Binocular ureteroscope and manufacturing method thereof

Abstract

The present invention discloses a binocular ureteroscope and a manufacturing method thereof, wherein the binocular ureteroscope comprises: an operating handle, a mirror body and two camera devices, wherein the mirror body comprises a working end and an operating end, the operating end is connected to the operating handle, the mirror body has a discharge channel, the discharge channel is used to deliver auxiliary guide components and discharge debris, the working end has a third outlet, the third outlet is connected to the discharge channel; the two camera devices are arranged at the working end.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and further to a binocular ureteroscope and a manufacturing method thereof. Background Art

[0002] A ureteroscope is a medical device used for minimally invasive diagnosis and treatment in urology. Conventional ureteroscopes consist of an optical fiber, a working lumen, and various accessories for different purposes. Ureteroscopic surgery involves inserting a slender ureteroscope through the urethra, bladder, and ureteral orifice into the 0.2 to 0.5 cm diameter ureter. Connected to a monitoring device, lesions within the ureter or renal pelvis can be clearly observed. Various instruments inserted into the working lumen allow for diagnosis or treatment of ureteral diseases.

[0003] The ureteroscopes currently in use are mainly divided into two categories: hard and soft. Among them, the hard mirror, that is, the ordinary ureteroscope, is used to treat diseases such as ureteral stones. Since its main body is relatively hard and cannot be bent, it is suitable for treating ureteral stones. In other words, it is suitable for treating relatively straight or linear areas. The soft mirror can be used to treat stones in the upper ureter, which cannot be treated by ordinary ureteroscopes, as well as stones in the renal pelvis and calyx.

[0004] Although flexible ureteroscopes can greatly supplement the shortcomings of ordinary ureteroscopes and can be used to treat diseases with more tortuous paths or locations that ordinary ureteroscopes cannot treat, there are still many unfavorable factors in actual applications.

[0005] refer to Figures 1A-1B This diagram illustrates a conventional flexible ureteroscope used to treat renal pelvic stones. A conventional flexible ureteroscope consists of an operating handle, a main body 1P, a sheath 2P, and an inner core 3P. The end of the main body is bendable, and the operating handle is used to control the main body's operation. The sheath is used to position the main body. The main body has multiple working channels for passing guidewires 4P, treatment instruments 5P, and flushing procedures. For example, when the ureteroscope is used to treat a patient's upper ureteral stones, the guide wire is first passed through one of the working channels of the ureteroscope, and the ureteroscope with the guide wire 4P is sent into the body, and the guide wire 4P is allowed to enter the ureter, and then the sheath 2P and the inner core 3P are inserted along the guide wire, and the ureteroscope sheath is inserted to a position 0.5-1 cm away from the stone, and then the inner core 3P is withdrawn and the soft mirror body 1P is sent into the sheath 2P. The soft mirror body 1P is close to the stone, and flushing, stone crushing and other operations are performed through the treatment instrument of the working channel. The crushed stones and waste water can be sent out through the gap between the soft mirror body 1P and the sheath 2P.

[0006] As can be seen, in order for the flexible endoscope body 1P to bend easily into corners, it must be relatively flexible, resulting in a lack of guidance for advancement, necessitating the use of a sheath 2P to assist entry. The sheath 2P not only guides the endoscope body 1P but also forms a gap 101P between it and the endoscope body 1P for discharging waste materials and wastewater, a necessary channel during treatment. However, this structure presents several problems.

[0007] First, the endoscope sheath enters the ureter under the guidance of a guidewire, that is, it enters the ureter before the endoscope body. At this time, the operator, such as a doctor, cannot obtain image information inside the body. Therefore, placing the endoscope sheath is a blind operation, and its accuracy basically depends on the operator's experience, which requires a high level of operator operation.

[0008] Secondly, waste is sent out from the gap between the scope sheath and the soft scope body. Since the ureteroscope needs to operate in the relatively narrow space of the human ureter, its size is very small. Based on such a small size, the gap formed between the soft scope body and the scope sheath is even narrower. Therefore, it is very difficult to send out waste. Usually, it is sucked with the help of negative pressure, but the circulation is still poor.

[0009] Third, the space between the endoscope and the sheath is narrow. Once the endoscope is in the sheath, the remaining space is irregular, facilitating the expulsion of only liquid and sediment-like stones. If the stones are broken into lumps, they are difficult to expel and can easily get stuck in the endoscope, potentially damaging it.

[0010] Fourth, medical devices, especially those for use inside the body, are usually required to be disposable, that is, the scope of use and usage are very large, and the cost of the soft mirror including the mirror sheath is relatively high, and the mirror sheath accounts for a large part of the cost, thus greatly limiting the scope of use of the soft mirror.

[0011] Fifth, and more importantly, the soft endoscope body has the advantage of being easy to bend, but it must be used in conjunction with the endoscope sheath, which is relatively hard, so it can only stay in the ureter and cannot reach the renal pelvis, renal calyx or parts that need to be bent. When the waste is discharged after lithotripsy, the suction force generated by the endoscope sheath is required to suck out the gravel and waste water at a distant location, such as the renal pelvis. This long-distance suction, on the one hand, is difficult to control the size of the suction force. Too much suction force will affect human organs, and too little suction force will result in poor waste discharge efficiency and may not be discharged cleanly. In most cases, especially in some more hidden corners, there will be waste residue. On the other hand, when lithotripsy, water is required, and the water needs to be quickly discharged during the lithotripsy process to reduce water accumulation in the renal pelvis. However, since the lithotripsy is located far away, a large amount of water needs to be filled in, and the suction efficiency is low, which can easily cause excessive pressure in the renal pelvis, which may cause complications or even endanger life. Summary of the Invention

[0012] One object of the present invention is to provide a binocular ureteroscope and a method for manufacturing the same, wherein the binocular ureteroscope does not require the auxiliary function of a sheath, thereby avoiding the operation of the sheath during use and avoiding blind operation of the sheath.

[0013] Another object of the present invention is to provide a binocular ureteroscope and a manufacturing method thereof, wherein the binocular ureteroscope does not require the auxiliary function of a sheath, so that the overall diameter size is reduced without reducing the working size, thereby reducing the damage of the medical device to the body organs.

[0014] Another object of the present invention is to provide a binocular ureteroscope and a manufacturing method thereof, wherein the binocular ureteroscope itself has a discharge channel, and the discharge channel is used to suck out waste, so that the waste suction process does not need to rely on the cooperation of the scope sheath to achieve.

[0015] Another object of the present invention is to provide a binocular ureteroscope and a manufacturing method thereof, wherein the binocular ureteroscope can increase the effective utilization space for the discharge of gravel and debris, so that larger-sized gravel and debris can be discharged, reducing the requirements for gravel size, and eliminating the need for powdered gravel.

[0016] Another object of the present invention is to provide a binocular ureteroscope and a method for manufacturing the same, wherein the sheath-free ureteroscope reduces the repeated crushing process of the lithotripsy, thereby reducing energy loss during the lithotripsy process and improving work efficiency.

[0017] Another object of the present invention is to provide a binocular ureteroscope and a manufacturing method thereof, wherein the binocular ureteroscope can crush stones and discharge debris at the same time as flushing water, so that flushing water and discharge of debris tend to be balanced, thereby avoiding an increase in renal pressure.

[0018] Another object of the present invention is to provide a binocular ureteroscope and a method for manufacturing the same, wherein the discharge channel integrally passes through the binocular ureteroscope, thereby allowing working instruments and fluids to enter and exit smoothly.

[0019] Another object of the present invention is to provide a binocular ureteroscope and a manufacturing method thereof, wherein the ureteroscope forms an independent discharge channel, does not need to rely on the gap formed by the sheath interlayer for discharge, and the effective size for suction work is increased, which facilitates the discharge of debris.

[0020] Another object of the present invention is to provide a binocular ureteroscope and a method for manufacturing the same, wherein the suction port of the discharge channel is consistent with the image acquisition position, thereby enabling visualization and targeted suction.

[0021] Another object of the present invention is to provide a binocular ureteroscope and a manufacturing method thereof, wherein the suction port of the discharge channel is adjacent to the opening position of the working channel, thereby enabling the lithotripsy position and the suction position to be consistent, that is, achieving close-range suction.

[0022] Another object of the present invention is to provide a binocular ureteroscope and a manufacturing method thereof, wherein the main body of the binocular ureteroscope includes a main frame and a covering layer, and the covering layer covers the main frame, so that the flexible covering layer and the relatively hard main frame are integrated with each other, making the binocular ureteroscope between a soft mirror and a semi-rigid mirror.

[0023] Another object of the present invention is to provide a binocular ureteroscope and a manufacturing method thereof, wherein the mirror body has a water inlet channel, a working channel and a discharge channel, and the water inlet channel, the working channel and the discharge channel are arranged in parallel.

[0024] Another object of the present invention is to provide a binocular ureteroscope and a manufacturing method thereof, wherein the binocular ureteroscope body includes two camera devices, the two camera devices are located at the ends of the body, and the ends of the two camera devices are adjacent to the port position of the discharge channel.

[0025] Another object of the present invention is to provide a binocular ureteroscope and a manufacturing method thereof, wherein the two camera devices are respectively located on both sides of the working channel to more accurately collect in vivo operating environment information and instrument operation information.

[0026] Another object of the present invention is to provide a binocular ureteroscope and a method for manufacturing the same, wherein the two camera devices cooperate with each other to simulate human eyes and obtain depth information inside the body.

[0027] Another object of the present invention is to provide a binocular ureteroscope and a method for manufacturing the same, wherein the binocular ureteroscope has a consistent overall structure, facilitating independent entry and exit of the ureteroscope into and out of a body part.

[0028] Another object of the present invention is to provide a binocular ureteroscope and a method for manufacturing the same, wherein the binocular ureteroscope does not require a sheath, thus reducing auxiliary components and thus lowering costs.

[0029] Another object of the present invention is to provide a binocular ureteroscope and a method for manufacturing the same, wherein in one embodiment, the water inlet channel, the working channel, and the discharge channel are formed by different continuous tubes, and the main skeleton and the covering layer constrain the positions of the multiple tubes.

[0030] Another object of the present invention is to provide a sheathless ureteroscope and a method for manufacturing the same, wherein the sheathless ureteroscope includes a flexible head connected to the mirror body, and the curvature of the flexible head and the curvature of the mirror body cooperate with each other to better adapt to the bending requirements of large and small parts of the body.

[0031] In order to achieve at least one of the above objectives, one aspect of the present invention provides a binocular ureteroscope, comprising:

[0032] an operating handle;

[0033] a mirror body, wherein the mirror body includes a working end and an operating end, the operating end is connected to the operating handle, the mirror body has a discharge channel, the discharge channel is used to feed the auxiliary guide component and discharge debris, the working end has a third outlet, the third outlet is connected to the discharge channel; and

[0034] Two camera devices are arranged at the working end.

[0035] According to a binocular ureteroscope as described in one embodiment, the working end of the scope body has a first outlet, and the two camera devices are respectively arranged on both sides of the first outlet.

[0036] According to a binocular ureteroscope as described in one embodiment, the working end of the scope body has a first outlet and a second outlet, and the two camera devices are respectively arranged on both sides of the first outlet and the first and second outlets.

[0037] According to a binocular ureteroscope according to one embodiment, the first outlet and the second outlet are arranged in a longitudinal direction, and the two camera devices are arranged in a transverse direction.

[0038] According to a binocular ureteroscope described in one embodiment, the mirror body includes a working channel, the working channel has a first outlet, the water inlet channel has a second outlet, the first outlet, the second outlet, and the two camera devices form a first working area of the working end, and the third outlet forms a second working area of the working end, and the first working area and the second working area are arranged on opposite sides.

[0039] According to the binocular ureteroscope of one embodiment, the first working area and the second working area form a rounded step structure.

[0040] According to a binocular ureteroscope as described in one embodiment, the scope body includes a main frame and an embedded layer, and the embedded layer covers the main frame.

[0041] According to a binocular ureteroscope described in one embodiment, the main skeleton includes two longitudinally extending ridges and a series of reinforcing ribs, the longitudinally extending ridges extend along the mirror body, and the series of reinforcing ribs are connected in parallel and annularly between the two extending ridges.

[0042] According to a binocular ureteroscope described in one embodiment, the mirror body includes a control line and a flexible head, the flexible head is located at the front of the mirror body, and the operating handle controls the operation of the flexible head through the control line.

[0043] According to the binocular ureteroscope described in one embodiment, the two camera devices work in cooperation with each other to obtain depth information of the internal body environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figures 1A-1B It is a schematic diagram of the working process of the ureteroscope in the prior art.

[0045] Figure 2A Schematic diagram of a working system of a binocular ureteroscope according to a preferred embodiment of the present invention.

[0046] Figure 2B 3D is a schematic three-dimensional diagram of a binocular ureteroscope according to a preferred embodiment of the present invention.

[0047] Figure 3A FIG1 is a schematic diagram of an angle of the main body of a binocular ureteroscope according to the above embodiment of the present invention.

[0048] Figure 3BFIG1 is a schematic diagram of an angle of the main body of a binocular ureteroscope according to the above embodiment of the present invention.

[0049] Figure 3C Schematic diagram of the binocular vision principle of the binocular ureteroscope according to the above embodiment of the present invention.

[0050] Figure 4 Schematic diagram of the process of forming the main body of the binocular ureteroscope according to the above embodiment of the present invention.

[0051] Figure 5A 1 is a schematic front view of the working end of the binocular ureteroscope according to the above embodiment of the present invention.

[0052] Figure 5B Yes, yes, along Figure 2A Schematic diagram of the transverse cross section along line AA in FIG.

[0053] Figure 6 It is along Figure 5B Schematic diagram of the longitudinal section along the midline BB.

[0054] Figures 7A-7B Schematic diagrams of two guiding entry processes of a binocular ureteroscope according to the above embodiment of the present invention.

[0055] Figure 8-9 Schematic diagram of the binocular ureteroscope entering the renal pelvis according to the above embodiment of the present invention.

[0056] Figure 10A Schematic diagram of a working system of a binocular ureteroscope according to a second preferred embodiment of the present invention.

[0057] Figures 10B-10C 3D schematic diagrams of a binocular ureteroscope at different angles according to a second preferred embodiment of the present invention.

[0058] Figure 11A It is a schematic diagram at an angle of the main body of a binocular ureteroscope according to a second preferred embodiment of the present invention.

[0059] Figure 11B It is a schematic diagram at an angle of the main body of a binocular ureteroscope according to a second preferred embodiment of the present invention.

[0060] Figure 12 Schematic diagram of the process of forming the main body of a binocular ureteroscope according to the second preferred embodiment of the present invention.

[0061] Figure 13A 1 is a schematic front view of the working end of a binocular ureteroscope according to a second preferred embodiment of the present invention.

[0062] Figure 13B It is along Figure 10A Schematic diagram of the transverse cross section of the DD line.

[0063] Figure 14 It is along Figure 13B Schematic diagram of the longitudinal section along line EE.

[0064] Figure 15 Schematic diagram of a binocular ureteroscope body according to a third preferred embodiment of the present invention.

[0065] Figures 16A-16C 1 is a curved schematic diagram of a binocular ureteroscope according to the above embodiment of the present invention entering different parts of the body.

[0066] Figure 17 1 is a schematic diagram comparing the discharge channel formed by the binocular ureteroscope according to an embodiment of the present invention and the suction space formed by the combination of the flexible endoscope and the endoscope sheath in the prior art.

[0067] Figures 18A-18C Schematic diagram of different shapes and layouts of the discharge channel formed by the binocular ureteroscope according to the embodiment of the invention.

[0068] Figure 19 FIG. 4 is a schematic cross-sectional view of a binocular ureteroscope according to a fourth embodiment of the present invention. DETAILED DESCRIPTION

[0069] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are for illustrative purposes only, and those skilled in the art will readily appreciate other obvious variations. The basic principles of the present invention defined in the following description may be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0070] Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0071] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the elements may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0072] References to "one embodiment," "an embodiment," "example embodiment," "various embodiments," "some embodiments," etc., indicate that such embodiments describing the invention may include a particular feature, structure, or characteristic, but not every embodiment must include that feature, structure, or characteristic. Furthermore, some embodiments may have some, all, or none of the features described for other embodiments.

[0073] Figure 2A Schematic diagram of a working system of a binocular ureteroscope according to a preferred embodiment of the present invention.

[0074] Figure 2B 3D is a schematic three-dimensional diagram of a binocular ureteroscope according to a preferred embodiment of the present invention.

[0075] Figure 3A FIG1 is a schematic diagram of an angle of the main body of a binocular ureteroscope according to the above embodiment of the present invention.

[0076] Figure 3B FIG1 is a schematic diagram of an angle of the main body of a binocular ureteroscope according to the above embodiment of the present invention.

[0077] Figure 3C Schematic diagram of the binocular vision principle of the binocular ureteroscope according to the above embodiment of the present invention.

[0078] Figure 4 Schematic diagram of the process of forming the main body of the binocular ureteroscope according to the above embodiment of the present invention.

[0079] Figure 5A 1 is a schematic front view of the working end of the binocular ureteroscope according to the above embodiment of the present invention.

[0080] Figure 5B Yes, yes, along Figure 2A Schematic diagram of the transverse cross section along line AA in FIG.

[0081] Figure 6 It is along Figure 5B Schematic diagram of the longitudinal section along the midline BB.

[0082] Figures 7A-7B Schematic diagrams of two guiding entry processes of a binocular ureteroscope according to the above embodiment of the present invention.

[0083] Figure 8-9 Schematic diagram of the binocular ureteroscope entering the renal pelvis according to the above embodiment of the present invention.

[0084] refer to Figure 2A-Figure 9The present invention provides a binocular ureteroscope 100 for treating ureteral diseases, such as, but not limited to, ureteral stones and tumors. Those skilled in the art will appreciate that the binocular ureteroscope 100 can also be used to treat other diseases, and the use of the binocular ureteroscope 100 is not a limitation of the present invention.

[0085] The binocular ureteroscope 100 includes a main body 10 and an operating handle 20. The operating handle 20 is used to control the operation of the main body 10. Furthermore, the operating handle 20 controls the turning of the end of the main body 10. In other words, during use, the operator manipulates the operating handle 20 to bring the end of the main body 10 closer to the treatment location.

[0086] The mirror body 10 includes a working end 11 and an operating end 12, wherein the operating end 12 is connected to the operating handle 20, and the working end 11 is away from the operating handle 20. That is, when in use, the working end 11 is the end that enters the body for treatment, while the operating end 12 is the end located outside the body for the operator to operate. The mirror body 10 extends linearly between the working end 11 and the operating end 12. Preferably, the mirror body 10 is made of the same material or structure and extends integrally between the working end 11 and the operating end 12, so that the force applied to the mirror body 10 when entering the body is consistent, making it convenient to enter and exit.

[0087] It's worth noting that, in the technical solution of the present invention, the middle portion of the mirror body 10 integrally extends between the working end 11 and the operating end 12. In other words, there are no seams or connecting interfaces on the entire outer surface of the mirror body 10, allowing the mirror body 10 to enter the body stably. Furthermore, due to the surface consistency, the mirror body 10 can be smoothly withdrawn from the body, or in other words, during the withdrawal operation, it is not obstructed by other structures on the surface of the mirror body 10. Preferably, the cross-section of the mirror body 10 is generally circular, resulting in minimal lateral resistance.

[0088] Furthermore, the operating handle 20 includes at least one operating element 21, which is controllably connected to the working end 11 of the mirror body 10. For example, when the working end 11 of the mirror body 10 reaches a predetermined position, the user can operate the operating element 21 to bend the end of the mirror body 10. In other words, the operating element 21 controls the bending of the outer end of the mirror body 10.

[0089] In one embodiment of the present invention, the binocular ureteroscope 100 includes a control line, which is pre-placed inside the mirror body 10 and extends along the mirror body 10. When the operating element 21 of the operating handle 20 is rotated, the control line pulls the working end 11 of the mirror body 10, thereby controlling the end of the mirror body 10 to rotate in a predetermined direction through the operating handle 20.

[0090] The binocular ureteroscope 100 includes two camera devices 30 mounted on the working end 11 of the scope body 10. The image acquisition surfaces of the two camera devices 30 coincide with the outer surface of the working end 11. In other words, as the scope body 10 moves forward, the acquisition devices capture forward image information. The operator can observe the captured image information and, based on this information, purposefully control the movement of the scope body 10.

[0091] In one embodiment of the invention, the two camera devices 30 are communicatively connected to a display device, thereby displaying images captured by the two camera devices 30 on the display device. During use, the operator can directly observe the image information within the body through the display device, thereby assisting the surgical procedure. The two camera devices 30 are connected to the operating handle 20 via, for example but not limited to, an optical fiber. The operating handle 20 is provided with an information interface 25. The display device can be connected to the information interface 25, thereby communicatively connecting to the two camera devices 30. That is, the information captured by the two camera devices 30 can be displayed on the information display device.

[0092] In one embodiment of the present invention, the two camera devices 30 are fixed to the working end 11 of the mirror body 10. The end surface of the information acquisition device is consistent with the end surface of the mirror body 10. In other words, the surfaces of the two camera devices 30 do not protrude from the outer surface of the working end 11 of the mirror body 10. Preferably, the two camera devices 30 are embedded in the working end 11 of the mirror body 10. In another embodiment of the present invention, the two camera devices 30 are movably connected to the mirror body 10.

[0093] It is worth mentioning that the two camera devices work together to simulate human eyes and obtain depth information inside the human body, thereby forming a binocular ureteroscope.

[0094] The mirror body 10 has a working channel 110 and a water inlet channel 120. The working channel 110 is used for the entry and exit of working instruments, for example but not limited to, holmium lasers. The water inlet channel 120 is used to allow water to flow in. Preferably, the working channel 110 and the water inlet channel 120 are arranged in parallel and isolated, that is, the working channel 110 and the water inlet channel 120 work independently of each other. For example, when the binocular ureteroscope 100 is used to treat stone diseases, the working instrument for crushing stones passes through the working channel 110 and reaches the working end 11 of the mirror body 10. Water flows in from the outside through the water inlet channel 120 and is flushed out from the working end 11 of the mirror body 10 to flush the crushed stones.

[0095] In one embodiment of the present invention, the control line is arranged along the working channel 110 , that is, no additional channel is required to set up the control line, thereby improving space utilization.

[0096] According to an embodiment of the present invention, the two camera devices 30 are respectively located on both sides of the working channel 110 and the water inlet channel 120. Further, the two cameras 30 are respectively located on both sides of the center line connecting the water inlet channel 120 and the working channel 110.

[0097] The distance between the aperture centers of the two cameras 30 is baseline B, and the distance between the centers of the working channel 110 and the water inlet channel 120 is working line C. Preferably, baseline B is perpendicular to working line C, and the intersection of baseline B and working line C is located midway between working line C and baseline B. In other words, the intersection of baseline B and working line C bisects working line C and baseline B. In this case, the two cameras 30 can more accurately obtain depth information of objects entering the human body through the working channel 110 and water inlet channel 120, such as working equipment, water flow, etc.

[0098] Reference Attachment Figure 3C , for example, one of the ways for the two cameras to obtain the depth z. Left imaging point: PL; right imaging point: PR; left aperture center OL; right aperture center OR; scene point P; the distance between the aperture centers of the two cameras is the baseline b; the distance between the left optical center and the left imaging point uL; the distance between the right optical center and the right imaging point |uR|: uR is a negative number, but after taking the absolute value, it becomes a positive number; the distance between the scene point and the aperture center z; the distance between the imaging point and the aperture center is the focal length f; parallax d: uL+|uR|. The two triangles P-PL-PR and P-OL-OR are similar triangles.

[0099] From (b-uL-uR) / b=(zf) / z, it can be deduced that: z=fb / d, thus obtaining the depth z.

[0100] It is worth mentioning that existing ureteroscopes usually use a single camera, that is, they only collect planar information. Therefore, when the operator uses it, the judgment of depth information is based on practical experience and trial and error during operation, so the requirements for surgical operation are relatively high. In the embodiment of the present invention, a binocular camera is used to accurately obtain depth information in the body, so that the operator can obtain accurate position information in real time, thereby improving the operation accuracy of the operation.

[0101] It's also worth noting that the human body's internal environment is complex and dynamic, influenced by factors such as respiration and blood flow. At certain angles, a single camera cannot capture these movements. A single camera cannot determine the depth of a specific point. Projections along a straight line appear to be the same point for a single camera, so binocular cameras are required to obtain the depth of a specific point. Therefore, if the trachea or the environment in the body moves along the same axis, such as toward the camera, it is impossible to distinguish them. In this case, the operator cannot see these changes on the display device, potentially leading to misjudgments during surgery. In an embodiment of the present invention, two cameras capture both impact information and depth information from different angles, allowing dynamic changes in different directions to be displayed in real time on the display device, thereby more efficiently assisting the operator during the surgical procedure.

[0102] Furthermore, the working channel 110 is formed by a working inner surface 1103. The working inner surface 1103 is made of a uniform, integral material. In other words, the working inner surface 1103 is smooth, without any uneven areas such as seams or protrusions, thereby facilitating smooth entry and exit of the working tool. Preferably, the working channel 110 is a circular tubular channel, and accordingly, the working inner surface 1103 is an annular tube wall.

[0103] The water inlet channel 120 is formed by a flushing inner surface 1203. The flushing inner surface 1203 is made of a uniform, integral material. In other words, the flushing inner surface 1203 is smooth, without any uneven areas such as seams or protrusions, thereby facilitating the passage of water. Preferably, the water inlet channel 120 is a circular tubular channel, and accordingly, the flushing inner surface 1203 is an annular tube wall.

[0104] The working channel 110 has a first inlet 1101 and a first outlet 1102. The first inlet 1101 is connected to the operating handle 20, and the first outlet 1102 is located at the working end 11 of the mirror body 10. That is, during use, a working tool is introduced through the first inlet 1101 and then delivered into the body through the first outlet 1102. The first outlet 1102 is located close to the outer ends of the two camera devices 30, thereby facilitating visual operation of the working tool.

[0105] The water inlet channel 120 has a second inlet 1201 and a second outlet 1202. The second inlet 1201 is connected to the operating handle 20, and the second outlet 1202 is located at the working end 11 of the mirror body 10. That is, the position of the second outlet 1202 is close to the outer ends of the two camera devices 30, so as to facilitate visual flushing.

[0106] Preferably, the first outlet 1102 of the working channel 110 and the second outlet 1202 of the water inlet channel 120 are located between the end faces of the two camera devices 30. This facilitates the two camera devices 30 to simultaneously collect operating information of the equipment entering the working channel 110 and flushing information of the water inlet channel 120, thereby enabling the flushing process and the stone crushing process to be coordinated with each other. It is worth mentioning that the end faces of the two camera devices 30 are located perpendicular to the center line connecting the first outlet 1102 and the second outlet 1202, thereby achieving symmetrical collection on both sides and consistent collection angles, thereby more accurate information.

[0107] Furthermore, the scope body 10 has a discharge channel 130 for discharging debris from the body, including, but not limited to, crushed stones, wastewater, and tumors. For example, when the binocular ureteroscope 100 is used to treat stone disease, the stone fragments and wastewater in the body are discharged through the discharge channel 130. Prior to stone crushing, the discharge channel 130 is used to introduce auxiliary guide components, such as the guidewire 200 and the inner core 300.

[0108] It is worth mentioning that the size of the discharge channel 130 is larger than the sizes of the working channel 110 and the water inlet channel 120, which facilitates the smooth entry and exit of guiding components such as the guide wire 200 and the inner core 300.

[0109] The exhaust channel 130 integrally extends between the working end 11 and the connecting end of the mirror body 10 , and the exhaust channel 130 is connected to the operating handle 20 .

[0110] The discharge channel 130 is arranged in parallel with the working channel 110 and the water inlet channel 120, and is isolated from each other. That is, the discharge channel 130, the water inlet channel 120, and the working channel 110 are independent of each other. In other words, the operation process, the flushing process, and the draining process can be carried out simultaneously or sequentially without affecting each other. Preferably, the centers of the working channel 110, the water inlet channel 120, and the discharge channel 130 are located on the same straight line and are also on the same straight line with the center of the mirror body 10.

[0111] The discharge channel 130 is formed by a discharge inner surface 1303, and the material of the discharge inner surface 1303 extends uniformly as a whole. That is, the discharge inner surface 1303 is flat, without uneven locations such as seams or protrusions, thereby facilitating the discharge of debris. Preferably, the discharge channel 130 is a semi-circular tubular channel. It is worth mentioning that the drainage channel of a traditional sheathed soft mirror is formed by the gap between the sheath and the soft mirror, that is, the soft mirror is contained inside the channel, while in the technical solution of the present invention, the interior of the discharge channel 130 is a hollow structure without other components inside, so the entire internal space is an effective discharge space, thereby greatly improving the efficiency of the discharge of debris and waste.

[0112] The discharge channel 130 has a third inlet 1301 and a third outlet 1302. The third inlet 1301 is connected to the operating handle 20, and the third outlet 1302 is located at the working end 11 of the mirror body 10. In other words, the third outlet 1302 is located close to the outer end surfaces of the two camera devices 30, thereby facilitating visual discharge of debris and waste, and achieving targeted suction and discharge. Preferably, the third outlet 1302 and the two cameras 30 form a roughly triangular layout, with the optical centers of the two cameras 30 and the center of the third outlet 1302 respectively forming the vertices of the triangular layout. Thus, the two cameras 30 can accurately obtain depth information of debris flowing out of the third outlet.

[0113] Furthermore, the working channel 110, the water inlet channel 120, and the two camera devices 30 are located on one side to form a first working area 111, and the exhaust channel 130 is located on the other side to form a second working area 112. That is, at the working end 11 of the mirror body 10, the first outlet 1102, the second outlet 1202, and the end faces of the two camera devices 30 are arranged in one area, while the third outlet 1302 is located in the other area. It is worth mentioning that the first outlet 1102 and the second outlet 1202 are both locations for entering the body to work, such as gravel crushing and flushing, while the third outlet 1302 is a location for exhaust. Therefore, by arranging the first outlet 1102, the second outlet 1202, and the third outlet 1302 in two side areas, the entry function and the exhaust function can be distinguished from each other, reducing mutual interference.

[0114] Preferably, the first outlet 1102 and the second outlet 1202 are located on a longitudinal line connecting the two camera devices 30 , and the third outlet is located on a longitudinal line connecting the two camera devices 30 .

[0115] Preferably, the center of the first outlet 1102 , the center of the second outlet 1202 and the center of the third outlet 1302 are located in the same straight line, and the line connecting the optical centers of the two camera devices 30 is perpendicular to the line connecting the outlet centers.

[0116] In one embodiment, the discharge channel 130 can be connected to a suction device to quickly expel debris from the body through negative pressure suction. It is worth mentioning that the third outlet 1302 and the second outlet 1202 are both located at the working end 11, that is, the location where the suction force is generated is close to the location where the stone is broken, thus achieving close-range suction, that is, the suction and stone removal is more targeted and the strength of the suction force is easier to control.

[0117] The operating handle 20 has multiple interfaces for passing through or connecting to operating components, such as the guidewire 200, inner core 300, lithotripsy, flushing device, suction device, etc. For example, the operating handle 20 includes a first interface 22, a second interface 23, and a third interface 24. The first interface 22 connects to the working channel 110, the second interface 23 connects to the water inlet channel 120, and the third interface 24 connects to the discharge channel 130. For example, the first interface 22 is used to pass through a working instrument, the second interface 23 is used to connect to the flushing device, and the third interface 24 is used to pass through the guidewire 200, inner core 300, and connect to the suction device.

[0118] In one embodiment of the present invention, the cross-section of the discharge channel 130 is roughly elliptical, and the third outlet 1302 is roughly elliptical, so as to maximize the use of the spatial position of the mirror body 10, maximize the internal space of the discharge channel 130, increase the effective space for waste discharge, and thus be able to more quickly discharge debris in the body, avoid the formation of water accumulation in the body, and reduce residue. In other embodiments of the present invention, the cross-section of the discharge channel 130 can also be other shapes, such as a semicircular or fan-shaped area. In other embodiments, under the condition that the structural strength requirements of the mirror body 10 are met, the water inlet channel 120, the working channel 110, and the area outside the two camera devices 30 can be used as the setting area of the discharge channel 130.

[0119] It is worth mentioning that the drainage channel of the traditional sheathed soft mirror is roughly annular, and the available space is only an annular gap, so the discharge efficiency is very low and gravel is easily blocked. In the technical solution of the present invention, the independent, hollow structure design of the discharge channel 130 is utilized to maximize the effective space of the discharge channel 130, thereby reducing the blockage of gravel and allowing debris to be discharged smoothly and quickly.

[0120] Furthermore, in this embodiment of the present invention, the formation area of the water inlet channel 120, the two camera devices 30 and the working channel 110 extends outwardly in a protruding manner. That is, the first working area 111 extends outwardly in a protruding manner. The first working area 111 and the second working area 112 form a roughly rounded step structure. It is worth mentioning that the roughly step structure formed by the first working area 111 and the second working area 112 reduces the effective contact area of the end, thereby making it easier for the mirror body 10 to enter the body or move within the body. Preferably, the corner positions of the first working area 111 and the second working area 112 are provided with a rounded structure to further facilitate the entry of the end of the mirror body 10.

[0121] It is also worth mentioning that, as described above, the first working area 111 and the second working area 112 serve two functions, and thus are partitioned to enable the two functions to be independent of each other. The substantially stepped configuration of the first working area 111 and the second working area 112 further distinguishes the functions of the first working area 111 from those of the second working area 112. For example, during a gravel crushing operation, gravel and water are crushed and flushed at the location corresponding to the first working area 111. Gravel and wastewater fall downward, while the second working area 112, located below and behind the first working area 111, quickly absorbs the debris. Furthermore, because the water flushing out of the first outlet 1102, i.e., the incoming water, is a predetermined distance from the discharge location, i.e., the third outlet 1302, this prevents the newly entered water from being discharged before it is utilized. This effectively isolates the gravel crushing and flushing process in the first working area 111 from the suction and discharge process in the working area.

[0122] It is also worth mentioning that the drainage channel 130 is larger than the water inlet channel 120, maximizing space utilization and accommodating both the water inlet and outlet functions. For example, the water inlet channel 120 is used for flushing, i.e., to flush the crushed stones after crushing, and to provide a flowing medium for their removal. During the operation, on the one hand, it is necessary to keep the working end surface of the lithotripsy instrument, such as the holmium laser, clearly visible to facilitate the operator to clearly control the lithotripsy instrument. Therefore, the water flow cannot be too large to avoid affecting the line of sight. On the other hand, too large a water flow can easily cause water accumulation in the kidneys, increasing renal pressure. Third, the incoming water is clean water, and the water flow is directly flushed into the body, so the water pressure cannot be too large. Therefore, the incoming water flow needs to be relatively small while meeting the flushing requirements. The drainage channel 130 needs to discharge the gravel and debris as quickly as possible, and what is discharged is not clean water, but a mixture of impurities and water. Therefore, on the one hand, it needs to be discharged quickly, and on the other hand, it needs to be large in size for gravel and debris to pass through. Therefore, in the embodiment of the present invention, through the partitioning and size setting, the water inlet channel 120 and the drainage channel 130 are functionally isolated from each other, the working areas are separated from each other, and the working size and functional requirements are coordinated with each other, thereby improving the efficiency of lithotripsy and stone removal as a whole. The sheathless ureteroscope 100 can crush stones and flush water to discharge debris at the same time, and adjust the flow relationship between the flushed water and the sucked debris so that the flushing and the discharge of debris tend to be balanced, thereby avoiding the increase of renal pressure.

[0123] On the other hand, the two camera devices 30 are located in the first working area 111 . The two camera devices 30 can enhance the hardness of the first working area 111 , making it easier for the working end 11 of the mirror body 10 to enter the body.

[0124] According to this embodiment of the present invention, the mirror body 10 includes a main skeleton 13 and a coating layer 14, wherein the main skeleton 13 is coated in the coating layer 14, and the hardness of the main skeleton 13 is greater than the hardness of the coating layer 14, thereby enhancing the overall hardness of the mirror body 10 while maintaining a certain flexibility of the mirror body 10, so that the mirror body 10 has good guidance and can independently enter and exit human organs without the need for auxiliary components, such as a mirror sheath. For example, but not limited to, the main skeleton 13 is made of metal and the coating layer 14 is made of plastic. It is worth mentioning that in this way, soft and hard materials are combined with each other, so that they can simultaneously have the bendability of a soft mirror and the guidance of a semi-hard mirror, so that the mirror body 10 can independently enter and exit human organs. Preferably, the coating layer 14 integrally coats the main skeleton 13.

[0125] In one embodiment of the present invention, the hardness of the mirror body 10 is between that of a semi-hard mirror and a soft mirror.

[0126] For example, in one embodiment of the present invention, when manufacturing the mirror body 10, the main skeleton 13 of a predetermined shape can be pre-manufactured, and then the main skeleton 13 can be placed in a mold. Through one-piece molding, the material of the coating layer 14 and the main skeleton 13 are integrated with each other, and multiple spatial channels are formed at predetermined positions, namely, the working channel 110, the water inlet channel 120 and the discharge channel 130 are formed.

[0127] The main frame 13 has a generally annular cross-section. That is, the main frame 13 is distributed around the periphery of the mirror body 10 to form an annular wall, while the working channel 110, the water inlet channel 120, and the discharge channel 130 are formed from the material of the cladding layer 14. More specifically, the working inner surface 1103 of the working channel 110, the flushing inner surface 1203 of the water inlet channel 120, and the discharge inner surface 1303 of the discharge channel 130 are each formed from the material of the cladding layer 14.

[0128] The main frame 13 includes at least one longitudinally extending ridge 131 and a plurality of transverse reinforcing ribs 132. The longitudinally extending ridge 131 extends along the length of the mirror body 10, and the transverse reinforcing ribs 132 are curvedly connected to both sides of the main frame 13. Preferably, the main frame 13 includes two longitudinally extending ridges 131, which are symmetrically distributed along the center of the mirror body 10, and the plurality of transverse reinforcing ribs 132 are connected between the two longitudinally extending ridges 131 in an arc shape, vertically symmetrically, or mirror-symmetrically.

[0129] In one embodiment of the present invention, the transverse reinforcing ribs 132 are in a bent structure, such as a wave-shaped structure. The main frame 13 includes a series of transverse reinforcing ribs 132 , which are arranged substantially parallel to each other between the two longitudinally extending ridges 131 .

[0130] In one embodiment of the present invention, the transverse reinforcing ribs 132 are movably connected to the longitudinally extending ridges 131 , thereby facilitating the bending of the mirror body 10 .

[0131] It is worth mentioning that the layout of the longitudinal extension ridge 131 and the transverse reinforcement ribs 132 makes the mirror body 10 have a certain flexibility and is convenient for bending. On the other hand, it enables the mirror body 10 to have better guidance, so that it can directly enter the body without the assistance of a sheath.

[0132] Furthermore, in one embodiment of the present invention, the binocular ureteroscope 100 includes an outer layer 15, which is attached to the outer surface of the mirror body 10 and is used to improve the surface properties of the mirror body 10. For example, the outer layer 15 is used to enhance the surface flatness of the mirror body 10, making the surface of the mirror body 10 smoother and easier to enter the body.

[0133] Preferably, the outer layer 15 is an ultra-slip coating, which is used to reduce the resistance of the outer surface of the mirror body. In one embodiment, the outer layer 15 is formed on the outer surface of the mirror body 10 by plasma-enhanced chemical vapor deposition. It is worth noting that forming a nanocoating on the surface of the mirror body 10 by plasma-enhanced chemical vapor deposition can greatly improve the smoothness of the surface of the mirror body 10, and the thickness of the nanocoating is very thin, which does not affect the overall hardness of the mirror body 10.

[0134] Furthermore, in one embodiment of the present invention, the scope body 10 has an identifier 16 disposed on the outer surface of the scope body 10. The identifier 16 is, for example, but not limited to, a scale mark. It is worth noting that the identifier 16, in conjunction with the two camera devices 30, assists the operator in performing surgical procedures. For example, during use, the operator observes image information in front of the working end 11 of the scope body 10 through the two camera devices 30, while observing the insertion depth through the identifier 16, thereby better determining the treatment location. Preferably, the identifier 16 is located on the outer layer 15 and is a different color from the outer layer 15.

[0135] refer to Figure 7A-9, is a schematic diagram of a use process of the binocular ureteroscope 100 according to an embodiment of the present invention. Taking the binocular ureteroscope 100 being used to treat stones in the renal pelvis as an example, first, the guide wire 200 is inserted through the third interface 24 of the operating handle 20, that is, the guide wire 200 passes through the discharge channel 130 into the body, and the guide wire 200 is sent into the ureter, and then the inner core 300 is inserted along the guide wire 200, that is, the inner core 300 enters along the discharge channel 130 and enters the ureter along the guide wire 200, and then the mirror body 10 is inserted along the inner core 300, that is, the mirror body 10 is sent into the body under the guidance of the inner core 300, and during the process of the mirror body 10 entering, the body image captured by the image acquisition device can be displayed by a display device. After the scope body 10 reaches the predetermined position, the guide wire 200 and the inner core 300 are removed. The operator, based on the image displayed on the image acquisition device, controls the operating handle 20 to direct the working end 11 of the scope body 10 toward the location of the stone. A lithotripsy instrument, such as a holmium laser, is inserted through the working channel 110 to perform lithotripsy. Simultaneously, a flushing device injects water into the water inlet channel 120, causing the water to flow out through the second outlet 1202 of the water inlet channel 120, flushing the stone-crushing location. The crushed stone and wastewater are discharged from the discharge channel 130 together. For example, the stone can be sucked out of the discharge channel 130 by a suction device. After the operation, the scope body 10 can be directly withdrawn from the body by controlling the operating handle 20.

[0136] refer to Figure 7B In this use process of the present invention, the sheathless ureteroscope 100 enters the ureter by the two guide wires 200, rather than being guided by the inner core 300. Of course, in other embodiments of the present invention, the sheathless ureteroscope 100 can also be guided into the body by other guiding components.

[0137] It's worth noting that when debris is discharged, the proximity of the third outlet 1302 of the discharge channel 130 to the first outlet 1102 of the working channel 110 allows for close-range attraction of debris, resulting in quick and efficient removal of pulverized debris. Furthermore, because the third outlet 1302 is adjacent to the two camera assemblies 30, the operator can observe the image and control the operating handle 20 to achieve targeted suction of debris. Furthermore, because the mirror body 10 is integrally extended and has a smooth outer surface, it encounters minimal resistance when entering and exiting human organs, and can be independently moved in and out without the assistance of other components.

[0138] It is also worth mentioning that during the use of the binocular ureteroscope 100 of the present invention, no auxiliary components are required, such as the auxiliary function of a sheath, so the operation process of the sheath is reduced during the operation, the operation process is simplified, and the requirements for the operator are reduced. The binocular ureteroscope 100 does not require the auxiliary function of a sheath, so that the overall diameter size is reduced without reducing the working size, thereby reducing the damage of the instrument to the body organs, while reducing the use of consumables and reducing the cost of surgery. On the other hand, during suction, the operator can directly observe the position of the lithotripsy, and directly operate the operating handle 20 to adjust the suction position, so that the lithotripsy suction is more targeted, reducing the residual lithotripsy, and the waste can be discharged in time, reducing the possibility of water accumulation.

[0139] It is also worth mentioning that the third outlet 1302 of the binocular ureteroscope 100, i.e., the debris discharge outlet, is close to the second outlet 1202, i.e., close to the location of the gravel, so that debris can be attracted at a close distance. Therefore, during negative pressure suction, the size of the attraction force can be better controlled, so that a smaller attraction force can achieve a better attraction effect, thereby reducing the damage to the body caused by negative pressure suction.

[0140] It is also worth mentioning that during the use of the existing ureteroscope, it is necessary to discharge the gravel with the assistance of the sheath. The efficiency of stone discharge is low and the discharge space is small. Therefore, in order to discharge the gravel as much as possible, it is necessary to powder the gravel, that is, to make the size of the gravel as small as possible, such as smaller than the width of the gap. The existing stone crushing equipment cannot crush the stone to such a small size at one time, so repeated stone crushing is required, that is, the crushed stone needs to be crushed again. In this case, stones of various sizes are actually mixed with each other, so the stone crushing efficiency will be further reduced, and it may be necessary to repeat the work many times to discharge more gravel. Therefore, the energy loss of the whole process is relatively large, the work efficiency is low, and the surgical operation time is relatively long. In the embodiment of the present invention, the effective space for stone discharge of the sheath-free ureteroscope 100 is greatly improved, so there is no need for powdered gravel, and larger-sized gravel can also be discharged, reducing energy loss and shortening the surgical operation time.

[0141] Figure 10A Schematic diagram of a working system of a binocular ureteroscope according to a second preferred embodiment of the present invention.

[0142] Figures 10B-10C 3D schematic diagrams of a binocular ureteroscope at different angles according to a second preferred embodiment of the present invention.

[0143] Figure 11A It is a schematic diagram at an angle of the main body of a binocular ureteroscope according to a second preferred embodiment of the present invention.

[0144] Figure 11B It is a schematic diagram at an angle of the main body of a binocular ureteroscope according to a second preferred embodiment of the present invention.

[0145] Figure 12 Schematic diagram of the process of forming the main body of a binocular ureteroscope according to the second preferred embodiment of the present invention.

[0146] Figure 13A 1 is a schematic front view of the working end of a binocular ureteroscope according to a second preferred embodiment of the present invention.

[0147] Figure 13B It is along Figure 10A Schematic diagram of the transverse cross section of the DD line.

[0148] Figure 14 It is along Figure 13B Schematic diagram of the longitudinal section along line EE.

[0149] refer to Figures 10A-14 According to a second embodiment of the present invention, a binocular ureteroscope 100A is provided. The binocular ureteroscope 100A is used to treat ureteral diseases, such as, but not limited to, ureteral stones and tumors. Those skilled in the art will appreciate that the binocular ureteroscope 100A can also be used to treat other diseases, and the application of the binocular ureteroscope 100A is not a limitation of the present invention.

[0150] The binocular ureteroscope 100A includes a main body 10A and an operating handle 20A. The operating handle 20A is used to control the operation of the main body 10A. Furthermore, the operating handle 20A controls the turning of the end of the main body 10A. In other words, during use, the operator manipulates the operating handle 20A to bring the end of the main body 10A closer to the treatment location.

[0151] The mirror body 10A includes a working end 11A and an operating end 12A, wherein the operating end 12A is connected to the operating handle 20A, and the working end 11A is away from the operating handle 20A. That is, when in use, the working end 11A is the end that enters the body for treatment, while the operating end 12A is the end that is located outside the body for the operator to operate. The mirror body 10A extends linearly between the working end 11A and the operating end 12A. Preferably, the mirror body 10A is made of the same material or structure and extends integrally between the working end 11A and the operating end 12A, so that the force applied to the mirror body 10A when entering the body is consistent, making it convenient to enter and exit.

[0152] It is worth mentioning that in the technical solution of the present invention, the middle portion of the mirror body 10A extends integrally between the working end 11A and the operating end 12A. In other words, there are no seams or connecting interfaces on the entire outer surface of the mirror body 10A, thereby allowing the mirror body 10A to enter the body stably. In addition, due to the consistency of the surface, the mirror body 10A can be smoothly withdrawn from the body, or in other words, it will not be blocked by other structures on the surface of the mirror body 10A during the withdrawal operation. Preferably, the cross-section of the mirror body 10A is generally circular, so that the resistance on the circumference is relatively small.

[0153] Furthermore, the operating handle 20A includes at least one operating element 21A, which is controllably connected to the working end 11A of the mirror body 10A. For example, when the working end 11A of the mirror body 10A reaches a predetermined position, the user can operate the operating element 21A to bend the end of the mirror body 10A. In other words, the operating element 21A controls the bending of the outer end of the mirror body 10A.

[0154] In one embodiment of the present invention, the binocular ureteroscope 100A includes a control line 113A, which is pre-placed inside the mirror body 10A and extends along the mirror body 10A. When the operating element 21A of the operating handle 20A is rotated, the control line 113A pulls the working end 11A of the mirror body 10A, thereby controlling the end of the mirror body 10A to rotate in a predetermined direction through the operating handle 20A.

[0155] According to this embodiment of the present invention, the working end 11A includes a flexible head 114A, which is controllably connected to the operating element 21A via the control line 113A. When in use, the operating element 21A is operated, and the control line 113A pulls the flexible head 113A to control the flexible head 114A to bend in a predetermined direction or with a predetermined curvature.

[0156] The binocular ureteroscope 100A includes two camera devices 30A mounted on the working end 11A of the scope body 10A. The image acquisition surfaces of the two camera devices 30A coincide with the outer surface of the working end 11A. In other words, as the scope body 10A moves forward, the acquisition devices capture forward image information. The operator can observe the captured image information and, based on this information, purposefully control the movement of the scope body 10A.

[0157] In one embodiment of the invention, the two camera devices 30A are communicatively connected to a display device 400A, so that images captured by the two camera devices 30A are displayed on the display device 400A. During use, the operator can directly observe the image information within the body through the display device 400A, thereby assisting the surgical procedure. The two camera devices 30A are connected to the operating handle 20A, for example, but not limited to, via an optical fiber. The operating handle 20A is provided with an information interface 25A. The display device 400A can be connected to the information interface 25A, thereby communicatively connecting to the two camera devices 30A. That is, the information captured by the two camera devices 30A can be displayed on the display device 400A.

[0158] In one embodiment of the present invention, the two camera assemblies 30A are fixed to the working end 11A of the scope body 10A. The end surface of the information acquisition device is aligned with or slightly recessed from the end surface of the scope body 10A. In other words, the surfaces of the two camera assemblies 30A do not protrude beyond the outer surface of the working end 11A of the scope body 10A. Preferably, the two camera assemblies 30A are embedded in the working end 11A of the scope body 10A. It is worth noting that the two camera assemblies 30A work in conjunction with each other to simulate human eyes, acquiring depth information within the human body, thereby forming a binocular ureteroscope.

[0159] In another embodiment of the present invention, the two camera devices 30A are movably connected to the mirror body 10A. In other words, the positions of the two camera devices 30A form a communication channel, and the two camera devices can reach the working end 11A or protrude forward along the communication channel.

[0160] The mirror body 10A has a working channel 110A and a water inlet channel 120A. The working channel 110A is used for the entry and exit of working instruments, for example but not limited to, a holmium laser. The water inlet channel 120A is used to allow water to flow in. Preferably, the working channel 110A and the water inlet channel 120A are arranged in parallel and isolated, that is, the working channel 110A and the water inlet channel 120A work independently of each other. For example, when the binocular ureteroscope 100A is used to treat stone disease, the working instrument for stone crushing passes through the working channel 110A and reaches the working end 11A of the mirror body 10A. Water flows in from the outside through the water inlet channel 120A and is flushed out from the working end 11A of the mirror body 10A to flush the crushed stones.

[0161] Furthermore, the working channel 110A is formed by a working inner surface 1103A, which is made of a uniform, integral material. In other words, the working inner surface 1103A is smooth, without any uneven areas such as seams or protrusions, thereby facilitating smooth entry and exit of the working tool. Preferably, the working channel 110A is a circular tubular channel, and accordingly, the working inner surface 1103A is an annular tube wall.

[0162] The water inlet channel 120A is formed by a flushing inner surface 1203A. The flushing inner surface 1203A is made of a uniform, integral material. In other words, the flushing inner surface 1203A is smooth, without any uneven areas such as seams or protrusions, thereby facilitating the passage of water. Preferably, the water inlet channel 120A is a circular tubular channel, and accordingly, the flushing inner surface 1203A is an annular tube wall.

[0163] The working channel 110A has a first inlet 1101A and a first outlet 1102A. The first inlet 1101A connects to the operating handle 20A, and the first outlet 1102A is located at the working end 11A of the mirror body 10A. That is, during use, a working tool is introduced through the first inlet 1101A and then delivered through the first outlet 1102A into the body. The first outlet 1102A is located near the outer ends of the two camera assemblies 30A, thereby facilitating visual operation of the working tool.

[0164] The water inlet channel 120A has a second inlet 1201A and a second outlet 1202A. The second inlet 1201A is connected to the operating handle 20A. The second outlet 1202A is located at the working end 11A of the mirror body 10A. That is, the position of the second outlet 1202A is close to the outer ends of the two camera devices 30A, so as to facilitate visual flushing.

[0165] Preferably, the first outlet 1102A of the working channel 110A and the second outlet 1202A of the water inlet channel 120A are located on either side of the end faces of the two camera devices 30A, thereby facilitating the simultaneous collection of operating information of the equipment entering the working channel 110A and flushing information from the water inlet channel 120A by the two camera devices 30A, thereby enabling coordination between the flushing process and the stone crushing process. It is worth noting that the end faces of the two camera devices 30A are located midway along the line connecting the centers of the first outlet 1102A and the second outlet 1202A, thereby enabling symmetrical collection of information on both sides and consistent angles, resulting in more accurate information.

[0166] Furthermore, the scope body 10A has a discharge channel 130A for discharging debris from the body, including, but not limited to, crushed stones, wastewater, and tumors. For example, when the binocular ureteroscope 100A is used to treat stone disease, the stone fragments and wastewater in the body are discharged through the discharge channel 130A. Prior to stone crushing, the discharge channel 130A is used to introduce auxiliary guide components, such as the guidewire 200A and the inner core 300A.

[0167] It is worth mentioning that the size of the discharge channel 130A is larger than the size of the working channel 110A and the water inlet channel 120A, which facilitates the smooth entry and exit of guiding components such as the guide wire 200A and the inner core 300A.

[0168] The exhaust channel 130A integrally extends between the working end 11A and the connecting end of the mirror body 10A, and the exhaust channel 130A is connected to the operating handle 20A.

[0169] The discharge channel 130A is arranged parallel to and isolated from the working channel 110A and the water inlet channel 120A. That is, the discharge channel 130A, the water inlet channel 120A, and the working channel 110A are independent of each other. In other words, the operation process, the flushing process, and the draining process can be performed simultaneously or sequentially without affecting each other. Preferably, the centers of the working channel 110A, the water inlet channel 120A, and the discharge channel 130A are co-located and co-located with the center of the mirror body 10A.

[0170] The discharge channel 130A is formed by a discharge inner surface 1303A, and the material of the discharge inner surface 1303A extends uniformly and integrally. In other words, the discharge inner surface 1303A is flat and has no uneven locations such as seams or protrusions, thereby facilitating the discharge of debris. Preferably, the discharge channel 130A is a semi-circular tubular channel. It is worth mentioning that the drainage channel of a traditional sheathed soft mirror is formed by the gap between the sheath and the soft mirror, that is, the soft mirror is contained inside the channel. In the technical solution of the present invention, the interior of the discharge channel 130A is a hollow structure with no other components inside. Therefore, the entire internal space is an effective discharge space, thereby greatly improving the efficiency of the discharge of debris and waste.

[0171] The discharge channel 130A has a third inlet 1301A and a third outlet 1302A. The third inlet 1301A is connected to the operating handle 20A, and the third outlet 1302A is located at the working end 11A of the mirror body 10A. In other words, the third outlet 1302A is located close to the outer end surfaces of the two camera devices 30A, thereby facilitating visual discharge of debris and waste, and achieving targeted suction and discharge. Preferably, the third outlet 1302A and the two cameras 30A form a roughly triangular layout, with the optical centers of the two cameras 30A and the center of the third outlet 1302A respectively forming the vertices of the triangular layout. Thus, the two cameras 30A can accurately obtain depth information of debris flowing out of the third outlet 1302A.

[0172] Furthermore, the working channel 110A, the water inlet channel 120A, and the two camera devices 30A are located on one side to form a first working area 111A, and the exhaust channel 130A is located on the other side to form a second working area 112A. That is, at the working end 11A of the mirror body 10A, the first outlet 1102A, the second outlet 1202A, and the end faces of the two camera devices 30A are arranged in an area on one side, while the third outlet 1302A is located in an area on the other side. It is worth mentioning that the first outlet 1102A and the second outlet 1202A are both locations for entering the body to work, such as gravel crushing and flushing, while the third outlet 1302A is a location for exhaust. Therefore, by arranging the first outlet 1102A, the second outlet 1202A, and the third outlet 1302A in two side areas, the entry function and the exhaust function can be distinguished from each other, reducing mutual interference.

[0173] Preferably, the first outlet 1102A and the second outlet 1202A are located on a line transversely connecting the two camera devices 30A, and the third outlet is located on a line longitudinally connecting the two camera devices 30A. Preferably, the centers of the first outlet 1102, the second outlet 1202, and the third outlet 1302 are co-located, with the line connecting the optical centers of the two camera devices 30 being perpendicular to the line connecting the outlet centers.

[0174] In one embodiment, the discharge channel 130A can be connected to a suction device to quickly expel debris from the body through negative pressure suction. It is worth noting that the third outlet 1302A and the second outlet 1202A are both located at the working end 11A, meaning that the location where the suction force is generated is close to where the stones are crushed, thus achieving close-range suction, making the stone removal more targeted and easier to control.

[0175] refer to Figure 10B 10C, the operating handle 20A has multiple interfaces, which are used to pass through or connect operating components, such as the guide wire 200A, the inner core 300A, the lithotripsy device, the flushing device, the suction device, etc. For example, the operating handle 20A includes a first interface 22A, a second interface 23A, and a third interface 24A. The first interface 22A is connected to the working channel 110A, the second interface 23A is connected to the water inlet channel 120A, and the third interface 24A is connected to the discharge channel 130A. For example, the first interface 22A is used to pass through the working instrument 700A, the second interface 23A is used to connect to the flushing device 500A, and the third interface 24A is used to pass through the guide wire 200A, the inner core 300A, and the suction device 600A. The operating handle 20 also includes an adjustment hole 26A, which is used to adjust the operation of the discharge channel 130A. For example, when the adjustment hole 26A is pressed, the discharge channel 130A is in a working state, that is, it attracts gravel and debris; when the adjustment hole 26A is released, or is in a natural state, the discharge channel 130A is in a non-working state, that is, it stops attracting and discharging debris.

[0176] In this embodiment of the present invention, the operating element 21A is located at the top of the operating handle 20A. The first interface 22A and the second interface 23A are located on either side of the operating handle 20A, preferably symmetrically. The third interface 24A is located at the bottom of the operating handle 20A. The adjustment hole 26A is located at the bottom of the operating handle 20A. The information interface 25A is located at the rear end of the operating handle 20A.

[0177] It is worth mentioning that the operating handle 20A is suitable for bottom-grip operation, that is, the operator's fingers go around the handle from below and perform main control operations above the operating handle 20A, such as operating the work tool 700.

[0178] In one embodiment of the present invention, the cross-section of the discharge channel 130A is generally circular, and the third outlet 1302A is generally circular, thereby improving the space utilization of the mirror body 10A, increasing the internal space of the discharge channel 130A, and increasing the effective space for waste discharge, thereby enabling more rapid discharge of debris within the body, preventing water accumulation within the body, and reducing residue. In other embodiments of the present invention, the cross-section of the discharge channel 130A may also have other shapes, such as a semicircular or fan-shaped area.

[0179] It is worth mentioning that the drainage channel of the traditional sheathed soft mirror is roughly annular, and the available space is only an annular gap, so the discharge efficiency is very low and gravel is easily blocked. In the technical solution of the present invention, the independent, hollow structure design of the discharge channel 130A is utilized to maximize the effective space of the discharge channel 130A, thereby reducing the blockage of gravel and allowing debris to be discharged smoothly and quickly.

[0180] Furthermore, in this embodiment of the present invention, the formation area of the water inlet channel 120A, the two camera devices 30A and the working channel 110A extends outwardly in a protruding manner. That is, the first working area 111A extends outwardly in a protruding manner. The first working area 111A and the second working area 112A form a roughly rounded step structure. It is worth mentioning that the roughly step structure formed by the first working area 111A and the second working area 112A reduces the effective contact area of the end, thereby making it easier for the mirror body 10A to enter the body or move within the body. Preferably, the corner positions of the first working area 111A and the second working area 112A are provided with rounded structures to further facilitate the entry of the end of the mirror body 10A.

[0181] Furthermore, the outer perimeter of the cross section gradually shrinks from the outer end to the inner side of the first working area 111A to the second working area 112A, for example, forming a duckbill-like structure, thereby facilitating the entry of the mirror body 11A.

[0182] It's also worth noting that, as mentioned above, the first working area 111A and the second working area 112A serve two functions, and thus are zoned to enable the two functions to be independent of each other. The generally stepped configuration of the first and second working areas 111A, 112A, further distinguishes the functions of the first and second working areas 111A, 112A. For example, during a gravel crushing operation, the location corresponding to the first working area 111A performs gravel crushing and water flushing, with the gravel and wastewater falling downward. Meanwhile, the second working area 112A, located near the first working area 111A, quickly draws in the debris. Furthermore, because the water flushing out of the first outlet 1102A, i.e., the incoming water, is a predetermined distance from the discharge location, i.e., the third outlet 1302A, this prevents the newly entered water from being discharged before it is utilized. This effectively isolates the gravel crushing and water flushing process in the first working area 111A from the suction and discharge process in the working area.

[0183] On the other hand, the two camera devices 30A are located in the first working area 111A. The two camera devices 30A can enhance the hardness of the first working area 111A, making it easier for the working end 11A of the mirror body 10A to enter the body.

[0184] According to this embodiment of the present invention, the mirror body 10A includes a main skeleton 13A and a coating layer 14A, and the coating layer 14A is coated on the outside of the main skeleton 13A. The hardness of the main skeleton 13A is greater than the hardness of the coating layer 14A, thereby enhancing the overall hardness of the mirror body 10A while maintaining a certain flexibility of the mirror body 10A, so that the mirror body 10A has good guidance and can independently enter and exit human organs without the need for auxiliary components, such as a mirror sheath. For example, but not limited to, the main skeleton 13A is made of metal, and the coating layer 14A is made of plastic. It is worth mentioning that in this way, soft and hard materials are combined with each other, so that it can have the bendability of a soft mirror and the guidance of a semi-hard mirror at the same time, so that the mirror body 10A can independently enter and exit human organs.

[0185] In one embodiment of the present invention, the hardness of the mirror body 10A is between that of a semi-hard mirror and a soft mirror.

[0186] For example, in one embodiment of the present invention, when manufacturing the mirror body 10A, the main skeleton 13A of a predetermined shape can be pre-manufactured, and then the main skeleton 13A is placed in a mold, and the material of the covering layer 14A is combined with the main skeleton 13A through one-piece molding.

[0187] According to this embodiment of the present invention, the main frame 13A has a generally annular cross-section and is a tubular body formed of a mesh structure, thereby providing a certain degree of hardness while also maintaining flexibility. Preferably, the main frame 13A is a tubular body formed of a metal mesh structure. The cladding layer 14A is attached to the outer surface of the metal mesh tubular body.

[0188] Furthermore, according to this embodiment of the present invention, the covering layer 14A is a tubular structure, and the main skeleton 13A and the covering layer 14A are connected in an inside-outside manner, or in other words, the main skeleton 13A and the covering layer 14A are sleeved in an inside-outside manner.

[0189] The mirror body 10A includes a first tube 17A, a second tube 18A, and a third tube 19A. The first tube 17A forms the working channel 110A, the second tube 18A forms the water inlet channel 120A, and the third tube 19A forms the outlet channel 130A. The first tube 17A and the second tube 18A are respectively located in the area between the two camera devices 30A, and the third tube 19A is located below the two camera devices. The inner side surface of the first tube 17A forms the working inner surface 1103A, the inner side surface of the second tube 18A forms the flushing inner surface, and the inner side surface of the third tube 19A forms the outlet inner surface 1303A.

[0190] The covering layer 14A and the main frame 13A cover the outer sides of the first tube 17A, the second tube 18A and the third tube 19A, so that the first tube 17A, the second tube 18A and the third tube 19A and the two camera devices 30A are arranged in predetermined positions.

[0191] In one embodiment of the present invention, the control line 113A is disposed inside the main frame 13A. In another embodiment, the control line 113A is disposed between the main frame 13A and the covering layer 14A.

[0192] In one embodiment of the present invention, the bendable head 114A is formed of a flexible material to facilitate bending, and the main frame may not be provided at the position of the bendable head 114A.

[0193] In one embodiment of the present invention, when manufacturing the mirror body 10A, the first tube body 17A, the second tube body 18A and the third tube body 19A of a predetermined diameter are pre-formed. Further, the first tube body 17A, the second tube body 18A and the third tube body 19A and the two camera devices 30A are arranged in predetermined positions, and then the main skeleton 13A of a mesh structure is formed, and the main skeleton 13A is covered on the outside of the first tube body 17A, the second tube body 18A and the third tube body 19A and the two camera devices 30A.

[0194] The working inner surface 1103A, the flushing inner surface 1203A, and the discharge inner surface 1303A are respectively formed by different continuous tube bodies.

[0195] It is worth mentioning that in this embodiment of the present invention, the covering layer 14A and the main skeleton 13A internally and externally constrain the first tube body 17A, the second tube body 18A and the third tube body 19A, but the first tube body 17A, the second tube body 18A and the third tube body 19A are not fixed internally by other media. That is to say, the first tube body 17A, the second tube body 18A and the third tube body 19A can have a small relative movable gap within the space defined by the covering layer 14A and the main skeleton 13A, and the movable gap facilitates the bending of the mirror body 10A or has better flexibility. For example, when the mirror body 10A reaches a bending position, the cladding layer 14A and the main frame 13A of the mirror body 10A bend integrally, and the first tube 17A, the second tube 18A, and the third tube 19A bend individually. The cladding layer 14A and the main frame 13A limit the bending range of the first tube 17A, the second tube 18A, and the third tube 19A. Furthermore, the cladding layer 14A and the main frame 13A, as well as the first tube 17A, the second tube 18A, and the third tube 19A, are able to bend adaptively rather than being forced to bend together. It is also worth mentioning that the cladding layer 14A and the first tube 17A, the second tube 18A, and the third tube 19A are made of different materials, and therefore generate different forces during bending. The relatively movable contact allows these forces of varying strength to be balanced, avoiding or reducing localized stress concentration during bending that could easily damage the mirror body 10A.

[0196] Furthermore, in one embodiment of the present invention, the binocular ureteroscope 100A includes an outer layer 15A, which is attached to the outer surface of the mirror body 10A and is used to improve the surface properties of the mirror body 10A. For example, the outer layer 15A is used to enhance the surface flatness of the mirror body 10A, making the surface of the mirror body 10A smoother and easier to enter the body.

[0197] Preferably, the outer layer 15A is an ultra-slip coating, which is used to reduce the resistance of the outer surface of the mirror body. In one embodiment, the outer layer 15A is formed on the outer surface of the mirror body 10A by plasma-enhanced chemical vapor deposition. It is worth noting that forming a nanocoating on the surface of the mirror body 10A by plasma-enhanced chemical vapor deposition can greatly improve the surface smoothness of the mirror body 10A, and the nanocoating is very thin and does not affect the overall hardness of the mirror body 10A.

[0198] Furthermore, in one embodiment of the present invention, the mirror body 10A has an identifier 16A disposed on the outer surface of the mirror body 10A. The identifier 16A is, for example, but not limited to, a scale mark. It is worth noting that the identifier 16A, in conjunction with the two camera devices 30A, assists the operator in performing surgical procedures. For example, during use, the operator observes image information in front of the working end 11A of the mirror body 10A through the two camera devices 30A, while observing the insertion depth through the identifier 16A, thereby better determining the treatment location. Preferably, the identifier 16A is located on the outer layer 15A and is a different color from the outer layer 15A.

[0199] Figure 15 2 is a schematic diagram of a sheathless ureteroscope body according to a third preferred embodiment of the present invention. Figures 16A-16C 1 is a curved schematic diagram of the sheathless ureteroscope according to the above embodiment of the present invention entering different parts of the body.

[0200] refer to Figure 15-16C A sheathless ureteroscope 100B according to a third embodiment of the present invention is described. In this embodiment of the present invention, the sheathless ureteroscope 100B includes a flexible head 114B located at the front of the scope body 10B.

[0201] The working channel 110B, the water inlet channel 120B, and the outlet channel 130B each extend to the flexible head 114B. In other words, the flexible head 114B forms the working end 11B of the mirror body.

[0202] refer to Figure 15 The mirror body 10B includes a main frame 13B and a coating layer 14B, wherein the coating layer 14B covers the main frame 13B. Preferably, the main frame 13B is embedded in the coating layer 14B.

[0203] The mirror body 10B includes a back region 101B and an abdominal region 102B, with the back region 101 located at the top and the abdominal region 102 located at the bottom. The main frame 13B is located in the back region 101. In other words, the abdominal region 102 does not have the main frame 13B, resulting in different hardness and bending properties between the back region 101B and the abdominal region 102B.

[0204] It is worth noting that the different structures of the back region 101B and the abdomen region 102B correspond to the working area of the scope body 10B and cooperate with the guidance process of the guidewire 200B. For example, during entry, the back region 101B enters along the guidewire 200B and is located above the guidewire 200B, that is, it is carried on the guidewire 200B. Therefore, the relatively rigid structure can better move along the guidewire 200B, while the abdomen region 102B is located below. When entering the bladder, the scope body 10B needs to bend inward, that is, bend toward the abdomen region 102B. Therefore, the relatively soft abdomen region 102B is more suitable for the inward bending process.

[0205] Furthermore, the water inlet channel 120B, the working channel 110B and the information collection device 30B are located at the top, close to the back area 101B, and the drainage channel 130B is located at the bottom, close to the abdomen area 102B.

[0206] Furthermore, the main frame 13B includes a longitudinally extending ridge 131B and a plurality of transverse reinforcing ribs 132B. The longitudinally extending ridge 131B extends along the length of the mirror body 10B, and the transverse reinforcing ribs 132B are curvedly connected to both sides of the main frame 13B. Preferably, the plurality of transverse reinforcing ribs 132B are symmetrically distributed in an arc shape on both sides of the longitudinally extending ridge 131B, and the diameters of the transverse reinforcing ribs 132B gradually decrease from the longitudinally extending ridge 131B outward.

[0207] Preferably, the intervals between the transverse reinforcing ribs 132B are consistent.

[0208] In one embodiment of the present invention, the transverse reinforcing ribs 132 are movably connected to the longitudinally extending ridges 131 , thereby facilitating the bending of the mirror body 10B10 .

[0209] The flexible head 114B includes a filling body 1141B and a bending bone 1142B. The filling body 1141B covers the bending bone 1142B. The bending bone 1142B includes an extended ridge 11421B and a plurality of reinforcing ribs 11422B. The extended ridge 11421B extends along the length of the mirror body 10B, and the reinforcing ribs 11422B are curved and distributed on both sides of the extended ridge 11421B.

[0210] Furthermore, the longitudinal spacing of the reinforcing ribs 11422B gradually decreases in the outward direction of the mirror body 10B to adapt to smaller changes in arc and different curvatures at different positions.

[0211] For example, when the sheathless ureteroscope 100B is used to treat renal stones, after entering the human body, the organs that the scope body 10B passes through are the urethra, bladder, and ureter. During the entry process, it needs to adapt to the curvature of the path, such as a smaller curvature when entering the bladder from the urethra, and requires good guidance during entry. The flexible head 114B ultimately needs to enter the renal pelvis and the renal calyces at different locations, so it needs to be able to bend flexibly and at various angles. Therefore, in an embodiment of the present invention, the structural design of the back region 101B and the abdominal region 102B of the scope body 10B and the reinforcement ribs in the main frame 13B are arranged at equal intervals, so that it can have appropriate curvature and provide guided guidance. At the location of the flexible head 114B, the spacing of the multiple reinforcement ribs 11422B of the bending bone 1142B gradually changes, thereby coordinating the bending of the control line at different locations, that is, forming bending arcs of different sizes, which better adapts to the bending requirements of large and small parts of the body.

[0212] Figure 17 1 is a schematic diagram comparing the discharge channel formed by the sheathless ureteroscope according to an embodiment of the present invention and the suction space formed by the combination of the soft endoscope and the sheath in the prior art.

[0213] Preferably, in one embodiment of the present invention, the mirror body 10 has a size of F13, and the discharge channel has a size of F5.4, corresponding to a discharge channel diameter of 1.72 mm. Referring to Table 1, a conventional soft mirror 1P and mirror sheath 2P are compared with the embodiment of the present invention. A conventional soft mirror 1P and mirror sheath 2P are fitted as inner and outer sleeves. An annular gap 101P between the soft mirror 1P and mirror sheath 2P forms a suction space, and the width W1-W2 of this space directly determines the size of the gravel that can be sucked out.

[0214] Table 1

[0215]

[0216] As can be clearly seen from the above table, when the overall dimensions are roughly the same, the corresponding suction spaces between F12-F14 vary greatly. In the conventional suction mode of the flexible lens 1P and the lens sheath 2P, even the ideal maximum suction space width is only 1.27 mm. However, the suction space width of the embodiment of the present invention, that is, the diameter D of the discharge channel 130, can reach 1.72 mm, which increases the suction size by 72%. This allows larger gravel and debris to be sucked out without the need for pulverization of the gravel, while reducing blockage in the discharge channel and allowing gravel and debris to be quickly sucked out.

[0217] Figures 18A-18CSchematic diagram of different shapes and layouts of the discharge channel formed by the sheathless ureteroscope according to the embodiment of the invention.

[0218] In the first and second embodiments, the cross-sections of the discharge channel 130 are respectively elliptical and circular. In other embodiments of the present invention, the cross-sections of the discharge channel 130 may also be other shapes. Figures 18A-18C , for example but not limited to, trapezoidal, crescent-shaped, semicircular, fan-shaped, irregular curve shape, etc.

[0219] Figure 19 Figure 1 is a schematic cross-sectional view of a sheathless ureteroscope according to a fourth embodiment of the present invention. In this embodiment, a shared channel is provided between the two camera assemblies for flushing water or channeling a working instrument. This shared channel can be either the water inlet channel 120 or the working channel 110. In other words, the water flow and the working instrument share a common channel. During use, the flushing process and lithotripsy can be performed in two separate steps, or water can be flushed through the shared channel while a working instrument is introduced for lithotripsy.

[0220] Preferably, the center of the common channel and the optical centers of the two camera devices 30 are located on the same straight line, and the center of the common channel is located at the midpoint of the line connecting the two camera devices.

[0221] Those skilled in the art will appreciate that the embodiments of the present invention described above and shown in the accompanying drawings are intended to be illustrative only and are not intended to limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and illustrated in the embodiments. Any variations or modifications may be made to the embodiments of the present invention without departing from the principles described.

Claims

1. Binocular ureteroscope, characterized in that: include: an operating handle; a mirror body, wherein the mirror body includes a working end and an operating end, the operating end is connected to the operating handle, the mirror body has a discharge channel, the discharge channel is used to feed the auxiliary guide component and discharge debris, and the working end has a third outlet, the third outlet is connected to the discharge channel; and Two camera devices, the two camera devices are arranged at the working end; The binocular ureteroscope has a first working area and a second working area, both of which are arranged at the working end of the scope body, wherein the first working area protrudes outward and the second working area is located at the lower rear side of the first working area. The first working area is used for lithotripsy and flushing, and the second working area is used for suction and drainage. The two camera devices are arranged in the first working area, and the third outlet and the two camera devices are arranged in a roughly triangular layout, so that the third outlet performs suction and drainage behind the flushing end under visual conditions. The optical centers of the two camera devices and the center of the third outlet respectively form the vertices of the triangular layout, thereby accurately acquiring the depth information of the debris flowing out of the third outlet through the two camera devices.

2. The binocular ureteroscope according to claim 1, wherein the working end of the scope body has a first outlet, and the two camera devices are respectively arranged on both sides of the first outlet.

3. The binocular ureteroscope according to claim 1, wherein the working end of the scope body has a first outlet and a second outlet, and the two camera devices are respectively arranged on both sides of the first outlet and the second outlet.

4. The binocular ureteroscope according to claim 3, wherein the first outlet and the second outlet are arranged in a longitudinal direction, and the two camera devices are arranged in a transverse direction.

5. A binocular ureteroscope according to any one of claims 2 to 4, wherein the mirror body includes a working channel, the working channel has a first outlet, the water inlet channel has a second outlet, the first outlet, the second outlet, and the two camera devices form the first working area of the working end, the third outlet forms the second working area of the working end, and the first working area and the second working area are arranged on opposite sides. 6 . The binocular ureteroscope according to claim 5 , wherein the first working area and the second working area form a rounded step structure.

7. The binocular ureteroscope according to any one of claims 1 to 4, wherein the scope body comprises a main frame and an embedded layer, and the embedded layer covers the main frame.

8. A binocular ureteroscope according to claim 7, wherein the main skeleton includes two longitudinally extending ridges and a series of reinforcing ribs, the longitudinally extending ridges extend along the mirror body, and the series of reinforcing ribs are connected in parallel and annularly between the two extending ridges.

9. The binocular ureteroscope according to any one of claims 1 to 4, wherein the mirror body comprises a control line and a flexible head, the flexible head is located at the front of the mirror body, and the operating handle controls the operation of the flexible head through the control line.

10. The binocular ureteroscope according to any one of claims 1 to 4, wherein the two camera devices cooperate with each other to obtain depth information of the internal environment.

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