Fallopian tube radiography teleoperation system and use method thereof

Abstract

The invention relates to the technical field of medical instruments, in particular to a salpingography teleoperation system. The salpingography teleoperation system comprises an injection part, a first driving part, a guide part, a second driving part, a private peeping part, a third driving part, a flexible endoscope part and a control part. The injection part comprises an injector and an injection tube, the first end of the injection tube is connected with the injector, and the second end of the injection tube enters and goes deep into a natural orifice. The first driving part is used for driving the injection of the injector; the guide part is used for pushing the injection tube to deeply move in a natural cavity; the second driving part is used for driving the guide part to generate thrust to the injection tube; the private peeping part is used for expanding a natural orifice to assist the injection tube in entering the natural orifice; the third driving part is used for driving radial expansion and contraction of the pudendum peeping part; the flexible endoscope part is used for driving the second end of the injection tube to adjust the degree of freedom and observing the radiography condition; the control part is used for remotely controlling the first driving part, the second driving part, the third driving part and the flexible endoscope part. And the operation complexity of radiography is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a hysterosalpingography telemanipulation system and a method for using the same. Background Art

[0002] Hystero salpingo graphy (HSG) is a common imaging examination method, which is mainly used to evaluate the patency of female fallopian tubes and the morphological structure of the uterus. It is usually used to diagnose infertility, helping doctors to rule out or confirm factors such as fallopian tube problems and abnormal uterine structure. The specific principle is: Hysterosalpingography injects a liquid containing contrast agent into the uterine cavity, and uses X-ray imaging technology to observe the morphology of the uterine cavity and fallopian tubes. The contrast agent is usually a water-soluble or oil-soluble substance that can be visualized under X-rays, clearly showing the outlines of the uterus and fallopian tubes.

[0003] At present, hysterosalpingography mainly involves artificially dilating the vagina, exposing the cervical opening, fixing the cervix with a cervical clamp, injecting contrast agent into the uterine cavity, and then using X-ray fluoroscopy and filming to determine whether the fallopian tube is unobstructed based on the X-ray film taken. Specifically, during the hysterosalpingography operation, after the operator completes the above operation once, if the image obtained by the X-ray machine is inaccurate, the above operation needs to be repeated until the image obtained by the X-ray machine meets the requirements.

[0004] During the implementation of relevant technologies, at least the following technical problems were found:

[0005] In the current hysterosalpingography surgery, there are problems such as complicated operation process, multiple operations that may cause discomfort to the operator, and the operator needs to go back and forth between the lead room and the operation room repeatedly, which may cause the operator to be exposed to radiation too many times. Summary of the invention

[0006] The embodiment of the present application provides a hysterosalpingography teleoperation system and a method for using the same, which can reduce the complexity of operation, reduce the number of radiation exposures of the operator, and reduce the discomfort of the operator.

[0007] In some embodiments, a fallopian tube angiography telecontrol system is provided, comprising: an injection unit, the injection unit comprising a syringe and an injection tube, the first end of the injection tube being connected to the syringe, the second end being used to enter and penetrate into the natural cavity, the syringe being used to push and output the loaded contrast agent from the first end of the injection tube to the second end; a first drive unit, the first drive unit being transmission-connected to the syringe and used to drive the injection of the syringe; a guide unit, being used to push the injection tube to move deeply in the natural cavity; a second drive unit, the second drive unit being transmission-connected to the guide unit and used to drive the guide unit to generate thrust on the injection tube; a peephole unit, the peephole unit surrounding the outside of the injection tube and having a variable radial size, being used to expand the natural cavity and assist the injection tube to enter the natural cavity; a third drive unit, the third drive unit being transmission-connected to the peephole unit and being used to drive the radial expansion and contraction of the peephole unit; a flexible endoscope unit, the flexible endoscope unit extending in the same direction as the injection tube and being fixed, being used to drive the second end of the injection tube to adjust the degree of freedom and observe the angiography situation; and a control unit, being used to remotely control the first drive unit, the second drive unit, the third drive unit and the flexible endoscope unit.

[0008] By using the hysterosalpingography teleoperation system provided in the embodiment of the present application, the remote control of the devices in the hysterosalpingography teleoperation system is realized through the control unit, and the hysterosalpingography operation can be completed by realizing remote remote control of the hysterosalpingography teleoperation system. The operation process of injecting contrast agent is simple, which reduces the pre-order operation of injecting contrast agent to the person being tested (such as dilating the vagina, arranging the contrast tube, etc.), and reduces the contact between the operator and the person being tested, thereby reducing the problem of discomfort of the operator. In addition, when the image obtained by the X-ray machine is inaccurate, the first driving unit is directly controlled to drive the contrast agent injection unit to output the contrast agent, and the X-ray machine can be used again for filming, which reduces the operator's repeated movement between the lead room and the filming room, reduces the number of times the operator is exposed to radiation, and further reduces the time required for operation, thereby improving work efficiency.

[0009] Optionally, the first driving part includes: a first driving member; a pushing member, the first driving member is transmission-connected to the pushing member; the first driving member is used to drive the pushing member to move; the pushing member is fixedly connected to the piston rod of the syringe; and a limiting member, the limiting member is used to limit the movement direction of the pushing member.

[0010] Optionally, the guide portion includes: a clamping member, including a first sub-clamping member and a second sub-clamping member, the first sub-clamping member and the second sub-clamping member are clamped on both sides of the injection tube to deform the injection tube; the second driving portion includes: two groups of second driving members, respectively connected to the first sub-clamping member and the second sub-clamping member to drive the injection tube to move through the movement of the first sub-clamping member and the second sub-clamping member; a moving member, the moving member is connected to the first sub-clamping member and / or the second sub-clamping member, and is used to drive the first sub-clamping member and / or the second sub-clamping member to move so that the two are closer or farther away.

[0011] Optionally, the first sub-clamping member includes a first pulley group, and the second sub-clamping member includes a second pulley group; the first pulley group and the second pulley group are spaced apart on both sides of the injection tube, and the first pulley group and the second pulley group clamp the injection tube; the first pulley group and the second pulley group are used to be driven by the second driving member to rotate relative to each other to drive the injection tube to move; the first pulley group includes a plurality of first pulleys, and the second pulley group includes a plurality of second pulleys.

[0012] Optionally, the peephole portion includes: a first main expansion arm; a second main expansion arm; the first main expansion arm and the second main expansion arm are arranged opposite to each other, and a receiving cavity is formed between the first main expansion arm and the second main expansion arm; the second end of the injection tube is located in the receiving cavity; the first main expansion arm and the second main expansion arm are transmission-connected to a third driving unit, and the third driving unit is used to drive the first main expansion arm and the second main expansion arm to move relative to each other, forming a closed state to close the receiving cavity, or forming an expanded state to open the receiving cavity.

[0013] Optionally, the hysterosalpingography remote control system also includes: a shell, including a accommodating space for accommodating an injection unit, a first drive unit, a guide unit, a second drive unit and a third drive unit; the syringe is detachably connected to the bottom wall of the accommodating space; an operating hole is opened on the first side wall of the accommodating space, and the peephole extends out of the accommodating space through the operating hole.

[0014] Optionally, the flexible endoscope portion includes: a flexible arm, which is used to controllably change the degree of freedom to drive the injection tube to move; an endoscope, which is constructed at the end of the flexible arm; and an image display, which is arranged in the accommodating space of the shell and is used to display the image collected by the endoscope.

[0015] Optionally, the hysterosalpingography telemanipulation system further includes: an outer sleeve, the outer sleeve and the injection tube are both flexible tubes; the outer sleeve is sleeved on the flexible arm and the injection tube, and the outer sleeve has an interference fit with the flexible arm and the injection tube.

[0016] Optionally, the hysterosalpingography telemanipulation system further includes: an extension support portion, used to fix the shell to the operating bed; the extension support portion includes: a universal arm and a locking clamp; the universal arm includes at least one joint with adjustable relative freedom, the first end of the universal arm is slidably connected to the shell, and the second end of the universal arm is slidably connected to the bed frame of the operating bed; the locking clamp is arranged at the end of any joint, and is used to lock the freedom of all joints.

[0017] Optionally, the shell is slidably connected to the universal arm through a sliding part, and the sliding part includes: a transmission base plate, which is fixed to the first end of the universal arm and the shell is slidably arranged on the transmission base plate; a fourth driving part, which is used to drive the shell to slide relatively on the transmission base plate along the extension direction of the injection tube.

[0018] Optionally, the hysterosalpingography telecontrol system further includes: a pressure sensor, which is arranged in the syringe and collects pressure data and transmits it to the control unit, and the pressure sensor is used to detect the pressure value in the syringe.

[0019] Optionally, the injection part also includes: a balloon, which is arranged on the outer peripheral side of the injection tube; a balloon branch tube, including an air inlet end and an air outlet end, the air outlet end is connected to the balloon; a syringe for balloon inflation, the outlet of the syringe for balloon inflation is connected to the air inlet end of the balloon branch tube, and is used for injecting air to prop up the balloon.

[0020] Optionally, the control unit includes: a remote control, the remote control includes a control key and a damper; the control key is communicatively connected with the first drive unit, the second drive unit, the third drive unit and the flexible endoscope unit to send a control signal to the first drive unit, the second drive unit, the third drive unit and the flexible endoscope unit; the damper is used to feed back to the control key the current size corresponding to the control signal sent by the control key.

[0021] In some embodiments, a method for using a salpingography telecontrol system is provided, which is applied to a salpingography telecontrol system as provided in any of the above embodiments, and the method for using the salpingography telecontrol system includes: allowing the spectacles, the second end of the injection tube and the flexible endoscope to enter the natural cavity; observing the position corresponding to the second end of the injection tube through the flexible endoscope; when the position is the target position, controlling the third drive unit through the control unit to drive the spectacles to radially expand to expand the natural cavity; controlling the second drive unit through the control unit to drive the guide unit to generate a thrust on the injection tube, so that the second end of the injection tube penetrates into the natural cavity; controlling the first drive unit through the control unit to drive the injector to push the loaded contrast agent from the first end of the injection tube to the second end and output it; controlling the flexible endoscope unit through the control unit to drive the second end of the injection tube to adjust the degree of freedom and observe the imaging situation.

[0022] By using the method for using the hysterosalpingography teleoperation system provided in the embodiment of the present application, most of the manual operations in the related technology are replaced by remote teleoperation, which reduces the contact between the operator and the subject, and relieves the tension and discomfort of the subject. In addition, when the image taken by the X-ray machine is inaccurate, the hysterosalpingography teleoperation system can be directly remotely operated to make the second end of the injection tube output the contrast agent, without the need for the operator to enter the lead room again for operation, reducing the operator's repeated movement between the lead room and the radiography room, reducing the number of times the operator is exposed to radiation, simplifying the operation, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0024] Figure 1 A schematic diagram of the structure of the hysterosalpingography teleoperation system provided in an embodiment of the present application;

[0025] Figure 2 for Figure 1 A schematic diagram of a first viewing angle of some devices in the illustrated embodiment;

[0026] Figure 3 for Figure 1 A schematic diagram of a second viewing angle of some devices in the illustrated embodiment;

[0027] Figure 4 A first schematic diagram of a first sub-clamping member and a second sub-clamping member provided in an embodiment of the present application being clamped on an injection tube;

[0028] Figure 5 A second schematic diagram of the first sub-clamping member and the second sub-clamping member provided in the embodiment of the present application being clamped on the injection tube;

[0029] Figure 6 A first schematic diagram of the first sub-clamping member and the second sub-clamping member releasing the injection tube provided in an embodiment of the present application;

[0030] Figure 7 A second schematic diagram of the first sub-clamping member and the second sub-clamping member releasing the injection tube provided in the embodiment of the present application;

[0031] Figure 8 A schematic diagram of the structure of the pubic area provided in an embodiment of the present application;

[0032] Fig. 9 A schematic diagram of a first main expansion arm and a second main expansion arm in a close-together state provided in an embodiment of the present application;

[0033] Fig.10 A schematic diagram of the first main expansion arm and the second main expansion arm in the expanded state provided in an embodiment of the present application;

[0034] Fig.11 A schematic structural diagram of a first main expansion arm and a second main expansion arm from a first viewing angle provided in an embodiment of the present application;

[0035] Fig.12 A schematic structural diagram of a first main expansion arm and a second main expansion arm from a second viewing angle provided in an embodiment of the present application;

[0036] Fig.13 A schematic diagram of the structure of the flexible endoscope portion provided in an embodiment of the present application;

[0037] Fig.14 for Fig.13 A cross-sectional view of the embodiment shown along the axial direction of the injection tube;

[0038] Fig.15 A schematic diagram of the structure of a transmission substrate provided in an embodiment of the present application;

[0039] Fig.16 A cross-sectional view of a salpingography telemanipulation system and a transmission substrate provided in an embodiment of the present application;

[0040] Fig.17 An enlarged schematic diagram of a remote control provided in an embodiment of the present application;

[0041] Fig.18 A flowchart of a method for using the hysterosalpingography telemanipulation system provided in an embodiment of the present application.

[0042] Reference numerals:

[0043] 11. Injection unit; 111. Syringe; 112. Injection tube; 113. Balloon branch tube; 114. Syringe for balloon inflation;

[0044] 12. first driving unit; 121. first driving member; 1211. driving motor; 1212. lead screw; 1213. bearing seat; 122. driving member; 123. limiting member;

[0045] 13. Guide portion; 131. Clamping member; 1311. First sub-clamping member; 1312. Second sub-clamping member; 1313. First pulley; 1314. Second pulley;

[0046] 14. Second driving unit; 141. Second driving member; 142. Moving member;

[0047] 15. peephole; 151. first main expansion arm; 1511. first mounting hole; 152. second main expansion arm; 1521. second mounting hole; 153. observation port;

[0048] 16, third driving part; 161, transmission member; 1611, first sub-transmission member; 1612, first rack; 1613, first sub-expansion arm; 1614, second sub-transmission member; 1615, second rack; 1616, second sub-expansion arm; 162, third driving member; 1621, first gear; 1622, second gear;

[0049] 17. Flexible endoscope unit; 171. Flexible arm; 172. Endoscope; 173. Image display;

[0050] 18. Control unit; 181. Remote controller; 182. Control key; 1a. Emergency stop button; 1b. Source switching button; 1c. Power on button; 1d. Reset button; 1e. Intubation pulley control knob; 1f. Longitudinal fader; 1g. Third drive operating fader; 1h. Fourth drive operating fader; 1i. First connecting harness; 1j. Second connecting harness; 1k. Joystick; 1l. External display;

[0051] 19, housing; 191, accommodating space; 192, operating hole; 193, syringe positioning block; 194, clamp; 195, first slideway; 196, second slideway; 197, limit slider;

[0052] 20. Outer sleeve;

[0053] 21. extension support portion; 211. universal arm; 2111. first arm; 2112. second arm; 212. locking clamp;

[0054] 22, sliding part; 221, transmission base plate; 2211, third rack; 2212, first main board; 2213, second main board; 2214, guide rail; 222, fourth driving part; 2221, transmission gear;

[0055] 23. Pressure sensor;

[0056] 24, first limiting member; 241, limiting groove; 242, limiting hole; 25, second limiting member;

[0057] 26. Operating table. DETAILED DESCRIPTION

[0058] The technical solutions in the embodiments of the present application will be described clearly below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments of the present application, other embodiments obtained by ordinary technicians in this field without making creative work all belong to the protection scope of the present application.

[0059] In the following, the terms "first", "second", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0060] In addition, in the present application, directional terms such as "upper", "lower", "inner" and "outer" are defined relative to the orientation of the components schematically placed in the drawings. It should be understood that these directional terms are relative concepts. They are used for relative description and clarification, and they can change accordingly according to the changes in the orientation of the components placed in the drawings.

[0061] At present, salpingography is a clinical examination method to determine whether the fallopian tubes are unobstructed. The operator injects contrast agent into the uterine cavity of the subject and then uses an X-ray machine to develop and film. The operator determines whether the subject's fallopian tubes are unobstructed, whether the uterine cavity is normal, and whether there are adhesions in the pelvic cavity based on the resistance of the operator when injecting the contrast agent, the feeling of the subject when the contrast agent is injected, and the diffusion of the contrast agent in the uterus, fallopian tubes, and pelvic cavity.

[0062] When performing hysterosalpingography in the related art, it is necessary to manually use a speculum to dilate the vagina, use a cervical clamp to fix the cervix, insert a contrast tube into the uterine cavity and inject contrast agent, etc. The success of the above process depends on the skills and experience of the operator, and accidents may occur in each process, resulting in operation failure and the need for re-operation.

[0063] For example, if the subject is obese or has vaginal dysplasia, it may be difficult to expand the vagina and expose the external cervical os. At this time, if the hysterosalpingography operation in the related technology is used, it is difficult for the operator to open the subject's vagina to expose the subject's cervix, and it is difficult to use a cervical clamp to fix the subject's cervix, making it difficult to accurately inject contrast agent into the subject's cervix, and further difficult to perform hysterosalpingography on such subjects.

[0064] At the same time, since the hysterosalpingography operation in the related technology needs to be performed manually, it may cause the subject to feel anxious, which may cause the subject to tense up, and make it difficult for the operator to open the subject's vagina to expose the subject's cervix, etc., and it may also make it difficult to accurately inject contrast agent into the subject's cervix. Furthermore, judging the condition of the subject's uterus and fallopian tubes based only on the film taken by the X-ray machine may result in inaccurate or wrong interpretation results.

[0065] Moreover, after a single injection of contrast agent into the fallopian tube is completed, an X-ray machine is used to develop and take a film, but the image taken may not meet the diagnostic requirements such as determining whether the fallopian tube is blocked, such as unclear images or unclear diffusion of contrast agent. At this time, the operator needs to enter the lead room again, complete the process of dilating the vagina, exposing the cervical opening, fixing the cervix with cervical clamps, and injecting contrast agent into the uterine cavity, and then return to the operating room to develop and take a film using an X-ray machine. In the aforementioned process, the operator needs to repeatedly travel back and forth between the lead room and the operating room, and there is a problem that the operator is exposed to radiation too many times. Although some automatic iodized oil push injection devices have been used to replace the operation of the operator in the related art, the automatic iodized oil push injection device cannot achieve the purpose of individualized precise push injection, thereby causing the risk of misinterpretation of some imaging results.

[0066] In order to solve the above technical problems, the embodiment of the present application provides a hysterosalpingography teleoperation system. The operator only needs to assist in arranging the peephole to enter the natural cavity of the person being tested, and then leave the lead room to remotely control the work of the components in the hysterosalpingography teleoperation system, so as to remotely complete the process of dilating the vagina, exposing the cervical os, fixing the cervix and injecting contrast agent into the uterine cavity. The current purely manual operation is replaced by mechanized equipment, and the operation process is simple, the accuracy of the injection position is high, the contact between the operator and the person being tested is reduced, and the tension, discomfort and other problems of the person being tested are alleviated. Moreover, when the image taken by the X-ray machine is inaccurate, the hysterosalpingography teleoperation system can be directly remotely controlled to make the second end of the injection tube output the contrast agent, without the need for the operator to enter the lead room again for operation, reducing the operator's repeated movement between the lead room and the radiography room, reducing the number of times the operator is exposed to radiation, simplifying the operation, and improving work efficiency.

[0067] Figure 1 A schematic diagram of the structure of the hysterosalpingography telecontrol system provided in an embodiment of the present application.

[0068] Figure 2 for Figure 1 A schematic diagram of a first viewing angle of some devices in the illustrated embodiment.

[0069] Figure 3 for Figure 1 A schematic diagram of a second viewing angle of some devices in the illustrated embodiment.

[0070] Combination Figure 1 , Figure 2 and Figure 3As shown, the embodiment of the present application provides a hysterosalpingography teleoperation system, including: an injection unit 11, a first drive unit 12, a guide unit 13, a second drive unit 14, a peephole unit 15, a third drive unit 16, a flexible endoscope unit 17 and a control unit 18. The injection unit 11 includes a syringe 111 and an injection tube 112. The first end of the injection tube 112 is connected to the syringe 111, and the second end is used to enter and penetrate into the natural cavity. The syringe 111 is used to push the loaded contrast agent from the first end of the injection tube 112 to the second end and output it. The first drive unit 12 is connected to the syringe 111 in a transmission manner, and the first drive unit 12 is used to drive the injection of the syringe 111. The guide unit 13 is used to push the injection tube 112 to move deeply in the natural cavity. The second drive unit 14 is connected to the guide unit 13 in a transmission manner, and the second drive unit 14 is used to drive the guide unit 13 to generate a thrust on the injection tube 112. The peephole 15 surrounds the outside of the injection tube 112 and has a variable radial size. The peephole 15 is used to expand the natural cavity to assist the injection tube 112 to enter the natural cavity. The third drive unit 16 is connected to the peephole 15 in a transmission manner. The third drive unit 16 is used to drive the radial expansion and contraction of the peephole 15. The flexible endoscope 17 extends in the same direction as the injection tube 112 and is fixed. The flexible endoscope 17 is used to drive the second end of the injection tube 112 to adjust the degree of freedom and observe the imaging situation. The control unit 18 is used to remotely control the first drive unit 12, the second drive unit 14, the third drive unit 16 and the flexible endoscope 17.

[0071] By using the hysterosalpingography teleoperation system provided in the embodiment of the present application, the remote control of the devices in the hysterosalpingography teleoperation system is realized through the control unit 18, and the hysterosalpingography operation can be completed by remotely controlling the hysterosalpingography teleoperation system. The operation process of injecting contrast agent is simple, which reduces the pre-order operation of injecting contrast agent to the person being tested (such as dilating the vagina, arranging the contrast tube, etc.), and reduces the contact between the operator and the person being tested, thereby reducing the problem of discomfort of the operator. In addition, when the image obtained by the X-ray machine is inaccurate, the first driving unit 12 is directly controlled to drive the contrast agent injection unit 11 to output the contrast agent, and the X-ray machine can be used again for filming, which reduces the operator's repeated movement between the lead room and the filming room, reduces the number of times the operator is exposed to radiation, and further reduces the time required for operation, thereby improving work efficiency.

[0072] Exemplarily, by setting the second driving part 14 to controllably drive the guide part 13 to drive the injection tube 112 to move, the position of the second end of the injection tube 112 can be changed when the position of the second end of the injection tube 112 does not reach the target position to improve the accuracy of the contrast agent injection position.

[0073] Exemplarily, by providing a peephole 15 that can be driven by the third drive unit 16 to expand and contract radially, the mechanization and automation of contrast agent injection is improved. By providing a receiving cavity, the flexible endoscope portion 17 and the injection tube 112 can be accommodated in the receiving cavity, so that the flexible endoscope portion 17 and the injection tube 112 are exposed after the receiving cavity is opened. In addition, the space at the position of the natural channel can be expanded while the receiving cavity is opened to facilitate the movement of the injection tube 112. When contrast agent is injected into the subject, the peephole 15 is used to expand the vagina of the subject to expand the range of images collected by the flexible endoscope portion 17, and the movement of the injection tube 112 in the vagina can also be facilitated.

[0074] Specifically, the natural cavity may be the vagina of the subject.

[0075] Exemplarily, the process of expanding the vagina, exposing the cervical os and fixing the cervix is ​​achieved by driving the third driving unit 16 to drive the peephole 15 to expand radially. After the third driving unit 16 drives the peephole 15 to expand in a mirror image, the vagina of the person being tested is expanded, so that the cervical os is exposed. When the peephole 15 is kept stationary, the position of the cervical os can be kept unchanged to fix the cervix. The contrast agent is injected into the uterine cavity by controlling the second driving unit 14 to drive the guide unit 13 to generate a thrust on the injection tube 112, so as to push the second end of the injection tube 112 into the uterine cavity, thereby controlling the first driving unit 12 to drive the injection of the syringe 111, so that the contrast agent in the syringe 111 is injected from the first end of the injection tube 112 to the second end and output, so as to inject the contrast agent into the uterine cavity of the person being operated.

[0076] For example, when performing a hysterosalpingography operation on the subject, the peephole 15 is first allowed to enter the natural cavity to expand the natural cavity, and the second end of the injection tube 112 located in the peephole 15 is assisted to enter the natural cavity. The image captured by the flexible endoscope 17 is observed to determine whether the second end of the injection tube 112 is aligned with the uterine cavity opening of the subject. When the second end of the injection tube 112 is aligned with the uterine cavity opening of the subject, the control unit 18 controls the third drive unit 16 to drive the peephole 15 to expand radially to expand the natural cavity, and the uterine cavity opening can be fixedly expanded, so as to facilitate the injection tube 112 to penetrate deeper into the natural cavity, so as to facilitate the second end of the injection tube 112 to enter the uterine cavity. The control unit 18 controls the second driving unit 14 to drive the guide unit 13 to generate a thrust on the injection tube 112, so that the second end of the injection tube 112 penetrates into the natural cavity, thereby entering the uterine cavity through the cervical opening, and then the first driving unit 12 can be controlled to drive the injection of the syringe 111, so that the contrast agent in the syringe 111 is pushed from the first end of the injection tube 112 to the second end and output, so as to push the contrast agent into the uterine cavity of the operator.

[0077] Optionally, combined Figures 1 to 3As shown, the first driving part 12 includes: a first driving member 121, a pushing member 122 and a limiting member 123. The first driving member 121 is in transmission connection with the pushing member 122; the first driving member 121 is used to drive the pushing member 122 to move. The pushing member 122 is fixedly connected to the piston rod of the syringe 111. The limiting member 123 limits the movement direction of the pushing member 122.

[0078] In this embodiment, the first driving member 121 drives the pushing member 122 to move, so as to push the piston rod fixedly connected to the driving member, so that the contrast agent loaded in the syringe 111 passes through the first end to the second end of the injection tube 112, and the second end of the injection tube 112 outputs the contrast agent, so as to inject the contrast agent in the syringe 111 into the injection tube 112, and then output the contrast agent through the contrast agent output port. In addition, the movement direction of the pushing member 122 is limited by the limiter 123, so that the pushing member 122 can move in the direction of movement of the piston rod.

[0079] Exemplarily, the first driving member 121 may be a linear first driving member 121, that is, the first driving member 121 drives the pushing member 122 to move along a straight line, for example, the pushing member 122 moves parallel to the axial direction of the first push rod to drive the first push rod to move along the axial direction of the first push rod.

[0080] Optionally, combined Figure 2 As shown, the limiting member 123 includes: a first slide groove. The first slide groove is arranged along the moving direction of the pushing member 122. The pushing member 122 includes a limiting protrusion (not shown in the figure), the limiting protrusion is arranged in the first slide groove, and the limiting protrusion is slidably connected with the first slide groove.

[0081] Exemplarily, the first sliding groove is a linear sliding groove, which can be used to assist in limiting the push member 122 from moving along a straight line.

[0082] Optionally, combined Figure 2 and Figure 3 As shown, the first driving member 121 includes: a pushing motor 1211, a lead screw 1212, a nut (not shown in the figure) and a bearing seat 1213. The lead screw 1212 includes a ball screw or a sliding lead screw. The lead screw 1212 includes a first end and a second end. The first end of the lead screw 1212 is arranged on the pushing motor 1211. The nut is slidably arranged on the lead screw 1212, and the pushing member 122 is arranged on the nut. The second end of the lead screw is arranged on the bearing seat 1213. The pushing motor 1211 drives the nut to move along the lead screw 1212 to approach or move away from the bearing seat 1213.

[0083] In this embodiment, by adopting a first driving member 121 with a screw 1212, a pushing motor 1211 is used to drive the nut to move along the ball screw 1212, and the nut can move back and forth on the screw 1212, so that the nut can be used to drive the pushing member 122 to move, and then the pushing member 122 can be used to push the first push rod to move.

[0084] Specifically, a ball is disposed in the nut. The push motor 1211 drives the lead screw 1212 to rotate, so that the nut moves along the lead screw 1212 .

[0085] Optionally, the push member 122 includes a fixed block and a push plate. The fixed block is fixedly connected to the push plate. The fixed block is fixedly connected to the nut. The push plate abuts against the first push rod.

[0086] Optionally, the pusher 122 includes a mounting hole, and a nut is disposed in the mounting hole, and the nut and the mounting hole are interference-fitted.

[0087] Exemplarily, the implementation methods of setting the pushing member 122 on the nut include but are not limited to: the pushing member 122 is sleeved on the nut, and the pushing member 122 is welded to the nut, and the embodiments of the present application are not limited to this.

[0088] Optionally, combined Figure 2 and Figure 3 As shown, the guide part 13 includes: a clamping member 131. The second driving part 14 includes: two groups of second driving members 141 and a moving member 142. The clamping member 131 includes a first sub-clamping member 1311 and a second sub-clamping member 1312, and the first sub-clamping member 1311 and the second sub-clamping member 1312 are clamped on both sides of the injection tube 112 to deform the injection tube 112. The two groups of second driving members 141 are respectively connected to the first sub-clamping member 1311 and the second sub-clamping member 1312 in a transmission connection to drive the injection tube 112 to move through the movement of the first sub-clamping member 1311 and the second sub-clamping member 1312. The moving member 142 is connected to the first sub-clamping member 1311 and / or the second sub-clamping member 1312 to drive the first sub-clamping member 1311 and / or the second sub-clamping member 1312 to move so that the two are close to or away from each other.

[0089] In this embodiment, when the second driving member 141 drives the clamping member 131 to move, the clamping member 131 applies a thrust to the injection tube 112 to push the injection tube 112 to move, thereby causing the injection tube 112 to move relative to the natural cavity. In addition, by providing the moving member 142 to drive the first sub-clamping member 1311 and / or the second sub-clamping member 1312 to move, the injection tube 112 is clamped or released, so as to facilitate the replacement and installation of the injection tube 112.

[0090] Optionally, the first sub-clamping member 1311 is configured to be rotatable relative to the second sub-clamping member 1312. In this way, the first sub-clamping member 1311 is moved relative to the second sub-clamping member 1312 to release the injection tube 112.

[0091] Exemplarily, the first sub-clamping member 1311 includes a first end and a second end opposite to each other, and the second sub-clamping member 1312 includes a first end and a second end opposite to each other, and the first end of the first sub-clamping member 1311 is arranged opposite to the first end of the second sub-clamping member 1312. The first end of the first sub-clamping member 1311 and the first end of the second sub-clamping member 1312 are rotatably connected.

[0092] Optionally, the moving member 142 is used to drive the first sub-clamping member 1311 to move in a direction away from the second sub-clamping member 1312. In this way, the first sub-clamping member 1311 is moved relative to the second sub-clamping member 1312 to release the injection tube 112.

[0093] It should be understood that the first sub-clamp 1311 and the second sub-clamp 1312 can be used to release the injection tube 112 as long as the first sub-clamp 1311 moves in a direction away from the second sub-clamp 1312. The embodiment of the present application does not limit the specific direction of the direction away from the second sub-clamp 1312.

[0094] Figure 4 This is a first schematic diagram of a first sub-clamping member and a second sub-clamping member provided in an embodiment of the present application being clamped on an injection tube.

[0095] Figure 5 This is a second schematic diagram of the first sub-clamping member and the second sub-clamping member provided in the embodiment of the present application being clamped on the injection tube.

[0096] For example, in combination Figure 4 and Figure 5 As shown, the first sub-clamping member 1311 and the second sub-clamping member 1312 are clamped on the injection tube 112 , and the second limiting member 25 abuts against the first sub-clamping member 1311 .

[0097] Figure 6 This is a first schematic diagram of the first sub-clamping member and the second sub-clamping member releasing the injection tube provided in an embodiment of the present application.

[0098] Figure 7 A second schematic diagram of the first sub-clamping member and the second sub-clamping member releasing the injection tube provided in the embodiment of the present application.

[0099] For example, in combination Figure 6 and Figure 7 As shown, the first sub-clamping member 1311 and the second sub-clamping member 1312 release the injection tube 112 .

[0100] Optionally, the first sub-clamping member 1311 includes a first pulley group, and the second sub-clamping member 1312 includes a second pulley group; the first pulley group and the second pulley group are arranged at intervals on both sides of the injection tube 112, and the first pulley group and the second pulley group clamp the injection tube 112; the first pulley group and the second pulley group are used to be driven by the second driving member 141 to rotate relative to each other to drive the injection tube 112 to move; the first pulley group includes a plurality of first pulleys 1313, and the second pulley group includes a plurality of second pulleys 1314.

[0101] In this embodiment, a plurality of first pulleys 1313 and second pulleys 1314 are provided to clamp the injection tube 112, so that the injection tube 112 is deformed to a certain extent. When the driving pulley rotates, the friction force between the pulley and the injection tube 112 drives the injection tube 112 to move.

[0102] Specifically, the rotation direction of the pulleys in the first pulley block is the first direction, the rotation direction of the pulleys in the second pulley block is the second direction, and the first direction and the second direction are opposite directions.

[0103] Exemplarily, the outer circumferential surfaces of the first pulley 1313 and the second pulley 1314 have a recessed portion, and the recessed portions of the relatively arranged first pulley 1313 and the second pulley 1314 are respectively arranged on opposite sides of the injection tube 112, so that the recessed portions of the first pulley 1313 and the second pulley 1314 are used to clamp the injection tube 112, thereby realizing that the driving member drives the pulley to rotate and drive the injection tube 112 to move.

[0104] Optionally, the second driving member 141 includes one or more pulley drive motors, and the output end of the pulley drive motor is transmitted and connected to the first pulley 1313 and / or the second pulley 1314. In this way, the pulley can be driven to rotate by the pulley drive motor. Exemplarily, the pulley drive motor is arranged in a one-to-one correspondence with the first pulley 1313 or the second pulley 1314, so that each pulley drive motor is used to drive the corresponding first pulley 1313 or the second pulley 1314 to rotate.

[0105] Optionally, the clamping member 131 includes: a clamp. The clamp is clamped on the injection tube 112. The clamp is used to be driven to move by the second driving unit 14 to drive the injection tube 112 to move.

[0106] In this embodiment, a clamp is provided to clamp the injection tube 112 , and when the clamp is driven to move, the clamp can drive the injection tube 112 to move.

[0107] Optionally, the second driving unit 14 includes a clamp driving motor, which is used to control the clamp to move along the axial direction of the injection tube 112. In this way, the clamp driving motor is controlled to drive the clamp to move along the axial direction of the injection tube 112, thereby changing the position of the injection tube 112.

[0108] Optionally, combined Figures 2 to 7 As shown, the hysterosalpingography teleoperation system further includes: a first stopper 24. The first stopper 24 is arranged perpendicular to the moving direction of the injection tube 112. When the first sub-clamping member 1311 moves relative to the second sub-clamping member 1312, the first sub-clamping member 1311 slides along the edge of the first stopper 24.

[0109] In this embodiment, by limiting the moving direction of the first sub-clamp 1311, the first sub-clamp 1311 moves in a direction away from the second sub-clamp 1312 to release the injection tube 112, or moves in a direction close to the second sub-clamp 1312 to clamp the injection tube 112.

[0110] Specifically, the first stopper 24 includes a first end and a second end that are arranged opposite to each other. The direction away from the second sub-clamping member 1312 is the direction from the first end to the second end of the first stopper 24, and the direction close to the second sub-clamping member 1312 is the direction from the second end to the first end of the first stopper 24.

[0111] Optionally, combined Figures 2 to 7 As shown, the hysterosalpingography telemanipulation system further includes a second stopper 25. The second stopper 25 is used to fix the position of the first sub-clamping member 1311 and / or the second sub-clamping member 1312.

[0112] Figure 8 This is a schematic diagram of the structure of the pubic viewing part provided in an embodiment of the present application.

[0113] Fig. 9 A schematic diagram of a first main expansion arm and a second main expansion arm in a close-together state provided in an embodiment of the present application.

[0114] Fig.10 A schematic diagram of the first main expansion arm and the second main expansion arm in an expanded state provided in an embodiment of the present application.

[0115] Fig.11 A schematic structural diagram of a first main expansion arm and a second main expansion arm from a first perspective provided in an embodiment of the present application.

[0116] Fig.12 A schematic structural diagram of a first main expansion arm and a second main expansion arm from a second viewing angle provided in an embodiment of the present application.

[0117] Optionally, combined Figures 8 to 12As shown, the peephole 15 includes: a first main expansion arm 151 and a second main expansion arm 152. The first main expansion arm 151 and the second main expansion arm 152 are arranged opposite to each other, and a receiving cavity is formed between the first main expansion arm 151 and the second main expansion arm 152; the second end of the injection tube 112 is located in the receiving cavity; the first main expansion arm 151 and the second main expansion arm 152 are transmission-connected with the third driving unit 16, and the third driving unit 16 is used to drive the first main expansion arm 151 and the second main expansion arm 152 to move relative to each other, forming a close state to close the receiving cavity, or forming an expanded state to open the receiving cavity.

[0118] In this embodiment, a first main expansion arm 151 and a second main expansion arm 152 are provided to form a receiving chamber between the first main expansion arm 151 and the second main expansion arm 152 to receive the observation member and the contrast medium outlet. Exemplarily, after the first main expansion arm 151 and the second main expansion arm 152 move toward each other, they form a close state to close the receiving chamber, and after the first main expansion arm 151 and the second main expansion arm 152 move away from each other, they form an expanded state to open the receiving chamber.

[0119] For example, the accommodating cavity may be a completely closed cavity or an incompletely closed cavity. In the case where the accommodating cavity is a completely closed cavity, the side wall of the first main expansion arm 151 is connected to the side wall of the second main expansion arm 152, a first notch is formed at the end of the first main expansion wall, and a second notch is formed at the end of the second main expansion wall, and the first notch and the second notch are connected to form an observation port 153 (such as Fig.11 and Fig.12 As shown), the flexible endoscope 172 can observe the image corresponding to the observation port 153 through the observation port 153 to determine the position corresponding to the observation port 153. In the case where the accommodating cavity is an incompletely closed cavity, there is a gap between the side wall of the first main expansion arm 151 and the side wall of the second main expansion arm 152, and the image acquisition unit is used to acquire the image corresponding to the gap, so that it is convenient to observe whether the contrast agent output port reaches the target position. The embodiment of the present application does not limit this.

[0120] For example, the close state is as follows Fig. 9 As shown, the expansion state is Fig.10 shown.

[0121] Optionally, combined Figures 8 to 10As shown, the third driving part 16 includes: a transmission member 161 and a third driving member 162. The transmission member 161 includes a first sub-transmission member 1611 and a second sub-transmission member 1614. The first sub-transmission member 1611 is transmission-connected to the third driving member 162, and is fixedly connected to the first main expansion arm 151. The second sub-transmission member 1614 is transmission-connected to the third driving member 162, and is fixedly connected to the second main expansion arm 152. The third driving member 162 is used to controllably drive the first sub-transmission member 1611 and the second sub-transmission member 1614 to move relative to each other, drive the first main expansion arm 151 and the second main expansion arm 152 to move relative to each other, form a close state to close the accommodating cavity, or form an expanded state to open the accommodating cavity.

[0122] In this embodiment, a first sub-transmission member 1611 and a second sub-transmission member 1614 are provided, and a third driving member 162 is used to drive the first sub-transmission member 1611 and the second sub-transmission member 1614 to move relative to each other, so that the first sub-transmission member 1611 drives the first main expansion arm 151 and the second sub-transmission member 1614 drives the second main expansion arm 152, so that the first main expansion arm 151 and the second main expansion arm 152 move relative to each other to form a close state or an expanded state.

[0123] Optionally, there are two third driving members 162, one third driving member 162 is drivingly connected to the first sub-transmission member 1611, and the other third driving member 162 is drivingly connected to the second sub-transmission member 1614. In this way, different third driving members 162 are used to drive the first sub-transmission member 1611 and the second sub-transmission member 1614 to move relative to each other.

[0124] Optionally, the number of the third driving member 162 is one, and the third driving unit 16 further includes a synchronizer. The synchronizer is provided on the first sub-transmission member 1611 and the second sub-transmission member 1614, and the third driving unit 16 is used to drive the synchronizer to move, so as to drive the first sub-transmission member 1611 and the second sub-transmission member 1614 to move toward or away from each other. In this way, one third driving member 162 can be used to simultaneously drive the first sub-transmission member 1611 and the second sub-transmission member 1614 to move toward or away from each other synchronously.

[0125] Optionally, combined Figures 8 to 10As shown, the first sub-transmission member 1611 includes a first rack 1612 and a first sub-expansion arm 1613; one end of the first sub-expansion arm 1613 is fixedly connected to one end of the first rack 1612; the first main expansion arm 151 is fixedly connected to the first sub-expansion arm 1613; the first rack 1612 is transmission-connected to the third driving member 162. The second sub-transmission member 1614 includes a second rack 1615 and a second sub-expansion arm 1616; one end of the second sub-expansion arm 1616 is fixedly connected to one end of the second rack 1615; the second main expansion arm 152 is fixedly connected to the second sub-expansion arm 1616; the second rack 1615 is transmission-connected to the third driving member 162.

[0126] In this embodiment, the first rack 1612 and the second rack 1615 are provided to achieve sliding of the first rack 1612 and the second rack 1615 , thereby driving the movement of the first main expansion arm 151 and the second main expansion arm 152 .

[0127] For example, in combination Figure 8 As shown, the third driving member 162 includes a first gear 1621, and the first gear 1621 is meshed and connected with the first rack 1612. The fourth driving member includes a second gear 1622, and the second gear 1622 is meshed and connected with the second rack 1615. The first gear 1621 rotates in a third direction, and the second gear 1622 rotates in a fourth direction, and the third direction and the fourth direction are opposite or the same direction. The first end of the first rack 1612 and the second end of the second rack 1615 are arranged opposite to each other. In a specific implementation, when the third direction and the fourth direction are opposite, and the first main expansion arm 151 and the second main expansion arm 152 are in a close state, the first gear 1621 is located at the second end of the first rack 1612, and the second gear 1622 is located at the second end of the second rack 1615.

[0128] It should be understood that the embodiment of the present application does not limit the meshing position of the first gear 1621 and the first rack 1612, or the meshing position of the second rack 1615 and the second gear 1622. It is only necessary that the first gear 1621 and the second gear 1622 can drive the first main expansion arm 151 and the second main expansion arm 152 to move relative to each other when they rotate.

[0129] Optionally, combined Fig.11 and Fig.12As shown, the first main expansion arm 151 includes: a first mounting hole 1511. The first mounting hole 1511 extends along the axial direction of the first main expansion arm 151, and the first sub-expansion arm 1613 is inserted in the first mounting hole 1511, and the first sub-expansion arm 1613 is interference-fitted with the hole wall of the first mounting hole 1511. The second main expansion arm 152 includes: a second mounting hole 1521. The second mounting hole 1521 extends along the axial direction of the second main expansion arm 152, and the second sub-expansion arm 1616 is inserted in the second mounting hole 1521, and the second sub-expansion arm 1616 is interference-fitted with the hole wall of the second mounting hole 1521.

[0130] In this embodiment, the first mounting hole 1511 and the second mounting hole 1521 are provided to facilitate the installation of the first main expansion arm 151 and the first sub-transmission member 1611, and to facilitate the installation of the second main expansion arm 152 and the second sub-transmission member 1614, thereby realizing a fixed connection between the first main expansion arm 151 and the first sub-transmission member 1611, and the second main expansion arm 152 and the second sub-transmission member 1614.

[0131] Optionally, combined Figure 2 and Figure 3 As shown, the hysterosalpingography teleoperation system further includes: a housing 19 and an operation hole 192. The housing 19 includes a receiving space 191 for receiving the injection unit 11, the first drive unit 12, the guide unit 13, the second drive unit 14 and the third drive unit 16; the syringe 111 is detachably connected to the bottom wall of the receiving space 191. The operation hole 192 is opened on the first side wall of the receiving space 191, and the peephole 15 extends out of the receiving space 191 through the operation hole 192.

[0132] In this embodiment, a shell 19 is provided to install the components of the salpingography telecontrol system so that the relative positions and linkage relationships between the components are fixed, thereby improving the structural stability of the salpingography telecontrol system. An operating hole 192 is provided so that the pubic speculum 15 can protrude from the outer wall of the shell 19, thereby facilitating the operator to arrange the pubic speculum 15 separately in the natural cavity.

[0133] Optionally, the first driving part 12 is fixedly connected to the bottom wall of the accommodating space 191. In this way, the position of the first driving part 12 is fixed, thereby fixing the relative position between the first driving part 12 and the first push rod of the syringe 111.

[0134] Optionally, the first chute is provided on the bottom wall of the accommodation space 191. Exemplarily, the hysterosalpingography telemanipulation system further includes: a first fixing bar and a second fixing bar. The first fixing bar and the second fixing bar are arranged at intervals on the bottom wall of the accommodation space 191, and a first chute is formed between the first fixing bar and the second fixing bar.

[0135] Optionally, the driving motor 1211 and the bearing seat 1213 are fixedly disposed on the bottom wall of the accommodating space 191 .

[0136] Optionally, the outlet end of the injection tube 112 extends out of the accommodating space 191 through the operating hole 192 .

[0137] Optionally, the syringe 111 is detachably connected to the bottom wall of the accommodating space 191 .

[0138] In this embodiment, the housing 19 having the accommodating space 191 is provided to define the installation mode of the syringe 111. The syringe 111 is detachably connected to the bottom wall of the accommodating space 191, so that the installation and removal of the syringe 111 are facilitated.

[0139] Optionally, combined Figure 2 As shown, the housing 19 further includes: a syringe 111 positioning block and a clamp 194. The syringe 111 positioning block is fixedly arranged on the bottom wall of the accommodating space 191. The clamp 194 is detachably connected to the syringe 111 positioning block. When the clamp 194 is arranged on the syringe 111 positioning block, there is a fixing hole (not shown in the figure) between the clamp 194 and the syringe 111 positioning block, and the syringe 111 is inserted into the fixing hole.

[0140] In this embodiment, the syringe 111 is placed in a fixing hole formed by the syringe 111 positioning block and the clamp 194. Due to the detachable connection between the syringe 111 positioning block and the clamp 194, the syringe 111 is detachably arranged on the bottom wall of the accommodating space 191 to facilitate the installation and disassembly of the syringe 111.

[0141] Specifically, the upper end surface of the syringe 111 positioning block has a first groove, and the lower end surface of the clamp 194 has a second groove. When the syringe 111 positioning block and the clamp 194 are connected, the first groove and the second groove are connected to form a fixing hole.

[0142] Exemplarily, the detachable connection method between the syringe 111 positioning block and the clamp 194 includes but is not limited to: the clamp 194 is clamped on the syringe 111 positioning block, or one end of the clamp 194 is rotatably connected to the syringe 111 positioning block, and the clamp 194 is used to rotate relative to the syringe 111 positioning block to open or close the fixing hole.

[0143] Optionally, the second end of the injection tube 112 extends out of the accommodation space 191 through the operation hole 192. In this way, the injection tube 112 is driven to move by the second driving unit 14 to change the length of the injection tube 112 extending out of the operation hole 192.

[0144] Optionally, combined Figures 2 to 7As shown, the first limiting member 24 is fixedly disposed on the bottom wall of the accommodating space 191 , a limiting hole 242 is formed between the first limiting member 24 and the bottom wall of the accommodating space 191 , and the moving member 142 is penetrated in the limiting hole 242 .

[0145] In this embodiment, when the movable member 142 is inserted into the limiting hole 242, the first sub-clamping member 1311 is arranged on both sides of the first limiting member 24 to realize the limiting of the first sub-clamping member 1311 by the first limiting member 24, thereby limiting the first sub-clamping member 1311 from moving along the edge of the first limiting member 24 when moving.

[0146] Exemplarily, the first limiting member 24 is welded to the bottom wall of the accommodating space 191 .

[0147] Optionally, when the third driving member 162 includes a plurality of pulley drive motors, the pulley drive motors are fixedly arranged on the moving member 142, and the pulley drive motors are correspondingly provided with pulleys, and two adjacent pulley drive motors are respectively located on both sides of the first stopper 24, and the moving member 142 can move to drive the pulley drive motors and the pulleys to move. Exemplarily, the side wall of the pulley drive motor abuts against the side wall of the first stopper 24.

[0148] The first configuration method of the second limiting member 25 given in the embodiment of the present application is as follows.

[0149] Optionally, combined Figure 2 and Figure 6 As shown, the upper end surface of the first limiting member 24 is provided with a limiting groove 241. The housing 19 also includes a fixing hole (not shown in the figure), and the second limiting member 25 is fixedly connected to the fixing hole by a thread. When the second limiting member 25 is inserted into the limiting groove 241 and the second limiting member 25 is fixedly connected to the fixing hole by a thread, the second limiting member 25 presses the upper end surface of the first limiting member 24, so that the lower end surface of the first limiting member 24 is pressed against the upper end surface of the moving member 142. In this way, the second limiting member 25 is used to fix the position of the first sub-clamping member 1311 and / or the second sub-clamping member 1312.

[0150] A second configuration method of the second limiting member 25 provided in the embodiment of the present application is as follows.

[0151] Optionally, a limiting groove is provided on the upper end surface of the first limiting member 24. The second limiting member 25 is slidably disposed in the limiting groove. The second limiting member 25 abuts against the first sub-clamping member 1311. The movable member 142 includes a first side wall and a second side wall relative to each other. When the second limiting member 25 slides to a preset position, the first side wall abuts against the side wall of the second limiting member 25, and the second side wall abuts against the hole wall of the limiting hole 242, so that the first sub-clamping member 1311 and the second sub-clamping member 1312 are clamped on the injection tube 112.

[0152] In this embodiment, a second limiting member 25 abutting against the first sub-clamp 1311 is provided to fix the first sub-clamp 1311 and the first limiting member 24, and at the same time indicate whether the position of the first sub-clamp 1311 reaches the position for clamping the injection tube 112, that is, indicate whether the current position of the first sub-clamp 1311 can enable the first sub-clamp 1311 and the second sub-clamp 1312 to be clamped on the injection tube 112.

[0153] Optionally, the groove wall of the limiting sliding groove is provided with a positioning area, and the second limiting member 25 is engaged with the positioning area after sliding to the positioning area, so as to fix the position of the second limiting member 25 and thus fix the position of the first sub-clamping member 1311.

[0154] Exemplarily, a positioning groove is provided on the groove wall of the limiting sliding groove, and the second limiting member 25 includes a positioning protrusion. When the second limiting member 25 slides to a preset position, the positioning protrusion is engaged with the positioning groove.

[0155] It should be understood that the embodiment of the present application does not limit the position of the positioning groove, and the positioning groove can be located at the groove wall of the limiting slide groove corresponding to the first end of the first limiting member 24, or at the groove wall of the limiting slide groove corresponding to the third end of the first limiting member 24. The third end of the first limiting member 24 connects the first end and the second end of the first limiting member 24. As long as the positioning protrusion is clamped in the positioning groove, the first sub-clamping member 1311 and the second sub-clamping member 1312 can clamp the injection tube 112.

[0156] Optionally, the first rack 1612 is slidably connected to the side wall of the accommodating space 191. The second rack 1615 is slidably connected to the side wall of the accommodating space 191.

[0157] In this embodiment, the first rack 1612 and the second rack 1615 are slidably connected to the side wall of the accommodating space 191 to provide support for the first rack 1612 and the second rack 1615, thereby improving the structural stability of the pubic viewing part.

[0158] Optionally, combined Figure 2 , Figure 3 , Fig. 9 and Fig.10 As shown, the housing 19 further includes: a first slide 195 and a second slide 196. The first slide 195 is disposed on the first side wall, and the first rack 1612 is slidably connected to the first slide 195. The second slide 196 is disposed on the first side wall, and the second rack 1615 is slidably connected to the second slide 196. The first slide 195 and the second slide 196 are respectively located on opposite sides of the operating hole 192.

[0159] In this embodiment, by respectively providing the first slide 195 and the second slide 196 on the opposite sides of the operating hole 192, when the expansion piece is extended out of the operating hole 192, the first rack 1612 and the second rack 1615 are used to be able to move relative to the operating hole 192 on the first slide 195 and the second slide 196, respectively, thereby driving the expansion piece outside the accommodating space 191 to move to form a closed state or an expanded state.

[0160] Specifically, the first slideway 195 is provided on the first side wall, and the first slideway 195 may be directly provided on the first side wall, or a protruding slideway structure may be fixedly provided on the first side wall to form the first slideway 195. The second slideway 196 is provided on the second side wall, and the second slideway 196 may be directly provided on the first side wall, or a protruding slideway structure may be fixedly provided on the first side wall to form the second slideway 196.

[0161] Fig.13 A schematic diagram of the structure of the flexible endoscope portion provided in an embodiment of the present application.

[0162] Fig.14 for Fig.13 The illustrated embodiment is a cross-sectional view along the axial direction of the injection tube.

[0163] Optionally, combined Fig.13 and Fig.14 As shown, the flexible endoscope portion 17 includes: a flexible arm 171, an endoscope 172 and an image display 173. The flexible arm 171 is used to control the degree of freedom to drive the injection tube 112 to move. The endoscope 172 is constructed at the end of the flexible arm 171. The image display 173 is arranged in the accommodating space 191 of the housing 19, and is used to display the image collected by the endoscope 172.

[0164] In this embodiment, by changing the degree of freedom of the flexible wall, the endoscope 172 is driven to move through the flexible mirror, thereby changing the position where the endoscope 172 collects images, and when the image display 173 is used to display the image collected by the endoscope 172, the imaging condition of the contrast agent can be better observed. When the imaging condition is not smooth or even blocked, the position where the smoothness and blockage occur (such as the left or right fallopian tube, etc.) can be better observed through the endoscope 172 by adjusting the degree of freedom of the flexible arm 171, thereby assisting in diagnosis and improving the accuracy of diagnosis. In addition, the endoscope 172 can also be used to observe whether the injection tube 112 is aligned with the uterine cavity, so that when the injection tube 112 is aligned with the uterine cavity, the operator can remotely control the second drive unit 14 to drive the injection tube 112 deep into the natural cavity to enter the uterine cavity.

[0165] Exemplarily, the flexible arm 171 is a snake-bone structure.

[0166] Specifically, the image display 173 is communicatively connected to the endoscope 172 to receive and display images captured by the endoscope 172 .

[0167] For example, the flexible endoscope portion 17 and the injection tube 112 can be fixed by a fixing member such as a strap, a ring, etc. For example, in combination with Fig.14 As shown in A, A is the fixing point of the flexible arm 171 and the injection tube 112. A data connection line is arranged in the flexible arm 171, one end of the data connection line is electrically connected to the endoscope 172, and the other end of the data connection line is electrically connected to the image display 173 to realize the communication connection between the endoscope 172 and the image display 173.

[0168] Optionally, combined Figure 2 , Fig.13 and Fig.14 As shown, the hysterosalpingography telemanipulation system further includes: an outer sleeve 20. The outer sleeve 20 and the injection tube 112 are both flexible tubes; the outer sleeve 20 is sleeved on the flexible arm 171 and the injection tube 112, and the outer sleeve 20, the flexible arm 171 and the injection tube 112 are interference fit.

[0169] In this embodiment, the outer sleeve 20 is provided to be interference-fitted with the flexible arm 171 and the injection tube 112 to reduce the relative movement of the flexible arm 171 and the injection tube 112, so as to fix the flexible arm 171 and the injection tube 112, so that the degree of freedom of the injection tube 112 can be changed when the degree of freedom of the flexible arm 171 is adjusted. In addition, the outer sleeve 20 can also reduce the direct contact between the flexible arm 171 and the injection tube 112 and the person being tested, thereby reducing the difficulty of cleaning the flexible arm 171 and the injection tube 112.

[0170] Optionally, combined Figure 1 As shown, the hysterosalpingography teleoperation system further includes: an extension support portion 21 for fixing the housing 19 on the operating bed 26. The extension support portion 21 includes: a universal arm 211 and a locking clamp 212. The universal arm 211 includes at least one joint with adjustable relative freedom, a first end of the universal arm 211 is slidably connected to the housing 19, and a second end of the universal arm 211 is slidably connected to the bed frame of the operating bed 26. The locking clamp 212 is provided at the end of any joint to lock the freedom of all joints.

[0171] In this embodiment, when the locking clamp 212 is locked, the degrees of freedom between the locking joints are locked to fix the relative position relationship between the shell 19 and the operating table 26, so that when the subject is located on the operating table 26, the relative position of the shell 19 and the subject is fixed, thereby reducing the damage to the subject caused by the movement of the shell 19 relative to the subject and improving the safety of the hysterosalpingography telecontrol system.

[0172] Exemplarily, the locking clip 212 is also used to be fixedly connected to the operating bed 26 .

[0173] Optionally, combined Figure 1 As shown, the universal arm 211 includes: a first arm 2111 and a second arm 2112. The first end of the first arm 2111 is provided with a locking clamp 212. The second end of the first wall is rotatably connected to the first end of the second wall. The second end of the second wall is connected to the transmission base plate 221.

[0174] Optionally, the locking clamp 212 includes a first locking clamp and a second locking clamp, the first locking clamp is used to be fixedly connected to the operating bed 26, and the second locking clamp is used to lock the degrees of freedom of all joints. The first locking clamp is set at the first end of the first arm 2111, and the second locking clamp is set at the second end of the first arm 2111.

[0175] It should be understood that the embodiment of the present application does not limit the use of several locking clamps 212 to achieve the function of locking the degrees of freedom of all joints and the function of fixedly connecting with the operating bed 26.

[0176] Exemplarily, the second end of the first arm 2111 and the first end of the second arm 2112 are rotatably connected by hydraulic pressure or screws. For example, a tension screw is provided at the second end of the first arm 2111 and the first end of the second arm 2112, and the tension screw is used to lock or release the first arm 2111 or the second arm 2112, or to lock multiple degrees of freedom at the same time. For another example, a pressurizing mechanism is provided at the second end of the first arm 2111 and the first end of the second arm 2112, and the pressurizing mechanism pressurizes the hydraulic oil, and the hydraulic oil pushes the clamping piston to lock the ball joint or the clamping hinge to achieve the locking of all degrees of freedom.

[0177] Fig.15 A schematic diagram of the structure of the transmission substrate provided in an embodiment of the present application.

[0178] Fig.16 A cross-sectional view of the hysterosalpingography telemanipulation system and the transmission substrate provided in an embodiment of the present application.

[0179] Optionally, combined Figure 2 , Fig.15 and Fig.16 As shown, the hysterosalpingography teleoperation system further includes a sliding portion 22, through which the housing 19 is slidably connected to the universal arm 211. The sliding portion 22 includes: a transmission substrate 221 and a fourth driving portion 222. The transmission substrate 221 is fixed to the first end of the universal arm 211, and the housing 19 is slidably disposed on the transmission substrate 221. The fourth driving portion 222 is used to drive the housing 19 to slide relatively on the transmission substrate 221 along the extension direction of the injection tube 112.

[0180] In this embodiment, by providing a transmission base plate 221 and a fourth driving part 222, a sliding connection between the housing 19 and the universal arm 211 is achieved, so as to more accurately control the position of the second end of the injection tube 112 of the salpingography telecontrol system.

[0181] Optionally, the transmission base plate 221 is rotatably connected to the second end of the second wall via a ball joint, so as to facilitate adjustment of the angle between the transmission base plate 221 and the operating bed 26, thereby facilitating adjustment of the angle between the housing 19 and other components and the operating bed 26, so as to facilitate placement of various components.

[0182] For example, in the initial state, if the second end of the syringe 112 is far from the subject, the fourth drive unit 222 drives the housing 19 to slide relative to the transmission base plate 221 to shorten the distance between the second end of the syringe 112 and the subject. Alternatively, after the second end of the syringe 112 has reached the target position (the position for injecting contrast agent), when the peephole 15 needs to be withdrawn from the subject's body, the fourth drive unit 222 drives the housing 19 to slide relative to the transmission base plate 221 to withdraw the peephole 15 from the subject's body.

[0183] Exemplarily, after the second end of the injection tube 112 reaches the target position, the remote controller 181 is used to control the fourth driving unit 222 to drive the housing 19 to move relative to the transmission substrate 221, so as to drive the peephole 15 of the hysterosalpingography telecontrol system to withdraw from the vagina of the subject. At the same time, the second driving unit 14 is controlled to drive the injection tube 112 to move, so as to compensate for the distance that the injection tube 112 withdraws from the human body due to the sliding of the hysterosalpingography telecontrol system relative to the transmission substrate 221, so as to keep the position of the injection tube 112 relative to the subject unchanged and ensure that the second end of the injection tube 112 is relatively still with respect to the body of the subject.

[0184] Specifically, a tube of a preset length is reserved at the connection between the outlet of the syringe 111 and the injection tube 112 to ensure that when the above-mentioned compensation operation is implemented, the injection tube 112 will not be too short, resulting in the first end of the injection tube 112 being separated from the syringe 111.

[0185] Optionally, combined Fig.15 and Fig.16 As shown, the transmission base plate 221 includes: a third rack 2211. The fourth driving part 222 includes: a sliding drive motor. The third rack 2211 is arranged parallel to the axial direction of the injection part 11. The sliding drive motor includes a transmission gear 2221. The third rack 2211 is meshed with the transmission gear 2221. The sliding drive motor is controlled to drive the transmission gear 2221 to rotate, so as to drive the housing 19 to move relative to the transmission base plate 221.

[0186] In this embodiment, a meshing third rack 2211 and a transmission gear 2221 are provided so that when the transmission gear 2221 is driven to rotate, the transmission gear 2221 rotates along the third rack 2211 to drive the fallopian tube angiography telecontrol system to move relative to the transmission base plate 221 .

[0187] Optionally, combined Fig.15 and Fig.16 As shown, the transmission base plate 221 further includes: a first main board 2212 and a second main board 2213. The first main board 2212 and the second main board 2213 are fixedly connected at one side, the plane where the upper end surface of the first main board 2212 is located is not parallel to the plane where the upper end surface of the second main board 2213 is located, and the third rack 2211 is arranged on the second main board 2213.

[0188] Optionally, the housing 19 includes a sliding through hole, and the transmission gear 2221 of the sliding drive motor extends to the bottom of the housing 19 through the sliding through hole.

[0189] Optionally, combined Fig.16 As shown, the fourth driving part 222 further includes: a limit slider 197. The limit slider 197 is arranged on the lower bottom wall of the housing 19. The limit slider 197 includes a groove. The transmission base plate 221 further includes: a guide rail 2214. The guide rail 2214 is arranged on the upper end surface of the transmission base plate 221 and is parallel to the direction in which the housing 19 moves relative to the transmission base plate 221; the groove is slidably connected to the guide rail 2214.

[0190] In this embodiment, the groove and the guide rail 2214 are provided to limit the direction of movement of the housing 19 relative to the transmission base plate 221, that is, to limit the moving direction of the housing 19 relative to the operating table 26. This enables the second end of the injection tube 112 to move closer to or away from the subject.

[0191] Optionally, the bottom wall of the groove abuts against the upper end surface of the guide rail 2214. In this way, the fixed transmission base plate 221 provides support force to the hysterosalpingography telecontrol system, reducing the problem of damage caused by unstable center of gravity when the hysterosalpingography telecontrol system slides.

[0192] Optionally, combined Figure 2 As shown, the hysterosalpingography telecontrol system further includes a pressure sensor 23 . The pressure sensor 23 is disposed on the syringe 111 and collects pressure data and transmits it to the control unit 18 . The pressure sensor 23 is used to detect the pressure value in the syringe 111 .

[0193] In this embodiment, a pressure sensor 23 is provided to observe the pressure value in the syringe 111, thereby facilitating judging the resistance of the current contrast agent injection and judging whether the fallopian tube of the subject is unobstructed according to the pressure value.

[0194] Optionally, the injection unit 11 further includes: a balloon, a balloon branch tube 113 and a balloon inflation syringe 114. The balloon is arranged on the outer peripheral side of the injection tube 112. The balloon branch tube 113 includes an air inlet end and an air outlet end, and the air outlet end is connected to the balloon. The outlet of the balloon inflation syringe 114 is connected to the air inlet end of the balloon branch tube 113, and is used to inject air to prop up the balloon.

[0195] In this embodiment, after the contrast agent outlet reaches the preset position, the balloon inflation syringe 114 is used to input gas into the balloon to inflate the balloon, thereby fixing the relative position of the injection tube 112 and the subject, thereby reducing the displacement of the contrast agent outlet during contrast agent injection.

[0196] For example, after the contrast agent outlet reaches the preset position, the balloon is inflated by injecting gas into the balloon through the balloon inflation syringe 114, so that the balloon is clamped inside the cervical opening to prevent the injection tube 112 from slipping out. The balloon can maintain pressure after pressurization to keep the balloon inflated, and the pressure is released after the hysterosalpingography operation is completed.

[0197] Specifically, the balloon is located on the outer peripheral side of the injection tube 112 and the flexible scope, and is located inside the outer sleeve 20 .

[0198] Fig.17 An enlarged schematic diagram of the remote control provided in an embodiment of the present application.

[0199] Optionally, combined Figure 1 and Fig.17 As shown, the control unit 18 includes: a remote controller 181. The remote controller 181 includes a control key 182 and a damper; the control key 182 is communicatively connected with the first drive unit 12, the second drive unit 14, the third drive unit 16 and the flexible endoscope unit 17 to send a control signal to the first drive unit 12, the second drive unit 14, the third drive unit 16 and the flexible endoscope unit 17; the damper is used to feed back the current corresponding to the control signal sent by the control key 182 to the control key 182.

[0200] In this embodiment, the remote controller 181 is used to remotely drive the first drive unit 12, the second drive unit 14, the third drive unit 16 and the flexible endoscope unit 17, thereby completing the injection of the contrast agent, reducing the problem of inaccurate injection of the contrast agent caused by the subject's body tension caused by manual close-range operation. In addition, by providing a damper on the control key 182, the operator's operating feel is improved, so that the operator can judge whether the amplitude of the operation is appropriate according to the resistance feedback of the damper.

[0201] For example, in combination Fig.17As shown, the control key 182 includes an emergency stop button 1a, a source switching button 1b, a power button 1c, a reset button 1d, an intubation pulley control knob 1e, a longitudinal slider 1f, a third drive member 162 operating slider 1g and a fourth drive member operating slider 1h. The emergency stop button 1a is used to issue an instruction to control all operations to stop. The source switching button 1b is used to issue a switch to display the image collected by the endoscope 172 or the image collected by the X-ray machine on the external display. The power button 1c is used to connect the power supply and the components in the hysterosalpingography teleoperation system (such as the first drive unit 12, the second drive unit 14, the third drive unit 16 and the flexible endoscope unit 17). The reset button 1d is electrically connected to the fourth drive unit 222, and is used to send a signal for the hysterosalpingography teleoperation system to restore to the initial state, control the third drive unit 16 to drive the peephole 15 to withdraw from the body of the person being tested, and control the second drive unit 14 to drive the syringe 112 to move, so as to compensate for the distance of the syringe 112 withdrawing from the human body caused by the housing 19 relative to the transmission substrate 221. The cannula pulley control knob 1e is electrically connected to the second drive unit 14, and is used to send a signal to drive the second drive unit 14 to work. The longitudinal slider 1f is electrically connected to the first drive unit 12, and is used to send a signal to drive the first drive unit 12 to work. The third drive member 162 operating slider 1g is electrically connected to the third drive unit 16, and is used to send a signal to drive the third drive unit 16 to work. The fourth drive member operating slider 1h is electrically connected to the fourth drive unit 222, and is used to send a signal to drive the fourth drive unit 222 to work.

[0202] Optionally, combined Fig.17 As shown, the remote control 181 also includes: an external display 11, which is communicatively connected to the flexible endoscope portion 17, and is used to receive and display images captured by the flexible endoscope portion 17.

[0203] Specifically, the remote controller 181 further includes: a first connection harness 1i and a second connection harness 1j. The first connection harness 1i is used for signal connection between the first drive unit 12, the second drive unit 14, the third drive unit 16, the flexible endoscope unit 17 and the remote controller 181, so as to transmit the control signal of the remote controller 181 to the first drive unit 12, the second drive unit 14, the third drive unit 16 and the flexible endoscope unit 17, and to transmit the image signal collected by the flexible endoscope unit 17 to the remote controller 181 for display on an external display. The second connection harness 1j is used for signal connection between the X-ray machine and the remote controller 181, so as to transmit the image signal collected by the X-ray machine to the remote controller 181 for display on an external display 1l.

[0204] Optionally, the external display is also used to receive and display images taken by the X-ray machine.

[0205] Optionally, as shown in the figure, the remote controller 181 also includes: a joystick 1k, which is communicatively connected to the flexible endoscope portion 17 to control the adjustment freedom of the flexible endoscope portion 17.

[0206] Fig.18 A flowchart of a method for using the hysterosalpingography telemanipulation system provided in an embodiment of the present application.

[0207] Combination Figures 1 to 17 The provided salpingography teleoperation system, the present application embodiment also provides a method for using the salpingography teleoperation system, such as Fig.18 As shown, the method for using the salpingography teleoperation system is applied to the salpingography teleoperation system provided in any one of the above-mentioned examples. The method for using the salpingography teleoperation system includes steps S1-S6, which are specifically as follows:

[0208] Step S1, making the peephole portion 15, the second end of the injection tube 112 and the flexible endoscope portion 17 enter the natural cavity.

[0209] In this step, after completing the preoperative preparations, the operator assists in positioning the spectacles 15 so that the spectacles 15 enter the natural cavity, thereby bringing the second end of the injection tube 112 and the flexible endoscope 17 located in the spectacles 15 into the natural cavity.

[0210] Optionally, before step S1, steps S01-S03 are also included, which are specifically as follows:

[0211] S01, move the first sub-clamp 1311 under the limit of the first limit member 24, install the injection tube 112 into and push it back to the first sub-clamp 1311, so that the first sub-clamp 1311 and the second sub-clamp 1312 clamp the injection tube 112, insert the second limit member 25 into the limit slide groove on the first limit member 24, and slide the second limit member 25 in the limit slide groove to a preset position to lock the first sub-clamp 1311.

[0212] S02 , insert the first sub-expandable arm 1613 into the first mounting hole 1511 of the first main expandable arm 151 , and insert the second sub-expandable arm 1616 into the second mounting hole 1521 of the second main expandable arm 152 .

[0213] S03, locking the locking clip 212 to the operating bed 26, for example, locking it to the side rail of the operating bed 26.

[0214] Optionally, step S1 includes step S11:

[0215] S11 , inserting the first main expansion arm 151 and the second main expansion arm 152 , and the injection tube 112 and the flexible endoscope portion 17 located between the first main expansion arm 151 and the second main expansion arm 152 into the vagina of the subject.

[0216] Step S2, observing the position corresponding to the second end of the injection tube 112 through the flexible endoscope portion 17.

[0217] Specifically, the image captured by the endoscope 172 and displayed on the image display 173 is observed to determine whether the second end of the injection tube 112 is aligned with the cervical opening.

[0218] Step S3, when the position is the target position, the control unit 18 controls the third driving unit 16 to drive the pudendum viewing unit 15 to expand radially to expand the natural cavity.

[0219] Optionally, step S3 includes steps S31-S33, which are specifically as follows:

[0220] S31, when the second end of the injection tube 112 is aligned with the cervical opening, the locking clamp 212 is used to lock the freedom of the universal arm 211.

[0221] S32, the operator walks out of the lead room and enters the operating room. This can reduce the impact of the subsequent X-ray machine on the operator.

[0222] S33, the third driving member 162 operates the slider 1g and the fourth driving member operates the slider 1h through the remote control 181, controls the first main expansion arm 151 and the second main expansion arm 152 to expand the vagina of the subject, and judges whether the expansion degree of the vagina is qualified through the image collected by the image collection unit displayed on the external display. In addition, the operator can also assist in judging whether the current expansion degree of the vagina is qualified based on the resistance feedback from the third driving member 162 operating the slider 1g and the fourth driving member operating the slider 1h.

[0223] Step S4, the control unit 18 controls the second driving unit 14 to drive the guiding unit 13 to generate a thrust on the injection tube 112, so that the second end of the injection tube 112 penetrates into the natural cavity.

[0224] Specifically, the remote controller 181 controls the cannula pulley control knob 1e to drive the clamp 131 to move, drive the syringe 112 to move, and thus drive the balloon and the flexible endoscope part 17 provided on the syringe 112 to move, so that the balloon enters the cervical os. At this time, the position of the contrast agent outlet and the endoscope 172 of the flexible endoscope part 17 are both located in the uterine cavity. The syringe 114 is pushed to expand the balloon to inflate the balloon so that it is fixed on the inside of the cervical os. In addition, the reset button 1d of the remote controller 181 is used to withdraw the expansion member from the body of the person being tested, and at the same time, the second drive part 14 is controlled to drive the syringe 112 to move, so as to compensate for the distance of the syringe 112 withdrawing from the human body due to the housing 19 relative to the transmission substrate 221, so as to ensure that the second end of the syringe 112 is relatively still with the body of the person being tested.

[0225] Step S5, the control unit 18 controls the first driving unit 12 to drive the syringe 111 to push the loaded contrast agent from the first end of the injection tube 112 to the second end and output it.

[0226] Specifically, the longitudinal pusher of the remote controller 181 drives the pusher 122 to push the first push rod, so that the contrast agent in the syringe 111 is input into the injection tube 112 , and then the contrast agent is output to the target position through the injection tube 112 .

[0227] Step S6, the control unit 18 controls the flexible endoscope unit 17 to drive the second end of the injection tube 112 to adjust the degree of freedom and observe the angiography situation.

[0228] Specifically, the signal source (image acquisition unit or X-ray machine) of the image displayed on the external display can be switched through the signal source switching button 1b to observe the diffusion of the contrast agent or the shape of the entire uterine cavity and the opening of the fallopian tube, and pay attention to the signal of the pressure sensor 23. The degree of freedom of the flexible arm 171 of the flexible endoscope unit 17 can also be adjusted to change the position of the image collected by the endoscope 172 to better observe the shape of the uterine cavity and the opening of the fallopian tube.

[0229] By using the method for using the hysterosalpingography teleoperation system provided in the embodiment of the present application, most of the manual operations in the related technology are replaced by remote teleoperation, which reduces the contact between the operator and the subject, and relieves the tension and discomfort of the subject. Moreover, when the image taken by the X-ray machine is inaccurate, the hysterosalpingography teleoperation system can be directly remotely operated to make the second end of the injection tube 112 output the contrast agent, without the need for the operator to enter the lead room again for operation, reducing the operator's repeated movement between the lead room and the radiography room, reducing the number of times the operator is exposed to radiation, simplifying the operation, and improving work efficiency.

[0230] It should be noted that those skilled in the art will easily think of other embodiments of the present application after considering the specification and practicing the application disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary technical means in the art that are not disclosed in the present application. The specification and examples are only regarded as exemplary, and the true scope of the present application is indicated by the claims.

[0231] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A salpingography teleoperation system, characterized in that: include: An injection unit (11), the injection unit (11) comprising a syringe (111) and an injection tube (112), the first end of the injection tube (112) being connected to the syringe (111), the second end of which being used to enter and penetrate into a natural cavity, the syringe (111) being used to push and inject the loaded contrast medium from the first end of the injection tube (112) to the second end and output; A first driving unit (12), the first driving unit (12) being drivingly connected to the syringe (111) and used for driving the syringe (111) to push injection; A guide portion (13) for pushing the injection tube (112) to move deeply in the natural cavity; a second driving part (14), the second driving part (14) being drivingly connected to the guide part (13) and used for driving the guide part (13) to generate a thrust on the injection tube (112); A peephole (15), which surrounds the outside of the injection tube (112) and has a variable radial size, and is used to expand the natural cavity to assist the injection tube (112) in entering the natural cavity; A third driving part (16), the third driving part (16) being in driving connection with the pudendum-viewing part (15) and used for driving the pudendum-viewing part (15) to radially expand and contract; A flexible endoscope portion (17), the flexible endoscope portion (17) extending in the same direction as the injection tube (112) and being fixed thereto, and being used to drive the second end of the injection tube (112) to adjust the degree of freedom and observe the imaging condition; A control unit (18) is used to remotely control the first drive unit (12), the second drive unit (14), the third drive unit (16) and the flexible endoscope unit (17).

2. The salpingography teleoperation system according to claim 1, characterized in that: The first driving unit (12) comprises: A first driving member (121); A pushing member (122), the first driving member (121) being in transmission connection with the pushing member (122); the first driving member (121) being used to drive the pushing member (122) to move; the pushing member (122) being fixedly connected to the piston rod of the syringe (111); A limiting member (123), wherein the limiting member (123) is used to limit the movement direction of the pushing member (122).

3. The salpingography teleoperation system according to claim 1, characterized in that: The guide portion (13) comprises: A clamping member (131), comprising a first sub-clamping member (1311) and a second sub-clamping member (1312), wherein the first sub-clamping member (1311) and the second sub-clamping member (1312) are clamped on both sides of the injection tube (112) to deform the injection tube (112); The second driving unit (14) comprises: Two sets of second driving members (141) are respectively connected to the first sub-clamping member (1311) and the second sub-clamping member (1312) to drive the injection tube (112) to move through the movement of the first sub-clamping member (1311) and the second sub-clamping member (1312); A moving member (142), wherein the moving member (142) is connected to the first sub-clamping member (1311) and / or the second sub-clamping member (1312), and is used to drive the first sub-clamping member (1311) and / or the second sub-clamping member (1312) to move so as to bring the two closer together or farther apart.

4. The salpingography teleoperation system according to claim 3, characterized in that: The first sub-clamping member (1311) includes a first pulley group, and the second sub-clamping member (1312) includes a second pulley group; the first pulley group and the second pulley group are arranged at intervals on both sides of the injection tube (112), and the first pulley group and the second pulley group clamp the injection tube (112); the first pulley group and the second pulley group can be driven by the second driving member (141) to rotate relative to each other, so as to drive the injection tube (112) to move; The first pulley set includes a plurality of first pulleys (1313), and the second pulley set includes a plurality of second pulleys (1314).

5. The salpingography teleoperation system according to claim 1, characterized in that: The pubic viewing part (15) comprises: A first main expansion arm (151); A second main expansion arm (152); The first main expansion arm (151) and the second main expansion arm (152) are arranged opposite to each other, and the accommodating cavity is formed between the first main expansion arm (151) and the second main expansion arm (152); the second end of the injection tube (112) is located in the accommodating cavity; the first main expansion arm (151) and the second main expansion arm (152) are transmission-connected to the third driving unit (16), and the third driving unit (16) is used to drive the first main expansion arm (151) and the second main expansion arm (152) to move relative to each other, forming a close state to close the accommodating cavity, or forming an expanded state to open the accommodating cavity.

6. The salpingography teleoperation system according to claim 1, characterized in that: Also includes: The housing (19) comprises a containing space (191) for containing the injection part (11), the first driving part (12), the guide part (13), the second driving part (14) and the third driving part (16); the syringe (111) is detachably connected to the bottom wall of the containing space (191); An operating hole (192) is provided on a first side wall of the accommodating space (191), and the peephole (15) extends out of the accommodating space (191) through the operating hole (192).

7. The salpingography teleoperation system according to claim 6, characterized in that: The flexible endoscope portion (17) comprises: A flexible arm (171), wherein the flexible arm (171) is used to control the degree of freedom to drive the injection tube (112) to move; an endoscope (172) configured at the distal end of the flexible arm (171); An image display (173) is disposed in the accommodating space (191) of the housing (19) and is used to display images collected by the endoscope (172).

8. The salpingography teleoperation system according to claim 7, characterized in that: Also includes: An outer sleeve (20), wherein the outer sleeve (20) and the injection tube (112) are both flexible tube bodies; the outer sleeve (20) is sleeved on the flexible arm (171), the flexible mirror and the injection tube (112), and the outer sleeve (20) is interference fit with the flexible arm (171), the flexible mirror and the injection tube (112).

9. The salpingography teleoperation system according to claim 6, characterized in that: Also includes: An extended support portion (21) is used to fix the housing (19) on an operating table (26); The extended support portion (21) comprises: a universal arm (211) and a locking clamp (212); The universal arm (211) comprises at least one joint with adjustable relative degrees of freedom, a first end of the universal arm (211) is slidably connected to the housing (19), and a second end of the universal arm (211) is slidably connected to the bed frame of the operating bed (26); A locking clamp (212) is arranged at the end of any of the joints and is used to lock the degrees of freedom of all the joints.

10. The salpingography teleoperation system according to claim 9, characterized in that: The housing (19) is slidably connected to the universal arm (211) via a sliding portion (22), and the sliding portion (22) comprises: A transmission substrate (221), wherein the transmission substrate (221) is fixed to the first end of the universal arm (211), and the housing (19) is slidably disposed on the transmission substrate (221); The fourth driving part (222) is used to drive the housing (19) to slide relatively on the transmission base plate (221) along the extension direction of the injection tube (112).

11. The salpingography teleoperation system according to claim 1, characterized in that: Also includes: A pressure sensor (23) is provided on the syringe (111) and collects pressure data and transmits the data to the control unit (18). The pressure sensor (23) is used to detect the pressure value in the syringe (111).

12. The salpingography teleoperation system according to claim 1, characterized in that: The injection unit (11) further comprises: A balloon, arranged on the outer peripheral side of the injection tube (112); A balloon branch tube (113), comprising an air inlet end and an air outlet end, wherein the air outlet end is in communication with the balloon; A syringe (114) for balloon inflation, wherein the outlet of the syringe (114) for balloon inflation is connected to the air inlet end of the balloon branch tube (113) and is used for injecting air to prop up the balloon.

13. The salpingography teleoperation system according to claim 1, characterized in that: The control unit (18) comprises: A remote controller (181), the remote controller (181) comprising a control key (182) and a damper; the control key (182) is communicatively connected with the first drive unit (12), the second drive unit (14), the third drive unit (16) and the flexible endoscope unit (17) so as to send a control signal to the first drive unit (12), the second drive unit (14), the third drive unit (16) and the flexible endoscope unit (17); the damper is used for feeding back to the control key (182) the magnitude of a current corresponding to the control signal sent by the control key (182).

14. A method for using a salpingography telecontrol system, characterized in that: The method for using the salpingography teleoperation system is applied to the salpingography teleoperation system according to any one of claims 1 to 13, and the method for using the salpingography teleoperation system comprises: Allowing the peephole (15), the second end of the injection tube (112) and the flexible endoscope (17) to enter the natural cavity; Observing the position corresponding to the second end of the injection tube (112) through the flexible endoscope portion (17); When the position is the target position, a control unit (18) is used to control a third driving unit (16) to drive the pudendum viewing unit (15) to radially expand, so as to expand the natural cavity; The control unit (18) controls the second driving unit (14) to drive the guide unit (13) to generate a thrust on the injection tube (112), so that the second end of the injection tube (112) penetrates into the natural cavity; The control unit (18) controls the first driving unit (12) to drive the injector (111) to push and discharge the loaded contrast medium from the first end of the injection tube (112) to the second end; The control unit (18) controls the flexible endoscope unit (17) to drive the second end of the injection tube (112) to adjust the degree of freedom and observe the imaging conditions.

Images