Multi-stage adjustable insertion tube, endoscope device and surgical robot

Abstract

The invention discloses a multi-stage adjustable and controllable insertion tube, an endoscope device and a surgical robotic.The multi-stage adjustable and controllable insertion tube comprises a plurality of sheathing canals which are sequentially connected in a sleeved mode from inside to outside; the sheath tube on the inner side has a first state of being accommodated in the sheath tube on the outer side and a second state of movably extending forwards from the sheath tube on the outer side; each sheathing canal comprises an inner sheathing canal and at least two outer sheathing canals located on the outer side of the inner sheathing canal, an imaging module is arranged at the front end of the inner sheathing canal, the imaging module is provided with a forward imaging surface, and in a first state, the imaging surface retracts into at least one outer sheathing canal. According to the invention, at least three different insertion outer diameters can be formed by the single insertion pipe fitting, so that the insertion pipe fitting can be flexibly adapted to air passages with at least three sizes. The retraction of the imaging surface can prevent blood and the like in the body of the patient from being adsorbed on the imaging surface, and the diagnosis and treatment reliability of the endoscope device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and particularly relates to a multi-stage adjustable insertion tube, an endoscope device and a surgical robot. Background Art

[0002] A bronchial endoscope device is a medical device used to observe the internal structure of the airway, diagnose and treat respiratory diseases. It enters the airway through the natural cavity, can directly examine the lesions of the trachea, bronchi and lungs, and supports operations such as biopsy and interventional treatment.

[0003] Since there are airways of various sizes in the bronchus, in order to better target the treatment of airways of various sizes, existing bronchial endoscope devices generally have specially designed insertion tubes of different specifications for airways of different sizes. However, this obviously increases the inconvenience of operation during the diagnosis and treatment process. Summary of the Invention

[0004] The main object of the present invention is to propose a multi-stage adjustable insertion tube, an endoscope device and a surgical robot, aiming to solve the problem that traditional bronchial endoscope devices cannot be used for airways of different sizes, resulting in inconvenient operation.

[0005] To achieve the above object, a multi-stage adjustable insertion tube proposed by the present invention includes a plurality of sheaths sleeved with each other from inside to outside in sequence. In each adjacent pair of the sheaths, the inner sheath has a first state of being received in the outer sheath and a second state of moving forward and extending out of the outer sheath.

[0006] Wherein, each sheath includes an inner sheath and at least two outer sheaths located outside the inner sheath. An imaging module is provided at the front end of the inner sheath, and the imaging module has an imaging surface facing forward. In the first state, the imaging surface retracts into at least one of the outer sheaths.

[0007] Optionally, in the first state, the outer sheath includes a front tube section located on the front side of the imaging surface and a rear tube section located on the rear side of the imaging surface.

[0008] The front tube section includes a first tube wall section and a second tube wall section arranged in sequence along its circumferential direction. The first tube wall section is adjacent to the imaging surface and is made of a transparent material, and the central angle of the first tube wall section is not less than 90°.

[0009] Optionally, the outer sheath includes:

[0010] A tube body, with a front end of the tube body recessed backward locally to form a notch, such that a tube section of the tube body located behind the notch constitutes the rear tube section, and a tube wall section of the tube body located on a radial side of the notch constitutes the second tube wall section; and,

[0011] A transparent plate member, including a body inserted into the notch, and extension protrusions protruding from the front end of the body toward both circumferential sides respectively. The extension protrusions cover a local front end of the second tube wall section, and a front end surface of the extension protrusions is arranged in a convex arc shape. At least the body of the transparent plate member constitutes the first tube wall section.

[0012] Optionally, the outer sheath tube is provided with a liquid passage penetrating in the front-rear direction, and the liquid passage is opened at the second tube wall section;

[0013] The multi-stage adjustable insertion tube further includes seat bodies installed at the rear ends of the respective sheath tubes, and the liquid passage penetrates backward through side walls of the seat bodies.

[0014] Optionally, each of the outer sheath tubes is respectively provided with the liquid passage;

[0015] There are at least two seat bodies corresponding to the respective liquid passages one by one, and the seat bodies are sequentially connected to the rear ends of the respective sheath tubes in the front-rear direction, so that the respective liquid passages are independent of each other.

[0016] Optionally, one of each adjacent two sheath tubes is provided with a first connection portion, and the other is provided with a first docking portion. In the first state, the first connection portion and the first docking portion are detachably connected;

[0017] The first connection portion and the first docking portion are mechanically connected and can be separated when an external force is not less than a preset threshold; and / or,

[0018] The first connection portion and the first docking portion are electrically controlled and connected and can be separated when a preset electrical signal is received.

[0019] Optionally, the first connection portion and the first docking portion are respectively a magnetic adsorption member and a magnetic cooperation member that can be magnetically adsorbed.

[0020] Optionally, at least one of the sheath tubes is made of a flexible and bendable material, and a traction channel is opened in the sheath tube in the front-rear direction. There are four traction channels, and among the four traction channels, two traction channels are respectively arranged on both sides of the sheath tube in one radial direction, and the remaining two traction channels are respectively arranged on both sides of the sheath tube in the other radial direction;

[0021] The multi-stage adjustable insertion tube further includes four traction wires, and the four traction wires are respectively arranged at the four traction channels in a one-to-one correspondence. The front end of each traction wire is fixedly connected to the sheath tube, and the rear end is used to connect to an external driving component so as to move back and forth under the drive of the external driving component, driving the sheath tube to be bent and deformed toward the corresponding side.

[0022] Optionally, the inner sheath tube further includes:

[0023] An inner tube body, which is arranged along the front-back direction;

[0024] An imaging device, including a mounting seat and the imaging module received in the mounting seat. The mounting seat is fixedly arranged at the front end of the inner tube body, and the imaging surface of the imaging module faces forward and is exposed; and,

[0025] A sleeve, which is sleeved on the inner tube body in a movably adjustable manner along the front-back direction, and the hardness of the sleeve is greater than that of the inner tube body.

[0026] In addition, to achieve the above object, the present invention further provides an endoscope device, including an operating component and the multi-stage adjustable insertion tube as described above.

[0027] In addition, to achieve the above object, the present invention further provides a surgical robot, which includes the endoscope device as described above.

[0028] In the technical solution provided by the present invention, multiple sheath tubes are sleeved inside and outside each other and can be flexibly switched between the first state and the second state, which enables a single insertion tube to form at least three different insertion outer diameters, helps to flexibly adapt to at least three sizes of airways, and does not require at least three additional insertion tubes, making the overall structure of the endoscope device more versatile. In addition, in the first state, the imaging surface retracts inside the outer sheath tube, which can prevent blood stains and the like in the patient's body from being adsorbed on the imaging surface. Thus, it can prevent problems such as affecting the imaging field of view and reducing the imaging quality when the imaging surface is not easy to be flushed in time. The present invention helps to improve the diagnosis and treatment reliability of the endoscope device. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0030] Figure 1 It is a three-dimensional schematic diagram of an embodiment of the multi-stage adjustable insertion tube provided by the present invention;

[0031] Figure 2 is Figure 1 The enlarged structural schematic diagram of part A in

[0032] Figure 3 is Figure 1 The axial schematic diagram of the multi-stage adjustable insertion tube in

[0033] Figure 4 is Figure 1 The three-dimensional schematic diagram of the outer sheath tube in

[0034] Figure 5 is Figure 4 The front-end structural schematic diagram of the outer sheath tube in , where the transparent plate is assembled to the tube body;

[0035] Figure 6 is Figure 4 The front-end structural schematic diagram of the outer sheath tube in , where the transparent plate is not assembled to the tube body;

[0036] Figure 7 is Figure 1 The three-dimensional schematic diagram of the inner tube body and the imaging device in the inner sheath tube of

[0037] Figure 8 is Figure 7 The enlarged structural schematic diagram of part B in

[0038] Figure 9 is Figure 7 The axial schematic diagram of the inner tube body and the imaging device installed on the second tube monomer in

[0039] Figure 10 is Figure 7 The axial schematic diagram of the inner tube body and the imaging device not installed on the second tube monomer in .

[0040] Explanation of the reference numerals in the drawings:

[0041] 100 Inner sheath tube; 110 Inner tube body; 120 Imaging device; 121 Mounting seat; 122 Imaging module; 130 Sleeve; 141 Second connecting part; 142 Second docking part; 150 First tube monomer; 160 Second tube monomer; 200a First outer sheath tube; 200b Second outer sheath tube; 201 Front tube section; 201a First tube wall section; 201b Second tube wall section; 202 Rear tube section; 203 Wiring channel; 204 Liquid passage; 205 Operation channel; 206 Traction channel; 210 Tube body; 211 Notch; 220 Transparent plate; 221 Body; 222 Extension protrusion; 223 Insertion protrusion; 224 Avoidance opening; 231 First connecting part; 232 First docking part; 310 First seat body; 320 Second seat body; 400 Traction wire.

[0042] The implementation, functional features and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0045] In addition, if there are descriptions such as "first", "second", etc. involved in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution where A and B are satisfied simultaneously. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0046] Please refer to Figures 1 to 10 , the present invention provides a multi-stage adjustable insertion tube (hereinafter simply referred to as an insertion tube component) and an endoscopic device and a surgical robot to which it is applied.

[0047] An endoscopic device generally includes an operating component and an insertion tube component. For the convenience of understanding, in the following embodiments, it is described by taking the endoscopic device having a forward and a backward direction as an example. The insertion tube component extends along the front-back direction and is installed at the front end of the operating component. When actually performing an interventional diagnosis and treatment operation, at least the front section of the insertion tube component intervenes into the patient's body. The operating component is externally placed and can be held and operated by an operator.

[0048] Among them, the inserted pipe fitting is generally at least partially arranged to be bendable and adjustable, forming a bent section. It can be understood that the bending characteristics of the bent section can be directly defined by the material. That is, for example, at least the bent section of the inserted pipe fitting can be made of a flexible and bendable material. Or further, at least the bent section of the inserted pipe fitting can be made of an elastic and bendable material. Of course, the bending characteristics of the bent section can also be defined by a special structure. That is, for example, at least the bent section of the inserted pipe fitting can be composed of two single components that are movably hinged.

[0049] The bending movement of the inserted pipe fitting can be obtained by driving of a traction mechanism. Specifically, the traction mechanism can include a traction wire 400 and a wire reel. Correspondingly, the inserted pipe fitting is provided with a traction channel 206 that extends backward at least from the bent section. The front section of the traction wire 400 is movably arranged at the traction channel 206. The front end of the traction wire 400 is fixedly connected to the side wall of the bent section. The rear section of the traction wire 400 is fixedly connected to the wire reel. In this way, when the operator manually operates or automatically drives the wire reel to rotate around its own axis based on a specific electronic control component, the traction wire 400 can be driven to perform a winding stroke or a release stroke. In the winding stroke, the traction wire 400 has a backward acting force, which can drive the corresponding side of the bent section to be stressed, so as to achieve the purpose of bending deformation of the bent section. On the contrary, in the release stroke, the backward acting force of the traction wire 400 is cancelled, and the bent section can be reset under the action of, for example, an elastic restoring force. Or the traction wire 400 has a forward acting force, and this acting force drives the bent section to reset.

[0050] It should be noted that the above inserted pipe fitting can perform one-way bending or at least two-way bending. Among them, when the inserted pipe fitting can specifically perform two-way bending, it can be two-way bending arranged in opposite directions on the same radial direction of the inserted pipe fitting.

[0051] When the inserted pipe fitting can specifically perform four-way bending, specifically in an embodiment, at least one sheath is made of a flexible and bendable material. The sheath is provided with four traction channels 206 extending in the front-rear direction. Among the four traction channels 206, two traction channels 206 are respectively arranged on both sides of the sheath in the first radial direction, and the remaining two traction channels 206 are respectively arranged on both sides of the sheath in the second radial direction. The multi-stage adjustable insertion tube further includes four traction wires 400, and the four traction wires 400 are respectively arranged at the four traction channels 206 in a one-to-one correspondence. And the front end of each traction wire 400 is fixedly connected to the sheath, and the rear end is used to connect an external driving component, so as to move back and forth under the driving of the external driving component, driving the sheath to be bendable and deformed toward the corresponding side. The first radial direction and the second radial direction are at least crosswise arranged. And further, the first radial direction and the second radial direction can be substantially perpendicular to each other.

[0052] Specifically, please refer to Figures 1 to 10, The multi-stage adjustable insertion tube includes a plurality of sheaths sleeved from the inside to the outside in sequence. Among every two adjacent sheaths, the inner sheath has a first state of being received inside the outer sheath and a second state of moving forward and protruding from inside the outer sheath.

[0053] Among them, each sheath includes an inner sheath 100 and at least two outer sheaths located outside the inner sheath 100. An imaging module 122 is provided at the front end of the inner sheath 100. The imaging module 122 has an imaging surface facing forward. In the first state, the imaging surface retracts inside at least one outer sheath.

[0054] In the technical solution provided by the present invention, a plurality of sheaths are sleeved inside and outside and can be flexibly switched between the first state and the second state, which enables a single insertion tube to form at least three different insertion outer diameters, helps to flexibly adapt to at least three sizes of airways, and there is no need to additionally provide at least three insertion tubes, making the overall structure of the endoscope device more general. In addition, the imaging surface in the first state retracts inside the outer sheath, which can prevent blood stains and the like in the patient's body from being adsorbed on the imaging surface. Thus, it can prevent problems such as affecting the imaging field of view and reducing the imaging quality when, for example, the imaging surface is not convenient to be rinsed in time. The present invention helps to improve the diagnosis and treatment reliability of the endoscope device.

[0055] It can be understood that each sheath is generally provided with an operation channel 205 running through in the front-back direction. The operation channel 205 can be penetrated by, for example, diagnostic and treatment instruments. Among every two adjacent sheaths, the inner sheath movably penetrates at the operation channel 205 of the outer sheath.

[0056] The front-back movement of the inner sheath relative to the outer sheath can be directly realized by manual operation of the operator. Or in an embodiment, the endoscope device further includes a driving mechanism, which is provided on the operation component and connected to each sheath to drive each sheath to switch between the first state and the second state. In this way, with the help of the driving mechanism, the front-back movement of each sheath can be controlled and adjusted more precisely.

[0057] Please refer to Figures 1 to 3 、and Figures 7 to 10 , The following will specifically describe the inner sheath 100.

[0058] The inner sheath 100 may include an inner tube body 110 and an imaging device 120. Among them, the inner tube body 110 extends in the front-back direction. And at least a partial tube section of the inner tube body 110 is made of a flexible and bendable material so that the inner tube body 110 can be bent and deformed. The imaging device 120 includes a mounting base 121 and an imaging module 122 received in the mounting base 121. The mounting base 121 is fixedly provided at the front end of the inner tube body 110. And the imaging surface of the imaging module 122 is exposed forward.

[0059] It can be understood that the inner tube body 110 and the imaging device 120 can directly form the overall structure of the inner sheath tube 100 and are movably inserted into the outer sheath tube.

[0060] Or in a further solution, the inner sheath tube 100 further includes a first tube unit 150 and a second tube unit 160 arranged side by side. The first tube unit 150 is provided with an operation channel 205 penetrating in the front-rear direction, and the second tube unit 160 is provided with a wire routing channel 203 penetrating in the front-rear direction. The wire routing channel 203 is for installing the inner tube body 110 and the imaging device 120 and for the cable of the imaging module 122 to pass through.

[0061] The first tube unit 150 and the second tube unit 160 can be integrally formed. At this time, the first tube unit 150 and the second tube unit 160 are fixedly connected inseparably. According to actual needs, when the inner sheath tube 100 is in the second state, specifically, the first tube unit 150, the second tube unit 160, the imaging device 120, and the inner tube body 110 can jointly extend forward from the outer sheath tube. Or it can also be that only the imaging device 120 and the inner tube body 110 jointly extend forward from the outer sheath tube, and the first tube unit 150 and the second tube unit 160 remain accommodated in the outer sheath tube.

[0062] Of course, the first tube unit 150 and the second tube unit 160 can be separately formed and obtained after being detachably or non-detachably connected. When the first tube unit 150 and the second tube unit 160 are non-detachably connected, the above can be specifically referred to. When the first tube unit 150 and the second tube unit 160 are detachably connected, that is, the first tube unit 150 and the second tube unit 160 have a separated state and a connected state.

[0063] When in the connected state, similarly to the above, if the inner sheath tube 100 is in the second state, specifically, the first tube unit 150, the second tube unit 160, the imaging device 120, and the inner tube body 110 can jointly extend forward from the outer sheath tube. Or it can also be that only the imaging device 120 and the inner tube body 110 jointly extend forward from the outer sheath tube, and the first tube unit 150 and the second tube unit 160 remain accommodated in the outer sheath tube.

[0064] When in the separated state, if the inner sheath tube 100 is in the second state, specifically, the first tube monomer 150, the second tube monomer 160, the imaging device 120, and the inner tube body 110 may jointly extend forward from the outer sheath tube. Or it may also be that only the imaging device 120 and the inner tube body 110 jointly extend forward from the outer sheath tube, and the first tube monomer 150 and the second tube monomer 160 are maintained in the outer sheath tube. Or it may also be that the first tube monomer 150 extends forward from the outer sheath tube; the second tube monomer 160, the inner tube body 110, and the imaging device 120 are jointly maintained in the outer sheath tube. Or it may also be that the second tube monomer 160, the inner tube body 110, and the imaging device 120 jointly extend forward from the outer sheath tube; the first tube monomer 150 is maintained in the outer sheath tube.

[0065] Furthermore, the inner sheath tube 100 may further include a sleeve 130. The sleeve 130 is sleeved on the inner tube body 110 in a movable and adjustable manner along the front-back direction. Among them, the hardness of the sleeve 130 is greater than that of the inner tube body 110. By adjusting the sleeve 130 to move forward relative to the inner tube body 110 to be close to the mounting seat 121, the sleeve 130 completely sleeves the inner tube body 110. With the greater hardness of the sleeve 130, it helps to appropriately enhance the hardness of the overall sheath tube in the current state, facilitating further exploration after the sheath tube reaches the limit position. On the contrary, by adjusting the sleeve 130 to move backward relative to the inner tube body 110 to be away from the mounting seat 121, the inner tube body 110 is directly exposed. With the softness of the inner tube body 110 itself, it helps to appropriately enhance the softness of the overall sheath tube in the current state, facilitating the sheath tube to bend and deform according to the airway environment. The sheath tube provided in this application can adjust the softness and hardness, and the adjustment process is flexible and efficient, which helps to be applicable to airways of different sizes and shapes, making the diagnosis and treatment operations based on the endoscope device simpler and more reliable.

[0066] It can be understood that for the purpose of realizing the bendable deformation of the inner tube body 110, the inner tube body 110 can specifically be made of, for example, a stainless steel hose or a polymer material hose. In this way, the inner tube body 110 can have both sufficient softness and sufficient structural strength.

[0067] And for the purpose of making the hardness of the sleeve 130 greater than that of the inner tube body 110, specifically, the sleeve 130 can be made of a hard steel pipe or a polymer material hard pipe. When both the inner tube body 110 and the sleeve 130 are made of polymer materials, the hardness of the polymer material of the inner tube body 110 is less than the hardness of the polymer material of the sleeve 130.

[0068] It should be noted that the materials used to make the inner tube body 110 and the sleeve 130 can be differentiated as described above, for example, to achieve the purpose that the hardness of the sleeve 130 is greater than that of the inner tube body 110. At this time, the structural parameters corresponding to the inner tube body 110 and the sleeve 130 can be set the same or differently.

[0069] Alternatively, the materials used to make the inner tube body 110 and the sleeve 130 can be set the same. At this time, in order to achieve the purpose that the hardness of the sleeve 130 is greater than that of the inner tube body 110, the structural parameters of the inner tube body 110 and the sleeve 130 can be adjusted. For example, it can be but is not limited to adjusting the wall thickness of the inner tube body 110 to be smaller than that of the sleeve 130. And / or partial hollowing can be carried out on the inner tube body 110. For example, long holes are opened along the circumferential direction of the inner tube body 110 at a part.

[0070] Of course, regardless of whether there are differences in the materials and structural parameters of the inner tube body 110 and the sleeve 130, the hardness of the sleeve 130 can also be enhanced by additionally adding other structures on the surface or inside of the sleeve 130. For example, a reinforcing layer is attached to the outer surface and / or inner surface of the sleeve 130. The hardness of the reinforcing layer is relatively large and can sufficiently meet the requirements.

[0071] In addition, the sleeve 130 in the above can be located radially inside the inner tube body 110:

[0072] Specifically, when the outer diameter of the sleeve 130 is smaller than the inner diameter of the inner tube body 110, the sleeve 130 can be movably inserted into the tube of the inner tube body 110.

[0073] Or when the inner diameter of the sleeve 130 is greater than the inner diameter of the inner tube body 110 and the outer diameter of the sleeve 130 is smaller than the outer diameter of the outer tube body, a slot can be opened from the back to the front at the tube wall of the inner tube body 110. The sleeve 130 is movably inserted into the slot. In this way, when the sleeve 130 does not move forward to cover the inner tube body 110, the setting of the slot can appropriately reduce the hardness of the inner tube body 110 itself, that is, increase the softness of the inner tube body 110, so that the inner tube body 110 can be easily bent and deformed. And the setting of the slot can make the front and back movement of the sleeve 130 occur inside the inner tube body 110. The overall outer diameter of the inner sheath tube 100 will not change.

[0074] The sleeve 130 in the above can also be located radially outside the inner tube body 110. That is, specifically, the inner diameter of the sleeve 130 is set to be greater than the outer diameter of the inner tube body 110. At this time, when the hardness requirements are sufficiently met through, for example, the differentiation setting of the materials as described above, the wall thickness of the sleeve 130 can be set to be smaller to form a thin-walled tube with a relatively large hardness. In this way, when the sleeve 130 moves forward to completely cover the inner tube body 110, the increased outer diameter of the inner sheath tube 100 will not change too much.

[0075] It should be noted that the above-mentioned sleeve 130 can be directly set as a tube, and during its forward and backward movement, it can integrally wrap the inner tube body 110 circumferentially. Or at least a part of the above-mentioned sleeve 130 can be set as non-tubular. For example, in one embodiment, the sleeve 130 includes a sleeve pipe section and reinforcing ribs. The sleeve pipe section is arranged around the inner tube body 110 circumferentially. The reinforcing ribs extend in the forward and backward directions and are connected to the sleeve pipe section. The radial cross-sectional area of the reinforcing ribs is in the shape of a notched 211 ring and does not extend around the entire circumference of the inner tube body 110. At this time, the reinforcing ribs can enhance the hardness of a part of the inner tube body 110 in the circumferential direction. The sleeve pipe section can be set as one or at least two. And any sleeve pipe section can be connected at any suitable position of the reinforcing ribs.

[0076] In addition, in the forward and backward directions, the hardness of the above-mentioned sleeve 130 can be set the same. Or in the forward and backward directions, the hardness of the above-mentioned sleeve 130 can be set differently in sections. For example, the sleeve 130 includes a first pipe section and a second pipe section. The hardness of the first pipe section is greater than that of the second pipe section. In this way, when the sleeve 130 moves forward to completely wrap the inner tube body 110, different hardness enhancements can be formed at different pipe sections of the inner tube body 110 in the forward and backward directions. Especially when the inner tube body 110 includes an active bending section and a passive bending section in the forward and backward directions, or when the inner tube body 110 includes a bending section and a non-bending section in the forward and backward directions, different hardness enhancements can be carried out specifically for the active bending section, the passive bending section, the bending section, and the non-bending section.

[0077] In addition, the above-mentioned sleeve 130 includes at least two tube layers sleeved on each other from the inside to the outside, and any tube layer can be movably adjusted along the forward and backward directions relative to the inner tube body 110. It can be understood that since each individual tube layer can move forward and backward relative to the inner tube body 110. This makes it that the more tube layers move forward and wrap around the same pipe section of the inner tube body 110, the greater the degree of hardness enhancement and the more the hardness increment at this pipe section. On the contrary, when the number of tube layers moving forward and wrapping around the same pipe section of the inner tube body 110 is less, the degree of hardness enhancement at this pipe section is smaller and the hardness increment is less. In this way, the flexibility of the soft-hardness adjustment of the inner sheath tube 100 can be made better.

[0078] Based on one or more of the above embodiments, further, the inner sheath tube 100 further includes a second connecting portion 141 and a second docking portion 142. The second connecting portion 141 is provided on the mounting seat 121 and / or the inner tube body 110, and the second docking portion 142 is provided on the sleeve 130. After the sleeve 130 moves forward to be close to the mounting seat 121, the second docking portion 142 and the second connecting portion 141 are connected to limit the sleeve 130 at the current position. When the second connecting portion 141 and the second docking portion 142 are separated, it will not interfere with the forward and backward movement of the sleeve 130 relative to the inner tube body 110, ensuring that the forward and backward movement of the sleeve 130 is smoother and unobstructed. When the second connecting portion 141 and the second docking portion 142 are connected, the connection and fixation of the sleeve 130 and the inner tube body 110 can be achieved synchronously. In this way, abnormal situations where the sleeve 130 moves backward relative to the inner tube body 110 during the interventional diagnosis and treatment process can be avoided.

[0079] It should be noted that the above second connecting portion 141 and second docking portion 142 can only limit the sleeve 130 and the inner tube body 110 in the front-back direction. Or the above second connecting portion 141 and second docking portion 142 can further limit the sleeve 130 and the inner tube body 110 in the circumferential direction. That is, when the second connecting portion 141 and the second docking portion 142 are connected, it can be ensured that the sleeve 130 and the inner tube body 110 do not rotate relative to each other.

[0080] There are various specific solutions for the second connecting portion 141 and the second docking portion 142:

[0081] For example, the second connecting portion 141 and the second docking portion 142 are structures that can be magnetically attracted to each other. For example, both the second connecting portion 141 and the second docking portion 142 are magnetic components. Or one of the second connecting portion 141 and the second docking portion 142 is a magnetic component, and the other is a structure made of a metal material containing iron, cobalt, and nickel. Specifically, in one embodiment, the second connecting portion 141 is a magnetic component provided on the mounting seat 121 and / or the inner tube body 110. The magnetic component can be connected to the outer circumference or the inner circumference of the mounting seat 121 and / or the inner tube body 110. Or the magnetic component can be connected to the rear end of the mounting seat 121. The sleeve 130 is made of a metal material containing iron, cobalt, and nickel, and at least a partial pipe section of the sleeve 130 constitutes the second docking portion 142. For example, the sleeve 130 is directly made of a steel material containing iron, cobalt, and nickel, which can not only be magnetically adsorbed to the magnetic component but also ensure sufficient hardness.

[0082] Or for example, one of the rear end of the mounting seat 121 and the front end of the sleeve 130 is provided with a slot, and the other is provided with an insertion protrusion, and the slot and the insertion protrusion are inserted and connected. Specifically, in one embodiment, the outer diameter of the rear end of the mounting seat 121 is greater than the outer diameter of the adjacent inner tube body 110, and a slot is concavely provided toward the rear, and the slot constitutes the second connecting portion 141; the front end of the sleeve 130 is convexly provided with an insertion protrusion toward the front, and the insertion protrusion constitutes the second docking portion 142. The radial outer surface of the insertion protrusion can be set as an inclined surface or a convex arc surface to form a relatively smooth transition to avoid structural interference with the peripheral side.

[0083] At least the slotted portion of the mounting seat 121 and / or at least the protrusion are made of elastic material, and the inner diameter of the slot is smaller than the outer diameter of the protrusion. Specifically, when the slotted portion is made of elastic material, the slot width can be set to be relatively small, equivalent to a slit. In this way, when the protrusion is not inserted, the slit is basically in a closed state, and dirt on the surrounding side will not be mixed in. When the protrusion is driven to be inserted by an external force, the slit can be stretched open to achieve the plug-in connection between the two. At this time, the elastic material can apply sufficient extrusion force to the protrusion to enhance the plug-in strength between the protrusion and the slot.

[0084] In view of the above, when in the first state, the imaging device 120 may protrude forward from the front end of the second tube monomer 160. Alternatively, the imaging device 120 may be accommodated in the second tube monomer 160 and be aligned with the front end of the second tube monomer 160. Alternatively, the imaging device 120 may be accommodated in the second tube monomer 160 and be retracted backward relative to the front end of the second tube monomer 160. When the imaging device 120 is retracted backward relative to the front end of the second tube monomer 160, its specific structure may refer to the outer sheath described below, and will not be described in detail.

[0085] Then please combine Figures 1 to 3 ,as well as Figures 4 to 6 The outer sheath tube is provided with at least two outer sheath tubes. For ease of understanding, in the following embodiments, the multi-stage adjustable insertion tube is specifically defined to include a first outer sheath tube 200a close to the inner sheath tube 100 and a second outer sheath tube 200b away from the inner sheath tube 100.

[0086] First, it should be noted that the structures of the first outer sheath tube 200a and the second outer sheath tube 200b can be differently configured according to actual needs, or the structures of the first outer sheath tube 200a and the second outer sheath tube 200b can be identically configured.

[0087] Since at least the imaging surface of the imaging device 120 is retracted within the outer sheath tube, for the sake of easy understanding, it is defined that when the inner sheath tube 100 is in the first state, or when both the inner sheath tube 100 and the first outer sheath tube 200a are in the first state, the outer sheath tube includes a front tube section 201 located on the front side of the imaging surface and a rear tube section 202 located on the rear side of the imaging surface. The front tube section 201 includes a first tube wall section 201a and a second tube wall section 201b arranged in sequence along its circumferential direction. The first tube wall section 201a is disposed adjacent to the imaging surface and is made of a transparent material. In this way, the first tube wall section 201a can be made transparent and visible, without affecting the imaging process of the imaging device 120.

[0088] The central angle of the arc of the first tube wall section 201a is not less than 90°. Specifically, the central angle of the arc of the first tube wall section 201a can be set at about 90° to 120°. This angular range is more suitable for the imaging requirements of the imaging device 120 in practical applications, thus sufficiently ensuring the imaging quality of the endoscope device.

[0089] It should be noted that, according to actual needs, the second tube wall section 201b and / or the rear tube section 202 can also be made of a transparent material, so that the overall structure of the outer sheath tube is unified and it is easier to process and form.

[0090] The above-mentioned front tube section 201 at least the part constituting the second tube wall section 201b and the rear tube section 202 can be integrally formed. Or the front tube section 201 at least the part constituting the second tube wall section 201b and the rear tube section 202 can be obtained by detachable or non-detachable connection after being separately formed. Specifically, the outer sheath tube includes a tube body 210 and a transparent plate member 220. Among them, a notch 211 is formed by concaving the front end of the tube body 210 backward locally, so that the tube section of the tube body 210 located behind the notch 211 constitutes the rear tube section 202, and the tube wall section of the tube body 210 located on the radial side of the notch 211 constitutes the second tube wall section 201b. The transparent plate member 220 includes a main body 221 inserted at the notch 211 and extension protrusions 222 protruding from the front end of the main body 221 toward both circumferential sides respectively. The extension protrusions 222 cover a part of the front end of the second tube wall section 201b, and the front end surface of the extension protrusions 222 is arranged in a convex arc shape. At least the main body 221 of the transparent plate member 220 constitutes the first tube wall section 201a.

[0091] The transparent plate member 220 can be directly inserted and connected to the tube body 210. Specifically, the transparent plate member 220 may further include a plugging protrusion 223. The plugging protrusion 223 is inserted into the front end pipe orifice of the tube body 210. The outer diameter of the plugging protrusion 223 is generally slightly smaller than the outer diameter of the main body 221, so that after the plugging is completed, the outer diameter of the main body 221 is adapted to the outer diameter of at least the adjacent part of the tube body 210 for a smooth transition connection, avoiding the formation of a step or a sharp protrusion structure. The extending protrusion 222 can form a relatively smooth front surface. Similarly, it can also avoid the formation of a sharp protrusion structure at the front end of the tube body 210.

[0092] Furthermore, a liquid passage 204 is provided through the outer sheath tube in the front-rear direction, and the liquid passage 204 is opened at the second tube wall section 201b. Of course, according to actual needs, the liquid passage 204 can be opened in the entire rear tube section 202 and the second tube wall section 201b of the front tube section 201. In this way, the radial cross-sectional area of the liquid passage 204 at the rear tube section 202 can be made larger, allowing more liquid to flow through.

[0093] The multi-stage adjustable insertion tube further includes a seat body installed at the rear end of each sheath tube, and the liquid passage 204 penetrates through the side wall of the seat body backward. The above-mentioned traction passage 206 can also penetrate through the side wall of the seat body, so that the traction wire 400 can pass through the side wall of the seat body.

[0094] Specifically, in one embodiment, each outer sheath tube is respectively provided with a liquid passage 204. There are at least two seat bodies corresponding to each liquid passage 204 one by one, and each seat body is connected to the rear end of each sheath tube in the front-rear direction in sequence, so that each liquid passage 204 is independent of each other. For example, the seat body of the first outer sheath tube 200a is the first seat body 310. The seat body of the second outer sheath tube 200b is the second seat body 320. The first seat body 310 is located on the front side of the second seat body 320.

[0095] After each liquid passage 204 is independently arranged through different seat bodies. The flow state of the liquid in each channel can be specifically set according to actual needs. For example, the liquid passage 204 at the first outer sheath tube 200a and the liquid passage 204 at the second outer sheath tube 200b both suck out liquid. Or the liquid passage 204 at the first outer sheath tube 200a and the liquid passage 204 at the second outer sheath tube 200b both pour in liquid. Or one of the liquid passage 204 at the first outer sheath tube 200a and the liquid passage 204 at the second outer sheath tube 200b sucks out liquid, and the other pours in liquid.

[0096] Similarly, one of every two adjacent sheaths is provided with a first connection part 231, and the other is provided with a first docking part 232. In the first state, the first connection part 231 and the first docking part 232 are detachably connected. Generally, the first connection part 231 and the first docking part 232 are arranged in pairs in every two adjacent sheaths. However, for the sake of easy understanding, in the structure shown in the figure, specifically, the first connection part 231 is arranged at the inner sheath 100, and the first docking part 232 is arranged at the outer sheath as an example for identification. It can be understood, however, that this does not constitute a limitation on the assembly scheme of the first connection part 231 and the first docking part 232.

[0097] Among them, the first connection part 231 and the first docking part 232 are mechanically connected and can be separated when the external force is not less than a preset threshold value. For example, when the driving mechanism is arranged as described above, the connection and separation of the first connection part 231 and the first docking part 232 can be realized by adjusting the magnitude of the external force applied by the driving mechanism to the sheath.

[0098] At this time, there are various specific schemes for the first connection part 231 and the first docking part 232. For example, reference can be made to the above-mentioned second connection part 141 and second docking part 142. Specifically, in an embodiment, the first connection part 231 and the first docking part 232 are respectively a magnetically attractable magnetic part and a magnetic matching part. The magnetic matching part can be another magnetic part or a structure made of a material containing iron, cobalt, and nickel.

[0099] And / or, the first connection part 231 and the first docking part 232 are electrically controlled and connected and can be separated when receiving a preset electrical signal. Specifically, for example, one of the first connection part 231 and the first docking part 232 can be an electromagnet, and the other can be a magnetic matching structure that cooperates with the electromagnet. When the electromagnet is powered on, it can be magnetically attracted to the magnetic matching structure. Conversely, when the electromagnet is powered off, it can be separated from the magnetic matching structure.

[0100] It should be noted that if the above-mentioned electromagnet and magnetic matching structure scheme is adopted, it is preferably arranged between every two adjacent outer sheaths as much as possible. And it is preferably not arranged between the first outer sheath 200a and the inner sheath 100 to avoid the electromagnetic field affecting the normal operation of the imaging device 120.

[0101] When the transparent plate 220 includes a main body 221, an extension protrusion 222, and a plug-in protrusion 223 as described above, further, the transparent plate 220 can also be provided with an avoidance opening 224 at the plug-in protrusion 223. The avoidance opening 224 can form an avoidance space for installing, for example, the first docking part 232 of the outer sheath at the position where it is located.

[0102] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or any direct / indirect application in other related technical fields shall be included within the patent protection scope of the present invention.

Claims

1. A multi-stage adjustable insertion tube, characterized in that: It comprises a plurality of sheath tubes which are sequentially sleeved from the inside to the outside, wherein in each two adjacent sheath tubes, the sheath tube located on the inner side has a first state of being accommodated in the sheath tube located on the outer side, and a second state of being movable and extended forward from the sheath tube located on the outer side; Among them, each of the sheath tubes includes an inner sheath tube and at least two outer sheath tubes located outside the inner sheath tube. The front end of the inner sheath tube is provided with an imaging module, and the imaging module has a forward imaging surface. In the first state, the imaging surface is retracted into at least one of the outer sheath tubes.

2. The multi-stage adjustable insertion tube according to claim 1, characterized in that: In the first state, the outer sheath tube includes a front tube section located at the front side of the imaging surface, and a rear tube section located at the rear side of the imaging surface; The front tube segment includes a first tube wall segment and a second tube wall segment arranged in sequence along its circumference. The first tube wall segment is arranged adjacent to the imaging surface and is made of a transparent material. The arc center angle of the first tube wall segment is not less than 90°.

3. The multi-stage adjustable insertion tube according to claim 2, characterized in that: The outer sheath comprises: A pipe body, wherein a front end of the pipe body is partially recessed backward to form a notch, so that a pipe section of the pipe body located at the rear side of the notch constitutes the rear pipe section, and a pipe wall section of the pipe body located at a radial side of the notch constitutes the second pipe wall section; and The transparent plate comprises a main body inserted into the notch, and extension protrusions protruding from the front end of the main body toward both sides of the circumference, the extension protrusions covering the partial front end of the second tube wall segment, and the front end surface of the extension protrusion is arranged in a convex arc shape, and at least the main body of the transparent plate constitutes the first tube wall segment.

4. The multi-stage adjustable insertion tube according to claim 2, characterized in that: The outer sheath tube is provided with a liquid passage in the front-to-back direction, and the liquid passage is opened at the second tube wall section; The multi-stage adjustable insertion tube further comprises a seat body installed at the rear end of each of the sheath tubes, and the liquid passage is arranged to penetrate the side wall of the seat body backwards.

5. The multi-stage adjustable insertion tube according to claim 4, characterized in that: Each of the outer sheath tubes is respectively provided with the liquid passage; At least two of the seat bodies are provided corresponding to each of the liquid passages, and each of the seat bodies is sequentially connected to the rear end of each of the sheath tubes along the front-to-back direction, so that each of the liquid passages is independent of each other.

6. The multi-stage adjustable insertion tube according to claim 1, characterized in that: One of every two adjacent sheath tubes is provided with a first connecting portion, and the other is provided with a first docking portion, and in the first state, the first connecting portion and the first docking portion are detachably connected; The first connecting portion and the first docking portion are mechanically connected and can be separated when the external force is not less than a preset threshold; and / or, The first connecting portion and the first docking portion are electrically connected and can be separated upon receiving a preset electrical signal.

7. The multi-stage adjustable insertion tube according to claim 6, characterized in that: The first connecting portion and the first docking portion are respectively a magnetic attraction component and a magnetic matching component that can be magnetically adsorbed.

8. The multi-stage adjustable insertion tube according to claim 1, characterized in that: At least one of the sheath tubes is made of a flexible and bendable material, and the sheath tube is provided with a traction channel along the front-back direction, and four traction channels are provided. Among the four traction channels, two traction channels are arranged on both sides of the sheath tube in one radial direction, and the remaining two traction channels are arranged on both sides of the sheath tube in another radial direction; The multi-stage adjustable insertion tube also includes four traction wires, which are arranged one by one in the four traction channels, and the front end of each traction wire is connected and fixed to the sheath tube, and the rear end is used to connect to an external driving component to move back and forth under the drive of the external driving component, so as to drive the sheath tube to bend and deform toward the side.

9. The multi-stage adjustable insertion tube according to claim 1, characterized in that: The inner sheath tube also includes: The inner tube body is arranged to extend in the front-rear direction; An imaging device, comprising a mounting seat and the imaging module accommodated in the mounting seat, wherein the mounting seat is fixedly arranged at the front end of the inner tube body, and the imaging surface of the imaging module is exposed forward; and The sleeve is sleeved on the inner tube body in a movably adjustable manner in the front-back direction, and the hardness of the sleeve is greater than the hardness of the inner tube body.

10. An endoscope device, characterized in that: The invention comprises an operating component and the multi-stage adjustable insertion tube as claimed in any one of claims 1 to 9.

11. A surgical robot, characterized in that: Comprising the endoscopic device as claimed in claim 10.

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