3 , Fig. 9 and Fig.10 , the curved section 21 includes a flexible section, the main section 22 includes a hard section, a pull wire 30 is longitudinally extended inside the main section 22 and the curved section 21 of the cannula 2, and the tube wall of the main section 22 and the curved section 21 of the cannula 2 is provided with a pull wire outer tube 31, the pull wire 30 can slide inside the pull wire outer tube 31, the far end of the pull wire 30 is fixed to the curved section 21 or the head end 1, and is controlled by the operating part 3 to drive the pull wire 30 to move longitudinally relative to the main section 22, thereby driving the curved section 21 to deflect, so that pulling the pull wire 30 will drive the curved section 21 to deflect relative to the main section 22, and the deflection direction is upward. In this embodiment, the tube wall of the flexible tube section includes an outer tube 121, a support layer 122 and an inner tube 123, the support layer 122 is an elastic layer, which is used to increase the compressive strength and flexural strength of the tube body, and the support layer 122 includes but is not limited to a spring tube or a braided tube or a hypotube. The inner tube 123 is an ultra-thin smooth layer, which can effectively reduce the friction of the inner surface. In order to achieve effective connection between the inner tube and the outer tube material, etching is generally added to the outer surface of the inner tube 123. The inner tube is generally an etched fluoroplastic tube.

[0029] In some other embodiments, see Fig.11 and Fig.12 Two longitudinally extending pull wires 30 are symmetrically arranged inside the main tube section 22 of the cannula 2 and the flexible tube section. The tube walls of the main tube section 22 of the cannula 2 and the flexible tube section are provided with a pull wire outer tube 31. The pull wire 30 can be slidably pulled inside the pull wire outer tube 31. The distal end of the pull wire 30 is fixed to the flexible tube section or the head end 1. Pulling the pull wire 1 drives the flexible tube section to realize upward or downward deflection. However, its deflection direction is relatively single. During surgery, it is necessary to frequently rotate the catheter body to adjust the direction.

[0030] In the embodiment of the present invention, please refer to Figure 13-Figure 15 Four pull wires 301, 302, 303, 304 extending longitudinally are provided inside the main tube section 22 and the curved section 21 of the cannula 2. The four pull wires 301, 302, 303, 304 are distributed at equal intervals. The distal ends of the four pull wires 301, 302, 303, 304 are fixed on the curved section or the head end 1. The four pull wires 301, 302, 303, 304 are controlled by the operating unit 3. The four pull wires 301, 302, 303, 304 move longitudinally relative to the main tube section 22 to drive the curved section to deflect to any direction and any angle.

[0031] The adjustment method for any direction here is: See Fig.16 , four separate pull wires, the independent longitudinal movement of the four pull wires drives the four-way deflection of the flexible pipe section, and the four-way deflection includes left deflection, right deflection, upward deflection, and downward deflection. The left and right direction is defined here as the X-axis, and the up and down direction is defined as the Y-axis. The X-axis passes through the axis of the cannula and crosses the Y-axis perpendicularly. The X-axis and the Y-axis, the X-axis and the Y-axis constitute a two-dimensional coordinate system. The two-dimensional coordinate system divides the XY plane into the first quadrant A, the second quadrant B, the third quadrant B, and the fourth quadrant D. The measurement range of the first quadrant angle is 0° to 90°, the measurement range of the second quadrant angle is 90° to 180°, the measurement range of the third quadrant angle is 180° to 270°, and the measurement range of the fourth quadrant angle is 270° to 360°.

[0032] See also Fig.17 , pull any two pull wires and apply the same pulling force or the same moving stroke, thereby achieving a 45° deflection in the corresponding quadrant; that is, the longitudinal movement of the same moving displacement of two adjacent pull wires drives the flexible pipe section to deflect in the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant at 45°, 135°, 225°, and 315°, respectively.

[0033] See also Fig.18, pull any two pull wires and apply different pulling forces or different moving strokes, thereby realizing their deflection in any direction within the corresponding quadrant; that is, the longitudinal movement of the two adjacent pull wires with different moving displacements drives the flexible tube section to deflect between the directions of 0-45°, 45°-90°, 90°-135°, 135°-180°, 180°-225°, 225°-270°, 270°-315°, and 315°-360° in the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant, respectively. The deflection angle interval here does not include the endpoints. For example, one of the pull wires in the target quadrant area can be pulled first, and then the direction can be adjusted by pulling another adjacent pull wire, or the two pull wires can be pulled at the same time. Adjusting the direction by adjusting the two pull wires at the same time can quickly help the doctor align the head end with the target position. As mentioned above, the independent or combined movement of the four pull wires enables the flexible tube segment to deflect in any direction within 360°, allowing the user to align the flexible tube segment with any position in the cavity according to surgical needs without frequently rotating the endoscope or catheter. The use of more than four pull wires allows the head end of the catheter to be independently adjusted in multiple directions, and each pull wire can drive the flexible tube segment to deflect at different angles, thereby achieving more complex movements, covering a wider range of angles and directions, and meeting the needs for different angles in medical surgery. When dealing with complex surgical cases, such as the need to navigate within narrow or tortuous anatomical structures, the design of at least four pull wires can achieve multi-directional simultaneous operation, allowing the catheter to flexibly respond to different surgical needs and real-time changes, effectively improving the success rate of the operation.

[0034] It is understood that in order to achieve smooth longitudinal movement of the pull wire, please refer to Fig.13 , the inner wall of the cannula 2 is fixed with a pull wire outer tube 311, 312, 313, 314, the pull wires 301, 302, 303, 304 extend longitudinally in the pull wire outer tubes 311, 312, 313, 314, and the proximal ends of the pull wires 301, 302, 303, 304 are controlled by the handle 2. In this embodiment, four pull wire outer tubes 311, 312, 313, 314 are arranged in the inner wall of the cannula 1, the pull wires 301, 302, 303, 304 penetrate the pull wire outer tubes 311, 312, 313, 314, and the pull wires 301, 302, 303, 304 slide in the pull wire outer tubes 311, 312, 313, 314 when the pull wires 301, 302, 303, 304 are pulled.

[0035] As mentioned above, the flexible tube segment can be deflected in any direction within 360° through the independent or joint movement of the four pull wires, so that the user can align the head end to any position in the cavity according to the surgical needs without frequently rotating the endoscope or catheter body. It is understandable that in order to achieve smooth longitudinal movement of the pull wire, please refer to Figure 13-Figure 14, the inner wall of the cannula 2 is fixed with a pull wire outer tube 311, 312, 313, 314, the pull wires 301, 302, 303, 304 extend longitudinally in the pull wire outer tubes 311, 312, 313, 314, and the proximal ends of the pull wires 301, 302, 303, 304 are controlled by the operating unit 3. In this embodiment, four pull wire outer tubes 311, 312, 313, 314 are arranged in the wall of the cannula 2, the pull wires 301, 302, 303, 304 penetrate the pull wire outer tubes 311, 312, 313, 314, and the pull wires 301, 302, 303, 304 slide in the pull wire outer tubes 311, 312, 313, 314 when the pull wires 301, 302, 303, 304 are pulled.

[0036] The method for adjusting the deflection at any angle herein refers to controlling the deflection angle of the flexible pipe section by adjusting the moving stroke of the pull wire after determining the deflection direction.

[0037] Please read further Fig.14 A plurality of arched limiting grooves 5 extending in the longitudinal direction are formed in the wall of the insert tube 2, and the plurality of limiting grooves 5 are arranged at equal intervals along the wall of the insert tube 2. The wire pulling outer tubes 311, 312, 313, and 314 are embedded in the limiting grooves 5, that is, the wire pulling outer tubes 311, 312, 313, and 314 can be confined in the arched limiting grooves 5. Compared with the circular cavity, it can avoid the deviation of the wire pulling outer tube during the processing process and avoid the overall confusion in the four directions caused by the deviation of the wire pulling angle, thereby ensuring the equidistant distribution of the four wires and ensuring the accuracy of the direction adjustment.

[0038] In order to achieve the deflection of the flexible pipe section, the distal ends of the pull wires 301, 302, 303, 304 can be fixed to the head end 1. In order to facilitate the distal end fixation of the pull wires, please refer to Figure 19-21 , the head end 1 has a circumferential fixing member 6, and the pull wires are fixedly connected to the circumferential fixing member 6 at circumferential intervals; in some embodiments, the head end 1 includes a tube body and a circumferential fixing member 6 arranged in the tube body. In this embodiment, the specific implementation means of the circumferential fixing member 6 is an anchoring ring, and the head end includes an outer tube 121, an anchoring ring and an inner tube. The anchoring ring is arranged between the outer tube and the inner tube, and the distal ends of the four pull wires 301, 302, 303, and 304 are fixed to the circumferential fixing member 6. Exemplarily, the pull wires 301, 302, 303, and 304 are fixedly connected to the anchoring ring by laser welding, soldering, or crimping. It ensures that the direction of the pull wire after being fixed will not be significantly deflected, and it also has the effect of strengthening the directionality of the pull wire during the tube body forming process.

[0039] In this embodiment, the main pipe section 22 is a rigid pipe section, and the hardness of the rigid pipe section is not consistent. In some embodiments, the rigid pipe section 22 includes a first pipe section and a second pipe section. The hardness of the second pipe section is between the first pipe section and the flexible pipe section. The second pipe section is attached between the first pipe section and the curved section 21. When the deflection of the flexible pipe section is realized, the service life of the catheter body is extended.

[0040] In this embodiment, the tube wall of the curved section 21 includes an outer tube 121, a support layer 122 and an inner tube 123, and the pull wires 301, 302, 303, 304 are all arranged inside or in the gap between the outer tube 121, the support layer 122 and the inner tube 123; in this embodiment, please refer to Fig.10 and Fig.11 The pull wires 301 , 302 , 303 , and 304 are all arranged inside the inner layer tube 123 .

[0041] In some embodiments of the present invention, see Fig. 22 and Fig.23 The operating part 3 includes an operating part housing 31 and four power transmission parts 71, 72, 73, 74 arranged inside the operating part housing 31, the proximal ends of the pull wires 301, 302, 303, 304 are arranged on the power transmission parts 71, 72, 73, 74, the power transmission parts 71, 72, 73, 74 are suitable for connecting with a motor, and each pull wire 301, 302, 303, 304 is driven by the power transmission machine 71, 72, 73, 74 to slide longitudinally; exemplarily, the power transmission parts 71, 72, 73, 74 are turntables, the proximal ends of the pull wires 301, 302, 303, 304 are wound on the turntable, and the counterclockwise or clockwise rotation of the turntable drives the pull wires to move longitudinally to the proximal or distal side. The four pull wires are controlled by separate motors respectively. Each separate pull wire 301, 302, 303, 304 is connected by a turntable inside the operating part of the catheter body. The turntable is connected to the corresponding matching parts on the equipment to transmit the power of the motor on the equipment to the turntable, and then transmitted to the bending angle of the catheter body head end through the pull wire.

[0042] By controlling a single pull wire with a single motor, bending in four directions can be achieved. By using two adjacent motors to control two adjacent pull wires with the same force, bending in eight directions can be achieved. If two adjacent motors use different forces to control two adjacent pull wires, precise force control can be used to achieve precise angle control. Compared with bending in eight directions, all-directional regulation can be achieved, ultimately achieving the goal of reaching any angle without rotation.

[0043] The visual catheter provided by the present invention can realize deflection and bending in any direction, can help doctors to quickly and conveniently realize all-round steering, greatly facilitates doctors' operation, and is more safe and reliable.

[0044] Also, see Figure 8 and Fig.21 The distal side of the tube wall of the cannula 2 is provided with a pressure measuring hole 24, the tube wall is provided with a pressure measuring channel connected to the pressure measuring hole 24, and the pressure measuring channel or any path connected thereto is provided with a pressure detection component for detecting the pressure in the pressure measuring channel. Exemplarily, the pressure measuring channel is provided with a pressure sensor at the pressure measuring hole.

[0045] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "specific examples", or "some examples" means 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 representation of the above terms does 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.

[0046] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A visual catheter with both irrigation and suction functions, characterized in that: The catheter includes a catheter body and a camera assembly, wherein the catheter body includes an operating part and a cannula from the proximal end toward the distal end, the camera assembly includes a camera installed at the cannula head end, the operating part includes an operating part shell, an infusion joint, a suction joint and an instrument inlet arranged on the operating part shell; the cannula has a main channel extending longitudinally, at least one drainage channel and at least one instrument channel for the passage of instruments, and the main channel is separated from the drainage channel and the instrument channel.

2. The visual catheter according to claim 1, characterized in that: The inner diameter of the head end of the main channel is larger than the inner diameter of the head end of the drainage channel. The main channel is connected to the suction joint, the drainage channel is connected to the perfusion joint, and the instrument channel is connected to the instrument interface.

3. The visual catheter according to claim 1, characterized in that: The main channel is located in the middle of the cannula.

4. The visual catheter according to claim 1, characterized in that: The extension direction of the cannula from the proximal end to the distal end includes a main tube section, a curved section and a head end, and the curved section is driven by the operating part to drive the head end to deflect.

5. The visual catheter according to claim 1, characterized in that: The cannula is provided with two instrument channels therein.

6. The visual catheter according to claim 1, characterized in that: The tube wall of the cannula defines a tube cavity, in which a main tube body, at least one laser outer tube and a signal wire harness are arranged, and the remaining gap of the tube cavity constitutes a drainage channel.

7. The visual catheter according to claim 4, characterized in that: The curved section includes a flexible tube section, and the main tube section includes a hard tube section. At least one pull wire extends longitudinally inside the main tube section and the flexible tube section of the cannula. The tube walls of the main tube section and the flexible tube section of the cannula are provided with a pull wire outer tube. The pull wire can be slidably inside the pull wire outer tube. The far end of the pull wire is fixed to the flexible tube section or the head end. It is controlled by the operating part to drive the pull wire to move longitudinally relative to the main tube section, thereby driving the flexible tube section to deflect.

8. The visual catheter according to claim 7, characterized in that: Four pull wires extending longitudinally are arranged inside the main pipe section and the flexible pipe section of the cannula, and the four pull wires are distributed at equal intervals.

9. The visual catheter according to claim 7, characterized in that: The tube wall of the flexible tube section includes an outer tube, a support layer and an inner tube. The support layer is formed between the outer tube and the inner tube layer. The pull wires are arranged inside or in the gap between the outer tube, the support layer and the inner tube.

10. The catheter according to claim 7, characterized in that A power transmission component is arranged in the operating part, the proximal end of the pull wire is arranged on the power transmission component, and the power transmission component is suitable for connecting with the motor so that the pull wire is driven by the power transmission machine to slide longitudinally.

11. The catheter according to claim 8, characterized in that A plurality of arched limiting grooves extending in the longitudinal direction are formed in the tube wall of the insertion tube, and the plurality of limiting grooves are arranged at equal intervals along the tube wall of the insertion portion, and the pull wire outer tube is embedded in the limiting grooves.

12. The catheter according to claim 1, characterized in that The cannula wall defines a pressure measuring channel, a pressure measuring hole is provided at the far side of the cannula wall, and a pressure detecting component is provided on the pressure measuring channel or any path connected thereto.

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