Twisting and conveying mechanism of electromagnetic navigation nephroscope

Abstract

The invention discloses a twisting and conveying mechanism of an electromagnetic navigation nephroscope. The twisting and conveying mechanism comprises a guide head internally provided with a magnetic driving device, and a magnetic conduction device which can be magnetically matched with the magnetic driving device outside a human body to drive the guide head to move in the human body; the guide head comprises a guide cylinder and a cylinder cap, wherein a main channel and an auxiliary channel are formed in the guide cylinder, and the cylinder cap is detachably connected to the front end of the guide cylinder. The cylinder cap is axially separated from the guide cylinder through a separating device, so that the front ends of the main channel and the auxiliary channel are communicated; the nephroscope can completely prevent human body obstacles from entering the nephroscope before the nephroscope reaches an affected part, so that a surgical instrument and an image device can smoothly extend out of the catheter to perform an operation on a focus.

Description

Technical Field

[0001] The invention relates to the technical field of nephroscopes, and in particular to a twisting and conveying mechanism of an electromagnetic navigation nephroscope. Background Art

[0002] Nephroscope is a special nephroscope used in minimally invasive percutaneous nephrolithotomy. It is easy to operate: it can make the puncture channel small, the surgical control more accurate and timely, and reduce adverse phenomena such as damage and bleeding. Therefore, percutaneous nephroscope has broad application prospects.

[0003] The Chinese patent CN202121911895.6 discloses a flexible electronic nephroscope with a bendable end, including a mirror body and a light source and camera integrated system matched with the mirror body. The mirror body includes a mirror tube and a handle mirror operating part. The mirror tube includes a main hose. The left end of the main hose is fixedly connected with a bending part protection tube. A bending component is arranged inside the bending part protection tube. A control mechanism for controlling the bending component is arranged inside the handle operating part. The bending component includes a bending snake bone. The left and right ends of the bending snake bone are respectively fixedly connected with a left end piece and a right end piece. By turning the bending angle button to drive the rotating wheel to rotate, the flexible steel wire can pull one end of the left end piece, so that the bending snake bone drives the mirror tube to bend. The active bending part of the mirror tube is bent in the front and back directions. The bending angle is 200°±10°. The bending is undamped, and the flexible electronic nephroscope with a bendable end that can easily reach the renal pelvis and each renal calyx and crush and remove stones without leaving dead angles is provided.

[0004] In the above patent, pipes for introducing surgical instruments and micro-camera modules are formed inside the scope tube, and the pipes form a pipe opening at the intervention end of the scope tube; after intervention in the human body and before reaching the lesion, human tissues and body fluids in the human body enter the various pipes inside the scope tube through the pipe openings. A large amount of human tissues accumulate in the pipes, which is easy to block the pipes. Body fluids have a certain viscosity, and a large amount of body fluids accumulate in the pipes will also block the pipes; because the guide wires connected to the surgical instruments and the micro-camera module are relatively small and have low rigidity, it is difficult to transmit a large force, making it difficult for the surgical instruments and the micro-camera module to overcome the resistance generated by the accumulation of human tissues and body fluids in the pipes, resulting in the surgical instruments and the micro-camera module being difficult to extend out of the scope tube for surgical operations; and after the scope tube is intervened in the human body, it is necessary to rely on the micro-camera module to obtain images of the human body for navigation. Before the scope tube reaches the lesion, human tissues and body fluids enter the pipes and adhere to the micro-camera module, which hinders the acquisition of images, making it difficult to accurately navigate the scope tube to the lesion, affecting the operation. Summary of the invention

[0005] The purpose of the present invention is to provide a twisting and conveying mechanism of an electromagnetic navigation nephroscope, which can completely block human obstacles from entering the inside of the nephroscope before reaching the patient's site, thereby ensuring that surgical instruments and imaging devices can be smoothly extended out of the catheter to perform surgery on the lesion.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] A twisting and conveying mechanism of an electromagnetic navigation nephroscope comprises a guide head with a built-in magnetic drive device, and a magnetic guide device that can magnetically cooperate with the magnetic drive device outside the human body to drive the guide head to move inside the human body; the guide head comprises a guide tube with a main channel and a secondary channel formed inside, and a tube cap detachably connected to the front end of the guide tube; the tube cap is axially separated from the guide tube by a separation device to make the front ends of the main channel and the secondary channel conductive.

[0008] On the basis of the above technical solution, the present invention can be improved as follows:

[0009] Furthermore, a fixing seat is provided inside the guide tube, and the fixing seat axially divides the inside of the guide tube into a first chamber and a second chamber, and the main channel and the secondary channel are arranged on the fixing seat and connect the first chamber and the second chamber; the magnetic driving device is accommodated in the second chamber, and cooperates with the external magnetic field generated by the magnetic guide device to form a driving force at the rear end of the guide tube, driving the guide head to navigate and twist the catheter of the nephroscope to the lesion.

[0010] Furthermore, the front end of the guide tube forms a first tube opening connected to the first chamber, the rear end of the guide tube forms a second tube opening connected to the second chamber, the tube cap is connected to the first tube opening at the front end of the guide tube, and the second tube opening is used to connect the intervention end of the catheter.

[0011] Furthermore, an annular flange is provided on the inner tube wall of the guide tube near the second tube mouth, and the annular flange is used to limit the installation of the magnetic drive device in the second chamber; when the guide head and the catheter of the nephroscope are connected to each other, the intervention end of the catheter abuts against one end of the magnetic drive device in the second chamber of the guide tube, and the other end of the magnetic drive device abuts against the annular flange inside the guide tube.

[0012] Furthermore, the fixing seat is provided with an annular edge portion on the outer peripheral wall, and the annular edge portion is provided with a plurality of clamping blocks on the outer peripheral side, and the clamping blocks are arranged at equal intervals along the circumference of the annular edge portion; a plurality of elongated clamping grooves are provided on the inner cylinder wall of the guide cylinder at the first cylinder mouth, and the length direction of the elongated clamping grooves is parallel to the axial direction of the guide cylinder, and the elongated clamping grooves are arranged at equal intervals along the circumference of the guide cylinder; the clamping blocks on the annular edge portion and the elongated clamping grooves in the guide cylinder are tightly matched through one-to-one correspondence.

[0013] Furthermore, a main through hole and a secondary through hole are axially penetrated on the fixing seat, and a main tube body axially extended from the main through hole and a secondary tube body axially extended from the secondary through hole are provided on the rear end face of the fixing seat, the inner cavity of the main tube body and the main through hole are connected to form the main channel, and the inner cavity of the secondary tube body and the secondary through hole are connected to form the secondary channel.

[0014] Furthermore, the end of the main tube body extends axially through the magnetic drive device and extends to the second tube mouth of the guide sleeve to connect to the main tube cavity of the catheter; the end of the auxiliary tube body extends axially through the magnetic drive device and extends to the second tube mouth of the guide sleeve to connect to the auxiliary tube cavity of the catheter; the magnetic drive device is provided with an avoidance hole for the main tube body and the auxiliary tube body to extend through.

[0015] Furthermore, the tube cap is provided with a force-bearing portion on the inner wall which can extend into the guide tube when the guide tube and the tube cap are butted against each other; the separation device includes a disconnecting piece and an ejecting piece; the disconnecting piece is provided at the butt joint of the guide tube and the tube cap; the ejecting piece is provided on the annular edge portion of the fixing seat, and presses against the bottom end of the force-bearing portion of the tube cap when the guide tube and the tube cap are butt jointed against each other, and the ejecting piece is in a force storage state.

[0016] Furthermore, the disconnecting piece is a heating wire, which is arranged along the contour of the mating surface of the guide tube, and the guide tube and the tube cap are provided with annular grooves on the mating surfaces for engaging the heating wire, and a guide groove connected to the annular groove is provided at the front end of one of the elongated slots of the guide tube, and the guide groove is used to guide the electrode wire of the heating wire into the elongated slot, and then extend along the elongated slot through the annular edge portion of the fixing seat and then be electrically connected to a circuit board arranged on the rear end surface of the fixing seat; an avoidance hole for the main tube body and the auxiliary tube body to pass through is provided on the circuit board, and a battery is provided on the circuit board; an avoidance hole for the electrode wire of the heating wire to pass through is provided on the annular edge portion of the fixing seat; a position sensor is also provided on the circuit board, and the position sensor is used to obtain the position data of the guide head and send the position data to a control terminal outside the human body.

[0017] Furthermore, the ejector comprises an ejector column and a push spring, the front end face of the annular edge portion of the fixed seat is provided with a connecting seat forming an accommodating chamber inside, the accommodating chamber accommodates the ejector column and the push spring, and the front end of the connecting seat is provided with an opening connected to the accommodating chamber; the ejector column is movably installed in the connecting seat, and the front end of the ejector column extends out of the connecting seat through the opening to abut against the force-bearing portion of the barrel cap; one end of the push spring abuts against the front end face of the annular edge portion of the fixed seat, and the other end of the push spring penetrates into the ejector column, and a spring cavity for the push spring to penetrate into is provided inside the ejector column; when the guide cylinder and the barrel cap are butted against each other, the push spring is in a compressed state.

[0018] Compared with the prior art, the technology of the present invention has the following advantages:

[0019] The present invention provides a guide head in conjunction with a magnetic guide device to navigate and twist the catheter of a nephroscope to the lesion in a magnetic guide manner, wherein the guide head includes a guide tube and a tube cap that can be separated from each other, and a main channel and a secondary channel that connect the main lumen and the secondary lumen inside the nephroscope catheter are formed inside the guide tube. Before the guide head reaches the lesion, it can completely block human tissue and body fluid from entering the catheter, and when it reaches the lesion, the guide tube and the tube cap are separated by a separation device to make the front ends of the main channel and the secondary channel conductive, thereby ensuring that surgical instruments and imaging devices can be smoothly extended out of the catheter to perform surgery on the lesion; and because electromagnetic navigation is used, it is not blocked by obstacles inside the human body, and the position data of the guide head is always obtained to accurately twist and twist the nephroscope to the lesion. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Figure 1 It is a schematic diagram of the use of the twisting and delivering mechanism of the electromagnetic navigation nephroscope in the embodiment;

[0022] Figure 2 It is a disassembly diagram of the guide head of the embodiment;

[0023] Figure 3 It is a structural schematic diagram of the front end of the guide tube in the embodiment;

[0024] Figure 4 It is a structural schematic diagram of the rear end of the guide tube of the embodiment;

[0025] Figure 5 for Figure 3 A local enlarged view of point A;

[0026] Figure 6 It is a structural schematic diagram of the fixing seat of the embodiment;

[0027] Figure 7 It is a structural schematic diagram of the barrel cap of the embodiment;

[0028] Figure 8 The cross-sectional view of the guide head of the embodiment is intended;

[0029] Fig. 9 for Figure 8 A partial enlarged view of point B;

[0030] Fig.10 for Figure 8 A partial enlarged view of point C.

[0031] Markings on the accompanying drawings: 1-catheter, 2-guide tube, 201-long card slot, 3-tube cap, 301-force-bearing part, 4-fixed seat, 401-annular edge, 402-block, 403-main through hole, 404-secondary through hole, 5-first tube mouth, 6-second tube mouth, 7-positioning hole, 8-annular flange, 9-circular magnetic block, 10-main tube body, 11-secondary tube body, 12-optical fiber camera, 13-limiting ring, 14-heating wire, 15-annular groove, 16-guide groove, 17-circuit board, 18-control terminal, 19-top column, 20-push spring, 21-connecting seat, 22-medical manipulator, 23-magnetic guide head. DETAILED DESCRIPTION

[0032] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. The description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in each embodiment of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0033] See also Figures 1 to 10 The present embodiment relates to a twisting and conveying mechanism of an electromagnetic navigation nephroscope, by which the catheter 1 of the nephroscope is moved to the lesion in a magnetically guided manner. A main lumen and at least one auxiliary lumen are formed inside the catheter 1 of the nephroscope. The main lumen is used to introduce an imaging device, and the auxiliary lumen is used to introduce other surgical instruments. The catheter 1 of the nephroscope in this embodiment has a main lumen, a first auxiliary lumen and a second auxiliary lumen; the main lumen is located in the middle of the catheter 1 and is used to introduce an imaging device; the first auxiliary lumen and the second auxiliary lumen are arranged around the main lumen, wherein the first auxiliary lumen is used to introduce a lighting device, and the second auxiliary lumen is used to introduce surgical instruments.

[0034] The twisting and delivering mechanism includes a guide head and a magnetic guide device. The guide head is connected to the intervention end of the catheter 1 of the nephroscope, and a magnetic drive device is arranged inside the guide head. The magnetic guide device is used to generate an external magnetic field outside the human body to cooperate with the magnetic drive device in the guide head entering the human body, so that the guide head can move and turn inside the human body, and navigate and twist the catheter 1 of the nephroscope to the lesion. Compared with the prior art that uses optical devices for navigation, this embodiment uses magnetic guidance without being blocked by obstacles inside the human body (such as internal tissues or body fluids of the human body), and always obtains the position data of the guide head to accurately twist and deliver the nephroscope to the lesion.

[0035] The guide head comprises a detachably connected guide tube 2 and a tube cap 3. When the guide tube 2 and the tube cap 3 are connected to each other, a closed space is formed inside. A magnetic driving device and a separation device are accommodated in the closed space, and a main channel connected to the main cavity of the guide head and a secondary channel connected to the secondary cavity of the guide head are formed. Before the catheter 1 of the nephroscope is twisted to the lesion, the closed space formed by the connection of the guide tube 2 and the tube cap 3 is used to prevent human tissue or body fluid from entering the main cavity and the secondary cavity of the catheter 1 and causing blockage. After reaching the lesion, the guide tube 2 and the tube cap 3 are separated from each other, and the front ends of the main channel and the secondary channel are connected, so that the imaging device and the surgical instrument are exposed outside the guide tube 2 to perform surgery on the lesion.

[0036] A fixing seat 4 is provided inside the guide tube 2, and the fixing seat 4 axially divides the inside of the guide tube 2 into a first chamber and a second chamber. The main channel and the secondary channel are provided on the fixing seat 4 and connect the first chamber and the second chamber. In this embodiment, one main channel is provided and two secondary channels are provided. When the guide head is connected to the interventional end of the catheter 1 of the nephroscope, the rear end of the main channel is connected to the main lumen of the catheter 1 to facilitate the entry of the imaging device into the guide head, and the rear end of the secondary channel is connected to the secondary lumen of the catheter 1 to facilitate the entry of the surgical instrument into the guide head.

[0037] The second chamber contains a magnetic drive device, which can cooperate with the external magnetic field generated by the magnetic guide device in the second chamber to form a driving force at the rear end of the guide tube to drive the guide head to move and turn to complete the navigation and twisting of the nephroscope catheter 1.

[0038] A separation device is provided on the guide tube 2, which can separate the guide tube 2 and the tube cap 3 in the first chamber, so that the surgical instrument can be extended from the front end of the guide head to complete the operation when the catheter 1 is twisted to the lesion.

[0039] It should be noted that, in this embodiment, the front end of the guide head refers to the end of the guide head moving toward the direction close to the lesion, and the rear end of the guide head refers to the end of the guide head moving toward the direction away from the lesion.

[0040] Specifically, the guide tube 2 is a cylindrical structure; the front end of the guide tube 2 forms a first tube opening 5 connected to the first chamber, and the rear end of the guide tube 2 forms a second tube opening 6 connected to the second chamber, the tube cap 3 is connected to the first tube opening 5 at the front end of the guide tube 2, and the intervention end of the catheter 1 is connected to the second tube opening 6 at the rear end of the guide tube 2; a positioning hole 7 is provided on the inner tube wall of the guide tube 2 at the second tube opening 6, and a positioning protrusion is provided on the outer peripheral wall of the intervention end of the catheter 1 of the nephroscope, and the positioning hole 7 and the positioning protrusion cooperate with each other so that the main channel and the secondary channel in the guide head can respectively correspond to the main cavity and the secondary cavity in the connecting catheter 1 when the guide head and the catheter 1 are connected to each other.

[0041] The inner wall of the guide tube 2 at the second tube opening 6 is provided with internal threads, and the outer peripheral wall of the intervention end of the nephroscope catheter 1 is provided with external threads, so that the second tube opening 6 of the guide tube 2 and the intervention end of the catheter 1 can be threadedly connected to each other.

[0042] An annular flange 8 is provided on the inner tube wall of the guide tube 2 near the second tube mouth 6, which is used to limit the magnetic drive device to be installed in the second chamber; when the guide head and the catheter 1 of the nephroscope are connected to each other, the intervention end of the catheter 1 abuts against one end of the magnetic drive device in the second chamber of the guide tube 2, and the other end of the magnetic drive device abuts against the annular flange 8 in the guide tube 2 to form a fixing force at both ends of the magnetic drive device, thereby limiting the magnetic drive device to a position in the second chamber near the second tube mouth 6, so as to cooperate with the magnetic guide device at the rear end of the guide head to drive the guide head to move and turn.

[0043] The magnetic driving device is a circular magnetic block 9, which is a neodymium iron boron magnet. According to actual needs, other high-strength permanent magnets can also be used to replace it.

[0044] The fixing seat 4 is a circular block structure, and the fixing seat 4 is provided with an annular edge portion 401 on the outer peripheral wall, and a plurality of clamping blocks 402 are provided on the outer peripheral side of the annular edge portion 401, and the clamping blocks 402 are arranged at equal intervals along the circumferential direction of the annular edge portion 401; accordingly, a plurality of elongated clamping grooves 201 are provided on the inner cylinder wall of the guide cylinder 2 at the first cylinder mouth 5, and the length direction of the elongated clamping grooves 201 is parallel to the axial direction of the guide cylinder 2, and the elongated clamping grooves 201 are arranged at equal intervals along the circumferential direction of the guide cylinder 2; the clamping blocks 402 on the annular edge portion 401 and the elongated clamping grooves 201 in the guide cylinder 2 are matched one by one, so that the fixing seat 4 is limitedly installed in the guide cylinder 2 from the first cylinder mouth 5, so that a gap is formed between the fixing seat 4 and the circular magnetic block 9 after installation; it should be noted that the clamping blocks 402 and the elongated clamping grooves 201 should be closely matched with each other to limit the axial movement of the fixing seat 4 relative to the guide cylinder 2.

[0045] The end face of the fixing seat 4 opposite to the circular magnetic block 9 is the rear end face, and the end face of the fixing seat 4 opposite to the circular magnetic block 9 is the front end face; the fixing seat 4 is axially provided with a main through hole 403 and a secondary through hole 404, and the fixing seat 4 is provided with a main pipe body 10 axially extending from the main through hole 403 and a secondary pipe body 11 axially extending from the secondary through hole 404 on the rear end face, the inner cavity of the main pipe body 10 is connected with the main through hole 403 to form a main channel, and the inner cavity of the secondary pipe body 11 is connected with the secondary through hole 404 to form a secondary channel; the end of the main pipe body 10 axially extends through the circular magnetic block 9 and extends to the second barrel mouth 6 of the guide cylinder 2, so as to communicate with the main pipe cavity of the catheter 1; the end of the secondary pipe body 11 axially extends through the circular magnetic block 9 and extends to the second barrel mouth 6 of the guide cylinder 2, so as to communicate with the secondary pipe cavity of the catheter 1; the circular magnetic block 9 is provided with an avoidance hole for the main pipe body 10 and the secondary pipe body 11 to extend through.

[0046] In the present embodiment, one main through hole 403 is provided, and the main through hole 403 is located in the middle of the fixing seat 4, and two auxiliary through holes 404 are provided, and the two auxiliary through holes 404 are arranged at equal intervals around the main through hole 403; accordingly, the main tube body 10 is extended to form one, and the auxiliary tube body 11 is extended to form two; it should be noted that the number of the main through hole 403 and the auxiliary through hole 404 is set according to the number of the main tube cavity and the auxiliary tube cavity of the catheter 1 of the nephroscope, and is extended accordingly to form the main tube body 10 and the auxiliary tube body 11.

[0047] The imaging device in this embodiment is a fiber optic camera 12 in the prior art, which is used to obtain images of the inside of the human body so that doctors can perform surgical operations based on the images. A limit ring 13 is provided on the inner wall of the front end of the main through hole 403, and the limit ring 13 can cooperate with the edge stop of the shooting end of the fiber optic camera 12 to prevent the shooting end of the fiber optic camera 12 from extending too far from the fixing seat 4 and causing shaking, thereby ensuring that the image is stable and clear for doctors to watch.

[0048] The barrel cap 3 forms a cap opening at the rear end. When the barrel cap 3 and the guide tube 2 are connected to each other, the rear end face of the barrel cap 3 and the front end face of the guide tube 2 are hot-melt-jointed with each other. At this time, the rear end face of the barrel cap 3 and the front end face of the guide tube 2 are joint faces. The barrel cap 3 is provided with a force-bearing portion 301 on the inner wall which can extend into the guide tube 2.

[0049] The separation device includes a disconnecting piece and an ejecting piece; the disconnecting piece is arranged at the joint of the guide tube 2 and the tube cap 3; the ejecting piece is arranged on the annular edge portion 401 of the fixing seat 4, and presses against the bottom end of the force-bearing portion 301 of the tube cap 3 when the guide tube 2 and the tube cap 3 are connected to each other, and the ejecting piece is in a force storage state; when the guide head reaches the lesion, the disconnecting piece disconnects the tube cap 3 and the guide tube 2 at the joint surface, and the ejecting piece is in a force release state, providing an axial force to the force-bearing portion 301 of the tube cap 3 to eject the tube cap 3 from the first tube mouth 5 of the guide tube 2 to the distal end, thereby realizing the mutual separation of the guide tube 2 and the tube cap 3.

[0050] The disconnecting member is a heating wire 14, which is arranged along the contour of the butt joint surface of the guide tube 2. The guide tube 2 and the tube cap 3 are provided with an annular groove 15 on the butt joint surface for fitting the heating wire 14. A guide groove 16 connected to the annular groove 15 is provided at the front end of one of the elongated card grooves 201 of the guide tube 2. The guide groove 16 is used to guide the electrode wire of the heating wire 14 into the elongated card groove 201, and then extends along the elongated card groove 201 through the annular edge portion 401 of the fixing seat 4 and is electrically connected to the circuit board 17 arranged on the rear end surface of the fixing seat 4. The circuit board 17 An avoidance hole is provided on the circuit board 17 for the main tube body 10 and the auxiliary tube body 11 to pass through, and a battery is arranged on the circuit board 17 as a power source, and the battery is a miniature button battery; an avoidance hole is provided on the annular edge portion 401 of the fixing seat 4 for the electrode line of the heating wire 14 to pass through; a position sensor is also arranged on the circuit board 17 to obtain the position data of the guide head and send the position data to the control terminal 18 outside the human body, so that the doctor can understand the position of the guide head inside the human body in real time, and the position sensor is a miniature position sensor in the prior art.

[0051] The ejector includes a ejector column 19 and a push spring 20. A hollow cylindrical connecting seat 21 is provided on the front end face of the annular edge portion 401 of the fixed seat 4. A accommodating chamber for accommodating the ejector column 19 and the push spring 20 is formed inside the connecting seat 21, and an opening communicating with the accommodating chamber is provided at the front end of the connecting seat 21; the ejector column 19 is movably installed in the connecting seat 21, and the front end of the ejector column 19 extends out of the connecting seat 21 through the opening to abut against the force-bearing portion 301 of the barrel cap 3; one end of the push spring 20 abuts against the front end face of the annular edge portion 401 of the fixed seat 4, and the other end of the push spring 20 penetrates into the ejector column 19, and a spring cavity for the push spring 20 to penetrate is provided inside the ejector column 19; when the guide cylinder 2 and the barrel cap 3 are butted against each other, the push spring 20 is in a compressed state.

[0052] During specific implementation, before the guide head reaches the lesion, the tube cap 3 and the guide tube 2 remain connected to each other; when the guide head reaches the lesion, the heating wire 14 is energized and heated, the butt joint surface of the tube cap 3 and the guide tube 2 is melted by the heat, and the push spring 20 stretches and releases the elastic force, pushing the force-bearing part 301 of the tube cap 3 out of the guide tube 2 to achieve the mutual separation of the tube cap 3 and the guide tube 2; in this embodiment, the hot-melt butt joint method is adopted, and the connection between the tube cap 3 and the guide tube 2 is tighter, avoiding the generation of gaps that cause body fluids to penetrate into the guide head, and there is no need to set up an additional fastening structure, which reduces the overall volume of the guide head, and the heating wire 14 is small, which reduces the space occupied, which is conducive to further reducing the overall volume of the guide head and reducing the discomfort to the patient.

[0053] The force-bearing portion 301 of the barrel cap 3 is a protrusion extending from the cap mouth of the barrel cap 3, and the outer wall of the protrusion forms a groove with an inverted L-shaped cross-section with the mating surface of the barrel cap 3; when the guide barrel 2 and the barrel cap 3 are connected to each other, the front end of the guide barrel 2 and the protrusion on the barrel cap 3 cooperate with each other, and the protrusion on the barrel cap 3 extends into the first chamber of the guide barrel 2, and a gap is formed between the outer wall of the protrusion and the inner barrel wall of the guide barrel 2, so that when the separation device separates the barrel cap 3 and the guide barrel 2, friction between the protrusion and the guide barrel 2 is avoided, ensuring that the barrel cap 3 and the guide barrel 2 are smoothly separated from each other.

[0054] In the present embodiment, at least two ejection members are provided, and each ejection member is separated by a distance to form at least two or more ejection action points; in the present embodiment, two ejection members are taken as an example for explanation, and the two ejection members can form two separation action points, so that the guide cylinder 2 and the cylinder cap 3 are subjected to more balanced forces, and it is avoided that the separation force generated by a single ejection member is too small or concentrated on one side, thereby affecting the mutual separation of the cylinder cap 3 and the guide cylinder 2.

[0055] It should be noted that in this embodiment, the tube cap 3 is made of a human-degradable absorbable material, such as polylactide copolymer, which can be degraded by the human body and is harmless to the human body, so that the separated tube cap 3 does not need to be removed from the human body, and the guide tube 2 will be removed together with the catheter 1 after the operation.

[0056] The magnetic guide device is an existing technology, including a medical manipulator 22 and a magnetic guide head 23 connected to the medical manipulator 22. The medical manipulator 22 can drive the magnetic guide head 23 to move along six degrees of freedom; the magnetic guide head 23 and the medical manipulator 22 are both connected to the control terminal 18. By operating the control terminal 18, the magnetic field generated by the magnetic guide head 23 is adjusted, and the position of the magnetic guide head 23 is adjusted by manipulating the medical manipulator 22, thereby correspondingly controlling the movement and steering of the guide head in the human body.

[0057] The control terminal 18 includes a microprocessor and a data processing module. The microprocessor is used to receive the position data obtained by the position sensor and transmit the position data to the data processing module for analysis. The analyzed information is presented through a display arranged on the control terminal 18, so that the doctor can operate the magnetic guide device according to the presented guide head position information, thereby navigating the guide head entering the human body; the control terminal 18 is internally provided with a memory for storing CT images of the internal structure of the human body. The microprocessor can match the received position data with the CT images of the internal structure of the human body to indicate the real-time position of the guide head inside the human body.

[0058] The above embodiments of the present invention are not intended to limit the protection scope of the present invention, and the implementation modes of the present invention are not limited thereto. All other modifications, replacements or changes made to the above structures of the present invention based on the above contents of the present invention, in accordance with common technical knowledge and customary means in the art, without departing from the above basic technical ideas of the present invention, should fall within the protection scope of the present invention.

Claims

1. A twisting and conveying mechanism of an electromagnetic navigation nephroscope, comprising a guide head with a built-in magnetic drive device, and a magnetic guide device that can magnetically cooperate with the magnetic drive device outside the human body to drive the guide head to move inside the human body; characterized in that: The guide head includes a guide tube with a main channel and a secondary channel formed therein, and a tube cap detachably connected to the front end of the guide tube; the tube cap is axially separated from the guide tube by a separation device to make the front ends of the main channel and the secondary channel conductive.

2. The twisting mechanism of the electromagnetic navigation nephroscope according to claim 1 is characterized in that: A fixing seat is arranged inside the guide tube, and the fixing seat axially divides the inside of the guide tube into a first chamber and a second chamber. The main channel and the secondary channel are arranged on the fixing seat and connect the first chamber and the second chamber. The magnetic driving device is accommodated in the second chamber and cooperates with the external magnetic field generated by the magnetic guide device to form a driving force at the rear end of the guide tube, driving the guide head to navigate and twist the catheter of the nephroscope to the lesion.

3. The twisting mechanism of the electromagnetic navigation nephroscope according to claim 2 is characterized in that: The front end of the guide tube forms a first tube opening connected to the first chamber, the rear end of the guide tube forms a second tube opening connected to the second chamber, the tube cap is connected to the first tube opening at the front end of the guide tube, and the second tube opening is used to connect the intervention end of the catheter.

4. The twisting mechanism of the electromagnetic navigation nephroscope according to claim 3 is characterized in that: An annular flange is provided on the inner tube wall of the guide tube near the second tube mouth, and the annular flange is used to limit the installation of the magnetic drive device in the second chamber; when the guide head and the catheter of the nephroscope are connected to each other, the intervention end of the catheter abuts against one end of the magnetic drive device in the second chamber of the guide tube, and the other end of the magnetic drive device abuts against the annular flange in the guide tube.

5. The twisting mechanism of the electromagnetic navigation nephroscope according to claim 4, characterized in that: The fixing seat is provided with an annular edge portion on the outer peripheral wall, and a plurality of clamping blocks are provided on the outer peripheral side of the annular edge portion, and the clamping blocks are arranged at equal intervals along the circumference of the annular edge portion; a plurality of elongated clamping grooves are provided on the inner cylinder wall of the guide cylinder at the first cylinder mouth, and the length direction of the elongated clamping grooves is parallel to the axial direction of the guide cylinder, and the elongated clamping grooves are arranged at equal intervals along the circumference of the guide cylinder; the clamping blocks on the annular edge portion and the elongated clamping grooves in the guide cylinder are tightly matched through one-to-one correspondence.

6. The twisting mechanism of the electromagnetic navigation nephroscope according to claim 5, characterized in that: A main through hole and a secondary through hole are axially penetrated on the fixing seat, and a main pipe body axially extending from the main through hole and a secondary pipe body axially extending from the secondary through hole are provided on the rear end surface of the fixing seat, the inner cavity of the main pipe body and the main through hole are connected to form the main channel, and the inner cavity of the secondary pipe body and the secondary through hole are connected to form the secondary channel.

7. The twisting mechanism of the electromagnetic navigation nephroscope according to claim 6, characterized in that: The end of the main tube body axially extends through the magnetic drive device and extends to the second tube opening of the guide tube to connect with the main tube cavity of the catheter; the end of the auxiliary tube body axially extends through the magnetic drive device and extends to the second tube opening of the guide tube to connect with the auxiliary tube cavity of the catheter; The magnetic driving device is provided with an avoidance hole for the main pipe body and the auxiliary pipe body to extend through.

8. The twisting and feeding mechanism of the electromagnetic navigation nephroscope according to claim 7, characterized in that: The barrel cap is provided with a force-bearing portion on the inner wall which can extend into the guide barrel when the guide barrel and the barrel cap are butted against each other; the separation device includes a disconnecting piece and an ejecting piece; the disconnecting piece is provided at the butt joint of the guide barrel and the barrel cap; the ejecting piece is provided on the annular edge portion of the fixing seat, and when the guide barrel and the barrel cap are butt jointed against each other, the ejecting piece presses against the bottom end of the force-bearing portion of the barrel cap, and is in a force storage state.

9. The twisting mechanism of the electromagnetic navigation nephroscope according to claim 8, characterized in that: The disconnecting piece is a heating wire, which is arranged along the contour of the mating surface of the guide tube. The guide tube and the tube cap are provided with annular grooves on the mating surfaces for engaging the heating wire. A guide groove connected to the annular groove is provided at the front end of one of the elongated slots of the guide tube. The guide groove is used to guide the electrode wire of the heating wire into the elongated slot, extend along the elongated slot through the annular edge of the fixing seat, and then be electrically connected to the circuit board arranged on the rear end surface of the fixing seat; an avoidance hole for the main tube body and the auxiliary tube body to pass through is provided on the circuit board, and a battery is provided on the circuit board; an avoidance hole for the electrode wire of the heating wire to pass through is provided on the annular edge of the fixing seat; a position sensor is also provided on the circuit board, and the position sensor is used to obtain the position data of the guide head and send the position data to a control terminal outside the human body.

10. The twisting mechanism of the electromagnetic navigation nephroscope according to claim 9, characterized in that: The ejector comprises an ejector column and an ejector spring; a connecting seat forming an accommodating chamber is arranged on the front end face of the annular edge portion of the fixed seat; the ejector column and the ejector spring are accommodated in the accommodating chamber, and an opening communicating with the accommodating chamber is arranged at the front end of the connecting seat; the ejector column is movably installed in the connecting seat, and the front end of the ejector column extends out of the connecting seat through the opening to abut against the force-bearing portion of the barrel cap; one end of the ejector spring abuts against the front end face of the annular edge portion of the fixed seat, and the other end of the ejector spring penetrates into the ejector column, and a spring cavity for the ejector spring to penetrate into is arranged inside the ejector column; when the guide cylinder and the barrel cap are butted against each other, the ejector spring is in a compressed state.

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