A catheter propulsion device and an endoscope

Abstract

An embodiment of this specification discloses a propulsion device for a catheter. The propulsion device includes: a housing, a gripper claw and a gripper ring received in the housing; the gripper claw includes a clamping portion for clamping the catheter; the gripper ring is sleeved outside the gripper claw; when the gripper ring and the gripper claw are in a tightened state, the gripper ring cooperates with the clamping portion, the clamping portions gather together, and the gripper claw and the gripper ring move forward relative to the housing together; when the gripper ring and the gripper claw are in a separated state, the gripper ring and the clamping portion are separated, and the clamping portions are separated from each other; the propulsion device further includes a limiting device for restricting the gripper ring from continuing to move forward so that the gripper ring is separated from the gripper claw.

Description

Technical Field

[0001] The embodiments of this specification relate to the technical field of human intervention devices, and particularly to a catheter propulsion device and an endoscope. Background Art

[0002] During clinical diagnosis and treatment, intervention devices (such as breast duct endoscopes, otorhinolaryngology endoscopes, ophthalmic endoscopes, gastroscopes, colonoscopes, laparoscopes, cystoscopes, urethral catheters, air catheters, etc.) are often used to reach deep human tissues or lesion sites. Taking the breast duct endoscope as an example, using a breast duct endoscope to examine the breast can clarify the cause of nipple discharge, identify the diseased milk ducts, excise the diseased milk ducts or masses, and at the same time, the diseased milk ducts can be flushed and dredged, so as to detect breast tumors early and treat them, avoiding the great pain brought by mastectomy in the late stage of the disease. At present, when doctors or medical robots perform insertion operations manually, when encountering resistance from human internal tissues, they cannot timely adjust the insertion length and delivery force of the catheter, resulting in strong pain for patients and even damage to the tissues in the patient's body.

[0003] Therefore, it is desired to provide a catheter propulsion device that can precisely control the catheter to gradually advance into the human body, thereby avoiding damage to human tissues during the catheter insertion process. Summary of the Invention

[0004] One aspect of the embodiments of this specification provides a catheter propulsion device, which includes: a housing, a gripper and a gripper ring received in the housing; the gripper includes a clamping portion for clamping the catheter; the gripper ring is sleeved outside the gripper; when the gripper ring and the gripper are in a tightened state, the gripper ring cooperates with the clamping portion, the clamping portions converge with each other, and the gripper and the gripper ring move forward relative to the housing together; when the gripper ring and the gripper are in a separated state, the gripper ring and the clamping portion are separated, and the clamping portions are separated from each other; the propulsion device further includes a limiting device for restricting the gripper ring from continuing to move forward so that the gripper ring and the gripper are separated.

[0005] In some embodiments, the clamping portion of the gripper includes at least two jaws for clamping the catheter; when the gripper ring and the gripper are in a tightened state, the gripper ring cooperates with the at least two jaws, the at least two jaws converge with each other, and the gripper and the gripper ring move forward relative to the housing together; when the gripper ring and the gripper are in a separated state, the gripper ring and the at least two jaws are separated, and the at least two jaws are separated from each other.

[0006] In some embodiments, the gripper further includes a fixing portion, the fixing portion is connected to the rear ends of the at least two jaws, and the at least two jaws are circumferentially distributed at the end of the fixing portion.

[0007] In some embodiments, a limiting portion is provided at one end of each jaw facing away from the fixing portion, and the limiting portion protrudes outward relative to the outer surface of the jaw.

[0008] In some embodiments, the clamping portion of the gripper includes a reducing pipe, the outer diameter of the front end of the reducing pipe is greater than the outer diameter of the rear end of the reducing pipe, wherein the holding ring cooperates with the front end of the reducing pipe so that the outer diameter of the front end of the reducing pipe is adjustable; when the holding ring and the front end of the reducing pipe are in a tightened state, the holding ring cooperates with the front end of the reducing pipe, the outer diameter of the front end of the reducing pipe is reduced, and the reducing pipe and the holding ring move forward relative to the housing together; when the holding ring and the front end of the reducing pipe are in a separated state, the holding ring and the front end of the reducing pipe are separated, and the outer diameter of the front end of the reducing pipe is increased.

[0009] In some embodiments, the reducing pipe includes at least one notch, and the at least one notch is distributed along the length direction of the reducing pipe. When the holding ring and the front end of the reducing pipe are in a tightened state, the holding ring cooperates with the front end of the reducing pipe, the width of the at least one notch is reduced, and the reducing pipe and the holding ring move forward relative to the housing together; when the holding ring and the front end of the reducing pipe are in a separated state, the holding ring and the front end of the reducing pipe are separated, and the width of the notch is increased.

[0010] In some embodiments, the propulsion device further includes an operating assembly, and the operating assembly at least includes an operating member, and the gripper is driven to move forward relative to the housing by acting on the operating member.

[0011] In some embodiments, the operating assembly further includes an operating connecting member, one end of the operating connecting member is connected to the end of the fixing portion of the gripper facing away from the clamping portion, and the other end of the operating connecting member is connected to the operating member.

[0012] In some embodiments, the operating connecting member includes a sliding block and a connecting rod, one end of the connecting rod is connected to the sliding block, the other end of the connecting rod is connected to the fixing portion of the gripper, and the end of the sliding block away from the connecting rod cooperates with the end of the operating member located at the housing.

[0013] In some embodiments, the operating member includes a first inclined surface located at an end of the operating member within the housing; the sliding block includes a second inclined surface located at an end of the sliding block away from the connecting rod; the first inclined surface abuts against the second inclined surface, and the movement direction of the operating member is approximately perpendicular to the movement direction of the sliding block. By operating the operating member, the sliding block drives the clamping jaw to move forward relative to the housing.

[0014] In some embodiments, the connecting rod and the fixing portion of the clamping jaw are connected by an elastic element, and the biasing force provided by the elastic element causes the clamping jaw to move towards the sliding block.

[0015] In some embodiments, the propulsion device further includes a mounting cover connected to the housing. The mounting cover includes a through hole, and the catheter extends outwards through the through hole.

[0016] In some embodiments, a protective sleeve is provided at the through hole of the mounting cover. The protective sleeve penetrates through the through hole and is arranged along the length direction of the catheter.

[0017] In some embodiments, an anti-slip ring is provided at one end of the protective sleeve close to the clamping jaw, and the anti-slip ring is coaxially arranged with the protective sleeve.

[0018] In some embodiments, the propulsion device further includes a mounting tube for placing the clamping jaw and the clamping ring. The outer side of the mounting tube is connected to the inner wall of the housing; when the clamping ring and the clamping jaw are in a tightened state, the clamping jaw and the clamping ring move forward together relative to the mounting tube; when the clamping ring and the clamping jaw are in a separated state, the clamping jaw moves forward relative to the mounting tube.

[0019] Another aspect of the embodiments of the present specification provides an endoscope, which includes: a catheter, the propulsion device according to any one of the above, for driving the catheter to advance or retreat; an imaging module located at the front end of the catheter and configured to acquire image information of the area to be detected.

[0020] In some embodiments, the catheter includes an optical fiber tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] This specification will be further described in the form of exemplary embodiments, and these exemplary embodiments will be described in detail through the drawings. These embodiments are not restrictive. In these embodiments, the same numbers represent the same structures, where:

[0022] Figure 1 is a schematic structural diagram of a propulsion device of a catheter according to some embodiments of the present specification;

[0023] Figure 2 is a schematic diagram of a partially enlarged structure of a propulsion device shown in an embodiment of this specification;

[0024] Figure 3 is a schematic diagram of the structure of a gripper and a gripper ring shown in some embodiments of this specification;

[0025] Figure 4 is a schematic diagram of the structure of a gripper shown in some embodiments of this specification;

[0026] Figure 5 is a schematic diagram of a partial structure of a propulsion device shown in some embodiments of this specification;

[0027] Figure 6 is a schematic diagram of the structure of a catheter shown in some embodiments of this specification. Detailed implementation manners

[0028] In order to make the objectives, technical solutions and advantages of this application clearer, the following further elaborates on this application in combination with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0029] On the contrary, this application covers any substitutions, modifications, equivalent methods and solutions made within the essence and scope of this application defined by the claims. Further, in order to enable the public to have a better understanding of this application, in the following detailed description of this application, some specific details are elaborated. Those skilled in the art can fully understand this application even without the description of these details.

[0030] Currently, medical staff usually directly insert a catheter into the human body through manual operation or by means of a propulsion device (for example, a push rod) based on an approximate injection principle. During the propulsion process of the catheter, medical staff need to manually operate the device to move the catheter towards the area to be diagnosed or treated in the patient. On the one hand, such a propulsion device cannot accurately control the moving distance and speed of the catheter in the patient's body. On the other hand, when the medical staff manually operate the device to move the catheter into the patient's body, when the catheter encounters the patient's body tissue, the medical staff may not be able to learn in time, resulting in excessive pushing force and causing damage or even perforation of the patient's body tissue.

[0031] The embodiments of this specification relate to a propulsion device for a catheter. The propulsion device for a catheter is a device used to push a catheter into the patient's body to assist medical staff in diagnosing or treating the patient's internal organs and tissues, and can also be used to detect and clean the inside of the catheter propulsion mechanical equipment.

[0032] In some embodiments, the advancement device of the catheter may include a housing, a gripper, a holding ring, and a limiting device received in the housing. Among them, the gripper may include a clamping portion for clamping the catheter, and the holding ring is sleeved outside the gripper. When the holding ring and the gripper are in a tightened state, the holding ring cooperates with the clamping portion, and the clamping portions converge with each other. At this time, the converging clamping portions have a clamping force on the catheter, and the gripper, the holding ring, and the catheter can move forward relative to the housing together under the action of an external force. When the gripper and the holding ring move forward to the limiting device, the limiting device can limit the holding ring from continuing to move forward while allowing the gripper and the catheter to continue to move forward, so that the holding ring is separated from the gripper. When the holding ring and the gripper are in a separated state, the holding ring is separated from the clamping portion, the clamping portions are separated from each other, and the clamping portions do not have a clamping force on the catheter. At this time, the catheter continues to move forward until it encounters human tissue. Since the human tissue forms a resistance to the catheter, the catheter retracts backward under the action of the resistance of the human tissue. Medical staff can judge that the catheter encounters human tissue when moving forward according to the retraction situation of the catheter, so as to finely adjust the advancing direction or distance of the catheter, thereby avoiding damage to human tissue caused by the catheter.

[0033] In some embodiments, the advancement device of the catheter may further include an operating assembly, which may include an operating member and an operating connecting member. The operating connecting member is connected to the end of the fixing portion of the gripper away from the clamping jaw. By acting on the operating member to drive the operating connecting member, the gripper is driven to move forward relative to the housing. In some embodiments, when the advancement device is in a non-operating state (which can also be understood as not acting on the operating member), the holding ring and the gripper are in a tightened state, and the clamping portions converge with each other so that the clamping portions have a clamping force on the catheter. When the advancement device starts to operate, that is, by acting on the operating member to drive the operating connecting member, the gripper, the holding ring, and the catheter are driven to move forward relative to the housing together. After the gripper, the holding ring, and the catheter move forward relative to the housing by a certain distance, the limiting device restricts the holding ring from continuing to move forward, while the gripper and the catheter continue to move forward, so that the holding ring is separated from the gripper. After the holding ring and the gripper are in a separated state, the holding ring is separated from the clamping portion, the clamping portions are separated from each other, and at the same time, the clamping portions lose the clamping on the catheter. Stop acting on the operating member, and the operating member is reset under the action of the first elastic element. The operating connecting member and the gripper are reset under the action of the second elastic element. The gripper will cause the holding ring to reset during the reset process. After resetting, the holding ring and the gripper are again in a tightened state, and the clamping portions converge with each other so that the clamping portions have a clamping force on the catheter again. Each time the operating member is actuated, the catheter can move forward a specific distance relative to the housing, for example, 0.5 mm, 0.8 mm, 1 mm, 2 mm, etc. In some embodiments, through the advancement device of the catheter described in the embodiments of this specification, the advancement distance of the catheter can be precisely controlled, thereby avoiding improper operations when medical staff manually push the device and causing damage to the patient's body.

[0034] The embodiments of the present specification also provide an endoscope, which may include a pushing device of the above catheter, an imaging module, etc. The imaging module may be located at the end of the catheter, and the imaging module is configured to acquire image information or video information of the area to be detected. In some embodiments, the endoscope may include, but is not limited to, any one or more of a breast duct endoscope, an eye endoscope, a gastroscope, a colonoscope, an ENT endoscope, an oral endoscope, a urethroscopic cystoscope, a laparoscope, an arthroscope, etc. In some embodiments, the endoscope may further include an industrial endoscope, which may be used for the detection of automobiles, aviation equipment, ships, pipelines, mechanical parts, etc.

[0035] Figure 1 is a schematic structural view of the pushing device of the catheter shown in some embodiments of the present specification. Figure 2 is a partial enlarged structural view of the pushing device at position A shown in the embodiments of the present specification. Combining Figure 1 and Figure 2 , the pushing device 100 may include a housing 110, a gripper 140 and a gripper ring 130 received in the housing 110. Among them, the gripper 140 may include a clamping portion, and the clamping portion may be used to clamp the catheter 120. The gripper ring 130 may be a ring structure, and the gripper ring 130 is sleeved outside the gripper 140. In some embodiments, the gripper ring 130 and the gripper 140 may be in a tightened state. When the gripper ring 130 and the gripper 140 are in a tightened state, the gripper ring 130 and the clamping portion cooperate, the clamping portions gather together, the clamping portion has a clamping force on the catheter 120, and under the action of an external force, the gripper ring 130 and the catheter 120 can move forward relative to the housing 110 together with the gripper 140 ( Figure 1 the direction shown by the arrow in). In some embodiments, the gripper ring 130 and the gripper 140 may also be in a separated state. When the gripper ring 130 and the gripper 140 are in a separated state, the gripper ring 130 is separated from the clamping portion, the clamping portions are separated from each other, the clamping portion does not have a clamping force on the catheter 120, and when the catheter 120 moves to the human tissue, it retreats under the resistance of the human tissue, thereby avoiding damage to the human tissue.

[0036] In some embodiments, the pushing device 100 may further include a limiting device 150. The limiting device 150 may be used to limit the gripper ring 130 from continuing to move forward, so that the gripper ring 130 and the gripper 140 are separated during the forward movement. In some embodiments, the limiting device 150 may be a tubular structure located inside the housing 110, and the tubular structure may be arranged at a specific distance d in front of the gripper 140 ( Figure 2The specific distance d is the distance between the front end of the clamping portion of the clamping claw 140 (the end closest to the stopper 150) and the stopper 150 when no force is applied to the clamping claw 140 and the clamping ring 130 and the clamping claw 140 are in a tightly clamped state. In some embodiments, the specific distance d can be any value, such as 0.5 mm, 0.8 mm, 1 mm, or 2 mm. It should be noted that the specific distance value here can be adaptively adjusted according to the catheter's usage scenario (e.g., application to different human organs or tissues) and is not further limited here.

[0037] In some embodiments, the tubular structure can be a cylindrical structure with through-holes at both ends, and has a passageway for the claws 140 and the catheter 120 to extend into. The tubular structure also restricts the ring 130 from entering the passageway, thereby separating the claws 140 from the ring 130 during forward movement. The gripping portions of the claws 140, freed from the restraint of the ring 130, transition from a converged state to a separated state, thereby no longer gripping the catheter 120. When the catheter 120 encounters human tissue during its advancement within the human body, it is forced to retreat due to resistance from the tissue, thereby preventing damage to the human body caused by the catheter 120 during the interventional procedure. For example, the end faces of the ring 130, tubular structure, and passageway are circular. The inner diameter of the end face of the tubular structure (also understood as the radius of the passageway) is greater than the outer diameter of the at least two gripping portions when converged, allowing the claws 140 to enter the internal passageway of the tubular structure during forward movement. Furthermore, the inner diameter of the end face of the tubular structure (radius of the channel) is smaller than the outer diameter of the embracing ring 130 , so that the embracing ring 130 cannot enter the channel inside the tubular structure. In some embodiments, friction exists between the outer surface of the claws 140 and the inner surface of the ring 130, so that the claws 140 and the ring 130 are in a clamped state. At this time, the clamping parts of the claws 140 gather together under the restriction of the ring 130, thereby generating a clamping force on the catheter 120. Under the action of the external force, the ring 130, the claws 140 and the catheter 120 move forward together relative to the shell 110 until they reach the end face of the tubular structure. The claws 140 can enter the channel of the tubular structure and continue to move forward. The ring 130 is blocked by the tubular structure and stops moving forward. The clamping parts of the claws 140 lose the restriction of the ring 130 and separate from each other. At this time, the clamping parts of the claws 140 no longer generate a clamping force on the catheter 120. When the catheter 120 encounters human tissue, the catheter 120 retreats under the resistance of the human tissue, thereby preventing the catheter 120 from causing damage to the human tissue.

[0038] It should be noted that the tubular structure is not limited to the above-mentioned cylindrical structure, and can also be a frustum-shaped structure, a cuboid, or other regular or irregular three-dimensional structures with both ends penetrating. Any structure that can limit the holding ring 130 and allow the holding claws 140 to enter the channel can be the limiting device in the embodiments of this specification, and will not be further limited here.

[0039] In some embodiments, the limiting device 150 can also be one or more protruding structures (not shown in the figure) inside the housing 110. The protruding structures are located on the inner wall of the housing 110 and protrude towards the inside of the housing 110 relative to the inner surface of the housing 110. In some embodiments, when there are multiple protruding structures, the multiple protruding structures can be arranged at intervals along the circumferential direction of the inner surface of the housing 110, and the protruding structures can be arranged at a specific distance from the clamping portion of the holding claws 140 inside the housing 110. In some embodiments, the protruding structure can be a geometric structure that protrudes outward relative to the inner surface of the housing 110. Exemplary geometric structures can include, but are not limited to, regular and / or irregular geometric structures such as cuboids, spheres, cylinders, and frustums. Further, the protruding structure can divide the chamber inside the housing 110 into two parts. For ease of description, the front side of the protruding structure (i.e., Figure 1 the direction indicated by the arrow in the figure) can be called the first part, and the rear side of the protruding structure (i.e., Figure 1 the reverse direction of the arrow in the figure) can be called the second part. The height by which the protruding structure protrudes outward relative to the inner surface of the housing 110 can limit the holding ring 130 and allow the holding claws 140 to continue moving forward. Specifically, under the action of an external force, when the holding claws 140 and the holding ring 130 are in a tightened state and moving forward in the second part of the housing 110, until the holding claws 140 and the holding ring 130 move to the protruding structure, since the holding ring 130 is sleeved outside the holding claws 140, the holding ring 130 is blocked by the protruding structure and stops moving forward, while the holding claws 140 do not touch the protruding structure and enter the first part of the housing 110 to continue moving forward, thereby realizing the separation of the holding claws 140 and the holding ring 130. It should be noted that as long as the number of protruding structures, the height of protrusion relative to the inner surface of the housing 110, etc. can achieve the separation of the holding claws 140 and the holding ring 130, the number of protruding structures, the height of protrusion, etc. can be adaptively adjusted according to the actual situation, and will not be further limited here.

[0040] It should be noted that the limiting device 150 is not limited to the above-mentioned tubular structure and protruding structure, and can also be other types of structures or devices, as long as the separation of the gripper 140 and the holding ring 130 can be achieved. For example, the limiting device 150 can also be at least one elastic element (e.g., a spring), one end of the elastic element is connected to the end of the holding ring 130 away from the clamping part of the gripper 140, and the other end of the elastic element is connected to the inner surface of the housing 110. When the holding ring 130 and the gripper 140 are in the tightened state and move forward relative to the housing 110 together, the elastic element undergoes elastic deformation. At this time, the elastic element exerts a pulling force on the holding ring 130. When the pulling force is greater than the frictional force between the holding ring 130 and the gripper 140, the holding ring 130 is separated from the gripper 140 under the action of the elastic element. Another example is that different friction coefficients can be set at different positions on the inner surface of the housing 110. Specifically, when no external force acts on the gripper 140, the holding ring 130 and the gripper 140 are in the tightened state. The friction coefficient of the inner surface of the housing 110 at a specific distance from the front end of the gripper 140 is greater than that of other positions, so that when the holding ring 130 moves to the position of the housing 110 with a larger friction coefficient, the frictional force between the inner surface of the housing 110 and the outer wall of the holding ring 130 is greater than the frictional force between the inner wall of the holding ring 130 and the gripper 140, thereby realizing the separation of the holding ring 130 and the gripper 140. Another example is that the limiting device 150 can be a magnet element. At this time, the limiting device 150 can be located at a specific distance from the front end of the gripper 140. Correspondingly, the holding ring 130 is also a magnet element. Among them, the magnetic poles of the end faces of the limiting device 150 and the holding ring 130 arranged opposite to each other are the same (for example, both N poles or S poles). When the gripper 140 and the holding ring 130 are in the tightened state and move forward relative to the housing 110 together, the distance between the holding ring 130 and the limiting device 150 gets closer and closer, and the repulsive force between the same poles of the holding ring 130 and the limiting device 150 becomes larger and larger, so that the holding ring 130 is separated from the gripper 140. In some embodiments, the above-mentioned limiting device 150 can also be located on other components of the housing 110 (e.g., the inner wall of the mounting tube 1100).

[0041] Figure 3 is a schematic structural diagram of the gripper and the holding ring shown in some embodiments of this specification. As Figure 3 shown, the gripper 140 can include a fixing part 141 and three clamping jaws 142. The three clamping jaws 142 are circumferentially distributed along the end of the fixing part 141. In some embodiments, the fixing part 141 can be a columnar structure with a cavity inside. The inner cavity of the columnar structure can be used for the catheter 120 to pass through ( Figure 1as shown in). In some embodiments, each jaw 142 is made of an elastic material or the connection between each jaw 142 and the fixing part 141 is made of an elastic material. When the holding ring 130 is not engaged with the jaws 142, that is, when the jaws 142 are not restricted by the holding ring 130, the jaws 142 are separated from each other and are in a dispersed state. At this time, the size of the space region formed between the jaws 142 is much larger than the size of the catheter 120, and the catheter 120 can move relative to the holding claws 140. When the holding ring 130 is engaged with the jaws 142, the jaws 142 are gathered together under the restriction of the holding ring 130. When the jaws 142 are gathered together, a space region adapted to the catheter 120 is formed. The size of this space region is approximately equal to the size of the catheter 120, so that the jaws 142 generate a clamping force on the catheter 120 when they are gathered together. When the fixing part 141 of the holding claws 140 is driven under the action of an external force, the jaws 142 can clamp the catheter 120 and move forward relative to the housing 110 together. It should be noted that the number of jaws 142 is not limited to Figure 2 the 3 shown in, and the number of jaws 142 can also be 2, 4, 5, etc., which will not be further limited here. In some embodiments, the materials of the jaws 142 and the fixing part 141 of the holding claws 140 can both be elastic materials, or the material of the jaws 142 can be an elastic material and the material of the fixing part 141 can be a non-elastic material, or the materials of the jaws 142 and the fixing part 141 can both be non-elastic materials, while the connection between the jaws 142 and the fixing part 141 is an elastic material. In some embodiments, the elastic material can include, but is not limited to, one or more of rubber, silica gel, plastic, metal, etc.

[0042] In some embodiments, a limiting part 1421 is provided at one end of each jaw 142 facing away from the fixing part 141. The limiting part 1421 can be used to prevent the holding claws 140 from disengaging from the holding ring 130. In some embodiments, the limiting part 1421 protrudes outward relative to the outer surface of the jaw 142. In some embodiments, the limiting part 1421 can be a geometric structure that protrudes outward relative to the outer surface of the jaw 142. For example, the limiting part 1421 can be Figure 3 the arc-shaped structure or a similar arc-shaped structure that protrudes outward relative to the outer surface of the jaw 142 as shown in. In other alternative embodiments, the limiting part 1421 can also be a structure of other shapes, and any structure that can limit the holding ring 130 from disengaging from the jaws 142 when the jaws 142 are in the gathered state can be the limiting part 1421 in this specification.

[0043] In some embodiments, the clamping ring 130 can be a columnar structure with a cavity inside. The clamping ring 130 and the clamping claws 140 are coaxially arranged. The inner cavity of the clamping ring 130 can be used to accommodate the clamping claws 140. When the clamping jaws 142 of the clamping ring 130 and the clamping claws 140 are in a tightened state, there is friction between the inner wall of the clamping ring 130 and the outer wall of the clamping jaws 142 of the clamping claws 140. Under the action of an external force, the clamping ring 130 can move forward relative to the housing together with the clamping claws 140. In combination with Figures 1-3 , when the clamping ring 130 and the clamping claws 140 move together to the limiting device 150 under the action of an external force, the clamping claws 140 continue to move forward relative to the housing 110, while the clamping ring 130 stops moving forward under the blocking of the limiting device 150, so that relative movement occurs between the clamping claws 140 and the clamping ring 130, and the clamping claws 140 are separated from the clamping ring 130.

[0044] Figure 4 is a schematic structural diagram of the clamping claws shown in some embodiments of this specification. As Figure 4 shown, in some embodiments, the clamping part of the clamping claws can also be a stepped tube 401. The stepped tube 401 refers to a tubular structure with different outer diameters along its length direction. In some embodiments, the outer diameter of the part of the stepped tube 401 close to the limiting device 150 ( Figure 1 shown in) (also referred to as the front end of the stepped tube 401) is larger than the outer diameter of the part far from the limiting device 150 (also referred to as the rear end of the stepped tube 401). In some embodiments, the clamping ring 130 cooperates with the front end of the stepped tube 401 so that the outer diameter of the front end of the stepped tube can be adjusted. In some embodiments, the outer diameter of the front end of the stepped tube 401 can be adjusted in the radial direction, so that the outer diameter of the front end of the stepped tube 401 can be enlarged or contracted radially under the action of the clamping ring 130. Specifically, when the clamping ring 130 is located at the part with a larger outer diameter of the stepped tube 401 (the front end of the stepped tube 401), the clamping ring 130 and the front end of the stepped tube 401 are in a tightened state. The clamping ring 130 cooperates with the front end of the stepped tube 401, and the outer diameter of the front end of the stepped tube 401 is reduced under the restriction of the clamping ring 130, so that the front end of the stepped tube 401 can generate a clamping force on the catheter 120 ( Figure 1 shown in). The stepped tube 401, the clamping ring 130 and the catheter 120 can move forward relative to the housing 110 together under the action of an external force. When the clamping ring 130 is located at the part with a smaller outer diameter of the stepped tube 401 (the rear end of the stepped tube 401), the clamping ring 130 and the front end of the stepped tube 401 are in a separated state. The outer diameter of the front end of the stepped tube 401 recovers its elastic deformation without the restriction of the clamping ring 130. At this time, the outer diameter of the front end of the stepped tube 401 increases, and the stepped tube 401 no longer has a clamping force on the catheter 120.

[0045] In some embodiments, the stepped tube 401 includes at least one notch 402. The notch 402 is along the length direction of the stepped tube 401 (Figure 4 extends as shown by the arrow direction. In some embodiments, one end of the notch 402 may extend to the front end of the reducer 401. The notch 402 enables the front end pipe walls of the reducer 401 to converge with each other under the action of an external force or an object (e.g., the holding ring 130), so that the reducer 401 has a function similar to that of the jaw 140 shown in Figure 3 . Specifically, the notch 402 makes the front end pipe walls of the reducer 401 have a certain width D (e.g., 0.1 cm, 0.3 cm, etc.) in its length direction. The holding ring 130 can change the size of the width D, so that the part of the reducer 401 with the notch 402 can converge with each other under the restriction of an external force or an object (e.g., the holding ring 130). Without the restriction of the external force or the object, the part of the reducer 401 with the notch 402 can return to the separated state. In some embodiments, the reducer 401 may be made of an elastic material, so that the reducer 401 can have better performance in restoring elastic deformation. In some embodiments, the elastic material may include, but is not limited to, one or more of metals, plastics, rubbers, etc. In some embodiments, the outer diameter of the part of the reducer 401 near the limiting device 150 (the front end of the reducer 401) is greater than the outer diameter of the part of the reducer 401 far from the limiting device 150 (the rear end of the reducer 401). The inner diameter of the holding ring 130 is approximately equal to or less than the outer diameter of the front end of the reducer 401. When the holding ring 130 is located at the front end of the reducer 401, the holding ring 130 restricts the outer diameter of the front end of the reducer 401, so that the holding ring 130 and the jaw 140 are in a tightened state. In some embodiments, when the holding ring 130 is separated from the front end of the reducer 401, the inner diameter of the front end of the reducer 401 may be greater than the outer diameter of the conduit 120. At this time, the conduit 120 can move relative to the reducer 401. When the holding ring 130 and the front end of the reducer 401 are in a tightened state, the inner diameter of the front end of the reducer 401 may be approximately equal to the inner diameter of the conduit 120, so as to drive the conduit 120 to move forward relative to the housing 110 together.

[0046] It should be noted that the notch 402 is not limited to Figure 4 the one shown in Figure 4The straight line shown in the figure can also be in other shapes such as a curved line or a bent line. In some embodiments, the notch 402 can also be only located at the front end of the reducer pipe 401, and the rear end of the reducer pipe 401 may not have the notch 402. In addition, the adjustability of the outer diameter of the front end of the reducer pipe 401 is not limited to the above-mentioned notch 402. For example, in some embodiments, the front end of the reducer pipe 401 can be a braided layer, and the braided layer can be a diamond-shaped braided layer made of an elastic material. The diamond-shaped braided layer undergoes elastic deformation under the action of an external force or an object (such as the clamping ring 130), and can return to its original state when the external force or the object is removed, so that the front end of the reducer pipe 401 has adjustability. The clamping part of the clamping claw 140 can also be other structures that can control the catheter, and will not be further limited here.

[0047] Continuing to refer to Figure 1 and Figure 3 In some embodiments, the propulsion device 100 may further include an operation component 160. By acting on the operation component 160, the clamping claw 140 can be driven to move forward relative to the housing 110. In some embodiments, classified by the operating principle of the operation component 160, the operation component 160 can be a pressing type propulsion mechanism, a sliding type propulsion mechanism, etc. The operation component 160 at least includes an operating member 161. By acting on the operating member 161, the clamping claw 140 is driven to move forward relative to the housing 110. In some embodiments, the operating member 161 can be arranged at the rear end position of the housing 110. The operating member 161 is connected to the end of the fixing part 141 of the clamping claw 140 that is away from the clamping jaw 142, and the other end of the operating member 161 protrudes relative to the rear end of the housing 110. When acting on the end of the operating member 161 that is away from the clamping claw 140, the operating member 161 moves forward relative to the housing 110, and then drives the clamping claw 140 to move forward relative to the housing 110. In some embodiments, the operating member 161 can include other structures such as a button, a push rod, a sliding rod, etc. that can play a pushing role. It should be noted that the operating member 161 can directly act on the clamping claw 140. In some embodiments, the operating member 161 can also cooperate with other components (such as the operating connecting member 162) to act on the clamping claw 140, and the position of the operating member 161 can also be adjusted adaptively according to the actual situation.

[0048] In some embodiments, the operation component 160 can include an operating member 161 and an operating connecting member 162. The operating member 161 can be a component for controlling the operation component 160 to drive the clamping claw 140 to move. The center line of the operating connecting member 162 can be approximately regarded as coincident or approximately parallel to the center line of the clamping claw 140. The operating connecting member 162 is located inside the housing 110. One end of the operating connecting member 162 is matched with the operating member 161, and the other end is connected to the clamping claw 140. In some embodiments, the operating member 161 can be a button, a sliding switch, etc. Hereinafter,Figure 1 Taking the operating member 161 shown in the figure as a button as an example to illustrate the process of the operating assembly 160 driving the gripper 140 to move.

[0049] In some embodiments, on the side wall of the housing 110 arranged along its length direction ( Figure 1 the direction of the arrow in the figure), a mounting hole 111 is provided for mounting the operating member 161. Specifically, the mounting hole 111 penetrates through the side wall of the housing 110. Among them, a part of the operating member 161 extends into the chamber inside the housing 110 through the mounting hole 111, and another part of the operating member 161 protrudes relative to the outer wall of the housing 110 for an operator to press. In some embodiments, the end of the operating member 161 inside the housing 110 and the end of the operating connecting member 162 away from the gripper 140 are in an inclined surface fit. Here, the inclined surface fit can be understood as that the end of the operating member 161 inside the housing 110 has a first inclined surface 1611, and the end of the operating connecting member 162 away from the gripper 140 has a second inclined surface 16211. Among them, the first inclined surface 1611 is in contact with the second inclined surface 16211, and the movement direction of the operating member 161 is approximately perpendicular to the movement direction of the operating connecting member 162. By pressing the operating member 161, the operating member 161 moves in a direction approximately perpendicular to Figure 1 the direction of the arrow in the figure. The operating connecting member 162 generates a component force in the direction of the arrow under the extrusion of the operating member 161, thereby driving the operating connecting member 162 and the gripper 140 to move forward relative to the housing 110. Further, there is a frictional force between the gripper 140 and the holding ring 130, and the two are in a tightened state. By acting on the operating member 161, the holding ring 130 can be driven to move forward relative to the housing 110 together with the gripper 140. It should be noted that the end of the operating member 161 inside the housing 110 and the end of the operating connecting member 162 away from the gripper 140 being in an inclined surface fit can also be that one of them has an inclined surface. For example, the end of the operating member 161 inside the housing 110 does not have an inclined surface, and the end of the operating connecting member 162 away from the gripper 140 has a second inclined surface 16211, and the end of the operating member 161 inside the housing 110 abuts against the second inclined surface 16211. In other embodiments, the end of the operating member 161 inside the housing 110 and the end of the operating connecting member 162 away from the gripper 140 are not limited to the above-mentioned inclined surface fit, and can also be other fitting methods, as long as the operating connecting member 162 can be driven to perform linear motion by acting on the operating member 161, and no further limitation is made here.

[0050] Combined with Figures 1 to 3, in some embodiments, the operating connector 162 may include a sliding block 1621 and a connecting rod 1622. The end of the sliding block 1621 away from the gripper 140 cooperates with the end of the operating member 161 inside the housing 110. One end of the connecting rod 1622 is connected to the sliding block 1621, and the other end of the connecting rod 1622 is connected to the fixing portion 141 of the gripper 140. In some embodiments, the second inclined surface 16211 may be located at the end of the sliding block 1621 away from the connecting rod 1622, and the second inclined surface 16211 of the sliding block 1621 and the second inclined surface 16211 of the operating member 161 are in inclined surface cooperation. Specifically, the sliding block 1621 may be a chamfered three-dimensional structure (e.g., a cylinder, a cuboid, etc.), and this chamfered three-dimensional structure has a second inclined surface 16211. Correspondingly, the operating member 161 has a first inclined surface 1611 that is in inclined surface cooperation with the chamfered three-dimensional structure. The first inclined surface 1611 fits with the second inclined surface 16211, and the movement direction of the operating member 161 is approximately perpendicular to the movement direction of the sliding block 1624, thereby realizing the inclined surface cooperation between the sliding block 1621 and the operating member 161. When the operator presses the operating member 161, the operating member 161 moves in a direction approximately perpendicular to the direction of the arrow in Figure 1 , so that the operating member 161 generates a component force on the sliding block 1621 along the direction of the arrow in Figure 1 , and further drives the sliding block 1621 to move forward relative to the housing 110. Further, the connecting rod 1622 is sequentially connected to the sliding block 1621 and the fixing portion 141 of the gripper 140. By pressing the operating member 161 and acting on the sliding block 1621, the connecting rod 1622 and the gripper 140 can be driven to move forward relative to the housing 110. In some embodiments, in order to improve the stability between the sliding block 1621 and the operating member 161, the inclined surfaces (e.g., the first inclined surface 1611 and the second inclined surface 16211) where the sliding block 1621 and the operating member 161 cooperate may also be provided with adapted slide rails and slide grooves (not shown in the figure), and the slide rails or slide grooves extend along the length of the inclined surface. It should be noted that the cooperation mode between the sliding block 1621 and the operating member 161 is not limited to the above-mentioned inclined surface cooperation mode, and other cooperation modes are also possible. For example, when the operating member 161 is located at the rear end of the housing 110, the operating member 161 and the sliding block 1621 may be directly in contact.

[0051] In some embodiments, the operating assembly 160 may further include a first elastic element 163. One end of the first elastic element 163 may be connected to the operating member 161, and the other end of the first elastic element 163 may be connected to the housing 110. The deformation direction of the first elastic element 163 is the same as the movement direction of the operating member 161 or the operating connector 162. The first elastic element 163 can enable the operating member 161 to reset without external force. Specifically, the operating member 161 is disposed along the Figure 1When the side wall has an arrow direction distribution, at a specific height where the operating member 161 protrudes relative to the housing 110, the operating member 161 is pressed so that the operating member 161 is perpendicular or approximately perpendicular to Figure 1 the arrow direction in Figure 1 and moves inside the housing 110. The height at which the operating member 161 protrudes relative to the housing 110 decreases. The first elastic element 163 deforms under the action of the operating member 161. When the operating member 161 is no longer pressed, due to the elastic deformation characteristic of the first elastic element 163, the first elastic element 163 can return to its original shape. During the process of the first elastic element 163 returning to its original shape, it acts on the operating member 161, causing the operating member 161 to reset to the specific height at which it protrudes relative to the housing 110, that is, the position where the operating member 161 is not pressed.

[0052] In some embodiments, the operating connecting member 162 may further include a second elastic element 164. One end of the second elastic element 164 may be connected to the connecting rod 1622, and the other end of the second elastic element 164 may be connected to the fixing portion of the clamping claw 140. The deformation direction of the second elastic element 164 may be the same as the movement direction of the connecting rod. The second elastic element 164 provides a pulling force in the Figure 1 opposite direction of the arrow. In some embodiments, the second elastic element 164 may cause the clamping claw 140, the clamping ring 130, the connecting rod 1622, and the slider 3221 to move in the Figure 1 opposite direction of the arrow, and cause the clamping claw 140 and the clamping ring 130 to return to the clamped state. At the same time, the distance between the front end of the clamping jaw 142 in the clamping claw 140 and the limiting device 150 returns to a specific distance d. Specifically, the operator presses on the operating member 161, so that the operating member 161 exerts an action on at least one side surface of the sliding block 1621 through the inclined surface, and then drives the sliding block 1621 to move forward relative to the housing 110. The connecting rod 1622 is connected to the sliding block 1621. Therefore, the sliding block 1621 will drive the connecting rod 1622 to move forward relative to the housing 110. The second elastic element 164 deforms under the action of the connecting rod 1622. When the second elastic element 164 deforms to a certain extent, it can drive the clamping claw 140 to move forward relative to the housing 110. When the operator no longer presses on the operating member 161, due to the elastic deformation characteristic of the second elastic element 164, the second elastic element 164 returns to its original shape. During the process of the second elastic element 164 returning to its original shape, it acts on the connecting rod 1622 and the sliding block 1621 to move backward relative to the housing 110 ( Figure 1(in the opposite direction of the arrow shown), as the connecting rod 1622 and the sliding block 1621 move backward, they drive the gripper 140 to move backward relative to the housing 110. While the gripper 140 moves backward, the holding ring 130 also moves backward relative to the housing 110 under the action of the gripper 140. The holding ring 130 stops moving backward under the block of the second gradient part 1102 of the mounting tube 1100, while the gripper 140 continues to move backward under the pulling force of the second elastic element 164 until the limiting part 1421 of the gripper 140 abuts against the holding ring 130. At this time, the holding ring 130 and the gripper 140 return to the tightened state, and the distance between the jaws 142 of the gripper 140 and the limiting device 150 also returns to a specific distance d.

[0053] In some embodiments, the gripper 140 is reset under the action of the second elastic element 164. Since the gripper 140 and the holding ring 130 are in a separated state at this time and the jaws are separated from each other, the holding ring 130 will move backward (i.e., reset) a certain distance relative to the housing 110 together with the gripper 140 until the holding ring 130 encounters the mounting tube 1100 and stops moving. The gripper 140 continues to move backward relative to the housing 110, so that relative movement occurs between the holding ring 130 and the gripper 140, and then the holding ring 130 and the gripper 140 are again in the tightened state, the jaws are gathered together, and the jaws have a clamping force on the catheter 120 again.

[0054] In some embodiments, the first elastic element 163 and the second elastic element 164 can be elastic elements such as a helical spring, a spring tube, a bellows, a spring sheet, etc. In some embodiments, the first elastic element 163 and the second elastic element 164 can be the same elastic element. In some embodiments, the first elastic element 163 and the second elastic element 164 can also be different elastic elements.

[0055] As Figure 2 shown, in some embodiments, the propulsion device 100 may further include a mounting cover 180 for closing the chamber inside the housing 110. Specifically, the mounting cover 180 is connected to the end of the front end of the housing 110. The mounting cover 180 may include a through hole 181 through which the catheter 120 can extend to the outside. In some embodiments, the mounting cover 180 may be detachably connected to the end of the housing 110, and the mounting cover 180 and the housing 110 can encapsulate other components of the propulsion device 100 (such as a mounting tube, a limiting device, an anti-slip ring, etc.). In some embodiments, the detachable connection method may include but is not limited to one or more of screw connection, snap connection, riveting, etc. In some embodiments, a through hole 181 may be provided on the end face of the mounting cover 180 away from the gripper 140, and the through hole 181 can be used for the catheter 120 to extend to the outside of the propulsion device 100 so that the catheter 120 can be advanced forward through the through hole 181.

[0056] In some embodiments, the propulsion device 100 may further include a protective sleeve 170. The protective sleeve 170 may be disposed at the through hole 181 of the mounting cover 180. The protective sleeve 170 penetrates through the through hole 181 and is arranged along the length direction of the conduit 120.

[0057] In some embodiments, one end of the protective sleeve 170 may be located inside the mounting cover 180, and the other end extends to the outside of the mounting cover 180. It can also be understood that the protective sleeve penetrates through the through hole 181 and extends to the outside of the mounting cover 180. Among them, the conduit 120 can be advanced or retracted forward through the protective sleeve 170. When the conduit 120 advances or retracts forward through the inside of the protective sleeve 170, the protective sleeve 170 can guide the conduit 120 to prevent the direction of the conduit 120 from deviating during the forward advancement or backward retraction process.

[0058] In some embodiments, the propulsion device 100 may further include an anti-slip ring 190. The anti-slip ring 190 may be disposed at one end of the protective sleeve 170 close to the clamping claws 140. The anti-slip ring 190 is coaxially arranged with the protective sleeve 170. In some embodiments, the anti-slip ring 190 is made of an elastic material. The anti-slip ring 190 has a hole for the conduit 120 to extend into. The anti-slip ring 190 is wrapped around the outside of the conduit 120, so that there is friction between the conduit 120 and the anti-slip ring 190, so that the anti-slip ring 190 can be used to prevent the conduit 120 from falling from inside the clamping claws 140 under the action of its own gravity. For example, when the front end of the propulsion device 100 is used facing up or down relative to the ground and the holding ring 130 and the clamping claws 140 are in a separated state, the clamping claws 142 are separated from each other, and the conduit 120 may fall from the propulsion device 100 to the outside due to the loss of the clamping of the clamping claws 142. In this case, the anti-slip ring 190 can prevent the conduit 120 from falling from the propulsion device 100 to the outside under the action of its own gravity. In some embodiments, the material of the anti-slip ring 190 may be one or more of silica gel, rubber, sponge, foam, etc. In some embodiments, the structure of the anti-slip ring 190 may be a regular or irregular geometric body structure such as a cuboid or a cylinder, which will not be further limited here.

[0059] In some embodiments, the propulsion device 100 may further include a mounting tube 1100. The mounting tube 110 is a tubular structure with through holes at both the front and rear ends. Among them, the mounting tube 1100 can be used to place the clamping claws 140, the holding ring 130 and some components of the operation assembly 160 (for example, the connecting rod 1622, etc.). In some embodiments, the mounting tube 1100 may be a tubular structure independently provided relative to the housing 110. For example, the outside of the mounting tube 1100 is connected to the inner wall of the housing 110 (for example, bonded, clamped, screwed, etc.). In some embodiments, the mounting tube 1100 and the housing 110 may be an integral structure. [[ID=**10**]] [[ID=**11**]]

[0060] In some embodiments, the inner wall of the mounting tube 1100 may have a gradient layer, which divides the inner wall of the mounting tube 1100 into a first gradient portion 1101 close to the anti-slip ring 190 and a second gradient portion 1102 far from the anti-slip ring 190. Among them, the thickness of the second gradient portion 1102 is greater than that of the first gradient portion 1101, which can also be understood as the inner surface of the second gradient portion 1102 is farther from the surface where the mounting tube 1100 is connected to the housing 110 than the inner surface of the first gradient portion 1101. In some embodiments, the outer diameter of the holding ring 130 is greater than the inner diameter of the second gradient portion 1102, and the second gradient portion 1102 can block the holding ring 130 so that the holding ring 130 and the holding claws 140 are tightly held again under the pulling force of the first elastic element 163 and the second elastic element 164. Specifically, the holding claws 140 can move relative to the mounting tube 1100 within the first gradient portion 1101 and the second gradient portion 1102 of the mounting tube 1100, and the holding ring 130 can move relative to the mounting tube 1100 within the first gradient portion 1101 of the mounting tube 1100 but cannot enter the second gradient portion 1102 of the mounting tube 1100. For example, in some embodiments, when the holding claws 140 and the holding ring 130 are in a tightened state, the holding claws 140 are located inside the mounting tube 1100, and the holding ring 130 is located at the first gradient portion 1101 of the mounting tube 1100. The operator drives the operating connector 162, the holding claws 140, and the holding ring 130 to move forward relative to the mounting tube 1100 by acting on the operating member 161. When the holding ring 130 and the holding claws 140 move to encounter the limiting device 150, the holding ring 130 is blocked by the limiting device 150 and stops moving forward, and the holding claws 140 continue to move forward through the limiting device 150 under the action of the operating assembly 160, so that the holding claws 140 and the holding ring 130 are in a separated state. Further, when the operator stops acting on the operating member 161, under the elastic force of the first elastic element 163 and the second elastic element 164, the holding claws 140 move backward relative to the mounting tube 1100. Since the holding claws 140 and the holding ring 130 are in a separated state at this time, the clamping claws 142 are separated from each other, and the holding ring 130 moves backward relative to the mounting tube 1100 together with the holding claws 140 by a certain distance under the drive of the clamping claws 142 until the holding ring 130 encounters the second gradient portion 1102 of the mounting tube 1100 and stops moving, while the holding claws 140 continue to move backward relative to the mounting tube 1100, so that relative movement occurs between the holding ring 130 and the holding claws 140, and further the holding ring 130 and the holding claws 140 are in a tightened state again.

[0061] In other embodiments, a protruding structure may also be provided on the inner wall of the mounting tube 1100, and this protruding structure can play the same role as the second gradient portion to limit the position of the clamping ring 130 relative to the mounting tube 1100 moving backward. The movement principle of the clamping claw 140 and the clamping ring 130 relative to the mounting tube 1100 with a protruding structure is substantially the same as that of the clamping claw 140 and the clamping ring 130 relative to the mounting tube 1100 with a gradient layer, which will not be elaborated here. In some embodiments, the limiting device 150 may also be located on the inner wall of the mounting tube 1100. For the detailed content of the limiting device 150, reference can be made to other parts of the specification of this application.

[0062] In some embodiments, the propulsion device 100 may further include a connecting pipe 1110, and the outer wall of the connecting pipe 1110 may be connected to the inner wall of the housing 110. On the one hand, the connecting pipe 1110 can be used to accommodate the mounting tube 1100. On the other hand, the connecting pipe 1110 can also be used for the connection of the housing 110. For example, when the housing 110 is a detachable structure, the housing 110 may include a first housing ( Figure 1 the upper half in the figure) and a second housing ( Figure 1 the lower half in the figure), and the detachable connection between the first housing and the second housing can be realized through the connecting pipe 1110. The detachable connection between the first housing and the second housing can facilitate the installation and replacement of the components inside the housing 110. In some embodiments, the detachable connection methods may include but are not limited to snap connection, bolt connection, bonding, riveting, screw connection, etc. For example, the outer surface of the connecting pipe 1110 may be provided with threads, and the first housing is threadedly engaged with the outer surface of the connecting pipe 1110. Another example is that the outer surface of the connecting pipe 1110 may be provided with a card slot or a card block, and the first housing is snap-connected with the outer surface of the connecting pipe 1110.

[0063] The embodiments of this specification also provide an endoscope. The endoscope may include the propulsion device 100 in the above embodiments, and the propulsion device 100 can be used to drive the catheter to move forward or backward. In some embodiments, the endoscope may further include an imaging module, and the imaging module is configured to acquire image information or video information of the area to be detected. For example, the imaging module can acquire image information or video information of the position to be diagnosed or treated in the human body. For another example, the imaging module can acquire image information or video information of a narrow position (pipe, chamber) inside the mechanical equipment. In some embodiments, the imaging module may be located at the front end of the catheter, where the front end refers to the end that extends into the area to be detected. In some embodiments, the endoscope may further include a lighting module, and the lighting module is configured to provide a light source, and the light source can be emitted through the catheter to the area to be detected. In some embodiments, the endoscope 400 may include, but is not limited to, any one or more of a breast duct endoscope, an eye endoscope, a gastroscope, a colonoscope, an ENT endoscope, an oral endoscope, a urethroscope, a laparoscope, an arthroscope, etc. In some embodiments, the endoscope 400 may further include an industrial endoscope.

[0064] Figure 5 is an exemplary framework diagram of an endoscope shown according to some embodiments of this specification. As Figure 5 shown, the endoscope 400 may include any one of the foregoing propulsion devices 100, an imaging module 410, and a lighting module 420. Combining Figures 1-3 shown, the propulsion device 100 can drive the operating connection member 162, the gripper 140, and the holding ring 130 to move forward relative to the housing 110 by acting on the operating member 161. During this process, the holding ring 130 and the gripper 140 are in a tightened state, the clamping portions of the gripper 140 are gathered together, the gripper 140 has a clamping force on the catheter 120, and the gripper 140 drives the catheter 120 to move forward relative to the housing 110 together, so that the catheter 120 can be advanced to the area to be detected (for example, the position to be diagnosed or treated in the human body), thereby acquiring image information or video information of the area to be detected through the imaging module 410 located at the front end of the catheter 120.

[0065] The imaging module 410 can be configured to acquire image information or video information of the area to be detected. In some embodiments, the imaging module 410 may be located at the front end of the catheter 120 of the endoscope 400, where the front end of the catheter 120 refers to the end that extends into the area to be detected. In some embodiments, the imaging module 410 may be one or more cameras. The imaging module 410 can extend into the area to be detected together with the catheter 120 and image through the area to be detected to acquire image information or video information of the area to be detected.

[0066] The light-emitting module 420 can be configured to provide a light source for the imaging module 410. In some embodiments, the light-emitting module 420 can be disposed at an end of the catheter 120 away from the imaging module 410. The light source emitted by the light-emitting module 420 can be projected through the catheter 120 toward the area to be detected, so as to assist the imaging module 410 to image the area to be detected. In some embodiments, the light-emitting module 420 can include, but is not limited to, a light-emitting diode (LED), a point light emitter, a cold display screen, etc. In some embodiments, the number of the light-emitting modules 420 can be one or more, which is not limited in this specification.

[0067] Combined with Figure 1 , in some embodiments, the endoscope 400 can further include a circuit board 430, a wire 440, and a connection line 450. Among them, the circuit board 430 can be disposed inside the housing 110 at a position close to the light-emitting module 420. The circuit board 430 and the light-emitting module 420 can be electrically connected through the wire 440. One end of the connection line 450 can penetrate the housing 110 and be electrically connected to the circuit board 430, and the other end of the connection line 450 can be connected to an external device (for example, a power supply) to ensure that the endoscope 400 can work properly. In some embodiments, the endoscope 400 can further include a power supply module (not shown). The power supply module can be separately disposed in the internal cavity of the housing 110 or integrated into the circuit board 430, and be electrically connected to the circuit board 430 through the wire 440. The power supply module provided inside the endoscope 400 can ensure that the endoscope 400 can work properly when not connected to an external power supply.

[0068] Figure 6 is a schematic structural diagram of a catheter shown in some embodiments of this specification. As Figure 6 shown, the catheter 120 can include at least one channel 121, and the channel 121 can extend along the length direction of the catheter 120. In some embodiments, the channel 121 can be connected to an external pipeline. One end of the pipeline away from the catheter 120 can be communicated with an external device (for example, a syringe, a water circulation device, a water injection pump, etc.). Fluids (for example, liquids, gases, etc.) can be injected into the channel 121 through the external device (for example, a syringe, a water circulation device, a water injection pump, etc.) and the pipeline, and then transported to the area to be detected. In some embodiments, the liquid can include normal saline, medicinal liquid, etc. For example, in lactating patients, breast milk stasis may occur in the mammary ducts. In this case, the endoscope 400 can be used for surgical treatment. The catheter 120 can be inserted into the patient's mammary duct through the propulsion device 100, and normal saline can be injected into the channel 121, so that the normal saline can be injected into the patient's mammary duct, thereby diluting the curd in the mammary duct to achieve the effect of dredging the mammary duct.

[0069] In some embodiments, the catheter 120 can be an optical fiber tube. In some embodiments, the optical fiber tube can include a core and a cladding coated on the outer surface of the core. Among them, the core is made of a transparent material, the refractive index of the cladding is lower than that of the core, and the light signal incident on the core is reflected by the cladding interface, so that the light signal propagates forward in the core. The light source emitted by the light-emitting module 420 is incident on the core of the catheter and is reflected by the cladding, so that the light source can propagate in the catheter 120, thereby assisting the imaging module 410 to perform imaging. In some embodiments, the catheter 120 can be rigid or flexible.

[0070] The beneficial effects that the embodiments of this specification may bring include but are not limited to: (1) In the propulsion device in the embodiments of this specification, under the restriction of the holding ring, the clamping parts of the holding claws gather together, generating a clamping force on the catheter. By acting on the operating member to drive the operating connecting member, the holding claws, the holding ring and the catheter are driven to move forward relative to the housing to the limiting device together. The limiting device restricts the holding ring from continuing to move forward, while the holding claws and the catheter continue to move forward, so that the holding ring is separated from the holding claws. At this time, the clamping parts of the holding claws no longer generate a clamping force on the catheter. When the catheter encounters human tissue, the catheter retreats under the resistance of the human tissue, which can avoid damage to the human tissue caused by the catheter; (2) When the action on the operating member stops, the operating member resets under the action of the first elastic element, and the operating connecting member and the holding claws reset under the action of the second elastic element. During the reset process of the holding claws, the holding ring will be reset. After resetting, the holding ring and the holding claws are in a tightened state again, and the clamping claws gather together so that the clamping parts have a clamping force on the catheter again. Each time the operating member is actuated, the catheter can move forward a certain distance relative to the housing, thereby controlling the catheter to gradually advance into the human body. It should be noted that the beneficial effects that may be produced by different embodiments are different. In different embodiments, the beneficial effects that may be produced can be any one or several of the above combinations, or any other beneficial effects that may be obtained.

[0071] The above are only the preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

1. A propulsion device for a catheter, characterized in that, The propulsion device comprises: a housing, a claw and a ring housed in the housing; the claw comprises a clamping portion for clamping the catheter; the ring is sleeved on the outside of the claw; When the holding ring and the holding claws are in a holding state, the clamping parts of the holding claws gather together and generate a clamping force on the catheter, and the holding claws and the holding ring move forward relative to the housing; When the holding ring and the holding claw are in a separated state, the clamping parts of the holding claw are separated from each other, and the catheter can move relative to the holding claw; The propulsion device further includes a limiting device, which is used to restrict the ring from further forward movement when the ring and the claws in the clasping state move forward, so that the claws separate from the ring during the forward movement; wherein, when no force is applied to the claws and the ring and the claws are in the clasping state, a specific distance d is maintained between the front end of the clamping portion of the claw and the limiting device; The propulsion device further includes an operating assembly, the operating assembly including at least an operating member, which drives the claw to move forward relative to the housing by acting on the operating member; The operating assembly further includes an operating connection member, one end of which is connected to an end of the fixing portion of the claw facing away from the clamping portion, and the other end of which is connected to the operating member; The operating connection member includes a sliding block and a connecting rod, one end of the connecting rod is connected to the sliding block, the other end of the connecting rod is connected to the fixed portion of the claw, and the end of the sliding block away from the connecting rod is matched with the end of the operating member located on the housing; The connecting rod is connected to the fixed portion of the claw via an elastic element; the biasing force provided by the elastic element causes the claw to move toward the sliding block.

2. The propulsion device of the catheter according to claim 1, characterized in that, The clamping portion of the claw includes at least two clamping claws for clamping the catheter; When the holding ring and the holding claws are in a holding state, the holding ring cooperates with the at least two clamping claws, the at least two clamping claws gather together, and the holding claws and the holding ring move forward relative to the housing; When the holding ring and the holding claws are in a separated state, the holding ring and the at least two clamping claws are separated, and the at least two clamping claws are separated from each other.

3. The propulsion device of the catheter according to claim 2, characterized in that, The clamping claw further includes a fixing portion connected to rear ends of the at least two clamping claws, and the at least two clamping claws are distributed along the circumferential direction at the end of the fixing portion.

4. The propulsion device of the catheter according to claim 3, characterized in that, A limiting portion is provided at one end of each clamping jaw away from the fixing portion, and the limiting portion protrudes outward relative to the outer surface of the clamping jaw.

5. The propulsion device of the catheter according to claim 1, characterized in that, The clamping portion of the claw includes a reducer, the outer diameter of the front end of the reducer is larger than the outer diameter of the rear end of the reducer, wherein the holding ring cooperates with the front end of the reducer so that the outer diameter of the front end of the reducer is adjustable; When the holding ring and the front end of the reducer are in a holding state, the holding ring cooperates with the front end of the reducer, the outer diameter of the front end of the reducer is reduced, and the reducer and the holding ring move forward relative to the housing; When the holding ring is in a separated state from the front end of the reducing pipe, the holding ring is separated from the front end of the reducing pipe, and the outer diameter of the front end of the reducing pipe increases.

6. The advancement device of the catheter according to claim 5, characterized in that, The reducing pipe includes at least one notch, and the at least one notch is distributed along the length direction of the reducing pipe. When the holding ring is in a tightened state with the front end of the reducing pipe, the holding ring cooperates with the front end of the reducing pipe, the width of the at least one notch decreases, and the reducing pipe and the holding ring move forward relative to the housing together; When the holding ring is in a separated state from the front end of the reducing pipe, the holding ring is separated from the front end of the reducing pipe, and the width of the notch increases.

7. The propulsion device of the catheter according to claim 1, characterized in that, The operating member includes a first inclined surface, and the first inclined surface is located at the end of the operating member on the housing; the sliding block includes a second inclined surface, and the second inclined surface is located at the end of the sliding block away from the connecting rod; The first inclined surface is in contact with the second inclined surface, and the moving direction of the operating member is approximately perpendicular to the moving direction of the sliding block. By acting on the operating member, the sliding block drives the holding claw to move forward relative to the housing.

8. The propulsion device of the catheter according to claim 1, characterized in that, The propulsion device further includes a mounting cover, the mounting cover is connected to the housing, the mounting cover includes a through hole, and the catheter extends outwards through the through hole.

9. The propulsion device of the catheter according to claim 8, characterized in that, A protective sleeve is provided at the through hole of the mounting cover, the protective sleeve penetrates through the through hole and is arranged along the length direction of the catheter.

10. The catheter propulsion device according to claim 9, characterized in that, An anti-slip ring is provided at one end of the protective sleeve close to the holding claw, and the anti-slip ring is coaxially arranged with the protective sleeve.

11. The propulsion device of the catheter according to claim 1, characterized in that, The propulsion device further includes a mounting pipe for placing the holding claw and the holding ring, and the outer side of the mounting pipe is connected to the inner wall of the housing; When the holding ring and the holding claw are in a tightened state, the holding claw and the holding ring move forward relative to the mounting pipe together; when the holding ring and the holding claw are in a separated state, the holding claw moves forward relative to the mounting pipe.

12. An endoscope, characterized in that, The endoscope includes: a catheter, the propulsion device according to any one of claims 1-9, configured to drive the catheter to advance or retreat; An imaging module, located at the front end of the catheter, configured to acquire image information of the area to be detected.

13. The endoscope according to claim 12, characterized in that, The catheter includes an optical fiber tube.

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