Foreign matter taking-out method and taking-out device

Abstract

The invention relates to a foreign matter taking-out method and a taking-out device. The method comprises the following steps: 1, obtaining particle sizes and positions of foreign matters; 2, the sleeve directly faces a third particle size area of the foreign matter after being inserted; 3, driving the steering tube to deviate, approaching the foreign matters with the first particle size on the peripheral side of the third particle size area under the assistance of the observation mirror, and grabbing the foreign matters with the first particle size; 4, after the foreign matter with the first particle size is grabbed, the foreign matter with the second particle size is crushed, and the foreign matter crushed for the first time is grabbed; and 5, after the foreign matter crushed for the first time is grabbed, the foreign matter with the third particle size continues to be crushed, and the foreign matter crushed for the second time is grabbed. The problem that in an existing minimally invasive surgery, the position of a foreign matter needs to be confirmed for multiple times through an observation mirror on a taking-out device, and consequently the grabbing time is too long is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a foreign body removal method and a removal device. Background Art

[0002] Tibial intercondylar ridge fractures account for about 0.38% of all fractures in the body. Intercondylar ridge fractures are intra-articular fractures, most of which are avulsion fractures of the cruciate ligament attachment points, which can easily cause knee joint dysfunction.

[0003] Simple intercondylar ridge fractures are usually seen in sports injuries and falls, followed by motor vehicle accidents (mainly motorcycle and bicycle traffic accidents). The injury mechanism is similar to that of anterior cruciate ligament injuries, but it is different in adults, children, and adolescents. It is generally believed that the tibial attachment area of ​​the anterior cruciate ligament in children and adolescents has not yet been completely ossified, and there is still a large amount of cartilage in the tibial epiphysis. The structure connected to the ligament collagen fibers and the tibial intercondylar ridge perichondrium is relatively soft, while the strength, toughness, and elasticity of the cruciate ligament are relatively large. Therefore, under violent action, avulsion fractures are prone to occur, but the surrounding tissues are rarely involved. The tibial attachment area of ​​the anterior cruciate ligament in adults is completely ossified and tightly integrated with the bone. Under violent action, when the knee joint is in hyperextension or excessive internal rotation, the strong contraction causes the cruciate ligament to be overstretched, exceeding the bearing capacity of the cancellous bone of the intercondylar ridge, causing tibial intercondylar ridge avulsion fractures, often combined with meniscus, joint capsule, and collateral ligament injuries. Compound intercondylar ridge fractures are mostly caused by direct violent injuries. More than 85% of compound intercondylar ridge fractures are caused by traffic injuries or falls from heights, and most occur simultaneously with tibial plateau fractures. Direct violence acts rapidly on the tibial plateau, resulting in multiple comminuted fractures, large spacing between fracture fragments, wide extension of the fracture line, and high degree of comminution in the intercondylar ridge area, resulting in passive fractures or even free intercondylar ridges, often combined with multiple surrounding tissue injuries.

[0004] Among them, when a compound intercondylar ridge fracture occurs, foreign bodies such as broken bones larger than 2CM and some smaller foreign bodies are likely to appear. Minimally invasive technology is usually used for treatment of such situations. Therefore, when breaking up larger foreign bodies, some smaller foreign bodies will be further dispersed and displaced. Since smaller foreign bodies are not easily located and detected by CT and other detection equipment, when grabbing foreign bodies, the position of the foreign bodies needs to be confirmed multiple times through the observation mirror on the removal device, which makes the overall operation time too long and easily leads to additional risks. Summary of the invention

[0005] In order to solve the problem that in existing minimally invasive surgery, the position of the foreign body needs to be confirmed multiple times through the observation mirror on the removal device, resulting in a long grasping time, the present invention provides a foreign body removal method and removal device.

[0006] In a first aspect, the present invention provides a method for removing foreign matter, comprising the following steps: Step 1, obtaining the particle size and position of the foreign matter; Step 2, inserting the cannula into the third particle size region facing the foreign matter; Step 3, driving the steering tube to deviate, approaching the foreign matter of the first particle size around the third particle size area with the aid of an observation mirror, and grabbing the foreign matter of the first particle size; Step 4, after grabbing the foreign matter of the first particle size, crushing the foreign matter of the second particle size, and grabbing the foreign matter crushed for the first time; Step 5, after grabbing the first crushed foreign matter, continue to crush the foreign matter of the third particle size, and grab the second crushed foreign matter; The size of the foreign matter with the first particle size is smaller than the size of the foreign matter with the second particle size, and the size of the foreign matter with the second particle size is smaller than the size of the foreign matter with the third particle size.

[0007] In some embodiments, in step 3, if there are multiple foreign objects of the first particle size, the steering tube is driven to approach the first foreign object of the first particle size and grab it; after grabbing the first foreign object of the first particle size, the steering tube continues to be driven to approach the next foreign object of the first particle size and grab it until all foreign objects of the first particle size are grabbed.

[0008] In some embodiments, in step 4, if there are multiple foreign objects of the second particle size, the steering tube is driven to approach the first foreign object of the second particle size and grab it; after grabbing the first foreign object of the second particle size, the steering tube continues to be driven to approach the next foreign object of the second particle size and grab it until all foreign objects of the second particle size are grabbed.

[0009] In some embodiments, the size of the foreign matter of the first particle size is less than or equal to 5 mm.

[0010] In some embodiments, the size of the second particle size foreign matter is greater than 5 mm.

[0011] In some embodiments, the size of the foreign matter of the third particle size is greater than or equal to 2 cm.

[0012] The present invention also discloses a taking-out device, comprising: A guide assembly, used for adjusting the position of one end of the take-out device; A steering tube is arranged on one end of the taking-out device and is fixedly connected to the guide assembly. When the guide assembly adjusts the position of one end of the taking-out device, the position of the steering tube also changes accordingly; A guide rotating tube is fixedly connected to a guide assembly away from one end of the steering tube, the guide rotating tube is used to rotate the guide assembly and the steering tube, and a channel is formed among the guide rotating tube, the guide assembly and the steering tube; A sleeve, used for receiving the guide rotating tube and the guide assembly; A control assembly is arranged on the other end of the removal device, and the control assembly is drivingly connected to the other end of the guide turning tube. When the position of the turning tube needs to be adjusted, the guide assembly can be moved out of the sleeve through the control assembly; The connecting rib is fixedly connected to the guide assembly, penetrates the guide steering tube, and is drivingly connected to the control assembly. By applying a pulling force to the connecting rib, the guide assembly can be driven to adjust the position of the steering tube.

[0013] In some embodiments, the guide assembly includes a plurality of guide units, and the plurality of guide units respectively include a first guide portion and a second guide portion, the first guide portion and the second guide portion are internally connected, a guide groove is provided on the inner surface of the first guide portion, and a guide protrusion is provided on the outer surface of the second guide portion, and between two adjacent guide units, the first guide portion and the second guide portion can be engaged, and the guide protrusion can be coupled in the guide groove, the steering tube is fixedly connected to the first guide portion of one of the guide units, and the guide rotating tube is fixedly connected to the second guide portion of another guide unit away from the steering tube.

[0014] In some embodiments, a retriever channel, an observation mirror channel and a breaker channel are provided in the channel.

[0015] In order to solve the problem that in existing minimally invasive surgery, the position of the foreign body needs to be confirmed multiple times through the observation mirror on the removal device, resulting in a long grasping time, the present invention has the following advantages: Through the technical solution of the present invention, after grabbing the foreign matter of the first particle size, the foreign matter of the second particle size is crushed, so as to avoid affecting the position of the surrounding foreign matter of the first particle size when crushing the foreign matter of the second particle size, thereby reducing multiple confirmations of the position of the foreign matter, thereby completing rapid grabbing. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a process for removing foreign matter is shown; Figure 2 A partial structural schematic diagram of a taking-out device is shown, specifically showing a structural schematic diagram including a sleeve and a steering tube; Figure 3 Shows Figure 2 A schematic diagram of the structure when the guide assembly is deflected as shown in; Figure 4 Shows Figure 2 A schematic diagram of the structure of the guide unit shown in; Figure 5 Shows Figure 2 A schematic diagram of a part of the structure of the removal device from another angle is shown in FIG, which specifically shows a schematic diagram of the structure including the sleeve and the steering tube; Figure 6 Shows Figure 5 A cross-sectional view taken along line BB; Figure 7 Shows Figure 6 An enlarged schematic diagram of the structure inside the coil A described in FIG.

[0017] Figure numerals: 1-guide assembly; 10-guide unit; 11-first guide portion; 111-guide groove; 112-first through hole; 12-second guide portion; 121-guide protrusion; 20-steering tube; 30-connecting rib; 40-guide turning tube; 41-second through hole; 50-sleeve. DETAILED DESCRIPTION

[0018] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0019] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0020] This embodiment discloses a foreign body removal method and a foreign body removal device. Figures 1 to 7 The foreign body removal method comprises the following steps: Step 1, obtaining the particle size and position of the foreign body; in this embodiment, the foreign body of the tibial intercondylar ridge fracture can be detected and located by comprehensive analysis of X-ray, CT and MRI data, the position and size of the third particle size foreign body can be obtained, and the third particle size area range can be summarized. In this application, the foreign body can be bone fragments.

[0021] Step 2, after the cannula 50 is inserted, the steering tube 20 is aligned with the third particle size region of the foreign body; in this application, there are two methods for minimally invasive surgical puncture positioning: X-ray positioning and ultrasonic positioning. X-ray fluoroscopic positioning puncture is intuitive and clear to operate, and is easy to combine with traditional X-ray films and easy to master. Therefore, this application will not be described in detail.

[0022] In this embodiment, after puncture forms the accommodating channel, one end of the sleeve 50 of the removal device can be inserted into the accommodating channel so that the steering tube 20 at the end of the sleeve 50 is directly opposite to the third particle size area of ​​the foreign body in the knee joint.

[0023] Step 3, drive the guide assembly 1 to offset the steering tube 20, and drive the bone extraction device located in the steering tube 20 to grab the foreign matter of the first particle size near the third particle size area with the assistance of the observation mirror, wherein the bone extraction device can be a bone extraction forceps, etc.; in the present application, the guide assembly 1 can be moved out of the sleeve 50 by driving the control assembly of the extraction device, so that the steering tube 20 is further close to the location of the third particle size area of ​​the foreign matter, wherein the guide assembly 1 is driven by the control assembly to move, thereby achieving the offset of the steering tube 20, and the steering tube 20 is close to the location of the foreign matter of the first particle size with the assistance of the observation mirror, and the bone extraction device is driven by the control assembly to grab the foreign matter of the first particle size, so as to complete the grabbing of the foreign matter of the first particle size. In the present application, since the diameter of the tube portion of the sleeve 50 is not greater than 1 cm, the extraction device can only directly grab foreign matter with a particle size less than 5 mm. The size of the foreign matter of the first particle size of the present application is preferably less than or equal to 5 mm.

[0024] Step 4, after grabbing the foreign matter of the first particle size, drive the crusher located in the steering tube 20 to crush the foreign matter of the second particle size, and drive the bone extraction device to grab the foreign matter after the first crushing, wherein the crusher is preferably an ultrasonic crusher or a laser crusher; after the bone extraction device temporarily stores the grabbed foreign matter of the first particle size in the bone extraction channel, the crusher is driven by the control component to crush the foreign matter of the second particle size. When the foreign matter of the second particle size is crushed, there is no foreign matter of the first particle size around the foreign matter of the second particle size, and the broken foreign matter generated at the moment of crushing will not force the foreign matter of the second particle size to shift, so there is no need to re-confirm the position of the remaining foreign matter of the second particle size with the assistance of an observation mirror, and there is no need to use an observation mirror to confirm the position of the foreign matter of the first particle size multiple times because the broken foreign matter generated at the moment of crushing impacts the foreign matter of the first particle size and causes it to shift, thereby reducing the time required for multiple position confirmations, thereby reducing the operation time as a whole, indirectly reducing risks, etc. In the present application, since the size of the foreign matter of the second particle size is large and not convenient for being stored in the bone extractor channel, it needs to be further crushed, and then the crushed foreign matter of the first particle size is captured and temporarily stored in the bone extractor channel. Therefore, the size of the foreign matter of the second particle size is greater than 5 mm.

[0025] Step 5, after grabbing the foreign matter after the first crushing, continue to drive the crusher to crush the foreign matter of the third particle size, and drive the bone extraction device to grab the foreign matter after the second crushing. In the present application, after the bone extraction device grabs the foreign matter after the first crushing and temporarily stores it in the bone extraction channel, the control component can continue to drive the crusher to crush the foreign matter of the third particle size. Among them, since the foreign matter around the foreign matter of the third particle size has been captured, after the foreign matter of the third particle size is crushed, the steering tube 20 can be quickly offset to the surrounding of the foreign matter crushed for the second time by using an observation mirror, so as to quickly complete the grabbing, and further reduce the operation time. Among them, the size of the foreign matter of the third particle size is preferably greater than or equal to 2 cm In this embodiment, through the above-mentioned technical solution, after grabbing the foreign matter of the first particle size, the foreign matter of the second particle size is crushed, so as to avoid affecting the position of the surrounding foreign matter of the first particle size when crushing the foreign matter of the second particle size, thereby reducing multiple confirmations of the position of the foreign matter, thereby completing rapid grabbing.

[0026] In some embodiments, in step 3, if there are multiple foreign objects of the first particle size, the guide assembly 1 is driven to make the steering tube 20 close to the first foreign object of the first particle size, and the bone extraction device is driven to grab the first foreign object of the first particle size; after grabbing the first foreign object of the first particle size, the guide assembly 1 is continued to be driven to make the steering tube 20 close to the next foreign object of the first particle size and grab it, until all foreign objects of the first particle size are grabbed.

[0027] In this embodiment, through the above arrangement, all foreign objects of the first particle size in the third particle size area, that is, the third particle size foreign objects around the periphery, can be quickly captured, and then the operation of the removal device can be quickly completed, further reducing the operation time.

[0028] In some embodiments, in step 4, if there are multiple foreign objects of the second particle size, the guide assembly 1 is driven to make the steering tube 20 close to the first foreign object of the second particle size, and the bone extraction device is driven to grab the first foreign object of the second particle size; after grabbing the first foreign object of the second particle size, the guide assembly 1 is continued to be driven to make the steering tube 20 close to the next foreign object of the second particle size and grab it, until all foreign objects of the second particle size are grabbed.

[0029] In this embodiment, through the above-mentioned arrangement, all foreign objects of the second particle size in the third particle size area, that is, the peripheral position of foreign objects of the third particle size, can be quickly captured, and then the operation of the removal device can be quickly completed, further reducing the operation time; at the same time, the peripheral position of foreign objects of the third particle size can be cleared, so as to facilitate driving the guide assembly 1 to make the steering tube 20 quickly offset and approach the position of the foreign objects of the third particle size, further improving the operating efficiency of the removal device.

[0030] The present invention also discloses a taking-out device, such as Figure 2-7 As shown, including: A guide assembly 1, used for adjusting the position of one end of the removal device; The steering tube 20 is disposed on one end of the taking-out device and is fixedly connected to the guide assembly 1. When the guide assembly 1 adjusts the position of one end of the taking-out device, the position of the steering tube 20 also changes accordingly. A guide rotating tube 40 is fixedly connected to the guide assembly 1 at one end away from the steering tube 20, and the guide rotating tube 40 is used to rotate the guide assembly 1 and the steering tube 20, and a channel is formed among the guide rotating tube 40, the guide assembly 1, and the steering tube 20; A sleeve 50, used for receiving the guide rotating tube 40 and the guide assembly 1; A control assembly is disposed on the other end of the removal device, and the control assembly is drivingly connected to the other end of the guide turning tube 40. When the position of the steering tube 20 needs to be adjusted, the guide assembly 1 can be moved out of the sleeve 50 through the control assembly; The connecting rib 30 is fixedly connected to the guide assembly 1 , is connected to the guide turning tube 40 , and is drivingly connected to the control assembly. By applying a pulling force to the connecting rib 30 , the guide assembly 1 can be driven to adjust the position of the steering tube 20 .

[0031] In this embodiment, through the above-mentioned arrangement, the guide rotating tube 40 can be driven to rotate by controlling the control component, thereby driving the guide component 1 and the steering tube 20 to rotate, so that the steering tube 20 can be moved flexibly, and the bone removal equipment, crusher and observation mirror arranged in the steering tube 20 can be used more flexibly, so as to improve the use efficiency of the removal device.

[0032] In some embodiments, the guide assembly 1 includes a plurality of guide units 10, and the plurality of guide units 10 respectively include a first guide portion 11 and a second guide portion 12, the first guide portion 11 and the second guide portion 12 are internally connected, a guide groove 111 is provided on the inner surface of the first guide portion 11, and a guide protrusion 121 is provided on the outer surface of the second guide portion 12, and between two adjacent guide units 10, the first guide portion 11 and the second guide portion 12 can be engaged, and the guide protrusion 121 can be coupled in the guide groove 111, the steering tube 20 is fixedly connected to the first guide portion 11 of one of the guide units 10, and the guide rotating tube 40 is fixedly connected to the second guide portion 12 of another guide unit 10 away from the steering tube 20.

[0033] In this embodiment, the guide assembly 1 includes three guide units 10, and two adjacent guide units 10 are engaged with the second guide portion 12 through the first guide portion 11, so that the guide protrusion 121 on the second guide portion 12 can be coupled to the guide groove 111 of the first guide portion 11, thereby realizing the coupling connection between the three guide units 10; furthermore, through the coupling between the guide protrusion 121 and the guide groove 111, the three guide units 10 in the guide assembly 1 can be mutually swung, thereby driving the steering tube 20 to deflect, thereby realizing the flexible movement of the steering tube 20. In this application, the inner surface of the first guide portion 11 is provided with two symmetrical guide grooves 111, and the outer surface of the second guide portion 12 is provided with two symmetrical guide protrusions 121. Between two adjacent guide units 10, the two guide protrusions 121 can be respectively coupled to the two guide grooves 111, so that the guide assembly 1 can achieve precise deflection, thereby driving the precise movement of the steering tube 20, and improving the use efficiency of the removal device.

[0034] Furthermore, two symmetrical first through-holes 112 are provided on the first guide portion 11, and a plurality of assembly components are provided on the outer surface of the guide rotating tube 40 along the axial direction of the guide rotating tube 40, each assembly component having two symmetrically arranged second through-holes 41, and center lines of the two first through-holes 112 on the plurality of first guide portions 11 and center lines of the plurality of second through-holes 41 on the guide rotating tube 40 are in the same plane, and a cross section of the two guide grooves 111 on each first guide portion 11 along the axial direction of the first guide portion 11 is in the same plane as a center line of the two first through-holes 112.

[0035] In this embodiment, there are two connecting ribs 30, one end of the two connecting ribs 30 is respectively fixedly connected to the first through-holes 112 close to the steering tube 20, that is, fixedly connected to the two first through-holes 112 on the first guide portion 11 of the guide unit 10 fixedly connected to the steering tube 20, and the other end respectively passes through the remaining first through-holes 112 and the second through-hole 41 in a straight line, and is driven and connected to an external control component, so that the control component can realize precise steering of the driven guide component 1 by precise control of the two connecting ribs 30, thereby realizing precise positioning of the position offset of the steering tube 20.

[0036] In this embodiment, in each guide unit 10, the two guide grooves 111 are arc-shaped, and their curvature gradually increases along the direction of the second guide portion 12. The maximum curvature of the two guide grooves 111 is greater than the maximum curvature of the two guide protrusions 121, so that the gap between the two guide grooves 111 and the two guide protrusions 121 between the two adjacent guide units 10, which are far away from the side where the steering tube 20 is located, gradually increases, so that the two adjacent guide units 10 can achieve rapid movement at the beginning of the offset, thereby achieving the efficiency of the offset of the guide assembly 1. When the two adjacent guide units 10 offset a certain angle, the gap between the two guide grooves 111 and the two guide protrusions 121 after coupling is gradually reduced, so that the two adjacent guide units 10 can achieve a slower speed at this time, thereby achieving a more accurate position offset of the guide assembly 1, driving the steering tube 20 to move accurately. In this application, the minimum gap after the guide grooves 111 and the guide protrusions 121 are coupled is preferably 0.01mm, and the maximum gap is preferably 0.05mm.

[0037] In some embodiments, a bone remover channel, an observation mirror channel and a crusher channel are provided in the channel; a bone remover channel is provided with a bone remover device, an observation mirror is provided in the observation mirror channel, an ultrasonic crusher or a laser crusher is provided in the crusher channel, and the bone remover device, observation mirror, ultrasonic crusher or laser crusher are all located in the steering tube 20.

[0038] In this embodiment, by setting an observation mirror in the observation mirror channel, the observation mirror can be used to assist the operator to control the control component to drive the guide component 1 to force the steering tube 20 to deviate and approach the area where the foreign body is located, thereby assisting the operator to control the control component to drive the bone removal device in the bone extractor channel to grab the foreign body. If the foreign body is large, the operator needs to control the control component to drive the ultrasonic crusher or laser crusher in the crusher channel to complete the damage to the foreign body, so as to facilitate subsequent grabbing, etc. In this application, the control component is provided with a guide drive control unit to drive the guide rotating tube 40 to rotate; the control component is provided with a deflection drive control unit to control the application of tension to the two connecting ribs 30 to achieve driving the guide component 1 to adjust the position of the steering tube 20; the control component is provided with an observation mirror display unit to facilitate the operator's observation; the control component is provided with a grab control unit to drive the bone removal device in the bone extractor channel to grab the foreign body; the control component is also provided with a crusher control unit to drive the ultrasonic crusher or laser crusher in the crusher channel to complete the damage to the foreign body, etc.

[0039] In summary, through the above-mentioned structural setting, the removal device can crush the foreign objects of the second particle size after grasping the foreign objects of the first particle size, thereby avoiding the influence of the broken foreign objects on the positions of the surrounding foreign objects of the first particle size when crushing the foreign objects of the second particle size, thereby reducing multiple confirmations of the positions of all foreign objects, thereby completing rapid grasping.

[0040] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention.

[0041] In addition, it should be understood that although the present specification is described according to embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that those skilled in the art can understand.

Claims

1. A method for removing foreign matter, characterized in that: The steps include: Step 1, obtaining the particle size and position of the foreign matter; Step 2, inserting the cannula into the third particle size region facing the foreign matter; Step 3, driving the steering tube to deviate, approaching the foreign matter of the first particle size around the third particle size area with the aid of an observation mirror, and grabbing the foreign matter of the first particle size; Step 4, after grabbing the foreign matter of the first particle size, crushing the foreign matter of the second particle size, and grabbing the foreign matter crushed for the first time; Step 5, after grabbing the first crushed foreign matter, continue to crush the foreign matter of the third particle size, and grab the second crushed foreign matter; The size of the foreign matter with the first particle size is smaller than the size of the foreign matter with the second particle size, and the size of the foreign matter with the second particle size is smaller than the size of the foreign matter with the third particle size.

2. The foreign body removal method according to claim 1, characterized in that: In step 3, if there are multiple foreign objects of the first particle size, the steering tube is driven to approach the first foreign object of the first particle size and grab it; after grabbing the first foreign object of the first particle size, the steering tube continues to be driven to approach the next foreign object of the first particle size and grab it, until all foreign objects of the first particle size are grabbed.

3. The foreign body removal method according to claim 1, characterized in that: In step 4, if there are multiple foreign objects of the second particle size, the steering tube is driven to approach the first foreign object of the second particle size and grab it; after grabbing the first foreign object of the second particle size, the steering tube continues to be driven to approach the next foreign object of the second particle size and grab it until all foreign objects of the second particle size are grabbed.

4. The foreign body removal method according to claim 1, characterized in that: The size of the foreign matter of the first particle size is less than or equal to 5 mm.

5. The foreign body removal method according to claim 1, characterized in that: The size of the second particle size foreign matter is greater than 5 mm.

6. The foreign body removal method according to claim 5, characterized in that: The size of the foreign matter of the third particle size is greater than or equal to 2 cm.

7. A removal device used in the foreign body removal method according to any one of claims 1 to 6, characterized in that: include: A guide assembly, used for adjusting the position of one end of the take-out device; A steering tube is arranged on one end of the taking-out device and is fixedly connected to the guide assembly. When the guide assembly adjusts the position of one end of the taking-out device, the position of the steering tube also changes accordingly; A guide rotating tube is fixedly connected to a guide assembly away from one end of the steering tube, the guide rotating tube is used to rotate the guide assembly and the steering tube, and a channel is formed among the guide rotating tube, the guide assembly and the steering tube; A sleeve, used for accommodating the guide rotating tube and the guide assembly; A control assembly is arranged on the other end of the removal device, and the control assembly is drivingly connected to the other end of the guide turning tube. When the position of the turning tube needs to be adjusted, the guide assembly can be moved out of the sleeve through the control assembly; The connecting rib is fixedly connected to the guide assembly, penetrates the guide steering tube, and is drivingly connected to the control assembly. By applying a pulling force to the connecting rib, the guide assembly can be driven to adjust the position of the steering tube.

8. The removal device according to claim 7, characterized in that: The guide assembly includes a plurality of guide units, each of which includes a first guide portion and a second guide portion. The first guide portion and the second guide portion are internally connected, a guide groove is provided on the inner surface of the first guide portion, and a guide protrusion is provided on the outer surface of the second guide portion. Between two adjacent guide units, the first guide portion and the second guide portion can be engaged, and the guide protrusion can be coupled in the guide groove. The steering tube is fixedly connected to the first guide portion of one of the guide units, and the guide rotating tube is fixedly connected to the second guide portion of another guide unit away from the steering tube.

9. The removal device according to claim 8, characterized in that: A grabber channel, an observation mirror channel and a crusher channel are arranged in the channel.

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