Multi-branch endoscope operating instrument

Abstract

The invention relates to the field of endoscopes, in particular to a multi-branch endoscope operating instrument which comprises a driving base and a flexible body, the flexible body comprises a hard silicone tube and a tip multi-branch flexible tube, the tip multi-branch flexible tube is located at the far end of the hard silicone tube, and the tip multi-branch flexible tube is located at the far end of the hard silicone tube. The driving base is located at the near end of the hard silicone tube and used for independently controlling each branch of the tip multi-branch flexible tube, so that the multiple branches of the tip multi-branch flexible tube can work cooperatively, and the multiple branches of the tip multi-branch flexible tube can be folded and gathered into a column shape. Through cooperation of functional workpieces on multiple branches, repeated insertion and extraction and instrument replacement are avoided, the operation time is shortened, the operation risk is reduced, the operation continuity and accuracy are improved, more complex intracavity operation tasks are achieved, and the diagnosis and treatment efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of endoscopy, and in particular to a multi-branch endoscopic manipulation instrument. Background Technology

[0002] While traditional rigid endoscopes offer advantages such as structural stability and clear imaging, their inflexible rigidity presents significant limitations when navigating complex and tortuous human anatomical structures. This inherent rigidity severely restricts the degree of freedom of manipulation and the space accessible to the instrument tip, making multi-angle observation and complex surgical procedures such as suturing, traction, and multi-instrument coordination extremely difficult in narrow or deep cavities.

[0003] To overcome the shortcomings of rigid endoscopes, flexible endoscope technology has been developed. Existing single-channel flexible endoscopes have improved the ability to navigate tortuous paths to some extent, but their functional channels are limited, typically accommodating only one type of instrument, making it difficult to achieve coordinated operation of multiple instruments. When multiple procedures such as tissue grasping, electrocoagulation cutting, irrigation, and suction are required, repeated insertion, removal, and instrument replacement are often necessary, significantly prolonging surgical time, increasing surgical risks, and disrupting the continuity and precision of the procedure. Summary of the Invention

[0004] This invention proposes a multi-branch endoscopic operating instrument. By coordinating the functional components on the multi-branch, it avoids repeated insertion and removal of instruments and replacement, reduces operation time and surgical risks, improves the continuity and accuracy of operation, enables more complex intracavitary operations, and improves diagnostic and treatment efficiency.

[0005] The present invention adopts the following technical solution:

[0006] A multi-branched endoscopic manipulation instrument includes a drive base and a flexible body. The flexible body includes a rigid silicone tube and a tip-shaped multi-branched flexible tube. The tip-shaped multi-branched flexible tube is located at the distal end of the rigid silicone tube. The drive base is located at the proximal end of the rigid silicone tube and is used to independently control each branch of the tip-shaped multi-branched flexible tube, so that the multiple branches of the tip-shaped multi-branched flexible tube can cooperate and work together, and the multiple branches of the tip-shaped multi-branched flexible tube can converge and gather into a columnar shape.

[0007] Preferably, a serpentine steering unit controlled by a drive base is provided between the rigid silicone tube and the tip-branched flexible tube.

[0008] Preferably, the tip-branched flexible tube includes a flexible tube base and multiple branches connected to the flexible tube base.

[0009] Preferably, each branch includes a flexible tube support tube, a flexible tube body, and a tip-carrying disc; the proximal end of the flexible tube support tube is rotatably connected to the flexible tube base, the distal end of the flexible tube support tube extends and is fixed to the flexible tube body, and the distal end of the flexible tube body is equipped with a carrying disc for mounting the end-function workpiece.

[0010] Preferably, the branches are provided in three parts and are evenly distributed circumferentially.

[0011] Preferably, a separation spring is provided between the flexible tube support tube and the flexible tube base, and the elastic force of the separation spring can push the flexible tube support tube to expand radially.

[0012] Preferably, the flexible tube base is provided with a micro-drive device for controlling the contraction of the separation spring, which controls the flexible tube support tube to close. The micro-drive device is specifically an electromagnet, which uses current to control the internal electromagnet to magnetically attract, thereby compressing the spring. When no power is applied, the spring is relaxed to open the main branch.

[0013] Preferably, the drive base includes an endoscope support frame and a branch control mechanism. The rigid silicone tube is fixed on the endoscope support frame, and the endoscope support frame is provided with multiple branch control mechanisms for controlling multiple branches of the tip multi-branch flexible tube respectively.

[0014] Preferably, the branch control mechanism includes a motor housing and a plurality of DC motors installed inside the motor housing. Each DC motor is connected to the corresponding tip-carrying disc at the distal end via a motor drive cable passing through the internal channel of the flexible endoscope body.

[0015] A method for multi-branch cooperative operation of multi-branch endoscopic instruments, including...

[0016] S1. With the branches closed, insert the tip of the multi-branched flexible tube into the target cavity;

[0017] S2. During the feeding process, the snake-bone steering unit is controlled to bend, guiding the tip multi-branch flexible tube to the target working area;

[0018] S3. Release the separation spring to allow each branch of the multi-branched flexible tube at the tip to expand radially, forming an operating space;

[0019] S4. Independently control each of the flexible tube bodies to enable the end functional components to perform collaborative or independent operations;

[0020] S5. After gathering all the branches, remove the tip-shaped multi-branched flexible tube from the body cavity.

[0021] The beneficial effects of this invention are as follows:

[0022] This invention effectively overcomes the operational limitations of traditional endoscopes through its flexible multi-branch structure. The instrument can flexibly and stably reach the target position during entry into the body cavity. Through the active deployment and independent control of the multi-branched ends, a wide triangular stable operating area is formed, enabling the coordinated operation of multiple functional components within the cavity, thereby significantly improving the flexibility, efficiency, and reliability of surgical procedures. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of a multi-branch endoscopic instrument;

[0024] Figure 2 This is a schematic diagram of the working state of a multi-branch endoscopic instrument.

[0025] Figure 3 This is a schematic diagram of the drive base structure;

[0026] Figure 4 This is a schematic diagram of the structure of a multi-branched flexible tube at the tip.

[0027] In the picture:

[0028] Drive base 1; Endoscope support frame 11; Motor base 12; Motor drive cable 13;

[0029] Motor housing 121; DC motor 122;

[0030] Flexible endoscope body 2; rigid silicone tube 21; snake-bone steering unit 22; tip-branched flexible tube 23;

[0031] Flexible tube base 231; flexible tube support tube 232; flexible tube body 233; tip-carrying disc 234; separation spring 235. Detailed Implementation

[0032] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0033] like Figure 1-4 As shown, a multi-branch endoscopic manipulation instrument includes a drive base 1 and a flexible endoscope body 2 connected thereto. The drive base 1 is used to provide and transmit power to precisely control the overall movement, end-effector steering, and independent movements of each branch of the flexible endoscope body 2.

[0034] The flexible sensing body 2 includes, from proximal to distal, a rigid silicone tube 21, a snake-bone steering unit 22, and a tip-branched flexible tube 23.

[0035] The rigid silicone tube 21 is made of high-hardness silicone material and forms the proximal part of the endoscope body. Its main function is to provide the necessary structural support and force transmission basis for the entire instrument, ensuring overall stability during advancement.

[0036] The snake-bone steering unit 22 is connected to the distal end of the rigid silicone tube 21. The snake-bone steering unit 22 is composed of multiple movable joints, which can flexibly bend in multiple directions under the action of driving force, thereby guiding the instrument tip to adapt to the complex anatomical structure of the human body cavity and accurately reach the target working area. It should be noted that the snake-bone steering unit 22 is existing technology used in the field of endoscopy, and its structure will not be described in detail here. When selecting, it is sufficient to enable flexible bending in multiple directions.

[0037] The tip-shaped multi-branched flexible tube 23 is connected to the distal end of the snake-bone steering unit 22. The tip-shaped multi-branched flexible tube 23 controls the opening and closing of the flexible tube support tube 232 by controlling the working state of the flexible tube base 231. The flexible tube support tube 232 consists of three branches spliced ​​on the flexible tube support tube 232. Each flexible tube support tube 232 is connected to a flexible tube body 233. The flexible tube body 233 is connected to the tip-carrying disc 234 to carry a series of functional workpieces. In the default non-working state, the separation spring 235 is compressed. When working, the separation spring 235 springs open to separate the workpieces.

[0038] It should be noted that the functional components can be surgical tools such as cameras, LED lights, liquid channels, electrocautery knives, and biopsy forceps.

[0039] The drive base 1 is the power and control center of the instrument. It includes an endoscope support frame 11 and multiple motor mounts 12.

[0040] Each motor mount 12 contains multiple DC motors 122, which are all mounted inside the motor mount housing 121.

[0041] Each DC motor 122 passes through the internal channel of the flexible endoscope body 2 via a motor drive cable 13 and is eventually connected to the corresponding tip-carrying disc 234 at the distal end.

[0042] The motor drive cable 13 is a push-pull steel wire or tendon sheath rope, etc.

[0043] By precisely controlling the forward and reverse rotation and stroke of each DC motor 122, the corresponding flexible tube body 233 can be independently pulled or released via the motor drive cable 13, achieving its precise bending movement. The multiple sets of motors in the three motor mounts 12 work together to drive the tip-branched flexible tube 23 to present various working states such as contraction, expansion, and independent bending of each branch, in order to adapt to complex surgical needs.

[0044] like Figure 1-4 As shown, a detailed explanation of the multi-branch collaborative work method is provided:

[0045] A method for multi-branch cooperative operation of multi-branch endoscopic instruments, comprising the following steps:

[0046] S1: The flexible endoscope body 2 is inserted into the target body cavity via an external propulsion mechanism. During this process, the tip multi-branch flexible tube 23 is in a retracted state: that is, the separation spring 235 is compressed, causing the three branches composed of the flexible tube support tube 232 and the flexible tube body 233 to close tightly, forming a smaller overall outer diameter, which facilitates passage through narrow and tortuous anatomical paths;

[0047] S2: When the instrument tip approaches the target working area, the corresponding motor in the drive base 1 that controls the snake-shaped steering unit 22 is activated. The motor pulls the drive cable connected to it, causing the snake-shaped steering unit 22 to actively bend, thereby driving the entire tip multi-branch flexible tube 23 at its distal end to flexibly turn in the up, down, left, and right directions, ultimately precisely adjusting and positioning the instrument tip to the lesion or the position to be operated on.

[0048] S3: After precise positioning is completed, the branch deployment operation is performed. The drive base 1 controls the mechanism related to branch opening and closing. The elastic force of the three separation springs 235 is released to realize the opening action, pushing the three flexible tube support tubes 232 to expand radially. Each branch and its tip-carrying disc 234 then separate from each other, forming a stable triangular operating space, creating the necessary conditions for subsequent multi-instrument collaborative operation.

[0049] S4: Within the expanded workspace, precise independent or collaborative operations are performed. By independently controlling the DC motor 122 within each motor mount 12, the corresponding motor drive cable 13 precisely pulls or releases each flexible tube body 233, causing it to achieve the desired bending posture. In this way, different functional workpieces mounted on the tip-carrying disc 234 can be independently manipulated to achieve complex tasks such as observation, pulling, cutting, and sampling. The movements of each branch can coordinate with each other to meet the "triangulation" principle, improving operational visibility and mechanical stability.

[0050] S5: After the surgical procedure is completed, the base 1 is first driven to restore each flexible tube body 233 to its straightened state. Then, the branch closing mechanism is controlled to overcome the elastic force of the separation spring 235 and close the three branches back to the closed state. Finally, the entire flexible endoscope body 2 is smoothly withdrawn from the body cavity.

[0051] This invention discloses a multi-branch endoscopic manipulator, which features three independently controllable, circumferentially distributed flexible branches at the end of the instrument. Each flexible branch can carry different functional workpieces, thus expanding a single-function channel into a multi-functional collaborative operating platform. By controlling the movement of the three branches, a spacious end-effector operating space can be flexibly configured. Furthermore, by fixing the positions of one or two branches as stable mechanical fulcrums, the operational stability and precision of the remaining moving branches and their carried tools are greatly enhanced, enabling the completion of complex endoscopic surgical tasks. The relative positions of two vision systems can also be used to assist in determining the robot's end-effector pose, and the surgical task can then be achieved by controlling the third actuator.

[0052] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-branch endoscopic manipulation instrument, characterized in that: The device includes a drive base (1) and a flexible body (2). The flexible body (2) includes a rigid silicone tube (21) and a tip-branched flexible tube (23). The tip-branched flexible tube (23) is located at the distal end of the rigid silicone tube (21). The drive base (1) is located at the proximal end of the rigid silicone tube (21) and is used to independently control each branch of the tip-branched flexible tube (23), so that the multiple branches of the tip-branched flexible tube (23) can cooperate and work together, and the multiple branches of the tip-branched flexible tube (23) can converge and gather into a column.

2. The multi-branch endoscopic operating instrument according to claim 1, characterized in that: A serpentine steering unit (22) controlled by a drive base (1) is provided between the rigid silicone tube (21) and the tip multi-branch flexible tube (23).

3. The multi-branch endoscopic operating instrument according to claim 1, characterized in that: The tip-shaped multi-branch flexible tube (23) includes a flexible tube base (231) and multiple branches connected to the flexible tube base (231).

4. A multi-branch endoscopic operating instrument according to claim 3, characterized in that: Each of the branches includes a flexible tube support tube (232), a flexible tube body (233), and a tip-carrying disc (234); the proximal end of the flexible tube support tube (232) is connected to the flexible tube base (231), the distal end of the flexible tube support tube (232) is extended and fixed to the flexible tube body (233), and the distal end of the flexible tube body (233) is equipped with a carrying disc (234), which is used to install the end-function workpiece.

5. A multi-branch endoscopic operating instrument according to claim 4, characterized in that: The branch has three branches, which are evenly distributed circumferentially.

6. A multi-branch endoscopic operating instrument according to claim 5, characterized in that: A separation spring (235) is provided between the flexible tube support tube (232) and the flexible tube base (231). The elastic force of the separation spring (235) can push the flexible tube support tube (232) to expand radially.

7. A multi-branch endoscopic operating instrument according to claim 6, characterized in that: The flexible tube base (231) is equipped with a micro-drive device to control the contraction of the separation spring (235) and control the flexible tube support tube (232) to retract.

8. A multi-branch endoscopic operating instrument according to claim 4, characterized in that: The drive base (1) includes an endoscope support frame (11) and a branch control mechanism (12). The rigid silicone tube (21) is fixed on the endoscope support frame (11). The endoscope support frame (11) is provided with multiple branch control mechanisms (12) for controlling multiple branches of the tip multi-branch flexible tube (23) respectively.

9. A multi-branch endoscopic operating instrument according to claim 8, characterized in that: The branch control mechanism (12) includes a motor base housing (121) and a plurality of DC motors (122) installed in the motor base housing (121). Each DC motor (122) is connected to the corresponding tip-carrying disc (234) at the distal end through a motor drive cable (13) passing through the internal channel of the flexible endoscope body (2).

10. A method for multi-branch cooperative operation of multi-branch endoscopic instruments, characterized in that, include S1. With the branches closed, insert the tip of the multi-branched flexible tube (23) into the target cavity; S2. During the feeding process, the snake-bone steering unit (22) is controlled to bend, guiding the tip multi-branch flexible tube (23) to the target working area; S3. Release the separation spring (235) to allow each branch of the tip multi-branch flexible tube (23) to expand radially, forming an operating space; S4. Independently control each of the flexible tube bodies (233) to enable the end-function workpieces to perform collaborative or independent operations; S5. After gathering all the branches, remove the tip of the multi-branched flexible tube (23) from the body cavity.

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