A twist mechanism for an electromagnetic navigation nephroscope

Abstract

The application discloses a twist sending mechanism of an electromagnetic navigation nephroscope, which comprises a guide head with a built-in magnetic driving device and a magnetic guide device which can magnetically cooperate 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 with a main channel and a secondary channel formed inside and a cylinder cap which is detachably connected to the front end of the guide cylinder; the cylinder cap is axially separated from the guide cylinder through a separation device so that the front ends of the main channel and the secondary channel are communicated; the twist sending mechanism can completely block the human body obstacles from entering the nephroscope before reaching the patient, thereby ensuring that the surgical instruments and image devices smoothly extend out of the catheter to perform surgery on the lesion.

Description

Technical Field

[0001] This invention relates to the technical field of nephroscopes, and in particular to a toggle mechanism for an electromagnetically guided nephroscope. Background Technology

[0002] The nephroscope is a specialized nephroscope used in minimally invasive percutaneous nephrolithotomy. It is highly operable, allowing for smaller puncture channels, more accurate and timely surgical control, and reducing adverse events such as damage and bleeding. Therefore, percutaneous nephrolithotomy has broad application prospects.

[0003] Chinese patent CN202121911895.6 discloses a flexible electronic nephroscope with a bendable end, including a nephroscope body and a light source and camera integrated system matched with the nephroscope body. The nephroscope body includes a tube and a handle. The tube includes a main flexible tube, and a bending section protection tube is fixedly connected to the left end of the main flexible tube. A bending component is provided inside the bending section protection tube. A control mechanism for controlling the bending component is provided inside the handle. The bending component includes a bending snake bone, and a left end piece and a right end piece are fixedly connected to the left and right ends of the bending snake bone, respectively. By turning the bending angle knob, the rotating wheel is driven to rotate, which allows the flexible steel wire to pull one end of the left end piece, causing the bending snake bone to bend the nephroscope tube. The active bending part of the nephroscope tube bends in both front and back directions, with a bending angle of 200°±10°. The bending is undamped, which allows for convenient access to the renal pelvis and various renal calyces, and stone fragmentation and removal without leaving any blind spots.

[0004] In the aforementioned patent, the endoscope tube has internal channels for introducing surgical instruments and for introducing a miniature camera module, with an opening at the interventional end of the endoscope tube. After intervention in the human body but before reaching the lesion, human tissue and fluids enter the various channels inside the endoscope tube through the openings. The accumulation of human tissue within the channels can easily cause blockages, and the high viscosity of the fluids can also lead to blockages. Furthermore, the guide wires connecting the surgical instruments and the miniature camera module are relatively thin and have low rigidity, making it difficult to transmit significant forces. This makes it difficult for the surgical instruments and the miniature camera module to overcome the resistance generated by the accumulated human tissue and fluids within the channels, hindering their extension outside the endoscope tube for surgical operations. Moreover, after intervention, the endoscope tube relies on the miniature camera module to acquire images of the human body for navigation. Before reaching the lesion, the human tissue and fluids entering the channels adhere to the miniature camera module, obstructing image acquisition and making it difficult to accurately navigate the endoscope tube to the lesion, thus affecting the surgical procedure. Summary of the Invention

[0005] The purpose of this invention is to provide a delivery mechanism for an electromagnetic navigation nephroscope. This delivery mechanism can completely block human obstacles from entering the nephroscope before reaching the lesion, thereby ensuring that surgical instruments and imaging devices can be smoothly extended from the catheter to perform surgery on the lesion.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] An electromagnetic navigation nephroscope's delivery mechanism includes a guide head with a built-in magnetic drive device and a magnetically conductive 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 includes a guide cylinder with a main channel and a secondary channel formed inside, and a cap that is detachably connected to the front end of the guide cylinder; the cap is axially separated from the guide cylinder by a separation device to make the front ends of the main channel and the secondary channel open.

[0008] Based on the above technical solution, the present invention can be improved as follows:

[0009] Furthermore, a fixed seat is provided inside the guide tube, which 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 fixed seat and connect the first chamber and the second chamber. The magnetic drive device is housed 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 guide and twist the nephroscope catheter toward the lesion.

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

[0011] Furthermore, an annular flange is provided on the inner wall of the guide tube near the second opening. 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 has an annular edge on its outer peripheral wall, and the annular edge has multiple locking blocks on its outer peripheral side, which are evenly spaced along the circumference of the annular edge; the inner wall of the guide cylinder has multiple elongated slots at the first cylinder opening, the length direction of the elongated slots is parallel to the axial direction of the guide cylinder, and the elongated slots are evenly spaced along the circumference of the guide cylinder; the locking blocks on the annular edge and the elongated slots in the guide cylinder are closely matched in a one-to-one correspondence.

[0013] Furthermore, the fixing base is provided with a main through hole and a secondary through hole along the axial direction. The fixing base is provided with a main tube body extending axially from the main through hole and a secondary tube body extending axially from the secondary through hole on the rear end face. 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 extends axially through the magnetic drive device and extends to the second opening of the guide tube to connect with the main tube cavity of the conduit; the end of the secondary tube extends axially through the magnetic drive device and extends to the second opening of the guide tube to connect with the secondary tube cavity of the conduit; the magnetic drive device has a clearance hole through which the main tube and the secondary tube extend.

[0015] Furthermore, the cap has a force-bearing part on its inner wall that can extend into the guide tube when the guide tube and the cap are connected; the separation device includes a disconnecting part and an ejecting part; the disconnecting part is located at the connection between the guide tube and the cap; the ejecting part is located on the annular edge of the fixed base and presses against the bottom end of the force-bearing part of the cap when the guide tube and the cap are connected, and the ejecting part is in a stored state.

[0016] Furthermore, the disconnecting element is a heating wire, which is arranged along the contour of the mating surface of the guide tube. The guide tube and the cap are provided with annular grooves on the mating surface for fitting the heating wire. A guide groove is provided at the front end of one of the elongated slots of the guide tube, which connects to the annular groove. The guide groove is used to guide the electrode wire of the heating wire into the elongated slot. After extending along the elongated slot and passing through the annular edge of the fixing seat, it is electrically connected to a circuit board disposed on the rear end face of the fixing seat. The circuit board is provided with clearance holes for the main tube and the auxiliary tube to pass through, and a battery is disposed on the circuit board. The fixing seat is provided with clearance holes on the annular edge for the electrode wire of the heating wire to pass through. A position sensor is also disposed on the circuit board. The position sensor is used to acquire the position data of the guide head and send the position data to a control terminal outside the human body.

[0017] Furthermore, the ejector includes a top post and a pusher spring. The fixed seat has a connecting seat with an internally formed receiving chamber on the front end face of the annular edge portion. The receiving chamber accommodates the top post and the pusher spring. The connecting seat has an opening at its front end that communicates with the receiving chamber. The top post is movably installed in the connecting seat, and its front end extends out of the connecting seat through the opening to abut against the force-bearing part of the cap. One end of the pusher spring abuts against the front end face of the annular edge portion of the fixed seat, and the other end of the pusher spring passes into the top post. The top post has a spring cavity inside which the pusher spring can pass through. When the guide tube and the cap are connected, the pusher spring is in a compressed state.

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

[0019] This invention utilizes a guide head in conjunction with a magnetic guidance device to guide the nephroscope catheter to the lesion site via magnetic guidance. The guide head comprises a separable guide tube and a cap. The guide tube forms a main channel and a secondary channel connecting the main lumen and secondary lumen of the nephroscope catheter. Before the guide head reaches the lesion site, it completely prevents human tissue and fluids from entering the catheter. Upon reaching the lesion site, the guide tube and cap are separated by a separation device to allow the front ends of the main channel and secondary channel to connect, thus ensuring that surgical instruments and imaging devices can smoothly extend outside the catheter to perform surgery on the lesion. Furthermore, due to the use of electromagnetic navigation, it is not obstructed by obstacles inside the body and continuously acquires the position data of the guide head to accurately guide the nephroscope to the lesion site. Attached Figure Description

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

[0021] Figure 1 This is a schematic diagram illustrating the use of the twisting and feeding mechanism of the electromagnetic navigation nephroscope in an embodiment.

[0022] Figure 2 This is a disassembly and assembly diagram of the guide head in the embodiment;

[0023] Figure 3 This is a schematic diagram of the structure of the front end of the guide tube in an embodiment;

[0024] Figure 4 This is a schematic diagram of the structure of the rear end of the guide tube in an embodiment;

[0025] Figure 5 for Figure 3 Enlarged view of a portion at point A;

[0026] Figure 6 This is a schematic diagram of the structure of the mounting base in the embodiment;

[0027] Figure 7 This is a schematic diagram of the structure of the cap in the embodiment;

[0028] Figure 8 This is a schematic cross-sectional view of the guide head in the embodiment;

[0029] Figure 9 for Figure 8 A magnified view of section B;

[0030] Figure 10 for Figure 8 A magnified view of a portion of point C.

[0031] The markings on the attached diagram are as follows: 1-conduit, 2-guide tube, 201-elongated slot, 3-cap, 301-force-bearing part, 4-fixed seat, 401-annular edge, 402-block, 403-main through hole, 404-secondary through hole, 5-first tube opening, 6-second tube opening, 7-positioning hole, 8-annular flange, 9-circular magnet, 10-main tube body, 11-secondary tube body, 12-fiber optic 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 robotic arm, 23-magnetic guide head. Detailed Implementation

[0032] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. These descriptions are intended to aid in understanding the present invention but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0033] See Figures 1 to 10 This embodiment relates to a delivery mechanism for an electromagnetic navigation nephroscope. This delivery mechanism uses magnetic guidance to move the nephroscope's catheter 1 to the lesion. The catheter 1 of the nephroscope has a main lumen and at least one secondary lumen. The main lumen is used to introduce an imaging device, and the secondary lumen is used to introduce other surgical instruments. In this embodiment, the nephroscope's catheter 1 has a main lumen, a first secondary lumen, and a second secondary lumen. The main lumen is located in the middle of the catheter 1 and is used to introduce the imaging device. The first and second secondary lumens are arranged around the main lumen. The first secondary lumen is used to introduce an illumination device, and the second secondary lumen is used to introduce surgical instruments.

[0034] The delivery mechanism includes a guide head and a magnetic guiding device. The guide head is connected to the intervention end of the catheter 1 of the nephroscope, and a magnetic drive device is installed inside the guide head. The magnetic guiding device is used to generate an external magnetic field outside the human body to cooperate with the magnetic drive device in the guide head that enters the human body, so that the guide head can move and turn inside the human body, guiding and delivering the catheter 1 of the nephroscope to the lesion. Compared with the existing technology that uses optical devices for navigation, this embodiment uses magnetic guidance, which is not obstructed by obstacles inside the human body (such as internal tissues or body fluids), and always obtains the position data of the guide head to accurately deliver the nephroscope to the lesion.

[0035] The guide head includes a detachable guide tube 2 and a cap 3. When the guide tube 2 and the cap 3 are connected, they form a sealed space inside. This sealed space houses the magnetic drive device and the separation device, and forms a main channel connecting the main lumen of the guide head and a secondary channel connecting the secondary lumen of the guide head. This prevents human tissue or body fluid from entering the main lumen and secondary lumen of the catheter 1 and causing blockage before the catheter 1 of the nephroscope is twisted and delivered to the lesion site. After reaching the lesion site, the guide tube 2 and the cap 3 separate, and the front ends of the main channel and the secondary channel are connected, so that the imaging device and surgical instruments are exposed outside the guide tube 2 to perform surgery on the lesion site.

[0036] The guide tube 2 is provided with a fixing seat 4 inside, which axially divides the inside of the guide tube 2 into a first chamber and a second chamber. The main channel and the auxiliary channel are set on the fixing seat 4 and connect the first chamber and the second chamber. In this embodiment, there is one main channel and two auxiliary channels. When the guide head is connected to the intervention 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 so that the imaging device can enter the guide head. The rear end of the auxiliary channel is connected to the secondary lumen of the catheter 1 so that the surgical instruments can enter the guide head.

[0037] A magnetic drive device is housed in the second chamber. The magnetic drive device can cooperate with the external magnetic field generated by the magnetic induction device in the second chamber to form a driving force at the rear end of the guide tube, so as 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. The separation device can separate the guide tube 2 and the cap 3 in the first chamber so that the surgical instruments can extend from the front end of the guide head to complete the operation when the catheter 1 is twisted and delivered 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 that moves towards the lesion, and the rear end of the guide head refers to the end of the guide head that moves away from the lesion.

[0040] Specifically, the guide tube 2 has a cylindrical structure; the front end of the guide tube 2 forms a first opening 5 that connects to the first chamber, and the rear end of the guide tube 2 forms a second opening 6 that connects to the second chamber. The cap 3 is connected to the first opening 5 at the front end of the guide tube 2, and the interventional end of the catheter 1 is connected to the second opening 6 at the rear end of the guide tube 2. A positioning hole 7 is provided on the inner wall of the guide tube 2 at the second opening 6, and a positioning protrusion is provided on the outer peripheral wall of the catheter 1 of the nephroscope at the interventional end. 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 connect to the main lumen and the secondary lumen in the catheter 1 when the guide head and the catheter 1 are connected.

[0041] The guide tube 2 has an internal thread on its inner wall at the second opening 6, and the catheter 1 of the nephroscope has an external thread on its outer peripheral wall at the intervention end, so that the second 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 wall of the guide tube 2 near the second opening 6, which is used to limit the installation of the magnetic drive device 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, so as 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 opening 6, so as to cooperate with the magnetic guide device to drive the guide head to move and turn at the rear end of the guide head.

[0043] The magnetic drive device is a circular magnetic block 9, which is a neodymium iron boron magnet. Depending on the actual needs, other high-strength permanent magnets can also be used instead.

[0044] The fixing seat 4 is a circular block structure. The fixing seat 4 has an annular edge portion 401 on its outer peripheral wall. Multiple locking blocks 402 are provided on the outer peripheral side of the annular edge portion 401. The locking blocks 402 are arranged at equal intervals along the circumference of the annular edge portion 401. Correspondingly, multiple elongated slots 201 are provided on the inner wall of the guide cylinder 2 at the first cylinder opening 5. The length direction of the elongated slots 201 is parallel to the axial direction of the guide cylinder 2. The elongated slots 201 are arranged at equal intervals along the circumference of the guide cylinder 2. By the one-to-one cooperation between the locking blocks 402 on the annular edge portion 401 and the elongated slots 201 in the guide cylinder 2, the fixing seat 4 is limited and installed in the guide cylinder 2 from the first cylinder opening 5, so that a gap is formed between the fixed seat 4 and the circular magnetic block 9 after installation. It should be noted that the locking blocks 402 and the elongated slots 201 should be tightly fitted to each other to restrict the axial movement of the fixing seat 4 relative to the guide cylinder 2.

[0045] The end face of the fixed base 4 opposite to the circular magnet 9 is the rear end face, and the end face of the fixed base 4 opposite to the circular magnet 9 is the front end face. A main through hole 403 and a secondary through hole 404 are provided axially through the fixed base 4. The fixed base 4 has a main tube body 10 extending axially from the main through hole 403 and a secondary tube body 11 extending axially from the secondary through hole 404 on the rear end face. The inner cavity of the main tube body 10 and the main through hole 403 are connected to form a main channel, and the inner cavity of the secondary tube body 11 and the secondary through hole 404 are connected to form a secondary channel. The end of the main tube body 10 extends axially through the circular magnet 9 and extends to the second cylinder opening 6 of the guide tube 2 to facilitate communication with the main cavity of the guide tube 1. The end of the secondary tube body 11 extends axially through the circular magnet 9 and extends to the second cylinder opening 6 of the guide tube 2 to facilitate communication with the secondary cavity of the guide tube 1. The circular magnet 9 has a clearance hole for the main tube body 10 and the secondary tube body 11 to extend through.

[0046] In this embodiment, one main through hole 403 is provided, which is located in the middle of the fixing base 4. Two secondary through holes 404 are provided, which are arranged at equal intervals around the main through hole 403. Correspondingly, the main tube body 10 extends to form one, and the secondary tube body 11 extends to form two. It should be noted that the number of main through holes 403 and secondary through holes 404 is set according to the number of main lumen and secondary lumen of the catheter 1 of the nephroscope, and extends accordingly to form the main tube body 10 and the secondary tube body 11.

[0047] In this embodiment, the imaging device is a fiber optic camera 12 in the prior art. The fiber optic camera 12 is used to acquire images of the inside of the human body so that doctors can perform surgical operations based on the images. The main through hole 403 is provided with a limiting ring 13 on the inner wall of the front end. The limiting ring 13 can cooperate with the edge 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 out of the fixing seat 4 and causing shaking, so as to ensure that the image is stable and clear for doctors to view.

[0048] The cap 3 forms a cap opening at the rear end. When the cap 3 and the guide tube 2 are connected to each other, the rear end face of the cap 3 and the front end face of the guide tube 2 are heat-fused together. At this time, the rear end face of the cap 3 and the front end face of the guide tube 2 are mating surfaces. The cap 3 is provided with a force-bearing part 301 that can extend into the guide tube 2 on its inner wall.

[0049] The separation device includes a disconnecting component and an ejector component. The disconnecting component is located at the joint between the guide tube 2 and the cap 3. The ejector component is located on the annular edge 401 of the fixed base 4 and presses against the bottom end of the force-bearing part 301 of the cap 3 when the guide tube 2 and the cap 3 are connected. The ejector component is in a power-accumulating state. When the guide head reaches the lesion, the disconnecting component causes the cap 3 and the guide tube 2 to separate at the joint surface. The ejector component is in a power-releasing state and provides an axial force to the force-bearing part 301 of the cap 3 to push the cap 3 from the first opening 5 of the guide tube 2 to the distal end, thereby realizing the separation of the guide tube 2 and the cap 3.

[0050] The disconnecting component is a heating wire 14, which is arranged along the contour of the mating surface of the guide cylinder 2. The guide cylinder 2 and the cap 3 have annular grooves 15 on their mating surfaces to accommodate the heating wire 14. A guide groove 16 is provided at the front end of one of the elongated slots 201 in the guide cylinder 2, communicating with the annular groove 15. The guide groove 16 guides the electrode wire of the heating wire 14 into the elongated slot 201. Extending along the elongated slot 201 and passing through the annular edge 401 of the fixing base 4, it is electrically connected to a circuit board 17 disposed on the rear end face of the fixing base 4. The circuit board 17... The circuit board 17 has a clearance hole for the main tube 10 and the auxiliary tube 11 to pass through. A battery is installed on the circuit board 17 as a power source. The battery is a miniature button battery. The mounting base 4 has a clearance hole on the annular edge 401 for the electrode wire of the heating wire 14 to pass through. The circuit board 17 is also equipped with a position sensor 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 know the position of the guide head inside the human body in real time. The position sensor is a miniature position sensor in the prior art.

[0051] The ejector includes a pusher post 19 and a pusher spring 20. The fixed base 4 has a hollow cylindrical connecting seat 21 on the front end face of the annular edge portion 401. The connecting seat 21 forms a receiving chamber to accommodate the pusher post 19 and the pusher spring 20. The connecting seat 21 has an opening at its front end that communicates with the receiving chamber. The pusher post 19 is movably installed in the connecting seat 21. The front end of the pusher post 19 extends out of the connecting seat 21 through the opening and abuts against the force-receiving portion 301 of the cap 3. One end of the pusher spring 20 abuts against the front end face of the annular edge portion 401 of the fixed base 4. The other end of the pusher spring 20 passes into the pusher post 19. The pusher post 19 has a spring cavity inside that allows the pusher spring 20 to pass through. When the guide cylinder 2 and the cap 3 are connected, the pusher spring 20 is in a compressed state.

[0052] In practice, before the guide head reaches the lesion, the cap 3 and the guide tube 2 remain connected. When the guide head reaches the lesion, the heating wire 14 is energized and heats up, the mating surfaces of the cap 3 and the guide tube 2 melt, the push spring 20 extends and releases its elastic force, pushing the force-bearing part 301 of the cap 3 out of the guide tube 2, so as to separate the cap 3 and the guide tube 2. In this embodiment, a heat-fusion butt welding method is used, the connection between the cap 3 and the guide tube 2 is tighter, avoiding gaps that could cause body fluid to seep into the guide head, eliminating the need for additional fastening structures, reducing the overall volume of the guide head, and the heating wire 14 is small, reducing space occupation, which is conducive to further reducing the overall volume of the guide head and reducing patient discomfort.

[0053] The force-bearing part 301 of the cap 3 is a protrusion extending from the cap opening of the cap 3. The outer wall of the protrusion and the mating surface of the cap 3 form an inverted L-shaped groove in cross section. When the guide tube 2 and the cap 3 are connected to each other, the front end of the guide tube 2 cooperates with the protrusion on the cap 3. The protrusion on the cap 3 extends into the first chamber of the guide tube 2. A gap is formed between the outer wall of the protrusion and the inner wall of the guide tube 2, so that when the separation device separates the cap 3 and the guide tube 2, friction between the protrusion and the guide tube 2 is avoided, ensuring that the cap 3 and the guide tube 2 separate smoothly from each other.

[0054] In this embodiment, at least two ejector components are provided, and each ejector component is separated by a distance to form at least two or more ejection action points. In this embodiment, two ejector components are used as an example for explanation. The two ejector components can form two separation action points, so that the guide tube 2 and the cap 3 are subjected to more balanced forces, and avoid the separation force generated by a single ejector component being too small or concentrated on one side, which would affect the separation of the cap 3 and the guide tube 2.

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

[0056] The magnetic guidance device is existing technology and includes a medical robotic arm 22 and a magnetic guidance head 23 connected to the medical robotic arm 22. The medical robotic arm 22 can drive the magnetic guidance head 23 to move along six degrees of freedom. Both the magnetic guidance head 23 and the medical robotic arm 22 are connected to a control terminal 18. By operating the control terminal 18, the magnetic field generated by the magnetic guidance head 23 can be adjusted, and by manipulating the medical robotic arm 22, the position of the magnetic guidance head 23 can be adjusted, thereby controlling the movement and direction of the guide head inside the human body.

[0057] The control terminal 18 includes a microprocessor and a data processing module. The microprocessor receives position data acquired by the position sensor and transmits the position data to the data processing module for analysis. The analyzed information is then presented on a display on the control terminal 18, allowing the doctor to operate the magnetic guidance device based on the presented guide head position information, thereby navigating the guide head that enters the human body. The control terminal 18 has an internal memory for storing CT images of the internal human structure. The microprocessor can match the received position data with the CT images of the internal human structure 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 scope of protection of the present invention. The implementation of the present invention is not limited thereto. All other modifications, substitutions or alterations made to the above structure of the present invention based on the above content of the present invention, in accordance with ordinary technical knowledge and common practice in the field, without departing from the basic technical idea of ​​the present invention, shall fall within the scope of protection of the present invention.

Claims

1. A twist mechanism of an electromagnetic navigation nephroscope, comprising a guide head with a magnetic driving device built-in, and a magnetic guide device which can magnetically cooperate with the magnetic driving device to drive the guide head to move in a human body; characterized in that, The guide head comprises a guide cylinder with a main channel and a secondary channel formed inside, and a cylinder cap detachably connected to the front end of the guide cylinder; the cylinder cap is axially separated from the guide cylinder by a separation device, so that the front ends of the main channel and the secondary channel are communicated; The guide cylinder is internally provided with a fixing seat which axially separates the inside of the guide cylinder into a first chamber and a second chamber, the main channel and the secondary channel are arranged on the fixing seat and communicate 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 cylinder, which drives the guide head to navigate the catheter of the nephroscope to the lesion site; The front end of the guide cylinder forms a first cylinder port communicating with the first chamber, and the rear end of the guide cylinder forms a second cylinder port communicating with the second chamber, the cylinder cap is connected to the first cylinder port at the front end of the guide cylinder, and the second cylinder port is used to connect the intervention end of the catheter; An annular flange is arranged on the inner cylinder wall of the guide cylinder near the second cylinder port, the annular flange is used to limit the installation of the magnetic driving 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 driving device in the second chamber of the guide cylinder, and the other end of the magnetic driving device abuts against the annular flange in the guide cylinder; The cylinder cap is provided with a stress receiving part on the inner wall, which can extend into the guide cylinder when the guide cylinder and the cylinder cap are mutually butted; the separation device comprises a disconnecting piece and an ejector; the disconnecting piece is arranged at the butting position of the guide cylinder and the cylinder cap; the ejector is arranged on the annular rim of the fixing seat and abuts against the bottom end of the stress receiving part of the cylinder cap when the guide cylinder and the cylinder cap are mutually butted, and the ejector is in a force-accumulating state.

2. The twist mechanism for an electromagnetic navigation nephroscope according to claim 1, wherein, The fixing seat is provided with an annular rim on the outer peripheral wall, the annular rim is provided with a plurality of clamping blocks on the outer peripheral side, and the clamping blocks are arranged at equal intervals in the circumferential direction of the annular rim; a plurality of elongated clamping grooves are arranged on the inner cylinder wall of the guide cylinder at the first cylinder port, 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 in the circumferential direction of the guide cylinder; the clamping blocks on the annular rim and the elongated clamping grooves in the guide cylinder are closely matched one by one.

3. The twist mechanism for an electromagnetic navigation nephroscope according to claim 2, wherein, The fixing seat is provided with a main through hole and a secondary through hole axially penetrating through the fixing seat, the fixing seat is provided with a main pipe body axially extended from the main through hole at the rear end face, and a secondary pipe body axially extended from the secondary through hole, the inner cavity of the main pipe body and the main through hole are communicated to form the main channel, and the inner cavity of the secondary pipe body and the secondary through hole are communicated to form the secondary channel.

4. The twist mechanism for an electromagnetic navigation nephroscope according to claim 3, characterized in that, The end of the main pipe body axially extends through the magnetic driving device and extends to the second cylinder port of the guide cylinder to communicate with the main pipe cavity of the catheter; the end of the secondary pipe body axially extends through the magnetic driving device and extends to the second cylinder port of the guide cylinder to communicate with the secondary pipe cavity of the catheter; The magnetic driving device has a relief hole for the main pipe body and the secondary pipe body to extend through.

5. The twist mechanism for an electromagnetic navigation nephroscope according to claim 4, wherein, The disconnecting piece is a heating wire arranged along the abutting surface profile of the guide cylinder, the guide cylinder and the cylinder cap are provided with an annular groove capable of embedding the heating wire on the abutting surface, a guide groove communicating with the annular groove is arranged at the front end of one of the long clamping grooves of the guide cylinder, the guide groove is used to guide the electrode wire of the heating wire into the long clamping groove, and the electrode wire extends along the long clamping groove, passes through the annular rim part of the fixing seat, and is electrically connected to the circuit board arranged on the rear end surface of the fixing seat; the circuit board is provided with a battery and a position sensor, the position sensor is used to obtain the position data of the guide head and send the position data to the control terminal outside the human body.

6. The twist mechanism for an electromagnetic navigation nephroscope according to claim 5, wherein, The ejecting piece includes a top column and a pushing spring, the fixing seat is provided with a connecting seat forming an accommodating cavity at the front end surface of the annular rim part, the top column and the pushing spring are accommodated in the accommodating cavity, and the connecting seat is provided with an opening communicating with the accommodating cavity at the front end; the top column is movably installed in the connecting seat, the front end of the top column extends out of the connecting seat to abut against the stress part of the cylinder cap through the opening; one end of the pushing spring abuts against the front end surface of the annular rim part of the fixing seat, and the other end of the pushing spring penetrates into the top column, and the inside of the top column is provided with a spring cavity capable of penetrating the pushing spring; when the guide cylinder and the cylinder cap are mutually abutted, the pushing spring is in a compressed state.

Images