Bending control device, biopsy device, biopsy device moving apparatus, and biopsy system

Abstract

The present application relates to a kind of bending control device, biopsy device, biopsy device mobile device and biopsy system, belong to the field of interventional biopsy sampling technology equipment.The present application includes first installation box, first transmission mechanism and bending control piece, first installation box is inserted along the tail of the biopsy accessory in first direction;First transmission mechanism is arranged in the first installation box, and the first transmission mechanism is used to output reciprocating motion along first direction;Bending control piece extends along the length direction of the biopsy accessory, two ends of the bending control piece are respectively fixedly connected with the first transmission mechanism and the head end of the biopsy accessory, when the tail end of the bending control piece is driven by the first transmission mechanism relative to the tail of the biopsy accessory and makes the bending control piece taut, the head end of the bending control piece is bent towards the direction of the tail end of the bending control piece.The present application realizes the effect of bending control to the head end of biopsy accessory independently.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a bending control device, a biopsy device, a biopsy device mobile device, and a biopsy system. Background Technology

[0002] Biopsy devices, used in conjunction with endoscopes, enable invasive sampling within biological tissues. The endoscope's cannula is inserted into the body's natural cavities, establishing a working channel. The biopsy device then enters the body along this channel. Once the endoscope and biopsy device tips are positioned correctly, the operating part of the biopsy device tip is brought into physical contact with the lesion to facilitate sampling. A portion of the biopsy device is a single-use component, known as a biopsy accessory, while other components are reusable. The aforementioned operating part is part of this biopsy accessory.

[0003] In existing technologies, the relative position of the operating part and the lesion depends on the relative position of the endoscopic cannula and the lesion, as well as the relative position of the operating part and the endoscopic cannula (the distance the operating part extends out of the endoscopic working channel). In practical use, if the operating part collides with the wall of the body cavity when it extends out of the working channel, generating significant propulsion resistance, the relative position of the endoscope and the lesion can easily change. Therefore, during use, the endoscopic operator is usually required to control the bending of the endoscope tip so that the tool points precisely to the target position when it extends out of the working channel. Existing biopsy devices do not have a head bending control structure. During sampling, the direction in which the device extends out of the endoscopic working channel is its final direction, lacking end-effector freedom. The sampling direction can only be adjusted by controlling the bending of the endoscope, and it is impossible to use both in combination to complete an S-shaped sampling operation. Summary of the Invention

[0004] To address, or at least partially address, the technical problem of the inability to independently control the bending degree of the tip of biopsy attachments, this invention provides a bending control device, a biopsy device, a biopsy device mobile device, and a biopsy system. The bending control device for biopsy attachments includes:

[0005] A first mounting box is provided for the tail of the biopsy accessory to be inserted along a first direction;

[0006] A first transmission mechanism is disposed inside the first mounting box, and the first transmission mechanism is used to output reciprocating motion along a first direction;

[0007] A bending control member extends along the length of the biopsy attachment. Both ends of the bending control member are fixedly connected to the first transmission mechanism and the head end of the biopsy attachment, respectively. When the first transmission mechanism drives the tail end of the bending control member to slide relative to the tail end of the biopsy attachment and tightens the bending control member, the head end of the bending control member bends toward the tail end of the bending control member.

[0008] Optionally, the first transmission mechanism includes a first clamping block, a first positioning member, a first passive slider, and a first guide rail, wherein:

[0009] The first clamping block is disposed inside the first positioning member and is fixedly connected to the bending control member;

[0010] The first guide rail is fixed inside the first mounting box, and the first passive slider is disposed on the first guide rail. The first passive slider and the first guide rail cooperate with each other to drive the first positioning member and the first clamping block to reciprocate along the first direction, and the first passive slider and the first positioning member constrain each other's displacement freedom in the first direction.

[0011] Optionally, the first clamping block has a first fixing hole or a first fixing groove through which the bending control member passes;

[0012] The first positioning element includes a first cylinder, which is rotatably connected to the first passive slider. When the tail of the biopsy accessory rotates about its axis located in the first direction, the first cylinder rotates relative to the first passive slider under the drive of the biopsy accessory.

[0013] The first cylinder has a first mounting groove, a first sliding groove and a first snap-fit ​​groove. The first mounting groove is connected to at least one end face of the first cylinder. The first clamping block enters the first sliding groove under the guidance of the first mounting groove, slides along the first sliding groove to the first snap-fit ​​groove and then snaps into the first snap-fit ​​groove.

[0014] The first cylinder is provided with a first limiting body at each end. The first limiting body is used to constrain the first positioning member and the first passive slider to each other in the displacement degree of freedom in the first direction.

[0015] The first passive slider has a first arc-shaped groove, and the first positioning member can rotate relative to the first arc-shaped groove;

[0016] There are multiple first guide rails, and the first passive slider has multiple first sliding holes for the first guide rails to pass through. The first sliding holes and the first guide rails are configured one-to-one.

[0017] The first passive slider has a first power input section for receiving reciprocating motion along the first direction;

[0018] Each of the first guide rails is disposed on the same side of the first positioning member, or distributed on different sides of the first positioning member.

[0019] Optionally, the bending control device further includes a second transmission mechanism, which drives the first transmission mechanism to reciprocate along the first direction.

[0020] Optionally, the second transmission mechanism includes a first actuating slider and a first driving rod, the first actuating slider and the first driving rod being threadedly connected, the first actuating slider being used to convert the rotational motion of the first driving rod into linear motion along the first direction, and the first actuating slider and the first transmission mechanism constraining each other's displacement degrees of freedom in the first direction;

[0021] The second transmission mechanism is electrically controlled; the bending control device also includes a first drive mechanism for driving the second transmission mechanism.

[0022] Optionally, the bending control device further includes a third transmission mechanism, which is fixedly connected to the tail of the biopsy attachment and is used to drive the tail of the biopsy attachment to rotate.

[0023] Optionally, the third transmission mechanism is used to convert rotational motion about one axis into rotational motion about another axis.

[0024] Optionally, the third transmission mechanism includes a driving gear and a driven gear meshing with the driving gear, the driven gear being fixedly connected to the biopsy accessory;

[0025] The bending control device also includes a third drive mechanism, which is used to drive the drive gear.

[0026] Optionally, the bending control device further includes a fourth transmission mechanism, the output end of which is fixedly connected to the biopsy attachment to drive the biopsy attachment to reciprocate along the first direction.

[0027] Optionally, the fourth transmission mechanism includes a second clamping block, which is fixedly connected to the biopsy attachment, and the second clamping block is configured to drive the tail of the biopsy attachment to reciprocate along the first direction;

[0028] The fourth transmission mechanism further includes a second positioning member, in which the second clamping block is positioned, and the second positioning member is configured to drive the second clamping block to reciprocate along the first direction;

[0029] The fourth transmission mechanism further includes a second passive slider and a second guide rail that cooperate with each other. The second guide rail is fixed on the first mounting box, and the second passive slider is used to drive the second positioning member to reciprocate along the first direction.

[0030] The second passive slider and the second positioning member constrain each other's displacement degrees of freedom in the first direction.

[0031] Optionally, the second clamping block has a second fixing hole or a second fixing groove for connecting the biopsy accessory;

[0032] The second positioning element includes a second cylinder, which is rotatably connected to the second passive slider. When the tail of the biopsy accessory rotates, the second cylinder is configured to rotate relative to the second passive slider under the drive of the tail of the biopsy accessory.

[0033] The second cylinder has a second mounting groove, a second sliding groove, and a second snap-fit ​​groove. The second mounting groove is connected to at least one end face of the second cylinder. The second clamping block enters the second sliding groove under the guidance of the second mounting groove, slides along the second sliding groove to the second snap-fit ​​groove, and then snaps into the second snap-fit ​​groove.

[0034] The second positioning component also includes a second limiting body. The second limiting body is provided at both ends of the second cylinder to constrain the displacement degrees of freedom of the second positioning component and the second passive slider in the first direction.

[0035] The second passive slider has a second arc-shaped groove, and the second positioning member is rotatable relative to the second arc-shaped groove;

[0036] The second passive slider has multiple second sliding holes through which the second guide rail passes, and the second sliding holes and the second guide rail are arranged in a one-to-one correspondence;

[0037] The second passive slider has a second power input section for receiving reciprocating motion along the first direction;

[0038] Each of the second guide rails is disposed on the same side of the second positioning member, or distributed on different sides of the second positioning member.

[0039] Optionally, the bending control device further includes a guide member, and the third transmission mechanism controls the tail rotation of the biopsy attachment by driving the guide member to rotate. The first transmission mechanism and the fourth transmission mechanism are arranged at intervals along the extension direction of the guide member.

[0040] Optionally, the tail end of the guide member is fixedly connected to the output part of the third transmission mechanism;

[0041] The guide has a guide groove extending along the first direction, the bending control member and the biopsy accessory pass through the guide groove, the output of the first transmission mechanism is inserted into the guide groove in a direction different from the first direction and is fixedly connected to the bending control member, the output of the first transmission mechanism and the biopsy accessory are slidably connected; the output of the fourth transmission mechanism is inserted into the guide groove in a direction different from the first direction and is fixedly connected to the biopsy accessory.

[0042] Both ends of the guide are rotatably connected to the first mounting box;

[0043] The guide member is provided with a first limiting member at its head end. The first limiting member is used to prevent the guide member from moving out of the first mounting box. The first limiting member is built into the first mounting box.

[0044] The guide member is provided with a second limiting member at its head end. The second limiting member is used to prevent the guide member from moving into the first mounting box. The second limiting member is placed outside the first mounting box.

[0045] Optionally, the bending control device further includes a fifth transmission mechanism, which drives the fourth transmission mechanism to reciprocate along the first direction.

[0046] Optionally, the fifth transmission mechanism includes a second actuating slider and a second driving rod, the second actuating slider and the second driving rod being threadedly connected to convert the rotational motion of the second driving rod into the linear motion of the second actuating slider, and the second actuating slider and the fourth transmission mechanism constrain each other's displacement degrees of freedom in the first direction;

[0047] The bending control device also includes a second drive mechanism for driving the fifth transmission mechanism.

[0048] Optionally, the bending control device further includes:

[0049] The second mounting box is snapped into the first mounting box, and the third transmission mechanism is at least partially installed in the second mounting box;

[0050] The third mounting box is snapped into the first mounting box, and the second transmission mechanism and the fifth transmission mechanism are located inside the third mounting box;

[0051] The second mounting box and the third mounting box are located on different sides of the first mounting box.

[0052] A biopsy device includes a biopsy attachment and a bending control device as described in any of the preceding claims, the bending control device being connected to the tail end of the biopsy attachment and used to control the degree of bending of the head end of the biopsy attachment.

[0053] Optionally, the biopsy attachments include:

[0054] The operating section is used for sampling;

[0055] The connector and guide tube are provided, with the operating part fixed to the head end of the guide tube via the connector, and the tail end of the guide tube inserted into the first mounting box.

[0056] A push-pull transmission mechanism is inserted into the guide tube. The head end of the push-pull transmission mechanism is connected to the operating part, and the tail end of the push-pull transmission mechanism is located in the first mounting box. The push-pull transmission mechanism is used to drive the operating part to move according to the reciprocating motion received by its tail end along the first direction.

[0057] The positioning device is connected to the push-pull transmission mechanism, and the head end of the positioning device is a positioning sensor, which is used for electromagnetic navigation.

[0058] Optionally, the operating part is a clamp head, which is pivotally connected to the connector, and the push-pull transmission mechanism controls the opening and closing degree of the head of the clamp head by driving the opening and closing degree of the tail of the clamp head;

[0059] The push-pull transmission mechanism includes a first push-pull member, a second push-pull member, a first connecting rod, and a second connecting rod. The tail end of the first push-pull member is used to receive reciprocating motion along the first direction. The tail end of the first push-pull member is fixed with the second push-pull member. The first connecting rod and the second connecting rod are both pivotally connected to the second push-pull member. The first connecting rod is pivotally connected to the tail end of the first clamp arm of the pliers head, and the second connecting rod is pivotally connected to the tail end of the second clamp arm of the pliers head.

[0060] Optionally, the operating part is a biopsy needle or a biopsy brush;

[0061] The connector is a connecting tube, one end of which is sleeved on the operating part, and the other end is fixed to the inner wall of the guide tube;

[0062] The push-pull transmission mechanism includes an elastic tube, one end of which is fixedly connected to the operating part, and the other end is used to receive reciprocating motion along the first direction;

[0063] The push-pull transmission mechanism also includes a protective film, which is connected to the hollow part of the operating part to form a negative pressure channel, and the protective film is disposed between the guide tube and the elastic tube;

[0064] A fixed channel is provided between the guide tube and the elastic tube for the bending control component to pass through.

[0065] A biopsy system includes an endoscope and a biopsy device as described in any of the preceding claims.

[0066] A biopsy device mobile device, comprising:

[0067] A fixed tray for carrying the biopsy device as described in any of the preceding claims, wherein the first mounting box is disposed on the fixed tray;

[0068] A vertical moving component, connected to the fixed tray, is used to control the vertical displacement of the fixed tray;

[0069] A lateral movement component is used to control the lateral displacement of the fixed tray.

[0070] The present invention has the following beneficial effects:

[0071] In the bending control device provided by the present invention, the first transmission mechanism can move linearly relative to the tail of the biopsy accessory. When the first transmission mechanism moves linearly, it drives the tail end of the bending control member to move, causing the tension of the bending control member to change. When the tension of the bending control member is large, it causes the head end of the biopsy accessory to bend to a large degree. When the bending control member gradually relaxes, the head end of the biopsy accessory gradually returns to its original position and flattens. In conjunction with the bending control at the end of the endoscope, sampling operation in an S-shaped configuration can be achieved. Attached Figure Description

[0072] To more clearly illustrate the embodiments of the present invention, the relevant accompanying drawings will be briefly described below. It should be understood that the drawings described below are only for illustrating some embodiments of the present invention, and those skilled in the art can obtain many other technical features and connections not mentioned herein based on these drawings.

[0073] Figure 1 This is a partial structural diagram of the biopsy attachment according to an embodiment of the present invention;

[0074] Figure 2 This is a partial cross-sectional view of the biopsy attachment according to an embodiment of the present invention;

[0075] Figure 3 This is a cross-sectional view of a biopsy accessory according to an embodiment of the present invention, wherein the forceps head is in a closed state;

[0076] Figure 4 This is a cross-sectional view of the pliers head according to an embodiment of the present invention, wherein the pliers head is in an open state;

[0077] Figure 5 This is a schematic diagram of the structure of the first clamp arm in an embodiment of the present invention;

[0078] Figure 6 This is a partial structural cross-sectional view of the biopsy attachment according to an embodiment of the present invention;

[0079] Figure 7 This is a schematic diagram of the connection component according to an embodiment of the present invention;

[0080] Figure 8 This is a schematic diagram showing the connection relationship between the clamp head and the push-pull transmission mechanism in an embodiment of the present invention;

[0081] Figure 9 This is a schematic diagram of the connecting frame according to an embodiment of the present invention;

[0082] Figure 10 This is a partial structural cross-sectional view of the biopsy attachment according to an embodiment of the present invention;

[0083] Figure 11 This is a partial structural cross-sectional view of the biopsy attachment according to an embodiment of the present invention;

[0084] Figure 12 This is a schematic diagram of a biopsy device according to an embodiment of the present invention;

[0085] Figure 13 This is a schematic diagram of the bending control device according to an embodiment of the present invention, in which the first mounting box is omitted;

[0086] Figure 14 This is a partial cross-sectional view of the bending control device according to an embodiment of the present invention;

[0087] Figure 15 for Figure 14 Enlarged view of part A;

[0088] Figure 16 This is a superimposed view of the state of the biopsy attachment tip in an embodiment of the present invention;

[0089] Figure 17 This is a schematic diagram of the structure of the first transmission mechanism according to an embodiment of the present invention;

[0090] Figure 18 This is a schematic diagram of the structure of the first clamping block according to an embodiment of the present invention;

[0091] Figure 19 This is a cross-sectional view of the first transmission mechanism according to an embodiment of the present invention;

[0092] Figure 20 This is a schematic diagram of the structure of the first positioning element according to an embodiment of the present invention;

[0093] Figure 21 This is a schematic diagram of the structure of the first passive slider according to an embodiment of the present invention;

[0094] Figure 22 This is a schematic diagram of the structure of the first passive slider according to another embodiment of the present invention;

[0095] Figure 23 This is a diagram showing the connection relationship between the first transmission mechanism and the second transmission mechanism in one embodiment of the present invention;

[0096] Figure 24This is a connection diagram of the first transmission mechanism and the second transmission mechanism in another embodiment of the present invention;

[0097] Figure 25 This is a schematic diagram of the second transmission mechanism according to an embodiment of the present invention;

[0098] Figure 26 This is a cross-sectional view of the bending control device according to an embodiment of the present invention;

[0099] Figure 27 This is a diagram showing the arrangement of the driving gear and the driven gear in an embodiment of the present invention.

[0100] Figure 28 This is a schematic diagram of the fourth transmission mechanism according to an embodiment of the present invention;

[0101] Figure 29 This is a schematic diagram of the structure of the second clamping block according to an embodiment of the present invention;

[0102] Figure 30 This is a schematic diagram of the structure of the second positioning member according to an embodiment of the present invention;

[0103] Figure 31 This is a schematic diagram of the second passive slider structure according to an embodiment of the present invention;

[0104] Figure 32 This is a schematic diagram of the second passive slider structure according to an embodiment of the present invention;

[0105] Figure 33 This is a schematic diagram of the guide component according to an embodiment of the present invention;

[0106] Figure 34 This is a diagram showing the connection relationship between the fourth and fifth transmission mechanisms in one embodiment of the present invention;

[0107] Figure 35 This is a connection diagram of the fourth and fifth transmission mechanisms under another embodiment of the present invention;

[0108] Figure 36 This is a schematic diagram of the fifth transmission mechanism according to an embodiment of the present invention;

[0109] Figure 37 This is a schematic diagram of the second and fifth transmission mechanisms according to an embodiment of the present invention;

[0110] Figure 38 This is a schematic diagram of the first transmission mechanism and the fourth transmission mechanism according to an embodiment of the present invention;

[0111] Figure 39 This is a schematic diagram of a mobile device according to an embodiment of the present invention.

[0112] The reference numerals and names in the figure are as follows:

[0113] 10. Pliers head

[0114] 101. First clamp arm

[0115] 102. Second clamp arm

[0116] 1021. Blade

[0117] 10211, Pliers blade

[0118] 10212, First side

[0119] 10213, Second side

[0120] 10214. Receptacle

[0121] 10215. Curved shell section

[0122] 10216, Half-pipe section

[0123] 10217, baffle

[0124] 1022. Pivot section

[0125] 10221, First Section

[0126] 10222, Second Section

[0127] 1023. Tail end of the clamp arm

[0128] 103. First pivot axis

[0129] 20. Connecting frame

[0130] 201. Connecting plate

[0131] 202. Connecting cylinder

[0132] 30. Push-pull transmission mechanism

[0133] 301. First push-pull component

[0134] 302. Second push-pull component

[0135] 303. Connecting components

[0136] 3031, First Link

[0137] 3032, Second Link

[0138] 3033, Second Pivot Axis

[0139] 3034. Push-pull slider

[0140] 40. Guide tube

[0141] 50. Positioning equipment

[0142] 60. Biopsy needle

[0143] 601. Connecting pipe

[0144] 602, Flexible Tube

[0145] 603, Protective Film

[0146] 70. Biopsy brush

[0147] 1. First installation box

[0148] 2. First transmission mechanism

[0149] 21. First clamping block

[0150] 211. First fixing groove

[0151] 22. First positioning component

[0152] 221. First cylinder

[0153] 2211, First mounting slot

[0154] 2212, First sliding groove

[0155] 2213, First Card Receiving Slot

[0156] 222. First limiting body

[0157] 23. First passive slider

[0158] 231. First arc-shaped groove

[0159] 232. First sliding hole

[0160] 233. First power input unit

[0161] 24. First guide rail

[0162] 3. Bending control components

[0163] 4. Second transmission mechanism

[0164] 41. First action to move the slider

[0165] 42. First drive rod

[0166] 5. First drive motor

[0167] 6. Third transmission mechanism

[0168] 61. Drive gear

[0169] 62. Driven gear

[0170] 7. Third drive mechanism

[0171] 8. Fourth transmission mechanism

[0172] 81. Second clamping block

[0173] 811, Second fixing hole

[0174] 82. Second positioning component

[0175] 821. Second cylinder

[0176] 8211, Second mounting slot

[0177] 8212, Second sliding groove

[0178] 8213, Second Card Slot

[0179] 822, Second limiting body

[0180] 83. Second passive slider

[0181] 831. Second arc-shaped groove

[0182] 832, Second sliding hole

[0183] 833, Second Power Input Unit

[0184] 84. Second guide rail

[0185] 9. Guide components

[0186] 91. Guide groove

[0187] 11. First limiting component

[0188] 12. Second limiting component

[0189] 13. Fifth transmission mechanism

[0190] 131. Second actuating slider

[0191] 132. Second drive lever

[0192] 14. Second drive mechanism

[0193] 15. Second mounting box

[0194] 16. Third installation box

[0195] 17. Operating end transmission mechanism

[0196] 18. Drive mechanism

[0197] 100. Fixed pallet

[0198] 1001, Second Platform

[0199] 200. Vertical moving parts

[0200] 2001, Vertical Moving Base

[0201] 20011, First Platform

[0202] 20012, Connecting Block

[0203] 2002, Vertical drive motor

[0204] 2003, Vertical transmission mechanism

[0205] 20031, First bevel tooth

[0206] 20032, Second bevel tooth

[0207] 20033, Vertical Moving Screw

[0208] 2004, Vertical guide structure

[0209] 20041, Vertical Guide Rail

[0210] 300. Lateral moving parts

[0211] 3001, Lateral Moving Base

[0212] 3002, Lateral drive motor

[0213] 3003, Transverse Lead Screw

[0214] 3004, Horizontal guide rail

[0215] 400. Moving wheels Detailed Implementation

[0216] The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings.

[0217] The biopsy device (including biopsy accessories) is partially inserted into the target tissue of the organism along the working channel established by the endoscope. One end of each component is closer to the target tissue. In the following description, the end closer to the target tissue is the "head end" and the other end is the "tail end".

[0218] In the following description, the directions are referred to as Figure 2 Based on, that is, in Figure 2 Based on this understanding, "up", "down", "left", "right", "longitudinal", "lateral", "vertical", and "horizontal" are used; the orientations mentioned are only for the convenience of describing the invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation.

[0219] In the following description, terms such as "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0220] Before elaborating on the specific plan, let's first discuss... Figure 2 To explain further, Figure 2 To illustrate the open state of the clamp head 10 and the structure of the push-pull transmission mechanism 30, spline curves a and b are not biopsy accessories but are used as auxiliary lines. The part to the left of spline curve a is not sectional, and the structure of the connecting frame 20 is hidden in the parts of spline curves a and b to illustrate the structure of the head end of the push-pull transmission mechanism 30. The part to the right of spline curve b is sectional to illustrate the internal structure of the push-pull transmission mechanism 30.

[0221] This invention provides a biopsy accessory that can be assembled into a biopsy device as a disposable product. It can be inserted into the cannula of an endoscope for sampling tissues in a biological body. The biopsy accessory can be used in conjunction with the bending control device of the biopsy device to bend the tip of the biopsy accessory. For ease of understanding, the first mounting box 1 of the bending control device is introduced in the process of describing the biopsy accessory solution.

[0222] The biopsy accessories include an operating unit, a connector, a guide tube 40, a push-pull transmission mechanism 30, and a positioning device 50. The operating unit is used for sampling and is connected to the head end of the guide tube 40 via the connector. The tail end of the guide tube 40 is inserted into the first mounting box 1. The push-pull transmission mechanism 30 is inserted into the guide tube 40. The head end of the push-pull transmission mechanism 30 is directly or indirectly connected to the operating unit, and the tail end of the push-pull transmission mechanism 30 is located in the first mounting box 1. The push-pull transmission mechanism 30 is used to drive the operating unit to move according to the reciprocating motion received by its tail end along a first direction. The positioning device 50 passes through the push-pull transmission mechanism 30. The head end of the positioning device 50 is a positioning sensor, which is used for electromagnetic navigation.

[0223] The operating unit can employ any one of the following: forceps 10, biopsy needle 60, and biopsy brush 70. The forceps 10 cuts samples by changing its opening and closing state; for example, the forceps 10 switches from an open state to a closed state under the action of the push-pull transmission mechanism 30, thereby cutting off the sample. The biopsy needle 60 extracts samples by piercing the target tissue; for example, the biopsy needle 60 moves left and right under the action of the push-pull transmission mechanism 30, first piercing the target tissue, then performing negative pressure aspiration to extract the sample, and then moving back to detach from the target tissue. The biopsy brush 70 extracts samples by piercing the target tissue; for example, the biopsy brush 70 moves left and right under the action of the push-pull transmission mechanism 30, first piercing the target tissue, then performing negative pressure aspiration to extract the sample, and then moving back to detach from the target tissue. The following describes the biopsy accessory schemes for each type of operating unit.

[0224] refer to Figures 1 to 4 Understood. In the biopsy accessory of this embodiment, the operating part adopts a clamp head 10, and the connector adopts a connecting frame 20. In some embodiments, the biopsy accessory includes the clamp head 10, the connecting frame 20, and a push-pull transmission mechanism 30. The clamp head 10 includes a first clamp arm 101, a second clamp arm 102, and a first pivot shaft 103. The first clamp arm 101 and the second clamp arm 102 are arranged crosswise, and the first clamp arm 101 and the second clamp arm 102 are pivotally connected to the connecting frame 20 at the intersection via the first pivot shaft 103. The push-pull transmission mechanism 30 is used to convert the reciprocating motion along the length direction of the cannula into driving the first clamp arm 101 and the second clamp arm 102 to rotate relative to each other along the first pivot shaft 103, so that the first clamp arm 101 and the second clamp arm 102 open and close with each other.

[0225] The connecting frame 20 is used to mount the forceps head 10 so that the push-pull transmission mechanism 30 can drive the forceps head 10 to open and close. The force applied by the push-pull transmission mechanism 30 to the forceps head 10 does not affect the connecting frame 20, that is, the connecting frame 20 is stationary during the opening and closing of the forceps head 10. The connecting frame 20 can remain stationary by cooperating with other components of the biopsy accessory, or by cooperating with other components in the biopsy device, or by cooperating with components in the endoscope.

[0226] The forceps 10 is used to extract tissue from a living organism. Sampling is achieved by switching the forceps 10 from an open to a closed state. The opening and closing of the forceps 10 is achieved through the relative rotation of the first forceps arm 101 and the second forceps arm 102. For example, one of the first forceps arm 101 and the second forceps arm 102 may remain relatively stationary with respect to the connecting frame 20, while the other rotates around the first pivot axis 103. Alternatively, both the first forceps arm 101 and the second forceps arm 102 may rotate around the first pivot axis 103. If the first forceps arm 101 and the second forceps arm 102 are crossed, when the tail ends of the first forceps arm 101 and the tail ends of the second forceps arm 102 are open, the head ends of the first forceps arm 101 and the head ends of the second forceps arm 102 are also open; when the tail ends of the first forceps arm 101 and the tail ends of the second forceps arm 102 are closed, the head ends of the first forceps arm 101 and the head ends of the second forceps arm 102 are also closed. Since the first clamp arm 101 and the second clamp arm 102 are arranged crosswise, and the first pivot shaft 103 is located at the intersection of the first clamp arm 101 and the second clamp arm 102, the first clamp arm 101 and the second clamp arm 102 do not need to have a separate protruding structure in the vertical direction to install the first pivot shaft 103. As a result, the size of the clamp head 10 in the vertical direction is relatively small, which reduces the risk of squeezing and damaging tissues in the body.

[0227] The push-pull transmission mechanism 30 is used to provide driving force to the pliers head 10. The tail end of the push-pull transmission mechanism 30 is inserted into the first mounting box 1 and can receive the force. The head end of the push-pull transmission mechanism 30 is connected to the pliers head 10. The push-pull transmission mechanism 30 processes the received force and transmits it to the pliers head 10, thereby controlling the opening and closing state of the pliers head 10.

[0228] Continue to refer to Figure 1 and Figure 2 In some embodiments, the biopsy accessory further includes the aforementioned guide tube 40, with the connecting bracket 20 fixed to the head end of the guide tube 40, and the push-pull transmission mechanism 30 passing through the guide tube 40. The guide tube 40 can protect the push-pull transmission mechanism 30, facilitating the insertion of the biopsy accessory into the biological body along the working channel of the endoscope. Figure 1 and Figure 2 As shown, the tail end of the connecting frame 20 is fixed on the guide tube 40, so that the two remain relatively fixed. When the first clamp arm 101 and the second clamp arm 102 rotate relative to each other, the connecting frame 20 can also be kept stationary by controlling the guide tube 40 to remain stationary.

[0229] refer to Figure 4 and Figure 5To understand this, both the first clamp arm 101 and the second clamp arm 102 include a blade 1021, a pivot 1022, and a clamp arm tail 1023 arranged sequentially. The pivot 1022 of the first clamp arm 101 and the pivot 1022 of the second clamp arm 102 are pivotally connected to the connecting frame 20 via a first pivot shaft 103. The push-pull transmission mechanism 30 controls the opening and closing of the two blades 1021 by driving the clamp arm tail 1023.

[0230] The blade 1021 is used to cut samples, and the opening and closing of the clamp head 10 in this invention refers to the opening and closing of the two blades 1021. The pivot 1022 is used to connect the blades 1021 and the clamp arm tails 1023 on one hand, and to connect the connecting frame 20 via the first pivot shaft 103 on the other hand. The clamp arm tails 1023 are used to connect to the push-pull transmission mechanism 30 to control the opening and closing of the two blades 1021. The push-pull transmission mechanism 30 provides driving force to the two clamp arm tails 1023, causing the two clamp arm tails 1023 to rotate together relative to the first pivot shaft 103, ultimately realizing the opening and closing of the two blades 1021.

[0231] It should be noted that: on the one hand, in some embodiments, such as Figure 4 and Figure 5 As shown, the first clamp arm 101 and the second clamp arm 102 have the same structure. In some other embodiments, the first clamp arm 101 and the second clamp arm 102 may have different structures, as long as they can open and close under the action of the push-pull transmission mechanism 30; furthermore, in some embodiments, such as Figure 4 and Figure 5 As shown, the first clamp arm 101 and the second clamp arm 102 are both pivotally connected to the connecting frame 20. During the opening and closing of the clamp head 10, the first clamp arm 101 and the second clamp arm 102 rotate relative to the connecting frame 20. As an alternative, in some other embodiments, the first clamp arm 101 can be fixed on the connecting frame 20, and the push-pull transmission mechanism 30 drives the second clamp arm 102 to rotate to realize the opening and closing of the clamp head 10.

[0232] Continue to refer to Figure 4 and Figure 5 For clarity, in some embodiments, the cutting edge 1021 has a U-shaped clamping edge 10211. When the clamping edges 10211 of the first clamping arm 101 and the clamping edges 10211 of the second clamping arm 102 are closed, the sample is cut. During cutting, the sample can be contained between the two sides of the U-shape, namely between the first side 10212 and the second side 10213, thereby effectively restraining the sample and preventing it from slipping off the clamping head 10. It should be noted that the U-shape is interpreted broadly. Figure 4 and Figure 5One approach is to make the portion between the first side 10212 and the second side 10213 arc-shaped. Other approaches can also be used, such as making the portion between the first side 10212 and the second side 10213 a straight line. In other embodiments, the clamping blade 10211 can be linear, with multiple clamping blades 10211 on the same cutting edge 1021 spaced apart, and the clamping blades 10211 on two cutting edges 1021 corresponding one-to-one for easy engagement. Alternatively, the clamping blade 10211 can be annular.

[0233] Continue to refer to Figure 4 and Figure 5 In some embodiments, the blade 1021 has a receiving cavity 10214 for receiving the cut sample; the clamping blade 10211 is located at one end of the receiving cavity 10214, and the sample cut by the clamping blade 10211 slides into the receiving cavity 10214 along the inner wall surface, thereby providing good protection for the sample. As an alternative, in other embodiments, the clamping blade 10211 can be linear, and grooves can be provided between adjacent clamping blades 10211 to receive the sample.

[0234] Continue to refer to Figure 4 and Figure 5 To understand, in some embodiments, the accommodating cavity 10214 has an opening, and the clamping blade 10211 is located at the opening of the accommodating cavity 10214. After the first clamping arm 101 and the second clamping arm 102 are closed, the two accommodating cavities 10214 are joined to form a closed space, thereby better isolating the sample from other tissues in the body and avoiding interference between other tissues and the sample.

[0235] Continue to refer to Figure 4 and Figure 5 In some embodiments, the blade 1021 includes a curved shell portion 10215, a half-tube segment 10216, and a baffle 10217. The curved shell portion 10215 and the baffle 10217 are respectively connected to the two ends of the half-tube segment 10216 and together with the half-tube segment 10216 form a receiving cavity 10214. The surfaces of the curved shell portion 10215, the half-tube segment 10216, and the baffle 10217 are all smooth and rounded, so that they will not cause stress-induced damage to the tissue when in contact with the tissue in the biological body. The inner and / or outer surfaces of the curved shell portion 10215 are spherical. The inner surface facilitates the smooth sliding of the sample into the middle of the receiving cavity 10214, while the outer surface reduces the risk of squeezing and scratching the tissue in the biological body. The baffle 10217 serves two purposes: it blocks and limits the sample, and it connects to the pivot 1022. In some other embodiments, as an alternative, the baffle 10217 may not be provided, and the pivot 1022 is connected to the half-pipe section 10216.

[0236] Continue to refer to Figure 4 and Figure 5 In some embodiments, the side of the baffle 10217 facing away from the accommodating cavity 10214 is connected to the pivot portion 1022. The baffle 10217 is fixed to the inner surface of the half-pipe section 10216. Accordingly, a portion of the surface of the baffle 10217 has the same shape as the inner surface of the half-pipe section 10216 to facilitate installation. The first end face of the baffle 10217 does not protrude from the jaws 10211, so as not to affect the engagement of the jaws 10211.

[0237] Continue to refer to Figure 4 and Figure 5 In some embodiments, the pivot portion 1022 is plate-shaped and includes a first plate segment 10221 for connecting the blade portion 1021. The thickness of the first plate segment 10221 gradually increases from its tail end to its head end, thereby increasing the connection area with the baffle 10217 and making the connection more reliable.

[0238] The pivot part 1022 also includes a second plate segment 10222. The two ends of the second plate segment 10222 are respectively connected to the first plate segment 10221 and the tail of the clamp arm 1023. The middle area of ​​the second plate segment 10222 is connected to the connecting frame 20. The width of the middle area of ​​the second plate segment 10222 is greater than the width of its two ends, so the connection is more reliable.

[0239] Continue to refer to Figure 4 and Figure 5 To understand, in some embodiments, the tail of the clamp arm 1023 is plate-shaped, and the pivot portion 1022 and its corresponding tail of the clamp arm 1023 are integrally formed; in other embodiments, the tail of the clamp arm 1023 and the pivot portion 1022 can be directly connected together by an assembly process.

[0240] refer to Figure 6 Understandably, in some embodiments, the push-pull transmission mechanism 30 is rotatably connected to the first clamp arm 101 and the second clamp arm 102 respectively. The push-pull transmission mechanism 30 is used to convert the push-pull force along the length direction of the sleeve into two forces, and the two forces correspond one-to-one with the first clamp arm 101 and the second clamp arm 102, thereby using these two forces to drive the first clamp arm 101 and the second clamp arm 102 to rotate.

[0241] In some embodiments, the push-pull transmission mechanism 30 includes a first push-pull member 301, the tail end of which is used to receive reciprocating motion, and the head end of which is used to indirectly drive the first clamp arm 101 and the second clamp arm 102 to open and close relative to each other. In other embodiments, as an alternative, the first push-pull member 301 can directly drive the clamp head 10 by slidingly connecting with it.

[0242] In some embodiments, the push-pull transmission mechanism 30 further includes a second push-pull member 302, which is disposed at the head end of the first push-pull member 301. The first push-pull member 301 is elongated, while the second push-pull member 302 is relatively short and fixedly connected to the head end of the first push-pull member 301. This method generally reduces the manufacturing difficulty of the first push-pull member 301 and the second push-pull member 302. The second push-pull member 302 is used to indirectly drive the first clamp arm 101 and the second clamp arm 102 to open and close relative to each other. In other embodiments, as an alternative, the second push-pull member 302 can directly drive the clamp head 10 by slidingly connecting with it.

[0243] like Figure 3 and Figure 6 As shown, the push-pull transmission mechanism 30 also includes a connecting component 303. The input of the connecting component 303 is connected to the second push-pull member 302, and the output of the connecting component 303 is connected to the clamp head 10. Alternatively, the second push-pull member 302 can be omitted, and the connecting component 303 can also be directly connected to the first push-pull member 301.

[0244] Continue to refer to Figure 6 In some embodiments, the connecting assembly 303 includes a first connecting rod 3031 and a second connecting rod 3032. The two ends of the first connecting rod 3031 are pivotally connected to the first clamp arm 101 and the second push-pull member 302, respectively; the two ends of the second connecting rod 3032 are pivotally connected to the second clamp arm 102 and the second push-pull member 302, respectively. The first connecting rod 3031 connects to the clamp arm tail 1023 of the first clamp arm 101, and the second connecting rod 3032 connects to the clamp arm tail 1023 of the second clamp arm 102. When the tail ends of the first connecting rod 3031 and the second connecting rod 3032 are pushed to the left, they gradually open; conversely, they gradually close.

[0245] Continue to refer to Figure 6 In some embodiments, the connecting assembly 303 further includes a second pivot shaft 3033, and the first link 3031 and the second link 3032 are pivotally connected to the second push-pull member 302 via the same second pivot shaft 3033. Alternatively, in other embodiments, such as... Figure 7 As shown, the first link 3031 and the second link 3032 can each be connected to the second push-pull member 302 via a second pivot 3033.

[0246] Based on the above content, Figure 6The illustrated embodiment further explains that the push-pull transmission mechanism 30 includes a first push-pull member 301, a second push-pull member 302, a first connecting rod 3031, and a second connecting rod 3032. The first push-pull member 301 is made of a metal wire with good flexibility, which can not only reciprocate along the guide tube 40, but also bend at the turning position of the guide tube 40. The second push-pull member 302 is made of a rigid material and has a blind hole. The first push-pull member 301 is inserted into the blind hole and fixed. The first connecting rod 3031 and the second connecting rod 3032 are made of rigid materials.

[0247] refer to Figure 8 In some embodiments, the head of the push-pull transmission mechanism 30 is slidably connected to the jaw head 10. When the head of the push-pull transmission mechanism 30 slides relative to the jaw head 10, the included angle between the jaw arm tails 1023 of the first jaw arm 101 and the jaw arm tails 1023 of the second jaw arm 102 changes. Specifically, a track can be provided on the tails of the two jaw arms, and a push-pull slider 3034 can be provided on the head of the push-pull transmission mechanism 30. The push-pull slider 3034 opens and closes the tails of the two jaw arms as it slides along the track. The push-pull slider 3034 is slidably connected to the tail of the jaw head 10, and the second push-pull member 302 controls the opening and closing of the head of the jaw head 10 by driving the push-pull slider 3034 to reciprocate.

[0248] refer to Figure 9 Understood. The connecting frame 20 includes a connecting plate 201, the head end of which is pivotally connected to the clamp head 10; when the first clamp arm 101 and the second clamp arm 102 rotate relative to each other, the connecting plate 201 is stationary. Figure 9 In the illustrated embodiment, the connecting frame 20 has two oppositely arranged connecting plates 201, and the pliers 10 is located between the two connecting plates 201, thereby making the position of the pliers 10 more secure. In other embodiments, the connecting frame 20 may include only one connecting plate 201, which is also within the scope of protection of this invention.

[0249] Continue to refer to Figure 9 Understood. The connecting frame 20 also includes a connecting cylinder 202. The tail end of the connecting plate 201 is fixedly connected to the connecting cylinder 202. The connecting cylinder 202 connects the two connecting plates 201 into one unit, so that the two connecting plates 201 and the connecting cylinder 202 can be assembled as a whole with the forceps head 10, which facilitates the improvement of the assembly efficiency of biopsy accessories. In some embodiments, the connecting cylinder 202 can also be integrally formed with the two connecting plates 201. The internal space of the connecting cylinder 202 is for the push-pull transmission mechanism 30 to pass through. The outer surface of the connecting cylinder 202 is stepped. The section with a larger outer diameter is connected to the connecting plate 201, and the section with a smaller outer diameter is threadedly connected to the guide tube 40.

[0250] Continue to refer to Figure 6Understood. In this embodiment of the invention, the biopsy accessory also includes a positioning device 50, which is built into the head end of the push-pull transmission mechanism 30. Specifically, the first push-pull member 301 has a hollow structure with an insertion channel inside. The positioning device 50 uses a positioning core wire and a positioning sensor. The positioning core wire is inserted from the tail end of the push-pull transmission mechanism 30 and extends to the head end of the first push-pull member 301. The positioning sensor is located at the head end of the positioning core wire and is used to cooperate with the magnetic field generator for positioning and navigation to determine the precise position of the clamp head 10.

[0251] The above combination Figure 1-9 The procedure section utilizes the biopsy accessory with forceps head 10. The following section will combine... Figure 10 and Figure 11 Describe biopsy accessories based on other types of operating units.

[0252] refer to Figure 10 and Figure 11 It is understood that in some embodiments, the operating unit uses a biopsy needle 60 or a biopsy brush 70. Both the biopsy needle 60 and the biopsy brush 70 are hollow structures, and both can be implemented using existing technologies. The connector uses a tubular connecting tube 601. One end of the connecting tube 601 is sleeved on the operating unit, and the two are fixedly connected. The other end is fixed to the inner wall of the guide tube 40. The connecting tube 601 is sealed to both the operating unit and the guide tube 40 to reduce the impact of poor sealing during negative pressure sampling.

[0253] Continue to refer to Figure 10 and Figure 11 Understood. The push-pull transmission mechanism 30 includes an elastic tube 602, which is a hollow structure. One end of the elastic tube 602 is fixedly connected to the operating part through a connecting tube 601, and the other end is used to receive reciprocating motion along a first direction, thereby transmitting force to the operating part to push or pull the operating part. The elastic tube 602 can be implemented using a spring tube, with the end face of the spring tube abutting against the operating part or the connecting tube 202. A positioning core wire passes through the spring tube, and a positioning sensor is located at the end of the spring tube.

[0254] Continue to refer to Figure 10 and Figure 11 Understood. The biopsy accessory also includes a protective membrane 603, which communicates with the hollow portion of the operating part to form a negative pressure channel, so that after the biopsy needle 60 and biopsy brush 70 are inserted into the target tissue, samples can be taken from the tail end of the biopsy accessory under negative pressure. The protective membrane 603 is located between the guide tube 40 and the elastic tube 602, and the head end of the protective membrane 603 abuts against the tail end of the connecting tube 601.

[0255] The above is for reference only. Figures 1 to 11The structure of biopsy attachments has been described. Next, a bending control device for biopsy attachments is provided. The bending control device is used to bend the tip of the biopsy attachment and can also control the degree of bending.

[0256] refer to Figures 13 to 15 and combined Figure 2 , Figure 3 , Figure 6 , Figure 10 and Figure 11 To understand this, the bending control device includes a first mounting box 1, a first transmission mechanism 2, and a bending control element 3. The first mounting box 1 is for inserting the tail end of the biopsy attachment along a first direction. The first transmission mechanism 2 is located inside the first mounting box 1 and is used to output reciprocating motion along the first direction. The bending control element 3 extends along the length direction of the biopsy attachment, and its two ends are fixedly connected to the first transmission mechanism 2 and the head end of the biopsy attachment, respectively. When the first transmission mechanism 2 drives the tail end of the bending control element 3 to slide relative to the tail end of the biopsy attachment and tightens the bending control element 3, the head end of the bending control element 3 bends towards the tail end of the bending control element 3.

[0257] The first mounting box 1 encloses a space, and the tail end of the bending control component 3 and the tail end of the biopsy accessory are inserted into the space enclosed by the first mounting box 1 along a first direction, such as... Figure 13 The left and right directions are shown. The first transmission mechanism 2 can be installed on the first mounting box 1, and at least a portion of the structure of the first transmission mechanism 2 is built into the space enclosed by the first mounting box 1. The first transmission mechanism 2 is used to transmit force, and can realize the conversion of the direction of force and / or the conversion of the form of force (such as the conversion of rotational force into linear force). The output of the first transmission mechanism 2 is fixedly connected to the tail end of the bending control member 3 to drive the bending control member 3. The first transmission mechanism 2 can slide relative to the tail end of the biopsy accessory. The bending control member 3 is elongated and can be built into the guide tube 40 of the biopsy accessory, or it can be set on the outer surface of the guide tube 40, or it can be partially built into the guide tube 40 and partially protrude from the guide tube 40; the bending control member 3 can be pre-fixed in the biopsy accessory.

[0258] refer to Figure 16 To understand, Figure 16This diagram shows the superimposed state of the biopsy attachment's tip, used to further explain the principle of the bending control device. During the procedure, after the biopsy attachment is initially positioned using an endoscope, when the tip of the attachment transitions from state c to state d, the first transmission mechanism 2 is moved to the right, causing the tail end of the bending control device 3 to move to the right as well. The bending control device 3 is then tightened, and the tip of the biopsy attachment (including the forceps head 10, the head of the push-pull transmission mechanism 30, the head of the connecting frame 20, and the head of the guide tube 40) and the tip of the bending control device 3 bend under the action of the first transmission mechanism 2, with the bending direction towards the tail end of the bending control device 3. Conversely, when the biopsy attachment needs to move closer to state c from state d, the first transmission mechanism 2 is moved to the left, causing the tail end of the bending control device 3 to move to the left as well. The tightness of the bending control device 3 gradually decreases until it reaches its natural state, at which point the biopsy attachment reaches state c. By using a bending control device to adjust the bending of the tip of the biopsy accessory, the forceps 10 is aligned with the lesion location. This not only improves the accuracy of sampling, but also allows for independent bending of the tip of the biopsy accessory without the aid of an endoscope. The bending process takes up less space, reducing the risk of squeezing and damaging tissue.

[0259] refer to Figure 17 To understand this, the first transmission mechanism 2 includes a first clamping block 21, which is fixedly connected to the bending control member 3. The first clamping block 21 is configured to reciprocate relative to the tail end of the biopsy accessory along a first direction. As the first clamping block 21 drives the tail end of the bending control member 3 to move to the right relative to the tail end of the biopsy accessory, the tension of the bending control member 3 gradually increases, thereby causing the head end of the biopsy accessory to bend.

[0260] Continue to refer to Figure 17 To understand this, the first transmission mechanism 2 also includes a first positioning member 22, in which a first clamping block 21 is positioned, and the first positioning member 22 is configured to drive the first clamping block 21 to reciprocate along a first direction.

[0261] Continue to refer to Figure 17 To understand this, the first transmission mechanism 2 also includes a first passive slider 23 and a first guide rail 24 that cooperate with each other. The first guide rail 24 is fixed inside the first mounting box 1 and extends in the first direction. The first passive slider 23 is used to drive the first positioning member 22 to reciprocate along the first direction. The first passive slider 23 and the first positioning member 22 constrain each other's displacement degrees of freedom in the first direction, that is, the two are relatively stationary in the first direction.

[0262] It should be noted that: First, Figure 17 In the illustrated embodiment, the first guide rail 24 guides the first passive slider 23, making the operation of the first passive slider 23 more stable. Alternatively, the first transmission mechanism 2 may not include the first guide rail 24, and the first transmission mechanism 2 may directly receive the driving force in the first direction. Secondly, Figure 17 In the illustrated embodiment, the first passive slider 23 receives the driving force and passes it sequentially through the first positioning member 22 and the first clamping block 21 before finally transmitting it to the biopsy accessory. In other embodiments, as an alternative, the first transmission mechanism 2 may not have the first passive slider 23 and may directly transmit the driving force in the first direction to the first positioning member 22, which in turn drives the first clamping block 21 to slide relative to the tail of the biopsy accessory. Alternatively, the first transmission mechanism 2 may not have the first passive slider 23 and the first positioning member 22 and may directly transmit the driving force in the first direction to the first clamping block 21.

[0263] refer to Figure 18 and Figure 19 For understanding. In some embodiments, the first clamping block 21 has a first fixing groove 211 or a first fixing hole, and the tail end of the bending member 3 is fixed in the first fixing groove 211 or the first fixing hole. The biopsy attachment passes through the first clamping block 21, and the first clamping block 21 can slide along the biopsy attachment.

[0264] refer to Figure 17 and Figure 20 To understand this, in some embodiments, the first positioning element 22 includes a first cylindrical body 221, which is rotatably connected to a first passive slider 23. When the tail of the biopsy attachment rotates about its axis in a first direction, the first cylindrical body 221 rotates relative to the first passive slider 23 under the influence of the biopsy attachment. Thus, the rotation of the biopsy attachment and the control of the bending of the head of the biopsy attachment do not affect each other and can be performed simultaneously. In other embodiments, the first cylindrical body 221 can be replaced by an arc-shaped plate, which is rotatably connected to the first passive slider 23, and the first clamping block 21 is mounted on the arc-shaped plate.

[0265] Continue to refer to Figure 20 To understand this, in some embodiments, the first cylindrical body 221 has a first mounting groove 2211, a first sliding groove 2212, and a first engaging groove 2213. The first mounting groove 2211 communicates with at least one end face of the first cylindrical body 221. The first clamping block 21, guided by the first mounting groove 2211, enters the first sliding groove 2212 and slides along the first sliding groove 2212 to the first engaging groove 2213, where it engages. Two first engaging grooves 2213 can be provided, corresponding to the two ends of the first clamping block 21 respectively. In this embodiment of the invention, the first engaging groove 2213 is provided on the inner wall of the first cylindrical body 221 to fix the first clamping block 21, and the first mounting groove 2211 and the first sliding groove 2212 are provided to enable the first clamping block 21 to be installed in the first engaging groove 2213, thereby improving the stability of the first clamping block 21.

[0266] Continue to refer to Figure 20To understand this, the first positioning element 22 also includes a first limiting body 222. The first limiting body 222 is respectively provided at both ends of the first cylinder 221, in conjunction with... Figure 17 To understand this, the first passive slider 23 is sandwiched between two first limiting bodies 222, thus constraining the displacement degree of freedom of the first positioning member 22 and the first passive slider 23 in a first direction. In some other embodiments, the first limiting bodies 222 may be disposed on the first passive slider 23, and the first cylinder 221 is assumed to be on the two first limiting bodies 222.

[0267] Figure 20 In the first limiting body 222, the first limiting body 222 is annular. When the first cylinder 221 rotates relative to the first passive slider 23, the first limiting body 222 can constrain the first passive slider 23. In some other embodiments, as an alternative, the first limiting body 222 can be block-shaped, and several first limiting bodies 222 are distributed at intervals at each end of the first cylinder 221.

[0268] refer to Figure 21 To understand this, in some embodiments, the first passive slider 23 has a first arcuate groove 231, and the first positioning member 22 is rotatable relative to the first arcuate groove 231; combined with Figure 17 , Figure 20 It is understood that the first arc-shaped groove 231 matches the first cylindrical body 221, allowing the first cylindrical body 221 to rotate within the first arc-shaped groove 231. In other embodiments, a hole can be used to replace the first arc-shaped groove 231 to protect the first cylindrical body 221 from all sides, improving the stability of the first cylindrical body 221 during rotation.

[0269] Continue to refer to Figure 21 , Figure 22 To understand this, in some embodiments, the first passive slider 23 has multiple first sliding holes 232 through which the first guide rail 24 passes, and the first sliding holes 232 and the first guide rail 24 are configured in a one-to-one correspondence; providing multiple first sliding holes 232 and first guide rails 24 can improve the stability of the first passive slider 23. Figure 21 In the embodiment shown, two first sliding holes 232 are disposed on both sides of the first arc-shaped groove 231 and are relatively close to the arc-shaped groove, which improves the stability of the first passive slider 23 during operation. Figure 22 In the illustrated embodiment, two first sliding holes 232 are disposed below the first arc-shaped groove 231. In comparison, Figure 21In the illustrated embodiment, the first passive slider 23 has a larger lateral dimension and a smaller longitudinal dimension, and the first guide rail 24 is closer to the first positioning member 22, but both of these methods are within the protection scope of this invention. In some other embodiments, as an alternative, the first passive slider 23 is provided with only one first sliding hole 232, and correspondingly, only one first guide rail 24 is provided; this solution is also within the protection scope of this invention.

[0270] Continue to refer to Figure 21 To understand this, the first passive slider 23 has a first power input section 233 for receiving reciprocating motion along a first direction; the first power input section 233 may be a hole.

[0271] In some embodiments, the first guide rail 24 is distributed on different sides of the first positioning member 22, such as... Figure 21 As shown, the two first guide rails 24 are distributed on the left and right sides of the first positioning member 22. In some other embodiments, the first guide rails 24 are distributed on the same side of the first positioning member 22, such as... Figure 22 As shown, both first guide rails 24 are located below the first positioning element 22.

[0272] refer to Figure 23 and Figure 24 To understand this, the bending control device also includes a second transmission mechanism 4, which drives the first transmission mechanism 2 to reciprocate along a first direction. The output end of the second transmission mechanism 4 is connected to the first power input unit 233. For example, the output end of the second power mechanism is inserted into the first power input unit 233 from below, so that the two mutually constrain the displacement degree of freedom in the first direction. It should be noted that... Figure 23 and Figure 21 Belonging to the same embodiment, Figure 24 and Figure 22 They belong to the same embodiment.

[0273] Figure 23 and Figure 24 In the embodiments, the second transmission mechanism 4 has two output ends for connecting the first power input part 233. The two output ends are integrally formed. Alternatively, the two output ends can be of a separate structure, with each output end having its own power source. The two output ends are driven to move synchronously by controlling the two power sources.

[0274] refer to Figure 25For understanding, in some embodiments, the second transmission mechanism 4 is used to convert rotational motion into linear motion; the second transmission mechanism 4 includes a first actuating slider 41 and a first driving rod 42, the first actuating slider 41 and the first driving rod 42 are threadedly connected, the first driving rod 42 is a lead screw, the first actuating slider 41 is used to convert the rotational motion of the first driving rod 42 into linear motion along a first direction, and the first actuating slider 41 and the first transmission mechanism 42 constrain each other's displacement degrees of freedom in the first direction. The bending control device also includes a first driving mechanism for driving the first driving rod 42. Figure 25 In the illustrated embodiment, the second transmission mechanism 4 is electrically controlled, and the first drive mechanism is implemented by a first drive motor 5. The first drive motor 5 is equipped with a drive board for easy remote control of start and stop. In other embodiments, the second transmission mechanism 4 can also be driven by a manual first drive mechanism. For example, a handle is provided at one end of the first drive rod 42. By shaking the handle, the first drive rod 42 is rotated, which further drives the first actuating slider 41 to move along the first direction.

[0275] refer to Figure 26 Understood. The bending control device also includes a third transmission mechanism 6, which is fixedly connected to the tail of the biopsy attachment and used to drive the tail of the biopsy attachment to rotate. The third transmission mechanism 6 is used to convert rotational motion about one axis into rotational motion about another axis. The rotation of the tail of the biopsy attachment will cause the entire biopsy attachment to rotate. Of course, the operating part located at the head end of the biopsy attachment will also rotate. The operating part at any position can be bent under the action of the bending control device 3, so that the operating part can be bent in any direction.

[0276] The first transmission mechanism 2 and the second transmission mechanism 4 control the bending of the biopsy attachment head through electronic control, and the third transmission mechanism 6 realizes the rotation of the biopsy attachment head through electronic control. This allows for precise and labor-saving control of the biopsy attachment head to bend in any direction, enabling the biopsy attachment to flexibly adapt to the lesion location.

[0277] Continue to refer to Figure 26 and Figure 27 Understood. The third transmission mechanism 6 includes a driving gear 61 and a driven gear 62 meshing with the driving gear 61. The driven gear 62 is fixedly connected to the biopsy attachment. One driving gear 61 meshes with each side of the driven gear 62. The bending control device also includes a third drive mechanism 7, which drives the driving gears 61. Accordingly, there are two third drive mechanisms 7, each corresponding to a driving gear 61. The third drive mechanism 7 is equipped with a drive plate, which allows for remote control of its start and stop. When the biopsy device is used in conjunction with radiation-emitting equipment during surgery, medical personnel can use the drive plate to remotely operate the third drive mechanism 7 to individually bend the head of the biopsy attachment, thus solving the problem of exposure to radiation.

[0278] Figure 26 In the illustrated embodiment, the third transmission mechanism 6 is used to realize the rotation of the biopsy attachment, and the first transmission mechanism 2 and the second transmission mechanism 4 are used to realize the bending control of the biopsy attachment tip. In specific applications, the two functions of the biopsy attachment rotation and the bending control of the biopsy attachment tip can be realized separately or together. When the two functions are realized together, under the drive of the third drive mechanism 7, the driven gear 62 drives the biopsy attachment to rotate, and the bending control component 3 rotates with the biopsy attachment. Correspondingly, it drives the first clamping block 21 and the first positioning component 22 to rotate relative to the first passive slider 23. Under the drive of the first drive motor 5, the second transmission mechanism 4 drives the first passive slider 23 to slide along the first direction, and the first positioning component 22 and the first clamping block 21 move accordingly. Thus, the biopsy attachment tip can be bent in any direction, flexibly adapting to the position of the lesion.

[0279] Continue to refer to Figure 26 Understood. The bending control device also includes a fourth transmission mechanism 8, which outputs reciprocating motion along the first direction. The output end of the fourth transmission mechanism 8 is fixedly connected to the biopsy accessory to drive the biopsy accessory to reciprocate, thereby adjusting the length of the biopsy accessory's operating part protruding from the endoscope.

[0280] refer to Figure 26 and Figure 28 Understood. The fourth transmission mechanism 8 includes a second clamping block 81, which is fixedly connected to the biopsy attachment. The second clamping block 81 is configured to drive the tail of the biopsy attachment to reciprocate along a first direction. It should be noted that... Figure 26 In this embodiment, the fourth transmission mechanism 8 is located to the right of the first transmission mechanism 2, and the second clamping block 81 does not need to have a through hole for the control bending member 3 to pass through. However, in some other embodiments, as an alternative, the fourth transmission mechanism 8 is located to the left of the first transmission mechanism 2, and the second clamping block 81 is also provided with a through hole for the control bending member 3 to pass through, so as to prevent affecting the operation of the control bending member 3.

[0281] Continue to refer to Figure 28 Understood. The fourth transmission mechanism 8 also includes a second positioning member 82, in which the second clamping block 81 is positioned, and the second positioning member 82 is configured to drive the second clamping block 81 to reciprocate along the first direction.

[0282] Continue to refer to Figure 28 Understood. The fourth transmission mechanism 8 also includes a second passive slider 83 and a second guide rail 84 that cooperate with each other. The second guide rail 84 is fixed to the first mounting box 1. The second passive slider 83 is used to drive the second positioning member 82 to reciprocate along the first direction. The second passive slider 83 and the second positioning member 82 constrain each other's displacement degrees of freedom in the first direction, that is, the two are relatively stationary in the first direction.

[0283] It should be noted that: First, Figure 28 In the illustrated embodiment, the second guide rail 84 guides the second passive slider 83, making the operation of the second passive slider 83 more stable. In other embodiments, the fourth transmission mechanism 8 may not include a second guide rail 84, which is also within the scope of protection of this invention. Secondly, Figure 28 In the illustrated embodiment, the second passive slider 83 receives the driving force and passes through the second positioning member 82 and the second clamping block 81 in sequence before finally transmitting it to the biopsy accessory. In some other embodiments, as an alternative, the fourth transmission mechanism 8 may not have the second passive slider 83 and may directly transmit the driving force in the first direction to the second positioning member 82. Alternatively, the fourth transmission mechanism 8 may not have the second passive slider 83 and the second positioning member 82 and may directly transmit the driving force in the first direction to the second clamping block 81.

[0284] refer to Figure 29 Understood. In some embodiments, the second clamping block 81 has a second fixing hole 811, in which the tail end of the biopsy attachment is fixed; in other embodiments, a second fixing groove may be used instead of the second fixing hole 811.

[0285] refer to Figure 30 Understood. The second positioning element 82 includes a second cylindrical body 821, which is rotatably connected to the second passive slider 83. When the tail of the biopsy attachment rotates, the second cylindrical body 821 is configured to rotate relative to the second passive slider 83 under the influence of the tail of the biopsy attachment. Thus, the rotation of the biopsy attachment and the control of the extension and retraction of the head of the biopsy attachment do not affect each other and can be performed simultaneously. In some other embodiments, the second cylindrical body 821 can be replaced by an arc-shaped plate, which is rotatably connected to the second passive slider 83, and the second clamping block 81 is mounted on the arc-shaped plate.

[0286] Continue to refer to Figure 30 Understood. In some embodiments, the second cylindrical body 821 has a second mounting groove 8211, a second sliding groove 8212, and a second locking groove 8213. The second mounting groove 8211 communicates with at least one end face of the second cylindrical body 821. The second clamping block 81 enters the second sliding groove 8212 under the guidance of the second mounting groove 8211, and slides along the second sliding groove 8212 to the second locking groove 8213, where it is then locked. Two second locking grooves 8213 can be provided, corresponding to the two ends of the second clamping block 81 respectively. In this embodiment of the invention, the second locking groove 8213 is provided on the inner wall of the second cylindrical body 821 to fix the second clamping block 81, and the second mounting groove 8211 and the second sliding groove 8212 are provided so that the second clamping block 81 can be installed into the second locking groove 8213, thereby improving the stability of the second clamping block 81.

[0287] Continue to refer to Figure 30 Understood. The second positioning component 82 also includes a second limiting body 822, with the second limiting body 822 respectively provided at both ends of the second cylinder 821, in combination. Figure 28 To understand this, the second passive slider 83 is sandwiched between the two second limiting bodies 822, thus constraining the displacement degrees of freedom of the second positioning member 82 and the second passive slider 83 in the first direction. In some other embodiments, the second limiting bodies 822 may be disposed on the second passive slider 83, and the second cylinder 821 is assumed to be on the two second limiting bodies 822.

[0288] Figure 30 In the second limiting body 822, the second limiting body 822 is annular. When the second cylinder 821 rotates relative to the second passive slider 83, the second limiting body 822 enables it to constrain the second passive slider 83. In some other embodiments, as an alternative, the second limiting body 822 can be block-shaped, and several second limiting bodies 822 are distributed at intervals at each end of the second cylinder 821.

[0289] refer to Figure 31 To understand. The second passive slider 83 has a second arc-shaped groove 831, and the second positioning member 82 can rotate relative to the second arc-shaped groove 831; combined with Figure 28 , Figure 30 It is understood that the second arc-shaped groove 831 matches the second cylinder 821, allowing the second cylinder 821 to rotate within the second arc-shaped groove 831. In other embodiments, the second arc-shaped groove 831 can be replaced with a hole to protect the second cylinder 821 from all sides, improving the stability of the second cylinder 821 during rotation.

[0290] Continue to refer to Figure 31 , Figure 32 To understand this, in some embodiments, the second passive slider 83 has a plurality of second sliding holes 832 through which the second guide rail 84 passes, and the second sliding holes 832 and the second guide rail 84 are configured in a one-to-one correspondence; providing a plurality of second sliding holes 832 and second guide rails 84 can improve the stability of the second passive slider 83. Figure 31 In the embodiment shown, two second sliding holes 832 are disposed on both sides of the second arc-shaped groove 831 and are relatively close to the arc-shaped groove, which improves the stability of the second passive slider 83 during operation. Figure 32 In the illustrated embodiment, two second sliding holes 832 are disposed below the second arc-shaped groove 831. In comparison, Figure 31In the illustrated embodiment, the second passive slider 83 has a larger lateral dimension and a smaller longitudinal dimension, and the second guide rail 84 is closer to the second positioning member 82, but both of these methods are within the protection scope of this invention. In some other embodiments, as an alternative, the second passive slider 83 is provided with only one second sliding hole 832, and correspondingly, only one second guide rail 84 is provided; this solution is also within the protection scope of this invention.

[0291] Continue to refer to Figure 31 , Figure 32 To understand this, the second passive slider 83 has a second power input section 833 for receiving reciprocating motion along the first direction; the second power input section 833 may be a hole.

[0292] In some embodiments, the second guide rail 84 is distributed on different sides of the second positioning member 82, such as... Figure 31 As shown, two second guide rails 84 are distributed on the left and right sides of the second positioning member 82. In some other embodiments, the second guide rails 84 are distributed on the same side of the second positioning member 82, such as... Figure 32 As shown, both second guide rails 84 are located below the second positioning element 82.

[0293] refer to Figure 26 and Figure 33 Understood. In some embodiments, the bending control device further includes a guide member 9. The third transmission mechanism 6 controls the rotation of the tail of the biopsy attachment by driving the guide member 9 to rotate. The first transmission mechanism 2 and the fourth transmission mechanism 8 are arranged at intervals along the extension direction of the guide member 9. The guide member 9 is elongated and extends along the first direction. The guide member 9 is directly or indirectly fixedly connected to the push-pull transmission mechanism 30 of the biopsy attachment, and the guide member 9 is keyed to the driven gear 62. While driving the biopsy attachment to rotate, the guide member 9 also drives part of the structure of the first transmission mechanism 2 and part of the structure of the fourth transmission mechanism 8 to rotate, so as to achieve the function of bending the head of the biopsy attachment or controlling the length of the biopsy attachment head protruding from the endoscope while realizing the rotation.

[0294] Continue to refer to Figure 33It is understood that the tail end of the guide member 9 is fixedly connected to the output part of the third transmission mechanism 6, that is, fixedly connected to the drive gear 61. The guide member 9 has a guide groove 91 extending along a first direction. The bending control member 3 and the biopsy accessory pass through the guide groove 91. The output part of the first transmission mechanism 2 (i.e., the first clamping block 21) is inserted into the guide groove 91 in a direction different from the first direction and is fixedly connected to the bending control member 3. The output part of the first transmission mechanism 2 and the biopsy accessory are slidably connected. The output part of the fourth transmission mechanism 8 (i.e., the second clamping block 81) is inserted into the guide groove 91 in a direction different from the first direction and is fixedly connected to the biopsy accessory. When the guide member 9 rotates under the action of the driven gear 62, the guide member 9 applies a force to the first clamping block 21 and the second clamping block 81 at the guide groove 91, thereby driving the first positioning member 22 and the second positioning member 82 to rotate.

[0295] Continue to refer to Figure 26 Understood. Both ends of the guide member 9 are rotatably connected to the first mounting box 1, thereby providing better stability. In other embodiments, as an alternative, connecting one end of the guide member 9 to the first mounting box 1 or connecting a certain area in the middle of the guide member 9 to the first mounting box 1 is within the protection scope of this invention.

[0296] Continue to refer to Figure 26 Understood. The guide member 9 has a first limiting member 11 at its head end, which prevents the guide member 9 from moving outwards from the first mounting box 1; the first limiting member 11 is built into the first mounting box 1. The guide member 9 also has a second limiting member 12 at its head end, which prevents the guide member 9 from moving inwards from the first mounting box 1; the second limiting member 12 is externally positioned within the first mounting box 1 and engages with the head end of the guide member.

[0297] refer to Figure 34 and Figure 35 Understood. The bending control device also includes a fifth transmission mechanism 13, which drives the fourth transmission mechanism 8 to reciprocate along the first direction. The output end of the fifth transmission mechanism 13 is used to connect to the second power input unit 833. For example, the output end of the fifth transmission mechanism 13 is inserted into the second power input unit 833 from below, so that the two mutually constrain the displacement degree of freedom in the first direction. It should be noted that... Figure 34 and Figure 31 Corresponding to the same embodiment, Figure 35 and Figure 32 The same embodiment applies.

[0298] Figure 34 and Figure 35In the embodiments, the fifth transmission mechanism 13 has two output ends for connecting the second power input unit 833. The two output ends are integrally formed. Alternatively, the two output ends can be of a separate structure, with each output end having its own power source. The two output ends are driven to move synchronously by controlling the two power sources.

[0299] refer to Figure 36 To understand this, in some embodiments, the fifth transmission mechanism 13 is used to convert rotational motion into linear motion. The fifth transmission mechanism 13 includes a second actuating slider 131 and a second drive rod 132. The second drive rod 132 is a lead screw, and the second actuating slider 131 and the second drive rod 132 are threadedly connected to convert the rotational motion of the second drive rod 132 into the linear motion of the second actuating slider 131. The second actuating slider 131 and the fourth transmission mechanism 8 constrain each other's displacement degrees of freedom in the first direction. The fifth transmission mechanism 13 is electrically controlled to facilitate remote control and address the risk of medical personnel being exposed to nuclear radiation during surgery. The bending control device also includes a second drive mechanism 14 for driving the fifth transmission mechanism 13. While enabling the biopsy attachment tip to bend in any direction, the fourth transmission mechanism 8 and the fifth transmission mechanism 13 can electrically push and pull the biopsy attachment, allowing it to reciprocate along its length for operations such as gripping and needle brushing. Electrical control of the biopsy attachment (or biopsy device) reduces the difficulty of coordination between physicians.

[0300] refer to Figure 21 , Figure 22 as well as Figure 31 , Figure 32 , Figure 37 as well as Figure 38 It is understood that in some embodiments, the first passive slider 23 of the first transmission mechanism 2 adopts... Figure 21 The structure shown indicates that the second transmission mechanism 4 has two independent first actuating sliders 41, each corresponding to a first drive motor 5; the second passive slider 83 of the fourth transmission mechanism 8 adopts... Figure 32 The structure shown indicates that the fifth transmission mechanism 13 has two independent second actuating sliders 131, each corresponding to a second drive mechanism 14; as shown... Figure 37 , Figure 38 As shown, two second actuating sliders 131 and their corresponding second driving rods 132, and a second driving mechanism 14 are located between two first actuating sliders 41 and their corresponding first driving rods 42 and the first driving motor 5. Correspondingly, two second guide rails 84 are located between two first guide rails 24. It should be noted that... Figure 37For illustrative purposes only, the positional relationship between the first actuating slider 41 and the second actuating slider 131 is not clearly distinguished. In actual applications, the positions of the first actuating slider 41 and the first passive slider 23 correspond to each other, and the positions of the second actuating slider 131 and the second passive slider 83 correspond to each other.

[0301] In this embodiment of the invention, the bending control device further includes a second mounting box 15, the second mounting box 15 having an opening facing downwards and engaging with the first mounting box 1 at the opening for easy assembly and disassembly. The third transmission mechanism 6 is at least partially installed inside the second mounting box 15, for example, the third drive mechanism 7, the mounting base for installing the third drive mechanism 7, and the two drive gears 61 are located inside the second mounting box 15.

[0302] In this embodiment of the invention, the bending control device further includes a third mounting box 16 with its opening facing upwards, and it engages with the first mounting box 1 at the opening. The second transmission mechanism 4 and the fifth transmission mechanism 13 are disposed within the third mounting box 16. The output ends of the first actuating slider 41 and the second actuating slider 131 are inserted into the first mounting box 1, located deep within the third mounting box 16. As can be seen from the above, the second mounting box 15 and the third mounting box 16 are located on different sides of the first mounting box 1.

[0303] The above describes biopsy accessories and bending control devices. The following section will further explain the application scenarios of biopsy accessories and bending control devices.

[0304] This invention also provides a biopsy system, including an endoscope and a biopsy device. The endoscope is used to establish a working channel using a cannula, and the biopsy device is used to enter from the tail end of the working channel and extend from the head end of the working channel to take a sample. The biopsy device is further described below with reference to the accompanying drawings.

[0305] Combination Figure 12 Understood. In some embodiments, the biopsy device includes the biopsy attachments and operating end transmission mechanism 17 as provided in any of the above embodiments. The operating end transmission mechanism 17 is connected to the tail end of the push-pull transmission mechanism 30 and is used to drive the push-pull transmission mechanism 30 to reciprocate along the length direction of the sleeve. The structure of the operating end transmission mechanism 17 is the same as that of the first transmission mechanism 2 in the above-described bending control device. The biopsy device also includes a drive mechanism 18, which is used to directly or indirectly drive the operating end transmission mechanism 17 to output linear reciprocating motion. The drive mechanism 18 may include a motor and a lead screw. The motor drives the lead screw, which is threadedly connected to the operating end transmission mechanism 17. When the lead screw rotates, the operating end transmission mechanism 17 reciprocates along a first direction.

[0306] This invention also provides a biopsy device, including the biopsy attachment and the bending control device provided in any of the above embodiments. The bending control device is connected to the tail end of the biopsy attachment and is used to control the degree of bending of the head end of the biopsy attachment.

[0307] This invention also provides a biopsy system, including an endoscope and a biopsy device as provided in any of the above embodiments.

[0308] This invention also provides a biopsy device mobile device for carrying the biopsy device provided in any of the above embodiments. The mobile device can also be used to transfer the biopsy device, for example, to move the biopsy device from other places to the operating table.

[0309] refer to Figure 39 Understood. The mobile device includes a fixed tray 100, a vertical moving component 200, and a horizontal moving component 300. The fixed tray 100 is used to carry the biopsy device, and the first mounting box 1, the second mounting box 15, and the third mounting box 16 are placed on the fixed tray 100. The vertical moving component 200 is used to control the vertical displacement of the fixed tray 100; the horizontal moving component 300 is used to control the horizontal displacement of the fixed tray 100; the position of the first mounting box 1 can be adjusted using the horizontal moving component 300 and the vertical moving component.

[0310] refer to Figure 39 Understood. The vertical moving component 200 is connected to the fixed tray 100, and the horizontal moving component 300 controls the horizontal displacement of the fixed tray 100 by driving the vertical moving component 200. In other embodiments, as an alternative, the horizontal moving component 300 is connected to the fixed tray 100, and the vertical moving component 200 controls the vertical displacement of the fixed tray 100 by driving the horizontal moving component 300.

[0311] Continue to refer to Figure 39 Understood. The vertical moving component 200 includes a vertical moving base 2001, a vertical drive motor 2002, a vertical transmission mechanism 2003, and a vertical guide structure 2004. The vertical moving base 2001 is connected to the output end of the horizontal moving component 300, thereby generating lateral displacement as the horizontal moving component 300 moves. The vertical drive motor 2002 is mounted on the vertical moving base 2001. The vertical transmission mechanism 2003 is used to convert the rotational motion output by the vertical drive motor 2002 into the vertical motion of the fixed tray 100. The vertical guide structure 2004.

[0312] Continue to refer to Figure 39Understood. The vertical transmission mechanism 2003 includes a first bevel gear 20031, a second bevel gear 20032, and a vertical moving screw 20033. The first bevel gear 20031 is driven by a vertical drive motor 2002. The second bevel gear 20032 meshes with the first bevel gear 20031. The vertical moving screw 20033 is fixedly connected to the second bevel gear 20032 and threadedly connected to the fixed tray 100. When the vertical drive motor 2002 rotates forward, the first bevel gear 20031 drives the second bevel gear 20032 to rotate, and the second bevel gear 20032 drives the moving screw to rotate, causing the fixed tray 100 to move upward. Conversely, controlling the vertical drive motor 2002 to reverse will cause the fixed tray 100 to move downward. In this embodiment, the vertical transmission mechanism 2003 uses a gear set to convert the motion of the vertical drive motor 2002 into the vertical motion of the fixed tray 100. In other embodiments, as an alternative, a cylindrical gear can be used to replace the first bevel gear 20031, and a rack can be used to replace the second bevel gear 20032 and the moving lead screw. The rack and the fixed tray 100 are fixedly connected. As an alternative, the first bevel gear 20031 and the second bevel gear 20032 can be removed, the direction of the vertical drive motor 2002 can be adjusted, and the vertical drive motor 2002 can drive the moving lead screw. The moving lead screw and the fixed tray 100 are threadedly connected.

[0313] Continue to refer to Figure 39 Understood. The vertically movable base 2001 has a first platform 20011, and a vertically movable screw 20033 is connected to the first platform 20011. The two are relatively stationary in the vertical direction. A second bevel tooth 20032 is fixed to one end of the vertically movable screw 20033 that extends downward from the first platform 20011. A second platform 1001 is provided below the fixed tray 100. The vertically movable screw 20033 is threadedly connected to the second platform 1001. When the first bevel tooth 20031 drives the second bevel tooth 20032 to rotate, the vertically movable screw 20033 rotates, the first platform 20011 remains stationary, and the second platform 1001 generates vertical displacement under the action of the vertically movable screw 20033.

[0314] Continue to refer to Figure 39 Understood. The vertical moving base 2001 may have a connecting block 20012 for connection with the lateral moving component 300. The connecting block 20012 and the lateral moving component 300 are threadedly connected. When the lateral moving component 300 outputs rotational motion to the connecting block 20012, the connecting block 20012 moves linearly along the lateral direction. Multiple connecting blocks 20012 may be arranged on the vertical moving base 2001 to improve the stability of the vertical moving component 200.

[0315] Continue to refer to Figure 39Understood. The vertical guide structure 2004 includes a vertical guide rail 20041, which is fixed on the vertical moving base 2001 or the fixed tray 100. The first platform 20011 and the second platform 1001 are provided with guide holes, through which the vertical guide rail 20041 passes. When the fixed tray 100 moves up and down, the vertical guide rail 20041 slides relative to one of the guide holes, improving the stability of the tray movement.

[0316] Continue to refer to Figure 39 Understood. The lateral moving component 300 includes a lateral moving base 3001, a lateral drive motor 3002, a lateral lead screw 3003, and a lateral guide rail 3004. The lateral drive motor 3002 is mounted on the lateral moving base 3001 and drives the lateral lead screw 3003. The lateral lead screw 3003 is threadedly connected to the vertical moving base 2001 of the vertical moving component 200. When the lateral drive motor 3002 drives the lateral lead screw 3003 to rotate, the vertical moving base 2001 moves along the lateral lead screw 3003. The lateral guide rail 3004 is mounted on the lateral moving base 3001 and is used to guide the vertical moving component 200, further improving the stability of the vertical moving component 200.

[0317] The transverse lead screw 3003 is arranged transversely and threadedly connected to the connecting block 20012. Multiple connecting blocks 20012 can be installed on each transverse lead screw 3003, and multiple transverse lead screws 3003 can also be arranged on the transverse moving base 3001 to achieve better stability. The transverse guide rail 3004 is arranged transversely and corresponds one-to-one with the transverse lead screw 3003. The lower end of the connecting block 20012 is slidably connected to the transverse guide rail 3004.

[0318] The mobile device also includes a moving wheel 400, which is mounted on a lateral moving base 3001.

[0319] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A bending control device for biopsy attachments, characterized in that, include: A first mounting box is provided for the tail of the biopsy accessory to be inserted along a first direction; A first transmission mechanism is disposed inside the first mounting box, and the first transmission mechanism is used to output reciprocating motion along a first direction; A bending control member extends along the length of the biopsy attachment. Both ends of the bending control member are fixedly connected to the first transmission mechanism and the head end of the biopsy attachment, respectively. When the first transmission mechanism drives the tail end of the bending control member to slide relative to the tail end of the biopsy attachment and tightens the bending control member, the head end of the bending control member bends toward the tail end of the bending control member. The bending control device further includes a second transmission mechanism, which is used to drive the first transmission mechanism to reciprocate along the first direction; The bending control device also includes a third transmission mechanism, which is fixedly connected to the tail of the biopsy attachment and is used to drive the tail of the biopsy attachment to rotate. The bending control device further includes a fourth transmission mechanism, the output end of which is fixedly connected to the biopsy attachment to drive the biopsy attachment to reciprocate along the first direction; The bending control device also includes a guide member. The third transmission mechanism controls the tail rotation of the biopsy attachment by driving the guide member to rotate. The first transmission mechanism and the fourth transmission mechanism are arranged at intervals along the extension direction of the guide member.

2. The bending control device according to claim 1, characterized in that, The tail end of the guide member is fixedly connected to the output part of the third transmission mechanism; The guide has a guide groove extending along the first direction, the bending control member and the biopsy accessory pass through the guide groove, the output of the first transmission mechanism is inserted into the guide groove in a direction different from the first direction and is fixedly connected to the bending control member, the output of the first transmission mechanism and the biopsy accessory are slidably connected; the output of the fourth transmission mechanism is inserted into the guide groove in a direction different from the first direction and is fixedly connected to the biopsy accessory. Both ends of the guide are rotatably connected to the first mounting box; The guide member is provided with a first limiting member at its head end. The first limiting member is used to prevent the guide member from moving out of the first mounting box. The first limiting member is built into the first mounting box. The guide member is provided with a second limiting member at its head end. The second limiting member is used to prevent the guide member from moving into the first mounting box. The second limiting member is placed outside the first mounting box.

3. A biopsy device, characterized in that, It includes a biopsy attachment and a bending control device as described in any one of claims 1-2, wherein the bending control device is connected to the tail end of the biopsy attachment and is used to control the degree of bending of the head end of the biopsy attachment.

4. The biopsy device according to claim 3, characterized in that, The biopsy attachments include: The operating section is used for sampling; The connector and guide tube are provided, with the operating part fixed to the head end of the guide tube via the connector, and the tail end of the guide tube inserted into the first mounting box. A push-pull transmission mechanism is inserted into the guide tube. The head end of the push-pull transmission mechanism is connected to the operating part, and the tail end of the push-pull transmission mechanism is located in the first mounting box. The push-pull transmission mechanism is used to drive the operating part to move according to the reciprocating motion received by its tail end along the first direction. The positioning device is connected to the push-pull transmission mechanism, and the head end of the positioning device is a positioning sensor, which is used for electromagnetic navigation.

5. The biopsy device according to claim 4, characterized in that, The operating part adopts a clamp head, which is pivotally connected to the connector. The push-pull transmission mechanism controls the opening and closing degree of the head of the clamp head by driving the opening and closing degree of the tail of the clamp head. The push-pull transmission mechanism includes a first push-pull member, a second push-pull member, a first connecting rod, and a second connecting rod. The tail end of the first push-pull member is used to receive reciprocating motion along the first direction. The tail end of the first push-pull member is fixed with the second push-pull member. The first connecting rod and the second connecting rod are both pivotally connected to the second push-pull member. The first connecting rod is pivotally connected to the tail end of the first clamp arm of the pliers head, and the second connecting rod is pivotally connected to the tail end of the second clamp arm of the pliers head.

6. The biopsy device according to claim 4, characterized in that, The operating section uses a biopsy needle or a biopsy brush; The connector is a connecting tube, one end of which is sleeved on the operating part, and the other end is fixed to the inner wall of the guide tube; The push-pull transmission mechanism includes an elastic tube, one end of which is fixedly connected to the operating part, and the other end is used to receive reciprocating motion along the first direction; The push-pull transmission mechanism also includes a protective film, which is connected to the hollow part of the operating part to form a negative pressure channel, and the protective film is disposed between the guide tube and the elastic tube; A fixed channel is provided between the guide tube and the elastic tube for the bending control component to pass through.

7. A biopsy system, characterized in that, Includes endoscopes and biopsy devices as described in any one of claims 3-6.

8. A biopsy device mobile device, characterized in that, include: A fixed tray for carrying the biopsy device as described in any one of claims 3-6, wherein the first mounting box is disposed on the fixed tray; A vertical moving component, connected to the fixed tray, is used to control the vertical displacement of the fixed tray; A lateral movement component is used to control the lateral displacement of the fixed tray.

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