Bending control device, biopsy device, biopsy device mobile device and biopsy system

Abstract

The present invention relates to a bending control device, a biopsy device, a mobile device for a biopsy device and a biopsy system, and belongs to the field of interventional biopsy sampling technology equipment. The present invention includes a first installation box, a first transmission mechanism and a bending control piece, the first installation box is for the tail of the biopsy attachment to be inserted along a first direction; the first transmission mechanism is arranged in the first installation box, and the first transmission mechanism is used to output reciprocating motion along the first direction; the bending control piece extends along the length direction of the biopsy attachment, and the two ends of the bending control piece are respectively fixedly connected to the first transmission mechanism and the head end of the biopsy attachment, and when the first transmission mechanism drives the tail end of the bending control piece to slide relative to the tail of the biopsy attachment and tightens the bending control piece, the head end of the bending control piece bends toward the direction of the tail end of the bending control piece. The present invention achieves the effect of independent bending control of the head end of the biopsy attachment.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a bending control device, a biopsy device, a mobile device for a biopsy device, and a biopsy system. Background Art

[0002] The biopsy device and the endoscope can be used together to perform the function of interventional sampling in a living body, wherein the interventional cannula of the endoscope is inserted into the natural cavity of the living body and the working channel is established by using the cannula, and the biopsy device partially enters the living body along the working channel. After the head end of the endoscope and the head end of the biopsy device are positioned, the operating part of the head end of the biopsy device is controlled to physically contact the lesion to facilitate sampling. In the biopsy device, a part of the structure is a disposable product, namely the biopsy accessory, and the other structure can be used repeatedly, and the above-mentioned operating part is part of the biopsy accessory.

[0003] In the prior art, the relative position of the operating part and the lesion depends on the relative position of the endoscope interventional cannula and the lesion, as well as the relative position of the operating part and the endoscope interventional cannula (the distance of the operating part protruding from the working channel of the endoscope). In actual use, when the operating part protrudes from the working channel, if the operating part collides with the wall of the human body cavity and generates a large propulsion resistance, it is very easy for the relative position of the endoscope and the lesion to change. Therefore, during use, the endoscope operator is usually required to bend the end of the endoscope head so that the tool points to the target position when protruding from the working channel. The existing biopsy device does not have a head bending control structure. During the sampling process, the direction of the endoscope working channel is the final direction. The terminal lacks freedom, and the sampling direction can only be adjusted by controlling the bending of the endoscope. The two cannot be used together to complete the sampling operation in an S-shaped shape. Summary of the invention

[0004] In order to solve or at least partially solve the technical problem that the head end of the biopsy attachment cannot independently control the degree of bending, the present invention provides a bending control device, a biopsy device, a biopsy device mobile device and a biopsy system. The bending control device for the biopsy attachment includes:

[0005] a first mounting box for inserting the tail of the biopsy accessory along a first direction;

[0006] A first transmission mechanism, disposed in the first installation box, the first transmission mechanism being used to output a reciprocating motion along a first direction;

[0007] A bending control piece extends along the length direction of the biopsy accessory, and both ends of the bending control piece are fixedly connected to the first transmission mechanism and the head end of the biopsy accessory respectively. When the first transmission mechanism drives the tail end of the bending control piece to slide relative to the tail of the biopsy accessory and tightens the bending control piece, the head end of the bending control piece bends toward the tail end of the bending control piece.

[0008] Optionally, the first transmission mechanism includes a first clamping block, a first positioning member, a first passive slider and a first guide rail, wherein:

[0009] The first clamping block is disposed in the first positioning member and is fixedly connected to the bending control member;

[0010] The first guide rail is fixed in the first installation box, and the first passive slider is arranged on the first guide rail. The first passive slider cooperates with the first guide rail to drive the first positioning member and the first clamping block to reciprocate along the first direction, and the first passive slider and the first positioning member constrain each other's displacement freedom in the first direction.

[0011] Optionally, the first clamping block has a first fixing hole or a first fixing groove for the bending control member to pass through;

[0012] The first positioning member includes a first barrel, the first barrel is rotatably connected to the first passive slider, and when the tail of the biopsy attachment rotates around its axis in the first direction, the first barrel rotates relative to the first passive slider driven by the biopsy attachment;

[0013] The first cylinder has a first installation groove, a first sliding groove and a first clamping groove, the first installation groove is connected to at least one end surface of the first cylinder, the first clamping block enters the first sliding groove under the guidance of the first installation groove, slides along the first sliding groove to the first clamping groove, and is clamped in the first clamping groove;

[0014] First limiting bodies are respectively provided at both ends of the first cylinder, and the first limiting bodies are used to constrain the first positioning member and the first passive sliding block to each other in a first direction.

[0015] The first passive sliding block has a first arc-shaped groove, and the first positioning member can rotate relative to the first arc-shaped groove;

[0016] There are a plurality of first guide rails, and the first passive slider has a plurality of first sliding holes for the first guide rails to pass through, and the first sliding holes and the first guide rails are arranged in a one-to-one correspondence;

[0017] The first passive slider has a first power input portion for receiving reciprocating motion along the first direction;

[0018] The first guide rails are arranged on the same side of the first positioning member, or are distributed on different sides of the first positioning member.

[0019] Optionally, the bending control device further includes a second transmission mechanism, and the second transmission mechanism is used to drive the first transmission mechanism to reciprocate along the first direction.

[0020] Optionally, the second transmission mechanism comprises a first enabling slider and a first driving rod, the first enabling slider and the first driving rod are threadedly connected, the first enabling slider is used to convert the rotational motion of the first driving rod into a linear motion along the first direction, and the first enabling slider and the first transmission mechanism constrain each other's displacement freedom in the first direction;

[0021] The second transmission mechanism is electrically controlled; the bending control device also includes a first driving mechanism for driving the second transmission mechanism.

[0022] Optionally, the bending control device further comprises a third transmission mechanism, wherein the third transmission mechanism is fixedly connected to the tail of the biopsy accessory and is used to drive the tail of the biopsy accessory to rotate.

[0023] Optionally, the third transmission mechanism is used to convert a rotational motion about one axis into a rotational motion about another axis.

[0024] Optionally, the third transmission mechanism includes a driving gear and a driven gear meshing with the driving gear, and the driven gear is used to be fixedly connected to the biopsy attachment;

[0025] The bending control device also includes a third driving mechanism, and the third driving mechanism is used to drive the driving gear.

[0026] Optionally, the bending control device further includes a fourth transmission mechanism, and an output end of the fourth transmission mechanism is fixedly connected to the biopsy accessory to drive the biopsy accessory to reciprocate along the first direction.

[0027] Optionally, the fourth transmission mechanism includes a second clamping block, the second clamping block is used to be fixedly connected to the biopsy accessory, and the second clamping block is configured to be able to drive the tail of the biopsy accessory to reciprocate along the first direction;

[0028] The fourth transmission mechanism further includes a second positioning member, the second clamping block is positioned in the second positioning member, and the second positioning member is configured to drive the second clamping block to reciprocate along the first direction;

[0029] The fourth transmission mechanism further includes a second passive slider and a second guide rail that cooperate with each other, the second guide rail is fixed on the first installation box, and the second passive slider is used to drive the second positioning member to reciprocate along the first direction;

[0030] The second passive sliding block and the second positioning member constrain each other's displacement freedom in the first direction.

[0031] Optionally, the second clamping block has a second fixing hole or a second fixing groove for connecting the biopsy accessory;

[0032] The second positioning member includes a second cylinder, the second cylinder is rotatably connected to the second passive slider, and when the tail of the biopsy attachment rotates, the second cylinder is configured to rotate relative to the second passive slider driven by the tail of the biopsy attachment;

[0033] The second cylinder has a second mounting groove, a second sliding groove and a second clamping groove, the second mounting groove is connected to at least one end surface of the second cylinder, the second clamping block enters the second sliding groove under the guidance of the second mounting groove, slides along the second sliding groove to the second clamping groove, and is clamped in the second clamping groove;

[0034] The second positioning member further includes a second limiting body, and the second limiting bodies are respectively provided at both ends of the second cylinder, so that the displacement freedom of the second positioning member and the second passive sliding block in the first direction is constrained to each other;

[0035] The second passive sliding block has a second arc-shaped groove, and the second positioning member can rotate relative to the second arc-shaped groove;

[0036] The second passive sliding block has a plurality of second sliding holes for the second guide rail to pass through, and the second sliding holes and the second guide rails are arranged in a one-to-one correspondence;

[0037] The second passive slider has a second power input portion for receiving reciprocating motion along the first direction;

[0038] The second guide rails are arranged on the same side of the second positioning member, or are distributed on different sides of the second positioning member.

[0039] Optionally, the bending control device further includes a guide member, and the third transmission mechanism controls the self-rotation of the tail of the biopsy attachment by driving the guide member to rotate, and the first transmission mechanism and the fourth transmission mechanism are arranged at intervals along the extension direction of the guide member.

[0040] Optionally, the tail end of the guide member is fixedly connected to the output portion of the third transmission mechanism;

[0041] The guide member has a guide groove extending along the first direction, the bending control member and the biopsy attachment are inserted into the guide groove, the output portion of the first transmission mechanism is inserted into the guide groove along a direction different from the first direction and is fixedly connected to the bending control member, and the output portion of the first transmission mechanism is slidably connected to the biopsy attachment; the output portion of the fourth transmission mechanism is inserted into the guide groove along a direction different from the first direction and is fixedly connected to the biopsy attachment;

[0042] Both ends of the guide member are rotatably connected to the first installation box respectively;

[0043] A first position-limiting member is disposed at the head end of the guide member, and the first position-limiting member is used to prevent the guide member from moving outside the first installation box; the first position-limiting member is built into the first installation box;

[0044] A second position-limiting member is disposed at the head end of the guide member, and the second position-limiting member is used to prevent the guide member from moving into the first installation box; the second position-limiting member is disposed outside the first installation box.

[0045] Optionally, the bending control device further includes a fifth transmission mechanism, and the fifth transmission mechanism is used to drive the fourth transmission mechanism to reciprocate along the first direction.

[0046] Optionally, the fifth transmission mechanism comprises a second enabling slider and a second driving rod, the second enabling slider and the second driving rod are threadedly connected to convert the rotational motion of the second driving rod into the linear motion of the second enabling slider, and the second enabling slider and the fourth transmission mechanism constrain each other in the displacement freedom in the first direction;

[0047] The bending control device also includes a second driving mechanism for driving the fifth transmission mechanism.

[0048] Optionally, the bending control device further includes:

[0049] A second installation box is clamped with the first installation box, and the third transmission mechanism is at least partially installed in the second installation box;

[0050] A third installation box is clamped with the first installation box, and the second transmission mechanism and the fifth transmission mechanism are arranged in the third installation box;

[0051] Wherein, the second installation box and the third installation box are arranged on different sides of the first installation box.

[0052] A biopsy device comprises a biopsy attachment and a bending control device as described in any one of the above items, wherein the bending control device is connected to the tail of the biopsy attachment and is used to control the bending degree of the head end of the biopsy attachment.

[0053] Optionally, the biopsy attachment comprises:

[0054] An operating unit, used for sampling;

[0055] A connector and a guide tube, wherein the operating part is fixed to the head end of the guide tube through the connector, and the tail end of the guide tube is inserted into the first installation box;

[0056] A push-pull transmission mechanism is inserted into the guide tube, the head end of the push-pull transmission mechanism is connected to the operating part, the tail end of the push-pull transmission mechanism is arranged in the first installation box, and the push-pull transmission mechanism is used to drive the operating part to move according to the reciprocating motion received by the tail end thereof along the first direction;

[0057] The positioning device is provided with the push-pull transmission mechanism, the head end of the positioning device is a positioning sensor, and the positioning sensor is used for electromagnetic navigation.

[0058] Optionally, the operating part adopts a clamp head, the clamp head is pivotally connected to the connector, and the push-pull transmission mechanism controls the opening and closing degree of the head of the clamp head by driving the opening and closing degree of the tail of the clamp head;

[0059] The push-pull transmission mechanism includes a first push-pull member, a second push-pull member, a first connecting rod and a second connecting rod. The tail end of the first push-pull member is used to receive reciprocating motion along the first direction. The tail end of the first push-pull member is fixed with the second push-pull member. The first connecting rod and the second connecting rod are both pivotally connected to the second push-pull member. The first connecting rod is pivotally connected to the tail end of the first clamp arm of the clamp head, and the second connecting rod is pivotally connected to the tail end of the second clamp arm of the clamp head.

[0060] Optionally, the operating part adopts a biopsy needle or a biopsy brush;

[0061] The connector adopts a connecting tube, one end of which is sleeved on the operating part, and the other end is fixed on the inner wall of the guide tube;

[0062] The push-pull transmission mechanism comprises an elastic tube, one end of which is fixedly connected to the operating part, and the other end of which is used to receive reciprocating motion along the first direction;

[0063] The push-pull transmission mechanism further includes a protective film, the protective film and the hollow portion of the operating portion are connected to form a negative pressure channel, and the protective film is arranged between the guide tube and the elastic tube;

[0064] A fixed passage for the bending control member to pass through is reserved between the guide tube and the elastic tube.

[0065] A biopsy system comprises an endoscope and the biopsy device as described in any one of the above items.

[0066] A mobile device for a biopsy device, comprising:

[0067] A fixed tray, used to carry the biopsy device as described in any one of the above items, wherein the first mounting box is arranged on the fixed tray;

[0068] A vertical moving component connected to the fixed tray and used to control the vertical displacement of the fixed tray;

[0069] The lateral moving component is used to control the lateral displacement of the fixed tray.

[0070] The present invention has the following beneficial effects:

[0071] In the bending control device provided by the present invention, the first transmission mechanism can move linearly relative to the tail of the biopsy accessory. When the first transmission mechanism moves linearly, it drives the tail end of the bending control member to move, so that the tension of the bending control member changes. When the tension of the bending control member is large, the bending degree of the head end of the biopsy accessory is large. When the bending control member gradually relaxes, the head end of the biopsy accessory gradually returns to its original position and flattens. Combined with the bending control of the endoscope head end, the sampling operation in an S-shaped shape can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the relevant drawings. It is understood that the drawings described below are only used to illustrate some embodiments of the present invention, and those skilled in the art can also obtain many other technical features and connection relationships not mentioned in this document based on these drawings.

[0073] Figure 1 A schematic diagram of the partial structure of a biopsy attachment according to an embodiment of the present invention;

[0074] Figure 2 A partial cross-sectional view of a biopsy attachment according to an embodiment of the present invention;

[0075] Figure 3 is a cross-sectional view of a biopsy attachment according to an embodiment of the present invention, wherein the forceps head is in a closed state;

[0076] Figure 4 is a cross-sectional view of a pliers head according to an embodiment of the present invention, wherein the pliers head is in an open state;

[0077] Figure 5 is a schematic structural diagram of a first clamp arm according to an embodiment of the present invention;

[0078] Figure 6 A partial structural cross-sectional view of a biopsy attachment according to an embodiment of the present invention;

[0079] Figure 7 is a schematic diagram of a connection assembly according to an embodiment of the present invention;

[0080] Figure 8 A schematic diagram of the connection relationship between the pliers head and the push-pull transmission mechanism according to an embodiment of the present invention;

[0081] Fig. 9 A schematic structural diagram of a connecting frame according to an embodiment of the present invention;

[0082] Fig.10 A partial structural cross-sectional view of a biopsy attachment according to an embodiment of the present invention;

[0083] Fig.11 A partial structural cross-sectional view of a biopsy attachment according to an embodiment of the present invention;

[0084] Fig.12 is a schematic diagram of a biopsy device according to an embodiment of the present invention;

[0085] Fig.13 is a schematic diagram of a bending control device according to an embodiment of the present invention, wherein the first installation box is hidden;

[0086] Fig.14 A partial cross-sectional view of a bending control device according to an embodiment of the present invention;

[0087] Fig.15 for Fig.14 A magnified view of part A;

[0088] Fig.16 It is a state superposition diagram of the head end of the biopsy attachment according to an embodiment of the present invention;

[0089] Fig.17 is a structural schematic diagram of a first transmission mechanism according to an embodiment of the present invention;

[0090] Fig.18 It is a structural schematic diagram of a first clamping block according to an embodiment of the present invention;

[0091] Fig.19 is a cross-sectional view of a first transmission mechanism according to an embodiment of the present invention;

[0092] Fig. 20 is a schematic structural diagram of a first positioning member according to an embodiment of the present invention;

[0093] Fig.21 A schematic structural diagram of a first passive slider according to an embodiment of the present invention;

[0094] Fig. 22 It is a structural schematic diagram of a first passive slider according to another embodiment of the present invention;

[0095] Fig.23 A diagram showing the connection relationship between the first transmission mechanism and the second transmission mechanism in one embodiment of the present invention;

[0096] Fig.24A diagram showing the connection relationship between the first transmission mechanism and the second transmission mechanism in another embodiment of the present invention;

[0097] Fig.25 is a schematic diagram of a second transmission mechanism according to an embodiment of the present invention;

[0098] Fig.26 A cross-sectional view of a bending control device according to an embodiment of the present invention;

[0099] Fig. 27 A diagram showing the arrangement relationship between the driving gear and the driven gear according to an embodiment of the present invention;

[0100] Fig.28 is a schematic diagram of a fourth transmission mechanism according to an embodiment of the present invention;

[0101] Fig.29 is a schematic structural diagram of a second clamping block according to an embodiment of the present invention;

[0102] Fig.30 is a schematic structural diagram of a second positioning member according to an embodiment of the present invention;

[0103] Fig.31 It is a schematic diagram of the structure of a second passive slider according to an embodiment of the present invention;

[0104] Fig.32 It is a schematic diagram of the structure of a second passive slider according to an embodiment of the present invention;

[0105] Fig.33 A schematic structural diagram of a guide member according to an embodiment of the present invention;

[0106] Fig.34 A diagram showing the connection relationship between the fourth transmission mechanism and the fifth transmission mechanism according to an embodiment of the present invention;

[0107] Fig.35 A connection diagram of a fourth transmission mechanism and a fifth transmission mechanism according to another embodiment of the present invention;

[0108] Fig.36 is a schematic diagram of a fifth transmission mechanism according to an embodiment of the present invention;

[0109] Fig.37 is a schematic diagram of a second transmission mechanism and a fifth transmission mechanism according to an embodiment of the present invention;

[0110] Fig.38 is a schematic diagram of a first transmission mechanism and a fourth transmission mechanism according to an embodiment of the present invention;

[0111] Fig.39 Schematic diagram of a mobile device according to an embodiment of the present invention.

[0112] The reference numerals and names in the figures are as follows:

[0113] 10. Clamp head

[0114] 101. First clamp arm

[0115] 102. Second clamp arm

[0116] 1021, Blade

[0117] 10211, Pliers Blade

[0118] 10212, first side

[0119] 10213, second side

[0120] 10214, accommodating cavity

[0121] 10215, curved shell

[0122] 10216, Half Pipe Section

[0123] 10217, baffle

[0124] 1022, pivot part

[0125] 10221, first board section

[0126] 10222, second board section

[0127] 1023. Tail of clamp arm

[0128] 103. First pivot axis

[0129] 20. Connecting frame

[0130] 201. Connecting plate

[0131] 202. Connecting tube

[0132] 30. Push-pull transmission mechanism

[0133] 301. First push-pull member

[0134] 302. Second push-pull member

[0135] 303. Connecting components

[0136] 3031, First Link

[0137] 3032, Second Link

[0138] 3033, second pivot axis

[0139] 3034, push-pull slider

[0140] 40. Guide tube

[0141] 50. Positioning equipment

[0142] 60. Biopsy needle

[0143] 601, connecting pipe

[0144] 602. Elastic tube

[0145] 603, Protective film

[0146] 70. Biopsy brush

[0147] 1. First installation box

[0148] 2. The first transmission mechanism

[0149] 21. First clamping block

[0150] 211. First fixing groove

[0151] 22. First positioning member

[0152] 221. First Cylinder

[0153] 2211, first installation slot

[0154] 2212, first sliding groove

[0155] 2213, first card slot

[0156] 222. First Limiting Body

[0157] 23. First passive slider

[0158] 231. First arc groove

[0159] 232. First sliding hole

[0160] 233. First power input unit

[0161] 24. First rail

[0162] 3. Bending control parts

[0163] 4. Second transmission mechanism

[0164] 41. First movable slider

[0165] 42. First driving rod

[0166] 5. First drive motor

[0167] 6. The third transmission mechanism

[0168] 61. Driving gear

[0169] 62. Driven gear

[0170] 7. The third driving mechanism

[0171] 8. Fourth transmission mechanism

[0172] 81. Second clamping block

[0173] 811, second fixing hole

[0174] 82. Second positioning member

[0175] 821, Second Cylinder

[0176] 8211, second installation slot

[0177] 8212, second sliding slot

[0178] 8213, second card slot

[0179] 822, Second Limiting Body

[0180] 83. Second passive slider

[0181] 831, second arc groove

[0182] 832, second sliding hole

[0183] 833. Second power input unit

[0184] 84. Second rail

[0185] 9. Guide parts

[0186] 91. Guide groove

[0187] 11. First limiter

[0188] 12. Second limiter

[0189] 13. Fifth transmission mechanism

[0190] 131. Second enabling slider

[0191] 132. Second driving rod

[0192] 14. Second driving mechanism

[0193] 15. Second installation box

[0194] 16. The third installation box

[0195] 17. Operation end transmission mechanism

[0196] 18. Driving mechanism

[0197] 100. Fixed tray

[0198] 1001. Second Platform

[0199] 200. Vertical moving parts

[0200] 2001. Vertically movable base

[0201] 20011, First Platform

[0202] 20012, Connection Block

[0203] 2002, Vertical drive motor

[0204] 2003. Vertical transmission mechanism

[0205] 20031, First Bevel Gear

[0206] 20032, Second bevel gear

[0207] 20033, Vertical moving screw

[0208] 2004, Vertical Guiding Structure

[0209] 20041, Vertical Guide Rail

[0210] 300. Lateral moving parts

[0211] 3001, Horizontal moving base

[0212] 3002, Transverse drive motor

[0213] 3003, horizontal screw

[0214] 3004, Horizontal guide rail

[0215] 400, mobile wheel DETAILED DESCRIPTION

[0216] The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention.

[0217] The biopsy device (including biopsy accessories) is locally inserted into the target tissue of the organism along the working channel established by the endoscope. One end of each component is closer to the target tissue. In the following description, the end closer to the target tissue is the "head end" and the other end is the "tail end".

[0218] In the following description, the directions involved are Figure 2 Based on Figure 2 “Up”, “down”, “left”, “right”, “longitudinal”, “lateral”, “vertical” and “horizontal” are understood on the basis of the above; the orientations involved 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 operate in a specific orientation.

[0219] In the following description, "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0220] Before describing the specific plan, Figure 2 To explain further, Figure 2 It is used to reflect the open state of the forceps head 10 and the structure of the push-pull transmission mechanism 30. In the figure, spline curve a and spline curve b do not belong to the biopsy attachment, but are used as auxiliary lines. The part to the left of spline curve a is not cut into pieces. The part of spline curve a and spline curve b hides part of the structure of the connecting frame 20 to reflect the structure of the head end of the push-pull transmission mechanism 30. The part to the right of spline curve b is cut into pieces to reflect the internal structure of the push-pull transmission mechanism 30.

[0221] An embodiment of the present invention provides a biopsy accessory, which can be assembled into a biopsy device as a disposable product, can be inserted into the sheath of an endoscope and used to sample tissue in a living body. The biopsy accessory can be used in conjunction with a bending control device of the biopsy device, and the bending control device is used to achieve bending of the head end of the biopsy accessory. For ease of understanding, a first installation box 1 of the bending control device is introduced in the process of explaining the biopsy accessory solution.

[0222] The biopsy accessory includes an operating part, a connector, a guide tube 40, a push-pull transmission mechanism 30 and a positioning device 50. The operating part is used for sampling, and the operating part is connected to the head end of the guide tube 40 through the connector, and the tail end of the guide tube 40 is inserted into the first installation box 1; the push-pull transmission mechanism 30 is inserted into the guide tube 40, and the head end of the push-pull transmission mechanism 30 is directly or indirectly connected to the operating part, and the tail end of the push-pull transmission mechanism 30 is arranged in the first installation box 1, and the push-pull transmission mechanism 30 is used to drive the operating part to move according to the reciprocating motion received by its tail end along the first direction; the positioning device 50 is penetrated by the push-pull transmission mechanism 30, and the head end of the positioning device 50 is a positioning sensor, and the positioning sensor is used for electromagnetic navigation.

[0223] The operating part can be any one of the forceps head 10, the biopsy needle 60 and the biopsy brush 70. The forceps head 10 cuts the sample by changing its opening and closing state, such as the forceps head 10 switches from the open state to the closed state under the action of the push-pull transmission mechanism 30, thereby cutting the sample; the biopsy needle 60 takes samples by piercing the target tissue, such as the biopsy needle 60 moves left and right under the action of the push-pull transmission mechanism 30, first pierces the target tissue, then can perform negative pressure suction to absorb the sample, and then moves back to separate from the target tissue; the biopsy brush 70 takes samples by piercing the target tissue, such as the biopsy brush 70 moves left and right under the action of the push-pull transmission mechanism 30, first pierces the target tissue, then can perform negative pressure suction to absorb the sample, and then moves back to separate from the target tissue. The following describes the scheme of the biopsy attachment for each form of the operating part.

[0224] refer to Figures 1 to 4 Understand. In the biopsy attachment of the embodiment of the present invention, the operating part adopts a forceps head 10, and the connector adopts a connecting frame 20. In some embodiments, the biopsy attachment includes the forceps head 10, the connecting frame 20 and a push-pull transmission mechanism 30. The forceps head 10 includes a first forceps arm 101, a second forceps arm 102 and a first pivot shaft 103. The first forceps arm 101 and the second forceps arm 102 are arranged crosswise, and the first forceps arm 101 and the second forceps arm 102 are pivotally connected to the connecting frame 20 through the first pivot shaft 103 at the intersection. The push-pull transmission mechanism 30 is used to convert the reciprocating motion along the length direction of the sleeve into a relative rotational motion of driving the first forceps arm 101 and the second forceps arm 102 along the first pivot shaft 103, so that the first forceps arm 101 and the second forceps arm 102 are opened and closed with each other.

[0225] The connecting frame 20 is used to mount the forceps head 10 so that the push-pull transmission mechanism 30 drives the forceps head 10 to open and close. The force applied to the forceps head 10 by the push-pull transmission mechanism 30 does not affect the connecting frame 20, that is, the connecting frame 20 is stationary during the opening and closing of the forceps head 10. The connecting frame 20 can be kept stationary by cooperating with other components of the biopsy accessory, or by cooperating with other components in the biopsy device, or by cooperating with components in the endoscope.

[0226] The clamp head 10 is used to take tissues in a living body, and sampling is achieved in the process of switching the clamp head 10 from an open state to a closed state. The opening and closing of the clamp head 10 is achieved by the relative rotation of the first clamp arm 101 and the second clamp arm 102, such as one of the first clamp arm 101 and the second clamp arm 102 and the connecting frame 20 remain relatively still, and the other rotates around the first pivot axis 103, and another example is that both the first clamp arm 101 and the second clamp arm 102 rotate around the first pivot axis 103. The first clamp arm 101 and the second clamp arm 102 are in a cross shape, then when the tail end of the first clamp arm 101 and the tail end of the second clamp arm 102 are opened to each other, the head end of the first clamp arm 101 and the head end of the second clamp arm 102 are opened to each other, and when the tail end of the first clamp arm 101 and the tail end of the second clamp arm 102 are closed to each other, the head end of the first clamp arm 101 and the head end of the second clamp arm 102 are closed to each other. Since the first forceps arm 101 and the second forceps arm 102 are cross-arranged, and the first pivot shaft 103 is located at the intersection of the first forceps arm 101 and the second forceps arm 102, the first forceps arm 101 and the second forceps arm 102 do not need to separately set protruding structures in the up and down directions to install the first pivot shaft 103, so that the size of the forceps head 10 in the up and down directions is relatively small, reducing the risk of squeezing and damaging tissues in the biological body.

[0227] The push-pull transmission mechanism 30 is used to provide driving force for the pliers head 10. The tail end of the push-pull transmission mechanism 30 is inserted into the first installation box 1 and can receive the force. The head end of the push-pull transmission mechanism 30 is connected to the pliers head 10. The push-pull transmission mechanism 30 processes the received force and transmits it to the pliers head 10, thereby controlling the opening and closing state of the pliers head 10.

[0228] Continue to refer Figure 1 and Figure 2 In some embodiments, the biopsy accessory further comprises the guide tube 40, the connecting frame 20 is fixed to the head end of the guide tube 40, and the push-pull transmission mechanism 30 is passed through the guide tube 40. The guide tube 40 can protect the push-pull transmission mechanism 30, so that the biopsy accessory can be inserted into the body along the working channel of the endoscope. Figure 1 and Figure 2 As shown, the rear end of the connecting frame 20 is fixed on the guide tube 40, so that the two remain relatively fixed. When the first clamp arm 101 and the second clamp arm 102 rotate relatively, the connecting frame 20 can be kept stationary by controlling the guide tube 40 to be stationary.

[0229] refer to Figure 4 and Figure 5The first clamp arm 101 and the second clamp arm 102 both include a blade 1021, a pivoting portion 1022 and a clamp arm tail 1023 which are arranged in sequence. The pivoting portion 1022 of the first clamp arm 101 and the pivoting portion 1022 of the second clamp arm 102 are pivotally connected to the connecting frame 20 via the first pivot shaft 103; the push-pull transmission mechanism 30 controls the opening and closing of the two blades 1021 by driving the clamp arm tail 1023.

[0230] The blade 1021 is used to cut the sample, and the opening and closing of the pliers head 10 in the present invention refers to the opening and closing of the two blades 1021. The pivoting portion 1022 is used to connect the blade 1021 and the pliers arm tail 1023 on the one hand, and to connect the connecting frame 20 through the first pivot shaft 103 on the other hand. The pliers arm tail 1023 is used to connect the push-pull transmission mechanism 30 to control the opening and closing between the two blades 1021. The push-pull transmission mechanism 30 provides a driving force to the two pliers arm tails 1023, so that the two pliers arm tails 1023 rotate together relative to the first pivot shaft 103, and finally realize the opening and closing of the two blades 1021.

[0231] It should be noted that: on the one hand, in some embodiments, Figure 4 and Figure 5 As shown, the first clamp arm 101 and the second clamp arm 102 have the same structure. In some other embodiments, the first clamp arm 101 and the second clamp arm 102 can have different structures as long as they can be opened and closed under the action of the push-pull transmission mechanism 30. On the other hand, in some embodiments, such as Figure 4 and Figure 5 As shown, the first clamp arm 101 and the second clamp arm 102 are both pivotally connected to the connecting frame 20. During the opening and closing of the clamp head 10, the first clamp arm 101 and the second clamp arm 102 rotate relative to the connecting frame 20 respectively. As an alternative, in some other embodiments, the first clamp arm 101 can be fixed on the connecting frame 20, and the push-pull transmission mechanism 30 realizes the opening and closing of the clamp head 10 by driving the second clamp arm 102 to rotate.

[0232] Continue to refer Figure 4 and Figure 5 For understanding, in some embodiments, the blade portion 1021 has a U-shaped clamp blade 10211. When the clamp blade 10211 of the first clamp arm 101 and the clamp blade 10211 of the second clamp arm 102 are closed, the sample can be cut. During cutting, the sample can be enclosed between the two sides of the U-shape, that is, between the first side 10212 and the second side 10213, so that the sample can be effectively constrained to prevent the sample from slipping off the clamp head 10; it should be noted that the U-shape is understood in a broad sense. Figure 4 and Figure 5In one embodiment, the portion between the first side 10212 and the second side 10213 is arc-shaped, and other embodiments may be used, such as a straight line between the first side 10212 and the second side 10213. In some other embodiments, the pliers 10211 may be linear, and multiple pliers 10211 on the same blade 1021 are distributed at intervals, and the pliers 10211 on the two blades 1021 correspond to each other one by one, so as to be easily engaged together, or the pliers 10211 may be annular.

[0233] Continue to refer Figure 4 and Figure 5 For understanding, in some embodiments, the blade 1021 has a receiving cavity 10214 for receiving the cut sample; the pliers blade 10211 is located at one end of the receiving cavity 10214, and the sample cut by the pliers blade 10211 slides into the receiving cavity 10214 along the inner wall surface, thereby providing good protection for the sample. As an alternative, in some other embodiments, the pliers blade 10211 can be linear, and grooves can be provided between adjacent pliers blades 10211 to receive the sample.

[0234] Continue to refer Figure 4 and Figure 5 For understanding, in some embodiments, the accommodating cavity 10214 has an opening, and the forceps blade 10211 is located at the opening of the accommodating cavity 10214. After the first forceps arm 101 and the second forceps arm 102 are closed, the two accommodating cavities 10214 are combined to form a closed space, thereby better isolating the sample from other tissues in the body, and avoiding interference between other tissues and the sample;

[0235] Continue to refer Figure 4 and Figure 5 It is understood that in some embodiments, the blade 1021 includes a curved shell portion 10215, a half pipe segment 10216, and a baffle 10217. The curved shell portion 10215 and the baffle 10217 are respectively connected to the two ends of the half pipe segment 10216, and together with the half pipe segment 10216, they form a receiving cavity 10214; the surfaces of the curved shell portion 10215, the half pipe segment 10216, and the baffle 10217 are all smooth and round, and will not cause damage to the tissue caused by stress integration when contacting with the tissue in the organism. The inner surface and / or outer surface of the curved shell portion 10215 is a spherical surface, and the inner surface facilitates the sample to slide smoothly into the middle of the receiving cavity 10214, and the outer surface reduces the risk of squeezing and scratching the tissue in the organism. On one hand, the baffle 10217 has the effect of blocking and limiting the sample, and on the other hand, it is used to connect the pivotal part 1022. In some other embodiments, as an alternative, the baffle 10217 may not be provided, and the pivotal part 1022 is connected to the half-pipe section 10216.

[0236] Continue to refer Figure 4 and Figure 5 For understanding, in some embodiments, a side of the baffle 10217 facing away from the accommodating cavity 10214 is connected to the pivotal portion 1022, and the baffle 10217 is fixed on the inner surface of the half-pipe segment 10216. Accordingly, a portion of the surface of the baffle 10217 has the same shape as the inner surface of the half-pipe segment 10216 to facilitate installation, and the first end face of the baffle 10217 does not protrude beyond the pliers blade 10211, thereby not affecting the bite of the pliers blade 10211.

[0237] Continue to refer Figure 4 and Figure 5 For understanding, in some embodiments, the pivotal portion 1022 is plate-shaped, and the pivotal portion 1022 includes a first plate segment 10221 for connecting the blade portion 1021. The thickness of the first plate segment 10221 gradually increases from its tail end to its head end, so that the connection area with the baffle 10217 is larger and the connection is more reliable.

[0238] The pivoting portion 1022 also includes a second plate segment 10222, the two ends of which are respectively connected to the first plate segment 10221 and the clamp arm tail 1023, and the middle area of ​​the second plate segment 10222 is connected to the connecting frame 20. The width of the middle area of ​​the second plate segment 10222 is greater than the width of its two ends, so that the connection is more reliable.

[0239] Continue to refer Figure 4 and Figure 5 It is understood that in some embodiments, the clamp arm tail portion 1023 is plate-shaped, and the pivot portion 1022 and its corresponding clamp arm tail portion 1023 are integrally formed; in some other embodiments, the clamp arm tail portion 1023 and the pivot portion 1022 can be directly connected together through an assembly process.

[0240] refer to Figure 6 It is understood that in some embodiments, the push-pull transmission mechanism 30 is rotatably connected to the first clamp arm 101 and the second clamp arm 102 respectively, and the push-pull transmission mechanism 30 is used to convert the push-pull force along the length direction of the sleeve into two forces, and the two forces correspond one-to-one to the first clamp arm 101 and the second clamp arm 102, so that the two forces are used to drive the first clamp arm 101 and the second clamp arm 102 to rotate.

[0241] In some embodiments, the push-pull transmission mechanism 30 includes a first push-pull member 301, the tail end of the first push-pull member 301 is used to receive reciprocating motion, and the head end of the first push-pull member 301 is used to indirectly drive the first clamp arm 101 and the second clamp arm 102 to open and close each other. In some other embodiments, as an alternative, the first push-pull member 301 can directly drive the clamp head 10 by slidingly connecting with the clamp head 10.

[0242] In some embodiments, the push-pull transmission mechanism 30 further includes a second push-pull member 302, which is disposed at the head end of the first push-pull member 301. The first push-pull member 301 is slender, and the second push-pull member 302 is relatively short and fixedly connected to the head end of the first push-pull member 301. This method reduces the processing difficulty of the first push-pull member 301 and the second push-pull member 302 as a whole. The second push-pull member 302 is used to indirectly drive the first clamp arm 101 and the second clamp arm 102 to open and close each other. In some other embodiments, as an alternative, the second push-pull member 302 can directly drive the clamp head 10 by slidingly connecting with the clamp head 10.

[0243] like Figure 3 and Figure 6 As shown, the push-pull transmission mechanism 30 also includes a connecting component 303, the input of the connecting component 303 is connected to the second push-pull member 302, and the output of the connecting component 303 is connected to the clamp head 10; as an alternative, the second push-pull member 302 is omitted, and the connecting component 303 can also be directly connected to the first push-pull member 301.

[0244] Continue to refer Figure 6 In some embodiments, the connecting assembly 303 includes a first connecting rod 3031 and a second connecting rod 3032. The two ends of the first connecting rod 3031 are respectively pivotally connected to the first clamp arm 101 and the second push-pull member 302; the two ends of the second connecting rod 3032 are respectively pivotally connected to the second clamp arm 102 and the second push-pull member 302. The first connecting rod 3031 is connected to the clamp arm tail 1023 of the first clamp arm 101, and the second connecting rod 3032 is connected to the clamp arm tail 1023 of the second clamp arm 102. When the tail end of the first connecting rod 3031 and the tail end of the second connecting rod 3032 are pushed to the left, the two are gradually opened, and vice versa, the two are gradually closed.

[0245] Continue to refer Figure 6 In some embodiments, the connecting assembly 303 further includes a second pivot shaft 3033, and the first connecting rod 3031 and the second connecting rod 3032 are pivotally connected to the second push-pull member 302 through the same second pivot shaft 3033. As an alternative, in some other embodiments, such as Figure 7 As shown, the first connecting rod 3031 and the second connecting rod 3032 can each be connected to the second push-pull member 302 via a second pivot shaft 3033 .

[0246] On the basis of the above Figure 6The illustrated embodiment further explains that the push-pull transmission mechanism 30 includes a first push-pull member 301, a second push-pull member 302, a first connecting rod 3031 and a second connecting rod 3032, wherein the first push-pull member 301 is made of a metal wire with good flexibility, which can not only reciprocate along the guide tube 40, but also bend along with the guide tube 40 at the turning position; the second push-pull member 302 is made of a rigid material and has a blind hole, the first push-pull member 301 is inserted into the blind hole and fixed, and the first connecting rod 3031 and the second connecting rod 3032 are made of a rigid material.

[0247] refer to Figure 8 It is understood that in some embodiments, the head end of the push-pull transmission mechanism 30 is slidably connected to the clamp head 10. When the head end of the push-pull transmission mechanism 30 slides relative to the clamp head 10, the angle between the clamp arm tail 1023 of the first clamp arm 101 and the clamp arm tail 1023 of the second clamp arm 102 changes. Specifically, a track can be set on the tail of the two clamp arms, and a push-pull slider 3034 can be set at the head end of the push-pull transmission mechanism 30. The push-pull slider 3034 slides along the track to realize the opening and closing of the tail ends of the two clamp arms. The push-pull slider 3034 is slidably connected to the tail of the clamp head 10, and the second push-pull member 302 controls the opening and closing of the head of the clamp head 10 by driving the push-pull slider 3034 to reciprocate.

[0248] refer to Fig. 9 The connecting frame 20 includes a connecting plate 201, the head end of which is pivotally connected to the clamp head 10; when the first clamp arm 101 and the second clamp arm 102 rotate relative to each other, the connecting plate 201 is stationary. Fig. 9 In the illustrated embodiment, the connecting frame 20 has two connecting plates 201 that are disposed opposite to each other, and the pliers head 10 is located between the two connecting plates 201, so that the position of the pliers head 10 is more secure. In other embodiments, the connecting frame 20 only includes one connecting plate 201, which is also within the protection scope of the present invention.

[0249] Continue to refer Fig. 9 Understand. The connecting frame 20 also includes a connecting tube 202, and the tail end of the connecting plate 201 is fixedly connected to the connecting tube 202. The two connecting plates 201 are connected into one body by using the connecting tube 202, so that the two connecting plates 201 and the connecting tube 202 can be assembled with the forceps head 10 as a whole, which is convenient for improving the assembly efficiency of the biopsy accessory. In some embodiments, the connecting tube 202 can also be integrally formed with the two connecting plates 201. The space inside the connecting tube 202 is for the push-pull transmission mechanism 30 to pass through. The outer surface of the connecting tube 202 is stepped, and a section with a larger outer diameter is connected to the connecting plate 201, and a section with a smaller outer diameter is threadedly connected to the guide tube 40.

[0250] Continue to refer Figure 6Understand. In the embodiment of the present invention, the biopsy attachment also includes a positioning device 50, which is built into the head end of the push-pull transmission mechanism 30. Specifically, the first push-pull member 301 adopts a hollow structure, and a plug-in channel is established inside it. The positioning device 50 adopts a positioning core wire and a positioning sensor. The positioning core wire is inserted from the tail end of the push-pull transmission mechanism 30 and extends to the head end of the first push-pull member 301. The positioning sensor is located at the head end of the positioning core wire and is used to cooperate with the magnetic field generator for positioning navigation, so as to determine the precise position of the forceps head 10.

[0251] The above combination Figure 1-9 The biopsy attachment of the operating portion using the forceps head 10 is described, and then combined with Fig.10 and Fig.11 Describe biopsy accessories based on other forms of operation parts.

[0252] refer to Fig.10 and Fig.11 It is understood that in some embodiments, the operation part adopts a biopsy needle 60 or a biopsy brush 70, both of which are hollow structures, and both can be implemented using existing technologies. The connector adopts a tubular connecting tube 601, one end of which is sleeved on the operation part, and the two are fixedly connected, and the other end is fixed to the inner wall of the guide tube 40. The connecting tube 601 is sealed and connected to the operation part and the guide tube 40 respectively, so as to reduce the influence of poor sealing when sampling by negative pressure suction.

[0253] Continue to refer Fig.10 and Fig.11 Understand. The push-pull transmission mechanism 30 includes an elastic tube 602, which is a hollow structure. One end of the elastic tube 602 is fixedly connected to the operating part through the connecting tube 601, and the other end is used to receive reciprocating motion along the first direction, thereby transmitting a force to the operating part to push and pull the operating part. The elastic tube 602 can be implemented by a spring tube, and the end face of the head end of the spring tube abuts against the operating part or against the connecting tube 202. The positioning core wire is set through the spring tube, and the positioning sensor is set at the head end of the spring tube.

[0254] Continue to refer Fig.10 and Fig.11 The biopsy attachment also includes a protective film 603, which is connected to the hollow part of the operating part to form a negative pressure channel, so that after the biopsy needle 60 and the biopsy brush 70 penetrate the target tissue, negative pressure suction can be used to take samples from the tail end of the biopsy attachment. The protective film 603 is arranged between the guide tube 40 and the elastic tube 602, and the head end of the protective film 603 abuts against the tail end of the connecting tube 601.

[0255] References Figures 1 to 11The structure of the biopsy attachment is explained, and then a bending control device for the biopsy attachment is further provided. The bending control device is used to achieve the bending of the head end of the biopsy attachment and can also control the degree of bending.

[0256] refer to Figures 13 to 15 , and combined with Figure 2 , Figure 3 , Figure 6 , Fig.10 and Fig.11 The bending control device includes a first installation box 1, a first transmission mechanism 2 and a bending control piece 3. The first installation box 1 is for the tail of the biopsy attachment to be inserted along the first direction. The first transmission mechanism 2 is arranged in the first installation box 1, and the first transmission mechanism 2 is used to output reciprocating motion along the first direction. The bending control piece 3 extends along the length direction of the biopsy attachment, and the two ends of the bending control piece 3 are respectively fixedly connected with the first transmission mechanism 2 and the head end of the biopsy attachment. When the first transmission mechanism 2 drives the tail end of the bending control piece 3 to slide relative to the tail of the biopsy attachment and tightens the bending control piece 3, the head end of the bending control piece 3 bends toward the direction of the tail end of the bending control piece 3.

[0257] The first installation box 1 encloses a space, and the tail end of the bending control member 3 and the tail of the biopsy accessory are inserted into the space enclosed by the first installation box 1 along a first direction. The first direction is as follows: Fig.13 The left and right directions shown. The first transmission mechanism 2 can be installed on the first installation box 1, and at least part of the structure of the first transmission mechanism 2 is built into the space surrounded by the first installation box 1. The first transmission mechanism 2 is used to realize the transmission of force, and can realize the transformation of the direction of force and / or the transformation of the form of force (such as the transformation of rotational force into linear force). The output of the first transmission mechanism 2 is fixedly connected to the tail end of the control bending member 3 to facilitate driving the control bending member 3. The first transmission mechanism 2 can slide relative to the tail of the biopsy attachment. The control bending member 3 is slender and can be built into the guide tube 40 of the biopsy attachment, or it can be set on the outer surface of the guide tube 40, and it can also be partially built into the guide tube 40 and partially extend out of the guide tube 40; the control bending member 3 can be pre-fixed in the biopsy attachment.

[0258] refer to Fig.16 To understand, Fig.16This is a superimposed diagram of two states of the head end of the biopsy attachment, which is used to further explain the principle of the bending control device. During the operation, after the biopsy attachment is initially positioned using an endoscope, when the head end of the biopsy attachment needs to be converted from the c state to the d state, the first transmission mechanism 2 is controlled to move rightward, and the tail end of the bending control member 3 moves rightward accordingly, and the bending control member 3 is tightened. The head end of the biopsy attachment (including the forceps head 10, the head of the push-pull transmission mechanism 30, the connecting frame 20 and the head of the guide tube 40) and the head end of the bending control member 3 are bent under the action of the first transmission mechanism 2, and the bending direction is toward the tail end of the bending control member 3. Conversely, when the biopsy attachment needs to move from the d state to the c state, the first transmission mechanism 2 is controlled to move leftward, and the tail end of the bending control member 3 moves leftward accordingly, and the tension of the bending control member 3 gradually decreases until the biopsy attachment reaches the c state when the bending control member 3 reaches the natural state. The bending control device is used to adjust the bending of the tip of the biopsy accessory so that the forceps head 10 is aligned with the lesion position. This not only improves the accuracy of sampling, but also allows the tip of the biopsy accessory to be independently bent without the aid of an endoscope. The bending process occupies less space, reducing the risk of squeezing and damaging tissues.

[0259] refer to Fig.17 The first transmission mechanism 2 includes a first clamping block 21, which is fixedly connected to the bending control member 3, and is configured to be able to reciprocate along a first direction relative to the tail of the biopsy attachment. During the process in which the first clamping block 21 drives the tail end of the bending control member 3 to move rightward relative to the tail of the biopsy attachment, the tension of the bending control member 3 gradually increases, thereby driving the head end of the biopsy attachment to bend.

[0260] Continue to refer Fig.17 The first transmission mechanism 2 further includes a first positioning member 22, in which the first clamping block 21 is positioned, and the first positioning member 22 is configured to drive the first clamping block 21 to reciprocate along a first direction.

[0261] Continue to refer Fig.17 The first transmission mechanism 2 also includes a first passive slider 23 and a first guide rail 24 that cooperate with each other. The first guide rail 24 is fixed in the first installation box 1 and extends in the first direction. The first passive slider 23 is used to drive the first positioning member 22 to reciprocate along the first direction. The first passive slider 23 and the first positioning member 22 constrain each other in the displacement freedom in the first direction, that is, the two are relatively stationary in the first direction.

[0262] It should be noted that: First, Fig.17 In the embodiment shown, the first guide rail 24 guides the first passive slider 23, so that the first passive slider 23 runs more stably. As an alternative, the first transmission mechanism 2 may not be provided with the first guide rail 24, and the first transmission mechanism 2 directly receives the driving force in the first direction. Fig.17 In the illustrated embodiment, the first passive slider 23 receives the driving force, and in turn passes through the first positioning member 22 and the first clamping block 21 before finally being transmitted to the biopsy accessory. In some other embodiments, as an alternative means, the first transmission mechanism 2 may not be provided with the first passive slider 23, and the driving force in the first direction may be directly given to the first positioning member 22, and the first positioning member 22 drives the first clamping block 21 to slide relative to the tail of the biopsy accessory; as another alternative means, the first transmission mechanism 2 may not be provided with the first passive slider 23 and the first positioning member 22, and the driving force in the first direction may be directly given to the first clamping block 21.

[0263] refer to Fig.18 and Fig.19 In some embodiments, the first clamping block 21 has a first fixing groove 211 or a first fixing hole, and the tail end of the bending control member 3 is fixed in the first fixing groove 211 or the first fixing hole. The biopsy attachment passes through the first clamping block 21, and the first clamping block 21 can slide along the biopsy attachment.

[0264] refer to Fig.17 and Fig. 20 Understand. In some embodiments, the first positioning member 22 includes a first barrel 221, and the first barrel 221 is rotatably connected to the first passive slider 23. When the tail of the biopsy attachment rotates around its axis in the first direction, the first barrel 221 rotates relative to the first passive slider 23 driven by the biopsy attachment, so that the two functions of the rotation of the biopsy attachment and the control of the bending of the head of the biopsy attachment do not affect each other and can be performed simultaneously. In some other embodiments, the first barrel 221 can be replaced by an arc plate, which is rotatably connected to the first passive slider 23, and the first clamping block 21 is installed on the arc plate.

[0265] Continue to refer Fig. 20 Understand. In some embodiments, the first cylinder 221 has a first mounting groove 2211, a first sliding groove 2212 and a first snap-in groove 2213. The first mounting groove 2211 is connected to at least one end surface of the first cylinder 221. The first clamping block 21 enters the first sliding groove 2212 under the guidance of the first mounting groove 2211, and slides along the first sliding groove 2212 to the first snap-in groove 2213 and then snaps into the first snap-in groove 2213; two first snap-in grooves 2213 may be provided, corresponding to the two ends of the first clamping block 21 respectively. In the embodiment of the present invention, the first snap-in groove 2213 is provided on the inner wall of the first cylinder 221 to fix the first clamping block 21, and the first mounting groove 2211 and the first sliding groove 2212 are provided so that the first clamping block 21 can be installed in the first snap-in groove 2213, thereby improving the stability of the first clamping block 21.

[0266] Continue to refer Fig. 20The first positioning member 22 also includes a first limiting body 222. The first limiting bodies 222 are respectively provided at both ends of the first cylinder 221. Fig.17 It is understood that the first passive slider 23 is sandwiched between the two first limiting bodies 222, so that the first positioning member 22 and the first passive slider 23 constrain each other in the displacement freedom in the first direction. In some other embodiments, the first limiting body 222 can be set on the first passive slider 23, and the first cylinder 221 is assumed to be on the two first limiting bodies 222.

[0267] Fig. 20 In the embodiment, the first limiting body 222 is annular, and when the first cylinder 221 rotates relative to the first passive slider 23, the first limiting body 222 can restrain the first passive slider 23. In some other embodiments, as an alternative, the first limiting body 222 can be block-shaped, and a plurality of first limiting bodies 222 are spaced apart at each end of the first cylinder 221.

[0268] refer to Fig.21 In some embodiments, the first passive slider 23 has a first arc-shaped groove 231, and the first positioning member 22 can rotate relative to the first arc-shaped groove 231; Fig.17 , Fig. 20 It is understood that the first arc groove 231 matches the first cylinder 221, so that the first cylinder 221 can rotate in the first arc groove 231. In other embodiments, the first arc groove 231 can be replaced by a hole to protect the first cylinder 211 from all sides of the first cylinder 221, thereby improving the stability of the first cylinder 221 when rotating.

[0269] Continue to refer Fig.21 , Fig. 22 In some embodiments, the first passive slider 23 has a plurality of first sliding holes 232 for the first guide rail 24 to pass through, and the first sliding holes 232 and the first guide rail 24 are arranged in a one-to-one correspondence; the arrangement of a plurality of first sliding holes 232 and the first guide rail 24 can improve the stability of the first passive slider 23. Fig.21 In the illustrated embodiment, the two first sliding holes 232 are disposed on both sides of the first arc-shaped groove 231 and are relatively close to the arc-shaped groove, thereby improving the stability of the first passive sliding block 23 during operation. Fig. 22 In the embodiment shown, two first sliding holes 232 are arranged below the first arc-shaped groove 231. Fig.21In the illustrated embodiment, the first passive slider 23 has a larger transverse dimension and a smaller longitudinal dimension, and the first guide rail 24 is closer to the first positioning member 22, but both of these are within the protection scope of the present invention. In some other embodiments, as an alternative, the first passive slider 23 is provided with only one first sliding hole 232, and correspondingly, only one first guide rail 24 is provided, and this solution is also within the protection scope of the present invention.

[0270] Continue to refer Fig.21 The first passive slider 23 has a first power input portion 233 for receiving reciprocating motion along the first direction; the first power input portion 233 can be a hole.

[0271] In some embodiments, the first guide rails 24 are distributed on different sides of the first positioning member 22, such as Fig.21 As shown, the two first guide rails 24 are distributed on the left and right sides of the first positioning member 22. In some other embodiments, the first guide rails 24 are distributed on the same side of the first positioning member 22, such as Fig. 22 As shown, the two first guide rails 24 are both located below the first positioning member 22 .

[0272] refer to Fig.23 and Fig.24 The bending control device also includes a second transmission mechanism 4, which is used to drive the first transmission mechanism 2 to reciprocate along the first direction. The output end of the second transmission mechanism 4 is connected to the first power input part 233. For example, the output end of the second power mechanism is inserted into the first power input part 233 from below, so that the two mutually constrain the displacement freedom in the first direction. It should be noted that Fig.23 and Fig.21 Belonging to the same embodiment, Fig.24 and Fig. 22 Belong to the same embodiment.

[0273] Fig.23 and Fig.24 In the embodiment, the second transmission mechanism 4 has two output ends for connecting to the first power input part 233, and the two output ends are integrally formed. As an alternative, the two output ends can adopt a split structure, and the two output ends each have a power source, and the two output ends are driven to move synchronously by controlling the two power sources.

[0274] refer to Fig.25In some embodiments, the second transmission mechanism 4 is used to convert the rotational motion into linear motion; the second transmission mechanism 4 includes a first movable slider 41 and a first driving rod 42, the first movable slider 41 and the first driving rod 42 are threadedly connected, the first driving rod 42 adopts a screw, the first movable slider 41 is used to convert the rotational motion of the first driving rod 42 into linear motion along the first direction, and the first movable slider 41 and the first transmission mechanism 2 constrain each other's displacement freedom in the first direction. The bending control device also includes a first driving mechanism for driving the first driving rod 42, Fig.25 In the illustrated embodiment, the second transmission mechanism 4 is electronically controlled, and the first drive mechanism is implemented by a first drive motor 5. The first drive motor 5 is equipped with a drive plate to facilitate remote control of start and stop. In other embodiments, the second transmission mechanism 4 can also be driven by a manual first drive mechanism. For example, a handle is provided at one end of the first drive rod 42, and the first drive rod 42 is controlled to rotate by shaking the handle, thereby further driving the first movable slider 41 to move along the first direction.

[0275] refer to Fig.26 Understand. The bending control device also includes a third transmission mechanism 6, which is fixedly connected to the tail of the biopsy attachment and is used to drive the tail of the biopsy attachment to rotate. The third transmission mechanism 6 is used to convert the rotational motion around one axis into the rotational motion around another axis. The rotation of the tail of the biopsy attachment will drive the entire biopsy attachment to rotate. Of course, the operating part located at the head end of the biopsy attachment also rotates. The operating part at any position can be bent under the action of the bending control member 3, so that the operating part can bend in any direction.

[0276] The first transmission mechanism 2 and the second transmission mechanism 4 control the bending of the head of the biopsy accessory through electrical control, and the third transmission mechanism 6 realizes the rotation of the head end of the biopsy accessory in the form of electrical control, so that the head end of the biopsy accessory can be accurately and labor-savingly controlled to achieve bending in any direction, so that the biopsy accessory can flexibly adapt to the location of the lesion.

[0277] Continue to refer Fig.26 and Fig. 27 Understand. The third transmission mechanism 6 includes a driving gear 61 and a driven gear 62 meshing with the driving gear 61, and the driven gear 62 is fixedly connected to the biopsy accessory; a driving gear 61 is meshed on each side of the driven gear 62; the bending control device also includes a third driving mechanism 7, and the third driving mechanism 7 is used to drive the driving gear 61. Accordingly, the third driving mechanism 7 has two and is arranged one-to-one with the driving gear 61. The third driving mechanism 7 is equipped with a driving plate, and the driving plate is used to remotely control the start and stop of the third driving mechanism 7. When the biopsy device and the radiation-containing equipment cooperate in the operation, the medical staff can use the driving plate to remotely operate the third driving mechanism 7 to individually control the bending of the head of the biopsy accessory, which solves the problem of exposure to the radiation area.

[0278] Fig.26 In the embodiment shown, the third transmission mechanism 6 is used to realize the self-rotation of the biopsy accessory, and the first transmission mechanism 2 and the second transmission mechanism 4 are used to realize the bending control of the head end of the biopsy accessory. In specific applications, the self-rotation of the biopsy accessory and the bending control of the head end of the biopsy accessory can be realized separately or together. When the two functions are realized together, under the drive of the third driving mechanism 7, the driven gear 62 drives the biopsy accessory to rotate, and the bending control member 3 rotates with the biopsy accessory, and correspondingly drives the first clamping block 21 and the first positioning member 22 to rotate relative to the first passive slider 23. Under the drive of the first driving motor 5, the second transmission mechanism 4 drives the first passive slider 23 to slide along the first direction, and the first positioning member 22 and the first clamping block 21 move accordingly, so that the head end of the biopsy accessory can be bent in any direction and flexibly adapt to the position of the lesion.

[0279] Continue to refer Fig.26 The bending control device further includes a fourth transmission mechanism 8 for outputting reciprocating motion along the first direction, and the output end of the fourth transmission mechanism 8 is fixedly connected to the biopsy attachment to drive the biopsy attachment to reciprocate, thereby adjusting the length of the operating portion of the biopsy attachment protruding from the endoscope.

[0280] refer to Fig.26 and Fig.28 The fourth transmission mechanism 8 includes a second clamping block 81, which is used to be fixedly connected to the biopsy attachment, and the second clamping block 81 is configured to drive the tail of the biopsy attachment to reciprocate along the first direction. It should be noted that Fig.26 In the embodiment, the fourth transmission mechanism 8 is located on the right side of the first transmission mechanism 2, and the second clamping block 81 does not need to reserve a through hole for the control bending member 3 to pass through. In some other embodiments, as an alternative, the fourth transmission mechanism 8 is located on the left side of the first transmission mechanism 2, and the second clamping block 81 is also provided with a through hole for the control bending member 3 to pass through, so as to prevent affecting the operation of the control bending member 3.

[0281] Continue to refer Fig.28 The fourth transmission mechanism 8 further includes a second positioning member 82, in which the second clamping block 81 is positioned, and the second positioning member 82 is configured to drive the second clamping block 81 to reciprocate along the first direction.

[0282] Continue to refer Fig.28 The fourth transmission mechanism 8 also includes a second passive slider 83 and a second guide rail 84 that cooperate with each other. The second guide rail 84 is fixed to the first installation box 1. The second passive slider 83 is used to drive the second positioning member 82 to reciprocate along the first direction. The second passive slider 83 and the second positioning member 82 constrain each other in the displacement freedom in the first direction, that is, the two are relatively stationary in the first direction.

[0283] It should be noted that: First, Fig.28 In the illustrated embodiment, the second guide rail 84 guides the second passive slider 83, so that the second passive slider 83 runs more stably. In some other embodiments, the solution of not providing the second guide rail 84 in the fourth transmission mechanism 8 is also within the protection scope of the present invention. Fig.28 In the illustrated embodiment, the second passive slider 83 receives the driving force, and passes through the second positioning member 82 and the second clamping block 81 in sequence before finally transmitting it to the biopsy attachment. In some other embodiments, as an alternative means, the fourth transmission mechanism 8 may not be provided with the second passive slider 83, and the driving force in the first direction may be directly given to the second positioning member 82. As another alternative means, the fourth transmission mechanism 8 may not be provided with the second passive slider 83 and the second positioning member 82, and the driving force in the first direction may be directly given to the second clamping block 81.

[0284] refer to Fig.29 In some embodiments, the second clamping block 81 has a second fixing hole 811, and the tail end of the biopsy attachment is fixed in the second fixing hole 811; in some other embodiments, the second fixing hole 811 can be replaced by a second fixing groove.

[0285] refer to Fig.30 Understand. The second positioning member 82 includes a second barrel 821, which is rotatably connected to the second passive slider 83. When the tail of the biopsy attachment rotates, the second barrel 821 is configured to rotate relative to the second passive slider 83 driven by the tail of the biopsy attachment, so that the two functions of the rotation of the biopsy attachment and the control of the extension and retraction of the head of the biopsy attachment do not affect each other and can be performed simultaneously. In some other embodiments, the second barrel 821 can be replaced by an arc plate, which is rotatably connected to the second passive slider 83, and the second clamping block 81 is installed on the arc plate.

[0286] Continue to refer Fig.30 Understand. In some embodiments, the second cylinder 821 has a second mounting groove 8211, a second sliding groove 8212 and a second clamping groove 8213, the second mounting groove 8211 is connected to at least one end surface of the second cylinder 821, and the second clamping block 81 enters the second sliding groove 8212 under the guidance of the second mounting groove 8211, and slides along the second sliding groove 8212 to the second clamping groove 8213 and then clamps in the second clamping groove 8213; two second clamping grooves 8213 can be provided, corresponding to the two ends of the second clamping block 81 respectively. In the embodiment of the present invention, the second clamping groove 8213 is provided on the inner wall of the second cylinder 821 to fix the second clamping block 81, and the second mounting groove 8211 and the second sliding groove 8212 are provided so that the second clamping block 81 can be installed in the second clamping groove 8213, thereby improving the stability of the second clamping block 81.

[0287] Continue to refer Fig.30 The second positioning member 82 also includes a second limiting body 822. The second limiting bodies 822 are respectively provided at both ends of the second cylinder 821. Fig.28 It is understood that the second passive slider 83 is sandwiched between the two second limiting bodies 822, so that the second positioning member 82 and the second passive slider 83 are mutually constrained in the first direction. In some other embodiments, the second limiting body 822 can be set on the second passive slider 83, and the second cylinder 821 is assumed to be on the two second limiting bodies 822.

[0288] Fig.30 In the figure, the second limiting body 822 is annular, and when the second cylinder 821 rotates relative to the second passive slider 83, the second limiting body 822 can restrain the second passive slider 83. In some other embodiments, as an alternative, the second limiting body 822 can be block-shaped, and a plurality of second limiting bodies 822 are spaced apart at each end of the second cylinder 821.

[0289] refer to Fig.31 The second passive slider 83 has a second arc groove 831, and the second positioning member 82 can rotate relative to the second arc groove 831; Fig.28 , Fig.30 It is understood that the second arc groove 831 matches the second cylinder 821, so that the second cylinder 821 can rotate in the second arc groove 831. In other embodiments, the second arc groove 831 can be replaced by a hole to protect the second cylinder 821 from all sides, thereby improving the stability of the second cylinder 821 when rotating.

[0290] Continue to refer Fig.31 , Fig.32 In some embodiments, the second passive slider 83 has a plurality of second sliding holes 832 for the second guide rail 84 to pass through, and the second sliding holes 832 and the second guide rail 84 are arranged in a one-to-one correspondence; the plurality of second sliding holes 832 and the second guide rail 84 can improve the stability of the second passive slider 83. Fig.31 In the illustrated embodiment, the two second sliding holes 832 are disposed on both sides of the second arc-shaped groove 831 and are relatively close to the arc-shaped groove, thereby improving the stability of the second passive sliding block 83 during operation. Fig.32 In the embodiment shown, two second sliding holes 832 are arranged below the second arc-shaped groove 831. Fig.31In the illustrated embodiment, the second passive slider 83 has a larger transverse dimension and a smaller longitudinal dimension, and the second guide rail 84 is closer to the second positioning member 82, but both of these are within the protection scope of the present invention. In some other embodiments, as an alternative, the second passive slider 83 is provided with only one second sliding hole 832, and correspondingly, only one second guide rail 84 is provided, and this solution is also within the protection scope of the present invention.

[0291] Continue to refer Fig.31 , Fig.32 The second passive slider 83 has a second power input portion 833 for receiving the reciprocating motion along the first direction; the second power input portion 833 can be a hole.

[0292] In some embodiments, the second guide rails 84 are distributed on different sides of the second positioning member 82, such as Fig.31 As shown, the two second guide rails 84 are distributed on the left and right sides of the second positioning member 82. In some other embodiments, the second guide rails 84 are distributed on the same side of the second positioning member 82, such as Fig.32 As shown, the two second guide rails 84 are both located below the second positioning member 82 .

[0293] refer to Fig.26 and Fig.33 Understand. In some embodiments, the bending control device also includes a guide member 9, and the third transmission mechanism 6 controls the self-rotation of the tail of the biopsy accessory by driving the guide member 9 to rotate, and the first transmission mechanism 2 and the fourth transmission mechanism 8 are arranged at intervals along the extension direction of the guide member 9. Among them, the guide member 9 is in the shape of a long strip and extends along the first direction. The guide member 9 is directly or indirectly fixedly connected to the push-pull transmission mechanism 30 of the biopsy accessory, and the guide member 9 and the driven gear 62 are key-connected. While the guide member 9 drives the biopsy accessory to rotate, it also drives part of the structure of the first transmission mechanism 2 and part of the structure of the fourth transmission mechanism 8 to rotate, so that while realizing self-rotation, it can also realize the bending control function of the head of the biopsy accessory or the function of controlling the length of the head of the biopsy accessory protruding from the endoscope.

[0294] Continue to refer Fig.33It is understood that the tail end of the guide member 9 is fixedly connected to the output part of the third transmission mechanism 6, that is, fixedly connected to the driving gear 61. The guide member 9 has a guide groove 91 extending along the first direction, the bending control member 3 and the biopsy attachment are penetrated by the guide groove 91, the output part of the first transmission mechanism 2 (that is, the first clamping block 21) is inserted into the guide groove 91 along a direction different from the first direction, and is fixedly connected to the bending control member 3, and the output part of the first transmission mechanism 2 and the biopsy attachment are slidably connected; the output part of the fourth transmission mechanism 8 (that is, the second clamping block 81) is inserted into the guide groove 91 along a direction different from the first direction, and is fixedly connected to the biopsy attachment; when the guide member 9 rotates under the action of the driven gear 62, the guide member 9 applies a force to the first clamping block 21 and the second clamping block 81 at the guide groove 91, thereby driving the first positioning member 22 and the second positioning member 82 to rotate.

[0295] Continue to refer Fig.26 The two ends of the guide member 9 are rotatably connected to the first installation box 1 respectively, so as to have better stability. In other embodiments, as an alternative, one end of the guide member 9 is connected to the first installation box 1 or a certain area in the middle of the guide member 9 is connected to the first installation box 1, which is within the protection scope of the present invention.

[0296] Continue to refer Fig.26 Understand. The head end of the guide member 9 is provided with a first limiter 11, which is used to prevent the guide member 9 from moving outside the first installation box 1; the first limiter 11 is built into the first installation box 1. The head end of the guide member 9 is provided with a second limiter 12, which is used to prevent the guide member 9 from moving into the first installation box 1; the second limiter 12 is placed outside the first installation box 1, and the second limiter 12 is clamped with the head end of the guide.

[0297] refer to Fig.34 and Fig.35 The bending control device further includes a fifth transmission mechanism 13, which is used to drive the fourth transmission mechanism 8 to reciprocate along the first direction. The output end of the fifth transmission mechanism 13 is used to connect the second power input part 833. For example, the output end of the fifth transmission mechanism 13 is inserted into the second power input part 833 from below, so that the two mutually constrain the displacement freedom in the first direction. It should be noted that Fig.34 and Fig.31 Corresponding to the same embodiment, Fig.35 and Fig.32 Corresponding to the same embodiment.

[0298] Fig.34 and Fig.35In the embodiment, the fifth transmission mechanism 13 has two output ends for connecting to the second power input part 833, and the two output ends are integrally formed. As an alternative, the two output ends can adopt a split structure, and the two output ends each have a power source, and the two output ends are driven to move synchronously by controlling the two power sources.

[0299] refer to Fig.36 Understand. In some embodiments, the fifth transmission mechanism 13 is used to convert rotational motion into linear motion; the fifth transmission mechanism 13 includes a second movable slider 131 and a second drive rod 132, the second drive rod 132 adopts a screw rod, the second movable slider 131 and the second drive rod 132 are threadedly connected to convert the rotational motion of the second drive rod 132 into the linear motion of the second movable slider 131, and the second movable slider 131 and the fourth transmission mechanism 8 constrain each other's displacement freedom in the first direction; the fifth transmission mechanism 13 adopts electric control to facilitate remote control and solve the risk of medical staff being exposed to nuclear radiation areas during surgery; the bending control device also includes a second drive mechanism 14 for driving the fifth transmission mechanism 13. While realizing that the head end of the biopsy attachment can be bent in any direction, the fourth transmission mechanism 8 and the fifth transmission mechanism 13 can push and pull the biopsy attachment in the form of electric control, so that the biopsy attachment can reciprocate along its length direction to realize operations such as clamping and needle brushing. The operation of the biopsy attachment (or biopsy device) is controlled by electric control, which reduces the difficulty of cooperation between doctors.

[0300] refer to Fig.21 , Fig. 22 as well as Fig.31 , Fig.32 , Fig.37 as well as Fig.38 It is understood that in some embodiments, the first passive slider 23 of the first transmission mechanism 2 adopts Fig.21 In the structure shown in the figure, the second transmission mechanism 4 has two independent first movable sliders 41, and each of the two first movable sliders 41 corresponds to a first driving motor 5; the second passive slider 83 of the fourth transmission mechanism 8 adopts Fig.32 In the structure shown in the figure, the fifth transmission mechanism 13 has two independent second movable sliders 131, and each of the two second movable sliders 131 corresponds to the second driving mechanism 14; Fig.37 , Fig.38 As shown, the two second enabling slide blocks 131 and their corresponding second driving rods 132 and the second driving mechanism 14 are located between the two first enabling slide blocks 41 and their corresponding first driving rods 42 and the first driving motor 5, and correspondingly, the two second guide rails 84 are located between the two first guide rails 24. It should be noted that Fig.37It is used as a schematic diagram, in which the positional relationship between the first enabling slider 41 and the second enabling slider 131 is not clearly distinguished. In actual applications, the positions of the first enabling slider 41 and the first passive slider 23 correspond to each other, and the positions of the second enabling slider 131 and the second passive slider 83 correspond to each other.

[0301] In the embodiment of the present invention, the bending control device further includes a second installation box 15, the second installation box 15 has an opening facing downward and is engaged with the first installation box 1 at the opening for easy disassembly. The third transmission mechanism 6 is at least partially installed in the second installation box 15, for example, the third drive mechanism 7, the mounting seat for installing the third drive mechanism 7, and the two driving gears 61 are located in the second installation box 15.

[0302] In the embodiment of the present invention, the bending control device further includes a third installation box 16, the opening of the third installation box 16 faces upward and is engaged with the first installation box 1 at the opening, the second transmission mechanism 4 and the fifth transmission mechanism 13 are arranged in the third installation box 16, and the output end of the first movable slider 41 and the output end of the second movable slider 131 are deep in the third installation box 16 and inserted into the first installation box 1. In combination with the above, it can be known that the second installation box 15 and the third installation box 16 are arranged on different sides of the first installation box 1.

[0303] The biopsy accessory and the bending control device are described above. Next, the application scenarios of the biopsy accessory and the bending control device are further described.

[0304] The embodiment of the present invention further provides a biopsy system, including an endoscope and a biopsy device, wherein the endoscope is used to establish a working channel using a cannula, and the biopsy device is used to enter from the rear end of the working channel and extend from the head end of the working channel for sampling. The biopsy device is further described below in conjunction with the accompanying drawings.

[0305] Combination Fig.12 Understand. In some embodiments, the biopsy device includes a biopsy attachment and an operating end transmission mechanism 17 as provided in any of the above embodiments, and the operating end transmission mechanism 17 is connected to the tail end of the push-pull transmission mechanism 30, and is used to drive the push-pull transmission mechanism 30 to reciprocate along the length direction of the sleeve. The structure of the operating end transmission mechanism 17 is the same as the structure of the first transmission mechanism 2 in the above-mentioned bending control device. The biopsy device also includes a driving mechanism 18, which is used to directly or indirectly drive the operating end transmission mechanism 17 to output linear reciprocating motion; the driving mechanism 18 may include a motor and a screw, the motor drives the screw, and the screw is threadedly connected to the operating end transmission mechanism 17. When the screw rotates, the operating end transmission mechanism 17 reciprocates along the first direction.

[0306] The embodiment of the present invention further provides a biopsy device, comprising the biopsy attachment provided by any one of the above embodiments and the bending control device provided by any one of the above embodiments. The bending control device is connected to the tail of the biopsy attachment and is used to control the bending degree of the head end of the biopsy attachment.

[0307] An embodiment of the present invention further provides a biopsy system, comprising an endoscope and a biopsy device as provided in any of the above embodiments.

[0308] An embodiment of the present invention further provides a biopsy device mobile device for carrying the biopsy device provided by any of the above embodiments. The mobile device can also function to transfer the displacement of the biopsy device, such as using the mobile device to move the biopsy device from other places to the front of the operating table.

[0309] refer to Fig.39 The mobile device includes a fixed tray 100, a vertical moving part 200 and a horizontal moving part 300, wherein the fixed tray 100 is used to carry the biopsy device, and the first installation box 1, the second installation box 15 and the third installation box 16 are placed on the fixed tray 100. The vertical moving part 200 is used to control the vertical displacement of the fixed tray 100; the horizontal moving part 300 is used to control the horizontal displacement of the fixed tray 100; the position of the first installation box 1 can be adjusted by using the horizontal moving part 300 and the vertical moving part.

[0310] refer to Fig.39 The vertical moving part 200 is connected to the fixed tray 100, and the lateral moving part 300 controls the lateral displacement of the fixed tray 100 by driving the vertical moving part 200. In other embodiments, as an alternative, the lateral moving part 300 is connected to the fixed tray 100, and the vertical moving part 200 controls the vertical displacement of the fixed tray 100 by driving the lateral moving part 300.

[0311] Continue to refer Fig.39 The vertical moving component 200 includes a vertical moving base 2001, a vertical driving motor 2002, a vertical transmission mechanism 2003 and a vertical guide structure 2004. The vertical moving base 2001 is connected to the output end of the horizontal moving component 300, so that a horizontal displacement is generated with the movement of the horizontal moving component 300. The vertical driving motor 2002 is installed on the vertical moving base 2001. The vertical transmission mechanism 2003 is used to convert the rotational motion output by the vertical driving motor 2002 into the vertical motion of the fixed tray 100, and the vertical guide structure 2004.

[0312] Continue to refer Fig.39The vertical transmission mechanism 2003 includes a first bevel gear 20031, a second bevel gear 20032 and a vertical movable lead screw 20033. The first bevel gear 20031 is driven by the vertical drive motor 2002, the second bevel gear 20032 is meshed with the first bevel gear 20031, the vertical movable lead screw 20033 is fixedly connected with the second bevel gear 20032, and is threadedly connected with the fixed tray 100. When the vertical drive motor 2002 rotates forward, the first bevel gear 20031 drives the second bevel gear 20032 to rotate, and the second bevel gear 20032 drives the movable lead screw to rotate, so that the fixed tray 100 moves upward. Conversely, the vertical drive motor 2002 can be controlled to reverse to make the fixed tray 100 move downward. In this embodiment, the vertical transmission mechanism 2003 uses a gear set to convert the movement of the vertical drive motor 2002 into the vertical movement of the fixed tray 100. In other embodiments, as a replacement means, a cylindrical gear can be used to replace the first bevel gear 20031, and a rack can be used to replace the second bevel gear 20032 and the movable screw rod, and the rack and the fixed tray 100 are fixedly connected; as a replacement means, the first bevel gear 20031 and the second bevel gear 20032 can be removed, the direction of the vertical drive motor 2002 can be adjusted, and the vertical drive motor 2002 can be made to drive the movable screw rod, and the movable screw rod and the fixed tray 100 are threadedly connected.

[0313] Continue to refer Fig.39 The vertical moving base 2001 has a first platform 20011, and the vertical moving screw rod 20033 is connected to the first platform 20011. The two are relatively stationary in the vertical direction. The vertical moving screw rod 20033 extends downward from the first platform 20011 and is fixed with a second bevel gear 20032 at one end. The second platform 1001 is arranged below the fixed tray 100, and the vertical moving screw rod 20033 is threadedly connected to the second platform 1001. When the first bevel gear 20031 drives the second bevel gear 20032 to rotate, the vertical moving screw rod 20033 rotates, the first platform 20011 does not move, and the second platform 1001 generates vertical displacement under the action of the vertical moving screw rod 20033.

[0314] Continue to refer Fig.39 The vertical moving base 2001 may have a connecting block 20012 for connecting with the lateral moving component 300. The connecting block 20012 is threadedly connected to the lateral moving component 300. When the lateral moving component 300 outputs a rotational motion to the connecting block 20012, the connecting block 20012 moves linearly in the lateral direction. The vertical moving base 2001 may be provided with a plurality of connecting blocks 20012 to improve the stability of the vertical moving component 200.

[0315] Continue to refer Fig.39The vertical guide structure 2004 includes a vertical guide rail 20041, which is fixed on the vertical movable base 2001 or the fixed tray 100. The first platform 20011 and the second platform 1001 are provided with guide holes, and the vertical guide rail 20041 passes through the guide holes. When the fixed tray 100 moves up and down, the vertical guide rail 20041 slides relative to one of the guide holes, thereby improving the stability of the tray movement.

[0316] Continue to refer Fig.39 The lateral moving part 300 includes a lateral moving base 3001, a lateral driving motor 3002, a lateral screw rod 3003 and a lateral guide rail 3004. The lateral driving motor 3002 is installed on the lateral moving base 3001. The lateral driving motor 3002 is used to drive the lateral screw rod 3003. The lateral screw rod 3003 is threadedly connected to the vertical moving base 2001 of the vertical moving part 200. When the lateral driving motor 3002 drives the lateral screw rod 3003 to rotate, the vertical moving base 2001 moves along the lateral screw rod 3003. The lateral guide rail 3004 is installed on the lateral moving base 3001 and is used to guide the vertical moving part 200, thereby further improving the stability of the vertical moving part 200.

[0317] The transverse screw rod 3003 is arranged in the transverse direction and is threadedly connected to the connecting block 20012. Multiple connecting blocks 20012 can be arranged on each transverse screw rod 3003, and multiple transverse screw rods 3003 can also be arranged on the transverse movable base 3001 to obtain better stability. The transverse guide rail 3004 is arranged in the transverse direction and corresponds to the transverse screw rod 3003 one by one. The lower end of the connecting block 20012 is slidably connected to the transverse guide rail 3004.

[0318] The mobile device further includes a moving wheel 400 , which is mounted on the transverse moving base 3001 .

[0319] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A bending control device for a biopsy accessory, characterized in that: include: a first mounting box for inserting the tail of the biopsy accessory along a first direction; A first transmission mechanism, disposed in the first installation box, the first transmission mechanism being used to output a reciprocating motion along a first direction; A bending control piece extends along the length direction of the biopsy attachment, and two ends of the bending control piece are respectively fixedly connected to the first transmission mechanism and the head end of the biopsy attachment, and when the first transmission mechanism drives the tail end of the bending control piece to slide relative to the tail of the biopsy attachment and tightens the bending control piece, the head end of the bending control piece bends toward the tail end of the bending control piece; The first transmission mechanism comprises a first clamping block, a first positioning member, a first passive slider and a first guide rail, wherein: The first clamping block is disposed in the first positioning member and is fixedly connected to the bending control member; The first guide rail is fixed in the first installation box, the first passive slider is arranged on the first guide rail, the first passive slider cooperates with the first guide rail to drive the first positioning member and the first clamping block to reciprocate along the first direction, and the first passive slider and the first positioning member constrain each other in the displacement freedom in the first direction; The first clamping block has a first fixing hole or a first fixing groove for the bending control member to pass through; The first positioning member includes a first barrel, the first barrel is rotatably connected to the first passive slider, and when the tail of the biopsy attachment rotates around its axis in the first direction, the first barrel rotates relative to the first passive slider driven by the biopsy attachment; The first cylinder has a first installation groove, a first sliding groove and a first clamping groove, the first installation groove is connected to at least one end surface of the first cylinder, the first clamping block enters the first sliding groove under the guidance of the first installation groove, slides along the first sliding groove to the first clamping groove, and is clamped in the first clamping groove; First limiting bodies are respectively provided at both ends of the first cylinder, and the first limiting bodies are used to constrain the first positioning member and the first passive sliding block to each other in a first direction. The first passive sliding block has a first arc-shaped groove, and the first positioning member can rotate relative to the first arc-shaped groove; There are a plurality of first guide rails, and the first passive slider has a plurality of first sliding holes for the first guide rails to pass through, and the first sliding holes and the first guide rails are arranged in a one-to-one correspondence; The first passive slider has a first power input portion for receiving reciprocating motion along the first direction; Each of the first guide rails is arranged on the same side of the first positioning member, or is distributed on different sides of the first positioning member; The bending control device further includes a second transmission mechanism, which is used to drive the first transmission mechanism to reciprocate along the first direction; The second transmission mechanism includes a first enabling slider and a first driving rod, wherein the first enabling slider and the first driving rod are threadedly connected, the first enabling slider is used to convert the rotational motion of the first driving rod into a linear motion along the first direction, and the first enabling slider and the first transmission mechanism constrain each other's displacement freedom in the first direction. The bending control device also includes a first driving mechanism for driving the second transmission mechanism.

2. The bending control device according to claim 1, characterized in that: The bending control device also includes a third transmission mechanism, which is fixedly connected to the tail of the biopsy attachment and is used to drive the tail of the biopsy attachment to rotate.

3. The bending control device according to claim 2, characterized in that: The third transmission mechanism is used to convert the rotational motion around one axis into the rotational motion around another axis.

4. The bending control device according to claim 2, characterized in that: The third transmission mechanism comprises a driving gear and a driven gear meshing with the driving gear, wherein the driven gear is used to be fixedly connected to the biopsy attachment; The bending control device also includes a third driving mechanism, and the third driving mechanism is used to drive the driving gear.

5. The bending control device according to claim 2, characterized in that: The bending control device also includes a fourth transmission mechanism, and an output end of the fourth transmission mechanism is fixedly connected to the biopsy attachment to drive the biopsy attachment to reciprocate along the first direction.

6. The bending control device according to claim 5, characterized in that: The fourth transmission mechanism includes a second clamping block, the second clamping block is used to be fixedly connected to the biopsy accessory, and the second clamping block is configured to drive the tail of the biopsy accessory to reciprocate along the first direction; The fourth transmission mechanism further includes a second positioning member, the second clamping block is positioned in the second positioning member, and the second positioning member is configured to drive the second clamping block to reciprocate along the first direction; The fourth transmission mechanism further includes a second passive slider and a second guide rail that cooperate with each other, the second guide rail is fixed on the first installation box, and the second passive slider is used to drive the second positioning member to reciprocate along the first direction; The second passive sliding block and the second positioning member constrain each other's displacement freedom in the first direction.

7. The bending control device according to claim 5, characterized in that: The bending control device also includes a fifth transmission mechanism, and the fifth transmission mechanism is used to drive the fourth transmission mechanism to reciprocate along the first direction.

8. The bending control device according to claim 7, characterized in that: The fifth transmission mechanism comprises a second enabling slider and a second driving rod, wherein the second enabling slider and the second driving rod are threadedly connected to convert the rotational motion of the second driving rod into the linear motion of the second enabling slider, and the second enabling slider and the fourth transmission mechanism constrain each other in the displacement freedom in the first direction; The bending control device also includes a second driving mechanism for driving the fifth transmission mechanism.

9. The bending control device according to claim 7, characterized in that: The bending control device also includes: A second installation box is clamped with the first installation box, and the third transmission mechanism is at least partially installed in the second installation box; A third installation box is clamped with the first installation box, and the second transmission mechanism and the fifth transmission mechanism are arranged in the third installation box; Wherein, the second installation box and the third installation box are arranged on different sides of the first installation box.

10. A biopsy device, characterized in that: It comprises a biopsy accessory and a bending control device as described in any one of claims 1 to 9, wherein the bending control device is connected to the tail of the biopsy accessory and is used to control the bending degree of the head end of the biopsy accessory.

11. The biopsy device according to claim 10, characterized in that: The biopsy accessories include: An operating unit, used for sampling; A connector and a guide tube, wherein the operating part is fixed to the head end of the guide tube through the connector, and the tail end of the guide tube is inserted into the first installation box; A push-pull transmission mechanism is inserted into the guide tube, the head end of the push-pull transmission mechanism is connected to the operating part, the tail end of the push-pull transmission mechanism is arranged in the first installation box, and the push-pull transmission mechanism is used to drive the operating part to move according to the reciprocating motion received by the tail end thereof along the first direction; The positioning device is provided with the push-pull transmission mechanism, the head end of the positioning device is a positioning sensor, and the positioning sensor is used for electromagnetic navigation.

12. The biopsy device according to claim 11, characterized in that: The operating part adopts a clamp head, the clamp head is pivotally connected to the connector, and the push-pull transmission mechanism controls the opening and closing degree of the head of the clamp head by driving the opening and closing degree of the tail of the clamp head; The push-pull transmission mechanism includes a first push-pull member, a second push-pull member, a first connecting rod and a second connecting rod. The tail end of the first push-pull member is used to receive reciprocating motion along the first direction. The tail end of the first push-pull member is fixed with the second push-pull member. The first connecting rod and the second connecting rod are both pivotally connected to the second push-pull member. The first connecting rod is pivotally connected to the tail end of the first clamp arm of the clamp head, and the second connecting rod is pivotally connected to the tail end of the second clamp arm of the clamp head.

13. The biopsy device according to claim 11, characterized in that: The operating part adopts a biopsy needle or a biopsy brush; The connector adopts a connecting tube, one end of which is sleeved on the operating part, and the other end is fixed on the inner wall of the guide tube; The push-pull transmission mechanism comprises an elastic tube, one end of which is fixedly connected to the operating part, and the other end of which is used to receive reciprocating motion along the first direction; The push-pull transmission mechanism further includes a protective film, the protective film and the hollow portion of the operating portion are connected to form a negative pressure channel, and the protective film is arranged between the guide tube and the elastic tube; A fixed passage for the bending control member to pass through is reserved between the guide tube and the elastic tube.

14. A biopsy system, characterized in that: The method comprises an endoscope and a biopsy device as claimed in any one of claims 10 to 13.

15. A biopsy device mobile device, characterized in that: include: A fixed tray, used to carry the biopsy device according to any one of claims 10 to 13, wherein the first mounting box is arranged on the fixed tray; A vertical moving component connected to the fixed tray and used to control the vertical displacement of the fixed tray; The lateral moving component is used to control the lateral displacement of the fixed tray.

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