A flexible ureteroscope robot

Abstract

The present invention belongs to the technical field of flexible ureteroscopes and relates to a flexible ureteroscope robot. The present invention includes a connecting ring, a lens is installed at the front end of the connecting ring, the rear end of the connecting ring is connected to a hose through a flexible connecting piece, a limiting component is arranged between the connecting ring and the hose, and the limiting component makes the connecting ring and the hose have a tendency to move away from each other; the hose is connected to a hard tube, a first spherical joint is fixedly sleeved on the outer circumference of the hard tube, a circular plate is rotatably sleeved on the first spherical joint, and a plurality of steel wires are fixedly connected between the circular plate and the connecting ring, and the steel wires are circumferentially evenly distributed along the axis of the connecting ring. The robot can make the connecting ring move in more directions through the circular plate, so that the lens can face more directions, which is beneficial to finding stones. During the process of the circular plate driving the connecting ring to move through the steel wires, the connecting ring remains parallel to the circular plate, that is, the connecting ring and the circular plate move in the same direction, making the operation of the robot intuitive and convenient, which is beneficial to the operation of doctors.

Description

Technical Field

[0001] The present invention belongs to the technical field of flexible ureteroscopes and relates to a flexible ureteroscope robot. Background Art

[0002] The flexible ureteroscope technology has the characteristics of small trauma and high safety, and has been widely used in the diagnosis and treatment of upper urinary tract stones.

[0003] The currently used disposable flexible ureteroscope can complete coaxial steering and bidirectional bending. The wrench on the handle is used to control the bidirectional bending, and the coaxial steering is realized by the rotation of the wrist and arm during the operation. However, in actual work, due to the influence of factors such as abnormal renal anatomy and hydronephrosis in some patients, the lithotripsy efficiency is affected. In some patients, the stones are located between the lower renal calyx and the renal pelvis and calyces, resulting in the situation that the stones still cannot be found after the operations of coaxial steering and bidirectional bending of the flexible ureteroscope, or even if the stones are seen, the optical fiber still cannot touch the stones after the angle of the flexible ureteroscope reaches the limit, and the lithotripsy cannot be completed, affecting the lithotripsy effect.

[0004] To solve the above problems, the present invention proposes a flexible ureteroscope robot. Summary of the Invention

[0005] To solve the problems in the background art, the present invention proposes a flexible ureteroscope robot.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A flexible ureteroscope robot includes a connecting ring. A lens is installed at the front end of the connecting ring. The rear end of the connecting ring is connected to a hose through a flexible connecting member. A limiting component is arranged between the connecting ring and the hose, and the limiting component makes the connecting ring and the hose tend to move away from each other; the hose is connected to a hard tube. A first spherical joint is fixedly sleeved on the outer circumference of the hard tube. A circular plate is rotatably sleeved on the first spherical joint. A plurality of steel wires are fixedly connected between the circular plate and the connecting ring, and the steel wires are circumferentially and evenly distributed along the axis of the connecting ring;

[0008] Rotate the circular plate so that one side of the circular plate rotates to the right. The circular plate pulls the connecting ring to rotate through the steel wires, causing the connecting ring to flip, and thus changing the orientation of the lens.

[0009] Further, the limiting component includes a first magnet and a second magnet. The first magnet is fixedly arranged on the end face of the connecting ring close to the hose, and the second magnet is fixedly connected to the end face of the hose close to the connecting ring.

[0010] Further, the flexible connecting member includes an outer connecting tube and an inner connecting tube; the outer connecting tube and the inner connecting tube are coaxially arranged, and the inner connecting tube is located inside the outer connecting tube. Both the outer connecting tube and the inner connecting tube are fixedly connected between the connecting ring and the hose.

[0011] Further, there is a gap between the inner connecting pipe and the outer connecting pipe, and the steel wire passes through between the inner connecting pipe and the outer connecting pipe.

[0012] Furthermore, a threading hole is provided on the side wall of the hose along the length direction, and the steel wire passes through the threading hole.

[0013] Furthermore, one end of the hard tube away from the soft tube is fixedly connected with a handle.

[0014] Furthermore, a fixing plate is coaxially fixed to one end of the handle close to the hard tube, and a plurality of electromagnets are installed on the end surface of the fixing plate close to the circular plate in a circular array according to the axis of the fixing plate; the circular plate is made of iron material, and when one of the electromagnets is energized, a magnetic attraction force is generated on the corresponding part of the circular plate, causing the corresponding side of the circular plate to deflect toward the direction close to the fixing plate.

[0015] Furthermore, a mounting seat is fixedly installed on the handle, a second spherical joint is rotatably arranged in the mounting seat, an elastic rope is fixedly connected to the side close to the second spherical joint, an end of the elastic rope facing away from the second spherical joint is fixedly connected to the handle, a conductive rod is fixedly connected to the outward side of the second spherical joint, and the conductive rod is fixedly connected to a shift rod; a plurality of conductive sheets are installed in a circular array on the mounting seat, the plurality of conductive sheets correspond one to one to the plurality of conductive sheets, and the shift rod is shifted to make the conductive rod contact with different conductive sheets, thereby energizing the corresponding electromagnet.

[0016] Compared with the prior art, the present invention has the following beneficial effects: the robot can make the connecting ring move in more directions through the circular plate, so that the lens can be directed to more directions, which is conducive to finding stones.

[0017] When the circular plate moves through the connecting ring driven by the steel wire, the connecting ring and the circular plate remain parallel, that is, the connecting ring and the circular plate move in the same direction, which makes the operation of the robot intuitive and convenient, and is conducive to the operation of doctors. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0019] Figure 2 is a cross-sectional view of the external connecting pipe in the present invention;

[0020] Figure 3 is a schematic structural diagram of a circular plate in Embodiment 1 of the present invention;

[0021] Figure 4 is a partial cross-sectional view of the present invention;

[0022] Figure 5 is a cross-sectional view of the hard tube in the present invention;

[0023] Figure 6It is a schematic diagram of the overall structure of Embodiment 2 of the present invention;

[0024] Figure 7 It is a schematic diagram of the structure of the fixing plate in the present invention;

[0025] Figure 8 It is a schematic diagram of the distribution of the electromagnets in the present invention;

[0026] Figure 9 It is a schematic diagram of the distribution of the conductive sheets in the present invention;

[0027] Figure 10 It is a cross-sectional view of the mounting seat in the present invention;

[0028] Figure 11 It is a schematic diagram of the control circuit principle of the electromagnet in the present invention.

[0029] In the figure: 1. Handle; 2. Rigid tube; 3. Flexible tube; 4. Connecting ring; 5. Lens; 6. Inner connecting tube; 7. Outer connecting tube; 8. First magnet; 9. Second magnet; 10. Steel wire; 11. First spherical joint; 12. Circular plate; 13. Fixing plate; 14. Electromagnet; 15. Second spherical joint; 16. Conductive rod; 17. Pushing rod; 18. Elastic rope; 19. Conductive sheet. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] Embodiment 1: As Figures 1 - 5 shown, the technical solution adopted by the present invention is as follows: A ureteroscope robot includes a connecting ring 4, a flexible tube 3, a steel wire 10, and a circular plate 12.

[0032] The front end face of the connecting ring 4 is provided with a lens 5. Through the lens 5, the stone can be explored to determine the position of the stone. The rear end of the connecting ring 4 is connected to the flexible tube 3 through a flexible connecting member. The flexible connecting member includes an outer connecting tube 7 and an inner connecting tube 6 coaxially arranged inside the outer connecting tube 7. The inner connecting tube 6 is coaxially arranged with the connecting ring 4. Both the inner connecting tube 6 and the outer connecting tube 7 are fixedly connected between the flexible tube 3 and the connecting ring 4. There is a gap between the outer connecting tube 7 and the inner connecting tube 6. Both the inner connecting tube 6 and the outer connecting tube 7 are flexible tubes.

[0033] A limiting component is provided between the connecting ring 4 and the hose 3, which makes the connecting ring 4 and the hose 3 tend to move away from each other. The limiting component includes a first magnet 8 and a second magnet 9. The first magnet 8 is fixed on the end face of the hose 3 close to the connecting ring 4, and the second magnet 9 is fixed on the end face of the connecting ring 4 close to the hose 3. There is a repulsive force between the first magnet 8 and the second magnet 9, making the hose 3 and the connecting ring 4 tend to move away from each other. Furthermore, the inner connecting pipe 6 and the outer connecting pipe 7 are in a straightened state. In the natural state, the first magnet 8 and the second magnet 9 are parallel.

[0034] A hard pipe 2 is coaxially and fixedly connected to the end of the hose 3 away from the connecting ring 4. A first spherical joint 11 is fixedly sleeved on the outer circumferential surface of the hard pipe 2, and a circular plate 12 is rotatably sleeved on the first spherical joint 11. The circular plate 12 is coaxial with the connecting ring 4. Steel wires 10 are fixedly connected between the connecting ring 4 and the circular plate 12. There are multiple steel wires 10, and the multiple steel wires 10 are circumferentially distributed uniformly along the axis of the connecting ring 4. Specifically, a wire passing hole is opened in the side wall of the hose 3 along the length direction, and a wire passing channel communicating with the wire passing hole is opened at the end of the hard pipe 2 close to the hose 3. One end of the steel wire 10 is fixedly connected to the second magnet 9, and the other end of the steel wire 10 passes between the inner connecting pipe 6 and the outer connecting pipe 7, then passes through the wire passing hole and the wire passing channel and is fixedly connected to the circular plate 12. The steel wire 10 is in sliding fit with the wire passing hole and the wire passing channel. Lubricant is applied to the steel wire 10 to reduce the friction between the steel wire 10 and the hose 3. A fixed pulley is installed at the turning point of the wire passing channel, so that the steel wire 10 bypasses the fixed pulley, enabling the steel wire 10 to slide smoothly and reducing the friction when the steel wire 10 slides.

[0035] A handle 1 is fixedly connected to the end of the hard pipe 2 away from the hose 3. The optical fiber for lithotripsy extends from the handle 1 into the hard pipe 2, then passes through the hose 3 and the inner connecting pipe 6 in sequence, and then can extend out through the connecting ring 4 and act on the part where lithotripsy is needed.

[0036] Working principle: Initially, the first magnet 8 and the second magnet 9 are parallel, and the steel wire 10 is in a tensioned state.

[0037] During use, the connecting ring 4 and the hose 3 are inserted into the patient's body, and the position of the calculus can be found through the lens 5. During the process of finding the calculus, the doctor can control the direction of the lens 5 by rotating the circular plate 12. Specifically, a thrust is applied to one side of the circular plate 12, making the side of the circular plate 12 move to the right, and then the circular plate 12 rotates along the first spherical joint 11. The circular plate 12 drives the connecting ring 4 to move through the steel wire 10, causing the connecting ring 4 to flip, and then changing the orientation of the lens 5 to facilitate the discovery of the calculus.

[0038] For example, as Figure 4 、 Figure 5As shown, rotate the circular plate 12 so that the upper side of the circular plate 12 faces right and the lower side faces left. Then, the upper side of the circular plate 12 pulls the steel wire 10 to move right, and the upper steel wire 10 pulls the second magnet 9 to move right. The lower side of the circular plate 12 moves left, making the lower steel wire 10 slack. Also, due to the repulsive force of the second magnet 9 by the first magnet 8, the upper side of the connecting ring 4 is pulled rightward and the lower side is pushed leftward, causing the connecting ring 4 to deflect clockwise and changing the orientation of the lens 5. And during the deflection of the connecting ring 4, the connecting ring 4 is always parallel to the circular plate 12, that is, the connecting ring 4 moves in the same direction as the circular plate 12. Therefore, by controlling the movement direction of the circular plate 12, the orientation of the lens 5 can be controlled, that is, to make the lens 5 face where you want, just rotate the circular plate 12 to make the circular plate 12 face there, which is beneficial to improving the convenience and intuitiveness of the doctor to control the lens 5.

[0039] By applying thrust to different positions on the circumferential direction of the end face of the circular plate 12, the connecting ring 4 can be rotated in different directions, and then the lens 5 can face multiple directions, which is convenient for exploration in more angles and more directions, beneficial to finding stones and preparing for the next step of lithotripsy.

[0040] After finding the stone, extend the optical fiber through the connecting ring 4 for lithotripsy.

[0041] This robot has a simple structure and intuitive and convenient operation. Through the circular plate 12, the connecting ring 4 can be moved in more directions, and the lens 5 can face more directions, which is beneficial to finding stones.

[0042] Embodiment 2: This embodiment is an improvement based on Embodiment 1.

[0043] As Figure 7 、 Figure 8 、 Figure 9 、 Figure 10 As shown, a fixing plate 13 is coaxially and fixedly installed at one end of the handle 1 close to the rigid tube 2. On the end face of the fixing plate 13 close to the circular plate 12, a plurality of electromagnets 14 are fixedly arranged in a circular array according to the axis of the fixing plate 13. The circular plate 12 is made of iron material. Energize one of the electromagnets 14 to generate magnetic attraction on the corresponding part of the circular plate 12, causing the corresponding side of the circular plate 12 to deflect towards the fixing plate 13. Further, the circular plate 12 pulls the connecting ring 4 to move through the steel wire 10, causing the connecting ring 4 to flip, and then changing the orientation of the lens 5, which is convenient for finding stones.

[0044] A mounting seat is fixedly mounted on the handle 1, and a second spherical joint 15 is rotatably mounted in the mounting seat. A mounting slot adapted to the second spherical joint 15 is provided in the mounting seat, and the second spherical joint 15 is arranged in the mounting slot. An elastic rope 18 is fixedly connected to the side of the second spherical joint 15 close to the handle 1, and the end of the elastic rope 18 facing away from the second spherical joint 15 is fixedly connected to the handle 1. A conductive rod 16 is fixedly connected to the side of the second spherical joint 15 facing outward, and a lever 17 is fixedly connected to the end of the conductive rod 16 facing away from the second spherical joint 15. A plurality of conductive sheets 19 are fixed to the end of the mounting seat facing away from the handle 1 in a circular array according to the axis of the mounting slot, and the conductive sheets 19 cooperate with the conductive rod 16. The plurality of conductive sheets 19 correspond to the plurality of electromagnets 14 one by one. The conductive sheets 19 and the conductive rods 16 are both connected to the control circuit of the electromagnet 14. The conductive rod 16 contacts one of the conductive sheets 19 to energize the corresponding electromagnet 14.

[0045] In a natural state, under the action of the elastic rope 18, the axis of the conductive rod 16 coincides with the axis of the circle formed by the plurality of conductive sheets 19. The conductive rod 16 does not contact any conductive sheet 19, and the plurality of electromagnets 14 are all in a power-off state. The lever 17 is manually rotated to make the conductive rod 16 contact one of the conductive sheets 19, and then the corresponding electromagnet 14 is powered on.

[0046] In this embodiment, by rotating the lever 17, the conductive rod 16 is brought into contact with different conductive sheets 19, so that different electromagnets 14 can be energized, thereby controlling the movement direction of the circular plate 12 and causing the connecting ring 4 to rotate in different opposite directions, thereby allowing the lens 5 to face multiple directions, further improving the convenience for the doctor to control the direction of the lens 5.

[0047] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A ureteroscope robot, characterized in that: The invention comprises a connecting ring (4), a lens (5) being installed at the front end of the connecting ring (4), a hose (3) being connected at the rear end of the connecting ring (4) via a flexible connecting piece, a limiting component being arranged between the connecting ring (4) and the hose (3), the limiting component causing the connecting ring (4) and the hose (3) to have a tendency to move away from each other; the hose (3) is connected to a hard tube (2), a first spherical joint (11) being fixedly sleeved on the outer circumference of the hard tube (2), a circular plate (12) being rotatably sleeved on the first spherical joint (11), a plurality of steel wires (10) being fixedly connected between the circular plate (12) and the connecting ring (4), the steel wires (10) being evenly distributed along the circumference of the axis of the connecting ring (4); The limiting assembly comprises a first magnet (8) and a second magnet (9); the first magnet (8) is fixedly arranged on an end surface of the connecting ring (4) close to the hose (3); and the second magnet (9) is fixedly connected to an end surface of the hose (3) close to the connecting ring (4); The steel wire (10) is in a tensioned state, and the circular plate (12) is rotated, so that the upper side of the circular plate (12) rotates to the right, and the lower side of the circular plate (12) rotates to the left. The circular plate (12) pulls the upper side of the connecting ring (4) to rotate to the right through the steel wire (10). Since the second magnet (9) is subjected to the repulsive force of the first magnet (8), the lower side of the connecting ring (4) moves to the left. The connecting ring (4) and the circular plate (12) move in the same direction, so that the connecting ring (4) is turned over, thereby changing the direction of the lens (5).

2. The ureteroscope robot according to claim 1, characterized in that: The flexible connecting piece comprises an outer connecting tube (7) and an inner connecting tube (6); the outer connecting tube (7) and the inner connecting tube (6) are coaxially arranged, and the inner connecting tube (6) is located inside the outer connecting tube (7); the outer connecting tube (7) and the inner connecting tube (6) are both fixedly connected between the connecting ring (4) and the hose (3).

3. The ureteroscope robot according to claim 1, characterized in that: There is a gap between the inner connecting tube (6) and the outer connecting tube (7), and the steel wire (10) passes through between the inner connecting tube (6) and the outer connecting tube (7).

4. The ureteroscope robot according to claim 1, characterized in that: A threading hole is provided on the side wall of the hose (3) along the length direction, and the steel wire (10) passes through the threading hole.

5. The ureteroscope robot according to claim 1, characterized in that: One end of the hard tube (2) away from the soft tube (3) is fixedly connected with a handle (1).

6. The ureteroscope robot according to claim 5, characterized in that: A fixing plate (13) is coaxially fixed to one end of the handle (1) close to the hard tube (2); a plurality of electromagnets (14) are mounted on an end surface of the fixing plate (13) close to the circular plate (12) in a circular array according to the axis of the fixing plate (13); the circular plate (12) is made of iron material, and when one of the electromagnets (14) is energized, a magnetic attraction force is generated on a corresponding part of the circular plate (12), so that a corresponding side of the circular plate (12) is deflected in a direction close to the fixing plate (13).

7. The ureteroscope robot according to claim 6, characterized in that: The handle (1) is fixedly mounted with a mounting seat, a second spherical joint (15) is rotatably arranged in the mounting seat, a side of the second spherical joint (15) close to the handle (1) is fixedly connected with an elastic rope (18), an end of the elastic rope (18) away from the second spherical joint (15) is fixedly connected to the handle (1), a side of the second spherical joint (15) facing outward is fixedly connected with a conductive rod (16), and the conductive rod (16) is fixedly connected with a lever (17); a plurality of conductive sheets (19) are mounted in an annular array on the mounting seat, the plurality of conductive sheets (19) correspond to the plurality of (14) one by one, and the lever (17) is moved to make the conductive rod (16) contact with different conductive sheets (19), thereby energizing the corresponding electromagnet (14).

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