An intravascular endoscope device and methods of using the same

Abstract

The application discloses a kind of endovascular endoscope device and its using method, it is related to endovascular endoscope field, including hollow outer sheath catheter, its inside is equipped with guide wire sheath, the guide wire sheath content has guide wire and exchange guide wire, retractable endoscope water bag, it is set in the head end lumen of the hollow outer sheath catheter, and is connected with tail end control valve by water bag column, the endoscope water bag is configured to be injected medium after the control valve, can be stretched from the head end of hollow outer sheath catheter and expand, form a hollow structure, the hollow structure is close to blood vessel wall and allows blood flow to pass through;Form hollow pumpkin shape after endoscope water bag injection, and then in the blood, establish clear observation field of view while, through central passage and rubber water column gap allow blood flow to pass through normally, completely eliminate the risk of ischemia of distal blood vessel caused by examination or treatment operation, greatly guarantee the safety of patient, especially cardiovascular vulnerable patient.

Description

Technical Field

[0001] This invention relates to vascular endoscopy technology, specifically to a vascular endoscopy device and its method of use. Background Technology

[0002] Cerebrovascular diseases have become a leading threat to human health. With the development of interventional medicine, minimally invasive treatment has become the mainstream trend. Although imaging technologies such as computed tomography (CT), magnetic resonance imaging (MRI), and digital subtraction angiography (DSA) have been widely used in the diagnosis of cardiovascular and cerebrovascular diseases, they mainly provide two-dimensional or three-dimensional reconstructed images of the vascular lumen. They cannot provide intuitive and real-time information on the microstructure of the vascular wall surface, such as the nature of plaques (vulnerable plaques, calcified nodules), the fine morphology of the intima, the actual state of thrombi, and the wall adhesion after stent implantation. Therefore, vascular endoscopy technology, which enables direct observation inside blood vessels, has always been a hot topic and a challenge in this field. Since the 1990s, some research on vascular endoscopy has emerged. Among them, the most common solution is to use a tip-end balloon occlusion device. Its working principle is to insert an endoscope catheter with a balloon into the target blood vessel, briefly inflate the balloon to block the blood flow in that segment of the blood vessel, drain the blood, and thus create a transparent observation environment in front of the endoscope lens to achieve brief imaging.

[0003] However, this balloon-assisted vascular endoscopy carries a fatal clinical application risk. For blood vessels supplying terminal organs such as coronary arteries and cerebral vessels, blocking blood flow is tantamount to artificially creating an acute myocardial infarction or cerebral infarction. Even if the blocking time is very short, it may induce serious complications such as distal myocardial ischemia, arrhythmia, thrombosis, or even sudden death. Consequently, it is impossible to obtain stable, clear, and continuous images of the vascular wall without blocking blood flow, and at the same time, to safely and effectively guide interventional treatment. Summary of the Invention

[0004] The purpose of this invention is to provide a vascular endoscope device and its method of use, so as to solve the problem that the existing vascular endoscopes cannot obtain stable, clear and continuous images of the vascular wall without blocking blood flow, and at the same time safely and effectively guide interventional treatment.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a vascular endoscope device, comprising a hollow outer sheath catheter, wherein a guidewire sheath is provided inside, and the guidewire sheath contains a finger guidewire and an exchange guidewire;

[0006] A retractable endoscopic water balloon is installed inside the lumen of the head end of the hollow outer sheath catheter and is connected to the control valve at the tail end via the water balloon column.

[0007] The endoscopic water balloon is configured to extend and expand from the tip of the hollow outer sheath catheter after the medium is injected through the control valve, forming a hollow structure that fits tightly against the blood vessel wall and allows blood flow.

[0008] An illumination fiber and an imaging unit are disposed on the inner wall of the endoscope's water bladder to acquire real-time images of the blood vessel wall.

[0009] Furthermore, the endoscope water bladder expands to a hollow pumpkin shape, and the rear end of the endoscope water bladder is connected to the water bladder column via four rubber water columns, each of which contains a metal strip.

[0010] Furthermore, the endoscope water bladder has a hollow side hole on one side, and the inner wall of the side hole is provided with a micro sheath for passing a guide wire. The head and tail ends of the hollow outer sheath catheter, as well as the front and rear ends of the side hole, are provided with positioning marks with a rotation ratio of 1:1.

[0011] Furthermore, the imaging unit is a dot matrix photoelectric sensor, and the illumination optical fiber and the wire connected to the imaging unit are connected to the hollow outer sheath catheter through the inner wall of the endoscope water bladder and the rubber water column, and lead to the outside of the body.

[0012] Furthermore, the control valve has a graded water injection function, and the endoscope water bladder is equipped with a pressure sensor for adjusting the pressure inside the bladder.

[0013] Furthermore, it also includes a computer imaging system connected to the illumination fiber and imaging unit for high-definition real-time imaging, integrating image signals, analyzing the vessel wall structure and the location of the vascular side holes, and generating an auxiliary diagnostic report.

[0014] Furthermore, apart from the computer imaging system, all components that enter the body are single-use products.

[0015] A method of using a vascular endoscope device includes the following steps:

[0016] S1. Delivery: The guide wire is pre-loaded into the guide wire sheath, and under image guidance, the tip of the hollow outer sheath catheter is delivered to the vascular lesion site.

[0017] S2. Deploy the water balloon: Inject sterile distilled water through the control valve at the tail end, so that the endoscopic water balloon extends out from the tip of the hollow outer sheath catheter and expands until its tip is hollow and close to the blood vessel wall, while ensuring that blood flow passes normally through the hollow channel.

[0018] S3. Imaging observation: Activate the illumination fiber and imaging unit to acquire real-time images of the blood vessel wall through the transparent capsule wall, and transmit the images to the external computer imaging system for display and analysis;

[0019] S4. Interventional therapy: Performing endovascular interventional procedures under the guidance of real-time images;

[0020] S5. Withdrawal: After the operation is completed, the medium is drawn back through the control valve, causing the endoscope water balloon to collapse and retract into the hollow outer sheath catheter, thus withdrawing the entire device.

[0021] Compared with the prior art, the endoscopic device and its method of use provided by the present invention form a hollow pumpkin shape after the endoscope is filled with water. This allows blood to be drained and a clear field of vision to be established, while blood flow is allowed to pass normally through the gap between the central channel and the rubber water column. This completely eliminates the risk of distal vascular ischemia caused by examination or treatment operations, and greatly protects the safety of patients, especially those with fragile cardiovascular and cerebrovascular systems. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0023] Figure 1 This is a schematic diagram of the internal structure of the hollow outer sheath catheter provided in an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the endoscope water bladder structure provided in an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram showing the distribution of the lighting optical fiber and photoelectric sensor provided in an embodiment of the present invention.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Hollow outer sheath catheter; 2. Illumination fiber optic cable; 3. Wire; 4. Guide wire sheath; 5. Finger guide wire; 6. Exchange guide wire; 7. Water balloon column; 8. Control valve; 9. Positioning marker; 10. Endoscopic water balloon; 11. Rubber water column; 12. Metal strip; 13. Photoelectric sensor; 14. Side port. Detailed Implementation

[0028] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0029] As attached Figure 1 To be continued Figure 3 As shown:

[0030] Example:

[0031] This embodiment provides a vascular endoscope device. The core delivery component of the device is a hollow outer sheath catheter 1, made of medical-grade polyvinyl chloride (PV) material, with a total length of approximately 100cm and an outer diameter designed to be less than 3mm to ensure passage through curved and small blood vessel lumens. Inside the hollow outer sheath catheter 1 is a guidewire sheath 4, which is internally divided into two equal-diameter small channels for accommodating a 0.014-inch finger guidewire 5 and a 0.014-inch exchange guidewire 6, respectively, to achieve rapid exchange technology and ensure that the catheter can be accurately and smoothly delivered to the target vascular lesion site.

[0032] To facilitate external operation and positioning, the hollow outer sheath catheter 1 has protruding positioning marks 9 at both the head and tail ends. The rotation ratio between the two is strictly 1:1. By observing the orientation of the positioning mark 9 at the tail end, the operator can accurately determine the axial direction of the catheter head and internal components in the blood vessel.

[0033] When not in use, the retractable endoscope water balloon 10 is completely retracted into the lumen of the head end of the hollow outer sheath catheter 1. The tail end of the endoscope water balloon 10 is connected to the water balloon column 7 via four rubber water columns 11. The tail end of the water balloon column 7 is equipped with a control valve 8 with a graded water injection function. The water balloon column 7 is pre-filled with sterile distilled water.

[0034] When the balloon needs to be deployed, the operator injects sterile distilled water into the system through the control valve 8, or squeezes the balloon column 7 by pushing the outer cannula of the catheter forward and retracting the hollow outer sheath catheter relative to the back. The liquid enters the head section of the endoscope balloon 10 through the four rubber water columns 11, causing it to expand outward and extend from the head end of the hollow outer sheath catheter 1. After full expansion, the endoscope balloon 10 forms a unique "hollow pumpkin" shaped structure with an axial length of 10 mm at its head end and a central blood flow channel diameter of about 2.5 mm. This structure is close to the blood vessel wall, but blood flow can still pass normally through the central channel and the gap between the four rubber water columns 11, achieving the opening of the imaging area without blocking blood flow.

[0035] Each rubber water column 11 has a metal strip 12 about 5mm long embedded inside, which has a dual function:

[0036] Firstly, it provides structural support for the soft water bladder, preventing it from deforming excessively under the impact of blood flow;

[0037] Secondly, it serves as a contrast marker under X-ray fluoroscopy, helping the operator determine the rotation direction of the endoscopic water balloon 10 within the blood vessel. The endoscopic water balloon 10 also integrates a miniature pressure sensor to monitor the pressure inside the balloon in real time and feed the data back to the control valve 8, thereby adjusting the water injection volume to ensure that the water balloon adheres tightly to the wall to obtain a clear image, without damaging the blood vessel due to excessive expansion.

[0038] To address the issue of managing collateral vessels without blocking the main blood flow, a hollow side hole 14 with an inner diameter of 2.5 mm is provided on one side wall of the endoscopic balloon 10. When the balloon is attached to the wall, this side hole 14 serves as a blood flow channel, ensuring a continuous blood supply to the collateral vessels and preventing collateral ischemia. The inner wall of the side hole 14 is equipped with a micro sheath, allowing the guide wire 5 to pass through for interventional treatment in the collateral vessels. The front and rear ends of the side hole 14 are also equipped with positioning marks 9, whose center position has a definite correspondence with the positioning mark 9 at the tip of the hollow outer sheath catheter 1 in the circumferential direction, providing a basis for subsequent precise alignment operations.

[0039] To achieve direct imaging of the vascular wall, this invention employs an integrated illumination and imaging scheme on the inner side of the water bladder. Multiple illumination optical fibers 2 and dot matrix photoelectric sensors 13 are distributed and installed around the inner wall of the endoscope water bladder 10. Specifically, between the axial lines where the four metal strips 12 are located, one dot matrix photoelectric sensor 13 facing outward is installed. Each sensor has a single-sided area of ​​approximately 5 square millimeters, is waterproof, and has good bending performance, which can adapt to the expansion and contraction of the water bladder. The ends of the illumination optical fibers 2 are distributed around each sensor to provide uniform and shadowless illumination.

[0040] The head end of the illumination fiber 2 is fixed inside the water bladder, and its tail end is connected to a cold light source outside the body. The dot matrix photoelectric sensor 13 converts the light signal into an electrical signal through the wire 3. These cables [illumination fiber 2 and wire 3] pass through the inner wall of the endoscope water bladder 10, through the internal channels of the four rubber water columns 11, and then through the inner cavity of the water bladder column 7 and the hollow outer sheath catheter 1, and are finally led out of the body and connected to the computer imaging system. As an alternative, the dot matrix photoelectric sensor 13 can also be replaced with a miniature optical lens, which can directly image the image and transmit the image to the outside body through optical fiber.

[0041] The computer imaging system consists of a high-performance host and a medical high-definition display. The system's input end is connected to the illumination fiber optic cable 2 and the wire 3. It has powerful image depth analysis capabilities and can receive discrete electrical signals from multiple dot matrix photoelectric sensors 13. Through image stitching algorithms, it can reconstruct a panoramic, high-definition image of the vascular wall in real time. Furthermore, the system's built-in AI module can intelligently analyze the vascular wall structure, such as plaque properties and calcification degree, automatically identify and mark the location of vascular collateral openings, and generate auxiliary diagnostic reports to provide clinicians with fast and accurate decision support.

[0042] The usage method is as follows:

[0043] S1. Delivery: First, the guide wire 5 and the exchange guide wire 6 are respectively inserted into the guide wire sheath 4 inside the hollow outer sheath catheter 1. Under the guidance of imaging equipment such as DSA, the operator pushes the guide wire 5 to the distal end of the target vascular lesion. Then, the entire hollow outer sheath catheter 1 is pushed along the guide wire 5 until its tip reaches the predetermined position proximal to the lesion.

[0044] S2. Deploy the water balloon: After confirming that the catheter is in the correct position, the operator operates the control valve 8 at the end to slowly inject sterile distilled water in manual or automatic mode. The liquid pressure is transmitted to the endoscopic water balloon 10 through the water balloon column 7 and the four rubber water columns 11. The endoscopic water balloon 10 begins to inflate, protruding from the tip of the hollow outer sheath catheter 1 and finally forming a "hollow pumpkin" shape. During this process, the operator reads the pressure sensor to ensure that the water balloon is just close to the blood vessel wall. At this time, the monitor is observed to confirm that the blood flow can pass normally through the central channel of the water balloon and the gap between the rubber water columns 11.

[0045] S3. Imaging and Side Hole Alignment: Activate the illumination fiber optic 2 and computer imaging system. The high-definition monitor will display the image of the inner wall of the blood vessel in real time. If collateral vessels need to be treated, the operator adjusts the endoscope water balloon 10 to a semi-inflated state so that it can move slightly inside the blood vessel. At this time, observe the monitor. The system will automatically identify the collateral opening on the blood vessel wall and mark the front and rear end positioning marks 9 of the side hole 14 in red on the image. According to the marks, the operator manually rotates and finely adjusts the hollow outer sheath catheter 1 back and forth so that the red side hole positioning marks on the image gradually overlap with the actual collateral opening image. When the two are precisely aligned, the system indicator light turns green. At this time, the endoscope water balloon 10 is fully inflated again through the control valve 8 so that the side hole 14 is firmly connected to the collateral opening.

[0046] S4. Interventional treatment: Under the guidance of clear and continuous real-time images of the vascular wall, the operator can perform a variety of interventional procedures. For example, the guide wire 5 can be precisely inserted into the collateral vessel through the microsheath in the inner wall of the side hole 14, and then a balloon or stent can be inserted along the guide wire for dilation and release.

[0047] Alternatively, procedures such as stent implantation, plaque excision, and drug-eluting balloon dilation can be performed directly at the site of the lesion in the main branch vessel.

[0048] S5. Withdrawal: After all treatment procedures are completed, the operator uses control valve 8 to aspirate sterile distilled water, and the endoscope water balloon 10 immediately collapses. Continue aspiration until it is completely withdrawn into the lumen of the hollow outer sheath catheter 1. Finally, the hollow outer sheath catheter 1 is withdrawn as a whole to complete the surgery.

[0049] To ensure patient safety and avoid cross-infection, all components of this device that enter the body, except for the external computer imaging system and its connecting cables, including the hollow outer sheath catheter 1, endoscopic water balloon 10, water balloon column 7, rubber water column 11, finger guide wire 5, and exchange guide wire 6, are designed for single use and are discarded after a single surgery.

[0050] Working principle:

[0051] The core working principle of the vascular endoscope device of the present invention is to create a localized, bloodless, transparent observation window inside the blood vessel through a "hollow pumpkin" shaped expandable water bladder, while not interrupting normal blood circulation.

[0052] Delivery and positioning: The device is retracted and housed in the hollow outer sheath catheter 1. Through the mature rapid exchange technology of the guide wire 5, it can be accurately and with low damage delivered to the deep lesion location of the cardiovascular and cerebrovascular system. The positioning mark 9 with a 1:1 correspondence between the tail end and the head end provides the operator with accurate external orientation sensing capability.

[0053] Establishment of an unobstructed working environment: After reaching the target blood vessel, liquid is injected into the closed water balloon system through the external control valve 8. The endoscopic water balloon 10 is hydraulically driven to expand and extend. The expanded balloon retains a channel [diameter 2.5mm] in the center. At the same time, there is also a gap between the rubber water columns 11 connecting the head and tail of the water balloon. These two structures together constitute a blood flow bypass, allowing blood to flow continuously and avoiding the risk of distal ischemia [such as myocardial infarction and cerebral infarction] caused by traditional balloon occlusion technology. The balloon is made of highly transparent and high-strength medical rubber, which can ensure light penetration and imaging while resisting the puncture of calcified plaques.

[0054] High-definition imaging and intelligent analysis: The transparent water balloon wall, which is close to the blood vessel wall, becomes an observation window. The distributed illumination fiber optic 2 installed on the inner wall of the water balloon provides shadowless illumination, while the dot matrix photoelectric sensor 13 or optical lens directly acquires the microscopic structural image of the blood vessel intima through the balloon wall. These image signals are transmitted to the external computer imaging system in real time and stitched into a panoramic, high-definition video through algorithms. The introduction of AI enables the system to not only display images, but also automatically analyze plaque composition, accurately measure the degree of stenosis, and identify the location of collateral openings, providing quantitative decision support for interventional treatment that surpasses the capabilities of the human eye.

[0055] Precise intervention of collateral vessels: The combination of side hole 14 and its positioning marker 9 with the imaging system solves the problem of treating vascular bifurcation lesions. Through fine adjustment in a semi-filled state, the operator can perfectly align the side hole 14 with the collateral opening under direct vision. Subsequently, the guide wire 5 can enter the collateral unimpeded through the special micro-sheath in the side hole 14, providing a precise track for subsequent interventional devices such as balloons and stents, making the interventional treatment of complex bifurcation lesions intuitive, simple and safe.

[0056] Closed-loop workflow: The entire system forms a complete closed-loop workflow from "delivery - positioning - establishing field of view - imaging analysis - guiding treatment - retrieval and withdrawal". The operator completes all judgments and operations under a continuous and clear direct field of view, which greatly improves the accuracy and safety of endovascular interventional therapy.

[0057] This invention fundamentally solves the technical challenge of "the inability to achieve both imaging and blood flow": addressing the fatal flaw mentioned in the background art of existing vascular endoscopes such as the blocking balloon type, which must block blood flow and pose a risk of inducing acute myocardial infarction or cerebral infarction, this invention adopts a "hollow pumpkin" shaped endoscope water balloon 10. This structure, while dissipating blood and establishing a clear field of view, allows normal blood flow through the gap between the central channel and the rubber water column 11, completely eliminating the risk of distal vascular ischemia caused by examination or treatment operations, and greatly protecting the safety of patients, especially those with fragile cardiovascular and cerebrovascular systems.

[0058] This invention achieves true high-definition real-time direct visualization guidance within blood vessels: overcoming the limitations of traditional imaging technologies such as CT, MRI, and DSA in providing microscopic details of the vascular intima, this invention integrates a high-resolution dot matrix photoelectric sensor 13 and an illumination fiber optic 2 within a transparent water balloon. For the first time, it obtains real-time, high-definition, panoramic dynamic images of the blood vessel wall under in vivo, non-blocked blood flow conditions. This allows doctors to directly observe plaque morphology, thrombus properties, stent adhesion, etc., just like performing gastroscopy or colonoscopy, providing gold-standard imaging evidence for precise interventional treatment.

[0059] Significantly improves the success rate and efficiency of interventional treatment for complex lesions, especially bifurcation lesions: Addressing the difficulty of collateral vessel management in the prior art, the unique side hole 14 design and the precise alignment method based on positioning marker 9 and AI image recognition in this invention make it simple, fast, and accurate to insert the guidewire into the collateral vessel under direct vision. This not only greatly shortens the operation time and reduces X-ray exposure and contrast agent usage, but also improves the success rate of treatment for complex bifurcation lesions.

[0060] Empowering rapid and intelligent clinical diagnosis: Computer imaging systems combined with AI technology not only present images but also perform in-depth analysis, such as automatically quantifying the degree of stenosis, identifying vulnerable plaque characteristics, locating collateral openings, and generating auxiliary diagnostic reports. This reduces the cognitive burden on doctors, decreases subjective judgment errors, and makes rapid and standardized diagnosis based on objective data possible, which is especially beneficial for decision-making in emergency situations.

[0061] The system is designed to be safe and convenient: all internal components are disposable, eliminating cross-infection at the source. The integrated multi-functional interface, 1:1 positioning mark design, and control valve with precise pressure control are all based on ergonomics and clinical operation convenience, reducing the difficulty of operation and improving the safety and smoothness of the surgery.

[0062] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A vascular endoscope device, characterized in that: It includes a hollow outer sheath catheter (1), which has a guide wire sheath (4) inside, and the guide wire sheath (4) contains a finger guide wire (5) and an exchange guide wire (6). A retractable endoscope water balloon (10) is placed in the lumen of the head end of the hollow outer sheath catheter (1) and connected to the control valve (8) at the tail end through the water balloon column (7). The endoscopic water balloon (10) is configured to extend from the tip of the hollow outer sheath catheter (1) and expand after the medium is injected through the control valve (8) to form a hollow structure that fits tightly against the blood vessel wall and allows blood flow. An illumination fiber (2) and an imaging unit are disposed on the inner wall of the endoscope water bladder (10) to acquire real-time images of the blood vessel wall.

2. The vascular endoscope device according to claim 1, characterized in that: The endoscope water bladder (10) expands into a hollow pumpkin shape. The rear end of the endoscope water bladder (10) is connected to the water bladder column (7) through four rubber water columns (11). Each rubber water column (11) has a metal strip (12) embedded in it.

3. The vascular endoscope device according to claim 1, characterized in that: The endoscope water bag (10) has a hollow side hole (14) on one side. The inner wall of the side hole (14) is provided with a micro sheath for passing through the finger guide wire (5). The head and tail ends of the hollow outer sheath catheter (1) and the front and rear ends of the side hole (14) are all provided with positioning marks (9) with a rotation ratio of 1:

1.

4. The vascular endoscope device according to claim 1, characterized in that: The imaging unit is a dot matrix photoelectric sensor (13). The illumination fiber (2) and the wire (3) connected to the imaging unit are connected to the hollow outer sheath catheter (1) through the inner wall of the endoscope water bladder (10) and the rubber water column (11), and then lead to the outside of the body.

5. The vascular endoscope device according to claim 1, characterized in that: The control valve (8) has a graded water injection function, and the endoscope water bladder (10) is equipped with a pressure sensor for adjusting the pressure inside the bladder.

6. The vascular endoscope device according to claim 1, characterized in that: It also includes a computer imaging system, which is connected to the illumination fiber (2) and the imaging unit for high-definition real-time imaging, integrating image signals, analyzing the tube wall structure and the location of the vascular side holes, and generating an auxiliary diagnostic report.

7. The vascular endoscope device according to claim 1, characterized in that: Except for the computer imaging system, all components that enter the body are single-use products.

8. A method of using a vascular endoscope device, applied to the vascular endoscope device according to any one of claims 1 to 7, characterized in that, Includes the following steps: S1. Delivery: The guide wire (5) is pre-loaded into the guide wire sheath (4), and under image guidance, the tip of the hollow outer sheath catheter (1) is delivered to the vascular lesion site. S2, Expand the water balloon: Inject sterile distilled water through the control valve (8) at the tail end, so that the endoscopic water balloon (10) extends out from the head end of the hollow outer sheath catheter (1) and expands until its head end is hollow and close to the blood vessel wall, while ensuring that blood flow passes normally through the hollow channel; S3, Imaging observation: Activate the illumination fiber (2) and imaging unit to obtain real-time images of the blood vessel wall through the transparent capsule wall, and transmit the images to the external computer imaging system for display and analysis; S4. Interventional therapy: Performing endovascular interventional procedures under the guidance of real-time images; S5. Withdrawal: After the operation is completed, the medium is drawn back by the control valve (8), causing the endoscope water bladder (10) to collapse and return into the hollow outer sheath catheter (1), thus withdrawing the entire device.

Images