A flexible ureteroscope with active tentacles

Abstract

The present invention relates to a ureteroscope with active tentacles, including a soft mirror guide sheath and a soft mirror body, both of which are hollow long tubes, the soft mirror guide sheath is wrapped outside the soft mirror body, and the soft mirror body can move freely forward and backward inside the soft mirror guide sheath. Tentacles and tentacle pipes are provided, the tentacle pipes are arranged in parallel inside the soft mirror body, and the inside of the tentacle pipe is filled with viscous substances; the tentacles are soft and solid strips, and are arranged inside the tentacle pipes. The tentacles can move freely forward and backward in the tentacle pipes, and the gap between the two is matched. At this time, the above-mentioned viscous substances fill the gap between the tentacles and the tentacle pipes. The tentacles actively extend and retract in the renal pelvis, and the gravel floating in the distance is captured near the negative pressure port formed by the soft mirror guide sheath.

Description

Technical Field

[0001] The invention relates to a flexible ureteroscope with active tentacles. Background Art

[0002] With the continuous development of technology, urologists are increasingly choosing endoscopic surgery. An endoscope is inserted into the kidney through the urinary tract to locate the stones and remove them in a targeted manner. If the kidney stones are larger than 5mm, that is, larger than the natural urinary tract, extracorporeal shock waves or surgery (laser) lithotripsy must be used. These fragments vary in size. Larger fragments can be removed using grasping tools, but smaller fragments are too small to be captured. Within a few months, the fragments retained in the kidney will continue to grow larger and cause complications. Existing treatment options mostly use drugs to solve the problem of retained small gravel, but the excretion rate of small gravel cannot be guaranteed, which poses certain safety hazards. After being retained in the body, due to excessive calcium ions in the blood, they precipitate when passing through the kidneys, and the small gravel continues to grow larger, leading to a reexamination of kidney stones. The patient needs to undergo surgery again, which causes secondary damage to the patient and increases the risk of infection. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art (negative pressure suction lithotripsy), the purpose of the present invention is to provide a new ureteroscope with active tentacles to solve the problem that tiny stones float around and cannot be captured by negative pressure after lithotripsy.

[0004] The ureteroscope includes a soft ureteroscope guide sheath and a soft ureteroscope body, both of which are hollow long tubes. The soft ureteroscope guide sheath is hard, and the soft ureteroscope body is soft. The soft ureteroscope guide sheath is wrapped around the outside of the soft ureteroscope body. The soft ureteroscope body can move freely back and forth inside the soft ureteroscope guide sheath, and negative pressure is introduced into the space between the two.

[0005] The soft endoscope body is also provided with a water channel, an optical fiber channel, and an operation channel;

[0006] The water channel is used to introduce the external perfusion fluid from the rear end of the soft endoscope body (close to the user) to the front end of the soft endoscope body (the working part inserted into the patient's renal pelvis, called the front end. The naming rules for the front and back ends of other components are the same);

[0007] The optical fiber path is used to display the image seen at the front end of the soft endoscope body on the imaging system connected to the rear end of the soft endoscope body;

[0008] The front end of the soft mirror body is provided with a bending actuator, so that the front end of the soft mirror body can be bent at four angles, up, down, left, and right, with the central axis of the soft mirror body as the reference, and the maximum bending angle is 90 degrees;

[0009] The rear end of the soft endoscope body is provided with a water channel interface, a laser / stone removal basket channel interface (the above two interfaces are two different interfaces at the rear end of the soft endoscope body, but at the front end of the rear end of the soft endoscope body, the two interfaces lead to the same outlet, the water channel outlet. That is to say, when the soft endoscope body is working, liquid is continuously perfused on one side, and laser lithotripsy or stone removal by stone removal basket is performed on the other side at the same time), an optical fiber channel interface, and a bending operating mechanism, which controls the bending actuator through the operating channel;

[0010] A negative pressure interface is also provided at the rear end of the soft endoscope guide sheath;

[0011] Features:

[0012] A tentacle pipeline is also provided, which is arranged in parallel with the soft mirror body and is arranged inside the soft mirror body. The interior of the tentacle pipeline is filled with viscous substances, and its length is consistent with or smaller than the soft mirror body, and its diameter is 0.5-1.5 mm;

[0013] The tentacle is a soft, long, solid strip, and is arranged inside the tentacle pipeline. The tentacle can move freely back and forth in the tentacle pipeline, and the gap between the two is matched. At this time, the above-mentioned viscous substance fills the gap between the tentacle and the tentacle pipeline. Its length is consistent with or matches the tentacle pipeline, and its diameter is 0.5-1.5 mm;

[0014] A tentacle pipeline interface is also provided for adding viscous substances to the tentacle pipeline;

[0015] A tentacle drive mechanism is also provided to drive the tentacles to move back and forth in the tentacle pipeline. The maximum distance that the tentacles extend from the front end of the tentacle pipeline is 10-25 mm, and the distance that the tentacles extend from the rear end of the tentacle pipeline is 10-25 mm. The distance that the tentacles retract into the tentacle pipeline is not limited and depends on the structure of the specific drive mechanism.

[0016] The soft mirror guide sheath in the prior art is relatively hard in texture. It is mainly used to "open the way" for the soft mirror body, and as a shell to protect the soft mirror body when the soft mirror body is working. That is, a guide wire with a certain hardness and softness is first inserted from the lower urinary tract (urinary orifice) of the human body, through the urethra, bladder, ureter, and finally reaches the renal pelvis in the kidney. Then the soft mirror guide sheath is sleeved on the tail end of the guide wire, and inserted into the human urinary cavity through the guiding effect of the guide wire, and finally reaches the renal pelvis. Then the guide wire is pulled out, and the soft mirror body is inserted into the soft mirror guide sheath, and then the insertion is continued until the front end of the soft mirror body is exposed from the front end of the soft mirror guide sheath. At this time, the front end of the soft mirror body is in the renal pelvis position. It can be seen that one of the functions of the soft mirror guide sheath is to provide an "opening" effect when the soft mirror body enters the working position. Since it needs to break through the resistance of the human urinary cavity from the lower urinary tract and insert into the renal pelvis position, its material needs to reach a certain hardness. However, since the human urinary cavity has a certain degree of curvature, the material of the soft endoscope guide sheath needs to have a certain degree of softness (this is why the earliest "open-circuit" guide wires also need to have a certain degree of "hardness and softness").

[0017] In the prior art, when the soft mirror body is working, the soft mirror guide sheath is still sleeved on the soft mirror body, that is, the second function of the soft mirror guide sheath is to protect the soft mirror body when the soft mirror body is working. As can be seen from the above, the front end of the soft mirror body can be bent at four angles, up, down, left and right, with the central axis of the soft mirror body as the reference, and the maximum bending angle is 90 degrees. And because the soft mirror body does not need to be "opened" in the human urinary cavity, its texture is very soft. If it is squeezed by the human urinary cavity during work, it will damage its internal waterway, imaging system and operation channel.

[0018] Since the soft endoscope body integrates the above-mentioned working passage, its structure is relatively complex and precise. Therefore, although there is still space inside the soft endoscope body to put in the negative pressure pipe, in the prior art, the designer cleverly introduces negative pressure in the space between the soft endoscope body and the soft endoscope guide sheath, and uses the above-mentioned interlayer as a negative pressure pipe. However, please note that in order to reduce the diameter of the soft endoscope body and the soft endoscope guide sheath, the size of the interlayer between the two is very small, and larger stones or stone fragments cannot pass through.

[0019] When lithotripsy is required, the laser device (lithotripsy device) is inserted from the laser passage interface (at this time, the waterway is still filled with liquid, and the liquid filling does not stop), and the laser head is exposed from the waterway opening at the front end of the soft mirror body to break the stones. The perfusion liquid in the waterway opening washes away the heat of the laser and the broken stones, and the perfusion liquid is continuously sucked away by the above-mentioned negative pressure pipe. Then the operator withdraws the front end of the soft mirror body from the front end of the soft mirror guide sheath backwards, so that the larger broken stones can be smoothly sucked into the inner cavity of the soft mirror guide sheath from the front end of the soft mirror guide sheath and discharged into the negative pressure interface at the rear end of the soft mirror guide sheath.

[0020] The current problem with existing technologies is that tiny gravel (pieces) float around and cannot be captured by negative pressure. The reason is that the negative pressure in the renal pelvis cannot be too large. If the negative pressure value is too large, it will damage the inner wall of the renal pelvis. The negative pressure in the liquid environment decreases with the increase of distance. Therefore, once the tiny gravel (pieces) formed after the laser lithotripsy surgery float far away from the negative pressure port at the front end of the soft mirror guide sheath, the negative pressure cannot attract these gravel.

[0021] Moreover, the soft endoscope guide sheath becomes a negative pressure conduit and cannot be moved around. On the one hand, the soft endoscope guide sheath itself cannot be moved during surgery. On the other hand, if it moves close to the renal pelvic wall, it will produce a negative pressure suction effect on the renal pelvic wall, causing damage. Therefore, it is not possible to actively capture these drifting gravel by moving the negative pressure port at the front end of the soft endoscope guide sheath.

[0022] Therefore, a technology called "stone basket" (similar to a net bag, which is inserted from the interface of the stone basket and exposed from the water outlet at the front end of the soft endoscope body) has been developed in the prior art. However, the disadvantages of the "stone basket" technology are: 1. It still cannot capture stones that are too small. 2. Its operation technique is too complicated and requires a relatively high level of surgical skills from the user. 3. It must find the fragments in the imaging system before it can capture them. Therefore, it still cannot properly solve the technical problem in the prior art that "tiny stones float around and cannot be captured by negative pressure" during kidney stone removal surgery.

[0023] Inspired by the anteater licking ants, active "tentacles" were designed to catch the debris (pieces) floating around.

[0024] Near the body of the soft endoscope, a soft "tentacle" that can be extended back and forth is set, and a viscous liquid is coated on the "tentacle". When the tentacle extends forward, due to the relatively soft texture of the tentacle and the irregular internal space of the renal pelvis, the route of the tentacle is also irregular. The gravels on the route of advancement are stuck to the tentacle after contacting the viscous liquid on the tentacle. When the tentacle retracts into the tentacle pipeline, some of the gravels that are not firmly attached are affected by the surrounding negative pressure force, the impact force of the perfusion liquid, and the decrease in adhesion caused by the dissolution of mucus before contacting the tentacle pipeline. Under the combined effect, this part of the gravels falls around the tentacle pipeline, and some are attracted by the negative pressure to the vicinity of the negative pressure opening (the negative pressure opening is relatively small and cannot pass gravels of a certain size). The tentacle pipeline is close to the negative pressure opening. When the tentacle approaches the tentacle pipeline, it also approaches the negative pressure opening. At this time, the force of the negative pressure on the gravels attached to the tentacle increases. For the same reason, the impact force of the perfusion liquid on the gravels attached to the tentacle will also increase. When the above-mentioned force is greater than the adhesion force, the gravel adhered to the tentacle falls off. Other gravel that is more firmly attached is scraped off by the outer wall of the tentacle when it contacts the tentacle tube. At this point, the gravel floating in the distance is actively captured by the tentacles near the front end of the soft mirror body (which is also the opening of the soft mirror guide sheath). At this time, the soft mirror body is withdrawn from the soft mirror guide sheath (the soft mirror body is pulled out of the soft mirror guide sheath - during this surgical operation, each time gravel is found, crushed, and sucked out, the soft mirror body needs to be pulled out of the soft mirror guide sheath once). At this time, the soft mirror guide sheath becomes a complete negative pressure channel, and the negative pressure force increases (the caliber of the negative pressure opening becomes larger), sucking away the gravel originally near the front end of the soft mirror body.

[0025] At this point, the above three technical problems have been solved: 1. Through the adhesion method, gravel of any size can be captured (the smaller the size and the lighter the mass, the better the adhesion effect); 2. The tentacle drive mechanism only needs to provide the power for the tentacles to extend and retract, and there is no requirement for the operator's surgical level; 3. The tentacles are soft, the internal structure of the renal pelvis is irregular, and the front end of the soft endoscope body continuously infuses liquid into the renal pelvis. Under the combined effect of these three factors, each time the tentacles move forward, the path they sweep is irregular, and the area they sweep is different each time, resulting in a high probability that they will come into contact with the gravel floating around inside the renal pelvis. Therefore, there is no need for the user to find the gravel with the naked eye. The tentacles that blindly "sweep" in the renal pelvis will randomly "capture" the gravel floating around inside the renal pelvis (similar to the tongue of an anteater, which also blindly "sweeps" in dead wood and randomly captures ants).

[0026] When the tentacle extends out of the tentacle pipe, there is a lot of viscous material adhering to the tentacle wall, and at this time, it has a greater adhesion to gravel. When it retracts, the viscous material adhering to the tentacle wall is partially dissolved by the liquid, causing its viscosity to decrease. This leads to a phenomenon that "the gravel adhering to its side wall is more likely to fall off during the retraction process." In other words, the "capturing" action of the tentacle is more about "pulling" the gravel in the distance to the negative pressure port. In other words, the "capturing" action of the tentacle actually solves the technical problem that the negative pressure range cannot reach far away.

[0027] Furthermore, the viscous substance is a gelatin, chitosan, and sodium alginate solution with a mass fraction of 1%-2.5%.

[0028] Furthermore, the tentacle pipelines may be provided in plurality, and a plurality of tentacles may be provided in the same tentacle pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the tentacle 2 being placed in the tentacle pipe 1.

[0030] Figure 2 It is a schematic diagram of tentacle 2 extending out of tentacle duct 1 and actively "sweeping" in the renal pelvis.

[0031] Figure 3 It is a schematic diagram of the tentacle 2 retracting into the tentacle tube 1.

[0032] Figure 4 It is a schematic diagram of the positions of the front end 31 of the soft endoscope body and the front end 41 of the soft endoscope guide sheath.

[0033] Figure 5 This is a schematic diagram of tentacle 2 actively "sweeping" in the renal pelvis.

[0034] Figure 6 There are two different positional relationships among the tentacle 2, the tentacle channel 1 and the soft mirror body 3.

[0035] Figure 7 It is a photograph of tentacle tube 1, and the interior of tentacle tube 1 is filled with viscous material.

[0036] Figure 8 , the photo of tentacle 2, which is in a soft, long, solid shape, is arranged inside the tentacle pipeline 1. The tentacle 2 can move freely back and forth in the tentacle pipeline 1, and the gap between the two is matched.

[0037] Fig. 9 The photos show that Tentacle 2 has a very soft texture.

[0038] Fig.10 The photo shows that a tentacle 2 with a thinner diameter can be used.

[0039] Fig.11It is a 2.5% gelatin solution.

[0040] Fig.12 , tentacle 2, which is covered with gelatin solution, is "sweeped" in the stone fragments + saline.

[0041] Fig.13 , after the "sweep", the tentacle 2 is taken out, and as the viscosity of the gelatin solution decreases, the gravel falls from the tentacle 2 into the droplet.

[0042] Fig.14 , wipe the tentacle 2 on the paper after "sweeping", and the gravel adsorbed on the tentacle 2 will be wiped off and fall onto the paper. DETAILED DESCRIPTION

[0043] Example

[0044] like Figure 4 The ureteroscope includes a soft scope guide sheath 4 and a soft scope body 3, both of which are hollow long tubes. The soft scope guide sheath 4 is hard, and the soft scope body 3 is soft. The soft scope guide sheath 4 is wrapped around the outside of the soft scope body 3. The soft scope body 3 can move freely back and forth inside the soft scope guide sheath 4, and negative pressure is introduced into the space between the two. Naturally, the negative pressure opening is the front end 41 of the soft scope guide sheath 4. During the operation, the position of the soft scope guide sheath 4 generally does not move, and the soft scope body 3 moves back and forth inside the soft scope guide sheath 4. The front end of the soft scope body 3 will also bend up and down, left and right to find stones.

[0045] The soft mirror body 3 is also provided with a water channel, an optical fiber channel, and an operation channel ( Figure 4 Not shown in the figure, the operation passage refers to the control signal transmission passage for operating the front end, front, back, left, and right of the soft endoscope body 3 to realize the bending action); the rear end of the soft endoscope body 3 is provided with a water channel interface, an optical fiber channel interface, a bending operation mechanism, and a laser / stone removal basket interface. The bending operation mechanism controls the bending actuator through the operation passage.

[0046] A tentacle pipeline 1 is also provided, such as Figure 7 The structure is a hollow and slender tube, which is arranged parallel to the soft mirror body 3. The length is based on the length of the soft mirror body 3. It can be the same length as the soft mirror body 3 or part of the length of the soft mirror body 3. It is arranged inside the soft mirror body 3. The soft mirror body 3 itself is a slender pipe, so there is a certain space inside to accommodate other small diameter pipes, such as the diameter of the tentacle pipe 1 is recommended to be 0.5-2 mm. The tentacle pipe 1 is filled with viscous substances, such as Fig.11 , 2.5% gelatin solution. Tentacle 2, e.g. Figure 8 , is a soft, long, solid object made of medical engineering plastic. It is set inside the tentacle pipeline 1, and its outer diameter is smaller than the inner diameter of the tentacle pipeline 1, and can generally be considered to be 0.1-0.9 times the inner diameter of the tentacle pipeline 1, such as Figure 8 , 10 . The tentacle 2 can move freely back and forth in the tentacle pipeline 1, and the gap between the two is matched. At this time, the above-mentioned viscous substance fills the gap between the tentacle 2 and the tentacle pipeline 1. At the tail end of the tentacle pipeline, a tentacle pipeline interface is provided, which is used to add viscous substances at the tail end of the tentacle pipeline 1. The viscous substance tentacle pipeline 1 slowly fills the entire tentacle pipeline 1 through natural flow or pressurization, and will flow into the renal pelvis from the front end of the tentacle pipeline 1. This structure is easy to understand, and can be compared to the way in which gas or liquid enters another container from a container through a narrow pipe (at this time, the tentacle pipeline 1 is the narrow pipe) when inflating a balloon, or giving a patient an injection (pressurization), or infusion (gravity pressurization, natural flow). The viscous substance uses a macromolecular substance, which is not absorbed by the human body, ensuring safety. Since the water channel of the soft mirror body 3 will be continuously perfused with saline, the viscous substance mixed with saline will be absorbed by the negative pressure opening 41, so this viscous substance will not cause harm to the human body. A tentacle 2 driving mechanism is provided at the rear end of the tentacle 2, which is used to drive the tentacle 2 to move forward and backward in the tentacle pipeline 1. The simplest driving method is a person's hand, which drives the front end of the tentacle 2 to extend and retract at the front end of the tentacle pipeline 1 by grabbing the tail of the tentacle 2 and moving it forward and backward. At this time, the part of the tentacle 2 exposed at the rear end of the tentacle pipeline 1 must be larger than the part of the tentacle 2 exposed at the front end of the tentacle pipeline 1. Of course, the tentacle 2 driving mechanism can be driven by a simple motor, and there are many mechanisms in the prior art that can achieve reciprocating motion. When driven by a motor, the tentacle 2 also needs to expose a part of the tentacle 2 at the rear end of the tentacle pipeline 1 as described above. The maximum distance when the tentacle 2 is extended at the front end of the tentacle pipeline 1 matches the space of the renal pelvis of an adult, and it is recommended to be 10-25 mm.

[0047] like Figure 6 , near the soft mirror body 3 (the figure shows the tentacle 202 arranged inside the soft mirror body 3, and the tentacles 201, 201 arranged outside the soft mirror body 3. The tentacle pipe 1 is not drawn. The tentacles arranged outside the soft mirror body 3 are discussed in detail in Example 2, and Example 1 only discusses the situation where the tentacle pipe 1 is arranged inside the tentacle pipe 1) soft tentacles 2 (201, 201) that can be extended forward and backward are arranged, and the tentacles 2 are coated with a viscous liquid (the viscous liquid fills the tentacle pipe 1, and the viscous liquid is naturally coated on the outer wall of the tentacle 2). When the tentacle 2 extends forward, due to the relatively soft texture of the tentacle 2, as shown in FIG. Fig. 9 , the internal space of the renal pelvis is also irregular, so the path of the tentacle 2 is also irregular, such as Figure 5 The gravel on the way forward comes into contact with the sticky liquid on the tentacle 2 and is stuck to the tentacle 2. Fig.12 , 14When the tentacle 2 retracts into the tentacle pipe 1, some loosely adhered gravels have already fallen near the front end 31 of the soft mirror body due to the several forces mentioned above (gradually approaching the negative pressure port, the water port, and the decrease in adhesion caused by mucus dissolution) before contacting the tentacle pipe 1. Fig.13 , showing that when the viscosity of the mucus decreases, Fig.12 The debris attached to it falls off from Tentacle 2. Figure 4 , the opening of the tentacle channel 1 is closer to the negative pressure opening 41 in terms of position (because the opening of the tentacle channel 1 is near the endoscope body 3 - inside or outside). When the tentacle 2 approaches the tentacle channel 1, it also approaches the negative pressure opening 41. At this time, the negative pressure acting on the gravel adhered to the tentacle 1 increases. When the attraction is greater than the adhesion force, the gravel adhered to the tentacle 1 falls off. Other gravel that is more firmly adhered is scraped off by the outer wall of the tentacle channel 1 and falls off when it contacts the tentacle channel 1. At this time, the above-mentioned fallen gravel is concentrated near the front end 31 of the endoscope body (which is also the opening 41 of the endoscope guide sheath. When the gravel needs to be adsorbed, the operator will pull the endoscope body 3 back to the guide sheath opening 41).

[0048] At this time, the soft mirror body 3 is withdrawn from the soft mirror guide sheath 4. At this time, the soft mirror guide sheath 4 becomes a complete negative pressure channel, and the negative pressure force increases (the diameter of the negative pressure opening 41 becomes larger), sucking away the gravel originally near the front end 31 of the soft mirror body.

[0049] At this point, the above three technical problems have been solved: 1. Through the adhesion method, gravel of any size can be captured (the smaller the size and the lighter the weight, the better the adhesion effect); 2. The tentacle drive mechanism only needs to provide the power for the tentacles to extend and retract, and does not require any surgical skills from the operator; 3. The tentacle 2 is soft in texture, the internal structure of the renal pelvis is irregular, and the water channel opening at the front end of the soft mirror body 3 continuously injects liquid into the renal pelvis. Under the combined effect of these three factors, each time the tentacle moves forward, the path it sweeps is irregular, and the area it sweeps is different each time, resulting in a high probability that it will come into contact with the gravel floating around inside the renal pelvis. Therefore, there is no need for the user to detect the gravel with the naked eye and blindly "sweep" in the renal pelvis ( Figure 5 , 6 )'s tentacles will randomly "capture" the debris floating around inside the renal pelvis (similar to the anteater's tongue, which also blindly "sweeps" through dead wood, randomly capturing ants).

[0050] When the tentacle 2 extends out of the tentacle pipe 1, there is a lot of viscous material adhering to the wall of the tentacle 2, and at this time, its adhesion to gravel is relatively large. When it retracts, the viscous material adhering to the wall of the tentacle 2 is partially dissolved by the liquid, resulting in a decrease in its viscosity. This leads to the phenomenon that "the gravel adhering to its side wall is more likely to fall off during the retraction process." In other words, the "capturing" action of the tentacle 2 is more about "pulling" the gravel in the distance to the negative pressure port 41. In other words, the "capturing" action of the tentacle 2 actually solves the technical problem that the negative pressure range cannot reach far away. Example

[0051] like Figure 6 Compared with the embodiment 1, the difference of the embodiment 2 is that the tentacle tube 1 is arranged outside the soft endoscope body 3, for example, it can be close to the inner wall of the soft endoscope guide sheath 4, or embedded in the side wall of the soft endoscope guide sheath 4 ( Figure 6 The soft endoscope guide sheath 4 is not shown). At this time, the working method and principle of the tentacles 1 are the same as those in Example 1, and after the soft endoscope body 3 exits the soft endoscope guide sheath 4, the tentacles 1 on the soft endoscope guide sheath 4 can still work, that is, to "grab" the gravel floating in the distance to the negative pressure opening 41 at the front end of the soft endoscope guide sheath 4.

Claims

1. A flexible ureteroscope with active tentacles, comprising a flexible scope guide sheath and a flexible scope body, both of which are hollow long tubes, the flexible scope guide sheath is wrapped around the outside of the flexible scope body, and the flexible scope body can move freely back and forth inside the flexible scope guide sheath; The front end of the soft mirror body is provided with a bending actuator, a water channel opening, and a camera; in, The bending actuator allows the front end of the soft mirror body to be bent at four angles, up, down, left, and right, based on the central axis of the soft mirror body, with a maximum bending angle of 90 degrees. The water channel opening is used to perfuse liquid into the working area at the front end of the soft endoscope body: the renal pelvis; A camera is used to transmit images from the renal pelvis; The flexible endoscope body is provided with a water channel, an optical fiber channel, and an operation channel; The water channel is used to introduce external perfusion fluid from the rear end of the soft mirror body into the front end of the soft mirror body; The optical fiber channel is used to display the image inside the renal pelvis on the imaging system connected to the rear end of the soft endoscope body; The operation passage is used to transmit the control signal to the bending actuator; The rear end of the soft endoscope body is provided with a water channel interface, a laser / stone removal basket channel interface, an optical fiber channel interface, and a bending operation mechanism, and the bending operation mechanism controls the bending actuator through the operation channel; A negative pressure interface is also provided at the rear end of the soft endoscope guide sheath for introducing negative pressure into the space between the soft endoscope body and the soft endoscope guide sheath. Features: A tentacle channel is also provided, which is arranged in parallel inside the soft mirror body. The tentacle channel is filled with viscous substances. The inner diameter of the tentacle channel is 0.5-1.5 mm, and the length of the tentacle channel matches the length of the soft mirror body. The tentacles are soft, long, solid strips, and are arranged inside the tentacle tube. The tentacles can move freely back and forth in the tentacle tube, and the gap between the two is matched. At this time, the above-mentioned viscous substance fills the gap between the tentacles and the tentacle tube. The outer diameter of the tentacle is 0.1-0.9 times the inner diameter of the tentacle tube, and the length matches the length of the tentacle tube. A tentacle pipe interface is also provided for adding macromolecular viscous substances that are not absorbed by the human body into the tentacle pipe; A tentacle driving mechanism is also provided to drive the tentacles to move back and forth in the tentacle pipes.

2. A flexible ureteroscope with active tentacles as claimed in claim 1, characterized in that: The tentacle pipeline is arranged outside the soft mirror body.

3. A flexible ureteroscope with active tentacles as claimed in claim 2, characterized in that: The tentacle channel is arranged on the inner wall of the soft endoscope guide sheath, or is embedded in the side wall of the soft endoscope guide sheath.

4. A flexible ureteroscope with active tentacles as claimed in claim 1 or 2, characterized in that: The viscous substance is a gelatin, chitosan and sodium alginate solution with a mass fraction of 1%-2.5%.

5. A flexible ureteroscope with active tentacles as claimed in claim 1 or 2, characterized in that: The tentacle pipes are provided in plurality, and a plurality of tentacles are provided in the same tentacle pipe.

6. A flexible ureteroscope with active tentacles as claimed in claim 1 or 2, characterized in that: A bending mechanism is arranged at the front end of the tentacle, so that the front end of the tentacle can actively bend at four angles, up, down, left, and right, based on the central axis of the tentacle body.

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