Method for using a robotic arm type endoscopic biopsy device

Abstract

The present invention discloses a method for using a mechanical arm-type endoscopic biopsy device, including an end grip plate, the front side wall of the end grip plate is fixedly connected to a sliding guide assembly; the sliding guide assembly includes a sliding guide rod, a cavity is opened in the sliding guide rod; a spring guide component is slidably connected in the cavity, which includes a spring located in the cavity, a guide rod is sleeved on the spring, the rear end of the guide rod is fixedly connected to a spring rear seat, and the front end of the guide rod is slidably connected to a spring front seat; the top of the spring front seat is fixedly connected to a toggle rod, the front side wall of the spring front seat is fixedly connected to a flexible detection rod, the flexible detection rod is connected to a biopsy cone, and a sampling groove is opened in the biopsy cone. At the same time, the present invention discloses a method for using a biopsy device, including pushing a finger-shaped toggle plate, pushing the flexible detection rod to extend into the patient's body, puncturing the biopsy cone, and accommodating tissue fluid and tissue cells in the sampling groove. The above-mentioned device component design can quickly and effectively achieve diseased tissue sampling, effectively improving clinical detection efficiency.

Description

Technical Field

[0001] The present invention relates to the field of endoscopic biopsy devices, and in particular to a method for using a mechanical arm type endoscopic biopsy device. Background Art

[0002] Endoscope is a commonly used device in clinical medical testing. It is inserted into the patient's body to observe the diseased tissue inside the patient.

[0003] During the process of endoscopic detection of diseased tissue in a patient's body, it is often necessary to take samples of the patient's diseased tissue, and then conduct medical tests after taking samples of the diseased tissue.

[0004] Based on the wide application of endoscopic detection and testing of patients in medical treatment, there are many technical disclosures in the prior art about medical equipment for endoscopic detection and testing and sampling of patients, such as the Chinese patent application No.: 201420021758.9, which discloses "Biopsy Sampling Forceps for Endoscopic Examination and Surgery". The biopsy sampling forceps disclosed in this patent include a forceps head, a control cable, a flexible outer tube and an operating rod; a mechanical arm composed of a swing arm joint and a swing arm; the swing arm joint is a crank slider mechanism composed of a swing arm seat, a rotating base, a slider and a connecting rod; the swing arm seat, the swing arm shaft and the connecting rod shaft constitute the crank of the crank slider mechanism; the rotating base is connected to the fixed base, and the fixed base is connected to the operating rod through a flexible inner tube; the swing arm operating slip ring slides axially relative to the operating rod, and is transmitted to the slider of the crank slider mechanism through the flexible outer tube; the slider is connected to the swing arm seat through a connecting rod, driving the swing arm seat to rotate on the swing arm shaft, and driving the swing arm and the forceps head to swing around the swing arm shaft. With the help of the mechanical arm to drive the swing of the clamp head, combined with the rotation of the clamp head around the axis with the rotating base, 360° full-view sampling without blind spots around the axis of the fixed base can be achieved.

[0005] However, the sampling forceps adopted in the prior art and the technical solutions disclosed in the above patents are suitable for sampling a large amount of tissues. In the clinical sampling process, only a small amount of tissue cells or tissue fluid, such as pancreatic tissue fluid, need to be sampled for special tissues. The prior art and the technical device solutions disclosed in the above patents are obviously not usable, resulting in sampling difficulties. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a method for using a robotic arm type endoscopic biopsy device.

[0007] The present invention solves the above technical problems through the following technical solutions:

[0008] A mechanical arm type endoscope biopsy device comprises an end gripping plate, and a front side wall of the end gripping plate is fixedly connected with a sliding guide assembly;

[0009] The slide guide assembly comprises a slide guide rod, and a cavity is formed in the slide guide rod;

[0010] A spring guide component is slidably connected in the cavity;

[0011] The spring guide component comprises a spring located in the cavity, a guide rod is sleeved on the spring, a spring rear seat is fixedly connected to the rear end of the guide rod, and a spring front seat is slidably connected to the front end of the guide rod;

[0012] The spring rear seat is fixedly connected to the rear side wall of the cavity, the top of the spring front seat is fixedly connected to a toggle rod, and the top of the sliding guide rod is provided with a strip opening matched with the toggle rod;

[0013] The top of the toggle rod passes through the strip opening and is located outside the strip opening. The front side wall of the spring front seat is fixedly connected with a flexible detection rod. The end of the flexible detection rod is threadedly connected with a biopsy cone. A sampling groove is opened inside the biopsy cone.

[0014] As an optimization of the structure of the present invention, a connecting rod is fixedly connected to the central portion of the rear side wall of the spring rear seat, the connecting rod is fixedly connected to a connecting disc body, and the connecting disc body is fixedly connected to the rear side wall of the cavity.

[0015] As an optimization of the structure of the present invention, the front side wall of the spring front seat is fixedly connected with a bolt rod, the bolt rod is threadedly connected with a connecting rod, and the front end of the connecting rod is fixedly connected with a flexible detection rod;

[0016] The connecting end rod passes through the sliding guide rod, and the connecting end rod is slidably connected to the sliding guide rod.

[0017] As an optimization of the structure of the present invention, a rod hole cooperating with the connecting end rod is opened on the right side wall of the sliding guide rod, and the connecting end rod passes through the rod hole.

[0018] As an optimization of the structure of the present invention, a finger-shaped shift plate is fixedly connected to the top of the shift lever.

[0019] As an optimization of the structure of the present invention, the shape of the cavity is cylindrical;

[0020] The longitudinal cross-section of the spring front seat is circular, and the spring front seat is slidably connected in the cavity.

[0021] As an optimization of the structure of the present invention, a threaded disc is fixed to the front end of the flexible detection rod, a mounting disc is fixedly connected to the rear side wall of the biopsy cone, and a threaded groove matching the threaded disc is provided at the center of the rear side wall of the mounting disc;

[0022] The threaded disc body is threadedly connected in the thread groove.

[0023] As an optimization of the structure of the present invention, the rear side wall of the threaded disc body is fixedly connected with a toothed turntable body, and the toothed turntable body is provided with a plurality of toothed grooves;

[0024] A plurality of tooth-shaped groove annular arrays are distributed on the tooth-shaped turntable body.

[0025] As an optimization of the structure of the present invention, a plurality of sampling slots are distributed on the top and bottom of the biopsy cone.

[0026] In addition, the method of using the present invention has the following steps:

[0027] (1) Push the finger-shaped dial plate, and the lever slides back and forth on the strip opening;

[0028] (2) The spring front seat pushes the flexible probe rod into the patient's body;

[0029] (3) After the biopsy cone punctures the patient's tissue, the detached tissue cells fall into the sampling groove on the biopsy cone, which contains tissue fluid.

[0030] The working principle of the above device is as follows:

[0031] First, the operator moves the finger-shaped plate toward the front side wall. At this time, the toggle rod slides back and forth on the strip opening. At the same time, the spring stretches. At this time, the guide rod is separated from the spring front seat (the spring front seat has a guide rod cavity that cooperates with the guide rod). At this time, the spring front seat pushes the connecting rod to slide on the sliding guide rod. At this time, the flexible detection rod 3 continuously extends into the patient's body. When the biopsy cone punctures the patient's tissue, the detached tissue cells fall into the sampling groove on the biopsy cone. At the same time, the sampling groove contains tissue fluid. The toggle rod, spring, and guide rod design can freely pull the spring front seat to achieve the detection of the flexible detection rod. At the same time, after the biopsy cone 5 detects and samples, it can be quickly reset to facilitate the biopsy cone 5 to leave the punctured tissue.

[0032] Compared with the prior art, the present invention has the following advantages:

[0033] The sliding guide assembly is designed to specifically adopt a sliding guide rod, which is slidably connected with a spring guide component, which specifically adopts a spring, a guide rod is sleeved on the spring, and the rear end of the guide rod is fixedly connected with a spring rear seat, the front end of the guide rod is slidably connected with a spring front seat, the top of the spring front seat is fixedly connected with a toggle rod, the top of the sliding guide rod is provided with a strip opening that cooperates with the toggle rod, the top of the toggle rod is fixedly connected with a finger-shaped dial plate, the front side wall of the spring front seat is fixedly connected with a flexible detection rod and an end rod, the end of the flexible detection rod is threadedly connected with a biopsy cone, the front end of the flexible detection rod is fixed with a threaded disk body, and the rear side wall of the threaded disk body is fixedly connected with a toothed turntable body, and the toothed turntable body is provided with a plurality of toothed grooves. The operator moves the finger-shaped dial plate toward the front side wall. At this time, the dial rod slides back and forth on the strip opening. At the same time, the spring is stretched. At this time, the guide rod is separated from the spring front seat (the spring front seat has a guide rod cavity that cooperates with the guide rod). At this time, the spring front seat pushes the connecting rod to slide on the sliding guide rod. At this time, the flexible detection rod continuously extends into the patient's body. When the biopsy cone punctures the patient's tissue, the detached tissue cells fall into the sampling groove on the biopsy cone. At the same time, the sampling groove contains tissue fluid, which realizes the sampling of a small amount of tissue and tissue fluid. At the same time, the toothed turntable body is used to conveniently rotate the threaded disk body, adjust the angle of the biopsy cone 5, and adjust the orientation of the sampling groove to facilitate sampling.

[0034] The above device component design not only makes sampling convenient, but also enables fast and effective sampling of diseased tissue, effectively improving clinical detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0036] Figure 1 is a schematic diagram of a dispersed structure of an embodiment of the present invention;

[0037] Figure 2 is a schematic structural diagram of a sliding guide rod in an embodiment of the present invention;

[0038] Figure 3 Embodiment of the present invention Figure 2 A schematic diagram of the structure from another perspective;

[0039] Figure 4 is a sliding guide assembly of the sliding guide assembly in an embodiment of the present invention;

[0040] Figure 5 1 is a schematic diagram of the connection relationship between the threaded disc body and the toothed rotating disc body in an embodiment of the present invention;

[0041] Figure 6 is a schematic structural diagram of a biopsy cone 5 in an embodiment of the present invention;

[0042] Figure 7 is a schematic diagram of the overall structure of a robotic arm-type endoscopic biopsy device in an embodiment of the present invention;

[0043] Figure 8 Embodiment of the present invention Figure 7 A top view of the

[0044] Fig. 9 Embodiment of the present invention Figure 7 Front view of the . DETAILED DESCRIPTION

[0045] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0046] like Figure 1-9 As shown, a robotic arm endoscopic biopsy device includes an end grip plate 1, which is fan-shaped and has a grip hole 11 for easy operation by medical staff.

[0047] A slide guide assembly 2 is fixedly connected to the front side wall of the end grip plate 1. The slide guide assembly 2 has a pushing effect, and the specific structure of the slide guide assembly 2 is as follows:

[0048] The slide guide assembly 2 includes a slide guide rod 21, wherein a cavity (the shape of the cavity is cylindrical) is provided in the slide guide rod 21; a spring guide component 22 is slidably connected in the cavity; the spring guide component 22 includes a spring 223 located in the cavity, the guide rod 22 is sleeved on the spring 223, the rear end of the guide rod 22 is fixedly connected to a spring rear seat 224, and the front end of the guide rod 22 is slidably connected to a spring front seat 221;

[0049] The spring rear seat 224 is fixedly connected to the rear side wall of the cavity, the top of the spring front seat 221 is fixedly connected to a toggle rod, and the top of the sliding guide rod 21 is provided with a strip opening 211 that cooperates with the toggle rod (at the same time, the longitudinal cross-section of the spring front seat 221 is circular, and the spring front seat 221 is slidably connected in the cavity).

[0050] The top of the toggle rod passes through the strip opening 211 and is located outside the strip opening 211. At the same time, the top of the toggle rod is fixedly connected with a finger-shaped dial plate 2312. When the finger-shaped dial plate 2312 is pushed, the toggle rod slides back and forth on the strip opening 211.

[0051] Meanwhile, the front side wall of the spring front seat 221 is fixedly connected with a flexible detection rod 3, which is a metal rod with flexibility. Specifically, the front side wall of the spring front seat 221 is fixedly connected with a bolt rod 2311, and the bolt rod 2311 is threadedly connected with a connecting rod 23, and the front end of the connecting rod 23 is fixedly connected with the flexible detection rod 3. The connecting rod 23 penetrates the sliding guide rod 21, and the connecting rod 23 is slidably connected to the sliding guide rod 21. Correspondingly, the right side wall of the sliding guide rod 21 is provided with a rod hole that matches the connecting rod 23, and the connecting rod 23 penetrates the rod hole.

[0052] At the same time, a connecting rod is fixedly connected to the center of the rear side wall of the spring rear seat 224, and the connecting rod is fixedly connected to a connecting disc body 2241, and the connecting disc body 2241 is fixedly connected to the rear side wall of the cavity.

[0053] In order to puncture the patient's diseased tissue and sample tissue and tissue fluid, the end of the flexible probe rod 3 is threadedly connected with a biopsy cone 5, and a sampling groove 51 is opened inside the biopsy cone 5. Specifically, a plurality of the sampling grooves 51 are distributed on the top and bottom of the biopsy cone 5.

[0054] In order to disassemble, replace or adjust the angle of the biopsy cone 5, a threaded disk body 4 is fixed to the front end of the flexible detection rod 3, and a mounting disk body 6 is fixedly connected to the rear side wall of the biopsy cone 5. A threaded groove 61 matching with the threaded disk body 4 is provided in the center of the rear side wall of the mounting disk body 6; the threaded disk body 4 is threadedly connected in the threaded groove 61.

[0055] In order to facilitate the rotation of the threaded disc body 4 (the disc profile of the threaded disc body 4 has external threads), a toothed turntable body 41 is fixedly connected to the rear side wall of the threaded disc body 4, and a plurality of toothed grooves are provided on the toothed turntable body 41. Specifically, a plurality of the toothed grooves are distributed in a circular array on the toothed turntable body 41. Since the front end of the flexible detection rod 3 is fixed with the threaded disc body 4, at this time, the flexible detection rod 3 passes through the toothed turntable body 41 and is fixedly connected to the rear side of the threaded disc body 4. Correspondingly, a through hole matching the flexible detection rod 3 is provided on the toothed turntable body 41.

[0056] Example 2 Method for using a robotic arm endoscopic biopsy device

[0057] like Figure 1-9 As shown, the method of using the robotic arm endoscopic biopsy device is as follows:

[0058] First, the operator moves the finger-shaped paddle 2312 toward the front side wall. At this time, the paddle rod slides back and forth on the strip opening 211. At the same time, the spring 223 is stretched. At this time, the guide rod 22 is separated from the spring front seat 221 (the spring front seat 221 has a guide rod 22 cavity that cooperates with the guide rod 22). At this time, the spring front seat 221 pushes the connecting rod to slide on the sliding guide rod 21. At this time, the flexible detection rod 3 continuously extends into the patient's body. When the biopsy cone 5 punctures the patient's tissue, the detached tissue cells fall into the sampling groove 51 on the biopsy cone 5. At the same time, the sampling groove 51 contains tissue fluid.

[0059] By using the above-mentioned device components, a small amount of tissue sampling and tissue fluid sampling can be achieved.

[0060] The advantages of adopting the above device component design are:

[0061] The sliding guide assembly 2 is designed to specifically adopt a sliding guide rod 21, which is slidably connected with a spring 223. The guide component 22 specifically adopts a spring 223, and a guide rod 22 is sleeved on the spring 223. The rear end of the guide rod 22 is fixedly connected with a spring rear seat 224. The front end of the guide rod 22 is slidably connected with a spring front seat 221, and the top of the spring front seat 221 is fixedly connected with a toggle rod. The top of the sliding guide rod 21 is provided with a strip opening 211 that cooperates with the toggle rod, and the top of the toggle rod is fixedly connected with a finger-shaped dial plate 2312. The front side wall of the spring front seat 221 is fixedly connected with a flexible detection rod 3 and an end rod 23. The end of the flexible detection rod 3 is threadedly connected with a biopsy cone 5. The front end of the flexible detection rod 3 is fixed with a threaded disk body 4, and the rear side wall of the threaded disk body 4 is fixedly connected with a toothed turntable body 41, and the toothed turntable body 41 is provided with a plurality of toothed grooves. The operator moves the finger-shaped dial plate 2312 toward the front side wall. At this time, the dial rod slides back and forth on the strip opening 211. At the same time, the spring 223 stretches. At this time, the guide rod 22 is separated from the spring front seat 221 (the spring front seat 221 has a guide rod 22 cavity that cooperates with the guide rod 22). At this time, the spring front seat 221 pushes the connecting rod to slide on the sliding guide rod 21. At this time, the flexible detection rod 3 continuously extends into the patient's body. When the biopsy cone 5 punctures the patient's tissue, the detached tissue cells fall into the sampling groove 51 on the biopsy cone 5. At the same time, the sampling groove 51 contains tissue fluid, which realizes the sampling of a small amount of tissue and tissue fluid. At the same time, the toothed turntable body 41 is used to conveniently rotate the threaded disk body 4, adjust the angle of the biopsy cone 5, and adjust the orientation of the sampling groove 51, so as to facilitate sampling.

[0062] The above device component design not only makes sampling convenient, but also enables fast and effective sampling of diseased tissue, effectively improving clinical detection efficiency.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for using a robotic arm endoscopic biopsy device, characterized in that: A mechanical arm type endoscope biopsy device is provided, the device comprising an end gripping plate, the front side wall of the end gripping plate being fixedly connected with a sliding guide assembly; The slide guide assembly comprises a slide guide rod, and a cavity is formed in the slide guide rod; A spring guide component is slidably connected in the cavity; The spring guide component comprises a spring located in the cavity, a guide rod is sleeved on the spring, a spring rear seat is fixedly connected to the rear end of the guide rod, and a spring front seat is slidably connected to the front end of the guide rod; The spring rear seat is fixedly connected to the rear side wall of the cavity, the top of the spring front seat is fixedly connected to a toggle rod, and the top of the sliding guide rod is provided with a strip opening matched with the toggle rod; The top of the toggle rod passes through the strip opening and is located outside the strip opening; the front side wall of the spring front seat is fixedly connected with a flexible detection rod; the end of the flexible detection rod is threadedly connected with a biopsy cone; a sampling groove is opened inside the biopsy cone; A connecting rod is fixedly connected to the center of the rear side wall of the spring rear seat, and the connecting rod is fixedly connected to a connecting disc body, and the connecting disc body is fixedly connected to the rear side wall of the cavity; The front side wall of the spring front seat is fixedly connected to a bolt rod, the bolt rod is threadedly connected to a connecting rod, and the front end of the connecting rod is fixedly connected to a flexible detection rod; The connecting end rod passes through the sliding guide rod, and the connecting end rod is slidably connected to the sliding guide rod; The right side wall of the sliding guide rod is provided with a rod hole matched with the connecting end rod, and the connecting end rod passes through the rod hole; The top of the toggle lever is fixedly connected with a finger-shaped toggle plate; The shape of the cavity is cylindrical; The longitudinal cross-section of the spring front seat is circular, and the spring front seat is slidably connected in the cavity; A threaded disc is fixed to the front end of the flexible detection rod, a mounting disc is fixedly connected to the rear side wall of the biopsy cone, and a threaded groove matching the threaded disc is provided at the center of the rear side wall of the mounting disc; The threaded disc body is threadedly connected in the thread groove; The rear side wall of the threaded disc body is fixedly connected with a toothed turntable body, and the toothed turntable body is provided with a plurality of toothed grooves; A plurality of tooth-shaped grooves are arranged in an annular array on the tooth-shaped rotating disk body; a plurality of sampling grooves are arranged on the top and bottom of the biopsy cone; the shape of the end gripping plate is fan-shaped, and a gripping hole is provided on the end gripping plate; The steps to use are as follows: (1) Push the finger-shaped plate, and the lever slides back and forth on the strip opening; (2) The spring front seat pushes the flexible probe rod into the patient's body; (3) After the biopsy cone punctures the patient's tissue, the detached tissue cells fall into the sampling groove on the biopsy cone, which contains tissue fluid.

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