Uterine curettage equipment capable of adjusting uterine curettage force and control method thereof

Abstract

The invention relates to the technical field of medical instruments, in particular to uterine curettage equipment capable of adjusting uterine curettage force and a control method of the uterine curettage equipment. The invention discloses uterine curettage equipment capable of adjusting uterine curettage force. The uterine curettage equipment comprises a curette, a universal handle, a controller, a movable driving mechanism and at least two groups of bending driving mechanisms, the universal handle comprises a snake bone section and a fixed section. And the mobile driving mechanism drives the curette to telescopically move along the axial direction of the uterine cavity through the universal handle. The bending degree of the snake bone section is adjusted through the two sets of bending driving mechanisms, so that the curette can be bent in the specified direction in the radial direction of the uterine cavity, and therefore uterine curettage operation is achieved. The controller adjusts the two sets of bending driving mechanisms through feedback, so that scraping force, generated by the curette, on the inner wall of the uterus in real time is within the threshold value range set by the controller. Through cooperation of the moving driving mechanism and the bending driving mechanism, uterine curettage operation can be carried out on all positions in the uterine cavity, the uterine curettage effect is improved, and the condition of missing curettage is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a curettage device capable of adjusting the curettage force and a control method thereof. Background Art

[0002] Curettage is a procedure to scrape the endometrium or uterine cavity contents, and is one of the methods of artificial abortion. Curettage is usually performed in the following situations: 1. After a spontaneous abortion or artificial abortion, sometimes there will be intrauterine residues left in the uterus, causing persistent vaginal bleeding, vaginal infection or other complications. In this case, curettage can be used to remove the intrauterine residues and help the endometrium return to a healthy state. 2. After the patient undergoes an induced abortion, it is sometimes necessary to perform a curettage on the uterus to remove the intrauterine residues and prevent uterine infection or other complications. 3. For patients with irregular uterine bleeding or irregular menstruation, doctors may also recommend that patients undergo curettage to remove the endometrium, thereby helping patients regulate their menstrual cycles. 4. For patients with large cervical or endometrial polyps or those that cause obvious symptoms, doctors will also perform curettage to remove polyps. 5. When treating endometriosis, curettage is sometimes performed to remove ectopic endometrial tissue.

[0003] The existing clinical curettage surgery generally uses a curette to insert into the uterus for blind curettage. This blind curettage means that the curette may not be able to scrape the embryonic tissue or lesion site in the uterine cavity, resulting in missed curettage. If there is a missed curettage, it is easy for uterine lesions to be missed or there will be continuous or repeated bleeding in the uterus, uterine infection, etc. Among them, missed diagnosis of uterine lesions will lead to diagnostic deviations, and continuous or repeated bleeding in the uterus, uterine infection, etc. will cause pain and harm to the patient. At the same time, the patient needs to undergo curettage surgery again, which will also cause harm to the patient's body. In addition, this blind curettage operation method not only has high requirements for the operator, but also increases the patient's pain during the blind curettage process. Summary of the invention

[0004] In order to solve the technical problem that curettage in the prior art is performed by blind curettage, which not only has high requirements on the operator but also easily results in missed scrapes, the present invention provides a curettage device with adjustable curettage force and a control method thereof.

[0005] The present invention is implemented by the following technical scheme: a curettage device with adjustable curettage force, comprising a curettage spoon, a universal handle and a controller, wherein the universal handle comprises a snake bone segment and a fixed segment, and the two ends of the snake bone segment are respectively connected to the curettage spoon and the fixed segment; the driving mechanism comprises a mobile driving mechanism and at least two sets of bending driving mechanisms, and the mobile driving mechanism drives the curettage spoon to telescopically move along the axial direction of the uterine cavity through the universal handle; each set of the bending mechanisms respectively drives the curettage spoon to bend along the radial direction in the uterus, and the bending directions of the two sets of the bending driving mechanisms driving the curettage spoon to bend are perpendicular to each other; the curvature of the snake bone segment is adjusted by the two sets of the bending driving mechanisms, so that the curettage spoon can bend along the specified direction of the radial direction of the uterine cavity; each set of the bending driving mechanisms comprises a connecting rope, a turntable and a driving member, and the two ends of the connecting rope are respectively fixedly connected to the snake bone segment, and the The connecting rope is looped on the rotating disk, and the driving member drives the rotating disk to rotate so as to adjust the tension on both sides of the connecting rope; a pair of force sensors are arranged on the connecting rope, and the force sensors are arranged on both sides of the rotating disk, and the force sensors are used to obtain the electrical signal of the tension on the connecting rope; the controller is used to: (i) receive the electrical signals of the two force sensors and calculate the scraping force generated by the scraper on the inner wall of the uterine cavity; (ii) control the two groups of the bending driving mechanisms so that the scraper can move along a circumferential surface in the radial direction of the uterine cavity, so as to realize the rotation and scraping of the uterine cavity by the scraper; during the scraping process, the two groups of the bending driving mechanisms are feedback-regulated by the calculated scraping force generated by the scraper on the inner wall of the uterine cavity, so that the scraping force generated by the scraper on the inner wall of the uterine cavity under the joint action of the two groups of the bending driving mechanisms is within the threshold range set by the controller.

[0006] As a further improvement of the present invention, the scraper is a four-sided scraper, and the number of the bending drive mechanisms is two, wherein the plane where one of the connecting ropes is located coincides with the plane where two opposite edges on the four-sided scraper are located, and the plane where the other connecting rope is located coincides with the plane where the other two edges on the four-sided scraper are located.

[0007] As a further improvement of the present invention, the number of the bending drive mechanisms is multiple groups, the scraper is a multi-edge scraper, and the number of edges of the scraper is twice the number of the bending drive mechanisms.

[0008] As a further improvement of the present invention, the two driving members control the snake bone segment so that the scraper uses the connection between the fixed segment and the snake bone segment as the rotation axis and the whole formed by the snake bone segment and the scraper as the rotation radius to rotate and scrape in the uterine cavity around the rotation axis.

[0009] As a further improvement of the present invention, the curettage device also includes a cover shell, which is provided with a placement cavity, in which a fixing member is installed to limit the movement of the fixed segment in the radial direction, and one end of the fixed segment away from the snake bone segment extends into the placement cavity and is fixed by the fixing member.

[0010] As a further improvement of the present invention, a limiting hole is provided on the fixing member, the diameter of the limiting hole is larger than the diameter of the fixing section, and the fixing section can move along its axial direction or rotate along its radial direction in the limiting hole.

[0011] As a further improvement of the present invention, the mobile driving mechanism is fixedly installed in the placement cavity, and a mounting plate that moves along the axial direction of the fixed section is provided in the placement cavity. The two driving members are both installed on the mounting plate, and the mobile driving mechanism is used to drive the scraper, the universal handle and the bending driving mechanism to telescopically move along the axial direction in the uterine cavity.

[0012] As a further improvement of the present invention, the mobile driving mechanism is a driving motor, and the fixed section is a hollow screw rod. The fixed section is controlled to extend out of the placement cavity or move into the placement cavity by forward and reverse rotation of the driving motor.

[0013] As a further improvement of the present invention, the mobile driving mechanism is a cylinder, which is installed in the placement cavity and connected to the mounting plate. The cylinder drives the bending driving mechanism, the universal handle and the scraper to telescopically move along the axial direction in the uterine cavity through the mounting plate.

[0014] As a further improvement of the present invention, a camera is installed at the connection between the scraper and the snake bone segment, and the camera is used to obtain environmental information around the scraper; a display screen is provided on the controller, and the display screen is used to display and magnify the information obtained by the camera.

[0015] A control method of a curettage device with adjustable curettage force, which uses the curettage device with adjustable curettage force to perform a curettage operation, comprising the following steps:

[0016] S1: Controlling the scraper to extend into the designated position 1 in the uterine cavity along the axial direction of the uterine cavity by a mobile driving mechanism;

[0017] S2: Taking the plane where the designated position 1 in the radial direction of the uterus is located as the scraping surface 1, controlling the scraper through two bending drive mechanisms to rotate multiple circles on the scraping surface 1 with the connection between the snake bone segment and the fixed segment as the rotation axis and the snake bone segment and the scraper as a whole as the rotation radius to scrape the endometrial tissue that needs to be scraped at the designated position 1;

[0018] S3: controlling the scraper to move forward along the axial direction of the uterine cavity through the mobile driving mechanism until the scraper extends into the designated position 2;

[0019] S4: taking the plane where the second designated position in the radial direction in the uterus is located as the second scraping surface, controlling the scraper through two bending drive mechanisms to rotate multiple circles on the second scraping surface with the connection between the serpentine segment and the fixed segment as the rotation axis and the serpentine segment and the scraper as a whole as the rotation radius to scrape the endometrial tissue to be scraped at the second designated position;

[0020] S5: looping steps S3 and S4 in sequence to perform curettage on all designated positions in the uterine cavity;

[0021] S6: The curette is taken out from the uterine cavity, thus completing the entire curettage operation.

[0022] As a further improvement of the present invention, during the curettage operation, when the scraper is scraping around the scraping surface, the controller will feedback and adjust the two bending drive mechanisms through the electrical signals detected by the two force sensors, so that under the joint action of the two bending drive mechanisms, the scraping force generated by the scraper on the inner wall of the uterus in real time is within the threshold range set by the controller.

[0023] The technical solution provided by the present invention has the following beneficial effects:

[0024] (1) The curettage device with adjustable curettage force of the present invention is provided with at least two sets of bending drive mechanisms, and the position of the curette is adjusted by the cooperation of the two sets of bending drive mechanisms, so that the curette can be bent to different positions to achieve the scraping operation of the endometrial tissue that needs to be scraped in the uterine cavity. In the present invention, the position of the curette is adjusted by changing the curvature of the snake bone segment, so that the curette can achieve rotation and scraping along the radial direction in the uterine cavity, thereby improving the scraping effect of the curettage device. At the same time, the mobile drive mechanism can drive the curette to move in the axial direction in the uterine cavity. Through the cooperation of the mobile drive mechanism and the bending drive mechanism, the curettage operation can be performed on various parts of the uterine cavity, thereby improving the curettage effect and avoiding the occurrence of missed scraping.

[0025] (2) The curettage device with adjustable curettage force of the present invention has a pair of force sensors on its connecting rope, which can monitor the scraping force of the scraper on the inner wall of the uterine cavity in real time through the force sensors and the controller, and the controller can feedback and adjust the scraping force of the scraper on the uterine cavity through two sets of bending drive mechanisms, so that the scraping force of the scraper on the uterine cavity is always kept within the set range. In this way, the endometrial tissue that needs to be scraped in the uterine cavity can be scraped quickly and effectively, and the pain caused by the excessive scraping force of the scraper on the inner wall of the uterine cavity can be reduced to the greatest extent during the scraping process, thereby improving the patient's comfort during the curettage process.

[0026] (3) The curettage device with adjustable curettage force of the present invention can provide real-time feedback of the specific situation in the uterus through the camera by setting a camera, and can observe the scraping situation of the endometrial tissue to be scraped through the camera during the scraping process, effectively solving the problem of missed scraping due to blind scraping in the prior art, and achieving thorough scraping of the endometrial tissue to be scraped. At the same time, the camera can display the specific position of the scraper in the uterus in real time, so that the operator does not need to judge the position of the scraper through experience, thereby reducing the experience requirement for the operator.

[0027] (4) The curettage device with adjustable curettage force of the present invention can adjust the position of the curette head through the information fed back by the camera, so that the curette head can be moved to the internal tissue that needs to be scraped, thereby realizing the fixed-point positioning scraping operation, improving the scraping efficiency, and avoiding the scraping process. Some places that do not need to be scraped are also scraped due to blind scraping, which causes unnecessary pain to the patient. In addition, during the scraping process, the degree of scraping can be observed in real time through the camera, thereby achieving the problem of thoroughly scraping the endometrial tissue that needs to be scraped without causing unnecessary pain to the patient due to excessive scraping.

[0028] (5) The curettage device with adjustable curettage force of the present invention controls the curettage spoon through the mobile drive mechanism and two sets of bending drive mechanisms respectively, so that the curettage spoon can move along the X-axis, Y-axis and Z-axis directions, thereby realizing the ability to control the curettage spoon head to move to any position in the uterine cavity, so that the curettage spoon head can perform a scraping operation on the endometrial tissue that needs to be scraped at any position in the uterine cavity. The problem in the prior art that the curettage spoon head and the handle are an integrated structure and the curettage spoon head cannot be bent at will, resulting in the inability to scrape the endometrial tissue at this position, thereby improving the practicality of the curettage device of the present invention.

[0029] (6) The control method of the curettage device of the present invention can control the operation of the curettage device through an automated program, effectively solving the drawbacks of the prior art caused by manual operation and improving the operation accuracy during the curettage process. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A three-dimensional diagram of the curettage device with adjustable curettage force provided in Example 1 of the present invention.

[0031] Figure 2 This is a schematic diagram of the structure of the connection between the controller and the universal handle in Example 1 of the present invention.

[0032] Figure 3 This is a schematic structural diagram of the curettage device with adjustable curettage force provided in Example 1 of the present invention when a cover plate is not installed.

[0033] Figure 4 It is a schematic diagram of two bending drive mechanisms driving the curette to move along the plane surrounded by the Y axis and the Z axis in Example 1 of the present invention.

[0034] Figure 5 It is a structural schematic diagram of the installation position between the driving member 1 and the mobile driving mechanism in Example 1 of the present invention.

[0035] Figure 6 It is a partially enlarged schematic diagram of the connection between the curette and the universal handle in the curettage device in Example 1 of the present invention.

[0036] Figure 7 This is a schematic diagram of the curettage device in Example 2 of the present invention when it moves to a designated position in the uterus.

[0037] Figure 8 This is a schematic diagram of the curettage device in Example 2 of the present invention when it moves to the second designated position in the uterus.

[0038] Fig. 9 This is a schematic diagram of the curettage device in Example 2 of the present invention when it moves to the third designated position in the uterus.

[0039] The markings in the figure are: 1. scraper; 11. connecting rod 1; 12. scraper head; 2. universal handle; 21. snake bone segment; 22. fixed segment; 31. mobile drive mechanism; 32. bending drive mechanism; 321. connecting rope; 322. turntable; 323. drive member 1; 324. force sensor; 4. controller; 5. cover; 51. fixing member; 511. limiting hole; 52. cover plate; 53. bottom plate; 54. mounting plate; 541. plate body 1; 542. plate body 2; 543. plate body 3. DETAILED DESCRIPTION

[0040] The present invention is further described below in conjunction with specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0041] In the description of the present invention, it should be noted that for directional words, such as the terms "center", "lateral", "longitudinal", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicating directions and positional relationships are based on the directions or positional relationships shown in the 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 direction, be constructed and operated in a specific direction, and cannot be understood as limiting the specific protection scope of the present invention. The terms "first", "second", etc. in the specification and claims of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. The terms "including" and "having" in the specification and claims of the present invention and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device including a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0042] Example 1

[0043] This embodiment provides a curettage device with adjustable curettage force. Figures 1 to 3, which includes a scraper 1, a universal handle 2, a driving mechanism and a controller 4. The scraper 1 is installed on one side of the universal handle 2, and the driving mechanism includes a mobile driving mechanism 31 and at least two groups of bending driving mechanisms 32. The mobile driving mechanism 31 is connected to the universal handle 2, and the mobile driving mechanism 31 drives the scraper 1 to telescopically move along the axial direction in the uterine cavity through the universal handle 2. Each group of bending driving mechanisms 32 is respectively connected to the universal handle 2, and controls the bending of the snake bone segment 21 to achieve the bending of the scraper 1 along the radial direction in the uterine cavity. The bending directions of the two groups of bending driving mechanisms 32 to drive the scraper 1 to bend are perpendicular to each other. Therefore, in the actual adjustment process, the scraper 1 can be bent along the specified direction of the radial direction in the uterine cavity through the mutual cooperation of the two groups of bending driving mechanisms 32. The scraping operation of the endometrial tissue that needs to be scraped on the inner wall of the uterine cavity is achieved by bending the scraper 1. The controller 4 is used for: (i) receiving the electrical signals of the two force sensors 324 and calculating the scraping force generated by the scraper 1 on the inner wall of the uterine cavity; (ii) controlling the two sets of bending drive mechanisms 32 so that the scraper (1) can move along a circumferential surface in the radial direction of the uterine cavity, so as to realize the rotational scraping of the uterine cavity by the scraper 1; in the scraping process, the two sets of bending drive mechanisms 32 are feedback-adjusted by the calculated scraping force generated by the scraper 1 on the inner wall of the uterus, so that the scraping force generated by the scraper 1 on the inner wall of the uterus in real time under the joint action of the two sets of bending drive mechanisms 32 is within the threshold range set by the controller 4. In the present invention, by setting the moving drive mechanism 31 and the bending drive mechanism 32, the moving drive mechanism 31 can drive the scraper 1 to move along the axial direction of the uterine cavity through the universal handle 2, so as to realize driving the scraper 1 to extend into different positions in the uterine cavity. The number of the bending drive mechanisms 32 can be two sets, and the bending directions of the two sets of bending drive mechanisms 32 driving the scraper 1 to bend are perpendicular to each other. By controlling the two sets of bending drive mechanisms 32 respectively, the scraper 1 can be driven to bend along the designated position in the radial direction of the uterine cavity under the joint action of the two sets of bending drive mechanisms 32. Therefore, in the actual operation process, the scraper 1 can be moved to the designated position 1 to be scraped by the joint action of the two sets of bending drive mechanisms 32, and the scraper 1 is in contact with the endometrial tissue to be scraped at the designated position 1. Then, the two sets of bending drive mechanisms 32 are used to drive the scraper 1 in turn along the connection between the fixed section 22 and the serpentine section 21 as the rotating axis, and the whole composed of the serpentine section 21 and the scraper 1 as the radius. When the scraper 1 moves one circle on the circumferential surface, the uterine cavity can be scraped one circle. By circulating this operation, the scraper 1 can perform multiple scraping operations on the designated position 1, and the scraping effect of the curettage device can be improved through multiple scraping operations to avoid missed scraping. In addition, the two sets of bending drive mechanisms 32 in this embodiment can achieve precise scraping operations on the endometrial tissue that needs to be scraped at different positions in the uterus, thereby improving the accuracy of the scraping process.At the same time, the present invention also solves the problem in the prior art that the curette 1 may scrape the unnecessary position on the inner wall of the uterus due to the blind scraping operation, thus causing extra pain to the patient.

[0044] The universal handle 2 includes a snake bone section 21 and a fixed section 22. One end of the snake bone section 21 is connected to the curette 1, and the other end of the snake bone section 21 is connected to the fixed section 22. The fixed section 22 can be a hollow cylindrical structure.

[0045] like Figure 2 and Figure 3 As shown, the bending drive mechanism 32 includes a connecting rope 321, a rotating disk 322 and a driving member 1 323. The first end of the connecting rope 321 is fixed to one side of the inner wall of the serpentine segment 21. The connection between the first section of the connecting section and the serpentine segment 21 is located at one end of the serpentine segment 21 close to the curette 1. The second end of the connecting rope 321 passes around the rotating disk 322 and is fixed to the side of the serpentine segment 21 opposite to the first end of the connecting rope 321. The driving member 1 323 is connected to the rotating disk 322. The driving member 1 323 adjusts the tension of the connecting rope 321 at both ends of the rotating disk 322 by rotating the rotating disk 322, so that the tension on both sides of the connecting rope 321 is inconsistent, thereby controlling the bending of the serpentine segment 21. The curette 1 is driven to move to different positions by the bending of the serpentine segment 21. A pair of force sensors 324 are installed on the connecting rope 321, and the pair of force sensors 324 are respectively arranged on both sides of the rotating disk 322. The force sensor 324 is used to obtain an electrical signal of the tension exerted on the connecting rope 321, and transmit the obtained electrical signal to the controller 4. The controller 4 can be a PLC controller 4 with a display screen, and the controller 4 is used to process the data obtained from the force sensor 324, and through the mapping relationship between the tension exerted on the entire connecting rope 321 and the scraping force exerted by the scraper 1 in the uterine cavity, the tension exerted on the entire connecting rope 321 is converted into the scraping force exerted on the inner wall of the uterus by the scraper 1, and the scraping force is displayed on the display screen.

[0046] In this embodiment, the PLC controller 4 with a display screen can be installed on a mounting base with rollers. In actual use, the PLC controller 4 with a display screen can be moved to the front of the operator by the rollers, so that the operator can perform a curettage operation based on the specific conditions in the uterus displayed on the display screen.

[0047] In this embodiment, the curvature of the snake bone segment 21 can be adjusted by changing the magnitude of the pulling force on the entire connecting rope 321, and the different curvatures of the snake bone segment 21 will also change the scraping force generated by the scraper 1 on the inner wall of the uterine cavity, so the scraping force generated by the scraper 1 on the inner wall of the uterine cavity can be calculated through the data of the force sensor 324. It can be understood that the mapping relationship between the pulling force on the entire connecting rope 321 and the scraping force generated by the scraper 1 on the inner wall of the uterine cavity can be calculated by a function expression or converted by looking up a table.

[0048] Before performing a curettage operation on the uterine cavity by the curettage device in this embodiment, a range interval can be set in advance for the scraping force generated by the curette 1 on the inner wall of the uterine cavity, within which the curette 1 can be effectively scraped on the inner wall of the uterine cavity, and the scraping force generated by the curette 1 can be prevented from being too large and causing pain to the patient during the scraping. The controller 4 in this embodiment can also feedback and adjust the two sets of bending drive mechanisms 32 by the calculated scraping force generated by the curette 1 on the inner wall of the uterus, so that the scraping force generated by the curette 1 on the inner wall of the uterus in real time under the joint action of the two sets of bending drive mechanisms 32 is within the threshold range set by the controller 4. Thereby, the curette 1 can not only quickly and effectively scrape the endometrial tissue that needs to be scraped in the uterine cavity during the scraping, but also minimize the pain generated during the scraping process, so that the patient can complete the curettage operation in a more comfortable experience.

[0049] In this embodiment, the vertical direction in the radial direction of the uterine cavity can be set as the Y-axis, the front-to-back direction in the radial direction of the uterine cavity can be set as the Z-axis, and the axial direction in the uterine cavity can be set as the X-axis. Then one set of bending drive mechanisms 32 drives the scraper 1 to bend along the Y-axis, and the other set of bending drive mechanisms 32 drives the scraper 1 to bend along the Z-axis. The curvature of the snake bone segment 21 is adjusted by two sets of bending drive mechanisms 32 so that the scraper 1 can be bent to any position in the plane surrounded by the Y-axis and the Z-axis (that is, the plane where the radial direction in the uterine cavity is located). And in the actual operation process, the scraper 1 can be moved along the X-axis direction through the mobile drive mechanism 31 according to some previous inspection data to be flush with the specified position 1. The specified position 1 here is one of the positions in the uterine cavity that need to be scraped. Then, by controlling the two sets of bending drive mechanisms 32, the snake bone segment 21 drives the scraper 1 to bend until it contacts the designated position, and then by cooperatively controlling the two sets of bending drive mechanisms 32, the position of the scraper 1 is adjusted, so that the scraper 1 can scrape the endometrial tissue that needs to be scraped at the designated position with the circumferential surface of the designated position in the uterine cavity as the moving trajectory of the scraper 1. How the scraper 1 achieves the rotational scraping operation by changing the curvature of the snake bone segment 21 in the plane where the Y axis and the Z axis are located can be referred to Figure 4 As shown, Figure 4 The plane is formed by the Y axis and the Z axis, and the plane is parallel to the radial direction of the uterus. In the actual control process, the two sets of bending drive mechanisms 32 can cooperate to make the curette 1 move to a point on the plane formed by the Y axis and the Z axis (such as Figure 4In the embodiment of the present invention, the curette 1 is moved to point a by the bending drive mechanism 32 that controls the serpentine segment 21 to bend in the Y-axis direction. At point a, it only needs to control the bending drive mechanism 32 that controls the serpentine segment 21 to bend in the Z-axis direction, so that the serpentine segment 21 drives the curette 1 to move to point a. If it is necessary to move to point b, it only needs to control the bending drive mechanism 32 that controls the serpentine segment 21 to bend in the Z-axis direction, so that the serpentine segment 21 drives the curette 1 to move to point b. In the process from point a to point b, it is necessary to control two sets of bending drive mechanisms 32 at the same time, one set of bending drive mechanisms 32 drives the serpentine segment 21 to move along the Y-axis direction, and the other set drives the serpentine segment 21 to move along the Z-axis direction. By controlling these two sets of bending drive mechanisms 32, the curette 1 can be moved to any point on the arc segment formed between point a and point b. By connecting these points in sequence, a quarter of a circle can be formed, so that the curette 1 can be controlled to rotate with the connection between the serpentine segment 21 and the fixed segment 22 as the rotation axis through the cooperation of the two sets of bending drive mechanisms 32. Figure 4 The process from point b to point c, from point c to point d, and from point d back to point a is the same as from point a to point b. Therefore, in the actual control process, the two sets of bending drive mechanisms 32 can drive the scraper 1 along the Figure 4 Each point on the circumferential surface moves in sequence to realize the rotation of the scraper 1 around the radial direction of the uterine cavity, thereby achieving the scraping operation of the radial direction of the inner wall of the uterine cavity through the scraper 1.

[0050] The number of the bending drive mechanisms 32 can be two, wherein the plane where the connecting rope 321 on one bending drive mechanism 32 is located coincides with the plane where two opposite edges on the four-sided curette 1 are located, and the plane where the connecting rope 321 on the other bending drive mechanism 32 is located coincides with the plane where the other two edges on the four-sided curette 1 are located. The above arrangement enables the endometrial tissue to be scraped off on the inner wall of the uterine cavity to be scraped off while the curette 1 is moving.

[0051] It can be understood that in this embodiment, the number of the bending drive mechanisms 32 can be multiple groups, and the multiple groups of bending drive mechanisms 32 can be distributed at equal angles along the radial direction in the uterine cavity. Under the joint action of the multiple groups of bending drive mechanisms 32, the scraper head 12 can be controlled to move to any position, so that the scraper 1 can perform a scraping operation on any position in the uterine cavity, thereby avoiding the situation of missed scraping and improving the practicality of the entire uterine curettage device. When the number of the bending drive mechanisms 32 is multiple groups, the number of edges of the scraper 1 can also be multiple, and the number of edges of the scraper 1 can be twice the number of the bending drive mechanisms 32. Through this setting, each group of bending drive mechanisms 32 corresponds to a pair of edges formed by multiple edges arranged oppositely, so that under the drive of the multiple groups of bending drive mechanisms 32, the multiple groups of edges can respectively scrape the endometrial tissue that needs to be scraped on the inner wall of the uterine cavity, thereby improving the scraping efficiency of the scraper head 12.

[0052] The curettage device may further include a housing 5, such as Figure 1 and Figure 5 As shown, a placement cavity is provided in the housing 5, and a fixing member 51 is installed in the placement cavity to limit the movement of the fixed section 22 in the radial direction. The end of the fixed section 22 away from the snake bone section 21 extends into the placement cavity and is fixed by the fixing member 51. A limiting hole 511 is provided on the fixing member 51, and the aperture of the limiting hole 511 is larger than the diameter of the fixed section 22. The fixed section 22 and the limiting hole 511 can be connected through a bearing. The fixed section 22 can move in the limiting hole 511 along its axial direction. The PLC controller 4 can be connected to the housing 5 by wire or wirelessly.

[0053] The housing 5 includes a bottom plate 53 and a cover plate 52. Figure 1 The cover plate 52 is detachably mounted on the bottom plate 53, and a placement cavity is formed between the bottom plate 53 and the cover plate 52. A through hole is provided on one side wall of the bottom plate 53, and the aperture of the through hole is slightly larger than the diameter of the fixing section 22, so that the fixing section 22 can pass through the through hole and connect with the fixing member 51.

[0054] A mounting plate 54 may also be provided in the placement cavity, and the mounting plate 54 does not contact the housing 5. The fixing member 51 is mounted on the mounting plate 54. Two driving members 323 are also mounted on the mounting plate 54. The mobile driving mechanism 31 is fixed to the bottom of the placement cavity, and the mobile driving mechanism 31 is connected to the mounting plate 54. The mobile driving mechanism 31 can drive the two bending driving mechanisms 32, the universal handle 2 and the scraper 1 as a whole to move along the axial direction in the uterine cavity through the mounting plate 54 to adjust the length of the scraper 1 extending into the uterine cavity. In this embodiment, by providing a mounting plate 54, the drives of the driving member 323 and the mobile driving mechanism 31 are not interfered with each other, so that the scraper 1 can not only be telescopically moved along the axial direction in the uterine cavity under the action of the mobile driving mechanism 31, but also can be bent to different positions under the action of the two driving members 323 to achieve the scraping operation of the endometrial tissue that needs to be scraped in the uterine cavity, which not only improves the flexibility of the scraper 1 during use, but also can achieve the thorough scraping of the endometrial tissue that needs to be scraped in the uterine cavity to improve the scraping efficiency.

[0055] Please refer to Figure 5The mounting plate 54 may include a plate body 1 541, a plate body 2 542 and a plate body 3 543, and the plate body 1 541 is fixedly connected to the moving driving mechanism 31. In this case, the moving driving mechanism 31 is a cylinder. The plate body 2 542 is fixed to the bottom surface of the plate body 1 541, and the plate body 3 543 is fixed to the side surface of the plate body 2 542. The plate body 2 542 and the plate body 3 543 are also fixedly connected. One of the driving members 1 323 is installed on the plate body 2 542, and the other driving member 1 323 is installed on the plate body 3 543. The two driving members 1 323 are not in the same plane in the vertical direction, which will make the two driving members 1 323 relatively independent, so that the movement between the two connecting ropes 321 will not be disturbed, thereby improving the stability of the snake bone segment 21 when it is bent by the two connecting ropes 321.

[0056] The mobile driving mechanism 31 can be a driving motor, and the fixed section 22 can be a hollow structure with threads on the outside. Figure 2 As shown, when the mobile driving mechanism is a driving motor, it is installed on the side wall of the base plate with a through hole and the driving motor is threadedly connected to the fixed section. The fixed section 22 is extended out of the placement cavity or moved into the placement cavity by controlling the forward and reverse rotation of the driving motor.

[0057] In this embodiment, the moving drive mechanism 31 can also be a cylinder, which is installed in the placement cavity. The cylinder is connected to the mounting plate 54, and the cylinder drives the bending drive mechanism 32, the universal handle 2 and the scraper 1 to move along the axial direction of the uterine cavity through the mounting plate 54, so as to adjust the length of the scraper 1 extending into the uterine cavity.

[0058] The driving member 323 can be a driving motor, which can adjust the length of the connecting rope 321 on both sides of the turntable 322 by rotating the driving motor forward and reversely to adjust the curvature of the snake bone segment 21, thereby driving the scraper 1 to move to the specified position in the uterine cavity through the snake bone segment 21.

[0059] Please refer to Figure 6The scraper 1 may include a connecting rod 11 and a scraper head 12, one end of the connecting rod 11 is connected to the snake bone segment 21, and the other end of the connecting rod 11 is connected to the scraper head 12. The scraper head 12 may be a four-sided scraper head 12. In this embodiment, a camera may also be installed on the connecting rod 11. A transparent cover may be installed on the connecting rod 11, and the transparent cover is used to fix the camera. The camera can be protected by setting the transparent cover. After the scraper head 12 is extended into the uterine cavity, the camera is used to obtain environmental information in the uterine cavity around the scraper head 12. The environmental information obtained is transmitted to the controller 4, and the display screen on the controller 4 is used to enlarge and display the information captured by the camera. In the actual operation process, the operator can observe the specific situation in the uterine cavity through the display screen, and control the bending of the snake bone segment 21 according to the specific situation observed, so that the snake bone segment 21 drives the scraper 1 to bend to the position in the uterine cavity that needs to be scraped, and then by coordinating the control of the two sets of bending drive mechanisms 32, the two sets of bending drive mechanisms 32 can drive the scraper 1 to move to different positions, thereby adjusting the position of the scraper 1 by changing the curvature of the snake bone segment 21 to achieve the circular scraping operation of the endometrial tissue at the specified position in the uterine cavity. This circular scraping can avoid the situation that the scraper 1 misses when scraping the endometrial tissue at the specified position. In addition, during the scraping process, the scraping situation can be observed in real time through the camera and it can be determined whether the position needs to be scraped further. This embodiment can shoot the environment inside the uterus through the camera, which is convenient for the operator to observe the situation inside the uterus through the camera, so that the scraper head 12 can be controlled to scrape the endometrial tissue through the situation captured by the camera. The invention effectively solves the problem of missed scraping caused by blind scraping in the prior art. At the same time, by setting a camera, the position of the tissue that needs to be scraped inside the uterus can be well captured, so that during the scraping operation, there is no need to scrape some places that do not need to be scraped, which causes extra pain to the patient.

[0060] In this embodiment, the camera is a camera that can rotate 360°. Therefore, in actual operation, the internal environment information of the uterine cavity around the scraper 1 can be observed by controlling the rotation of the camera, so that the operator can quickly find the endometrial tissue that needs to be scraped.

[0061] It is understandable that the serpentine segment 21 may be a circular ring structure. The inner wall of the serpentine segment 21 may be fixed with multiple groups of limit sleeves, and the multiple groups of limit sleeves are arranged at intervals along the axial direction of the serpentine segment 21. The number of each group of limit sleeves may be four, and the four limit sleeves are distributed at equal angles along the circumference of the serpentine segment 21. Two of the limit sleeves are arranged along the Y-axis direction, and the other two limit sleeves are arranged along the Z-axis direction. For the connecting rope 321 on one of the bending drive mechanisms 32, its two ends respectively pass through one group of limit sleeves and are fixedly connected to one end of the serpentine segment 21 close to the scraper 1. For the connecting rope 321 on another bending drive mechanism 32, its two ends respectively pass through another group of limit sleeves and are fixedly connected to one end of the serpentine segment 21 close to the scraper 1. The limit sleeve is used to limit the connecting rope 321, so that the connecting rope 321 can better drive the scraper 1 to bend through the serpentine segment 21. At the same time, by providing the limiting sleeve, the two connecting ropes 321 located in the snake bone segment 21 are independent of each other, so that the movement of the two will not be interfered, thereby improving the accuracy of the connecting rope 321 controlling the snake bone segment 21 to bend in different directions.

[0062] A distance sensor may also be provided on the inner wall of the base plate 53, and the distance sensor may be used to measure the length of the curette 1 extending into the uterus. The distance sensor may be one of an infrared distance sensor, a laser distance sensor, etc. The distance sensor may be connected to the PLC controller 4 by wire or wirelessly, and the distance sensor is used to transmit the measured data to the PLC controller 4, and the PLC controller 4 is used to receive the data transmitted by the distance sensor and display it through a display screen. In actual operation, the length of the curette 1 extending into the uterus may be judged by observing the numerical value on the display screen. By arranging the distance sensor, the operator can understand the length of the curette 1 extending into the uterus in real time, thereby being able to better control the length of the curette 1 extending into the uterus.

[0063] Please refer to Figure 6, the scraper head 12 includes two scraper rings with the same structure, the two scraper rings are arranged perpendicularly to each other, and the scraper rings are in a water drop-shaped structure with a narrow upper part and a wide lower part. The upper end of the scraper ring is set as the end with a narrower width, and the lower end of the scraper ring is set as the end with a wider width. The two scraper rings are scraper ring 1 and scraper ring 2, respectively. The upper end of scraper ring 1 is connected to the upper end of scraper ring 2, and the lower end of scraper ring 1 is connected to the lower end of scraper ring 2. The upper end connection of the two scraper rings is fixed to the connecting rod 11. By connecting the narrower end of the scraper ring with the connecting rod 11, the smoothness of the rotation of the scraper head 12 driven by the snake bone segment 21 through the connecting rod 11 is improved. In this embodiment, the wider end of the scraper ring is set to the end away from the connecting rod 11, so that when the scraper ring scrapes the endometrial tissue in the uterus, the area of ​​the scraper ring and the endometrial tissue to be scraped can be increased, thereby improving the scraping efficiency. The two interconnected scraper rings divide the scraper head 12 into four scraping areas along the axial direction of the connecting rod 11. Any scraping area can be scraped by rotating the scraper head 12. By setting four scraping areas, the number of contacts between the scraper head 12 and the endometrial tissue to be scraped can be increased per unit time, thereby improving the scraping efficiency.

[0064] It can be understood that the cross-section of the scraper ring is a circular or arc-shaped structure. By setting the cross-section of the scraper ring to a circular or arc-shaped structure, the scraper ring itself can be prevented from scratching the endometrial tissue during scraping, thereby reducing the pain caused to the patient during the curettage process.

[0065] The cover plate 52 is provided with a plurality of holes and slots, and a plurality of control buttons are installed on the bottom plate 53. The plurality of control buttons respectively pass through the plurality of holes and slots and extend out of the cover plate 52. The control buttons include control button 1, control button 2 and control button 3. The control button 1 controls the connection rope 321 connected to the drive member 1 323 to contract by controlling one of the drive members 1 323, so that the connection rope 321 can drive the snake bone segment 21 to bend along the Y-axis direction. The control button 2 controls the connection rope 321 to contract by another drive member 1 323, so that the connection rope 321 can drive the snake bone segment 21 to bend along the Z-axis direction. The control button 3 drives the scraper 1 to move along the X-axis direction by moving the drive mechanism 31, so as to change the length of the scraper 11 extending into the uterine cavity. In the actual operation process, the position of the scraper head 12 can be adjusted by these three control buttons according to the actual situation.

[0066] The specific operation of the curettage device in this embodiment is as follows: (1) First, extend the curettage device into the interior of the uterus, and then observe the specific position of the endometrial tissue to be scraped in the uterus according to the camera. (2) Control the mobile drive mechanism 31, and the mobile drive mechanism 31 drives the driving member 323, the universal handle 2 and the scraper 1 to move forward through the mounting plate 54, until the scraper head 12 moves to be flush with the designated position. (3) Then, the position of the scraper head 12 is adjusted by the mutual cooperation of the two sets of driving members 323 and the connecting rope 321, so that the scraper head 12 contacts the designated position. (4) Then, by controlling the two sets of driving members 323, the two sets of driving members 323 drive the scraper head 12 to move along the radial direction in the uterine cavity, so as to achieve the scraping of the endometrial tissue to be scraped at the designated position by bending the scraper head 12. After the scraping operation is completed, the scraping situation can be observed by rotating the camera. If it is observed that the endometrial tissue is not completely scraped off, the driving member 323 can be started again, and the driving member 323 can drive the scraper head 12 to scrape the position again until the endometrial tissue that needs to be scraped at the position is scraped off. (5) Then, the entire scraper 1 is driven by the mobile driving mechanism 31 to move to the designated position 2 in the uterine cavity. Then, the two groups of driving members 323 can be controlled so that the two groups of driving members 323 drive the scraper head 12 to move along the radial direction in the uterine cavity, so as to achieve the scraping of the endometrial tissue that needs to be scraped at the designated position 2 by bending the scraper head 12. By repeating the above steps (2), (3) and (4), a thorough scraping operation can be achieved in the uterine cavity.

[0067] Example 2

[0068] A control method for a curettage device, which uses the curettage device with adjustable curettage force of embodiment 1 to perform a curettage operation, and the control method for the curettage device comprises the following steps:

[0069] (1) Insert the curettage device into the uterus, use the camera to capture the environment information inside the uterus, and feed the captured information back to the PLC controller 4, which is used to receive the internal environment information of the uterus obtained by the camera and magnify and display the internal environment information of the uterus after processing by the PLC controller 4 on the display screen, so that the operator can observe the specific situation inside the uterus through the display screen;

[0070] (2) controlling the scraper 1 to extend into the designated position 1 in the uterine cavity along the axial direction of the uterine cavity by the mobile driving mechanism 31;

[0071] (3) The plane where the designated position a is located in the radial direction in the uterus is used as the scraping surface a, and the two bending drive mechanisms 32 are used to control the scraper 1 to rotate multiple times on the scraping surface a with the connection between the serpentine segment 21 and the fixed segment 22 as the rotation axis and the serpentine segment 21 and the scraper 1 as a whole as the rotation radius to achieve the scraping operation of the endometrial tissue to be scraped at the designated position a;

[0072] (4) controlling the curette 1 to move forward along the axial direction of the uterine cavity by the mobile driving mechanism 31 until the curette 1 extends into the designated position 2;

[0073] (5) The plane where the designated position 2 in the radial direction in the uterus is located is taken as the scraping surface 2, and the two bending drive mechanisms 32 are used to control the scraper 1 to rotate multiple times on the scraping surface 2 with the connection between the serpentine segment 21 and the fixed segment 22 as the rotation axis and the serpentine segment 21 and the scraper 1 as a whole as the rotation radius to achieve the scraping operation of the endometrial tissue to be scraped at the designated position 2;

[0074] (6) looping steps (4) and (5) to sequentially perform curettage on all designated locations in the uterine cavity;

[0075] (7) The curette 1 is removed from the uterine cavity, thus completing the entire curettage operation.

[0076] Among them, Figures 7 to 9 As shown in the present embodiment, the uterine cavity is divided into three sections, namely, designated position one, designated position two, and designated position three. The scraper is first driven to move to designated position one by the mobile drive mechanism, and then the scraper is driven to bend by the joint action of two sets of bending drive mechanisms to drive the scraper to scrape designated position one. The scraper is first driven to move to designated position two by the mobile drive mechanism, and then the scraper is driven to bend by the joint action of two sets of bending drive mechanisms to drive the scraper to scrape designated position one. The scraper is first driven to move to designated position three by the mobile drive mechanism, and then the scraper is driven to bend by the joint action of two sets of bending drive mechanisms to drive the scraper to scrape designated position three. The above operations are used to achieve scraping operations at all places in the uterine cavity.

[0077] Among them, in step (3), after the scraping operation is completed, the camera can be rotated to observe whether the endometrial tissue to be scraped at the designated position is scraped clean. If it is scraped clean, proceed to the next step. If it is not scraped clean, repeat step (3) until the scraper head 12 scrapes the endometrial tissue to be scraped at the designated position clean before proceeding to the next step.

[0078] Among them, for the operation of inserting the curettage device into the uterus in step (1), the length of the device inserted into the uterus can be set according to the specific location of the endometrial tissue to be scraped in the uterus as shown in the patient's B-ultrasound, CT and other examination results.

[0079] In step (3), the number of revolutions of the scraper head 12 driven by the two bending drive mechanisms 32 each time they are started is 3-5 revolutions. By setting the range of 3-5 revolutions, the scraper head 12 can scrape most of the endometrial tissues that need to be scraped, and while achieving effective scraping, the scraping will not cause additional pain to the patient due to multiple scrapings.

[0080] Among them, the force sensor 324 can also transmit the data of the tension of the connecting rope 321 detected by it to the PLC controller 4 and display it through the display screen, so that the operator can know the pressure of the scraper head 12 at any time during the curettage operation, so that the pressure of the scraper head 12 can be adjusted according to this value and in combination with the thickness of the endometrial tissue to be scraped, so as to achieve a quick and thorough scraping operation on the endometrial tissue to be scraped. Specifically, if the endometrial tissue to be scraped is thin, the scraper head 12 can complete the scraping operation under a smaller pressure. If the endometrial tissue to be scraped is thick, it is necessary to increase the pressure of the scraper head 12 so that the scraper head 12 can effectively scrape the thicker endometrial tissue. Among them, the relationship between the scraping pressure of the scraper head 12 and the internal thickness can be adjusted by looking up a table.

[0081] The above describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention to be protected. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A curettage device with adjustable curettage force, characterized in that: It is used to perform a scraping operation on the endometrial tissue that needs to be scraped in the uterine cavity. The scraping device includes: Curette (1), A universal handle (2), the universal handle (2) comprising a snake bone section (21) and a fixed section (22), the two ends of the snake bone section (21) being respectively connected to the scraper (1) and the fixed section (22); The driving mechanism comprises a moving driving mechanism (31) and at least two groups of bending driving mechanisms (32); the moving driving mechanism (31) drives the scraper (1) to move telescopically along the axial direction of the uterine cavity through the universal handle (2); each group of the bending mechanisms drives the scraper (1) to bend along the radial direction in the uterine cavity, and the bending directions of the two groups of the bending driving mechanisms (32) to drive the scraper (1) to bend are perpendicular to each other; the curvature of the snake bone segment (21) is adjusted by the two groups of the bending driving mechanisms (32), so that the scraper (1) can bend along a specified direction in the radial direction of the uterine cavity; each group of the bending driving mechanisms (3 2) both comprise a connecting rope (321), a rotating disk (322) and a driving member (323), wherein the two ends of the connecting rope (321) are respectively fixedly connected to the snake bone segment (21), and the end of the connecting rope (321) away from the snake bone segment (21) is sleeved on the rotating disk (322), and the driving member (323) drives the rotating disk (322) to rotate to adjust the tension on both sides of the connecting rope (321); a pair of force sensors (324) are provided on the connecting rope (321), and the force sensors (324) are respectively arranged on both sides of the rotating disk (322), and the force sensors (324) are used to obtain the electrical signal of the tension on the connecting rope (321); A controller (4) is used to: receive electrical signals from the two force sensors (324) and calculate the scraping force exerted on the inner wall of the uterine cavity by the scraper (1); By controlling the two groups of the bending drive mechanisms (32), the scraper (1) can be moved along a circumferential surface in the radial direction of the uterine cavity, so that the scraper (1) can perform rotational scraping of the uterine cavity; during the scraping process, the scraping force generated by the scraper (1) on the inner wall of the uterine cavity is calculated to feedback and adjust the two groups of the bending drive mechanisms (32), so that the scraping force generated by the scraper (1) on the inner wall of the uterine cavity in real time under the joint action of the two groups of the bending drive mechanisms (32) is within the threshold range set by the controller (4).

2. The curettage device with adjustable curettage force as claimed in claim 1, characterized in that: The scraper (1) is a four-sided scraper (1), and the number of the bending drive mechanisms (32) is two, wherein the plane where one of the connecting ropes (321) is located coincides with the plane where two opposite edges on the four-sided scraper (1) are located, and the plane where the other connecting rope (321) is located coincides with the plane where the other two edges on the four-sided scraper (1) are located.

3. The curettage device with adjustable curettage force as claimed in claim 1, characterized in that: The number of the bending drive mechanisms (32) is a plurality of groups, the scraper (1) is a multi-edge scraper (1), and the number of edges of the scraper (1) is twice the number of the bending drive mechanisms (32).

4. The curettage device with adjustable curettage force as claimed in claim 1, characterized in that: The two driving members (323) control the serpentine segment (21) so that the scraper (1) uses the connection between the fixed segment (22) and the serpentine segment (21) as a rotation axis and the whole formed by the serpentine segment (21) and the scraper (1) as a rotation radius around the rotation axis to perform rotational scraping in the uterine cavity.

5. The curettage device with adjustable curettage force as claimed in claim 1, characterized in that: The curettage device further comprises a cover shell (5), wherein the cover shell (5) is provided with a placement cavity, wherein a fixing member (51) is installed in the placement cavity for limiting the movement of the fixing section (22) in the radial direction, and an end of the fixing section (22) away from the serpentine section (21) extends into the placement cavity and is fixed by the fixing member (51).

6. The curettage device with adjustable curettage force as claimed in claim 5, characterized in that: The fixing member (51) is provided with a limiting hole (511), the diameter of the limiting hole (511) is larger than the diameter of the fixing section (22), and the fixing section (22) can move in the limiting hole (511) along its axial direction; and / or The mobile driving mechanism (31) is fixedly installed in the placement cavity. A mounting plate (54) that moves along the axial direction of the fixed section (22) is provided in the placement cavity. The two driving members (323) are both installed on the mounting plate (54). The mobile driving mechanism (31) is used to drive the scraper (1), the universal handle (2) and the bending driving mechanism (32) to move telescopically along the axial direction in the uterine cavity.

7. The curettage device with adjustable curettage force as claimed in claim 6, characterized in that: The moving drive mechanism (31) is a driving motor, the driving thread is connected to the fixed section (22), and the fixed section (22) is controlled to extend out of the placement cavity or move into the placement cavity by the forward and reverse rotation of the driving motor; and / or The moving drive mechanism (31) is a cylinder, which is installed in the placement cavity and connected to the mounting plate (54). The cylinder drives the bending drive mechanism (32), the universal handle (2) and the scraper (1) to move telescopically along the axial direction in the uterine cavity through the mounting plate (54).

8. The curettage device with adjustable curettage force as claimed in claim 1, characterized in that: A camera is installed at the connection between the scraper (1) and the snake bone segment (21), and the camera is used to obtain environmental information around the scraper (1); and a display screen is provided on the controller (4), and the display screen is used to display and magnify the information obtained by the camera.

9. A control method for a curettage device with adjustable curettage force, wherein the curettage device with adjustable curettage force as claimed in any one of claims 1 to 8 is used to perform a curettage operation, characterized in that: It includes the following steps: S1: controlling the scraper (1) to extend into a designated position 1 in the uterine cavity along the axial direction of the uterine cavity by means of a mobile driving mechanism (31); S2: With the plane where the designated position 1 in the radial direction in the uterus is located as the scraping surface 1, the scraper (1) is controlled by two bending drive mechanisms (32) to rotate multiple times on the scraping surface 1 with the connection between the serpentine segment (21) and the fixed segment (22) as the rotation axis and the entirety of the serpentine segment (21) and the scraper (1) as the rotation radius to achieve a scraping operation on the endometrial tissue to be scraped at the designated position 1; S3: controlling the scraper (1) to move forward along the axial direction of the uterine cavity through the moving drive mechanism (31) until the scraper (1) extends into the designated position 2; S4: The plane where the second designated position is located in the radial direction in the uterus is used as the second scraping surface, and the scraper (1) is controlled by two bending drive mechanisms (32) to rotate multiple times on the second scraping surface with the connection between the serpentine segment (21) and the fixed segment (22) as the rotation axis and the entirety of the serpentine segment (21) and the scraper (1) as the rotation radius to achieve a scraping operation on the endometrial tissue to be scraped at the second designated position; S5: looping steps S3 and S4 in sequence to perform curettage on all designated positions in the uterine cavity; S6: The scraper (1) is taken out from the uterine cavity, thus completing the entire uterine curettage operation.

10. The control method of the curettage device with adjustable curettage force according to claim 9, characterized in that: During the curettage operation, when the scraper (1) is scraping around the scraping surface, the controller (4) will feedback and adjust the two bending drive mechanisms (32) through the electrical signals detected by the two force sensors (324), so that the scraping force generated by the scraper (1) on the inner wall of the uterus in real time under the joint action of the two bending drive mechanisms (32) is within the threshold range set by the controller (4).

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