Flexible bionic grabbing instrument for ureteroscope calculus removal and operation method of flexible bionic grabbing instrument

Abstract

The invention discloses a flexible bionic grabbing instrument for ureteroscope calculus removal and an operation method of the flexible bionic grabbing instrument, and belongs to the technical field of medical instruments. Comprising a handheld pipe, a connecting circular plate is fixedly connected to the right side of the handheld pipe, a control mechanism is arranged on the right side of the connecting circular plate, a flexible pipe is fixedly connected to the left side of the handheld pipe, and a clamping mechanism is arranged at the left end of the flexible pipe; the multiple flexible clamping plates are connected with the flexible pipe through the first rotating pieces, and matched with a linkage structure of the elastic pulling pieces and the pulling plates, the folding angle can be adjusted in a self-adaptive mode according to the size and shape of broken stones during clamping, wrapping type clamping of the broken stones is achieved, compared with traditional single-point or linear contact clamping, the contact area is greatly increased, meanwhile, the clamping efficiency is greatly improved, and meanwhile the clamping effect is good. The anti-slip strips integrally formed on the inner side walls of the flexible clamping plates can effectively increase friction resistance with the surfaces of the broken stones, and stable holding can be achieved even if the broken stones with smooth surfaces and adhered with mucus are used.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a flexible bionic grasping device for ureteroscopic stone removal and its operating method. Background Technology

[0002] Ureteral stones are a common urological disease in urology, and their incidence is increasing year by year worldwide, especially among people who sit for long periods of time, have a high calcium diet, and have metabolic abnormalities. Stones that obstruct the ureter can easily cause renal colic and hydronephrosis. Long-term obstruction can lead to irreversible damage to kidney function. Therefore, timely and effective stone removal treatment is crucial to ensuring the health of patients' urinary system. Ureteroscopic lithotripsy has become the preferred option for the clinical treatment of stones in the middle and lower ureter and some stones in the upper ureter due to its advantages of minimal trauma, fast recovery and high stone removal rate. However, existing instruments need to move axially along the ureteral lumen during the stone removal process. The flexible rod is prone to "force transmission deviation" due to the bending and compression of the lumen. The clamping force originally transmitted to the grasping part is dispersed, resulting in a sharp drop in the gripping force on the stone fragments. Therefore, it is very easy for the stone to slip during the removal process due to insufficient gripping force. Summary of the Invention

[0003] Purpose of the invention: The purpose of this invention is to provide a solution to the problem that existing stones are prone to slipping out during the pulling process due to insufficient grip strength.

[0004] Technical solution: A flexible bionic grasping instrument for ureteroscopic stone removal, comprising a hand tube, a connecting circular plate fixedly connected to the right side of the hand tube, a control mechanism provided on the right side of the connecting circular plate, a flexible tube fixedly connected to the left side of the hand tube, and a clamping mechanism provided at the left end of the flexible tube. The clamping mechanism includes multiple flexible clamping plates. Each of the right sides of the multiple flexible clamping plates is rotatably connected to a rotating component 1 via a pivot. The right sides of each of the multiple rotating components 1 are fixedly connected to the left side of the flexible tube. Rotating components 2 are symmetrically fixedly connected to the inner walls of the multiple flexible clamping plates. Elastic pull tabs are rotatably connected to the opposite sides of two adjacent rotating components 2. Pull plates are rotatably connected to the inner sides of the multiple elastic pull tabs via a pivot. A control channel is integrally formed inside each flexible clamping plate. A sliding plate 1 is slidably connected to the left side of the control channel. A connecting rod is fixedly connected to the center of the left side of the sliding plate 1 and the center of the right side of the pull plate. Anti-slip strips are integrally formed on the left side of the inner walls of the multiple flexible clamping plates.

[0005] Furthermore, the control mechanism includes two side plates. Control gears are rotatably connected to opposite sides of the two side plates via a rotating shaft. The left sides of both side plates are fixedly connected to the right side of the connecting circular plate. A sliding cavity is provided inside the handheld tube. A second sliding plate is slidably connected inside the sliding cavity. A pull rope is fixedly connected to the left side of the second sliding plate and the right side of the first sliding plate. A toggle plate is fixedly connected to the right side of the second sliding plate. A through-hole is provided inside the right side of the sliding cavity. The right side of the toggle plate passes through the through-hole. Multiple toothed blocks are fixedly connected to the lower surface of the toggle plate. The upper outer wall of the control gear meshes with the outer walls of the multiple toothed blocks.

[0006] Furthermore, a fixed gripping rod is fixedly connected to the lower side of the outer wall of the connecting circular plate, and a pressure rod is provided on the outer side of both side plates. A fixed rod is fixedly connected to the opposite side of the pressure rod, and the outer wall of the fixed rod is fixedly connected to the inside of the control gear.

[0007] Furthermore, multiple reset springs are fixedly connected to the left side of the control channel and the left side of the sliding plate.

[0008] Furthermore, guide plates are slidably connected to the upper and lower surfaces of the actuating plate and inside the sliding cavity. Guide rods are slidably connected inside the two guide plates. The right ends of the two guide rods are fixedly connected to the right side of the sliding cavity. Return springs are sleeved on the outer walls of the two guide rods. The two ends of the two return springs are fixedly connected to the right sides of the two guide plates and the right side of the sliding cavity, respectively.

[0009] Furthermore, a locking box is fixedly connected to the right side of the connecting circular plate and to the opposite side of the two side plates. A piston plate is slidably connected inside each of the two locking boxes. A positioning rod is fixedly connected to the opposite side of each of the two piston plates. Multiple locking holes are opened on the front and rear surfaces of the control gear. The opposite ends of the two positioning rods extend into the interior of the two locking holes on the left side. An infusion tubing is fixedly connected to the lower surface of each of the two locking boxes. Limiting strips are fixedly connected to the left and right sides of the interior of each of the two locking boxes and to the opposite side of the two piston plates.

[0010] Furthermore, a hydraulic box is fixedly connected to the upper left side of the fixed grip. The bottom ends of the two infusion hoses are respectively connected to the upper front and rear surfaces of the hydraulic box. A piston plate two is slidably connected inside the hydraulic box. A pull rod is fixedly connected to the center of the lower surface of the piston plate two. The bottom end of the pull rod extends to the bottom of the hydraulic box and is fixedly connected to a pressing plate. A through-type pressing groove is opened on the right side of the fixed grip. A guide rod two is fixedly connected to the upper and lower surfaces of the pressing groove. The right end of the pressing plate passes through the pressing groove. The inside of the pressing plate is slidably connected to the outer side wall of the guide rod two. A return spring three is sleeved on the outer side wall of the guide rod two. The two ends of the return spring three are fixedly connected to the upper surface of the pressing plate and the upper surface of the pressing groove, respectively.

[0011] Furthermore, the outer wall of the handheld tube is symmetrically provided with multiple handheld holes.

[0012] According to another aspect of the present invention, a method for operating a flexible bionic grasping instrument for ureteroscopic stone removal is provided, comprising the following steps: S1. First, check the integrity of the connections of each component of the instrument, confirm that the flexible tube is undamaged, the clamping mechanism opens and closes flexibly, and the locking and reset functions of the control mechanism are normal. Then, insert the ureteroscope into the designated position of the ureter along the patient's urethra and fix it. S2. Then, the doctor holds the hand-held hole and fixed handle on the outside of the hand-held tube with one hand, and slowly inserts the flexible tube and clamping mechanism into the working channel of the ureteroscope. The flexible tube is pushed in to follow the curvature of the ureteral lumen using its self-adaptive bending characteristics. Through the visualization of the ureteroscope, the doctor adjusts the instrument posture so that multiple flexible clamps surround the outer periphery of the target stone fragments, ensuring that the stone fragments are within the clamping range of the clamping mechanism. S3. The doctor presses down on the pressure plate, which slides down along the guide rod 2 and stretches the reset spring 3. The piston plate 2 moves down synchronously in the hydraulic box through the pull rod. The hydraulic oil in the hydraulic box is delivered to the two locking boxes through the infusion hose, pushing the piston plate 1 to slide to the opposite side. The positioning rod moves with the piston plate 1 and disengages from the locking hole of the control gear, releasing the rotation restriction on the control gear. S4. While maintaining the pressure plate, the doctor presses down on the pressure lever. The pressure lever drives the control gear to rotate around the pivot on the side plate through the fixed rod. The control gear meshes with the toothed block on the lower surface of the actuating plate, driving the actuating plate to slide to the right along the guide plate and guide rod. This causes the elastic pull tab to retract, thereby pulling multiple flexible clamps to retract inward around the rotating part until the anti-slip strip on the inner side of the flexible clamps is in close contact with the surface of the stone fragments, achieving stable clamping of the stone fragments. S5. After confirming that the stone fragments are securely held, release the pressure plate. The reset spring three pushes the pressure plate and piston plate two to reset, and the hydraulic oil flows back to the hydraulic box. The piston plate one resets under hydraulic pressure, and the positioning rod re-engages into the locking hole of the control gear. The control mechanism returns to the locked state. The doctor slowly pulls the entire instrument outward. The flexible tube dynamically adjusts its posture according to the shape of the ureteral lumen to reduce the resistance during the stone fragment removal process. At the same time, it avoids rigid friction between the flexible clamp and the ureteral mucosa. The movement trajectory of the stone fragments is monitored visually through the ureteroscope until the stone fragments are pulled out of the ureteroscope working channel and out of the patient's body. S6. After the stone fragments are removed, the doctor first releases the pressure bar, the first reset spring pushes the first sliding plate to reset, the pull rope loosens, the second reset spring pushes the guide plate and the actuating plate to slide to the left, the control gear rotates in the opposite direction, and the flexible clamp opens outward under the elastic action of the elastic pull plate to release the stone fragments. S7. Finally, slowly pull the clamping mechanism and flexible tube out of the ureteroscope working channel, clean the residual tissue and mucus on the surface of the instrument, check whether each part is intact, and store it for later use after the instrument is disinfected.

[0013] Beneficial effects: This invention uses multiple flexible clamps connected to a flexible tube via a rotating component. Combined with the linkage structure of the elastic pull tab and the pull plate, the clamping angle can adaptively adjust according to the size and shape of the stone fragments during clamping, achieving a wrap-around clamping effect. Compared to traditional single-point or line contact clamping, this significantly increases the contact area. Simultaneously, the integrally formed anti-slip strip on the inner wall of the flexible clamp effectively increases the frictional resistance with the stone fragment surface, ensuring a stable grip even on smooth, sticky stones. Combined with the elastic tension compensation of the elastic pull tab, it can offset the force fluctuations caused by ureteral lumen friction and instrument posture adjustments during the pulling process, thoroughly reducing the risk of stone fragment dislodgement and improving the surgical stone removal rate. The flexible tube is made of highly elastic medical material, which can adapt to the natural curvature of the ureter to achieve self-adaptive deformation. This not only facilitates the smooth access of the clamping mechanism to the stone fragment location in each segment of the ureter, but also dynamically adjusts its posture according to the shape of the cavity during the pull-out process, reducing travel resistance and mechanical damage to the mucosa. The control mechanism adopts an ergonomic design, with a fixed grip bar that cooperates with the hand-held hole on the outside of the hand tube, making it easy for doctors to hold stably. At the same time, the single-handed operation logic of unlocking by pressing the plate and controlling the clamping by pressing the lever simplifies the surgical procedure and reduces the doctor's workload. It is especially suitable for clinical scenarios with limited space and high precision required in ureteroscopic surgery, thus improving surgical efficiency. The cooperation between the guide plate and guide rod 1 in the control mechanism provides precise guidance for the sliding of the actuating plate, ensuring that the toothed block and the control gear are always stably meshed, realizing the precise transmission of clamping force, and avoiding the loss of control of clamping force due to transmission offset; the double reset structure composed of reset spring 1, reset spring 2 and reset spring 3 can not only realize the rapid synchronous reset of the clamping mechanism and the control mechanism, ensuring the continuity of subsequent clamping actions, but also avoid the operation stagnation caused by the failure of a single reset component; The locking mechanism, through the engagement of the positioning rod and the locking hole of the control gear, can restrict the rotation of the control gear before the instrument moves to the target position, effectively preventing accidental activation of the clamping mechanism caused by accidental contact with the pressure rod, thereby improving the safety of surgical operation from the source and reducing complications such as ureteral injury and stone fragment displacement caused by misoperation; The components of this invention are stably assembled through rotating shafts, fixed connections, etc. The limiting strip in the locking box can prevent the piston plate from sliding excessively, and the guide rod can limit the sliding trajectory of the pressing plate, avoiding component misalignment or failure, extending the service life of the device. The hydraulically driven locking structure responds quickly and unlocks stably, adapting to the need for rapid switching between "lock-operation-reset" states in clinical surgery, reducing the risk of postoperative complications such as mucosal edema and bleeding, and improving the postoperative recovery effect of patients. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a front view structural schematic diagram of the cross-section of the flexible tube and clamping mechanism of the present invention; Figure 3 This is a front view structural schematic diagram of the cross-section of the handheld tube and control mechanism of the present invention; Figure 4 This is a schematic diagram of the structure of the control gear, locking box, infusion hose and hydraulic box of the present invention; Figure 5 This is a top view of the cross-section of the locking box and control gear of the present invention; Figure 6 This is a schematic diagram of the structure of the flexible clamping plate, elastic pull tab, and pull plate of the present invention; Figure 7 This is the present invention. Figure 3 A magnified structural diagram of point A in the middle.

[0015] In the diagram: 1. Handheld tube; 2. Connecting circular plate; 3. Control mechanism; 4. Flexible tube; 5. Clamping mechanism; 6. Handheld hole; 301. Side plate; 302. Control gear; 303. Sliding cavity; 304. Sliding plate two; 305. Pull rope; 306. Actuating plate; 307. Protrusion; 308. Tooth block; 309. Fixed grip bar; 310. Pressure bar; 311. Fixed bar; 312. Guide plate; 313. Guide rod one; 314. Return spring two; 315. Locking box; 316. Piston plate one; 317. 318. Positioning rod; 319. Locking hole; 320. Infusion tubing; 321. Limiting strip; 322. Hydraulic box; 323. Piston plate II; 324. Pull rod; 325. Pressing plate; 326. Pressing groove; 327. Guide rod II; 328. Return spring III; 501. Flexible clamping plate; 502. Rotating component I; 503. Rotating component II; 504. Elastic pull tab; 505. Pull plate; 506. Control channel; 507. Sliding plate I; 508. Connecting rod; 509. Return spring I; 510. Anti-slip strip. Detailed Implementation

[0016] To make the technical solution of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] Example like Figures 1-7 As shown, a flexible bionic grasping instrument for ureteroscopic stone removal is provided, including a handheld tube 1. A connecting circular plate 2 is fixedly connected to the right side of the handheld tube 1, and a control mechanism 3 is provided on the right side of the connecting circular plate 2. A flexible tube 4 is fixedly connected to the left side of the handheld tube 1, and a clamping mechanism 5 is provided at the left end of the flexible tube 4. The clamping mechanism 5 includes multiple flexible clamping plates 501, and each of the multiple flexible clamping plates 501 has a rotating component 502 rotatably connected to its right side via a rotating shaft. The right side of each of the multiple rotating components 502 is fixedly connected to the left side of the flexible tube 4. Each flexible clamp 501 has a rotating component 503 symmetrically fixedly connected to its inner sidewall. Each of two adjacent rotating components 503 has an elastic pull tab 504 rotatably connected to its opposite side. The inner sides of multiple elastic pull tabs 504 are rotatably connected to a pull plate 505 via a rotating shaft. The flexible clamp 501 has a control channel 506 integrally formed inside. A sliding plate 507 is slidably connected to the left side of the control channel 506. A connecting rod 508 is fixedly connected to the center of the left side of the sliding plate 507 and the center of the right side of the pull plate 505. Multiple return springs 509 are fixedly connected to the left side of the control channel 506 and the left side of the sliding plate 507. The inner left side of the inner wall of multiple flexible clamps 501 are integrally formed with anti-slip strips 510; The flexible tube 4 is made of highly elastic medical polymer material, which can adapt to the natural curvature of the ureter to achieve self-adaptive deformation. This not only facilitates the smooth access of the clamping mechanism 5 to the stone fragmentation positions in each segment of the ureter, but also avoids scratching of the ureteral mucosa by the rigid structure. At the same time, it can dynamically adjust its posture according to the shape of the cavity during stone fragmentation to reduce travel resistance. The control mechanism 3 precisely controls multiple sliding plates 507 to slide synchronously within the control channel 506 through a transmission component preset inside the flexible tube 4. The sliding plate 507 pulls the pull plate 505 through the connecting rod 508. The pull plate 505 drives the elastic pull tab 504 to contract, thereby pulling multiple flexible clamping plates 501 to retract inward around the rotating component 502. The elastic properties of the elastic pull tab 504 allow each flexible clamping plate to retract inward. The clamp 501 adaptively adjusts the clamping angle according to the shape of the stone fragments, achieving a wrap-around clamping of stones of different sizes and shapes. The anti-slip strip 510 integrally formed on the left side of the inner wall of the flexible clamp 501 increases the frictional resistance with the stone fragment surface, effectively preventing the stone fragments from falling off due to cavity friction and mucus adhesion when being pulled out. Furthermore, the combination of flexible structure and biomimetic clamping design ensures both the flexibility and precision of the operation, while also improving the stability of stone fragment clamping, reducing repeated grasping operations, and lowering the risk of complications such as ureteral injury and residual stone fragments. The reset spring 509 can quickly push the sliding plate 507 to reset when the pressure rod 310 is released, causing the flexible clamp 501 to open to release the stone fragments or adjust the clamping posture.

[0018] like Figure 3 , Figure 4 , Figure 5 and Figure 7 As shown, the control mechanism 3 includes two side plates 301. The opposite sides of the two side plates 301 are rotatably connected to control gears 302 via rotating shafts. The left sides of the two side plates 301 are fixedly connected to the right side of the connecting circular plate 2. The handheld tube 1 has a sliding cavity 303 inside. A second sliding plate 304 is slidably connected inside the sliding cavity 303. A pull rope 305 is fixedly connected to the left side of the second sliding plate 304 and the right side of the first sliding plate 307. A toggle plate 306 is fixedly connected to the right side of the second sliding plate 304. A through-type extension 307 is opened on the right side of the sliding cavity 303. The right side of the toggle plate 306 passes through the extension 307. Multiple tooth blocks 308 are fixedly connected to the lower surface of the toggle plate 306. The upper side of the outer wall of the control gear 302 is meshed with the outer wall of the multiple tooth blocks 308 respectively. A fixed gripping rod 309 is fixedly connected to the lower side of the outer wall of the connecting circular plate 2. A pressure rod 310 is provided on the outer side of the two side plates 301. A fixed rod 311 is fixedly connected to the opposite side of the pressure rod 310. The outer wall of the fixed rod 311 is fixedly connected to the inside of the control gear 302. During the surgery, the surgeon can hold the instrument stably by grasping the fixed grip 309 with one hand, freeing up the other hand to adjust the position of the ureteroscope. After the clamping mechanism 5 moves to the stone fragmentation point, pressing down on the set pressure rod 310 will drive the control gear 302 to rotate synchronously through the fixed rod 311. The control gear 302, through meshing with the tooth block 308, drives the actuating plate 306 to slide to the right along the protrusion 307, thereby causing the sliding plate 304 to move to the right in the sliding cavity 303 and tighten the pull rope 305. The pull rope 305 pulls the sliding plate 507 to compress the return spring 509 and slides it in the control channel 506. Finally, the flexible clamp 501 is retracted inward through the linkage of the connecting rod 508, the pull plate 505, and the elastic pull tab 504. During this process, the meshing structure of the control gear 302 and multiple tooth blocks 308 can achieve precise force transmission and avoid loss of control of clamping force. The distance and pressing stroke of the fixed grip rod 309 and the pressure rod 310 have been optimized to fit the force exertion habit of single-handed operation, which greatly improves the controllability and efficiency of clamping action during surgery. Combined with the compliance of the flexible tube 4 and the anti-slip effect of the anti-slip strip 510, the stability of the stone fragment clamping and removal process is further guaranteed, and the risk of stone fragment falling off due to operational errors is reduced.

[0019] like Figure 3 As shown, guide plates 312 are slidably connected to the upper and lower surfaces of the actuating plate 306 and inside the sliding cavity 303. Guide rods 313 are slidably connected inside the two guide plates 312. The right ends of the two guide rods 313 are fixedly connected to the right side of the sliding cavity 303. The outer walls of the two guide rods 313 are fitted with reset springs 314. The two ends of the reset springs 314 are fixedly connected to the right sides of the two guide plates 312 and the right side of the sliding cavity 303, respectively. The cooperation between guide plate 312 and guide rod 313 provides precise guidance for the sliding of actuation plate 306, effectively preventing deviation and jamming when actuation plate 306 moves left and right, ensuring that the toothed block 308 and control gear 302 always maintain stable meshing, thereby ensuring the continuity and accuracy of force transmission. When the doctor presses down on the lever 310 to drive actuation plate 306 to move to the right, guide plate 312 moves to the right synchronously with actuation plate 306 and compresses return spring 314, allowing return spring 314 to store elastic potential energy. Guide rod 313 can limit the deformation direction of return spring 314, preventing it from twisting and failing. When the doctor releases the lever... When the pressure lever 310 is opened, the second reset spring 314 releases its elastic potential energy, pushing the guide plate 312 to drive the actuating plate 306 to quickly reset to the left. At the same time, in conjunction with the reset spring 509 in the control channel 506, the sliding plate 507 is reset, realizing the synchronous reset of the control mechanism 3 and the clamping mechanism 5, so that the flexible clamping plate 501 opens quickly. This not only improves the reliability and efficiency of reset, but also avoids the operation stagnation caused by the failure of a single reset component. In addition, the addition of the guide structure makes the reset trajectory of the actuating plate 306 more stable, further ensuring the accuracy of subsequent clamping actions and meeting the need for rapid adjustment of the clamping state during surgery.

[0020] like Figure 3 , Figure 4 , Figure 5 and Figure 7 As shown, a locking box 315 is fixedly connected to the right side of the connecting circular plate 2 and to the opposite side of the two side plates 301. A piston plate 316 is slidably connected inside the two locking boxes 315. A positioning rod 317 is fixedly connected to the opposite side of the two piston plates 316. Multiple locking holes 318 are opened on the front and rear surfaces of the control gear 302. The opposite ends of the two positioning rods 317 extend into the interior of the two locking holes 318 on the left side. An infusion tubing 319 is fixedly connected to the lower surface of the two locking boxes 315. Limiting strips 320 are fixedly connected to the left and right sides of the interior of the two locking boxes 315 and to the opposite side of the two piston plates 316. A hydraulic box 321 is fixedly connected to the upper left side of the fixed grip 309. The bottom ends of the two infusion hoses 319 are respectively connected to the upper front surface and the upper rear surface of the hydraulic box 321. A piston plate 322 is slidably connected inside the hydraulic box 321. A pull rod 323 is fixedly connected to the center of the lower surface of the piston plate 322. The bottom end of the pull rod 323 extends to the lower part of the hydraulic box 321 and is fixedly connected to a pressing plate 324. A through pressing groove 325 is opened on the right side of the fixed grip 309. A guide rod 326 is fixedly connected to the upper and lower surfaces of the pressing groove 325. The right end of the pressing plate 324 passes through the pressing groove 325. The inside of the pressing plate 324 is slidably connected to the outer wall of the guide rod 326. A return spring 327 is sleeved on the outer wall of the guide rod 326. The two ends of the return spring 327 are fixedly connected to the upper surface of the pressing plate 324 and the upper surface of the pressing groove 325, respectively. In the initial state, the reset spring 327 is in a naturally extended state, pushing the pressing plate 324 upward and causing the piston plate 322 to move upward in the hydraulic box 321. This causes the hydraulic infusion hose 319 in the hydraulic box 321 to deliver pressure to the locking box 315, pushing the piston plate 316 to move to the opposite side. This allows the positioning rod 317 to accurately engage in the locking hole 318 of the control gear 302. The mechanical engagement restricts the rotation of the control gear 302, preventing the clamping mechanism 5 from malfunctioning due to accidental contact with the pressing rod 310 during surgery, thus ensuring the stability of the instrument before it moves to the target position. When the gripping mechanism 5 reaches the lithotripsy position and needs to perform the grasping action, the doctor holds the fixed gripping rod 309 with one hand while pressing the pressure plate 324 downward with their fingertips. The pressure plate 324 slides down along the guide rod 326 and stretches the reset spring 327, causing the piston plate 322 to move down in the hydraulic box 321, so that the hydraulic pressure is transmitted in the opposite direction. Under the action of hydraulic pressure, the piston plate 316 slides to the opposite side and disengages from the positioning rod 317 and the locking hole 318. The limit strip 320 can prevent the piston plate 316 from sliding excessively and causing the positioning rod 317 to be misaligned. At this time, the control gear 302 restores its rotational freedom, and the doctor can then drive the gripping mechanism 5 to complete the grasping action by pressing the pressure rod 310 downward. After the grasping action is completed, the pressure plate 324 is released, the reset spring 327 pushes all components to reset, and the positioning rod 317 is locked again into the locking hole 318. This not only improves the safety and accuracy of the surgical operation, but also simplifies the operation process and effectively reduces the doctor's workload.

[0021] like Figure 1 As shown, multiple handheld holes 6 are symmetrically opened on the outer side wall of the handheld tube 1; Multiple symmetrical hand-held holes 6 on the outer wall of the hand-held tube 1 are ergonomically designed with a diameter matching the thickness of the fingers. This allows doctors to insert their fingers into the holes for multi-point fixation during operation, increasing the contact area and friction resistance between the hand and the hand-held tube 1. This effectively prevents slippage caused by hand sweating or instrument vibration during surgery. The multi-point force application of the fingers also allows for stable control of the entire device's posture. Combined with the grip feel of the fixed handle 309, the instrument remains stable and does not shift when the doctor presses the pressure rod 310 and the pressure plate 324 to grasp and pull out lithotripsy. This avoids positioning deviation of the clamping mechanism 5 or lithotripsy falling off due to unstable grip. At the same time, the smooth hole wall design reduces pressure on the fingertips during prolonged gripping, improving operational comfort and further ensuring the accuracy and stability of the surgical operation.

[0022] According to another aspect of the present invention, a method for operating a flexible bionic grasping instrument for ureteroscopic stone removal is provided, comprising the following steps: S1. First, check the integrity of the connections of each component of the instrument, confirm that the flexible tube 4 is undamaged, the clamping mechanism 5 opens and closes flexibly, and the locking and resetting functions of the control mechanism 3 are normal. Then, insert the ureteroscope into the designated position of the ureter along the patient's urethra and fix it. S2. Then, the doctor holds the hand-held hole 6 and the fixed grip bar 309 on the outside of the hand-held tube 1 with one hand, and slowly inserts the flexible tube 4 and the clamping mechanism 5 into the working channel of the ureteroscope. The flexible tube 4 is pushed in to follow the curvature of the ureteral lumen using its adaptive bending characteristics. Through the visualization of the ureteroscope, the instrument posture is adjusted so that multiple flexible clamps 501 surround the outer periphery of the target stone fragments, ensuring that the stone fragments are within the clamping range of the clamping mechanism 5. S3. The doctor presses down on the pressure plate 324. The pressure plate 324 slides down along the guide rod 326 and stretches the reset spring 327. The piston plate 322 moves down synchronously in the hydraulic box 321 through the pull rod 323. The hydraulic oil in the hydraulic box 321 is delivered to the two locking boxes 315 through the infusion hose 319, pushing the piston plate 316 to slide to the opposite side. The positioning rod 317 moves with the piston plate 316 and disengages from the locking hole 318 of the control gear 302, releasing the rotation restriction on the control gear 302. S4. While maintaining the pressing state of the pressing plate 324, the doctor presses down the pressing rod 310. The pressing rod 310 drives the control gear 302 to rotate around the rotating shaft on the side plate 301 through the fixed rod 311. The control gear 302 meshes with the tooth block 308 on the lower surface of the actuating plate 306, driving the actuating plate 306 to slide to the right along the guide plate 312 and the guide rod 313. This causes the elastic pull plate 504 to retract, thereby pulling multiple flexible clamping plates 501 to retract inward around the rotating part 502 until the anti-slip strip 510 on the inner side of the flexible clamping plate 501 is tightly attached to the surface of the crushed stone, thus achieving stable clamping of the crushed stone. S5. After confirming that the stone fragments are firmly clamped, release the pressing plate 324. The reset spring 327 pushes the pressing plate 324 and the piston plate 2 322 to reset. The hydraulic oil flows back to the hydraulic box 321. The piston plate 1 316 resets under hydraulic action. The positioning rod 317 re-engages into the locking hole 318 of the control gear 302. The control mechanism 3 returns to the locked state. The doctor slowly pulls the entire instrument outward. The flexible tube 4 dynamically adjusts its posture according to the shape of the ureteral lumen to reduce the resistance during the stone fragment removal process. At the same time, it avoids rigid friction between the flexible clamp 501 and the ureteral mucosa. The movement trajectory of the stone fragments is monitored visually through the ureteroscope until the stone fragments are pulled out of the ureteroscope working channel and the patient's body. S6. After the stone fragments are removed, the doctor first releases the pressure rod 310, the reset spring 1 509 pushes the sliding plate 1 507 to reset, the pull rope 305 loosens, the reset spring 2 314 pushes the guide plate 312 and the actuating plate 306 to slide to the left, the control gear 302 rotates in the opposite direction, and the flexible clamp 501 opens outward under the elastic action of the elastic pull plate 504 to release the stone fragments. S7. Finally, slowly pull out the clamping mechanism 5 and the flexible tube 4 from the working channel of the ureteroscope, clean the residual tissue and mucus on the surface of the instrument, check whether each part is intact, and store it for later use after the instrument is disinfected.

[0023] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A flexible biomimetic grasping instrument for ureteroscopic lithotripsy, comprising a handheld tube (1), characterized in that: A connecting circular plate (2) is fixedly connected to the right side of the handheld tube (1), and a control mechanism (3) is provided on the right side of the connecting circular plate (2). A flexible tube (4) is fixedly connected to the left side of the handheld tube (1), and a clamping mechanism (5) is provided at the left end of the flexible tube (4). The clamping mechanism (5) includes multiple flexible clamping plates (501). Each of the multiple flexible clamping plates (501) has a rotating component (502) rotatably connected to its right side via a rotating shaft. The right side of each of the multiple rotating components (502) is fixedly connected to the left side of the flexible tube (4). Rotating components (503) are symmetrically fixedly connected to the inner walls of each of the multiple flexible clamping plates (501). Each pair of adjacent rotating components (503) has an elastic pull tab (504) rotatably connected to its opposite sides. The inner side of the pull tab (504) is rotatably connected to the pull plate (505) via a rotating shaft. The flexible clamp (501) has an integrally formed control channel (506). The left side of the control channel (506) is slidably connected to the sliding plate (507). The center of the left side of the sliding plate (507) and the center of the right side of the pull plate (505) are fixedly connected to the connecting rod (508). The left side of the inner wall of the multiple flexible clamps (501) is integrally formed with anti-slip strips (510).

2. The flexible bionic grasping device for ureteroscopic stone removal and its operating method according to claim 1, characterized in that: The control mechanism (3) includes two side plates (301). Each of the two side plates (301) is rotatably connected to a control gear (302) via a rotating shaft on opposite sides. The left sides of both side plates (301) are fixedly connected to the right side of the connecting circular plate (2). A sliding cavity (303) is provided inside the handheld tube (1). A second sliding plate (304) is slidably connected inside the sliding cavity (303). The left side of the second sliding plate (304) is connected to the first sliding plate (302). A pull rope (305) is fixedly connected to the right side of the sliding plate (304), and a toggle plate (306) is fixedly connected to the right side of the sliding cavity (303). A through-type protrusion (307) is opened on the right side of the sliding cavity (303). The right side of the toggle plate (306) passes through the protrusion (307). A plurality of tooth blocks (308) are fixedly connected to the lower surface of the toggle plate (306). The upper side of the outer wall of the control gear (302) is respectively meshed with the outer wall of the plurality of tooth blocks (308).

3. The flexible bionic grasping device for ureteroscopic stone removal according to claim 2, characterized in that: A fixed gripping rod (309) is fixedly connected to the lower side wall of the connecting circular plate (2). A pressure rod (310) is provided on the outer side of the two side plates (301). A fixed rod (311) is fixedly connected to the opposite side of the pressure rod (310). The outer wall of the fixed rod (311) is fixedly connected to the inside of the control gear (302).

4. The flexible bionic grasping device for ureteroscopic stone removal according to claim 1, characterized in that: Multiple return springs (509) are fixedly connected to the left side of the control channel (506) and the left side of the sliding plate (507).

5. The flexible bionic grasping device for ureteroscopic stone removal according to claim 2, characterized in that: Guide plates (312) are slidably connected to the upper and lower surfaces of the actuating plate (306) and inside the sliding cavity (303). Guide rods (313) are slidably connected inside the two guide plates (312). The right ends of the two guide rods (313) are fixedly connected to the right side of the inside of the sliding cavity (303). The outer walls of the two guide rods (313) are fitted with reset springs (314). The two ends of the two reset springs (314) are fixedly connected to the right side of the two guide plates (312) and the right side of the inside of the sliding cavity (303), respectively.

6. The flexible bionic grasping device for ureteroscopic stone removal according to claim 3, characterized in that: Locking boxes (315) are fixedly connected to the right side of the connecting circular plate (2) and to the opposite sides of the two side plates (301). Piston plates (316) are slidably connected inside the two locking boxes (315). Positioning rods (317) are fixedly connected to the opposite sides of the two piston plates (316). Multiple locking holes (318) are opened on the front and rear surfaces of the control gear (302). The opposite ends of the two positioning rods (317) extend into the interior of the two locking holes (318) on the left side. Infusion tubing (319) is fixedly connected to the lower surface of the two locking boxes (315). Limiting strips (320) are fixedly connected to the left and right sides of the interior of the two locking boxes (315) and to the opposite sides of the two piston plates (316).

7. The flexible bionic grasping device for ureteroscopic stone removal according to claim 6, characterized in that: A hydraulic box (321) is fixedly connected to the upper left side of the fixed grip (309). The bottom ends of the two infusion hoses (319) are respectively connected to the upper front and rear surfaces of the hydraulic box (321). A piston plate (322) is slidably connected inside the hydraulic box (321). A pull rod (323) is fixedly connected to the center of the lower surface of the piston plate (322). The bottom end of the pull rod (323) extends to the lower part of the hydraulic box (321) and is fixedly connected to a pressing plate (324). A pressure plate (324) is opened on the right side of the fixed grip (309). A through-type pressing groove (325) is provided, and a guide rod (326) is fixedly connected to the upper and lower surfaces of the inner surface of the pressing groove (325). The right end of the pressing plate (324) passes through the pressing groove (325). The interior of the pressing plate (324) is slidably connected to the outer wall of the guide rod (326). A reset spring (327) is sleeved on the outer wall of the guide rod (326). The two ends of the reset spring (327) are fixedly connected to the upper surface of the pressing plate (324) and the upper surface of the inner surface of the pressing groove (325), respectively.

8. The flexible bionic grasping device for ureteroscopic stone removal according to claim 1, characterized in that: The outer side wall of the handheld tube (1) is symmetrically provided with multiple handheld holes (6).

9. The method for operating the flexible bionic grasping instrument for ureteroscopic stone removal according to claims 1-8, characterized in that, Includes the following steps: S1. First, check the integrity of the connection of each part of the instrument, confirm that the flexible tube (4) is undamaged, the clamping mechanism (5) opens and closes flexibly, and the locking and resetting functions of the control mechanism (3) are normal. Then, insert the ureteroscope into the designated position of the ureter along the patient's urethra and fix it. S2. Then, the doctor holds the hand-held hole (6) and fixed grip (309) on the outside of the hand-held tube (1) with one hand, and slowly inserts the flexible tube (4) and clamping mechanism (5) into the working channel of the ureteroscope. The flexible tube (4) is pushed in accordance with the curvature of the ureteral lumen by using its adaptive bending characteristics. Through the visualization of the ureteroscope, the instrument posture is adjusted so that multiple flexible clamps (501) surround the outer periphery of the target stone fragments, ensuring that the stone fragments are within the clamping range of the clamping mechanism (5). S3. The doctor presses down on the pressure plate (324). The pressure plate (324) slides down along the guide rod (326) and stretches the reset spring (327). Through the pull rod (323), the piston plate (322) moves down synchronously in the hydraulic box (321). The hydraulic oil in the hydraulic box (321) is delivered to the two locking boxes (315) through the infusion hose (319). This pushes the piston plate (316) to slide to the opposite side. The positioning rod (317) moves with the piston plate (316) and disengages from the locking hole (318) of the control gear (302), thus releasing the rotation restriction on the control gear (302). S4. While maintaining the pressing state of the pressing plate (324), the doctor presses down the pressing rod (310). The pressing rod (310) drives the control gear (302) to rotate around the rotating shaft on the side plate (301) through the fixed rod (311). The control gear (302) meshes with the tooth block (308) on the lower surface of the actuating plate (306) to drive the actuating plate (306) to slide to the right along the guide plate (312) and the first guide rod (313). This will cause the elastic pull plate (504) to retract, thereby pulling multiple flexible clamps (501) to retract inward around the first rotating part (502) until the anti-slip strip (510) on the inner side of the flexible clamp (501) is tightly attached to the surface of the crushed stone, thus achieving stable clamping of the crushed stone. S5. After confirming that the stone fragments are firmly clamped, release the pressing plate (324). The reset spring three (327) pushes the pressing plate (324) and piston plate two (322) to reset. The hydraulic oil flows back to the hydraulic box (321). The piston plate one (316) resets under hydraulic action. The positioning rod (317) re-engages into the locking hole (318) of the control gear (302). The control mechanism (3) returns to the locked state. The doctor slowly pulls the entire instrument outward. The flexible tube (4) dynamically adjusts its posture according to the shape of the ureteral lumen, reducing the resistance to movement during the stone fragments being pulled out. At the same time, it avoids rigid friction between the flexible clamp (501) and the ureteral mucosa. The movement trajectory of the stone fragments is monitored through the ureteroscope until the stone fragments are pulled out of the ureteroscope working channel and the patient's body. S6. After the stone fragments are removed, the doctor first releases the pressure bar (310), the reset spring one (509) pushes the sliding plate one (507) to reset, the pull rope (305) loosens, the reset spring two (314) pushes the guide plate (312) and the actuating plate (306) to slide to the left, the control gear (302) rotates in the opposite direction, and the flexible clamp (501) opens outward under the elastic action of the elastic pull plate (504) to release the stone fragments; S7. Finally, slowly pull out the clamping mechanism (5) and the flexible tube (4) from the working channel of the ureteroscope, clean the residual tissue and mucus on the surface of the instrument, check whether each part is intact, and store it for later use after the instrument is disinfected.

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