A flexible high-degree-of-freedom intracavitary injection system for cystoscope

Abstract

The present invention relates to the technical field of surgical operations, and discloses a flexible high-degree-of-freedom intracavitary injection system for cystoscopes, which includes an imaging unit, an outer layer tunnel unit, an adaptive bending injection tube unit, an injector strengthening unit, a micro-thread torsion unit, and an angle adjustment code disc unit. Through the flexible high-degree-of-freedom intracavitary injection system under cystoscopes, the present invention can efficiently and highly accurately complete the precise injection of drugs in the bladder cavity and the narrow urethra area, reduce the risk of accidental puncture injury, and improve the drug targeting precision injection effect under cystoscope surgery.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical operations, and specifically to a flexible high-degree-of-freedom intracystoscopic injection system for cystoscopes. Background Art

[0002] The cystoscope is one of the commonly used examinations in urology, and can be used to detect lesions in the bladder, clarify the cause of hematuria, and conduct postoperative reexaminations for bladder tumors. In the early cystoscope rigid system, due to the rigidity of the insertion part, there are blind spots inside the bladder. It is necessary to swing the tail of the rigid cystoscope as much as possible, or press the bladder to minimize the formation of dead angles, which is not friendly to the urethra and common urethral injuries are obvious, especially in male patients. After evolution and development, the current flexible cystoscope system has a soft body, a relatively thin diameter, and can be bent to avoid examination blind spots.

[0003] The cystoscope provides convenience for imaging examinations in the body cavity, but there is currently no injection device under the cystoscope. When medical staff try to inject botulinum toxin under the guidance of a cystoscope or with the help of a traditional syringe, it has been found that there are surgical inconveniences, that is, it is impossible to control the injection dose and there is also a risk of contaminating the surgical area due to complex operations. At the same time, the traditional syringe needle cannot adapt to the urethral structure and cannot complete the injection of botulinum toxin in the urethral area. Facing the application needs of the vast patient group, the above clinical problems need to be solved urgently.

[0004] In summary, in order to solve the problem of precise quantitative injection of drugs in the bladder cavity and the urethral stricture area, the present invention proposes a flexible high-degree-of-freedom intracystoscopic injection system for cystoscopes. Summary of the Invention

[0005] The purpose of the present invention is to provide a flexible high-degree-of-freedom intracystoscopic injection system for cystoscopes to solve the problems raised in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A flexible high-degree-of-freedom intracystoscopic injection system for cystoscopes, comprising an imaging unit, an outer tunnel unit, an adaptive bending injection tube unit, an injector strengthening unit, a micro-thread torsion unit, and an angle adjustment code disk unit;

[0007] The imaging unit is used to present an independent blood vessel image after removing surrounding tissues in the visual area of the operator.

[0008] The outer tunnel unit is set as an independent spatial area distributed on the outer layer of the imaging unit. The outer tunnel unit is distributed with a whole circle of micro-structured teeth, and the action direction of the micro-structured teeth can be changed by the regulation of the operator end, so as to realize the clockwise, counterclockwise movement or fixation of the injector in the outer tunnel unit at a certain place, and is used to provide a physical movement space for the injector.

[0009] An adaptive bending injection tube unit, which is set as an injection tube with a freely adjustable bending degree, a controllable traveling direction, and an adjustable structural rigidity in a local area of the injection tube. This injection tube is independent of the imaging unit and is distributed in the outer tunnel unit. The operator can adjust the traveling angle and bending direction of the injection tube to adapt to the narrow urethral area and the area within the bladder cavity. After reaching the target area, the operator can control the structural rigidity of the front section of the injection tube to facilitate piercing into the tissue structure of the area to be injected. After the injection is completed, the operator can control the structural rigidity of the front section of the injection tube to release the force and become a flexible body for easy removal from the cavity. The adaptive bending injection tube can travel to the same level as the imaging unit or beyond the imaging unit, and can freely and flexibly adjust its structure within the field of view covered by the imaging unit to achieve force matching with the tissue of the area to be injected.

[0010] An injector strengthening unit, which is used to enhance the structural rigidity of the front section of the injection tube to facilitate effective puncture injection from any perspective.

[0011] A micro-thread torsion unit, which is used to realize the force fulcrum of the injection tube entering the cavity tissue controlled by the operator. The micro-thread torsion unit is connected to the spiral spring structure in the injector strengthening unit, and the force angle θ of the spiral spring structure is controlled by adjusting the micro-thread torsion value at the operator end.

[0012] An angle adjustment code disk unit, which is set as a 360-degree angle-adjustable code disk controlled by the operator. The micro-structured teeth distributed in the outer tunnel unit are controlled by turning the code disk.

[0013] As a further solution of the present invention: The imaging unit is set as a micro-image sensor with a wide-angle imaging and horizontal image correction function.

[0014] As a further solution of the present invention: The traveling angle is 0 - 360°, and the bending direction is 0 - 90°.

[0015] As a further solution of the present invention: The tip of the injection tube is set as a short-sized flexible soft needle.

[0016] As a further solution of the present invention: The injector strengthening unit is set as a spiral spring structure, and the contraction or release of the spiral spring in this area is controlled by the operator to achieve force strengthening and force release.

[0017] As a further solution of the present invention: There is a limit lock between the spring coils of the spiral spring structure, which is used to prevent irreversible deformation of the spiral spring structure due to excessive contraction and prevent unexpected displacement of the force-bearing structure at the front section of the injector caused by accidental release at the operator end, belonging to a double-insurance design.

[0018] As a further solution of the present invention: The syringe intensifying unit is provided with a liquid quantitative measurement sensor for measuring the injection dose. This measurement sensor is as close as possible to the front end of the injection, and the deviation from the theoretical injection dose is extremely small, effectively solving the problem that the traditional injection catheter calibrates the injection dose at the distal end while the residual loss in the injection pipeline is relatively large, resulting in a decrease in the dose injected into the target tissue, especially for drugs that require precise injection.

[0019] As a further solution of the present invention: The minimum adjustment angle of the code disk is 1 degree, and it can be adjusted clockwise, counterclockwise, or fixed in a limited position by adjusting to a suitable position. The result of the operator-side control is directly mapped to the front end of the injection tube.

[0020] As a further solution of the present invention: The micro-structured teeth are set as an up-and-down moving structure. When the operator-side rotates 1 degree in a certain direction, the micro-structured teeth along this direction will move down by one tooth position, and at the same time, the original micro-structured tooth position will automatically pop out.

[0021] Compared with the prior art, the beneficial effects of the present invention are: Through the imaging assistance of the flexible cystoscope, combined with functions such as an adaptive bending injection tube, angle control, force control, and quantitative monitoring, it can adapt to the precise injection of drugs in a complex cavity environment, reduce the risk of accidental puncture injury, and improve the drug targeting and precise injection effect under cystoscopic surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a block diagram of the system composition of the present invention;

[0023] Figure 2 It is a cross-sectional view of the intracavitary injection system of the present invention;

[0024] Figure 3 It is a moving diagram of the injection tube in the tunnel unit of the present invention;

[0025] Figure 4 It is a cystoscope intracavitary injection system diagram of the present invention;

[0026] Figure 5 It is a schematic diagram of the cystoscope intracavitary injection system of the present invention passing through the urethra;

[0027] Figure 6 It is an application diagram of the injection system of the present invention in the straight section of the urethra;

[0028] Figure 7 It is an application diagram of the injection system of the present invention in the corner section of the urethra;

[0029] Figure 8 It is a schematic diagram of the application of the injection system of the present invention at the inner wall of the bladder and the non-anastomosis state of the blood vessels on the inner wall of the bladder;

[0030] Figure 9Schematic diagram of the application of the injection system of the present invention at the inner wall of the bladder and the anastomosis state of the blood vessels on the inner wall of the bladder;

[0031] Figure 10-1 Schematic diagram of the application of the injection system of the present invention in the bladder cavity and the application of the injection tube exceeding the imaging unit;

[0032] Figure 10-2 Schematic diagram of the application of the injection system of the present invention in the bladder cavity and the adjustment of the injection angle;

[0033] Figure 10-3 Schematic diagram of the application of the injection system of the present invention in the bladder cavity and the adjustment of the free bending of the injection tube.

[0034] Wherein: imaging unit 10, outer tunnel unit 20, adaptive bending injection tube unit 30, injector strengthening unit 40, micro-thread torsion unit 50, angle control code disk unit 60. Detailed implementation manners

[0035] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0036] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise stated, the meaning of "a plurality" is two or more.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "mounted", "connected", "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

[0038] The present invention will be described in detail below with reference to the drawings and in combination with embodiments.

[0039] Please refer to Figures 1 - 10-3 Figures 1 - 10-3 , a flexible high-degree-of-freedom intracystoscopic injection system, including an imaging unit 10, an outer tunnel unit 20, an adaptive bending injection tube unit 30, an injector strengthening unit 40, a micro-thread torsion unit 50, and an angle control code disc unit 60;

[0040] The imaging unit 10 is used to present an independent blood vessel image after removing surrounding tissues in the surgeon's visual area, so that the surgeon can judge the situation of the surgical area;

[0041] The outer tunnel unit 20 is set as an independent spatial area distributed on the outer layer of the imaging unit 10. The outer tunnel unit 20 is distributed with a full circle of micro-structured teeth. The movement direction of the micro-structured teeth can be changed by the control of the surgeon's end, so as to realize the clockwise, counterclockwise movement of the injector in the outer tunnel unit 20 or be fixed at a certain place to prevent movement, and is used to provide a physical movement space for the injector;

[0042] The adaptive bending injection tube unit 30 is set as an injection tube with a freely adjustable bending degree, a controllable traveling direction, and an adjustable structural rigidity in a local area of the injection tube. The injection tube is independent of the imaging unit 10 and is distributed in the outer tunnel unit 20. The traveling angle and bending direction of the injection tube are controlled by the surgeon's end to adapt to the narrow urethral area and the intravesical area; after reaching the target area, the structural rigidity of the front section of the injection tube can be controlled by the surgeon's end to facilitate piercing into the tissue structure of the area to be injected. After the injection is completed, the structural rigidity of the front section of the injection tube can be controlled by the surgeon's end to release the force and become a flexible body to facilitate removal from the cavity;

[0043] The injector strengthening unit 40 is used to enhance the structural rigidity of the front section of the injection tube to facilitate effective puncture injection at any angle;

[0044] The micro-thread torsion unit 50 is used to realize the force fulcrum of the injection tube entering the cavity tissue controlled by the surgeon's end. The micro-thread torsion unit 50 is connected to the spiral spring structure in the injector strengthening unit 40, and the force angle θ of the spiral spring structure is controlled by adjusting the micro-thread torsion value at the surgeon's end;

[0045] The angle control code disc unit 60 is set as a 360-degree angle-adjustable code disc controlled by the surgeon's end, and the micro-structured teeth distributed in the outer tunnel unit 20 are controlled by screwing the code disc.

[0046] In the embodiment of the present invention, the imaging unit 10 is set as a micro-image sensor with wide-angle imaging and horizontal image correction functions, and also has automatic blood vessel image marking and segmentation functions.

[0047] In an example of the present invention, the traveling angle is 0-360°, and the bending direction is 0-90°;

[0048] The injection tube advances to a level flush with the imaging unit 10 or beyond the imaging unit 10, and freely and flexibly adjusts the structure within the field of view coverage area of the imaging unit 10 to achieve a force fit with the tissue in the area to be injected.

[0049] The tip of the injection tube is provided with a short-sized flexible soft needle, which can easily puncture the tissue in the cavity and avoid unexpected bending of the needle due to the excessive length of the soft needle.

[0050] As an example of the present invention, the injector strengthening unit 40 is provided as a spiral spring structure, and the contraction or release of the spiral spring in this section is controlled by the operator end to achieve force strengthening and force release.

[0051] Specifically, a limit lock is provided between the coils of the spiral spring structure to prevent irreversible deformation of the spiral spring structure due to excessive contraction, and to avoid unexpected displacement of the force-bearing structure at the front section of the injector due to accidental release at the operator end. This belongs to a double-insurance design.

[0052] The injector strengthening unit 40 is provided with a liquid quantitative measurement sensor to accurately measure the injection dose. Since this measurement sensor is as close as possible to the injection front end, the deviation from the theoretical injection dose is extremely small, effectively solving the problem that the residual loss in the injection pipeline is large when calibrating the injection dose at the distal end of the traditional injection catheter, resulting in a reduction in the dose injected into the target tissue, especially for drugs that require precise injection.

[0053] As an example of the present invention, the minimum adjustment angle of the code disk is 1 degree, which can achieve clockwise adjustment, counterclockwise adjustment or limit fixation to a suitable position. The result of the operator-end control is directly mapped to the front end of the injection tube, and the two are mechanical force-bearing structures without a delay effect.

[0054] The micro-structured teeth are set as an up-and-down moving structure. When the operator end rotates 1 degree in a certain direction, the micro-structured teeth in that direction will move down one tooth position, and at the same time, the original micro-structured tooth position will automatically pop out.

[0055] The implementation process of this system is as follows: The micro-image sensor images the cavity tissue and presents an independent blood vessel image after removing the surrounding tissue in the surgeon's visual area, so that the surgeon can judge the situation of the surgical area. Then, the outer tunnel unit 20 provides physical movement space for the injector. Then, the surgeon adjusts the advancing angle and bending direction of the injection tube to adapt to the narrow urethral area and the area within the bladder cavity. The injector strengthening unit 40 enhances the structural rigidity of the front section of the injection tube, enabling effective puncture and injection at any viewing angle. Then, with the help of measurement sensing, the injection dose is measured. Then, the micro-thread torsion value is adjusted through the surgeon's terminal to control the adjustment of the force angle θ [0 - 90°] of the helical spring structure. Finally, by turning the angle dial, the micro-structured teeth distributed in the outer tunnel unit are manipulated to make clockwise adjustment, counterclockwise adjustment, or limit fixation to an appropriate position, ultimately achieving precise drug injection in a complex cavity environment and reducing the risk of accidental puncture injury.

[0056] The above has described the preferred embodiments of the present invention in detail. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can be made without departing from the gist of the present invention.

Claims

1. A flexible high-degree-of-freedom intracavitary injection system for cystoscope, characterized in that It includes an imaging unit (10), an outer layer tunnel unit (20), an adaptive bending injection tube unit (30), an injector strengthening unit (40), a micro-thread torsion unit (50), and an angle control code disk unit (60); The imaging unit (10) is used to present an independent blood vessel image after removing surrounding tissues in the operator's visual area; The outer layer tunnel unit (20) is set as an independent spatial area distributed on the outer layer of the imaging unit (10). A whole circle of micro-structured teeth is distributed on the outer layer tunnel unit (20). The action direction of the micro-structured teeth is changed by the control of the operator's end, and it is used to provide a physical movement space for the injector; The adaptive bending injection tube unit (30) is set as an injection tube with a freely adjustable bending degree, a controllable advancing direction, and an adjustable structural rigidity in a local area of the injection tube. The injection tube is independent of the imaging unit (10) and is distributed in the outer layer tunnel unit (20). The advancing angle and bending direction of the injection tube are controlled by the operator's end, and it is used to adapt to narrow urethral regions and regions within the bladder cavity; The injector strengthening unit (40) is used to enhance the structural rigidity of the front section of the injection tube. The injector strengthening unit (40) is set as a spiral spring structure, and the contraction or release of the spiral spring is controlled by the operator's end to achieve force strengthening and force release; The micro-thread torsion unit (50) is used to control the force fulcrum of the injection tube entering the cavity tissue by the operator's end. The micro-thread torsion unit (50) is connected to the spiral spring structure in the injector strengthening unit (40), and the force angle θ of the spiral spring structure is controlled by adjusting the micro-thread torsion value by the operator's end; The angle control code disk unit (60) is set as a 360-degree angle-adjustable code disk controlled by the operator's end, and the micro-structured teeth distributed in the outer layer tunnel unit (20) are controlled by turning the code disk; The minimum adjustment angle of the code disk is 1 degree, and it can be adjusted clockwise, counterclockwise, or fixed in a limited position to a suitable position. The result of the operator's end control is directly mapped to the front end of the injection tube; The micro-structured teeth are set as an up-and-down moving structure. When the operator's end turns 1 degree in a certain direction, the micro-structured teeth along that direction will move down one tooth position, and at the same time, the original micro-structured tooth position will automatically pop out.

2. The flexible high-degree-of-freedom intracystoscope injection system according to claim 1, wherein The imaging unit (10) is set as a micro-image sensor with wide-angle imaging and horizontal image correction functions, and has an automatic blood vessel image marking and segmentation function.

3. The flexible high-degree-of-freedom intracystoscopic injection system according to claim 1, characterized in that, The advancing angle is 0 - 360°, and the bending direction is 0 - 90°.

4. A flexible high-degree-of-freedom intracystoscopic injection system according to claim 1, characterized in that, The tip of the injection tube is set as a short-sized flexible soft needle.

5. A flexible high-degree-of-freedom intracystoscopic injection system according to claim 1, wherein There is a limit lock between the spring coils of the spiral spring structure to prevent irreversible deformation of the spiral spring structure due to excessive contraction.

6. The flexible high-degree-of-freedom intracystoscopic injection system according to claim 1, characterized in that, The injector strengthening unit (40) is provided with a liquid quantitative measurement sensor to measure the injection dose. The measurement sensor is close to the injection front end to accurately measure the actual dose injected into the target tissue.

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