A multi-degree-of-freedom flexible biopsy forceps with end positioning

Abstract

The present invention relates to a multi-degree-of-freedom flexible biopsy forceps with terminal positioning, comprising a head structure, a middle structure, and a terminal structure. The head structure comprises a biopsy forceps body and a head shell; the terminal structure comprises a terminal shell, a terminal handpiece, and a manual fixing portion; the middle structure comprises an FBG traction wire, the outer layer of which is sheathed with a lubricating tube, which is sheathed with a magnetic spring tube and a spring tube; the magnetic spring tube bends under the control of an externally applied magnetic force, and when the magnetic spring tube bends, it drives the FBG traction wire to bend synchronously. The FBG traction wire is a fiber optic sensor capable of sensing deformation in the bending direction. The corresponding relationship between the magnetic force magnitude and the spring tube bending is obtained through feedback from the FBG fiber optic sensor, and the magnetic force is then adjusted to control the bending angle of the magnetic spring tube. The present invention enables the biopsy force head to accurately locate abnormal tissue within the airway, allowing sampling of deeper areas of the airway.

Description

Technical Field

[0001] The invention relates to a multi-freedom flexible biopsy forceps with end positioning. Background Art

[0002] Biopsy is the abbreviation of "living tissue examination", also known as surgical pathology examination. It refers to the technology of removing diseased tissue from the patient's body by cutting, clamping or puncturing for pathological examination in response to the needs of diagnosis and treatment.

[0003] Smaller lesions are often located deeper within the airway, requiring the use of a guide tube to position the biopsy forceps. The guide tube is first inserted into the trachea to create a fixed channel, and then the biopsy forceps are inserted along this fixed channel to sample the airway. However, due to the large size of the guide tube, penetrating deeper into the airway is difficult, and traditional biopsy forceps lack the ability to steer themselves, making it difficult to access deep lesions. Furthermore, traditional biopsy forceps can only grasp tissue in front of them, which can easily lead to the capture of normal tissue and damage to normal cells within the airway, resulting in low efficiency. Summary of the Invention

[0004] In order to overcome the problems existing in the above-mentioned prior art, the present invention proposes a multi-degree-of-freedom flexible biopsy forceps with terminal positioning, which allows the biopsy forceps head to accurately locate the variant tissue in the airway and sample deeper parts of the airway.

[0005] The technical solution of the present invention to solve the above problems is: a multi-degree-of-freedom flexible biopsy forceps with end positioning, which is special in that:

[0006] Including the head structure, the middle part structure, and the end part structure;

[0007] The head structure includes a biopsy forceps body and a head shell; the end portion structure includes an end shell, an end handpiece and a manual fixing portion;

[0008] The middle part structure includes an FBG traction wire, the outer layer of the FBG traction wire is sheathed with a lubrication tube, the front end of the lubrication tube is sheathed with a magnetic control spring tube, and the rear end of the lubrication tube is sheathed with a spring tube;

[0009] One end of the magnetically controlled spring tube is connected to the head housing, and the other end is connected to one end of the spring tube. The other end of the spring tube is connected to the end housing, and the manual fixing part is connected to the end housing. One end of the FBG traction wire is connected to the biopsy forceps body, and the other end passes through the hole in the middle of the end housing and is connected to the end handpiece. The end handpiece slides inside the end housing, thereby driving the biopsy forceps body through the FBG traction wire.

[0010] The magnetic spring tube is bent under the control of an externally loaded magnetic force. After the magnetic spring tube is bent, it will drive the FBG traction wire to bend synchronously. The FBG traction wire is an optical fiber sensor that can sense the deformation in the bending direction. The corresponding relationship between the magnetic force and the bending of the spring tube is obtained through the feedback of the FBG optical fiber sensor. The magnetic force is then adjusted to control the bending angle of the magnetic spring tube.

[0011] Preferably, the above-mentioned biopsy forceps body includes two clamps, two transmission connectors and a traction wire connector. The holes in the middle parts of the two clamps are connected to the hole on the top of the head shell through a first connecting shaft. The ends of the two clamps are respectively connected to one end of a transmission connector through a second connecting shaft. The ends of the two transmission connectors are connected to the traction wire connector through a third connecting shaft, and the traction wire connector is connected to the end of the FBG traction wire.

[0012] Preferably, a through slot is provided on the terminal housing, and the FBG traction wire extends into the through slot and is fixedly connected to the terminal handpiece.

[0013] Preferably, the above-mentioned end handpiece includes a cylindrical handheld portion.

[0014] Preferably, both side end surfaces of the cylindrical handle are provided with ribs, and the connection between the ribs and the handle is provided with a rounded connection surface.

[0015] Preferably, the manual fixing portion is rotatable relative to the terminal housing.

[0016] Preferably, the head shell includes a tubular structure and two clips, the two clips are arranged opposite to each other, and one end of the two clips is fixed to the top of the tubular structure, and the two clips are located between the two clips.

[0017] Preferably, the traction wire connector is located in the tubular structure of the head shell, and the traction wire connector can slide along the channel in the tubular structure.

[0018] Preferably, the first connecting shaft is fixed on two clips.

[0019] Preferably, the manual fixing portion includes a ring structure.

[0020] Advantages of the present invention:

[0021] When the biopsy forceps proposed in the present invention penetrates deep into the airway, it will first bend the magnetic spring tube through external magnetic control. After the magnetic spring tube is bent, it will drive the FBG traction wire to bend synchronously. FBG is a fiber optic sensor that can sense deformation in the bending direction. The feedback function of the FBG fiber optic sensor can sense the influence of the magnetic force on the spring tube. Then, the magnetic force is adjusted to achieve accurate sampling of deeper parts of the airway, so that the biopsy forceps head can accurately locate the abnormal tissue in the airway. Finally, the biopsy forceps head is opened and closed by sliding the end handpiece to obtain tissue. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a diagram showing the structure of the head of the multi-degree-of-freedom flexible biopsy forceps with terminal positioning provided by the present invention;

[0023] Figure 2 This is a structural diagram of the middle part of the multi-degree-of-freedom flexible biopsy forceps with terminal positioning provided by the present invention;

[0024] Figure 3 This is a structural diagram of the end portion of the multi-degree-of-freedom flexible biopsy forceps with end positioning provided by the present invention.

[0025] Among them: 1-FBG traction wire, 2-lubrication tube, 3-magnetically controlled spring tube, 4-spring tube, 5-end shell, 6-manual fixing part, 7-end handpiece, 8-clamp, 9-transmission connecting piece, 10-traction wire connecting piece, 11-first connecting shaft, 12-second connecting shaft, 13-third connecting shaft, 14-clamp, 15-tubular structure. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention for which protection is claimed, but merely represents selected embodiments of the present invention.

[0027] See also Figure 1-Figure 3 A multi-degree-of-freedom flexible biopsy forceps with end positioning includes a head structure, a middle part structure, and an end part structure.

[0028] The head structure includes a biopsy forceps body and a head shell; the end portion structure includes an end shell 5, an end handpiece 7, and a manual fixing portion 6. The middle portion structure includes an FBG traction wire 1, the outer layer of which is sheathed with a lubrication tube 2, the front end of which is sheathed with a magnetic spring tube 3, and the rear end of which is sheathed with a spring tube 4.

[0029] One end of the magnetically controlled spring tube 3 is connected to the head housing, and the other end is connected to one end of the spring tube 4. The other end of the spring tube 4 is connected to the end housing 5, and the manual fixing part 6 is connected to the end housing 5. One end of the FBG traction wire 1 is connected to the biopsy forceps body, and the other end passes through the hole in the middle of the end housing 5 and is connected to the end handpiece 7. The end handpiece 7 slides inside the end housing 5, thereby driving the biopsy forceps body to move through the FBG traction wire 1.

[0030] The magnetron spring tube 3 is bent by externally loaded magnetic force control. After the magnetron spring tube 3 is bent, it will drive the FBG traction wire 1 to bend synchronously. The FBG traction wire 1 is an optical fiber sensor that can sense the deformation in the bending direction. The corresponding relationship between the magnetic force size and the bending of the spring tube 4 is obtained through the feedback of the FBG optical fiber sensor, and then the magnetic force is adjusted to control the bending angle of the magnetron spring tube 3.

[0031] Specifically, the externally loaded magnetic force is implemented by a magnetic force control part, which is controlled and implemented by a controllable multi-degree-of-freedom robotic arm and a permanent magnet at its end.

[0032] Before the biopsy forceps work, a miniature camera with the same structure will explore the path. When the screen shows that it has reached the inflection point, the multi-degree-of-freedom robotic arm and the permanent magnet at its end apply magnetic force to the magnetron spring tube 3, causing it to bend at the inflection point. The real-time image captured by the camera and the steering controlled by the robotic arm are used for feedback, so that the camera can reach the target location. Then, during the entire process, the robotic arm will record the operation process and convert it into a path code. When the biopsy forceps is used later, the path and action process recorded by the robotic arm will be repeated to make the biopsy forceps reach the target location.

[0033] The FBG fiber sensing principle is that incoming light passes through a grating, where wavelengths that meet the Bragg condition are reflected. A demodulator analyzes the spectrum. The FBG filament 1 consists of two FBGs. When bent, the grating's tightness changes, and after reflections from both sides, a demodulator analyzes the spectrum. The spectrum then determines the bending direction and angle. The FBGs are used for monitoring, as there's no real-time monitoring during the biopsy forceps operation, making it impossible to determine whether the forceps is following the path of the robotic arm.

[0034] As a preferred embodiment of the present invention, see Figure 1The biopsy forceps body includes two clamps 8, two transmission connectors 9, and a traction wire connector 10. The holes in the middle of the two clamps 8 are connected to the hole on the top of the head shell via a first connecting shaft 11, so that the two clamps 8 are hinged. The ends of the two clamps 8 are respectively connected to one end of a transmission connector 9 via a second connecting shaft 12. The ends of the two transmission connectors 9 are connected to the traction wire connector 10 via a third connecting shaft 13. The traction wire connector 10 is connected to the end of the FBG traction wire 1. When the FBG traction wire 1 moves downward, it drives the traction wire connector 10 to move downward, and then the transmission connector 9 drives the two clamps 8 to rotate around the first connecting shaft 11 to achieve the clamping action.

[0035] As a preferred embodiment of the present invention, see Figure 3 A through slot is provided on the terminal housing 5 , and the FBG traction wire 1 extends into the through slot and is fixedly connected to the terminal handpiece 7 .

[0036] As a preferred embodiment of the present invention, see Figure 3 The end handpiece 7 includes a cylindrical handle, with flanges on both sides of the cylindrical handle, and a rounded connection surface at the connection between the flanges and the handle. The cylindrical handle is easy to grasp with fingers, and the flanges facilitate the operator to exert force.

[0037] As a preferred embodiment of the present invention, see Figure 3 The manual fixing portion 6 is rotatably connected to the terminal housing 5, allowing the manual fixing portion 6 to rotate relative to the terminal housing 5. The manual fixing portion 6 includes a ring structure that is convenient for the operator to grasp with his hand. The operator can pass a finger through the ring structure to prevent the manual fixing portion 6 from falling out of the operator's hand during operation.

[0038] As a preferred embodiment of the present invention, see Figure 1 and Figure 2 The head shell includes a tubular structure 15 and two clips 14. The two clips 14 are arranged opposite to each other with a gap formed between the two clips 14. The two clips 8 are located between the gaps between the two clips 14, and one end of the two clips 14 is fixed to the top of the tubular structure 15. The first connecting shaft 11 is fixed to the two clips 14.

[0039] As a preferred embodiment of the present invention, see Figure 1 and Figure 2 The traction wire connector 10 is located in the tubular structure 15 of the head shell, and the traction wire connector 10 can slide along the channel in the tubular structure 15.

[0040] The working principle of the multi-degree-of-freedom flexible biopsy forceps with terminal positioning proposed by the present invention is as follows:

[0041] The manual fixation area 6 requires hand-holding for fixation. The end handpiece 7 can then slide on the end housing 5, controlled manually. The sliding of the end handpiece 7 drives the synchronous sliding of the FBG traction wire 1. The head of the FBG traction wire 1 is connected to the traction wire connector 10 of the biopsy forceps. The sliding of the FBG traction wire 1 drives the movement of the biopsy forceps body, opening and closing the head clamp 8. When the biopsy forceps penetrates the airway, in order to accurately sample deeper areas of the airway, at the required turning point, the magnetic force applied externally is first used to control the magnetic spring tube to bend. This bending of the magnetic spring tube drives the FBG traction wire to bend synchronously. The FBG is a fiber optic sensor that can sense deformation in the bending direction. The feedback function of the FBG fiber optic sensor can sense the effect of the magnetic force on the magnetic spring tube. The magnetic force is then adjusted to accurately locate the biopsy forceps head to the abnormal tissue in the airway. Finally, the sliding of the end handpiece opens and closes the biopsy forceps head to obtain tissue.

[0042] The above descriptions are merely embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied to other related system fields, are also included in the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom flexible biopsy forceps with end positioning, characterized by: Including the head structure, the middle part structure, and the end part structure; The head structure includes a biopsy forceps body and a head shell; the end portion structure includes an end shell (5), an end handpiece (7) and a manual fixing portion (6); The middle part structure comprises an FBG traction wire (1), the outer layer of the FBG traction wire (1) is sheathed with a lubrication tube (2), the front end of the lubrication tube (2) is sheathed with a magnetic control spring tube (3), and the rear end of the lubrication tube (2) is sheathed with a spring tube (4); One end of the magnetically controlled spring tube (3) is connected to the head shell, and the other end is connected to one end of the spring tube (4), the other end of the spring tube (4) is connected to the end shell (5), and the manual fixing part (6) is connected to the end shell (5); one end of the FBG traction wire (1) is connected to the biopsy forceps body, and the other end passes through the hole in the middle of the end shell (5) and is connected to the end handpiece (7), and the end handpiece (7) slides inside the end shell (5), thereby driving the biopsy forceps body to move through the FBG traction wire (1); The magnetic spring tube (3) is bent under the control of an externally loaded magnetic force. After the magnetic spring tube (3) is bent, it drives the FBG traction wire (1) to bend synchronously. The FBG traction wire (1) is an optical fiber sensor and can sense deformation in the bending direction. The corresponding relationship between the magnitude of the magnetic force and the bending of the spring tube (4) is obtained through feedback from the FBG optical fiber sensor, and then the magnetic force is adjusted to control the bending angle of the magnetic spring tube (3).

2. The multi-degree-of-freedom flexible biopsy forceps with distal positioning according to claim 1, characterized in that: The biopsy forceps body comprises two clamps (8), two transmission connectors (9) and a traction wire connector (10); the holes in the middle of the two clamps (8) are connected to the hole on the top of the head shell via a first connecting shaft (11); the ends of the two clamps (8) are respectively connected to one end of a transmission connector (9) via a second connecting shaft (12); the ends of the two transmission connectors (9) are connected to the traction wire connector (10) via a third connecting shaft (13); and the traction wire connector (10) is connected to the end of the FBG traction wire (1).

3. The multi-degree-of-freedom flexible biopsy forceps with distal positioning according to claim 2, characterized in that: A through slot is provided on the terminal housing (5), and the FBG traction wire (1) extends into the through slot and is fixedly connected to the terminal handpiece (7).

4. The multi-degree-of-freedom flexible biopsy forceps with distal positioning according to claim 3, characterized in that: The end handpiece (7) comprises a cylindrical handheld portion.

5. The multi-degree-of-freedom flexible biopsy forceps with distal positioning according to claim 4, characterized in that: The end surfaces of both sides of the cylindrical hand-held part are provided with ribs, and the connection between the ribs and the hand-held part is provided with a rounded connection surface.

6. The multi-degree-of-freedom flexible biopsy forceps with distal positioning according to claim 5, characterized in that: The manual fixing portion (6) is rotatable relative to the terminal housing (5).

7. The multi-degree-of-freedom flexible biopsy forceps with distal positioning according to claim 6, characterized in that: The head shell comprises a tubular structure (15) and two clips (14), the two clips (14) are arranged opposite to each other, and one end of the two clips (14) is fixed to the top of the tubular structure (15), and the two clips (8) are located between the two clips (14).

8. The multi-degree-of-freedom flexible biopsy forceps with distal positioning according to claim 7, characterized in that: The traction wire connector (10) is located in the tubular structure (15) of the head shell, and the traction wire connector (10) can slide along the channel in the tubular structure (15).

9. The multi-degree-of-freedom flexible biopsy forceps with distal positioning according to claim 7, characterized in that: The first connecting shaft (11) is fixed on two clips (14).

10. The multi-degree-of-freedom flexible biopsy forceps with distal positioning according to claim 1, characterized in that: The manual fixing portion (6) comprises a ring structure.

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