Ureteral stent taking-out device and method and control terminal

Abstract

The invention discloses a ureteral stent taking-out device and method and a control terminal. The ureteral stent taking-out device comprises a flexible catheter; the grabbing part is connected to the front end of the flexible catheter and used for grabbing the ureteral stent; the control module is connected to the rear end of the flexible catheter; wherein the control module is used for controlling the flexible catheter to enter the bladder through the urethra, grabbing the ureteral stent through the grabbing part, and controlling the flexible catheter to move out of the urethra after the grabbing part grabs the ureteral stent. The use of the flexible catheter and the grabbing and releasing of the grabbing part are controlled through the control module, so that the taking-out efficiency of the ureteral stent can be improved, the medical cost is reduced, the difficulty of taking-out operation is reduced, and the pain and discomfort of a patient are obviously relieved in the taking-out process.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a ureteral stent removal device, method and control terminal. Background Art

[0002] Urinary stones are a global disease and one of the most common urological diseases. The global incidence is 2% to 20%, and a certain proportion of patients need to be hospitalized, ranking first among inpatients in urology. Urinary stones can cause direct damage, obstruction, infection and even malignant changes to the urinary system, seriously threatening the health of the people.

[0003] With the progress of modern science and the development of medical devices, breakthroughs have been made in the surgical treatment of urinary stones. For example, various intracavitary techniques such as percutaneous nephrolithotomy and ureteroscopic lithotomy constitute the modern treatment of urinary stones. When using modern treatment methods to treat urinary stones, ureteral stents must be placed after minimally invasive surgery to maintain smooth urine drainage and promote ureteral recovery. However, how to remove the ureteral stent in the later stage is not only something that medical staff need to consider, but also a physical, psychological, and economic burden on patients during treatment.

[0004] At present, when removing ureteral stents, the traditional blind removal method has been eliminated due to the complications caused by the removal process. The current cystoscope-assisted removal method has visibility and a certain degree of safety, but during the process of removing the ureteral stent, the patient will feel obvious pain and discomfort, especially for male patients, which is easy to cause certain psychological pressure and anxiety. In addition, because the cystoscope is thick, the urethral mucosa will be damaged to a certain extent during the removal of the ureteral stent, resulting in severe hematuria. In addition, since the operation of the cystoscope is complicated and time-consuming, it will place higher technical requirements on medical staff.

[0005] Therefore, how to improve the removal efficiency of the ureteral stent, reduce the difficulty of the removal operation, and reduce the patient's discomfort during the removal process are problems that technical personnel in this field need to solve. Summary of the invention

[0006] The embodiments of the present invention provide a ureteral stent removal device, method and control terminal, which are intended to improve the removal efficiency of the ureteral stent, reduce the difficulty of the removal operation and reduce the patient's discomfort during the removal process.

[0007] An embodiment of the present invention provides a ureteral stent removal device, comprising:

[0008] Flexible conduits;

[0009] A grasping portion, connected to the front end of the flexible catheter, for grasping the ureteral stent;

[0010] A control module connected to the rear end of the flexible conduit;

[0011] The control module is used to control the flexible catheter to enter the bladder through the urethra and grasp the ureteral stent through the grasping part. After the grasping part grasps the ureteral stent, the control module controls the flexible catheter to move out of the urethra.

[0012] Furthermore, the grabbing portion includes a retractable grabbing basket.

[0013] Furthermore, the gripping portion includes a retractable clamping claw.

[0014] Furthermore, a camera unit is provided at the front end of the flexible catheter, and the camera unit is connected to the control module via a first electrical conductor provided in the flexible catheter.

[0015] Furthermore, a lighting unit is also provided at the front end of the flexible conduit, and the lighting unit is connected to the control module via a second electrical conductor provided inside the flexible conduit.

[0016] Furthermore, a flexible arm connected to the control module is also provided in the flexible conduit, and the flexible arm is used to control the bending angle of the flexible conduit.

[0017] The embodiment of the present invention further provides a method for removing a ureteral stent, comprising:

[0018] Controlling the flexible catheter to enter the bladder through the urethra until the front end of the flexible catheter reaches the position of the ureteral stent;

[0019] Controlling the grasping part to grasp the ureteral stent;

[0020] After the grasping portion grasps the ureteral stent, the flexible catheter is controlled to be moved out of the urethra.

[0021] Furthermore, the controlling the flexible catheter to enter the bladder through the urethra until the front end of the flexible catheter reaches the position of the ureteral stent also includes:

[0022] Obtain images of the physiological curvature of the urethra;

[0023] Acquiring the insertion path of the flexible catheter based on the ureteral physiological curvature image;

[0024] Setting the bending time and bending angle of the flexible conduit based on the insertion path;

[0025] During the extension of the flexible catheter, the flexible arm is automatically controlled according to the bending time and the bending angle until the front end of the flexible catheter reaches the position of the ureteral stent in the bladder.

[0026] Furthermore, the controlling the grasping part to grasp the ureteral stent includes:

[0027] Acquiring a target image including a ureteral stent by the imaging unit;

[0028] Using a target detection algorithm to detect the target image, and obtaining a bounding box of the ureteral stent;

[0029] Based on the bounding box, the grasping unit is controlled to grasp.

[0030] An embodiment of the present invention further provides a control terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the ureteral stent removal method as described in any one of the above items when executing the computer program.

[0031] The embodiment of the present invention provides a ureteral stent removal device, method and control terminal, the device comprising: a flexible catheter; a grasping portion connected to the front end of the flexible catheter for grasping the ureteral stent; a control module connected to the rear end of the flexible catheter; wherein the control module is used to control the flexible catheter to enter the bladder through the urethra, and grasp the ureteral stent through the grasping portion, and after the grasping portion grasps the ureteral stent, control the flexible catheter to move out of the urethra. The embodiment of the present invention controls the use of the flexible catheter and the grasping and releasing of the grasping portion through the control module, which can improve the efficiency of ureteral stent removal, reduce medical costs and reduce the difficulty of the removal operation, and can also significantly reduce the patient's pain and discomfort during the removal process. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0033] Figure 1 A schematic diagram of the structure of a ureteral stent removal device provided in an embodiment of the present invention;

[0034] Figure 2 Another schematic diagram of the structure of a ureteral stent removal device provided by an embodiment of the present invention;

[0035] Figure 3A schematic diagram of the structure of a grabbing basket in a ureteral stent removal device provided in an embodiment of the present invention;

[0036] Figure 4 A schematic diagram of the structure of a clamping jaw in a ureteral stent removal device provided in an embodiment of the present invention;

[0037] Figure 5 A schematic flow chart of a ureteral stent removal method provided in an embodiment of the present invention;

[0038] Figure 6 A schematic diagram of a sub-process of a ureteral stent removal method provided in an embodiment of the present invention;

[0039] Figure 7 A schematic diagram of another sub-process of a ureteral stent removal method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0042] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0043] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0044] See below Figure 1 This embodiment provides a ureteral stent removal device, comprising:

[0045] Flexible conduit 1;

[0046] A grasping portion 2, connected to the front end of the flexible catheter 1, for grasping the ureteral stent;

[0047] A control module 3 connected to the rear end of the flexible conduit 1;

[0048] The control module 3 is used to control the flexible catheter 1 to enter the bladder through the urethra and grasp the ureteral stent through the grasping part 2. After the grasping part 2 grasps the ureteral stent, the control module 3 controls the flexible catheter 1 to move out of the urethra.

[0049] In this embodiment, the ureteral stent removal device includes a flexible catheter 1, a grasping portion 2 and a control module 3, wherein one end of the flexible catheter 1 is connected to the grasping portion 2, and the other end is connected to the control module 3. The control module 3 controls the use of the flexible catheter 1 and the grasping and releasing of the grasping portion 2, thereby improving the efficiency of ureteral stent removal, reducing medical costs and the difficulty of removal operations, and significantly reducing the pain and discomfort of patients during the removal process.

[0050] In some optional embodiments, the control module 3, the flexible conduit 1 and the gripping portion 2 are designed in an integrated manner. Furthermore, in addition to one end of the control module 3 being designed in an integrated manner with the flexible conduit 1, the other end of the control module 3 can also be connected in an integrated manner with a control ring 4 (or a control handle) or other device, so that it is convenient for users to operate. Specifically, the control module 3 can be provided with a plurality of connection ports, and the flexible conduit 1 and the control ring (or control handle) are connected to the control module 3 through the connection ports.

[0051] In a specific embodiment, in combination Figure 1 and Figure 3 The grabbing portion 2 includes a retractable grabbing basket 21 .

[0052] In another specific embodiment, in combination Figure 2 and Figure 4 The grasping portion 2 includes a retractable clamping claw 22.

[0053] This embodiment provides a retractable grasping portion 2 for grasping the ureteral stent, which can flexibly adapt to the physiological curvature of the urethra, easily clamp and stabilize the stent, avoid damaging surrounding tissues, thereby reducing the patient's discomfort during the removal of the ureteral stent and reducing the probability of complications.

[0054] Specifically, the present embodiment can use a retractable grabbing basket 21 as the grabbing portion 2, or a retractable clamping claw 22 as the grabbing portion 2. When the grabbing basket 21 is used as the grabbing portion 2 to grab the ureteral stent, the grabbing basket 21 is first controlled to expand so that it can accommodate the grabbing portion 2 of the ureteral stent, and then the grabbing basket 21 is controlled to contract until the ureteral stent is grasped. When the clamping claw 22 is used as the grabbing portion 2 to grab the ureteral stent, the clamping claw 22 is first controlled to extend so that it is close to the ureteral stent, and then the clamping claw 22 is controlled to contract until the ureteral stent is grasped.

[0055] In an actual application scenario, each side of the clamp 22 or the grab basket 21 can be composed of multiple segments, and the adjacent segments are hinged, which can improve the telescopic flexibility of the clamp 22 or the grab basket 21, as well as the final grasping accuracy. For example, each side of the clamp 22 is composed of three segments. When grasping, the segment near one end of the flexible catheter 1 can be kept stationary, and the segment in the middle position can be controlled to drive the outermost segment to adjust to a suitable grasping angle, and then the outermost segment is controlled to retract inward, thereby completing the grasping.

[0056] In another practical application scenario, a retractable grabbing rod may be provided between the clamp 22 or the grabbing basket 21 and the front end of the flexible catheter 1, so as to avoid the situation where the grabbing portion 2 is too far away from the ureteral stent and cannot be grabbed when the flexible catheter 1 stops extending. For example, when the flexible catheter 1 stops extending and the grasping portion 2 can just grasp the ureteral stent, the current state of the grasping rod is maintained unchanged; when the flexible catheter 1 stops extending, the grasping portion 2 is too close to the ureteral stent, resulting in the grasping portion 2 being unable to fully unfold during grasping, and thus resulting in a general grasping effect, the grasping rod can be controlled to retract a distance backward, so that the distance between the grasping portion 2 and the ureteral stent is moderate; when the flexible catheter 1 stops extending, the grasping portion 2 is too far away from the ureteral stent, resulting in the grasping portion 2 being unable to grasp the ureteral stent or only being able to grasp a part of it during grasping, and thus resulting in a general grasping effect, the grasping rod can be controlled to extend forward a distance, so that the distance between the grasping portion 2 and the ureteral stent is moderate.

[0057] In one embodiment, a camera unit 5 is disposed at the front end of the flexible catheter 1 , and the camera unit 5 is connected to the control module 3 via a first electrical conductor disposed in the flexible catheter 1 .

[0058] Furthermore, a lighting unit 6 is also provided at the front end of the flexible conduit 1 , and the lighting unit 6 is connected to the control module 3 via a second electrical conductor provided inside the flexible conduit 1 .

[0059] In this embodiment, by arranging the camera unit 5 and the lighting unit 6 at the front end of the flexible catheter 1, a clearer field of view can be provided for the ureteral stent removal process, and the positioning accuracy of the ureteral stent can be improved, so as to realize the visualization of the ureteral stent removal process, and improve the removal accuracy of the ureteral stent, avoid damaging the surrounding tissues during the removal process, and improve the comfort of removal. Specifically, the camera unit 5 can be a micro camera, and the lighting unit 5 can be an LED lamp. The number of LED lamps can be set to multiple, and the multiple LED lamps can be evenly arranged around the micro camera. Preferably, in the actual processing process, the image of the environment can be firstly captured by the camera unit 5 and transmitted back to the control module. The control module 3 performs brightness analysis on the image transmitted back by the camera unit 5. If it is confirmed that the current brightness meets the analysis requirements, there is no need to turn on the LED lamp. If it is confirmed that the current brightness cannot meet the analysis requirements, the LED lamp is turned on. Further, the number of LED lamps to be turned on can also be determined according to the specific brightness, so that both the analysis requirements and the waste of resources can be met.

[0060] In actual application scenarios, when grasping the ureteral stent, an image of the area where the ureteral stent is located can be captured based on the camera unit 5, and then target detection can be performed on the captured image through deep learning technology to accurately locate the position of the ureteral stent. In this way, the telescopic size and direction of the grasping part 2 can be controlled so that the telescopic range of the grasping part 2 just meets the requirements of grasping the ureteral stent, so that the grasping part 2 can grasp the ureteral stent accurately and quickly, and during the grasping process, avoid collision and contact with other parts of the ureter, which can further reduce the patient's pain.

[0061] In one embodiment, a flexible arm 7 connected to the control module 3 is further disposed in the flexible conduit 1 , and the flexible arm 7 is used to control the bending angle of the flexible conduit 1 .

[0062] In this embodiment, the flexible arm 7 is arranged in the flexible catheter 1, so that the flexible catheter 1 bends along with the bending of the flexible arm 7, so that the bending time and bending angle of the flexible arm 7 can be set by the control module 3, and then the flexible catheter 1 bends at the set bending time and the set bending angle, so that the flexible catheter 1 can smoothly reach the area where the ureteral stent is located, and the removal efficiency of the ureteral stent is further improved. Specifically, the flexible arm 7 includes a plurality of small arms, and each adjacent small arm is connected by a rotating shaft.

[0063] In actual application scenarios, in order to enable the flexible catheter 1 to quickly and accurately reach the position of the ureteral stent, the bending time and bending angle of the flexible arm 7 are set in advance, so that when the flexible catheter 1 is inserted into the ureter, the bending time and bending angle are used to determine when to bend and the specific bending angle. This not only improves the grasping efficiency, but also prevents the flexible catheter 1 from touching the urethral wall due to untimely bending or the bending angle not matching the actual angle during the insertion process, thereby further reducing the patient's pain and discomfort.

[0064] like Figure 4 As shown, an embodiment of the present invention provides a method for removing a ureteral stent, which specifically includes: steps S101 to S103.

[0065] Step S101, controlling the flexible catheter 1 to enter the bladder through the urethra until the front end of the flexible catheter 1 reaches the position of the ureteral stent;

[0066] Step S102, controlling the grasping unit 2 to grasp the ureteral stent;

[0067] Step S103: After the grasping portion 2 grasps the ureteral stent, the flexible catheter 1 is controlled to be moved out of the urethra.

[0068] In this embodiment, when removing the ureteral stent, the flexible catheter 1 is first controlled to extend into the bladder, and the grasping part 2 is driven to extend forward to the position of the ureteral stent, and then the grasping part 2 is controlled to grasp the ureteral stent, and after the grasping is completed, the flexible catheter 1 is controlled to slowly withdraw from the urethra, thereby driving the grasping part 2 and the ureteral stent grasped by the grasping part 2 to be withdrawn from the ureter.

[0069] This embodiment controls the use of the flexible catheter 1 and the grasping and releasing of the grasping part 2, so as to improve the removal efficiency of the ureteral stent, reduce medical costs and reduce the difficulty of the removal operation, and can also significantly reduce the patient's pain and discomfort during the removal process.

[0070] In actual application scenarios, the implementation subject of the ureteral stent removal method provided in this embodiment may be the control module 3 of the ureteral stent removal device, or may be a control terminal including the control module 3, or of course may be other service terminals.

[0071] In one embodiment, if Figure 5 As shown, the step S101 includes: steps S201 to S204.

[0072] Step S201, obtaining a urethra physiological curvature image;

[0073] Step S202, acquiring the insertion path of the flexible catheter 1 based on the urethra physiological curvature image;

[0074] Step S203, setting the bending time and bending angle of the flexible catheter 1 based on the insertion path;

[0075] Step S204: during the extension of the flexible catheter 1, the flexible arm 7 is automatically controlled according to the bending time and the bending angle until the front end of the flexible catheter 1 reaches the position of the ureteral stent in the bladder.

[0076] In this embodiment, in order to enable the flexible catheter 1 to quickly and accurately reach the position of the ureteral stent in the bladder, the bending time and bending angle of the flexible arm 7 are set in advance, so that when the flexible catheter 1 is inserted into the urethra, the bending time and bending angle are used to determine when to bend and the specific bending angle. This not only improves the grasping efficiency, but also prevents the flexible catheter 1 from touching the urethral wall due to untimely bending or the bending angle not matching the actual angle during the insertion process, thereby further alleviating the patient's pain and discomfort.

[0077] In a specific embodiment, after obtaining the image of the physiological curvature of the urethra, the feature points in the image of the physiological curvature of the urethra are marked and extracted. For example, the position where the bending occurs is marked as a feature point, and then the regional information of the feature point is obtained, that is, the bending angle corresponding to the bending position is obtained, and then the parameters of the flexible arm 7 in the flexible catheter 1 are set in combination with the feature point and the feature point regional information, so that it bends at the set angle at the set time.

[0078] In one embodiment, if Figure 6 As shown, the step S102 includes: steps S301 to S303.

[0079] Step S301, collecting a target image including a ureteral stent through the camera unit 5;

[0080] Step S302: using a target detection algorithm to detect the target image to obtain a boundary box of the ureteral stent;

[0081] Step S303: Based on the bounding box, control the grasping unit 2 to grasp.

[0082] In this embodiment, when grasping the ureteral stent, the image of the area where the ureteral stent is located is first captured by the camera unit 5, and target detection is performed on the captured image through deep learning technology to accurately locate the position of the ureteral stent. In this way, the telescopic size and direction of the grasping part 2 can be controlled so that the telescopic range of the grasping part 2 just meets the requirements of grasping the ureteral stent, so that the grasping part 2 can grasp the ureteral stent accurately and quickly, and during the grasping process, avoid collision and contact with other parts of the bladder, which can further reduce the patient's pain.

[0083] In a specific embodiment, when a target image is collected, the target image is preprocessed, for example, by using a gradient operator method for image preprocessing. Specifically, the image is first sharpened to obtain steeper and clearer image edge information, then a smoothing filter is used to suppress noise, and finally an edge detection operator is used for threshold processing to determine prominent edge information. After the image preprocessing is completed, the target image is detected using the YOLOv5 algorithm. Specifically, the target image is firstly subjected to feature extraction by the backbone network in the YOLOv5 algorithm to obtain a plurality of feature maps, and then the plurality of feature maps are subjected to feature fusion by the neck network in the YOLOv5 algorithm, and then the features extracted by the neck network are subjected to category and position prediction by the head network in the YOLOv5 algorithm, and the corresponding bounding box is output. Among them, the main structure of the backbone network is to stack multiple CBS (Conv+BatchNorm+SiLU) modules and C3 modules, and finally connect a SPPF module. The CBS module is used to assist the C3 module in feature extraction, while the SPPF module enhances the feature expression ability of the backbone. SPPF avoids the repeated operation of SPP in SPPNet through the maximum pooling function before the maximum pooling, which can significantly improve the operation speed of the module.

[0084] In another specific embodiment, in addition to using the target detection algorithm to detect the target image, the target image can also be segmented by an image segmentation model to separate the ureteral stent from other parts, so as to improve the grasping accuracy, avoid multiple grasping, and thus improve the grasping efficiency. For example, a historical image containing a true value label can be first collected, and then the PVT feature encoder can be trained using the historical image to extract global semantic features from the historical image to obtain low-level features and multiple high-level features, and then the low-level features are convoluted to obtain a boundary prediction map, and multiple high-level features are upsampled and feature fused multiple times through a feature pyramid network to obtain multiple corresponding network features; then the foreground branch and background branch of each network feature are predicted through a convolutional network to obtain corresponding foreground prediction maps and background prediction maps; the foreground prediction maps of all network features are spliced ​​into a global foreground prediction map, and the background prediction maps of all network features are spliced ​​into a global background prediction map, thereby achieving image segmentation and constructing an image segmentation model.

[0085] In actual application scenarios, when the ureteral stent removal device is used to remove the ureteral stent, the patient is first placed in a lithotomy position, and after conventional disinfection and draping, a surface anesthesia operation is performed. Subsequently, the control module 3 controls the flexible catheter 1 to be inserted into the bladder along the natural physiological curvature of the patient's urethra. At this time, the lighting unit 6 and the camera unit 5 at the front end of the flexible catheter 1 are turned on, and the lighting unit 6 provides sufficient lighting conditions for the camera unit 5, and the camera unit 5 is used to observe the position of the ureteral stent. Next, the bending angle of the flexible catheter 1 is adjusted, and the grasping part 2 is guided to the vicinity of the ureteral stent, and then the degree of expansion and contraction of the grasping part 2 is controlled according to the specifications and position of the ureteral stent, so that it can accurately clamp the ureteral stent. Then, the control module 3 continues to control the flexible catheter 1 to slowly and steadily remove the ureteral stent from the body, thereby completing the ureteral stent removal operation. In the above operation, the overall structure of the ureteral stent removal device used is simple, and an integrated design is adopted, so that the overall removal operation is simple and quick, significantly shortening the operation time and improving the output efficiency of the ureteral stent. At the same time, through the coordinated use of structural parts such as the camera unit 5 and the lighting unit 6, the ureteral stent can be accurately positioned and the ureteral stent can be accurately and intuitively operated, which can reduce complications during the removal process. In addition, compared with the traditional removal method, the ureteral stent removal device provided in this embodiment has a simple overall structure and low manufacturing cost, which is conducive to clinical promotion and has certain economy. Moreover, this embodiment accurately controls the removal process through the control module 3 and adopts a flexible catheter 1, which can relieve the patient's pain during the removal process and help improve the patient's postoperative recovery experience.

[0086] In summary, the ureteral stent removal device and its use method provided in the embodiments of the present invention solve the problems of complex operation, patient pain, high cost, etc. in the prior art through technological innovation, and provide a safer, more comfortable, efficient and economical solution for stent removal after urological surgery, which has significant clinical application value and socio-economic benefits.

[0087] The embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0088] The embodiment of the present invention also provides a control terminal, which may include a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps provided in the above embodiment may be implemented. Of course, the control terminal may also include various network interfaces, power supplies and other components.

[0089] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of this application.

[0090] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A ureteral stent removal device, characterized in that: include: Flexible conduits; A grasping portion, connected to the front end of the flexible catheter, for grasping the ureteral stent; A control module connected to the rear end of the flexible conduit; The control module is used to control the flexible catheter to enter the bladder through the urethra and grasp the ureteral stent through the grasping part. After the grasping part grasps the ureteral stent, the control module controls the flexible catheter to move out of the urethra.

2. The ureteral stent removal device according to claim 1, characterized in that: The grab portion includes a retractable grab basket.

3. The ureteral stent removal device according to claim, characterized in that: The gripping portion includes a retractable clamping jaw.

4. The ureteral stent removal device according to claim 1, characterized in that: A camera unit is disposed at the front end of the flexible catheter, and the camera unit is connected to the control module via a first electrical conductor disposed in the flexible catheter.

5. The ureteral stent removal device according to claim 1, characterized in that: The front end of the flexible conduit is also provided with a lighting unit, and the lighting unit is connected to the control module via a second electrical conductor arranged inside the flexible conduit.

6. The ureteral stent removal device according to claim 1, characterized in that: A flexible arm connected to the control module is also arranged in the flexible conduit, and the flexible arm is used to control the bending angle of the flexible conduit.

7. A method for removing a ureteral stent, characterized in that: include: Controlling the flexible catheter to enter the bladder through the urethra until the front end of the flexible catheter reaches the position of the ureteral stent; Controlling the grasping part to grasp the ureteral stent; After the grasping portion grasps the ureteral stent, the flexible catheter is controlled to be moved out of the urethra.

8. The ureteral stent removal method according to claim 1, applied to the ureteral stent removal device according to claim 6, characterized in that: The controlling flexible catheter enters the bladder through the urethra until the front end of the flexible catheter reaches the position of the ureteral stent, and further comprises: Obtain images of the physiological curvature of the urethra; Acquiring the insertion path of the flexible catheter based on the urethra physiological curvature image; Setting the bending time and bending angle of the flexible conduit based on the insertion path; During the extension of the flexible catheter, the flexible arm is automatically controlled according to the bending time and the bending angle until the front end of the flexible catheter reaches the position of the ureteral stent in the bladder.

9. The ureteral stent removal method according to claim 1, applied to the ureteral stent removal device according to claim 4, characterized in that: The controlling grasping part grasps the ureteral stent, including: Acquiring a target image including a ureteral stent by the imaging unit; Using a target detection algorithm to detect the target image, and obtaining a bounding box of the ureteral stent; Based on the bounding box, the grasping unit is controlled to grasp.

10. A control terminal, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the ureteral stent removal method as claimed in any one of claims 7 to 9 when executing the computer program.

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