Device for changing hydromechanics action range in local liquid environment

Abstract

The invention relates to a device for changing a hydromechanics action range in a local liquid environment. The device comprises a closed environment and a first hose for inputting first liquid into the closed environment from the outside, the second hose is used for outputting liquid in the closed environment to the outside by utilizing negative pressure; the first hose is sleeved in the second hose and freely moves back and forth; the third hose is used for inputting a first substance into the closed environment; the closed environment is a human body pelvis; when the first substance is input into the outlet of the third hose, the distance between the outlet of the third hose and the inlet of the second hose is smaller than 2.5 cm. Under the condition that the negative pressure value at the opening of the negative pressure suction tube of the guide sheath is not increased, the acting range of the negative pressure suction force is increased.

Description

Technical Field

[0001] The invention relates to a device for changing the action range of fluid mechanics in a local liquid environment. Background Art

[0002] In the prior art, during soft endoscopy surgery, it is necessary to first crush large pieces of stone with a laser. The sizes of these fragments vary. Larger fragments can be removed using a grasping tool, but smaller fragments are too small to be captured. Within a few months, the fragments retained in the kidney will continue to grow. Because the crystallization of the solution is more obvious in the presence of a crystal nucleus. The fragments left in the renal pelvis after the previous operation will form a crystal nucleus, thereby accelerating the crystallization of urine. Therefore, the remaining tiny gravel is an imperfect surgical result for kidney stone surgery. Existing treatment options mostly use drugs to solve the small gravel that remains, but the excretion rate of small gravel cannot be guaranteed, and there are certain safety hazards. After being retained in the body, due to excessive calcium ions in the blood, the small gravel continues to grow larger when it passes through the kidneys, resulting in recurrence of kidney stones. The patient needs to undergo surgery again, causing secondary damage to the patient and increasing the risk of infection.

[0003] The human renal pelvis is equivalent to a closed liquid environment. Traditional soft endoscope stone removal surgery uses a ureteroscope, which includes a soft endoscope guide sheath and a soft endoscope body. Both are hollow long tubes. The soft endoscope guide sheath is hard and the soft endoscope body is soft. The soft endoscope guide sheath is wrapped around the outside of the soft endoscope body. The soft endoscope body can move freely back and forth inside the soft endoscope guide sheath, and negative pressure is introduced into the space between the two. The soft endoscope body is also provided with a water channel, an optical fiber channel, and an operation channel; The water channel is used to introduce external perfusion fluid (usually 0.9% saline) from the rear end of the soft endoscope body (close to the operator) through the middle end of the soft endoscope body 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); The optical fiber channel is used to transmit the image seen at the front end of the soft mirror body through the middle end of the soft mirror body and display it on the imaging system connected to the rear end of the soft mirror body; The front end of the soft lens body is provided with a bending actuator, so that the front end of the soft lens body can be bent at four angles, up, down, left, and right, based on the central axis of the soft lens body. The maximum bending angle is 90 degrees, that is, the front end of the soft lens body can be bent to a folding posture similar to a "U-shaped" with the opening downward; The rear end of the soft endoscope body is provided with a water channel interface, a laser / stone basket passage interface, an optical fiber passage interface, and a bending operating mechanism. The bending operating mechanism controls the bending actuator through the operating passage; the laser / stone basket passage interface is embodied at the rear end of the soft endoscope body and is two different interfaces, but at the front end of the soft endoscope body, these two interfaces lead to the same outlet, namely the water channel outlet. In other words, when the soft endoscope body is working, liquid is continuously perfused in the water channel on one side, and at the same time, a laser device is inserted into the water channel for laser lithotripsy or a stone basket device is inserted for stone removal - the laser device and the stone basket device cannot be inserted into the water channel at the same time. Only one device can be inserted at the same time, but the water channel is constantly perfusing liquid into the renal pelvis.

[0004] The rear end of the soft endoscope guide sheath is also provided with a negative pressure interface, and a negative pressure value adjustment device is provided on the negative pressure interface; 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 used to insert from the lower urinary tract (urinary orifice) of the human body, through the urethra, bladder, ureter, and finally reach the renal pelvis in the kidney. Then the soft mirror guide sheath is sleeved on the tail end of the guide wire, inserted forward into the lower urinary tract of the human body, and inserted into the human urinary cavity through the guidance 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").

[0005] 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. In addition, 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 the waterway, imaging system and operation channel inside it.

[0006] Since the soft mirror body integrates the above-mentioned working passage, its structure is relatively complex and precise. Therefore, although there is still space inside the soft mirror body to put in the negative pressure pipe, the space is narrow and not conducive to the operation of the negative pressure channel. Therefore, in the prior art, the designer cleverly introduces negative pressure in the space between the soft mirror body and the soft mirror 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 mirror body and the soft mirror guide sheath, the size of the interlayer between the two is very small, and larger stones or stone fragments cannot pass through.

[0007] When lithotripsy is required, insert the laser device (lithotripsy device) from the laser channel interface (at this time, the water channel is still filled with liquid, and the liquid filling does not stop), and the laser head is exposed from the water channel opening at the front end of the soft mirror body to break the stones. The perfusion liquid in the water channel 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 moves the front end of the soft mirror body backward from the front end of the soft mirror guide sheath to the middle section of the soft mirror guide sheath (the front end diameter of the soft mirror guide sheath is relatively small, while the middle section diameter is relatively large) to facilitate the larger-sized broken stones to be smoothly sucked from the front end of the soft mirror guide sheath with a relatively small diameter into the inner cavity / middle section of the soft mirror guide sheath with a relatively large diameter, and then continue to be sucked into the negative pressure interface at the rear end of the soft mirror guide sheath and discharged from the body.

[0008] The current problem with the existing technology is that tiny gravel (pieces) float around and cannot be captured by negative pressure. The reason is that the pressure of the negative pressure suction port in the renal pelvis - that is, the front end of the soft endoscope guide sheath, that is, the negative pressure suction port inserted into the renal pelvis - cannot be too high. In the prior art, a pressure sensor is specially set on the negative pressure suction port. Once the pressure is too high, it will be fed back to the negative pressure controller at the back end to adjust the negative pressure value. If the negative pressure value is too large, in case the negative pressure suction port is too close to the inner wall of the renal pelvis, the front end of the soft mirror guide sheath (i.e., the negative pressure suction port, the same below) will be manually controlled at a fixed position, generally in the middle of the renal pelvis, but this position is controlled by the surgeon by feel (including the process of "moving the front end of the soft mirror body from the front end of the soft mirror guide sheath to the middle of the soft mirror guide sheath" when attracting lithotripsy, which is also controlled by feel. Therefore, this operation requires a particularly high level of operation by the surgeon, which is also the reason why this soft mirror lithotripsy can only be promoted in a few hospitals at present). The surgeon's manual operation is prone to lose control during the process. Once out of control, the negative pressure suction port will move, and there is a certain probability that it will be too close to the inner wall of the renal pelvis. Under the action of negative pressure, it will produce excessive pressure on the inner wall of the renal pelvis, thereby damaging the inner wall of the renal pelvis. In other words, the pressure value of the negative pressure port is set relatively low to prevent the negative pressure suction port from moving due to the operator's mistake, thereby accidentally damaging the inner wall of the renal pelvis. It is a safety value set during the debugging stage before the equipment is used, and it is a safety measure. The negative pressure in the liquid environment decreases with the increase of the effective distance. Therefore, once the tiny gravel (pieces) formed after the laser lithotripsy operation 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. In other words, the above safety measures will lead to poor results of the operation - tiny gravel will remain. Of course, it should be made clear that the reason for the remaining tiny gravel is not only that the negative pressure value of the negative pressure port cannot be adjusted too high. The gravel after the operation floats to the corner, making it impossible to be found by the naked eye, or is stuck in the corner, which will also make it impossible to be attracted and discharged from the body.

[0009] Moreover, the soft endoscope guide sheath becomes a negative pressure pipe 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 pelvis wall, it will produce a negative pressure suction effect on the renal pelvis wall, causing damage. Therefore, moving the front end of the soft endoscope guide sheath to get close to these gravel and actively capture these drifting gravel can only be done within a short distance within the range that the operator considers safe. Once the moving distance is too large, the negative pressure suction port is likely to get too close to the inner wall of the renal pelvis.

[0010] Therefore, a technology called "stone basket" has been developed in the prior art (similar to a net bag, which is inserted from the stone basket interface and exposed from the water outlet at the front end of the soft endoscope body). However, the disadvantages of the "stone basket" technology are: 1. It still cannot capture gravel that is too small (the net bag is 3 steel wires and cannot capture gravel that is too small). 2. Its operation technique is too complicated. After each gravel is captured, the soft endoscope must be withdrawn from the guide sheath, and then the guide sheath is transformed into a negative pressure suction tube to attract the residual fragments in the renal pelvis, and so on. In the case of a large number of fragments, the operation time, operation technique, and physical strength of the operator are very high, and the user's surgical level is relatively high. 3. It must find the fragments in the imaging system before it can grab the fragments. If the fragments are not found on the screen due to negligence or bad luck, there is also a possibility that larger fragments will "slip through the net". Therefore, it still cannot properly solve the technical problem of "tiny gravel floating around and unable to be captured by negative pressure" during kidney stone removal surgery in the prior art.

[0011] Therefore, the above-mentioned prior art solutions cannot effectively solve the problem that the fragments float around and cannot be captured after laser lithotripsy. Summary of the invention

[0012] In order to overcome the shortcomings of the prior art (negative pressure aspiration lithotripsy), the purpose of the present invention is to provide a device for changing the range of fluid mechanics in a local liquid environment (such as in the renal pelvis, and in fact it can also be extended to other narrow, sealed liquid environments, such as the human stomach, or other objects in a closed liquid environment), to solve the problem of tiny gravel floating around after lithotripsy (if it is in a non-renal pelvis environment, it can correspond to simple absorption of gravel or fragments). In the renal pelvis environment, the negative pressure attraction in the negative pressure pipeline that absorbs gravel cannot be adjusted too large (in the renal pelvis environment, it is because the renal pelvis wall is easily damaged by excessive negative pressure, resulting in the inability to increase the negative pressure. If the present invention is applied to other occasions, the negative pressure source may not be adjusted too large due to other reasons), resulting in the problem that the negative pressure force range is too small to capture distant gravel.

[0013] A device for changing the scope of fluid mechanics in a local liquid environment, comprising a closed environment, and a first hose for inputting a first liquid from the outside into the closed environment; The front end of the first hose is provided with a bending actuator, a waterway opening, and a camera; The bending actuator enables the front end of the first hose to be bent at four angles, up, down, left, and right, based on the central axis of the first hose, with a maximum bending angle of 90 degrees. The water channel opening is used to pour the first liquid into the working area at the front end of the first hose; Camera, used to transmit images within the working area; The first hose is provided with a water passage, an optical fiber passage, and an operation passage inside; The water channel is used to introduce the first liquid from the outside into the front end of the first hose from the rear end of the first hose; The optical fiber passage is used to display the image in the working area on the imaging system connected to the rear end of the first hose; The operation passage is used to transmit the control signal to the bending actuator; The rear end of the first hose is provided with a water channel interface, a laser 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 second hose for outputting the liquid in the closed environment to the outside world by negative pressure, wherein the first hose is sleeved inside the second hose and can move freely forward and backward; A negative pressure interface is provided at the rear end of the second hose for introducing negative pressure into the space between the first hose and the second hose.

[0014] In order to solve the problem that during soft endoscope lithotripsy, the gravel floats to distant places, and the negative pressure suction tube is in the renal pelvis, but it is impossible to excessively increase the suction force of the negative pressure port to capture the distant gravel (stone) fragments. Because the negative pressure suction port will occasionally produce a certain amount of movement in the renal pelvis, when the negative pressure of the negative pressure port is too large, if the negative pressure port moves too close to the renal pelvis wall, it will damage the renal pelvis wall. Therefore, it is not possible to attract distant gravel by increasing the negative pressure value of the negative pressure port - increasing the negative pressure value of the negative pressure port will transmit the negative pressure to a farther place, and the gravel that could not be sucked in the distance before will be sucked in. Therefore, we know that what we are facing is a fluid mechanics problem in a closed environment. Specifically, it is a problem of how to increase the range of fluid mechanics in a closed environment (so that the negative pressure can attract distant gravel without increasing).

[0015] The research team hopes to further study the range of fluid mechanics forces in a closed environment. Therefore, the research team studied Poiseuille's law (a formula used to describe laminar flow in a circular tube. In the renal pelvis, the first liquid is output from the second hose to the outside of the renal pelvis, which can be simplified to laminar flow in a circular tube) Q =( π × r 4×Δ p) / 8 ηL , where Q represents the volume flow rate, Δp represents the pressure difference at both ends of the tube, r represents the radius of the tube, L represents the length of the tube, and η represents the viscosity coefficient of the fluid.

[0016] Since the negative pressure suction in the renal pelvis in this application does not require particularly accurate calculations, the suction of the negative pressure tube in the renal pelvis can be simplified to laminar flow in a circular tube for a qualitative analysis. At this time, it is found that when the viscosity η increases and the pressure difference at both ends of the tube is constant, the volume flow rate Q decreases. The volume flow rate Q can be considered as the range of negative pressure action in the negative pressure suction model (width and distance. When the width of the negative pressure force is equal to the width of the renal pelvis, the volume flow rate Q can reflect the distance of the force).

[0017] Reasoning from another perspective, when the volume flow rate Q is constant, the viscosity η increases, and the pressure difference at both ends of the tube must increase. At this time, assuming that the output end of the tube is negatively attracted (the tail end of the tube is connected to the negative pressure suction tube in the renal pelvis, that is, the second hose mentioned above, which uses negative pressure to output the liquid in the environment from the above closed environment to the outside world), the pressure at the input end of the tube is constant (in this model, the output end of the tube is attracted by negative pressure, and the water flow at the input end comes from the perfusion liquid of the soft mirror body, that is, the first hose mentioned above: a first hose that inputs the first liquid from the outside world into the closed environment. It is easy to determine that the pressure of the first hose when providing the first liquid is fixed), then the negative pressure value of the negative pressure suction port must increase.

[0018] Based on the above reasoning, as the viscosity increases, the range / distance of the negative pressure force will decrease. The analysis of this formula is consistent with the theory of pressure gradient in fluid mechanics: the pressure gradient refers to the pressure change (attenuation) per unit length during the flow of the fluid. Fluids with higher viscosity will produce greater friction when flowing, resulting in an increase in the pressure gradient (attenuation).

[0019] In other words, the increase in viscosity will reduce the range of the negative pressure in the first liquid (see the pressure gradient theory above). So far, the research has come to a standstill. The first liquid is ordinary saline 0.9%, and its viscosity cannot be further reduced. If pure water with a further reduction in viscosity is used, it will change the balance of osmotic pressure in the renal pelvis and cause other side effects on the renal pelvis (the human mucosa cannot be in contact with pure water for a long time, otherwise it will cause mucosal damage due to osmotic pressure problems).

[0020] After repeated thinking, the research team suddenly realized that the increase in viscosity causes the negative pressure force to decay rapidly in the liquid environment. This technical effect can be fully utilized in reverse during soft endoscope stone removal surgery.

[0021] When the negative pressure suction port is in the normal position (the center of the renal pelvis), the range of the negative pressure force (hereinafter referred to as "force") increases, which is beneficial to the user (attracting lithotripsy from a distance). However, during surgery, if the position of the negative pressure suction port is out of control and moves, if the negative pressure suction port is too close to the renal pelvis wall. At this time, the range of the force increases, which is disadvantageous to the user (when the pressure value of the negative pressure port remains unchanged, the negative pressure port may be at a distance S from the inner wall of the renal pelvis in the prior art, causing harm to the inner wall. When the range of the force increases, it may not be necessary for the distance to reach S to cause harm, that is, the safety distance is shortened. It can be seen from the pressure gradient theory mentioned above that negative pressure always decays, and the first liquid (normal saline) in the prior art undergoes normal decay, resulting in a larger safety distance from the inner wall.

[0022] Similarly, when the viscosity of the first liquid is increased, thereby reducing the range of the negative pressure force. At this time, the safety distance between the negative pressure suction port and the inner wall becomes larger. Considering the background technology that "the negative pressure value cannot be adjusted too high because it is afraid of damaging the inner wall", it can be clearly seen that when the safety distance between the negative pressure suction port and the inner wall becomes larger, the negative pressure value of the negative pressure port can be appropriately increased, so that the range of negative pressure greater than a certain value is correspondingly expanded. In other words, since the safety distance has become larger, the safety measure in the prior art that the negative pressure value cannot be too large can be appropriately reduced. As discussed in the background technology, one of the reasons for poor surgical effects and residual debris is this safety measure in the prior art. Therefore, the technical effect of "increased viscosity causes the negative pressure force to decay rapidly in the liquid environment" can play a positive technical effect in soft mirror lithotomy.

[0023] Therefore, the above technical solution is supplemented as follows: Also includes a third hose for inputting the first substance into the closed environment; The first substance is a substance that can increase the viscosity of the first solution in the renal pelvis. According to experience, it is tentatively set to 1%-2.5% gelatin, chitosan, and sodium alginate solution.

[0024] At the same time, the negative pressure value of the negative pressure source at the rear end of the second hose is increased, and this value needs to be measured in subsequent experiments.

[0025] At this point, it is worth noting that in the prior art, there is a technical solution that is to pour two solutions that can undergo cross-linking reactions into the renal pelvis separately, and then let the above two substances undergo cross-linking reactions in the renal pelvis to form an insoluble gel in the renal pelvis to wrap the gravel, and then the gel is hooked out of the renal pelvis through the grabbing basket in the background technology. Any single one of the above two solutions that can undergo cross-linking reactions, when poured into the renal pelvis, will increase the viscosity of the first liquid in the renal pelvis (perfusion fluid, saline solution). However, the difference from this application is that this application inputs a single first substance, not two solutions that can undergo cross-linking reactions. Moreover, after it forms an insoluble gel in the renal pelvis, it cannot be attracted by the negative pressure of the second hose (the volume and weight are too large, and the negative pressure cannot be attracted), and can only be grabbed by the grabbing basket. The ultimate purpose of changing the viscosity of the first liquid in the renal pelvis in this application is to expand the attraction / force range of the negative pressure of the second hose, so that the gravel that could not be sucked from a distance before the viscosity change can be sucked.

[0026] The closed environment is generally the human renal pelvis. As mentioned above, it can also be other narrow, closed liquid environments where there is a need to absorb gravel or debris. If it is the human renal pelvis, the first hose is a ureteroscope and the second hose is a ureteroscope guide sheath. At this time, when the third hose outlet inputs the first substance, the distance between the second hose inlet is less than 2.5 cm. This is mainly because the width of the human renal pelvis is usually 2.5-3 cm. If the distance between the two is set too large during operation, the third hose outlet is easy to poke the inner wall of the human renal pelvis.

[0027] Increasing the viscosity of the first liquid is to better disperse the first substance in the first liquid, so as to change the range of the negative pressure. In other words, the first substance must be as close to the outlet of the first liquid as possible, so the following technical solution is proposed: Furthermore, the third hose outlet is arranged together with the first hose outlet, and the two are connected in parallel or the third hose is sleeved inside the first hose or the third hose is embedded in the side wall of the first hose.

[0028] Through the discussion of the above principles, it is clear that the first substance output by the third hose is mainly added to the first liquid output by the first hose. Therefore, setting the third hose outlet together with the first hose outlet can, on the one hand, save the space at the front end (working end) of the first hose during the internal pelvic soft endoscope lithotomy (the space inside the renal pelvis is relatively small); on the other hand, the first substance can be quickly dissolved in the first liquid through the impact force of the injected first liquid, further evenly mixing the two liquids to achieve the effect of liquid viscosity.

[0029] Furthermore, the third hose can be moved forward and backward. Through the analysis of the above principle, it can be seen that distributing the first substance more evenly in the first liquid in an area around the negative pressure suction port is the key to increasing the negative pressure attraction effect near the negative pressure suction port. Therefore, the position of the third hose input port can be moved forward and backward, which helps to achieve the above purpose.

[0030] Furthermore, the third hose is provided in plurality. A plurality of first material input ports can be provided at multiple locations at different distances from the negative pressure suction port. The principle is as above.

[0031] Furthermore, a first stirring rod is arranged in the third hose, and the interior of the third hose is filled with 1%-2.5% gelatin, chitosan, and sodium alginate solution; the first stirring rod is a soft, long, solid strip, and is arranged in the interior of the third hose. The first stirring rod can move freely forward and backward in the third hose, and the gap between the two is matched. At this time, the above-mentioned 1%-2.5% gelatin or chitosan or sodium alginate solution fills the gap between the first stirring rod and the interior of the third hose; This is an improvement on the first material input method. By repeatedly moving the first stirring rod back and forth in the third hose (the front end of the first stirring rod will extend out of the third hose when the first stirring rod moves back and forth, and then swing near the outlet of the third hose - the first stirring rod is soft), the following technical effects are achieved: Due to the clearance fit, the first stirring rod repeatedly moves back and forth inside the third hose, and the first substance inside the third hose is continuously and evenly input into the first liquid near the opening of the third hose. Because the first stirring rod is stretched back and forth each time, the stretching distance, time, and frequency are set to be equal, so the first substance it takes out is equal, and the time it spends in the first liquid when it stretches back and forth is also equal, but the path it swings through in the first liquid is not fixed, so the following technical effect is created: due to the continuous stretching back and forth of the first stirring rod, when it stretches forward, the first substance inside the third hose is continuously and evenly input into the first liquid near the opening of the third hose, and because the first stirring rod is relatively soft in texture, when it moves forward in the renal pelvis, it does not move straight forward, but moves in an irregular arc, so that the input first substance is evenly stirred, diluted, and dispersed in the first liquid (that is, the perfusion liquid - physiological saline) near the input port of the third hose. - That is, the first stirring rod can mix the first substance into the first liquid in a timely and quantitative manner. The working motion of the first stirring rod can be considered as a fully stirring mode, and the change in the viscosity of the first liquid can be considered to increase proportionally with time. This technical solution can be used as a device for the theoretical in vivo experiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1In one embodiment, the first stirring rod 2 is arranged in the third hose 1. Figure 2 The first stirring rod 2 extends out of the third hose 1, Figure 3 The first stirring rod 2 is retracted into the third hose 1, Figure 4 is a schematic diagram of the positions of the first hose 3, the second hose 4, and another form of the third hose 5 in another embodiment. Figure 5 In the third embodiment, the first stirring rod 2 extends forward, thereby stirring / mixing the first substance and the first liquid in the renal pelvis. Figure 6 In the fourth embodiment, the plurality of first stirring rods 201 and 202 extend forward, thereby stirring the liquid prepared with the first substance in the renal pelvis.

[0033] Figure 7 This is a physical picture of the third hose 1, 3. Figure 8 This is a physical picture of the third hose 1 and the first stirring rod 2. Fig. 9 This is a physical picture of the first stirring rod 2. Fig.10 This is a physical picture of the third hose 1 outputting the first substance. Fig.11 It is a 2.5% gelatin solution. Fig.12 In a certain amount of 0.9% saline solution + gravel mixture, add 10% of 2.5% gelatin solution, stir evenly, and wait for the gravel to settle evenly. Then use a certain amount of tap water at a certain height to impact the gravel in the solution from a certain point on the wall of the culture dish. Judging from the distribution of the gravel after impact, the impact range does not reach 10mm.

[0034] Fig.13 yes Fig.12 In the experiment, without adding gelatin solution and keeping other conditions unchanged, the impact range reaches 10mm. DETAILED DESCRIPTION Example 1

[0035] Take the case where the present application is working in the human renal pelvis as an example, in which case the first hose is a ureteroscope and the second hose is a ureteroscope guide sheath. Figure 4, a device for changing the scope of fluid mechanics in a local liquid environment, including a closed environment, which is a renal pelvis. A first hose 3 for inputting a first liquid, such as 0.9% saline, from outside the renal pelvis into the renal pelvis; the front end of the first hose 3 is provided with a bending actuator, a waterway opening, and a camera; wherein the bending actuator enables the front end of the first hose 3 to be bent at four angles of up, down, left, and right based on the central axis of the first hose 3, with a maximum bending angle of 90 degrees. The waterway opening is used to perfuse the first liquid into the working area at the front end of the first hose 3; the camera is used to transmit the image in the renal pelvis back. The first hose 3 is provided with a waterway, an optical fiber channel, and an operating channel. The waterway is used to introduce the first liquid from the outside into the front end of the first hose 3 from the rear end of the first hose 3. The optical fiber channel is used to display the image in the renal pelvis on an imaging system connected to the rear end of the first hose 3. The operating channel is used to transmit the control signal sent from the rear end of the first hose 3 to the bending actuator. The rear end of the first hose 3 is provided with a waterway interface, a laser channel interface, an optical fiber channel interface, and a bending operating mechanism, and the bending operating mechanism controls the bending actuator through the operating channel.

[0036] It also includes a device for outputting the first liquid in the renal pelvis to the outside of the renal pelvis from the renal pelvis by negative pressure, specifically a second hose 4 at the rear end of the soft endoscope body, and the first hose 3 is mounted in the second hose 4 and can move freely forward and backward. A negative pressure interface is provided at the rear end of the second hose 4, which is used to introduce negative pressure into the space between the first hose 3 and the second hose 4. After each laser lithotripsy, when preparing for negative pressure lithotripsy, the first substance (i.e., 1%-2.5% gelatin, chitosan, sodium alginate solution) is input into the above-mentioned renal pelvis through the third hose 5 at a rate of 1.17-11.7 ml / min (the flow rate / speed of infusing physiological saline in the prior art is 117 ml / min, take 1-10%) to change the overall viscosity of the first liquid. At this time, if Fig.12 , 13 ( Fig.12 In a certain amount of 0.9% saline solution + gravel mixture, add 10% of 2.5% gelatin solution, stir evenly, and wait for the gravel to settle evenly. Then use a certain amount of tap water at a certain height to impact the gravel in the solution from a certain point on the wall of the culture dish. Judging from the distribution of the gravel after impact, the impact range does not reach 10mm. Fig.13 yes Fig.12 In the experiment, no gelatin solution was added, and other conditions remained unchanged, the impact range reached 10 mm. As shown in the figure, as the aforementioned theoretical reasoning shows, the range of the water pressure force is reduced in the first liquid with increased viscosity.

[0037] At this time, the negative pressure at the negative pressure end is adjusted to 12-14 kPa (i.e., based on the negative pressure value of 11-12 kPa at the negative pressure end in the prior art, plus 10-20%). When the first substance is input at the outlet of the third hose 5, the distance between the outlet and the inlet of the second hose is less than 2.5 cm (during surgery, the inlet of the second hose is generally at the junction of the ureter and the renal pelvis, and the width of the renal pelvis is generally 3 cm). When the negative pressure suction process is completed, the third hose 5 is closed and the negative pressure at the negative pressure end is adjusted back to the original pressure value.

[0038] The stone removal soft endoscope kit includes a soft endoscope guide sheath 4, i.e., a second hose 4, and a soft endoscope body 3, i.e., a first hose 3. Both are hollow long tubes. The soft endoscope guide sheath 4 is hard, and the soft endoscope body 3 is soft. The soft endoscope guide sheath 4 is wrapped around the outside of the soft endoscope body 3. The soft endoscope body 3 can move freely back and forth inside the soft endoscope 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 endoscope guide sheath 4. During the operation, the position of the soft endoscope guide sheath 4 generally does not move, and the soft endoscope body 3 moves back and forth inside the soft endoscope guide sheath 4. The front end of the soft endoscope body 3 will also bend up, down, left, and right to find stones. Example 2

[0039] like Figure 4 The outlet of the third hose 5 is arranged together with the outlet of the first hose 3 , so that the third hose 5 is sleeved inside the first hose 3 . Example 3

[0040] like Figure 4 , the third hose 5 can move forward and backward. Example 4

[0041] like Figure 1 , 2 , 3, 7, 8, 9, 10, 11, another form of the third hose 1 is provided with a first stirring rod 2, the interior of the third hose is filled with a liquid prepared by the first substance, such as 1%-2.5% gelatin, chitosan, sodium alginate solution; the first stirring rod 2 is a soft, long, solid strip, and is arranged inside the third hose 1. The first stirring rod 2 can move freely forward and backward in the third hose 1, and the gap between the two is matched. At this time, the liquid prepared by the first substance fills the gap between the first stirring rod 2 and the inside of the third hose 1. It is arranged parallel to the soft lens body 3, arranged inside or outside the soft lens body 3, or embedded in the side wall of the soft lens body 3.

[0042] Due to the clearance fit, the first stirring rod 2 repeatedly moves back and forth inside the third hose 1, and the liquid prepared by the first substance inside the third hose is continuously and evenly input into the first liquid near the opening of the third hose 1. Because the first stirring rod 2 takes out the same amount of solution each time it stretches back and forth, and the time it spends in the first liquid 1 is also the same when it stretches and retracts, but the path it swings through in the first liquid 1 is not fixed (e.g. Figure 5 , 6 , showing the first stirring rods 201 and 202 in various forms, which extend forward and thus stir the liquid prepared by the first substance in the renal pelvis). Therefore, the following technical effects are achieved: due to the continuous extension and retraction of the first stirring rod (2, 201, 202), when it extends forward, the liquid prepared by the first substance in the third hose 1 is continuously and evenly input into the first liquid near the opening of the third hose 3, and because the first stirring rod (2, 201, 202) is relatively soft, when it moves forward in the renal pelvis, it does not move straight, but moves in an irregular arc, so that the input liquid prepared by the first substance is evenly stirred, diluted, and dispersed in the first liquid (that is, the perfusion liquid - physiological saline) near the input port of the third hose 1. The first stirring rod (2, 201, 202) can mix the liquid prepared by the first substance into the first liquid in a timely and quantitative manner. The above-mentioned working movement mode of the first stirring rod can be considered as a fully stirring mode, and the change in the viscosity of the first liquid can be considered to increase proportionally with time. This technical solution can be used as experimental equipment for the above theoretical in vivo and in vitro experiments.

Claims

1. A device for changing the scope of fluid mechanics in a local liquid environment, comprising a closed environment, and a first hose for inputting a first liquid from the outside into the closed environment; The front end of the first hose is provided with a bending actuator, a waterway opening, and a camera; in, The bending actuator enables the front end of the first hose to be bent at four angles, up, down, left, and right, based on the central axis of the first hose, with a maximum bending angle of 90 degrees; The water channel opening is used to pour the first liquid into the working area at the front end of the first hose; Camera, used to transmit images within the working area; The first hose is provided with a water passage, an optical fiber passage, and an operation passage inside; The water channel is used to introduce the first liquid from the outside into the front end of the first hose from the rear end of the first hose; The optical fiber passage is used to display the image in the working area on the imaging system connected to the rear end of the first hose; The operation passage is used to transmit the control signal to the bending actuator; The rear end of the first hose is provided with a water channel interface, a laser 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 second hose for outputting the liquid in the closed environment to the outside by negative pressure, wherein the first hose is mounted inside the second hose and can move freely forward and backward; A negative pressure interface is provided at the rear end of the second hose for introducing negative pressure into the space between the first hose and the second hose. Its characteristics are: The first liquid is normal saline, and the closed environment is the human renal pelvis; Also includes a third hose for inputting the first substance into the closed environment; The first substance is a 1%-2.5% gelatin, chitosan, sodium alginate solution. After each laser lithotripsy, when preparing for negative pressure lithotripsy, the first substance is injected into the renal pelvis through the third hose 5 at a rate of 1.17-5.85 ml / min. At this time, the negative pressure at the negative pressure end is adjusted to 12-14 kPa. When the first substance is input into the outlet of the third hose, the distance between the outlet and the inlet of the second hose is less than 2.5 cm; when the negative pressure suction process is completed, the third hose is closed and the negative pressure at the negative pressure end of the second hose is adjusted back to the original pressure value.

2. The device for changing the scope of fluid mechanics in a local liquid environment according to claim 1, characterized in that: The outlet end of the third hose is arranged flush with the outlet end of the first hose, and the two are connected in parallel or the third hose is sleeved inside the first hose or the third hose is embedded in the side wall of the first hose.

3. The device for changing the scope of action of fluid mechanics in a local liquid environment as claimed in claim 2, characterized in that: The third hose moves back and forth.

4. The device for changing the scope of fluid mechanics in a local liquid environment according to claim 2 or 3, characterized in that: A plurality of third hoses are provided.

5. The device for changing the scope of action of fluid mechanics in a local liquid environment according to any one of claims 1 to 4, characterized in that: A first stirring rod is arranged in the third hose, and the interior of the third hose is filled with 1%-2.5% gelatin, chitosan and sodium alginate solution; the first stirring rod is a soft, solid strip, and is arranged in the third hose. The first stirring rod can move freely back and forth in the third hose, and the gap between the two is matched. At this time, 1%-2.5% gelatin, chitosan and sodium alginate solution fills the gap between the first stirring rod and the interior of the third hose.

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