Biopsy forceps storage and delivery device and bronchoscopic surgical robot

Abstract

The present invention provides a biopsy forceps storage and delivery device and a bronchoscope surgical robot, wherein the biopsy forceps storage and delivery device comprises: a base, a bronchoscope, a biopsy forceps, a biopsy forceps storage mechanism, and a biopsy forceps delivery mechanism. The bronchoscope and the biopsy forceps storage mechanism are both disposed on the base, the biopsy forceps being connected to the biopsy forceps storage mechanism via a biopsy forceps fixing assembly, the bottom surface of which is connected to a biopsy forceps storage tray, the outer circumference of which is provided with a spiral hose, the spring outer tube of the biopsy forceps, which is wrapped with a flexible steel wire, being accommodated within the spiral hose, the spiral hose having a side opening for the spring outer tube to enter and exit, and the biopsy forceps delivery mechanism being used to separate the spring outer tube from the spiral hose and then deliver the distal end of the spring outer tube to the flexible conduit of the bronchoscope.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a biopsy forceps storage and delivery device and a bronchoscope surgical robot. Background Art

[0002] According to statistics from the World Health Organization's International Agency for Research on Cancer, lung cancer is the leading cause of cancer deaths annually. Early detection is key to the diagnosis and treatment of lung cancer. There are many methods for cancer diagnosis and treatment, and biopsy is one of them. Bronchoscopy and percutaneous biopsy are two common biopsy methods. Bronchoscopy poses an infection risk to medical staff due to the open airway during the procedure. Furthermore, during interventional biopsy procedures, multiple factors such as prolonged X-ray exposure, physician fatigue, and unstable manual manipulation can affect surgical quality and increase surgical risks. The use of robotic technology can minimize these risks.

[0003] In existing technologies, robots use two robotic arms and two rotating wheels to drive the endoscope and puncture needle. Intraoperative navigation uses electromagnetic navigation technology. To accommodate the rotating wheels, the bronchoscope and biopsy forceps must be custom-made, significantly increasing medical costs. Alternatively, an ultra-thin articulated robotic catheter is used for intraoperative navigation using fiber-optic shape sensing technology. The fiber needs to pass through the entire endoscope. After navigation, the bronchoscope lens is removed from the catheter, allowing the working channel to accommodate the sampling tool. The biopsy forceps is then manually inserted into the bronchoscope's working channel. However, manual delivery of the biopsy forceps reduces accuracy and carries a certain risk of infection. Furthermore, the biopsy tool used with a bronchoscope is typically a flexible rope-like structure ranging in length from 600 to 2600 mm. This is often exposed to the environment during use, making it susceptible to machine interference and contamination. Summary of the Invention

[0004] The purpose of the present invention is to solve the technical problems in the prior art.

[0005] To solve the above technical problems, on the one hand, the present invention provides a biopsy forceps storage and delivery device for use in bronchoscopic biopsy surgery, which comprises: a base; a bronchoscope, which is arranged on the base; a biopsy forceps, which comprises a spring outer tube extending from a proximal end to a distal end and a flexible steel wire wrapped by the spring outer tube; a biopsy forceps storage mechanism, which is arranged on the base, and comprises a biopsy forceps fixing assembly for fixing the biopsy forceps and a biopsy forceps storage tray arranged below the biopsy forceps fixing assembly, a spiral hose being provided around the outer circumference of the biopsy forceps storage tray, the flexible steel wire being accommodated in the spiral hose, and the spiral hose having a side opening for the spring outer tube to enter and exit; a biopsy forceps delivery mechanism, which is arranged on the base, and the biopsy forceps delivery mechanism is used to separate the spring outer tube of the biopsy forceps from the spiral hose, and then deliver the distal end of the spring outer tube to the flexible catheter of the bronchoscope.

[0006] Optionally, a spiral groove is provided around the outer circumference of the biopsy forceps storage tray, and the spiral hose is accommodated in the spiral groove.

[0007] Optionally, the biopsy forceps storage mechanism further includes a support shaft, a constant force torsion spring and a storage tray base;

[0008] Wherein, the storage tray base is arranged at the bottom of the biopsy forceps storage tray; the support shaft is arranged through the axial center of the biopsy forceps storage tray, and is connected to the storage tray base through a bearing so that the biopsy forceps storage tray rotates around the support shaft; the constant force torsion spring is arranged on the storage tray base, and the end of the constant force torsion spring is located between the biopsy forceps storage tray and the support shaft and is fixed to the biopsy forceps storage tray.

[0009] Optionally, the biopsy forceps storage mechanism is connected to the base via a storage bracket assembly.

[0010] Optionally, the storage bracket assembly includes an arch bracket, a heightening bracket arranged at the end of the arch bracket, and a third linear guide rail arranged below the heightening bracket. The arch brackets are two arranged parallel to each other, and the two arch brackets are connected by a connecting plate. The connecting plate is rotatably connected to the support shaft of the storage tray base, and the third linear guide rail is connected to the base.

[0011] Optionally, the biopsy forceps includes a joystick sleeved on the proximal end of the spring outer tube, and a first slider provided on the joystick and slidable along the axial direction of the joystick; the biopsy forceps fixing assembly includes a biopsy forceps fixing base, a first linear guide rail provided on the fixing base, a first drive motor, and a screw connected to the output end of the first drive motor;

[0012] In which, the nut of the screw rod is connected to the slider of the first linear guide rail through a slider connector, and the first slider is connected to the slider connector, so that the first drive motor drives the screw rod to rotate and drives the first slider to move back and forth along the first linear guide rail, thereby realizing the first slider controlling the clamping action of the clamp set at the far end of the flexible steel wire.

[0013] Optionally, a fixing rod buckle, a slider fixing buckle and an annular boss are provided on the biopsy forceps fixing base; the fixing rod buckle is used to fix the front end fixing part of the operating rod, and the annular boss is used to fix the clamping ring of the operating rod; the first slider is connected to the slider connector through the slider fixing buckle.

[0014] Optionally, the outer diameter of the spring outer tube is 1 mm and the length is 2304 mm.

[0015] Optionally, the biopsy forceps delivery mechanism includes a second linear guide rail, a second slider slidably connected to the second linear guide rail, a limit block and a second drive motor respectively arranged at both ends of the second linear guide rail, a pressure spring arranged between the limit block and the second slider, an active rubber wheel connected to the output end of the second drive motor, and an inert rubber wheel cooperating with the active rubber wheel and connected to the second slider, the active rubber wheel and the inert rubber wheel cooperate to clamp the flexible steel wire into the flexible catheter of the bronchoscope.

[0016] On the other hand, the present application also provides a bronchoscopic surgical robot, which includes the above-mentioned biopsy forceps storage and delivery device, a robotic arm and a robotic arm adjustment platform, wherein the biopsy forceps storage and delivery device is arranged at the front end of the robotic arm, and the robotic arm is arranged on the mechanical adjustment platform.

[0017] It can be seen from the above technical solution that the beneficial effects of the present invention are:

[0018] The present invention provides a biopsy forceps storage and delivery device and a bronchoscope surgical robot, wherein the biopsy forceps storage and delivery device includes: a base, a bronchoscope, a biopsy forceps, a biopsy forceps storage mechanism, and a biopsy forceps delivery mechanism. The bronchoscope and the biopsy forceps storage mechanism are both mounted on the base, and the biopsy forceps are mounted on the biopsy forceps storage mechanism via a biopsy forceps fixing assembly. The bottom surface of the biopsy forceps fixing assembly is connected to a biopsy forceps storage tray. A spiral hose is provided around the outer circumference of the biopsy forceps storage tray. The spring outer tube of the biopsy forceps, which wraps a flexible steel wire, is housed within the spiral hose. The spiral hose has a side opening for the flexible steel wire to enter and exit. The biopsy forceps delivery mechanism is used to separate the flexible steel wire from the spiral hose and then deliver the distal end of the flexible steel wire to the flexible conduit of the bronchoscope. The biopsy forceps storage and delivery device can realize the coordinated use of biopsy tools during diagnostic and treatment operations performed by the bronchoscope surgical robot, completing the disc-type storage of the biopsy forceps flexible hose and delivery through the bronchoscope's internal channel during pulmonary interventional diagnosis and treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of a bronchoscopic surgical robot provided in this application.

[0020] Figure 2 This is a partial schematic diagram of a biopsy forceps storage and delivery device provided in the present application used in conjunction with a bronchoscope surgical robot.

[0021] Figure 3 This is a structural schematic diagram of a biopsy forceps storage mechanism of a biopsy forceps storage and delivery device provided in the present application.

[0022] Figure 4 This is a schematic structural diagram of a biopsy forceps storage and delivery device provided in the present application.

[0023] Figure 5 This is a schematic diagram of the assembly of a biopsy forceps and a biopsy forceps storage mechanism of a biopsy forceps storage and delivery device provided in the present application.

[0024] Figure 6 This is a schematic diagram of the geometric configuration of a biopsy forceps storage mechanism of a biopsy forceps storage and delivery device provided in the present application.

[0025] Figure 7 This is a structural schematic diagram of a storage bracket assembly of a biopsy forceps storage and delivery device provided in the present application.

[0026] Figure 8 This is a structural schematic diagram of a biopsy forceps delivery mechanism of a biopsy forceps storage and delivery device provided in the present application.

[0027] Figure 9 This is a schematic diagram of the assembly of a biopsy forceps delivery mechanism and a bronchoscope of a biopsy forceps storage and delivery device provided in the present application.

[0028] The following are the descriptions of the reference numerals:

[0029] 100. Biopsy forceps storage and delivery device; 10. Biopsy forceps; 11. Flexible steel wire; 12. Joystick; 121. Joystick outlet end; 13. Spring outer tube; 14. First slider; 15. Clamp; 16. Front fixing portion; 17. Clamp; 20. Biopsy forceps storage mechanism; 21. Biopsy forceps fixing base; 211. Fixing rod buckle; 212. Slider fixing buckle; 213. Annular boss; 214. Slider connector; 22. First linear guide rail; 23. First drive motor; 231. Motor fixing base; 24. Screw; 25. Biopsy forceps storage tray; 251. Spiral groove; 252. Spiral hose; 253. Support shaft; 254. Constant force torque Spring; 255, conductive slip ring; 26, storage tray base; 27, storage bracket assembly; 271, arch bracket; 272, heightening bracket; 273, third linear guide; 274, connecting plate; 30, biopsy forceps delivery mechanism; 31, second linear guide; 32, second slider; 33, limit block; 34, second drive motor; 341, 35, pressure spring; 36, active rubber wheel; 37, inert rubber wheel; 40, base; 50, bronchoscope; 51, bronchoscope rotation mechanism; 52, bronchoscope propulsion base plate; 53, insertion catheter end bending control mechanism; 200, bronchoscope surgical robot; 201, robotic arm; 202, robotic arm adjustment platform. DETAILED DESCRIPTION

[0030] Typical embodiments embodying the features and advantages of the present invention are described in detail in the following description. It should be understood that the present invention is capable of various variations in different embodiments without departing from the scope of the present invention, and that the descriptions and illustrations herein are intended to be illustrative rather than limiting.

[0031] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application 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, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0032] In order to further illustrate the principle and structure of the present invention, preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0033] Please refer to this Figure 1 、 Figure 2 、 Figure 3 and Figure 9 The application provides a biopsy forceps storage and delivery device 100 for storing and delivering biopsy forceps 10 during bronchoscopic biopsy surgery. It is suitable for a bronchoscopic surgical robot 200 and can be equipped with commonly used clinical biopsy forceps 10 for surgery, saving medical costs.

[0034] The biopsy forceps storage and delivery device 100 includes a base 40, a bronchoscope 50, a biopsy forceps 10, a biopsy forceps storage mechanism 20 and a biopsy forceps delivery mechanism 30, wherein the bronchoscope 50 and the biopsy forceps storage mechanism 20 are both arranged on the base 40, the biopsy forceps 10 is fixed and stored in the biopsy forceps storage mechanism 20, and the biopsy forceps delivery mechanism 30 is arranged on the bronchoscope 50 for delivering the biopsy forceps 10.

[0035] See also Figure 4 The biopsy forceps 10 includes a spring outer tube 13 extending from the proximal end to the distal end, a flexible steel wire 11 wrapped by the spring outer tube 13, a manipulation rod 12 sleeved on the proximal end of the spring outer tube, and a first slider 14 provided on the manipulation rod 12 and slidable axially along the manipulation rod 12.

[0036] Specifically, the two ends of the joystick 12 are respectively a clamping ring 15 and a joystick outlet end 121. A first slider 14 is provided along the axial direction of the joystick 12. The part of the joystick 12 near the joystick outlet end 121 is a front end fixing portion 16. The distal end of the flexible steel wire 11 has a clamp portion 17 for clamping pathological samples. The clamping action of the clamp portion 17 is controlled by operating the sliding of the first slider 14 on the joystick 12.

[0037] The flexible steel wire 11 is wrapped by the spring outer tube 13, and the flexible steel wire 11 and the spring outer tube 13 enter the internal channel of the bronchoscope 50 together. Since the outer diameter of the spring outer tube 13 is 1 mm, and the inner diameter of the internal channel of the bronchoscope 50 is 2.6 mm, the spring outer tube 13 leaves more space for the internal channel of the bronchoscope 50, and at the same time, reduces the friction and resistance at the bends during the delivery and withdrawal of the biopsy forceps 10. The length of the spring outer tube 13 is 2304 mm, which is sufficient to reach the terminal bronchus and meet the specifications of the biopsy forceps commonly used in lung interventional biopsy surgeries for adults and children. By providing the spring outer tube 13, the delivery and withdrawal of tubular objects of different diameters can be adjusted, and medical devices such as the biopsy forceps 10 can be delivered from the internal channel of the bronchoscope 50 to the lesion.

[0038] See also Figure 5 The biopsy forceps storage mechanism 20 includes a biopsy forceps fixing assembly and a biopsy forceps storage tray 25 disposed below the biopsy forceps fixing assembly.

[0039] The biopsy forceps 10 is fixed to the biopsy forceps storage mechanism 20 through a biopsy forceps fixing assembly, which includes a biopsy forceps fixing base 21, a first linear guide rail 22 arranged on the biopsy forceps fixing base 21, a first drive motor 23, and a screw rod 24 connected to the output end of the first drive motor 23.

[0040] Specifically, the biopsy forceps fixed base 21 is provided with a fixing rod buckle 211, a slider fixing buckle 212 and an annular protrusion 213. The fixing rod buckle 211 is detachably connected to the biopsy forceps fixed base 21, and the fixing rod buckle 211 fixes the front end fixing portion 16 of the operating rod 12. The annular protrusion 213 cooperates with the snap ring 15 of the operating rod 12 to fix the snap ring 15 in the annular protrusion 213, thereby achieving the fixation of both ends of the operating rod 12; the nut of the screw rod 24 is connected to the slider of the first linear guide 22 through the slider connector 214, and the first slider 14 is connected to the slider connector 214 through the slider fixing buckle 212. In this way, when the first drive motor 23 drives the screw rod 24 to rotate, the nut of the screw rod 24 drives the first slider 14 to move back and forth along the first linear guide 22 through the pulley connector, thereby controlling the clamping action of the clamp 17.

[0041] The first drive motor 23 is installed on the upper surface of the biopsy forceps storage tray 25 through the motor fixing seat 231. It can be understood that the first drive motor 23 and the screw rod 24 can also be a push rod motor or a micro cylinder, as long as it can drive the first slider 14 to move along the first linear guide rail 22.

[0042] See also Figure 6 A biopsy forceps storage tray 25 is provided at the bottom of the biopsy forceps fixing base 21. A spiral hose 252 is provided around the outer circumference of the biopsy forceps storage tray 25. The flexible steel wire 11 wrapped in the spring outer tube 13 is accommodated in the spiral hose together with the spring outer tube 13. The spiral hose 252 has a side opening for allowing the spring outer tube 13 to enter and exit.

[0043] Specifically, a storage tray base 26 is provided at the bottom of the biopsy forceps storage tray 25, and a support shaft 253 is passed through the axial center of the biopsy forceps storage tray 25. The support shaft 253 is connected to the storage tray base 26 through a bearing so that the biopsy forceps storage tray 25 can rotate around the support shaft 253; a constant force torsion spring 254 is provided on the storage tray base 26, and the end of the constant force torsion spring 254 is located between the biopsy forceps storage tray 25 and the support shaft 253 and is fixed to the biopsy forceps storage tray 25. The spiral hose 252 is a disposable silicone hose with a side opening formed by a side slit along its length. Due to the elasticity of the silicone hose, the spring outer tube 13 can be gradually peeled out of the side opening of the spiral hose 252 as the biopsy forceps delivery mechanism 30 pulls it. Simultaneously, during the delivery of the spring outer tube 13, the biopsy forceps storage tray 25 rotates, causing the constant-force torsion spring 254 to elastically deform. When the biopsy procedure is completed, the elastic deformation of the constant-force torsion spring 254 is restored, driving the biopsy forceps storage tray 25 to rotate in the opposite direction, gradually retracting the spring outer tube 13 into the spiral hose 252 as the biopsy forceps storage tray 25 rotates. Storing the insertion portion of the biopsy forceps 10 in the biopsy forceps storage tray 25 prevents contamination, avoids interference with the movement of the bronchoscopic surgical robot 200, and facilitates disinfection and replacement of biopsy tools. It can be understood that the biopsy forceps storage mechanism 20 can accommodate a variety of flexible cords and tubular medical instruments.

[0044] Furthermore, a spiral groove 251 is provided on the outer periphery of the biopsy forceps storage tray 25, and the spiral hose 252 cooperates with the spiral groove 251 and is detachably accommodated in the spiral groove 251. In this way, the spiral hose 252 can be easily replaced and installed to isolate the biopsy tool from the biopsy forceps storage tray 25 to meet the sterility requirements of medical devices.

[0045] Furthermore, the biopsy forceps storage mechanism 20 also includes a conductive slip ring 255 arranged between the biopsy forceps 10 and the biopsy forceps storage tray 25. The conductive slip ring 255 directional outputs the wires connecting the biopsy forceps 10 and the control mechanism to prevent the wires from getting entangled on the support shaft 253 as the biopsy forceps storage tray 25 rotates.

[0046] See also Figure 7 Furthermore, the biopsy forceps storage mechanism 20 is connected to the base 40 via a storage bracket assembly 27. The storage bracket assembly 27 includes an arched bracket 271, an elevated bracket 272 disposed at the end of the arched bracket 271, and a third linear guide 273 disposed below the elevated bracket 272. Specifically, the arched brackets 271 are provided in parallel with each other. The two arched brackets 271 are connected by a connecting plate 274 parallel to the storage tray base 26. The connecting plate 274 of the storage tray base 26 is rotatably connected to the support shaft 253. The third linear guide 273 is connected to the base 40. The arched bracket 271 can provide angle adjustment for the biopsy forceps storage mechanism 20 during delivery of the biopsy forceps 10. The third linear guide 273 can provide position adjustment for the biopsy forceps 10 and the biopsy forceps storage mechanism 20, so that they can better match the posture of the bronchoscope 50 and facilitate the introduction of the biopsy forceps delivery mechanism 30.

[0047] See also Figure 8 The biopsy forceps delivery mechanism 30 is set on the bronchoscope 50. The biopsy forceps delivery mechanism 30 includes a second linear guide rail 31, a second slider 32 slidably connected to the second linear guide rail 31, limit blocks 33 and a second drive motor 34 respectively arranged at both ends of the second linear guide rail 31, a pressure spring 35 arranged between the limit block 33 and the second slider 32, an active rubber wheel 36 connected to the output end of the second drive motor 34, and an inert rubber wheel 37 cooperating with the active rubber wheel 36 and connected to the second slider 32.

[0048] Specifically, the second driving motor 34 drives the active rubber wheel 36 to rotate, and the inert rubber wheel 37, under the action of the active rubber wheel 36, causes the second slider 32 to slide toward the limit block 33, thereby causing the pressure spring 35 to deform, and the pressure spring 35 transmits the elastic force to the inert rubber wheel 37 through the second slider 32. The pressure spring 35 can adjust the contact area and friction between the inert rubber wheel 37 and the active rubber wheel 36, that is, the size and friction of the spring outer tube 13, so that the active rubber wheel 36 and the inert rubber wheel 37 clamp the spring outer tube 13 of the biopsy forceps 10 under the joint action of the motor and the pressure spring 35 and deliver it to the drug delivery hole on the side of the bronchoscope 50. The spring outer tube 13 and the flexible steel wire 11 in the spring outer tube 13 enter the flexible catheter at the front end of the bronchoscope 50 through the drug delivery hole and then enter the internal channel of the insertion part of the front end of the bronchoscope 50.

[0049] During a biopsy, the second drive motor 34 of the biopsy forceps delivery mechanism 30 is turned on, driving the active rubber wheel 36 and the inert rubber wheel 37 to rub against each other. As the biopsy forceps delivery mechanism 30 pulls, the spring outer tube 13 is gradually peeled off from the side opening of the spiral hose 252. The distal end of the flexible steel wire 11 of the biopsy forceps 10 and the spring outer tube 13 are precisely guided into the internal channel of the bronchoscope 50 through the biopsy forceps delivery mechanism 30. The bronchoscope 50 is actively guided within the patient's bronchus, while the spring outer tube 13 and the flexible steel wire 11 within the spring outer tube 13 are passively guided within the internal channel of the front insertion portion of the bronchoscope 50. (See [Note: The bronchoscope 50 is actively guided within the patient's bronchus, while the spring outer tube 13 and the flexible steel wire 11 within the spring outer tube 13 are passively guided within the internal channel of the front insertion portion of the bronchoscope 50.] Figure 9 The bronchoscope 50 and the biopsy forceps 10 are actively and passively rotated and pushed forward through the bronchoscope rotating mechanism 51 and the bronchoscope pushing base plate 52 of the bronchoscope 50. The bending control mechanism 53 at the end of the insertion catheter of the bronchoscope 50 adjusts the angle of the end of the insertion catheter of the bronchoscope 50, so that it can accurately select the bronchial path and visual navigation positioning; the first driving motor 23 of the biopsy forceps storage mechanism 20 is turned on, and the nut of the screw rod 24 drives the first slider 14 to slide and control the clamp part 17 at the distal end of the flexible steel wire 11 to clamp the pathological sample, completing the lung intervention biopsy surgery sampling; after the sampling is completed, the biopsy forceps delivery mechanism 30 stops moving, and the elastic deformation of the constant force torsion spring 254 of the storage tray base 26 is restored, driving the biopsy forceps storage tray 25 to rotate in the opposite direction so that the spring outer tube 13 is gradually stored in the spiral hose 252 as the biopsy forceps storage tray 25 rotates.

[0050] The biopsy forceps storage and delivery device 100 can precisely deliver both a bronchoscope 50 and a biopsy tool simultaneously. The spiral hose 252 is a disposable, detachable silicone hose with a side slit, isolating the biopsy tool from the storage tray during use, meeting the sterility requirements of medical devices. The components that come into contact with the biopsy forceps 10, such as the fixing rod buckle 211, the spiral hose 252, the driving rubber wheel 36, and the driven rubber wheel, are all made of sterilizable medical materials and are disposable, quick-release consumables, ensuring ease and safety during surgery. It is understood that the biopsy forceps storage and delivery device 100 can also accommodate commercial biopsy forceps 10 of varying sizes, making it easy to quickly install and remove.

[0051] The present application also provides a bronchoscopic surgical robot 200, which includes the biopsy forceps storage and delivery device 100, a robotic arm 201, and a robotic arm adjustment platform 202. The biopsy forceps storage and delivery device 100 is disposed at the front end of the robotic arm 201, and the robotic arm 201 is disposed on the robotic arm adjustment platform 202. Placing the biopsy forceps storage and delivery device 100 at the front end of the robotic arm 201 can prevent contamination caused by exposed biopsy tools and interference with the operation of the bronchoscopic surgical robot 200.

[0052] The present invention provides a biopsy forceps storage and delivery device 100 and a bronchoscopic surgical robot 200. The biopsy forceps storage device is used for transbronchial biopsy surgery and includes a base 40, a bronchoscope 50, a biopsy forceps 10, a biopsy forceps storage mechanism 20, and a biopsy forceps delivery mechanism. The bronchoscope 50 and the biopsy forceps storage mechanism 20 are both mounted on the base 40. The biopsy forceps 10 is mounted on the biopsy forceps storage mechanism 20 via a biopsy forceps fixing assembly. The bottom surface of the biopsy forceps fixing assembly is connected to a biopsy forceps storage tray 25. A spiral hose 252 is provided around the outer circumference of the biopsy forceps storage tray 25. The flexible steel wire 11 of the biopsy forceps 10 is accommodated within the spiral hose. The spiral hose 252 has a side opening for the flexible steel wire 11 to enter and exit. The biopsy forceps delivery mechanism 30 is used to separate the flexible steel wire 11 from the spiral hose 252 and then deliver the distal end of the flexible steel wire 11 to the flexible conduit of the bronchoscope 50. The biopsy forceps 10 storage and delivery device can realize the coordinated use of biopsy tools when the bronchoscope surgical robot 200 performs diagnostic and treatment operations, and complete the disc-type storage of the flexible steel wire 11 of the biopsy forceps 10 and its delivery through the bronchoscope channel in pulmonary interventional diagnosis and treatment.

[0053] While the present invention has been described with reference to several exemplary embodiments, it should be understood that the terms used are intended to be illustrative and exemplary rather than restrictive. Since the present invention can be embodied in many forms without departing from the spirit or essence of the invention, it should be understood that the above-described embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope of the appended claims. All changes and modifications that fall within the scope of the claims or their equivalents are intended to be covered by the appended claims.

Claims

1. A biopsy forceps storage and delivery device for use in bronchoscopic biopsy surgery, characterized in that: include: base; a bronchoscope, disposed on the base; A biopsy forceps comprising a spring outer tube extending from a proximal end to a distal end and a flexible steel wire wrapped by the spring outer tube; A biopsy forceps storage mechanism is provided on the base and includes a biopsy forceps fixing assembly for fixing the biopsy forceps and a biopsy forceps storage tray provided below the biopsy forceps fixing assembly. A spiral hose is provided around the outer circumference of the biopsy forceps storage tray, and the flexible steel wire is accommodated in the spiral hose. The spiral hose has a side opening for the spring outer tube to enter and exit. a biopsy forceps delivery mechanism, which is disposed on the base and is used to separate the spring outer tube of the biopsy forceps from the spiral hose and then deliver the distal end of the spring outer tube into the flexible catheter of the bronchoscope; The biopsy forceps delivery mechanism includes a second linear guide rail, a second slider slidably connected to the second linear guide rail, limit blocks respectively provided at both ends of the second linear guide rail and a second drive motor, a pressure spring provided between the limit blocks and the second slider, an active rubber wheel connected to the output end of the second drive motor, and an inert rubber wheel cooperating with the active rubber wheel and connected to the second slider. Under the joint action of the motor and the pressure spring, the active rubber wheel and the inert rubber wheel clamp the spring outer tube of the biopsy forceps and deliver it to the drug delivery hole on the side of the bronchoscope. The spring outer tube and the flexible steel wire enter the flexible catheter at the front end of the bronchoscope through the drug delivery hole and then enter the internal channel of the insertion portion at the front end of the bronchoscope. The outer diameter of the spring outer tube is 1 mm and the length is 2304 mm.

2. The biopsy forceps storage and delivery device according to claim 1, characterized in that: A spiral groove is provided around the outer circumference of the biopsy forceps storage tray, and the spiral hose is accommodated in the spiral groove.

3. The biopsy forceps storage and delivery device according to claim 1, wherein: The biopsy forceps storage mechanism also includes a support shaft, a constant force torsion spring and a storage tray base; Wherein, the storage tray base is arranged at the bottom of the biopsy forceps storage tray; the support shaft is arranged through the axial center of the biopsy forceps storage tray, and is connected to the storage tray base through a bearing so that the biopsy forceps storage tray rotates around the support shaft; the constant force torsion spring is arranged on the storage tray base, and the end of the constant force torsion spring is located between the biopsy forceps storage tray and the support shaft and is fixed to the biopsy forceps storage tray.

4. The biopsy forceps storage and delivery device according to claim 3, characterized in that: The biopsy forceps storage mechanism is connected to the base via a storage bracket assembly.

5. The biopsy forceps storage and delivery device according to claim 4, characterized in that: The storage bracket assembly includes an arch bracket, a heightening bracket arranged at the end of the arch bracket, and a third linear guide rail arranged below the heightening bracket. The two arch brackets are arranged parallel to each other, and the two arch brackets are connected by a connecting plate. The connecting plate is rotatably connected to the support shaft of the storage tray base, and the third linear guide rail is connected to the base.

6. The biopsy forceps storage and delivery device according to claim 1, wherein: The biopsy forceps includes a joystick sleeved on the proximal end of the spring outer tube, and a first slider provided on the joystick and slidable along the axial direction of the joystick; the biopsy forceps fixing assembly includes a biopsy forceps fixing base, a first linear guide rail provided on the fixing base, a first drive motor, and a screw connected to the output end of the first drive motor; In which, the nut of the screw rod is connected to the slider of the first linear guide rail through a slider connector, and the first slider is connected to the slider connector, so that the first drive motor drives the screw rod to rotate and drives the first slider to move back and forth along the first linear guide rail, thereby realizing the first slider controlling the clamping action of the clamp set at the far end of the flexible steel wire.

7. The biopsy forceps storage and delivery device according to claim 6, characterized in that: The biopsy forceps fixing base is provided with a fixing rod buckle, a slider fixing buckle and an annular protrusion; the fixing rod buckle is used to fix the front end fixing part of the operating rod, and the annular protrusion is used to fix the clamping ring of the operating rod; the first slider is connected to the slider connecting piece through the slider fixing buckle.

8. A bronchoscopic surgical robot, characterized in that: It comprises the biopsy forceps storage and delivery device, the robotic arm and the robotic arm adjustment platform according to any one of claims 1 to 7, the biopsy forceps storage and delivery device is arranged at the front end of the robotic arm, and the robotic arm is arranged on the robotic arm adjustment platform.

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