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 in particular to a multi-stage adjustable insertion tube, an endoscope device and a surgical robot. Background Art

[0002] A bronchoscope is a medical device used to observe the internal structure of the airway and diagnose and treat respiratory diseases. It enters the airway through a natural cavity, allowing for visual inspection of tracheal, bronchi, and lung lesions, and supporting procedures such as biopsy and interventional therapy.

[0003] Because bronchi have airways of various sizes, existing bronchial endoscopes typically have insertion tubes of different sizes specifically designed to treat airways of varying sizes. However, this significantly increases the inconvenience of diagnosis and treatment. Summary of the Invention

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

[0005] To achieve the above-mentioned object, the present invention proposes a multi-stage adjustable insertion tube, comprising a plurality of sheath tubes sequentially sleeved from the inside to the outside, wherein, in each pair of adjacent sheath tubes, the sheath tube located on the inner side has a first state in which it is accommodated within the sheath tube located on the outer side, and a second state in which it is movable and extended forward from the sheath tube located on the outer side;

[0006] 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.

[0007] Optionally, in the first state, the outer sheath tube includes a front tube section located in front of the imaging plane, and a rear tube section located in rear of the imaging plane;

[0008] 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 transparent material. The arc center angle of the first tube wall segment is not less than 90°.

[0009] Optionally, the outer sheath comprises:

[0010] a pipe body, wherein a front end portion of the pipe body is partially recessed rearward to form a notch, so that a pipe section of the pipe body located behind the notch constitutes the rear pipe section, and a pipe wall section of the pipe body located radially to one side of the notch constitutes the second pipe wall section; and

[0011] The transparent plate includes a main body inserted into the notch and extended protrusions protruding from the front end of the main body toward both sides of the circumference. The extended protrusions are covered on the partial front end of the second tube wall segment, and the front end surface of the extended protrusion is set in a convex arc shape. At least the main body of the transparent plate constitutes the first tube wall segment.

[0012] Optionally, 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;

[0013] The multi-stage adjustable insertion tube further comprises a seat body mounted on the rear end of each sheath tube, and the liquid passage is arranged to penetrate the side wall of the seat body backward.

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

[0015] 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.

[0016] Optionally, 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;

[0017] The first connecting 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 connecting portion and the first docking portion are electrically connected and can be separated upon receiving a preset electrical signal.

[0019] Optionally, 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.

[0020] Optionally, 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-to-back direction, and four traction channels are provided. Among the four traction channels, two traction channels are provided on both sides of the sheath tube in one radial direction, and the remaining two traction channels are provided on both sides of the sheath tube in another radial direction.

[0021] The multi-stage adjustable insertion tube also includes four traction lines, which are arranged one by one in the four traction channels, and the front end of each traction line is fixedly connected to the sheath tube, and the rear end is used to connect to the 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.

[0022] Optionally, the inner sheath further comprises:

[0023] The inner tube body is arranged to extend in the front-back direction;

[0024] An imaging device, comprising a mounting base and the imaging module accommodated in the mounting base, wherein the mounting base is fixedly arranged at the front end of the inner tube body, and the imaging surface of the imaging module is exposed forward; and

[0025] The sleeve 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 the hardness of the inner tube body.

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

[0027] In addition, to achieve the above-mentioned purpose, the present invention also provides a surgical robot, which includes the endoscopic device as described above.

[0028] In the technical solution provided by the present invention, multiple sheaths are connected inner and outer, and can be flexibly switched between a first state and a second state, which allows a single insertion tube to form at least three different insertion outer diameters, helping to flexibly adapt to at least three sizes of airways, and without the need to additionally set up at least three insertion tubes, making the overall structure of the endoscope device more versatile. In addition, the imaging surface in the first state is retracted into the outer sheath, which can prevent blood stains and the like in the patient's body from being adsorbed on the imaging surface. This prevents 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 flushed in time. The present invention helps to improve the diagnostic and treatment reliability of the endoscope device. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

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

[0031] Figure 2 for Figure 1 Schematic diagram of the enlarged structure at A in the middle;

[0032] Figure 3 for Figure 1 Axial schematic diagram of the multi-stage adjustable insertion tube;

[0033] Figure 4 for Figure 1 Schematic diagram of the inner and outer sheaths;

[0034] Figure 5 for Figure 4 Schematic diagram of the front end structure of the inner and outer sheath tubes, where the transparent plate is assembled to the tube body;

[0035] Figure 6 for Figure 4 Schematic diagram of the front end structure of the inner and outer sheath tubes, where the transparent plate is not assembled to the tube body;

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

[0037] Figure 8 for Figure 7 Schematic diagram of the enlarged structure at B in the middle;

[0038] Figure 9 for Figure 7 Axial schematic diagram of the inner tube body and the imaging device being mounted to the second tube body;

[0039] Figure 10 for Figure 7 Axial schematic diagram of the inner tube body and the imaging device not mounted on the second tube body.

[0040] Description of Figure Numbers:

[0041] 100 inner sheath; 110 inner tube body; 120 imaging device; 121 mounting seat; 122 imaging module; 130 sleeve; 141 second connecting portion; 142 second docking portion; 150 first tube monomer; 160 second tube monomer; 200a first outer sheath; 200b second outer sheath; 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 main body; 222 extension protrusion; 223 plug-in protrusion; 224 avoidance port; 231 first connecting portion; 232 first docking portion; 310 first seat body; 320 second seat body; 400 traction line.

[0042] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0044] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain 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 involving "first", "second", etc. 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 suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "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 schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0046] See also Figures 1 to 10 The present invention provides a multi-stage adjustable insertion tube (hereinafter referred to as the insertion tube) and an endoscope device and a surgical robot used therein.

[0047] An endoscopic device generally consists of an operating unit and an insertion tube. For ease of understanding, the following embodiments illustrate an endoscope with both forward and backward viewing angles. The insertion tube extends forward and backward and is attached to the front end of the operating unit. During interventional procedures, at least the front end of the insertion tube is inserted into the patient's body. The operating unit is externally located and can be handheld by the operator.

[0048] In particular, the insert tube is generally at least partially adjustable for lateral bending, forming a lateral bending section. It is understood that the lateral bending characteristics of the lateral bending section can be directly defined by the material. For example, at least the lateral bending section of the insert tube can be made of a flexible, bendable material. Or further, at least the lateral bending section of the insert tube can be made of an elastic, bendable material. Of course, the lateral bending characteristics of the lateral bending section can also be defined by a special structure. For example, at least the lateral bending section of the insert tube can be composed of two single components that are movably hinged.

[0049] The lateral bending motion of the inserted tubular component can be achieved by a traction mechanism. Specifically, the traction mechanism can include a traction wire 400 and a reel. Accordingly, a traction channel 206 is defined in the inserted tubular component, extending rearward from at least the lateral bending section. The front section of the traction wire 400 is movably threaded through the traction channel 206. The front end of the traction wire 400 is fixedly connected to the sidewall of the lateral bending section. The rear section of the traction wire 400 is fixedly connected to the reel. In this manner, when the operator manually rotates the reel around its axis, or when a specific electronic control component automatically rotates the reel around its axis, the traction wire 400 can be driven to reel in or out. During the reeling phase, the traction wire 400 exerts a backward force, which applies force to the corresponding side of the lateral bending section, achieving lateral bending deformation. Conversely, during the release phase, the backward force of the traction wire 400 is released, allowing the lateral bending section to return to its original position, for example, due to elastic restoring forces. Alternatively, the traction wire 400 exerts a forward force, which causes the lateral bending section to return to its original position.

[0050] It should be noted that the above-mentioned insert tube can be bent in one direction or at least in two directions. When the insert tube can be bent in two directions, the two directions can be bent in opposite directions on the same radial direction of the insert tube.

[0051] When the insertion tube can be specifically bent in four directions, specifically in one embodiment, at least one sheath is made of a flexible and bendable material. The sheath is provided with a traction channel 206 along the front-to-back direction, and there are four traction channels 206. And among the four traction channels 206, two traction channels 206 are arranged on both sides of the sheath in the first radial direction, and the remaining two traction channels 206 are arranged on both sides of the sheath in the second radial direction. The multi-stage adjustable insertion tube also includes four traction wires 400, and the four traction wires 400 are arranged in a one-to-one correspondence through the four traction channels 206, and the front end of each traction wire 400 is connected and fixed to the sheath, 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 to bend and deform toward the side. The first radial direction and the second radial direction are at least cross-arranged. And further, the first radial direction and the second radial direction can be arranged approximately vertically.

[0052] Specifically, please combine Figures 1 to 10The multi-level adjustable insertion tube includes a plurality of sheath tubes that are sequentially connected from the inside to the outside. In each adjacent pair of sheath tubes, the inner sheath tube has a first state in which it is accommodated in the outer sheath tube, and a second state in which it is movable and extended forward from the outer sheath tube.

[0053] Each sheath tube includes an inner sheath tube 100 and at least two outer sheath tubes located outside the inner sheath tube 100. An imaging module 122 is provided at the front end of the inner sheath tube 100. The imaging module 122 has an imaging surface facing forward. In a first state, the imaging surface is retracted within at least one outer sheath tube.

[0054] In the technical solution provided by the present invention, multiple sheaths are connected inner and outer, and can be flexibly switched between a first state and a second state, which allows a single insertion tube to form at least three different insertion outer diameters, helping to flexibly adapt to at least three sizes of airways, and without the need to additionally set up at least three insertion tubes, making the overall structure of the endoscope device more versatile. In addition, the imaging surface in the first state is retracted into the outer sheath, which can prevent blood stains and the like in the patient's body from being adsorbed on the imaging surface. This prevents 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 flushed in time. The present invention helps to improve the diagnostic and treatment reliability of the endoscope device.

[0055] It will be appreciated that each sheath is generally provided with an operating channel 205 along the front-back direction. The operating channel 205 can be provided for example for diagnosis and treatment instruments. In each of adjacent two sheaths, the sheath located inside is movably provided with the operating channel 205 located outside.

[0056] The forward and backward movement of the inner sheath relative to the outer sheath can be directly achieved by manual operation by an operator. Alternatively, in one embodiment, the endoscopic device further includes a drive mechanism, which is disposed on the operating component and connected to each sheath to drive each sheath to switch between the first state and the second state. In this way, the forward and backward movement of each sheath can be more precisely controlled and regulated with the help of the drive mechanism.

[0057] Please combine Figures 1 to 3 ,as well as Figures 7 to 10 , the inner sheath tube 100 will be described in detail below.

[0058] The inner sheath 100 may include an inner tube body 110 and an imaging device 120. The inner tube body 110 is arranged to extend in the front-to-back direction. At least a portion of the inner tube body 110 is made of a flexible, bendable material so that the inner tube body 110 can be bent and deformed. The imaging device 120 includes a mounting seat 121 and an imaging module 122 housed in the mounting seat 121. The mounting seat 121 is fixedly disposed at the front end of the inner tube body 110. 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 constitute the overall structure of the inner sheath tube 100 and be movably arranged in the outer sheath tube.

[0060] Or in a further solution, the inner sheath tube 100 also includes a first tube monomer 150 and a second tube monomer 160 arranged side by side, the first tube monomer 150 is penetrated by an operating channel 205 along the front-to-back direction, and the second tube monomer 160 is penetrated by a wiring channel 203 along the front-to-back direction, the wiring channel 203 is for the installation of the inner tube body 110 and the imaging device 120, and for the cables of the imaging module 122 to pass through.

[0061] The first tube monomer 150 and the second tube monomer 160 can be obtained by integral molding. In this case, the first tube monomer 150 and the second tube monomer 160 are inseparably fixedly connected. According to actual needs, when the inner sheath tube 100 is in the second state, the first tube monomer 150, the second tube monomer 160, the imaging device 120 and the inner tube body 110 can be jointly extended forward from the outer sheath tube. Alternatively, only the imaging device 120 and the inner tube body 110 can be jointly extended 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.

[0062] Of course, the first tube unit 150 and the second tube unit 160 can be formed separately and connected in a detachable or non-detachable manner. When the first tube unit 150 and the second tube unit 160 are non-detachably connected, please refer to the above for details. 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 both separate and connected states.

[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 may all move forward and extend from the outer sheath tube. Alternatively, only the imaging device 120 and the inner tube body 110 may all move forward and extend from the outer sheath tube, while the first tube unit 150 and the second tube unit 160 remain housed within the outer sheath tube.

[0064] When in the separation 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 can be jointly extended forward from the outer sheath tube. Alternatively, only the imaging device 120 and the inner tube body 110 can be jointly extended forward from the outer sheath tube, and the first tube monomer 150 and the second tube monomer 160 can be maintained in the outer sheath tube. Alternatively, the first tube monomer 150 can be extended forward from the outer sheath tube; the second tube monomer 160, the inner tube body 110 and the imaging device 120 can be jointly maintained in the outer sheath tube. Alternatively, the second tube monomer 160, the inner tube body 110 and the imaging device 120 can be jointly extended forward from the outer sheath tube; the first tube monomer 150 can be maintained in the outer sheath tube.

[0065] Furthermore, the inner sheath tube 100 may also include a sleeve 130. The sleeve 130 is movably and adjustably sleeved on the inner tube body 110 in the front-to-back direction. The hardness of the sleeve 130 is greater than the hardness 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 is completely sleeved on the inner tube body 110. With the greater hardness of the sleeve 130, the hardness of the entire sheath tube in the current state is appropriately enhanced, which facilitates in-depth exploration after the sheath tube reaches the limit position. Conversely, 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, the softness of the entire sheath tube in the current state is appropriately enhanced, which facilitates the sheath tube to bend and deform according to the airway environment. The sheath provided in the present application can be adjusted in terms of softness and hardness, and the adjustment process is flexible and efficient, which helps to adapt to airways of different sizes and shapes, making the diagnosis and treatment operations based on the endoscope device simpler and more reliable.

[0066] It is understood that in order to achieve the purpose of the bendable and deformable setting of the inner tube body 110, the inner tube body 110 can be made of, for example, a stainless steel hose or a polymer hose. In this way, the inner tube body 110 can have both sufficient softness and sufficient structural strength.

[0067] In order to achieve the purpose of making the hardness of the sleeve 130 greater than the hardness of the inner tube body 110, the sleeve 130 can be made of a hard steel tube or a hard polymer tube. 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 material of the inner tube body 110 and the material of the sleeve 130 can be differentiated as described above, so as to achieve the purpose of making the hardness of the sleeve 130 greater than the hardness of the inner tube body 110. In this case, the structural parameters of the inner tube body 110 and the sleeve 130 can be the same or different.

[0069] Alternatively, the material of the inner tube body 110 and the material of the sleeve 130 can be the same. In this case, to achieve a greater hardness for the sleeve 130 than for the inner tube body 110, the structural parameters of the inner tube body 110 and the sleeve 130 can be adjusted. For example, but not limited to, the wall thickness of the inner tube body 110 can be adjusted to be smaller than that of the sleeve 130. Furthermore, the inner tube body 110 can be partially hollowed out. For example, an elongated hole can be provided along the circumference of the inner tube body 110.

[0070] Of course, regardless of whether the materials and structural parameters of the inner tube body 110 and the materials and structural parameters of the sleeve 130 differ, the hardness of the sleeve 130 can be enhanced by adding other structures to the surface or interior of the sleeve 130. For example, a reinforcement layer can be applied to the outer surface and / or inner surface of the sleeve 130. The reinforcement layer has a relatively high hardness and is sufficient to meet the requirements.

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

[0073] Alternatively, when the inner diameter of the sleeve 130 is larger 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 groove can be opened from back to front on the tube wall of the inner tube body 110. The sleeve 130 is movably arranged in the groove. In this way, when the sleeve 130 does not move forward to cover the inner tube body 110, the setting of the groove 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. In addition, the setting of the groove can make the forward and backward movement of the sleeve 130 occur inside the inner tube body 110. The outer diameter of the inner sheath tube 100 as a whole does not change.

[0074] The sleeve 130 described above can also be located radially outward from the inner tube 110. Specifically, the inner diameter of the sleeve 130 can be larger than the outer diameter of the inner tube 110. In this case, if the aforementioned hardness requirements are met through, for example, differentiated material selection as described above, the wall thickness of the sleeve 130 can be reduced, resulting in a thinner-walled tube with greater hardness. This ensures that when the sleeve 130 moves forward to completely cover the inner tube 110, the outer diameter of the inner sheath 100 does not change significantly.

[0075] It should be noted that the above-mentioned sleeve 130 can be directly set to be tubular, and in the process of its forward and backward movement, it completely covers the inner tube body 110 along the circumferential direction. Or at least a part of the above-mentioned sleeve 130 can be set to be non-tubular. For example, in one embodiment, the sleeve 130 includes a sleeve tube section and a reinforcing rib. The sleeve tube section is arranged along the circumference of the inner tube body 110. The reinforcing rib extends in the forward and backward direction and is connected to the sleeve tube section. The radial cross-sectional area of ​​the reinforcing rib is in the shape of a ring with a notch 211, and is not arranged along the entire circumference of the inner tube body 110. In this case, the reinforcing rib can enhance the hardness of the local circumferential direction of the inner tube body 110. The sleeve tube section can be set to one or at least two. And any sleeve tube section can be connected to any suitable position of the reinforcing rib.

[0076] In addition, the hardness of the sleeve 130 can be set to be the same in the front-to-back and upward directions. Or, the hardness of the sleeve 130 can be set to be differentiated in sections in the front-to-back and upward directions. For example, the sleeve 130 includes a first tube section and a second tube section. The hardness of the first tube section is greater than the hardness of the second tube section. In this way, when the sleeve 130 moves forward to completely cover the inner tube body 110, different hardness enhancements can be formed at different tube sections of the inner tube body 110 in the front-to-back and upward directions. In particular, when the inner tube body 110 includes an active lateral bending section and a passive lateral bending section in the front-to-back direction, or when the inner tube body 110 includes a lateral bending section and a non-lateral bending section in the front-to-back direction, different hardness enhancements can be performed on the active lateral bending section, the passive lateral bending section, the lateral bending section, and the non-lateral bending section in a targeted manner.

[0077] In addition, the above-mentioned sleeve 130 includes at least two tube layers that are sequentially sleeved from the inside to the outside, and any tube layer can be adjusted and arranged in the forward and backward directions relative to the inner tube body 110. It can be understood that since a single tube layer can move forward and backward relative to the inner tube body 110. This makes it possible that the more tube layers there are that move forward and cover the same tube section of the inner tube body 110, the greater the degree of hardness enhancement at the tube section, and the greater the hardness increment. Conversely, the fewer tube layers there are that move forward and cover the same tube section of the inner tube body 110, the smaller the degree of hardness enhancement at the tube section, and the smaller the hardness increment. In this way, the hardness adjustment of the inner sheath tube 100 can be made more flexible.

[0078] Based on one or more of the above embodiments, the inner sheath 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 approach 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, they 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 more 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 simultaneously. In this way, the abnormal situation of the sleeve 130 moving backward relative to the inner tube body 110 during interventional diagnosis and treatment can be avoided.

[0079] It should be noted that the second connecting portion 141 and the second docking portion 142 may only limit the sleeve 130 and the inner tube 110 in the forward and backward directions. Alternatively, the second connecting portion 141 and the second docking portion 142 may further limit the sleeve 130 and the inner tube 110 in the circumferential direction. In other words, when the second connecting portion 141 and the second docking portion 142 are connected, they can simultaneously ensure that the sleeve 130 and the inner tube 110 do not rotate relative to each other.

[0080] There are many 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 matched with each other. For example, the second connecting portion 141 and the second docking portion 142 are both magnetic parts. Or one of the second connecting portion 141 and the second docking portion 142 is a magnetic part, 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 part provided on the mounting seat 121 and / or the inner tube body 110. The magnetic part can be connected to the radial outer side or radial inner side of the mounting seat 121 and / or the inner tube body 110. Or the magnetic part 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 steel containing iron, cobalt and nickel, which can not only be magnetically attracted to the magnetic part, but also ensure sufficient hardness.

[0082] Alternatively, for example, one of the rear end of the mounting seat 121 and the front end of the sleeve 130 may be provided with a slot, while the other may be provided with a protrusion, with the slot and protrusion being inserted and connected. Specifically, in one embodiment, the rear end of the mounting seat 121 has an outer diameter greater than that of the adjacent inner tube 110, and a slot is provided, which is recessed rearward and forms the second connecting portion 141. The front end of the sleeve 130 is provided with a protrusion, which is protruding forward and forms the second docking portion 142. The radial outer surface of the protrusion can be configured as an inclined surface or a convex curved surface, creating a relatively smooth transition and avoiding structural interference with the circumferential side.

[0083] At least the portion of the mounting base 121 defining the slot and / or at least the insertion protrusion are made of an elastic material, and the inner diameter of the slot is smaller than the outer diameter of the insertion protrusion. Specifically, when the portion defining the slot is made of an elastic material, the slot width can be set to be relatively small, equivalent to a slit. This ensures that when the insertion protrusion is not inserted, the slit is essentially closed, preventing the entry of surrounding dirt. However, when the insertion protrusion is inserted by an external force, the slit is expanded, allowing the two to connect. The elastic material then applies sufficient compressive force to the insertion protrusion, enhancing the connection strength between the insertion protrusion and the slot.

[0084] In view of the above, when in the first state, the imaging device 120 can protrude forward from the front end of the second tube unit 160. Alternatively, the imaging device 120 can be housed within the second tube unit 160 and aligned with the front end of the second tube unit 160. Alternatively, the imaging device 120 can be housed within the second tube unit 160 and retracted rearward relative to the front end of the second tube unit 160. When the imaging device 120 retracts rearward relative to the front end of the second tube unit 160, its specific structure can be referred to in the outer sheath described below and will not be further described.

[0085] Then please combine Figures 1 to 3 ,as well as Figures 4 to 6 The outer sheath tube will be described in detail below. At least two outer sheath tubes are provided. For ease of understanding, in the following embodiments, the multi-stage adjustable insertion tube is specifically defined as comprising 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 differentiated according to actual needs, or the structures of the first outer sheath tube 200a and the second outer sheath tube 200b can be the same.

[0087] Since at least the imaging surface of the imaging device 120 is retracted within the outer sheath, for ease of understanding, it is defined that when the inner sheath 100 is in the first state, or when both the inner sheath 100 and the first outer sheath 200a are in the first state, the outer sheath includes a front tube segment 201 located in front of the imaging surface, and a rear tube segment 202 located in rear of the imaging surface. The front tube segment 201 includes a first tube wall segment 201a and a second tube wall segment 201b arranged in sequence along its circumference. The first tube wall segment 201a is arranged adjacent to the imaging surface and is made of a transparent material. In this way, the first tube wall segment 201a can be made transparent and visible, and will not affect the imaging process of the imaging device 120.

[0088] The arc center angle of the first tube wall segment 201a is not less than 90°. Specifically, the arc center angle of the first tube wall segment 201a can be set to be approximately 90° to 120°. This angle range is more suitable for the imaging requirements of the imaging device 120 in actual applications, thereby sufficiently ensuring the imaging quality of the endoscope device.

[0089] It should be noted that, according to actual needs, the second tube wall segment 201b and / or the rear tube segment 202 can also be made of transparent material, thereby making the overall structure of the outer sheath tube unified and easier to process and shape.

[0090] The front tube section 201, at least the portion constituting the second tube wall section 201b, and the rear tube section 202 can be integrally formed. Alternatively, the front tube section 201, at least the portion constituting the second tube wall section 201b, and the rear tube section 202 can be separately formed and then detachably or non-detachably connected. Specifically, the outer sheath tube includes a tube body 210 and a transparent plate 220. The front end of the tube body 210 is partially recessed rearward to form a notch 211, 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 radially to one side of the notch 211 constitutes the second tube wall section 201b. The transparent plate 220 includes a main body 221 inserted into the notch 211, and extended protrusions 222 protruding from the front end of the main body 221 toward both sides of the circumference. The extended protrusion 222 covers a partial front end of the second tube wall section 201b, and the front end surface of the extended protrusion 222 is set in a convex arc shape. At least the main body 221 of the transparent plate 220 constitutes the first tube wall section 201a.

[0091] The transparent plate 220 can be directly inserted and connected to the tube body 210. Specifically, the transparent plate 220 may also include an insertion protrusion 223. The insertion protrusion 223 is inserted into the front end of the tube body 210. The outer diameter of the insertion protrusion 223 is generally slightly smaller than the outer diameter of the body 221. When inserted, the outer diameter of the body 221 and the outer diameter of at least the adjacent portion of the tube body 210 are aligned, resulting in a smooth transition and avoiding the formation of steps or sharp protrusions. The extension protrusion 222 can form a relatively smooth front end surface. This also prevents the formation of sharp protrusions at the front end of the tube body 210.

[0092] Furthermore, the outer sheath is provided with a liquid passage 204 extending in the front-to-back direction. This passage 204 is located in the second tube wall section 201b. Of course, depending on actual needs, the passage 204 can be located throughout the entire rear tube section 202 or in the second tube wall section 201b of the front tube section 201. This allows the passage 204 to have a larger radial cross-sectional area in the rear tube section 202, allowing for more liquid flow.

[0093] The multi-stage adjustable insertion tube further includes a base body mounted at the rear end of each sheath tube, and the liquid passage 204 is arranged to penetrate the side wall of the base body backward. The aforementioned traction channel 206 can also penetrate the side wall of the base body, so that the traction line 400 can pass through the side wall of the base body.

[0094] Specifically, in one embodiment, each outer sheath tube is provided with a liquid passage 204. At least two base bodies are provided, one corresponding to each liquid passage 204. Each base body is sequentially connected to the rear end of each sheath tube in the front-to-back direction, so that each liquid passage 204 is independent of each other. For example, the base body of the first outer sheath tube 200a is the first base body 310. The base body of the second outer sheath tube 200b is the second base body 320. The first base body 310 is located in front of the second base body 320.

[0095] After each liquid passage 204 is independently arranged by different seat bodies. The circulation state of the liquid in each channel can be specifically arranged 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 liquid outwards. 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 perfuse liquid inwards. 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 liquid outwards, and the other perfuses liquid inwards.

[0096] Similarly to the above, one of every two adjacent sheath tubes is provided with a first connecting portion 231, and the other is provided with a first docking portion 232. In the first state, the first connecting portion 231 and the first docking portion 232 are connected in a disengageable manner. The first connecting portion 231 and the first docking portion 232 are generally arranged in pairs in every two adjacent sheath tubes. However, for ease of understanding, in the structure shown in the figure, the first connecting portion 231 is arranged at the inner sheath tube 100, and the first docking portion 232 is arranged at the outer sheath tube as an example for identification. However, it can be understood that this does not constitute a limitation on the assembly scheme of the first connecting portion 231 and the first docking portion 232.

[0097] The first connecting portion 231 and the first docking portion 232 are mechanically connected and can be separated when an external force is not less than a preset threshold. For example, when a drive mechanism is provided as described above, the first connecting portion 231 and the first docking portion 232 can be connected and separated by adjusting the external force applied by the drive mechanism to the sheath.

[0098] There are various specific embodiments for the first connecting portion 231 and the first docking portion 232, for example, reference can be made to the second connecting portion 141 and the second docking portion 142 described above. In one embodiment, the first connecting portion 231 and the first docking portion 232 are magnetically attractable components and magnetically compatible components, respectively. The magnetically compatible component can be another magnetic component or a structure made of an iron-cobalt-nickel material.

[0099] Alternatively, the first connecting portion 231 and the first docking portion 232 may be electrically connected and detachable upon receiving a predetermined electrical signal. For example, one of the first connecting portion 231 and the first docking portion 232 may be an electromagnet, and the other may be a magnetically coupled structure that cooperates with the electromagnet. When the electromagnet is energized, it may be magnetically attracted to the magnetically coupled structure. Conversely, when the electromagnet is de-energized, it may detach from the magnetically coupled structure.

[0100] It should be noted that if the above electromagnet and magnetic matching structure are adopted, it should be installed between every two adjacent outer sheath tubes as much as possible, and not between the first outer sheath tube 200a and the inner sheath tube 100 as much as possible to avoid the electromagnetic field affecting the normal operation of the imaging device 120.

[0101] When the transparent plate 220 includes the body 221, the extension protrusion 222 and the insertion protrusion 223 as described above, the transparent plate 220 may further have an escape opening 224 at the insertion protrusion 223. The escape opening 224 may form an escape space for the outer sheath tube at the location, such as the first docking portion 232.

[0102] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A multi-stage adjustable insertion tube, characterized in that: The device comprises a plurality of sheath tubes which are sequentially sleeved from the inside to the outside, wherein the sheath tube located on the inner side of each adjacent two sheath tubes has a first state in which the sheath tube is accommodated in the sheath tube located on the outer side, and a second state in which the sheath tube is 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 in front of the imaging surface, and a rear tube section located in rear 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 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 portion of the pipe body is partially recessed rearward to form a notch, so that a pipe section of the pipe body located behind the notch constitutes the rear pipe section, and a pipe wall section of the pipe body located radially to one side of the notch constitutes the second pipe wall section; and The transparent plate includes a main body inserted into the notch and extended protrusions protruding from the front end of the main body toward both sides of the circumference. The extended protrusions are covered on the partial front end of the second tube wall segment, and the front end surface of the extended protrusion is set in a convex arc shape. 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, wherein: 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 mounted on the rear end of each sheath tube, and the liquid passage is arranged to penetrate the side wall of the seat body backward.

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 in a one-to-one correspondence with 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, wherein: One of every two adjacent sheath tubes is provided with a first connecting portion, and the other is provided with a first docking portion. 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 an 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, wherein: 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, wherein: 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 in the front-to-back direction. There are four traction channels, and two of the four traction channels are provided on both sides of the sheath tube in one radial direction, and the remaining two traction channels are provided on both sides of the sheath tube in another radial direction. The multi-stage adjustable insertion tube also includes four traction lines, which are arranged one by one in the four traction channels, and the front end of each traction line is fixedly connected to the sheath tube, and the rear end is used to connect to the 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, wherein: The inner sheath tube also includes: The inner tube body is arranged to extend in the front-back direction; An imaging device, comprising a mounting base and the imaging module accommodated in the mounting base, wherein the mounting base 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 along 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 according to any one of claims 1 to 9.

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

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