A disposable ureteral lithotripsy device

Abstract

This invention discloses a disposable ureteral lithotripsy and stone removal device, belonging to the field of minimally invasive surgical instruments in urology. It includes: a disposable ureteroscope, comprising: an insertion assembly including: a tip, a camera module mounted on the tip, a temperature and pressure sensor mounted on the tip, a snake-like bone connected to the tip, and a flexible tube connected to the snake-like bone; the tip has at least two channels, one configured as a water injection channel and the other as a suction intervention channel; a handle assembly connected to the insertion assembly; and a disposable ureteral lithotripsy and stone removal system connected to the handle assembly. This disposable ureteral lithotripsy and stone removal device changes the traditional surgical method of lithotripsy and stone removal, solving problems such as the complexity of operation, high consumable costs, inability to perform real-time temperature and pressure monitoring, and inability to regulate internal temperature and pressure in traditional ureteroscopic lithotripsy and stone removal systems.

Description

Technical Field

[0001] This invention belongs to the field of minimally invasive surgical instruments in urology, specifically relating to a disposable ureteral lithotripsy and stone removal device. Background Technology

[0002] Traditional ureteral lithotripsy and stone removal devices involve inserting a rigid ureteroscope through the patient's urethra to the bladder, locating the ureteral orifice, and then advancing a guidewire through the urethra → bladder → ureteral orifice. The guidewire travels along the ureter directly to the stone site or passes beside the stone, before being inserted into a sheath. The ureteroscope, guided by the sheath, then enters the ureteral orifice, and the host computer transmits real-time images of the patient's internal organs. However, this procedure is complex, requires numerous consumables, and the host computer only provides basic image transmission, failing to offer adequate safety for the patient. Therefore, a new disposable ureteral lithotripsy and stone removal device needs to be developed to address these issues. Summary of the Invention

[0003] The purpose of this invention is to provide a disposable ureteral lithotripsy and stone removal device to solve the problems of complex operation and inability to monitor and regulate body temperature and pressure in real time during ureteral lithotripsy and stone removal surgery.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a disposable ureteral lithotripsy and stone expulsion device, comprising:

[0005] Disposable ureteroscopes, including:

[0006] The insertion assembly includes: a headstock, a camera module mounted on the headstock, a temperature and pressure sensor mounted on the headstock, a snake bone connected to the headstock, and a flexible tube connected to the snake bone.

[0007] The headstock has at least two channels;

[0008] One channel is configured as a water injection channel, and the other channel is configured as a suction intervention channel for attracting lithotripsy and medical intervention.

[0009] A handle assembly, connected to the insertion assembly;

[0010] A disposable ureteral lithotripsy and stone removal system, connected to the handle assembly, includes:

[0011] The acquisition module is connected to the temperature and pressure sensor via the handle assembly to acquire the pressure and temperature values ​​within the ureter.

[0012] The injection module is used to control the injection flow rate of the water injection channel according to the pressure and temperature values.

[0013] A suction module is used to control the suction flow rate of the suction intervention channel based on the pressure and temperature values.

[0014] Preferably, the head end base includes: a head end body and a head end shell sleeved on the head end body.

[0015] The head end body is provided with a head end body water injection channel and a head end body suction intervention channel;

[0016] The head end shell is provided with a shell water injection channel and a shell suction intervention channel connected to the head end body suction intervention channel;

[0017] The water injection channel of the shell extends in an arc along the direction of water flow, forming a water injection port on the surface of the shell at the head end that can spray a funnel-shaped vortex.

[0018] Preferably, the suction intervention channel of the head end body protrudes from the surface of the head end body to form a suction intervention channel protrusion. After the head end body and the head end shell are assembled, the suction intervention channel protrusion and the head end shell form a water injection cavity that communicates with the water injection channel of the shell.

[0019] Preferably, the suction intervention channel of the shell extends away from the suction intervention channel of the head body to form a suction intervention port, and the inner wall of the suction intervention port protrudes in the axial direction to form a constriction for blocking the passage of gravel of a set diameter.

[0020] Preferably, the head end body is further provided with a first cable channel, which is configured to accommodate the camera module cable;

[0021] A second cable channel is configured to accommodate a temperature and pressure sensor cable.

[0022] The first cable channel and the second cable channel protrude from the surface of the head end body to form cable channel protrusions. The cable channel protrusions and the suction intervention channel protrusions form a protrusion. The protrusions abut against the mounting portion opened in the head end housing to form a sealing structure for isolating the water injection cavity.

[0023] Preferably, there are four water inlets, which are arranged on the side of the head end shell.

[0024] Preferably, the handle assembly includes: a handle housing;

[0025] A channel connector that connects to the handle housing;

[0026] A wire attached to the snake bone for controlling its bending and positioning;

[0027] A wire-drawing turntable is rotatably connected to the handle housing for pulling and drawing wires;

[0028] A lever that controls the rotation of the wire drawing turntable;

[0029] An expansion tube holder connected to the end of the handle housing for inserting the expansion tube;

[0030] And a direction adjuster, with one end connected to the end of the hose and the other end connected to the handle housing, for rotating the hose angle to rotate and position the head end seat along the axis;

[0031] The expansion tube fixing seat is provided with a fixing plate connected to the handle housing, and the expansion tube fixing seat is provided with two buckle slots for fixing the expansion tube.

[0032] Preferably, the wire drawing turntable includes: a turntable body connected to the handle housing;

[0033] A rotating hole is provided in the rotating connection between the turntable body and the handle housing;

[0034] At least one wire drawing groove is provided on the main body of the turntable;

[0035] And an adjustment groove for adjusting the wire drawing length;

[0036] The direction adjuster includes: a rotating seat connected to the hose and the handle housing respectively, an adjustment knob fixed on the rotating seat for rotating the rotating seat, and a limiting groove for positioning the rotating seat at the end of the rotating seat away from the hose.

[0037] Preferably, the channel connector includes: a connector body;

[0038] A water injection cavity for connecting a water injection pipe is provided inside the connector body;

[0039] The instrument cavity is disposed within the connector body;

[0040] A suction cavity is provided within the connector body for connecting the suction intervention tube;

[0041] The instrument cavity is connected to the suction cavity.

[0042] Preferably, the disposable ureteral lithotripsy and stone removal system further includes: a light source dimming module for adjusting the brightness of the light source;

[0043] The white balance calibration module is used to calibrate the white balance when an image shows a color cast.

[0044] The video storage and playback module is used to play back stored videos and images.

[0045] The camera module is used to take photos of the required scenes for archiving.

[0046] The video recording module is used to record and archive the required footage.

[0047] The freeze module is used to freeze the current image frame.

[0048] The contour enhancement module is used to highlight the extent and contour of lesions.

[0049] The image scaling module is used to digitally zoom in / out of the current image.

[0050] The image color adjustment module is used to adjust the RGB color gain value.

[0051] Preferably, the disposable ureterolithotripsy system further includes a working mode setting module, including a manual control mode and an automatic control mode;

[0052] Automatic control mode, used by the infusion module and the suction module to automatically control the infusion flow rate and suction flow rate based on the pressure and temperature data, including:

[0053] Pressure and temperature sequences are obtained by continuous acquisition using a preset sampling frequency.

[0054] The rate of change is calculated based on the pressure sequence, and the rate of change is fitted to obtain a pressure trend index. The rate of change is calculated based on the temperature sequence, and the temperature trend index is fitted to obtain a temperature trend index.

[0055] Determine whether the pressure trend indicator exceeds the preset threshold. If it does, extract the correlation deviation value from the temperature trend indicator and determine the injection flow rate increment that needs to be adjusted based on the correlation deviation value.

[0056] Based on a given infusion flow rate increment, the corresponding compensation value for the suction flow rate is calculated, and the suction flow rate parameter is updated using the compensation value to balance the liquid circulation.

[0057] Obtain the updated infusion flow rate parameters and aspiration flow rate parameters to obtain the adjusted pressure and temperature sequences;

[0058] The rate of change is recalculated based on the adjusted pressure and temperature sequences. The rate of change is then classified using a support vector machine model to determine the environmental stability. If the stability is below a threshold, the compensation value is adjusted using an iterative feedback control algorithm.

[0059] The optimized flow parameters are extracted from the iterative compensation values, and the final infusion flow rate is determined by comparing them with a preset threshold.

[0060] Preferably, the step of continuously acquiring pressure and temperature sequences through a preset sampling frequency includes:

[0061] Determine sequence integrity;

[0062] If the sequence integrity meets a preset threshold, the pressure sequence and the temperature sequence are split by a sliding window to obtain a pressure segment sequence and a temperature segment sequence.

[0063] The average value of the segments is calculated based on the pressure segment sequence and the temperature segment sequence to obtain the average pressure value sequence and the average temperature value sequence;

[0064] If abnormal segments exist, the abnormal segments are removed from the pressure segment sequence and the temperature segment sequence to obtain the corrected pressure segment sequence and the corrected temperature segment sequence;

[0065] The segment variance is calculated based on the corrected pressure segment sequence and the corrected temperature segment sequence to obtain the pressure variance sequence and the temperature variance sequence;

[0066] Determine the variance stability for the pressure variance sequence and the temperature variance sequence;

[0067] If the variance stability meets the preset threshold, the coefficient between the corrected pressure segment sequence and the corrected temperature segment sequence is calculated to obtain the coefficient between pressure and temperature in the pressure-temperature sequence.

[0068] Preferably, the pressure mean sequence and the temperature mean sequence are used to identify outlier segments using a support vector machine. ;in, This represents the decision function of a support vector machine, used to identify outliers in the mean pressure and temperature sequences. This indicates the number of support vectors. Represents the Lagrange multipliers. Indicates the first The category label of each sample, The kernel function calculates the similarity between the input sample and the support vector. Indicates the first Support vectors, This represents the mean sample to be classified. Indicates the bias term;

[0069] The calculation of the coefficients between the corrected pressure segment sequence and the corrected temperature segment sequence includes: in, This represents the coefficients between the corrected pressure segment sequence and the corrected temperature segment sequence. Indicates the length of the corrected fragment sequence. Indicates the first A corrected stress fragment value, Indicates the first A corrected temperature segment value, This represents the mean of the corrected pressure segment sequence. This represents the mean of the corrected temperature segment sequence.

[0070] Preferably, the step of calculating the rate of change based on the pressure sequence and fitting the rate of change to obtain a pressure trend index, and calculating the rate of change based on the temperature sequence and fitting the temperature trend index, includes: fitting the rate of change to obtain a pressure trend index using a linear regression model. ;in, Indicators representing pressure trends This represents the total number of data points in the pressure sequence. Indicates the first The pressure value at a given moment. Indicates the first The time variable at each moment, This represents the average value of the original pressure sequence. This represents the average value over a time series; the fitting of the temperature trend index is the same as that of the pressure trend index.

[0071] Preferably, the compensation value for calculating the attraction flow includes: ;in, This represents the compensation value for attracting traffic. This represents the proportional control coefficient. Represents the integral control coefficient. Represents the differential control coefficient. Indicates the current infusion flow rate. Indicates the target infusion flow rate. Indicates time, The derivative of time, This represents a differential operator.

[0072] Preferably, classifying the rate of change using a support vector machine model to determine environmental stability includes: ;in, This indicates the environmental stability classification results. This represents the transpose of the weight vector of the support vector machine model. Indicates the rate of change of pressure and rate of temperature change Feature mapping function, Indicates the bias term. Represents the natural constant.

[0073] The technical effects and advantages of this invention are as follows: This disposable ureteral lithotripsy device changes the traditional surgical method of lithotripsy. It directly enters the patient's body, eliminating the need for a rigid ureteroscope to locate the ureteral orifice during the lithotripsy procedure. The device travels from the patient's urethra → bladder → ureteral orifice, reaching the upper ureter or directly into the kidney. An optical fiber is inserted into the ureteroscope to pulverize the stones. The fragments are suctioned out through the suction channel and discharged from the body with water flow through the space between the suction channel and the dilation tube. Finally, a guidewire is inserted into the dilation tube, the ureteroscope is removed, and a ureteral stent is pushed into the patient's body along the guidewire using a pusher. The guidewire is then removed. Compared to traditional lithotripsy, this invention eliminates the need for a rigid ureteroscope to locate the ureteral orifice and the process of guiding the flexible ureteroscope into the patient's ureter through the sheath and guidewire. It solves the problems of traditional ureteroscopic lithotripsy systems, such as complex operation, high consumable costs, inability to monitor temperature and pressure in real time, and inability to regulate internal temperature and pressure. Attached Figure Description

[0074] Figure 1 This is a schematic diagram of the structure of the present invention;

[0075] Figure 2 This is a schematic diagram of the structure of the disposable ureteroscope of the present invention;

[0076] Figure 3 For the present invention Figure 2 Enlarged view of point A in the middle;

[0077] Figure 4 This is a schematic diagram of the handle assembly structure of the present invention;

[0078] Figure 5 This is a three-dimensional schematic diagram of the head end shell of the present invention;

[0079] Figure 6 This is a front view of the head end housing of the present invention;

[0080] Figure 7 This is a side view of the head end housing of the present invention;

[0081] Figure 8 This is a three-dimensional schematic diagram of the head end of the present invention;

[0082] Figure 9 This is a front view of the main body of the head end of the present invention;

[0083] Figure 10 This is a schematic diagram of the channel connector structure of the present invention;

[0084] Figure 11 This is a schematic diagram of the structure connecting the channel connector, water injection pipe, and suction intervention pipe of the present invention;

[0085] Figure 12 This is a schematic diagram of the wire drawing turntable of the present invention;

[0086] Figure 13 This is a three-dimensional schematic diagram of the wire drawing turntable of the present invention;

[0087] Figure 14 This is a schematic diagram of the direction adjuster of the present invention;

[0088] Figure 15 This is a three-dimensional schematic diagram of the direction adjuster of the present invention;

[0089] Figure 16 This is a schematic diagram of the expansion tube of the present invention;

[0090] Figure 17 This is a three-dimensional schematic diagram of the expansion tube of the present invention;

[0091] Figure 18 This is a schematic diagram of the jet-shaped vortex at the water inlet of the present invention;

[0092] Figure 19 This is a schematic diagram of the expansion tube fixing seat structure of the present invention;

[0093] Figure 20 This is a perspective view of the expansion tube fixing seat of the present invention.

[0094] In the diagram: 1. Saline container; 2. Collection container; 3. Renal pelvis; 100. Insertion assembly; 110. Head end seat; 140. Snake bone; 150. Tube; 111. Head end body; 112. Head end body suction intervention channel; 113A. First head end body water injection channel; 113B. Second head end body water injection channel; 114. First cable channel; 115. Second cable channel; 116. Protrusion; 116A. Cable channel protrusion; 116B. Suction intervention channel protrusion; 120. Head end shell; 121. First mounting hole; 122. Shell suction intervention channel; 123A. First water inlet; 123B. Second water inlet; 123C. Third water inlet; 123D. Fourth water inlet; 124. Second mounting hole; 125. Closure; 200. Handle assembly; 201. Limiting rod; 210. Channel connector; 21 1. Connector body; 212. Connector water injection chamber; 213. Instrument chamber; 214. Suction chamber; 220. Handle housing; 230. Lever; 240. Suction intervention tube; 250. Water injection tube; 260. Direction adjuster; 261. Adjustment knob; 262. Rotary seat; 263. Limiting groove; 270. Wire drawing turntable; 271. Turntable body; 272. Rotation hole; 273. First wire drawing groove; 274. 275. Second drawing groove; 276. Adjustment groove; 280. Adjustment block; 281. Expansion tube fixing seat; 282. Fixing plate; 283. Snap-on groove; 290. Drawing; 291. Metal block; 300. Expansion tube; 301. Insert post; 400. Handle wire assembly; 510. Peristaltic pump; 520. Suction pump; 530. Main unit; 511. Infusion drainage tube; 521. First suction drainage tube; 522. Second suction drainage tube. Detailed Implementation

[0095] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0096] This invention provides, for example Figure 1 The disposable ureteral lithotripsy and stone removal device shown is used in laser lithotripsy surgery; it consists of a laser lithotripter, a disposable ureteroscope, a monitor, and a disposable ureteral lithotripsy and stone removal system.

[0097] like Figure 2 As shown, the disposable ureteroscope is a multi-lumen ureteroscope, consisting of: an insertion assembly 100, a handle assembly 200, and a handle cable assembly 400.

[0098] like Figure 3As shown, the insertion component 100 includes: a headstock 110, a camera module mounted on the headstock 110, a temperature and pressure sensor mounted on the headstock 110, a snake bone 140 connected to the headstock 110, and a flexible tube 150 connected to the snake bone 140; the camera module is model OVM6946; the camera module integrates a light source, model Maike 0301LED; the light source is an LED lamp.

[0099] The curved portion of the snake bone 140 is wrapped with a curved portion sheath, and the hose 150 is fitted with a steel wire sleeve. The steel wire sleeve can be connected to the snake bone 140 through a rear connector, or it can be directly laser-welded to the snake bone 140 without using a rear connector; the angle of the curved portion of the snake bone 140 is 270°.

[0100] The temperature and pressure sensor cable, camera module cable, water injection pipe 250, suction intervention pipe 240, and the wire 290 connected to the snake bone 140 are all housed in the hose 150. The wire 290 is located inside the wire sleeve, which is housed in the hose 150.

[0101] The temperature and pressure sensor cable and the camera module cable are connected to the adapter plate, which is assembled on the handle assembly 200;

[0102] like Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 As shown, the head end base 110 includes: a head end body 111 and a head end shell 120 sleeved on the head end body 111.

[0103] The head end body 111 is provided with a head end body water injection channel and a head end body suction intervention channel 112; the head end body water injection channel includes: a first head end body water injection channel 113A and a second head end body water injection channel 113B;

[0104] The head end housing 120 is provided with a housing water injection channel and a housing suction intervention channel 122 connected to the head end main body suction intervention channel 112;

[0105] The shell water injection channel includes four shell water injection channels distributed symmetrically along an axis. The four shell water injection channels are: a first shell water injection channel, a second shell water injection channel, a third shell water injection channel, and a fourth shell water injection channel. The first shell water injection channel, the second shell water injection channel, the third shell water injection channel, and the fourth shell water injection channel extend arcuately out of the surface of the head end shell 120 along the water flow direction to form a first water injection port 123A, a second water injection port 123B, a third water injection port 123C, and a fourth water injection port 123D. The first water injection port 123A, the second water injection port 123B, the third water injection port 123C, and the fourth water injection port 123D are arranged on the side of the head end shell 120. The cross-sectional shape of the first shell water injection channel, the second shell water injection channel, the third shell water injection channel, and the fourth shell water injection channel is rectangular.

[0106] The water injection channel of the shell extends in an arc along the water flow direction, forming a water injection port on the surface of the head end shell 120 capable of spraying a funnel-shaped vortex, such as... Figure 18 As shown, the jet-like vortex of the water inlet carries the lithotripsy from inside the kidney into the suction inlet, improving the lithotripsy suction effect. Since the first housing water inlet channel and the second housing water inlet channel are closer to the first head main body water inlet channel 113A and the second head main body water inlet channel 113B, the water flow near the first mounting hole 121 at the first water inlet 123A and the second water inlet 123B has a greater water flow velocity than that at the third water inlet 123C and the fourth water inlet 123D.

[0107] The suction intervention channel 112 of the head end body protrudes from the surface of the head end body 111 to form a suction intervention channel protrusion 116B. After the head end body 111 and the head end shell 120 are assembled, the suction intervention channel protrusion 116B and the head end shell 120 form a water injection cavity, and the water injection cavity is connected to the water injection channel of the shell.

[0108] The suction intervention channel 122 of the shell extends away from the suction intervention channel 112 of the head body to form a suction intervention port. The inner wall of the suction intervention port protrudes in the axial direction to form a constriction 125 for blocking the passage of gravel of a set diameter. The constriction 125 prevents larger stones from entering the suction intervention channel and causing blockage.

[0109] The suction inlet is circular in shape, with a sloping end face.

[0110] The head end body 111 is also provided with a first cable channel 114, which is configured to accommodate the camera module cable;

[0111] The second cable channel 115 is configured to accommodate a temperature and pressure sensor cable.

[0112] The head end housing 120 is provided with a first mounting hole 121 for assembling a camera module and a second mounting hole 124 for assembling a temperature and pressure sensor.

[0113] The first cable channel 114 and the second cable channel 115 protrude from the surface of the head end body 111 to form a cable channel protrusion 116A. The cable channel protrusion 116A and the suction intervention channel protrusion 116B form a protrusion 116. The protrusion 116 abuts against the mounting portion opened in the head end housing 120 to form a sealing structure for isolating the water injection cavity.

[0114] In this embodiment, the first mounting hole 121 and the suction inlet are both located on the end face away from the snake bone 140. The first water inlet 123A, the second water inlet 123B, the third water inlet 123C, the fourth water inlet 123D and the second mounting hole 124 are all located on the side of the head end housing 120, and the second mounting hole 124 is closer to the snake bone 140 than the first water inlet 123A, the second water inlet 123B, the third water inlet 123C and the fourth water inlet 123D.

[0115] like Figure 4 As shown, the handle assembly 200 includes: a handle housing 220;

[0116] Channel connector 210 connected to the handle housing 220;

[0117] A wire 290 is attached to the snake bone 140 for controlling the bending and positioning of the snake bone 140;

[0118] A wire drawing turntable 270 is rotatably connected to the handle housing 220 for pulling the wire drawing 290;

[0119] A lever 230 that controls the rotation of the wire drawing turntable 270;

[0120] An expansion tube holder 280 is connected to the end of the handle housing 220 for inserting the expansion tube 300;

[0121] And a direction adjuster 260, with one end connected to the end of the hose 150 and the other end connected to the handle housing 220, for rotating the hose 150 to rotate and position the head end seat 110 along the axis.

[0122] like Figure 12 , Figure 13 The wire drawing turntable 270 shown includes: a turntable body 271 connected to the handle housing 220;

[0123] A rotating hole 272 is provided in which the turntable body 271 and the handle housing 220 are rotatably connected;

[0124] At least one wire drawing groove is provided on the turntable body 271;

[0125] And an adjustment groove 275 for adjusting the length of the wire drawing 290;

[0126] The adjusting groove 275 includes a plurality of adjusting blocks 276 arranged in a matrix. The plurality of adjusting blocks 276 form a plurality of adjusting grooves 275 with different lengths relative to the wire drawing groove outlet. The adjusting grooves 275 are matched with the metal blocks 291 at the end of the wire drawing 290. The metal blocks 291 and the wire drawing 290 are press-fitted together. The metal blocks 291 are abutted and installed in the adjusting grooves 275 and are glued together. The adjusting grooves 275 are provided with 5 positions, and the distance between each position is 1 mm.

[0127] The drawing groove is provided in multiple ways, and each drawing groove is at a different distance from the rotating hole 272. In this embodiment, the drawing groove includes a first drawing groove 273 and a second drawing groove 274, wherein the distance between the first drawing groove 273 and the center of the rotating hole 272 is greater than the distance between the second drawing groove 274 and the center of the rotating hole 272.

[0128] Depending on the specifications of the headstock 110, the wire puller 290 is assembled into different wire puller grooves, thus enabling the same wire puller 290 and handle assembly 200 to be compatible with different headstocks 110. The adjusting groove 275 allows the traction force of the wire puller 290 to be maintained within the optimal range, enabling more precise control of the headstock 110. The structural improvements to the headstock 110 allow for rapid insertion into the renal pelvis 3, accurate location of the stone, reduced patient pain and surgical time, and improved flexibility due to its compatibility with different headstocks 110.

[0129] like Figure 14 , Figure 15 As shown, the direction adjuster 260 includes: a rotating seat 262 connected to the hose 150 and the handle housing 220 respectively, and an adjusting knob 261 fixed on the rotating seat 262 for rotating the rotating seat 262. The end of the rotating seat 262 located inside the handle housing 220 is provided with a limiting groove 263. The limiting groove 263 cooperates with a limiting rod 201 provided on the handle housing 220 to facilitate the positioning of the rotating seat 262. The adjustment direction can be changed from two directions to four directions. By cooperating with the lever 230, the two directions of the snake bone 140 can be changed to four directions by rotating 90 degrees. During surgery, the direction adjuster 260 can change the direction of the head end seat 110 so that the suction intervention port faces different directions, thereby better suctioning the broken stones out of the body.

[0130] like Figure 19 , Figure 20As shown, the expansion tube fixing seat 280 is provided with a fixing plate 281 connected to the handle housing 220. The expansion tube fixing seat 280 is provided with two buckle grooves 282 for fixing the expansion tube 300. The buckle grooves 282 are L-shaped and the two buckle grooves 282 are symmetrically distributed.

[0131] like Figure 10 , Figure 11 As shown, the channel connector 210 includes:

[0132] Connector body 211;

[0133] A water injection cavity 212 is provided inside the connector body 211 to connect to the water injection pipe 250;

[0134] An instrument cavity 213 for instrument intervention operations is disposed within the connector body 211;

[0135] A suction cavity 214 is provided inside the connector body 211 to connect the suction intervention tube 240;

[0136] The diameter of the input port of the instrument cavity 213 is larger than the diameter of the output port;

[0137] The diameter of the input port of the suction cavity 214 is smaller than the diameter of the output port.

[0138] The angle formed by the intersection of the axis of the instrument cavity 213 and the axis of the suction cavity 214 is an acute angle or an obtuse angle.

[0139] The instrument cavity 213 is connected to the suction cavity 214, which is connected to the dilation tube fixation seat 280 via a pipe. One end of the dilation tube 300 enters the renal pelvis 3 from the dilation tube fixation seat 280, and the other end is provided with a locking structure that matches the dilation tube fixation seat 280. The locking structure includes two inserts 301 that rotate and engage with the end of the dilation tube in two locking slots 282. This locking design can better fix the dilation tube 300 during the surgical procedure. In this method, the ureter can be smoothly accessed without the need for a rigid endoscope. The dilator 300 replaces the rigid endoscope. The dilator has a semi-flexible and semi-rigid characteristic, which can be bent at large angles but not at small angles. The dilator 300 passes through the snake bone 140 and extends out of the head end seat 110. Since the snake bone 140 itself is flexible, the dilator 300 increases the rigidity of the snake bone 140 after it is inserted into the snake bone 140, that is, it becomes harder. The ureter is opened through the head of the dilator 300, and the inside of the ureter can be seen through the camera module.

[0140] like Figure 16 , Figure 17As shown, the tubing 150 of the insertion component 100 is equipped with a water injection tube 250 and a suction intervention tube 240. Compared with the traditional ureteroscope, the suction intervention tube 240 has a built-in dilation tube 300, and the tubing 150 has multiple tubes inside, with a compact internal space and is not easy to bend.

[0141] The water inflow and outflow of the water injection channel are controlled based on the temperature and pressure data obtained by the temperature and pressure sensor.

[0142] The temperature and pressure sensor is a pressure sensor or an instrument that can acquire temperature and pressure. Compared with traditional ureteroscopes, the temperature and pressure sensor equipped on the headstock 110 can monitor the patient's temperature and pressure in real time, greatly improving the patient's surgical safety.

[0143] Ureteroscopy allows for direct insertion through the urethra, bladder, and ureteral orifice, eliminating the need for traditional flexible ureteroscopy, which requires locating the ureteral orifice with a rigid endoscope and guiding the endoscope through a sheath and guide wire. Compared to existing flexible ureteroscopy procedures, this method directly inserts the ureteroscope through the ureter, bladder, and ureteral orifice for laser lithotripsy. The fragments are then aspirated and expelled through a suction port. After stone removal, a guide wire is inserted through the suction port, the ureteroscope is withdrawn, and then pushed back in along the guide wire using a pusher to complete the procedure. Furthermore, compared to traditional flexible ureteroscopes, this method features a temperature and pressure sensor and camera module at the tip for real-time video monitoring and temperature and pressure measurement, allowing for the detection of the patient's internal environment. Real-time video transmission and temperature and pressure measurement are implemented. When the patient's internal pressure or temperature is abnormal, temperature and pressure control can be achieved through the coordinated operation of the water inlet and suction intervention port. The principle is as follows: when the patient's internal pressure is high, the suction intervention tube 240 can increase the suction volume to reduce the pressure; when the patient's internal pressure is too low, the water inlet tube 250 can increase the water inflow to increase the pressure and maintain normal internal pressure. Similarly, when the patient's internal temperature is too high, the inflow and outflow of water can be increased simultaneously to cool the patient by carrying away the heat. The temperature and pressure sensors work together with the suction intervention channel and the water inlet channel to achieve temperature and pressure control, greatly reducing the risk of surgery and ensuring patient safety. Compared with existing flexible endoscopy techniques, this application does not require the use of rigid endoscopes and sheaths for guidance, allowing direct entry into the patient's body and reducing the surgical procedure and difficulty.

[0144] A disposable ureteral lithotripsy and stone removal system includes: a main unit 530, a peristaltic pump 510, an irrigation drainage tube 511, a suction pump 520, and a suction drainage tube;

[0145] The light source dimming module triggers the front panel buttons of the 530 host to adjust the brightness. There are OFF to 5 brightness levels to choose from. Each click of the "+" button on the front panel increases the brightness by one level, and each click of the "-" button decreases the brightness by one level.

[0146] White balance calibration module: When the displayed image shows color cast, white balance calibration is required. Align the matching ureteroscope with a pure white card and trigger the white balance button. The image color should change at this time. Video storage and playback module: Insert a USB flash drive / SD card into the host 530 to play back the stored videos and pictures.

[0147] Photo module: Insert the USB flash drive / SD card into the host 530 to take a picture of the desired scene and save it in JPG format;

[0148] Video recording module: Insert a USB flash drive / SD card into the host 530 to record and archive the required scenes. The recorded files are in MP4 format.

[0149] Freeze module: Freezes the current image frame;

[0150] Contour Enhancement Module: To highlight the extent and contour of lesions, adjust to the desired state for clearer image texture;

[0151] Image zoom module: It can digitally zoom in / out on the current image, with 3 levels that can cycle through from small to large and back to small.

[0152] Image color adjustment module: Enter the image color adjustment function to realize the RGB color gain value adjustment function;

[0153] The data acquisition module is used to obtain pressure and temperature values ​​within the ureter;

[0154] Peristaltic pump 510;

[0155] One end is connected to the saline container 1 and the irrigation drainage tube 511 of the disposable ureteroscope;

[0156] Infusion module: The peristaltic pump 510 on the side of the main unit 530 is connected to the matching infusion drainage tube 511. One end of the infusion drainage tube 511 is connected to the saline container 1, saline bottle or bag saline device, and the other end is connected to the Luer connector of the instrument channel of the matching ureteroscope. The infusion pump is started and stopped by the "infusion button" on the control panel of the main unit 530, thereby affecting the infusion flow rate. The saline container 1 can be a saline bottle or bag saline device. Suction pump 520;

[0157] One end is connected to the inlet of the collection container 2 and the other end is connected to the first suction drainage tube 521 of the disposable ureteroscope; one end is connected to the outlet of the collection container 2 and the other end is connected to the air inlet of the suction pump 520; the collection container 2 can be a waste liquid collector or a suction bottle.

[0158] Suction module: One end of the second suction tube 522 is connected to the suction bottle, and the other end is connected to the air inlet of the suction pump 520 to achieve negative pressure suction. The suction pump 520 can be started and stopped by the "suction button" on the control panel of the main unit 530, thereby affecting the suction flow rate.

[0159] The working mode setting module includes: a manual control mode and an automatic control mode. The automatic control mode is used by the infusion module and the suction module to automatically control the infusion flow rate and suction flow rate based on the pressure and temperature data.

[0160] The data is continuously collected at a preset sampling frequency to obtain pressure and temperature sequences. The rate of change of the pressure sequence is calculated, and a pressure trend index is obtained by fitting the rate of change using a linear regression model. Simultaneously, the rate of change of the temperature sequence is calculated and fitted using the same linear regression model to obtain a temperature trend index. It is determined whether the pressure trend index exceeds a preset threshold. If it does, a correlation deviation value is extracted from the temperature trend index, and the required infusion flow rate increment is determined based on this correlation deviation value. For the determined infusion flow rate increment, a feedback control algorithm is used to calculate the corresponding compensation value for the suction flow rate. The suction flow rate parameter is updated using the compensation value to balance the liquid circulation. The updated infusion flow rate parameter and suction flow rate parameter are obtained to obtain the adjusted pressure and temperature sequences. The rate of change is recalculated based on the adjusted pressure and temperature sequences, and the rate of change is classified using a support vector machine model to determine environmental stability. If the stability is lower than a threshold, the compensation value is adjusted using an iterative feedback control algorithm. The optimized flow parameters are extracted from the iterated compensation values, and the final infusion flow rate is determined by comparison with a preset threshold.

[0161] The method for obtaining pressure and temperature sequences by continuously acquiring the data through a preset sampling frequency includes:

[0162] The pressure sequence and the temperature sequence are used to determine sequence integrity using a long short-term memory network.

[0163] If the sequence integrity meets a preset threshold, the pressure sequence and the temperature sequence are split by a sliding window to obtain a pressure segment sequence and a temperature segment sequence.

[0164] The average value of the segments is calculated based on the pressure segment sequence and the temperature segment sequence to obtain the average pressure value sequence and the average temperature value sequence.

[0165] Support vector machine is used to identify outlier segments in the pressure mean sequence and the temperature mean sequence. ;in, This represents the decision function of a support vector machine, used to identify outliers in the mean pressure and temperature sequences. This indicates the number of support vectors. Represents the Lagrange multipliers. Indicates the first The category label of each sample, The kernel function calculates the similarity between the input sample and the support vector. Indicates the first Support vectors, This represents the mean sample to be classified. Indicates the bias term;

[0166] If abnormal segments exist, the abnormal segments are removed from the pressure segment sequence and the temperature segment sequence to obtain the corrected pressure segment sequence and the corrected temperature segment sequence.

[0167] The segment variances are calculated based on the corrected pressure segment sequence and the corrected temperature segment sequence to obtain the pressure variance sequence and the temperature variance sequence.

[0168] Long Short-Term Memory (LSTM) networks are used to determine the variance stability of the pressure variance sequence and the temperature variance sequence.

[0169] If the variance stability meets the preset threshold, the correlation coefficient between the modified pressure segment sequence and the modified temperature segment sequence is calculated to obtain the coefficient between the pressure and temperature correlation sequences.

[0170] The Long Short-Term Memory network evaluates the integrity and stability of the sequence data, and the Support Vector Machine identifies abnormal patterns in the mean sequence.

[0171] The sliding window segmentation method converts a continuous sequence into a fixed-length segment sequence, and the correlation coefficient calculation method quantifies the degree of correlation between the corrected segment sequences. in, This represents the coefficients between the corrected pressure segment sequence and the corrected temperature segment sequence. Indicates the length of the corrected fragment sequence. Indicates the first A corrected stress fragment value, Indicates the first A corrected temperature segment value, This represents the mean of the corrected pressure segment sequence. This represents the mean of the corrected temperature segment sequence.

[0172] The pressure trend index is obtained by calculating the rate of change of the pressure sequence and fitting the rate of change. The temperature trend index is obtained by fitting the rate of change of the temperature sequence, which includes: fitting the rate of change of the temperature sequence to obtain the pressure trend index. The fitting of the temperature trend index is the same as that of the pressure trend index. ;in, Indicators representing pressure trends This represents the total number of data points in the pressure sequence. Indicates the first The pressure value at a given moment. Indicates the first The time variable at each moment, This represents the average value of the original pressure sequence. Represents the average value of a time series;

[0173] Based on a determined infusion flow rate increment, a feedback control algorithm is used to calculate the corresponding compensation value of the suction flow rate. The suction flow rate parameter is then updated using the compensation value to balance the liquid circulation. ;in, This represents the compensation value for attracting traffic. This represents the proportional control coefficient. Represents the integral control coefficient. Represents the differential control coefficient. Indicates the current infusion flow rate. Indicates the target infusion flow rate. Indicates time, The derivative of time, This represents a differential operator.

[0174] The rate of change is recalculated based on the adjusted pressure and temperature sequences, and the rate of change is classified using a support vector machine model to determine the environmental stability. If the stability is lower than the threshold, the compensation value is adjusted by an iterative feedback control algorithm. ;in, This indicates the environmental stability classification results. This represents the transpose of the weight vector of the support vector machine model. Indicates the rate of change of pressure and rate of temperature change Feature mapping function, Indicates the bias term. Represents the natural constant.

[0175] The main unit 530 of this application has the same operation panel as a traditional main unit, but the software has been upgraded to reflect the patient's internal temperature and pressure in real time. The control panel adds buttons for calibration, pump, and suction. The main unit 530 structure also includes a suction pump 520 and a peristaltic pump 510. The suction pump 520, also known as a uterine distension pump, generates suction by creating a negative pressure environment. Connecting it to the suction valve of a disposable ureteroscope via the first suction drainage tube 521 allows for the suction and removal of stones. The peristaltic pump 510, also known as a steam pump, connects to the ureteroscope's Luer connector or channel connector 2 via the irrigation drainage tube 511. The device features a 10-phase connection and adjustable inlet water flow through the instrument channel. When the patient's internal temperature is too high, the control panel can simultaneously increase the power of the distending pump and the steam pump, increasing the inlet and outlet water flow to remove heat and achieve a cooling effect. When the patient's internal pressure is abnormal, the distending pump and the steam pump can also be adjusted to regulate the pressure. Therefore, compared to traditional main units, the software has been upgraded to achieve real-time monitoring of the patient's internal image, pressure, and temperature. Structurally, the addition of the distending pump and the steam pump, along with automatic perfusion and suction control functions, allows for intelligent adjustment of the patient's internal pressure and temperature.

[0176] By attaching a temperature and pressure sensor to the end of a disposable ureteroscope, the system senses the temperature and pressure within the patient's body. The sensor transmits the signals to the main unit 530, which receives the signals and converts them into images, displaying the patient's internal temperature and pressure in real time. The main unit 530 incorporates a distension pump and a steam pump, enhancing irrigation and suction functions. The control panel on the main unit 530 adjusts the irrigation and suction power, controlling the suction volume in the ureteroscope's suction channel and the irrigation volume in the water injection channel. By controlling the inlet and outlet water flow rates, the system regulates the pressure and temperature within the patient's body. When the pressure is high, the suction volume can be increased through the suction channel tube to reduce the pressure. When the pressure inside the patient's body is too low, the water inlet tube can be increased through the water inlet tube to increase the pressure and maintain the normal pressure inside the patient's body. Similarly, when the patient's body temperature is too high, the inlet and outlet water volumes can be increased simultaneously to cool the patient by carrying away the heat with water. Compared with traditional systems, this system can be directly inserted into the human body for surgery. The perfusion flow rate and suction pressure can be adjusted in real time during the operation to maintain a clear field of vision and the safety of the nephron. The perfusion flow rate adjusts the intrarenal pressure, and the negative pressure suction sheath is closely attached to the lithotripsy site to adsorb fragments and remove them from the body in real time.

[0177] The ureteroscope in this device has an injection channel for water delivery and an aspiration intervention channel for water discharge. The aspiration intervention channel includes a dilation tube 300 with a compact internal structure that is not easily bent. Compared to traditional flexible ureteroscopes, the disposable ureteroscope in this application is less prone to bending and can be directly inserted into the patient's body for lithotripsy. This eliminates the need for a rigid ureteroscope to locate the ureteral orifice. The device operates from the patient's urethra → bladder → ureteral orifice, reaching the upper ureter or directly into the kidney. An optical fiber is inserted into the ureteroscope to break up the stones. The fragments are aspirated through the aspiration intervention channel and discharged with the water flow from the space between the aspiration intervention channel and the dilation tube 300. Finally, a guidewire is inserted into the dilation tube 300, the ureteroscope is removed, and a ureteral stent is pushed into the patient's body along the guidewire using a pusher. The guidewire is then removed, and the procedure is complete. Compared with traditional ureteral lithotripsy devices, this device can be directly inserted into the human body for surgery. During the operation, the perfusion flow and suction pressure can be adjusted in real time to maintain a clear field of vision and the safety of the nephron. The perfusion flow regulates the intrarenal pressure, and the negative pressure suction sheath is closely attached to the lithotripsy site to adsorb fragments and remove them from the body in real time.

[0178] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A disposable ureteral lithotripsy and stone expulsion device, characterized in that: include: Disposable ureteroscopes, including: The insertion assembly includes: a headstock, a camera module mounted on the headstock, a temperature and pressure sensor mounted on the headstock, a snake bone connected to the headstock, and a flexible tube connected to the snake bone. The headstock has at least two channels; One channel is configured as a water injection channel, and the other channel is configured as a suction intervention channel; A handle assembly, connected to the insertion assembly; The handle assembly includes: a direction adjuster for rotating and positioning the headstock along an axis; The head end base includes: a head end body and a head end shell sleeved on the head end body; the head end shell is provided with a shell water injection channel and a shell suction intervention channel connected to the head end body suction intervention channel; The water injection channel of the shell extends in an arc along the water flow direction to form four water injection ports on the surface of the head end shell, which form a jet funnel-shaped vortex; among them, the flow velocity of the two water injection ports closer to the camera module is greater than that of the other two water injection ports; The suction intervention channel of the shell extends away from the suction intervention channel of the head body to form a suction intervention port. The inner wall of the suction intervention port protrudes in the axial direction to form a constriction for blocking the passage of gravel of a set diameter. The expansion tube passes through the snake bone and extends out of the head end seat; A disposable ureteral lithotripsy and stone removal system, connected to the handle assembly, includes: The acquisition module is connected to the temperature and pressure sensor via the handle assembly to acquire the pressure and temperature values ​​within the ureter. The injection module is used to control the injection flow rate of the water injection channel according to the pressure value and temperature value; A suction module is used to control the suction flow rate of the suction intervention channel based on the pressure and temperature values. The working mode setting module includes: manual control mode and automatic control mode; Automatic control mode, used by the infusion module and the suction module to automatically control the infusion flow rate and suction flow rate based on the pressure and temperature data, including: Pressure and temperature sequences are obtained by acquiring data using a preset sampling frequency. The rate of change is calculated based on the pressure sequence, and the rate of change is fitted to obtain a pressure trend index. The rate of change is calculated based on the temperature sequence, and the temperature trend index is fitted to obtain a temperature trend index. Determine whether the pressure trend indicator exceeds the preset threshold. If it does, extract the correlation deviation value from the temperature trend indicator and determine the injection flow rate increment that needs to be adjusted based on the correlation deviation value. Based on a determined infusion flow rate increment, a compensation value for the suction flow rate is calculated, and the suction flow rate parameter is updated using the compensation value to balance the liquid circulation. Obtain the updated infusion flow rate parameters and aspiration flow rate parameters to obtain the adjusted pressure and temperature sequences; The rate of change is recalculated based on the adjusted pressure and temperature sequences. The rate of change is then classified using a support vector machine model to determine the environmental stability. If the stability is below a threshold, the compensation value is adjusted using an iterative feedback control algorithm. The optimized perfusion flow rate and aspiration flow rate parameters are extracted from the iterative compensation values, and the final perfusion flow rate is determined by comparing them with preset thresholds.

2. The disposable ureteral lithotripsy and stone expulsion device according to claim 1, characterized in that: The head end body is provided with a head end body water injection channel and a head end body suction intervention channel; The suction intervention channel of the head end body protrudes from the surface of the head end body to form a suction intervention channel protrusion. After the head end body and the head end shell are assembled, the suction intervention channel protrusion and the head end shell form a water injection cavity that is connected to the water injection channel of the shell.

3. The disposable ureteral lithotripsy and stone expulsion device according to claim 2, characterized in that: The head end body is also provided with a first cable channel, which is configured to accommodate the camera module cable; A second cable channel is configured to accommodate a temperature and pressure sensor cable. The first cable channel and the second cable channel protrude from the surface of the head end body to form cable channel protrusions. The cable channel protrusions and the suction intervention channel protrusions form a protrusion. The protrusions abut against the mounting portion opened in the head end housing to form a sealing structure for isolating the water injection cavity.

4. The disposable ureteral lithotripsy and stone expulsion device according to any one of claims 1-3, characterized in that: The handle assembly further includes: a handle housing; A channel connector that connects to the handle housing; A wire attached to the snake bone for controlling its bending and positioning; A wire-drawing turntable is rotatably connected to the handle housing for pulling and drawing wires; A lever that controls the rotation of the wire drawing turntable; An expansion tube holder connected to the end of the handle housing for inserting the expansion tube; The expansion tube fixing seat is provided with a fixing plate connected to the handle housing, and the expansion tube fixing seat is provided with two snap-fit ​​grooves for fixing the expansion tube; the wire drawing turntable includes: a turntable body connected to the handle housing; A rotating hole that is rotatably connected to the handle housing; At least one wire drawing groove is provided on the main body of the turntable; And an adjustment groove for adjusting the wire drawing length.

5. The disposable ureteral lithotripsy and stone expulsion device according to claim 4, characterized in that: The direction adjuster includes: a rotating seat connected to the hose and the handle housing respectively, an adjustment knob fixed on the rotating seat for rotating the rotating seat, and a limiting groove for positioning the rotating seat at the end of the rotating seat away from the hose.

6. The disposable ureteral lithotripsy and stone expulsion device according to claim 4, characterized in that: The channel connector includes: a connector body; A water injection cavity for connecting a water injection pipe is provided inside the connector body; The instrument cavity is disposed within the connector body; An aspiration cavity is provided within the connector body for connecting the aspiration intervention tube; The instrument cavity is connected to the suction cavity.

7. The disposable ureteral lithotripsy and stone expulsion device according to claim 1, characterized in that: The disposable ureteral lithotripsy and stone removal system also includes: a light source dimming module for adjusting the brightness of the light source; The white balance calibration module is used to calibrate the white balance when an image shows a color cast. The video storage and playback module is used to play back stored videos and images. The camera module is used to take photos of the required scenes for archiving. The video recording module is used to record and archive the required footage. The freeze module is used to freeze the current image frame. The contour enhancement module is used to highlight the extent and contour of lesions. The image scaling module is used to digitally zoom in / out of the current image. The image color adjustment module is used to adjust the RGB color gain value.

8. The disposable ureteral lithotripsy and stone expulsion device according to claim 1, characterized in that: The pressure and temperature sequences obtained by acquiring them through a preset sampling frequency include: Determine sequence integrity; If the sequence integrity meets a preset threshold, the pressure sequence and the temperature sequence are split by a sliding window to obtain a pressure segment sequence and a temperature segment sequence. The average value of the segments is calculated based on the pressure segment sequence and the temperature segment sequence to obtain the average pressure value sequence and the average temperature value sequence; If abnormal segments exist, the abnormal segments are removed from the pressure segment sequence and the temperature segment sequence to obtain the corrected pressure segment sequence and the corrected temperature segment sequence; The segment variance is calculated based on the corrected pressure segment sequence and the corrected temperature segment sequence to obtain the pressure variance sequence and the temperature variance sequence; Determine the variance stability for the pressure variance sequence and the temperature variance sequence; If the variance stability meets a preset threshold, the coefficient between the corrected pressure segment sequence and the corrected temperature segment sequence is calculated to obtain the coefficient between pressure and temperature; the mean pressure sequence and the mean temperature sequence are used to identify outlier segments using a support vector machine. ;in, This represents the decision function of a support vector machine, used to identify outliers in the mean pressure and temperature sequences. This indicates the number of support vectors. Represents the Lagrange multipliers. Indicates the first The category label of each sample, The kernel function calculates the similarity between the input sample and the support vector. Indicates the first Support vectors, This represents the mean sample to be classified. Indicates the bias term; The calculation of the coefficients between the corrected pressure segment sequence and the corrected temperature segment sequence includes: in, This represents the coefficients between the corrected pressure segment sequence and the corrected temperature segment sequence. Indicates the length of the corrected fragment sequence. Indicates the first One corrected stress fragment value, Indicates the first A corrected temperature segment value. This represents the mean of the corrected stress segment sequence. This represents the mean of the corrected temperature segment sequence.

9. The disposable ureteral lithotripsy and stone expulsion device according to claim 1, characterized in that: The step of calculating the rate of change based on the pressure sequence and fitting the rate of change to obtain a pressure trend index, and calculating the rate of change based on the temperature sequence and fitting the temperature trend index, includes: fitting the rate of change to obtain a pressure trend index using a linear regression model. ;in, Indicators representing pressure trends This represents the total number of data points in the pressure sequence. Indicates the first The pressure value at a given moment. Indicates the first The time variable at each moment, This represents the average value of the original pressure sequence. This represents the average value over a time series; the fitting of the temperature trend index is the same as that of the pressure trend index.

10. A disposable ureteral lithotripsy and stone expulsion device according to claim 1, characterized in that: The corresponding compensation values ​​for calculating the attraction flow rate include: ;in, This represents the compensation value for attracting traffic. This represents the proportional control coefficient. Represents the integral control coefficient. Represents the differential control coefficient. Indicates the current infusion flow rate. Indicates the target infusion flow rate. Indicates time, The derivative of time, This represents a differential operator.

11. The disposable ureteral lithotripsy and stone expulsion device according to claim 1, characterized in that: The step of classifying the rate of change using a support vector machine model to determine environmental stability includes: ;in, This indicates the environmental stability classification results. This represents the transpose of the weight vector of the support vector machine model. Indicates the rate of change of pressure and rate of temperature change Feature mapping function, Indicates the bias term. Represents the natural constant.

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