An insertion portion, an endoscope, and a control system

Abstract

The present invention discloses an insertion part, an endoscope and a control system, relating to the field of medical devices. The insertion part includes a camera module, an instrument tube and a marking structure. The camera module is arranged at the distal end of the insertion part. The instrument tube has an instrument channel which penetrates through the opposite ends of the insertion part, and the instrument channel is used for the flow of a medium. The marking structure is arranged adjacent to the camera module and is used to mark the flow path of the medium within the visual field of the camera module. The instrument tube is used for injecting the medium, and the sheath tube provides a suction environment. The marking structure can present the flow path of the medium to the camera module, and medical staff can observe the flow path of the medium through the camera module. The marking structure visualizes the flow path of the medium. Further, medical staff can clearly observe the distance between the flow path and the calculus, quickly adjust the sheath tube and the endoscope according to their relative position relationship, improve the use efficiency of the endoscope and reduce the time of the lithotripsy operation.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to an insertion part, an endoscope and a control system. Background Art

[0002] Guide sheaths and endoscopes are high-precision medical devices specially designed and widely used in the field of urinary system inspection and treatment. As an auxiliary tool, the guide sheath is usually used to guide the endoscope or other medical devices into the urinary system to ensure the accuracy and safety of the operation. Its design fully considers the physiological structure of the human urinary system, can effectively reduce trauma and complications during surgery, and improve the success rate of surgery and the speed of patient recovery.

[0003] When using a guide sheath and an endoscope to remove kidney stones, the guide sheath can be placed into the kidney using a guide wire, and then the insertion portion of the endoscope can be inserted into the sheath to observe and break up the stones. The instrument tube of the endoscope can inject media including saline toward the renal pelvis. After the stones are broken, the sheath can provide a negative pressure environment to suck the media and stones into the gap between the sheath and the insertion portion, thereby expelling the stones. During this period, the media can optimize the expulsion of the stones.

[0004] Therefore, after the stone is broken, the guide sheath and the endoscope often need to be constantly adjusted to change the relative distance between the stone and the guide sheath, until the stone is within the suction range of the endoscope and the guide sheath, so that the stone can be sucked out by the guide sheath, which greatly increases the time of the lithotripsy operation. Summary of the invention

[0005] In view of the shortcomings of the related technologies mentioned above, the present application provides an insertion portion, an endoscope and a control system to solve the above technical problems.

[0006] The present application provides an insertion portion of an endoscope, which includes a camera module, an instrument tube and a marking structure. The camera module is arranged at the distal end of the insertion portion, the instrument tube has an instrument channel, the instrument channel runs through the opposite ends of the insertion portion, and the instrument channel is used for circulating a medium. The marking structure is arranged adjacent to the camera module, and the marking structure is used to mark the flow path of the medium within the field of view of the camera module.

[0007] In one embodiment of the present application, the marking structure includes a follower line, which includes a free end and a fixed end that are far away from each other, the fixed end is arranged in the instrument tube, and the free end extends out of the distal end of the instrument tube.

[0008] In an embodiment of the present application, the marking structure includes a marking member, a piston, and a driving assembly. The marking member has a marking cavity that communicates with the instrument channel. The marking cavity is used to accommodate the marking liquid. The piston is located in the marking cavity and is slidably engaged with the marking member. The driving assembly is drivingly connected to the piston.

[0009] In an embodiment of the present application, the marking member is provided with a through hole that communicates between the marking cavity and the instrument channel. The driving assembly includes a first elastic member and a pulling rope. The first elastic member is drivingly connected to the piston and is used to drive the piston to move towards the direction close to the through hole. The distal end of the pulling rope is connected to the piston and is used to drive the piston to move away from the through hole.

[0010] In an embodiment of the present application, the marking member is disposed at the distal end of the insertion portion, and a flexible seal is configured at the distal end of the marking member. The flexible seal is provided with a first injection port that communicates with the marking cavity.

[0011] In an embodiment of the present application, the marking structure further includes a sliding seal. The sliding seal is provided with a second injection port. The first injection port and the second injection port are disposed opposite to each other. The sliding seal is located at the distal end of the marking member and is slidably engaged with the marking member. The sliding seal is used to seal the through hole when injecting the marking liquid into the marking cavity.

[0012] The marking member further includes a second elastic member. The second elastic member is disposed between the flexible seal and the sliding seal and is used to drive the sliding seal to move after injecting the marking liquid into the marking cavity to open the through hole.

[0013] In an embodiment of the present application, a one-way diaphragm is disposed in the through hole, and the marking liquid can flow unidirectionally in the direction from the marking cavity to the instrument channel.

[0014] In an embodiment of the present application, the insertion portion is used to be inserted into the sheath tube and is disposed offset relative to the sheath tube. In the direction from the imaging module to the instrument tube, the axes of the sheath tube and the insertion portion are sequentially distributed.

[0015] In an embodiment of the present application, the imaging module and the marking structure are integrally provided to form a front-end assembly.

[0016] To achieve the above object and other related objects, the present application provides an endoscope including the aforementioned insertion portion.

[0017] To achieve the above and other related objectives, the present application provides a control system, which is applied to the aforementioned endoscope. The insertion part of the endoscope is inserted into the sheath tube. The control system includes a first pressure controller, a second pressure controller, and a control module. The first pressure controller is connected to the instrument tube and is used to control the medium flow pressure value in the instrument tube. The second pressure controller is connected to the sheath tube and is used to control the medium flow pressure value in the sheath tube. The control module is electrically connected to the first pressure controller, the second pressure controller, and the camera module;

[0018] Wherein, the camera module is used to obtain the flow path of the marked medium and transmit it to the control module. The control module is used to compare the flow path with the preset path and adjust the medium flow pressure value in the instrument tube and / or the sheath tube according to the comparison result of the flow path and the preset path.

[0019] The technical solution adopted by the present invention can achieve the following beneficial effects: The instrument tube is used to inject the medium, the sheath tube provides a suction environment, the marking structure can present the flow path of the medium in front of the camera module, and medical staff can observe the flow path of the medium through the camera module. The marking structure visualizes the flow path of the medium. Further, medical staff can clearly observe the distance between the flow path and the calculus, and quickly adjust the sheath tube and the endoscope according to their relative position relationship, so as to improve the use efficiency of the endoscope and reduce the time of lithotripsy surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 is a schematic structural diagram of the insertion part and the sheath tube shown in an exemplary embodiment of the present application;

[0022] Figure 2 is a schematic structural diagram of the insertion part shown in an exemplary embodiment of the present application;

[0023] Figure 3 is a schematic structural diagram of the marking structure shown in an exemplary embodiment of the present application;

[0024] Figure 4 is a cross-sectional view of the insertion part and the sheath tube shown in an exemplary embodiment of the present application;

[0025] Figure 5 is Figure 4 the enlarged view at a in

[0026] Figure 6 is a schematic structural diagram showing the insertion part and the sheath tube located in the renal pelvis in an exemplary embodiment of the present application;

[0027] Figure 7 is Figure 6 an enlarged view of position c in

[0028] Figure 8 is Figure 4 an enlarged view of position b in

[0029] Figure 9 is a schematic structural diagram of a flexible seal and a sliding seal in another state shown in an exemplary embodiment of the present application;

[0030] Figure 10 is a schematic structural diagram of another insertion part and sheath tube shown in an exemplary embodiment of the present application;

[0031] Figure 11 is a schematic structural diagram of an endoscope shown in an exemplary embodiment of the present application;

[0032] Figure 12 is a schematic structural diagram of a control system shown in an exemplary embodiment of the present application.

[0033] In the figure: 1, endoscope; 100, insertion part; 110, imaging module; 111, camera; 112, light source; 120, instrument tube; 121, instrument channel; 130, marking structure; 131, follow line; 1311, free end; 1312, fixed end; 132, marker; 1321, marking cavity; 133, piston; 134, driving assembly; 1341, first elastic member; 1342, pull rope; 135, through hole; 136, flexible seal; 1361, first injection port; 137, sliding seal; 1371, second injection port; 1372, sealing part; 138, second elastic member; 139, treatment instrument; 2, sheath tube; 3, control system; 310, first pressure controller; 320, second pressure controller; 330, control module. Detailed implementation manners

[0034] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other implementation manners obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the scope protected by the present invention.

[0035] In the description and claims of this application, terms such as "first", "second", etc. are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are usually of the same type, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / ", generally indicates an "or" relationship between the associated objects before and after.

[0036] In various embodiments of this application, "proximal end" and "distal end" refer to the relative distances of each component from the user in the usage environment. Among them, the end closer to the user is designated as the "proximal end", and the end farther from the user is designated as the "distal end".

[0037] This application provides an insertion portion 100 of an endoscope 1. Please refer to Figure 1 , the insertion portion 100 may include an imaging module 110, an instrument tube 120, and a marking structure 130. The marking structure 130 is disposed adjacent to the imaging module 110 and the instrument tube 120.

[0038] The imaging module 110 is disposed at the distal end of the insertion portion 100. The insertion portion 100 has an active bending section or a passive bending section. The following content will be described by taking the active bending section as an example. Exemplarily, under the control of medical staff, the distal end of the insertion portion 100 can be rotated to a specified orientation, and then the imaging module 110 can obtain an image signal at a specified position, so as to facilitate medical staff to observe and control the instrument for treatment operations.

[0039] Specifically, please refer to Figure 2 , the imaging module 110 may include a camera 111 and a light source 112. The light source 112 can illuminate the environment in front of the insertion portion 100. The camera 111 can obtain image information in front of the insertion portion 100 and transmit it to a display device for medical staff to observe or analyze and perform corresponding treatment operations.

[0040] The instrument tube 120 has an instrument channel 121 that runs through opposite ends of the insertion portion 100, and the instrument channel 121 is used for the flow of a medium. Herein, the medium can be normal saline, contrast agent, etc. The present embodiment does not limit the type of the medium, which is limited by the specific implementation purpose and implementation scenario. Exemplarily, the medium can be injected from the proximal end of the instrument channel 121 and flow through the instrument channel 121 to the distal end of the instrument tube 120. The distal end of the instrument tube 120 can be located at the distal end of the insertion portion 100, and the distal end of the insertion portion 100 can extend into a human body cavity or organ, etc. The medium can flow into the human body cavity or organ, such as the renal pelvis, bronchus, etc.

[0041] In some other cases, the instrument channel 121 can also be used for inserting treatment instruments, such as biopsy forceps, laser devices, etc. The specific function of the instrument channel 121 is not limited. And it can be understood that while injecting the medium, a treatment instrument can be inserted into the instrument channel 121 to implement more complex functions. Exemplarily, the insertion portion 100 is inserted into the renal pelvis. While the instrument channel 121 can inject normal saline, a laser device can also be inserted into the instrument channel 121. The laser device can break up the stones in the renal pelvis, and the stones are broken into stone particles. The normal saline can drive the stone particles to be discharged, the normal saline can improve the discharge effect of the stones, and balance the internal pressure of the renal pelvis, thereby improving the success rate of the lithotripsy surgery.

[0042] It can be understood that the endoscope 1 is applied inside the insertion sheath 2, and the insertion sheath 2 can guide the endoscope 1 into the urinary system to ensure the accuracy and safety of the operation. Its design fully considers the physiological structure of the human urinary system, can effectively reduce the trauma and complications during the operation, and improve the success rate of the operation and the recovery speed of the patient. Exemplarily, when removing kidney stones using the insertion sheath 2 and the endoscope 1, a guide wire can be used to place the insertion sheath 2 into the kidney, and then the insertion portion 100 of the endoscope 1 is inserted into the insertion sheath 2 to observe and break up the stones. After the stones are broken up, the insertion portion 100 injects the medium, and a negative pressure environment is provided by the insertion sheath 2 to aspirate the stones into the gap between the insertion sheath 2 and the insertion portion 100, thereby discharging the stones.

[0043] After the stones are broken up, the guide sheath and the endoscope 1 often need to be continuously adjusted in position to aspirate the stone particles out by the guide sheath, which greatly increases the time of the lithotripsy surgery. In the present embodiment, please refer back to Figure 1, the marking structure 130 is used to mark the flow path of the medium within the field of view of the imaging module 110. The marking structure 130 can mark the flow path of the medium, improving the visibility of the medium. Furthermore, the imaging module 110 can clearly obtain the flow path of the medium, and medical staff can adjust the relative position between the flow path and the calculus so that the medium can act on the calculus particles. The medium pushes the calculus and is discharged out of the body together through the gap between the sheath tube 2 and the insertion portion 100. The marking device can significantly improve the operation effect of the endoscope 1. Medical staff can clearly observe the distance between the flow path and the calculus and quickly adjust the sheath tube 2 and the endoscope 1 according to their relative position relationship to improve the usage efficiency of the endoscope 1 and reduce the time of the lithotripsy surgery.

[0044] In one embodiment, please refer to Figure 3 , the marking structure 130 may include a follow line 131. The follow line 131 may be a medical nylon thread, a medical polyester thread, etc., and this embodiment does not limit it. Moreover, the color of the follow line 131 may be configured as blue, green, etc., so that the follow line 131 can be more conspicuous and the imaging module 110 can more easily collect the situation of the follow line 131. The follow line 131 may include a free end 1311 and a fixed end 1312 that are away from each other. The fixed end 1312 is disposed within the instrument tube 120, and the free end 1311 extends outside the distal end of the instrument tube 120. The medium is discharged from the distal end of the instrument tube 120, and the follow line 131 can extend along the flow direction of the medium. Furthermore, the extension path of the follow line 131 can be the flow path of the medium, and the imaging module 110 can clearly collect the flow direction of the medium.

[0045] Specifically, the fixed end 1312 of the follow line 131 can be fixed to the tube wall of the instrument tube 120, and the follow line 131 can always represent the flow path of the medium. Or, as Figure 3 shown, the fixed end 1312 can be fixed to the distal end of the treatment instrument 139. For example, the treatment instrument 139 can be a laser device. The fixed end 1312 is fixed to the distal end of the treatment instrument 139. After the treatment instrument 139 breaks up the calculus, the follow line 131 can clearly show the flow path of the medium, so that the imaging module 110 can clearly obtain the flow path of the medium. Among them, the flow direction of the medium tends to be dynamically stable, and the extension path of the follow line 131 tends to be dynamically stable. Medical staff can obtain the approximate extension path of the follow line 131 through the imaging module 110 to judge the flow path of the medium.

[0046] In some other cases, the insertion portion 100 has a marking channel (not shown), the marking channel is connected to the instrument channel 121, and the marking channel extends to the proximal end of the insertion portion 100. The follower wire 131 is arranged in the marking channel and is slidably arranged relative to the insertion portion 100. The fixed end 1312 of the follower wire 131 can extend out of the proximal end of the marking channel, and the free end 1311 extends out of the distal end of the instrument tube 120. Medical staff can pull out or insert the follower wire 131 to change the extension length of the follower wire 131 extending out of the instrument tube 120, so as to prevent the follower wire 131 from blocking the camera module 110 or winding around the treatment instrument 139 when idle, thereby improving the flexibility of use of the marking device.

[0047] In another embodiment, see Figure 4 The marking structure 130 may include a marking member 132, a piston 133 and a driving assembly 134. The piston 133 is located in the marking member 132, the piston 133 and the marking member 132 are slidably matched, and the driving assembly 134 is in driving connection with the piston 133. For further information, please refer to Figure 5 The marking member 132 may have a marking cavity 1321, which is connected to the instrument channel 121, and the marking cavity 1321 is used to contain the marking liquid. The piston 133 is located in the marking cavity 1321 and slidably cooperates with the marking member 132. As the driving component 134 drives the piston 133 to slide relative to the marking member 132, the marking liquid is discharged. The marking liquid is discharged into the instrument channel 121, and compared with the medium, the marking liquid can be clearly and obviously presented in the field of view of the camera module 110. Medical staff can clearly observe the distance between the flow path and the stone, and quickly adjust the sheath 2 and the endoscope 1 according to the relative position relationship between the two, thereby improving the use efficiency of the endoscope 1. In addition, the marking liquid can be mixed with the medium, and the marking liquid can show the details of the flow path of the medium, which can more accurately show the flow path of the medium and improve the control accuracy of the endoscope 1.

[0048] Among them, the marking liquid can be vitamin B 2 , Vitamin B 12 , levofloxacin, methylene blue or sodium fluorescein, etc. The type of the marking liquid is selected according to the specific implementation scenario and requirements. The marking liquid can have a specific color, and the camera module 110 can clearly and accurately capture the flow path of the marking liquid.

[0049] For ease of understanding, the following content introduces the working principle of the marking structure 130:

[0050] like Figure 6 and Figure 7 As shown, Figure 6 FIG. 1 shows a schematic diagram of the structure of the insertion part 100 and the sheath tube 2 located in the renal pelvis. The instrument channel 121 of the insertion part 100 continuously injects a medium. The flow trajectory of the medium is shown in FIG.Figure 7 The marking structure 130 can continuously discharge the marking liquid toward the instrument channel 121, and the flow trajectory of the marking liquid is as shown in FIG. Figure 7 The marking liquid is mixed in the medium, and the marking liquid can continuously show the approximate flow path of the medium, thereby improving the control accuracy of the endoscope 1.

[0051] In some other cases, the marking structure 130 only includes a marking member 132 and a piston 133, and the marking member 132 has a marking cavity 1321 connected to the instrument channel 121. The piston 133 is located in the marking cavity 1321, and the piston 133 and the marking member 132 are slidably matched. When the medium flows in the instrument channel 121, the flow rate in the instrument channel 121 is greater than that in the marking cavity 1321. Based on the Bernoulli principle, under certain conditions, the greater the flow rate, the lower the pressure, and thus the pressure in the instrument channel 121 is lower. Under the influence of pressure, the marking liquid in the marking cavity 1321 can automatically flow into the instrument channel 121 to implement the function of marking the flow path of the medium. During this period, the piston 133 can simultaneously reduce the volume of the marking cavity 1321 to prevent the atmospheric pressure from hindering the marking liquid from flowing out of the marking cavity 1321.

[0052] For more information, please see Figure 4 as well as Figure 5 The marking member 132 is provided with a through hole 135, and the through hole 135 is connected between the marking cavity 1321 and the instrument channel 121. The through hole 135 can allow the marking liquid to be discharged into the instrument channel 121, so that the marking liquid is mixed with the medium. The driving assembly 134 includes a first elastic member 1341 and a pull rope 1342. The first elastic member 1341 can be a spring, a spring sheet, etc., and this embodiment is not limited. The first elastic member 1341 is connected to the piston 133 in a transmission manner, and the first elastic member 1341 is used to drive the piston 133 to move in a direction close to the through hole 135. The first elastic member 1341 can continuously act on the piston 133, so that the piston 133 can squeeze the marking liquid, so that the marking liquid can be discharged from the through hole 135. The distal end of the pull rope 1342 is connected to the piston 133, and is used to drive the piston 133 to move in a direction away from the through hole 135. The distal end of the pull rope 1342 can extend to the proximal end of the insertion part 100, and the medical staff can pull the pull rope 1342. The pull rope 1342 can control the movement of the piston 133 to prevent the leakage of the marking liquid. For example, when the insertion part 100 is inserted into the sheath tube 2, the pull rope 1342 can continue to pull the piston 133 to prevent the first elastic member 1341 from driving the piston 133 and causing the marking liquid to leak. At the same time, the relative position of the piston 133 and the marking member 132 does not change, and the atmospheric pressure acts on the marking liquid in the marking cavity 1321, and the marking liquid cannot be directly discharged through the through hole 135, further improving the sealing of the marking mechanism when it is idle.

[0053] In this embodiment, please refer to Figure 4 and Figure 8 , the marking member 132 is disposed at the distal end of the insertion portion 100, and a flexible seal 136 is disposed at the distal end of the marking member 132. Further, the flexible seal 136 can be connected to the cavity wall forming the marking cavity 1321. The material of the flexible seal 136 can be medical silicone, rubber, etc., which is not limited in this embodiment. The flexible seal 136 is provided with a first injection port 1361, and the first injection port 1361 communicates with the marking cavity 1321. By means of injection or the like, medical staff or installers inject the marking liquid into the marking cavity 1321 through the first injection port 1361. When the marking liquid is injected into the marking cavity 1321, the pressure of the marking liquid can push the piston 133 to increase the volume of the marking cavity 1321 to accommodate more marking liquid. After the injection needle suitable for injecting the marking liquid is withdrawn, due to the elastic recovery of the flexible seal 136, the first injection port 1361 will quickly close to prevent the marking liquid from leaking.

[0054] In some other cases, during the process of injecting the marking liquid into the marking cavity 1321, the piston 133 is pulled synchronously to increase the volume of the marking cavity 1321 to accommodate more marking liquid.

[0055] Further, please continue to refer to Figure 8 , the marking structure 130 may further include a sliding seal 137, and the sliding seal 137 is provided with a second injection port 1371. The first injection port 1361 and the second injection port 1371 are oppositely arranged, that is, the first injection port 1361 and the second injection port 1371 are coaxially arranged. Through the first injection port 1361 and the second injection port 1371, medical staff or installers can inject the marking liquid into the marking cavity 1321. The sliding seal 137 is located at the distal end of the marking member 132, and the sliding seal 137 is slidably engaged with the marking member 132. The sliding seal 137 is used to seal the through hole 135 when injecting the marking liquid into the marking cavity 1321. This setting can seal the through hole 135 during the injection process of the marking liquid to avoid direct leakage of the marking liquid through the through hole 135 and improve the reliability of the insertion portion 100.

[0056] Further, please continue to refer to Figure 8 , the sliding seal 137 is disposed on the side of the flexible seal 136 away from the through hole 135, and the sliding seal 137 has a sealing portion 1372, and one end of the sealing portion 1372 extends into the side of the flexible seal 136 close to the through hole 135. As Figure 9As shown, while injecting the marking liquid, the installer or medical staff presses the sliding seal 137 to move towards the flexible seal 136. The sealing part 1372 moves along with it, and the sealing part 1372 can close the through hole 135 to realize the sealing setting of the through hole 135, avoid the direct leakage of the marking liquid through the through hole 135, and improve the reliability of the insertion part 100.

[0057] In addition, please refer to Figure 8 , the marking member 132 may further include a second elastic member 138. The second elastic member 138 may be a spring, a spring piece, etc., and this embodiment does not limit it. The second elastic member 138 is disposed between the flexible seal 136 and the sliding seal 137. After injecting the marking liquid into the marking cavity 1321, the second elastic member 138 is used to drive the sliding seal 137 to move to open the through hole 135. As Figure 9 shown, while injecting the marking liquid, the installer or medical staff presses the sliding seal 137 to move towards the flexible seal 136, forcing the second elastic member 138 to deform and seal the through hole 135. As Figure 8 shown, after the injection of the marking liquid is completed, the injection needle is withdrawn, and the second elastic member 138 returns to its original state and drives the sliding seal 137 to move away from the flexible seal 136.

[0058] Preferably, a one-way membrane flap (not shown in the figure) is provided in the through hole 135. The one-way membrane flap can be a membrane structure that allows fluids or substances to pass through in a single direction while acting as a barrier or seal in the opposite direction. Further, the marking liquid can flow unidirectionally along the direction from the marking cavity 1321 to the instrument channel 121. The one-way membrane flap can make the marking liquid flow out unidirectionally, prevent the medium from flowing into the marking cavity 1321, avoid the medium from diluting the marking liquid or hindering the movement of the piston 133, etc., and improve the use safety of the marking device.

[0059] In some other embodiments, the marking structure 130 may include both the follow line 131 and the marking member 132, the piston 133, and the driving assembly 134. This setting can make the marking structure 130 redundant, improving the marking effect and reliability of the marking structure 130. Further, the fixed end 1312 of the follow line 131 can be fixed to the piston 133. After the marking liquid in the marking member 132 is completely discharged or mostly discharged, the free end 1311 of the follow line 131 extends out of the instrument channel 121, so that the marking structure 130 can continue to implement the marking effect and extend the marking duration of the marking structure 130.

[0060] In this embodiment, please refer to Figure 10, the insertion portion 100 is configured to be inserted into the sheath tube 2, and the insertion portion 100 is disposed offset relative to the sheath tube 2. Schematically, a fixing member is provided inside the sheath tube 2, and the fixing member drives the insertion portion 100 to be disposed offset. There is a larger space on one side of the offset insertion portion 100, and this setting can improve the suction effect of the sheath tube 2 and enable the medium to have a more definite flow path. In the direction from the imaging module 110 to the instrument tube 120, the axis of the sheath tube 2 and the axis of the insertion portion 100 are sequentially distributed. In other words, relative to the imaging module 110, the instrument tube 120 is closer to the offset direction of the insertion portion 100. Furthermore, a larger space is formed on the side of the imaging module 110 away from the instrument tube 120. This setting can enable most of the medium to flow in front of the imaging module 110 and then flow into the gap between the sheath tube 2 and the insertion portion 100, so as to ensure that the imaging module 110 can capture the specific flow path of the medium and prevent the flow path of the medium from not appearing within the field of view of the imaging module 110.

[0061] In some other cases, the imaging module 110 and the marking structure 130 can be integrally provided to form a front-end assembly. This setting can improve the integration degree of the imaging module 110 and the marking structure 130, reduce the assembly difficulty of the insertion portion 100, and improve the structural stability of the insertion portion 100.

[0062] To achieve the above and other related purposes, please refer to Figure 11 , this application provides an endoscope 1, including the aforementioned insertion portion 100. In this way, the endoscope 1 has the beneficial effects of any of the foregoing solutions, which will not be elaborated here. The endoscope 1 can be a bronchoscope, a pyeloscope, an esophagoscope, a gastroscope, a colonoscope, an otoscope, a nasal endoscope, an oral endoscope, a laryngoscope, a vaginoscope, a laparoscope, an arthroscope, etc., and the embodiments of this application do not specifically limit the type of the endoscope 1.

[0063] To achieve the above and other related purposes, please refer to Figure 12 , this application provides a control system 3, which is applied to the aforementioned endoscope 1, and the insertion portion 100 of the endoscope 1 is inserted into the sheath tube 2.

[0064] Please refer to together Figure 1 and Figure 12, the control system 3 may include a first pressure controller 310, a second pressure controller 320, and a control module 330. The first pressure controller 310 is connected to the instrument tube 120, and the first pressure controller 310 is used to control the medium flow pressure value in the instrument tube 120. The second pressure controller 320 is connected to the sheath tube 2, and the second pressure controller 320 is used to control the medium flow pressure value in the sheath tube 2. The first pressure controller 310 and the second pressure controller 320 may be a pump body or a valve body connected to the pump body, etc. The present embodiment does not limit their types. Exemplarily, the first pressure controller 310 and the second pressure controller 320 may cooperate with each other. The first pressure controller 310 may be a positive pressure pump, and the first pressure controller 310 controls the medium flow pressure value in the instrument tube 120 to be a positive pressure value. The second pressure controller 320 may be a negative pressure pump, and the second pressure controller 320 controls the medium flow pressure value in the instrument tube 120 to be a negative pressure value. And, on this basis, medical staff can manually control the first pressure controller and the second pressure controller to change the flow path of the medium, etc. For example, under the combined action of the instrument tube 120 and the sheath tube 2, the flow path of the medium may be approximately arc-shaped. Under the control of the first pressure controller 310 and the second pressure controller 320, the greater the pressure value in the instrument tube 120 and the sheath tube 2, the greater the distance between the farthest point of the medium flow path and the insertion portion 100, and thus a farther position can be affected.

[0065] Please continue to refer to Figure 1 and Figure 12 , the control module 330 is electrically connected to the first pressure controller, the second pressure controller, and the imaging module 110 of the endoscope 1. The imaging module 110 is used to acquire the flow path of the marked medium and transmit it to the control module 330. The control module 330 is used to compare the flow path with the preset path, and adjust the medium flow pressure value in the instrument tube 120 and / or the sheath tube 2 according to the comparison result of the flow path and the preset path. Exemplarily, compared with the preset path, the control module 330 finds that the medium flow path is closer to the insertion portion 100 and the action range of the medium is too small. The control module 330 controls the first pressure controller and the second pressure controller to increase the medium flow pressure value in the instrument tube 120 and the sheath tube 2. The control module 330 can make the flow path of the medium in an optimal state and improve the use effect of the endoscope 1.

[0066] In addition, the control module 330 can make each endoscope 1 and sheath tube 2 have the same flow path, improve the versatility of the endoscope 1, shorten the adaptation process of medical staff for each endoscope 1 and sheath tube 2, and reduce the difficulty of getting started with the endoscope 1.

[0067] Among them, the preset path can be the optimal flow path of the medium. The preset path can be preset in the control module 330, or the preset path can be manually configured by medical staff in the control module 330. Further, the preset path determines the maximum distance between the farthest point of the flow path of the medium and the insertion part 100, as well as the outflow angle and inflow angle of the medium, etc. The preset path can balance the action range and action effect of the medium, and avoid situations where the action range of the medium is too large while the action effect is not good.

[0068] The technical solution adopted by the present invention can achieve the following beneficial effects: The instrument tube 120 is used to inject the medium, the sheath tube 2 provides a suction environment, and the marking structure 130 can present the flow path of the medium in front of the imaging module 110. Medical staff can observe the flow path of the medium through the imaging module 110, and the marking structure 130 visualizes the flow path of the medium. Further, medical staff can clearly observe the distance between the flow path and the stone, and quickly adjust the sheath tube 2 and the endoscope 1 according to their relative position relationship, so as to improve the use efficiency of the endoscope 1 and reduce the time of the lithotripsy operation.

[0069] It should be noted that in this article, the terms "including", "comprising" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including that element.

[0070] In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed. It may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0071] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention.

Claims

1. An insertion portion of an endoscope, characterized in that: include: A camera module, the camera module is arranged at the distal end of the insertion portion; An instrument tube, wherein the instrument tube has an instrument channel, wherein the instrument channel passes through opposite ends of the insertion portion and is used for circulating a medium, wherein the medium is a liquid; And a marking structure, which is arranged adjacent to the camera module, the marking structure includes a follow-up line, the follow-up line includes a free end and a fixed end that are far away from each other, the fixed end is arranged in the instrument tube, and the free end extends out of the distal end of the instrument tube. The marking structure is used to mark the flow path of the medium within the field of view of the camera module, so as to realize visualization of the medium through the camera module.

2. An insertion portion of an endoscope, characterized in that: include: A camera module, the camera module is arranged at the distal end of the insertion portion; An instrument tube, wherein the instrument tube has an instrument channel, wherein the instrument channel passes through opposite ends of the insertion portion and is used for circulating a medium, wherein the medium is a liquid; and a marking structure, wherein the marking structure is arranged adjacent to the camera module, the marking structure comprises a marking member, a piston and a driving assembly, the marking member has a marking cavity, the marking cavity is communicated with the instrument channel, the marking cavity is used to contain a marking liquid, the piston is located in the marking cavity and slidably cooperates with the marking member, the driving assembly is transmission-connected to the piston, and the marking structure is used to mark the flow path of the medium within the field of view of the camera module, so as to realize visualization of the medium through the camera module.

3. The insertion portion according to claim 2, characterized in that: The marking member is provided with a through hole, and the through hole is connected between the marking cavity and the instrument channel. The driving assembly includes a first elastic member and a pull rope. The first elastic member is transmission-connected to the piston, and the first elastic member is used to drive the piston to move toward a direction approaching the through hole. The distal end of the pull rope is connected to the piston and is used to drive the piston to move toward a direction away from the through hole.

4. The insertion portion according to claim 3, characterized in that: The marking member is arranged at the distal end of the insertion portion, and a flexible sealing member is disposed at the distal end of the marking member. The flexible sealing member defines a first injection port, and the first injection port is communicated with the marking cavity.

5. The insertion portion according to claim 4, characterized in that: The marking structure further includes a sliding seal, the sliding seal is provided with a second injection port, the first injection port is arranged opposite to the second injection port, the sliding seal is located at the distal end of the marking member, and is slidably matched with the marking member, and the sliding seal is used to seal the through hole when the marking liquid is injected into the marking cavity; The marking member also includes a second elastic member, which is arranged between the flexible seal and the sliding seal. The second elastic member is used to drive the sliding seal to move to open the through hole after the marking liquid is injected into the marking cavity.

6. The insertion portion according to claim 3, characterized in that: A one-way membrane flap is arranged in the through hole, and the marking liquid can flow in one direction from the marking cavity to the instrument channel.

7. The insertion portion according to claim 2, characterized in that: The insertion portion is used to insert the sheath tube, and is offset relative to the sheath tube. In the direction from the camera module to the instrument tube, the axis of the sheath tube and the axis of the insertion portion are distributed in sequence; And / or, the camera module and the marking structure are integrated to form a front-end component.

8. An endoscope, characterized in that: Comprising the insertion portion according to any one of claims 1-7.

9. A control system applied to the endoscope of claim 8, wherein the insertion portion of the endoscope is inserted into a sheath tube, characterized in that: include; A first pressure controller, connected to the instrument tube and used to control the flow pressure value of the medium in the instrument tube; A second pressure controller is connected to the sheath tube and is used to control the flow pressure value of the medium in the sheath tube; and a control module, electrically connected to the first pressure controller, the second pressure controller and the camera module; Among them, the camera module is used to obtain the flow path of the marked medium and transmit it to the control module. The control module is used to compare the flow path with a preset path, and adjust the medium flow pressure value in the instrument tube and / or the sheath tube according to the comparison result of the flow path and the preset path.

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