Sampling mechanism, instrument delivery table, flexible endoscopic surgical instrument workstation

Abstract

The application relates to a sampling mechanism, an instrument delivery table and a soft endoscope surgical instrument workstation, the sampling mechanism comprising a sampling seat provided with a water-vapor mixed medium passage; a sampling assembly arranged in the sampling seat and provided with an air inlet communicated with an air outlet of the water-vapor mixed medium passage of the sampling seat; first and second instrument channels arranged on two sides of the sampling assembly; and an internal passage and a sampling bin with an opening facing downwards arranged in the sampling assembly, so that the instrument can directly or after switching enter the sampling bin after sampling; and a test tube recovery mechanism for receiving the sample blown from the instrument by a test tube; and a gas-liquid delivery mechanism communicated with the air inlet of the water-vapor mixed medium passage of the sampling seat and used for mixing gas and liquid to form a gas-liquid mixed medium with pressure and input the sampling bin through the sampling seat. The sampling mechanism blows the sample into the test tube through the water-vapor mixed mode, and can ensure that the whole sampling process is safe and pollution-free.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to sampling mechanisms, instrument delivery stations, and flexible endoscopic surgical instrument workstations. Background Technology

[0002] The digestive and respiratory tracts are common sites for diseases in the human body. Since lesions are usually located within these natural cavities, clinical examination and surgical treatment are currently primarily performed using flexible endoscopy. Traditional flexible endoscopy procedures typically require the use of various specialized instruments (such as biopsy forceps) to complete diagnostic and treatment operations under endoscopic guidance.

[0003] In existing diagnostic and treatment models, the instrument operator (such as a nurse, technician, or assistant physician) is usually responsible for installing the instruments required during the procedure and works in conjunction with the primary surgeon to complete the operation. The specific process typically includes: the assistant installing the instruments, the surgeon manipulating the endoscope, and the assistant operating the instruments under the surgeon's instructions to perform biopsies or treatments.

[0004] However, existing flexible endoscopy techniques for examination, biopsy, and treatment have the following significant drawbacks: First, because endoscopic instruments are usually quite long and some procedures are highly complex, requiring the cooperation of multiple people to complete, the cooperation of assistants is crucial. However, they often require specialized or long-term training to master, resulting in long installation times for surgical instruments, limited overall diagnostic and treatment efficiency, and complex and inefficient operations.

[0005] Secondly, some examinations or surgeries require the guidance of radiographic images, necessitating operators to wear heavy lead protective suits for extended periods. Prolonged manual manipulation places a significant strain on the operator's physical strength and has a substantial impact on their health (e.g., radiation exposure). This high level of physical exertion poses a greater constraint on experienced, older operators or female operators, even forcing some excellent physicians to abandon endoscopic medical practice.

[0006] Furthermore, the existing diagnostic and treatment process, in addition to relying on manual assistance, has safety issues in the sampling process (such as biopsy). There are many manual operation steps, which pose a risk of instrument contamination and increase the possibility of cross-infection. Summary of the Invention

[0007] The purpose of this invention is to provide a sampling mechanism to at least solve some of the above-mentioned technical problems.

[0008] Another object of the present invention is to provide an instrument delivery station equipped with the sampling mechanism and a flexible endoscopic surgical instrument workstation.

[0009] To achieve the above objectives, the sampling mechanism provided by the present invention includes: The sampling station is equipped with a water vapor mixing medium passage; A sampling assembly is disposed on the sampling seat, and its air inlet is connected to the air outlet of the water vapor mixing medium passage of the sampling seat; the sampling assembly has a first instrument channel and a second instrument channel on both sides, and the sampling assembly has an internal channel and a sampling chamber with an opening facing downward; the first instrument channel, the internal channel and the second instrument channel form a channel through which instruments can pass and enter the endoscope, and the instruments can directly or indirectly enter the sampling chamber after sampling. A test tube retrieval mechanism, which carries test tubes and is located below the sampling chamber, is used to catch samples blown off the instrument through the test tubes. The gas-liquid delivery mechanism is connected to the air inlet of the water vapor mixing medium passage of the sampling seat. It is used to mix gas and liquid to form a pressurized gas-liquid mixing medium and input it into the sampling chamber through the sampling seat, so as to blow the sample on the instrument into the test tube and complete the sample recovery.

[0010] Optionally, after sampling, the instrument is switched into the sampling chamber; the sampling assembly is provided with a reversing plate inside, the reversing plate is provided with a horizontal internal channel and an arc-shaped internal channel. In a first state, the horizontal internal channel connects the first instrument channel and the second instrument channel. In a second state, the instrument is switched to connect the first instrument channel and the sampling chamber via the arc-shaped internal channel.

[0011] Optionally, the sampling assembly has a commutator receiving cavity located above the sampling chamber, and the commutator is slidably mounted in the commutator receiving cavity and is provided with a return spring.

[0012] Optionally, the commutator segment is connected to the commutation drive component via a commutation block, and the commutation drive component pushes and pulls the commutator block to lift the commutator segment, thereby switching the internal path of the sampling component from a first state to a second state.

[0013] Optionally, the sampling chamber is surrounded by an annular chamber, which is M-shaped in longitudinal section. The lower end of the inverted conical part of the annular chamber forms an annular air inlet located at the top of the sampling chamber. The arc-shaped internal channel is connected to the sampling chamber from the middle position of the top of the sampling chamber.

[0014] Optionally, the gas-liquid delivery mechanism is connected to the left and right air inlets of the sampling seat via two separate paths, and the left and right air inlets of the sampling seat are respectively connected to the left and right air inlets of the annular chamber.

[0015] Optionally, the treatment device directly enters the sampling chamber after sampling; the sampling component is provided with a vertical straight channel, the straight channel includes an upper gas collection chamber and a lower sampling chamber, the first device channel and the second device channel are respectively located on both sides of the sampling chamber and are linearly connected to the sampling chamber in the horizontal direction, and can directly return to the sampling chamber after sampling.

[0016] Optionally, the gas collection chamber is provided with air inlets on both sides, and the gas-liquid conveying mechanism is connected to the left and right air inlets of the sampling seat via two separate paths. The left and right air inlets of the sampling seat are respectively connected to the left and right air inlets of the gas collection chamber.

[0017] Optionally, an air inlet baffle is provided between the sampling chamber and the gas collection chamber, and the air inlet baffle is provided with evenly distributed air inlet holes.

[0018] Optionally, the sampling chamber has an outlet edge and a vent hole on the outlet edge.

[0019] Optionally, the sampling component and the sampling seat are connected by a snap-fit ​​mechanism; the snap-fit ​​mechanism includes a movable buckle and an unlocking button. The movable buckles are symmetrically installed in the horizontal slide of the sampling seat, and the sampling component has slots on both sides corresponding to the movable buckles. The sampling seat has two vertical slides that communicate with the horizontal slides. The unlocking button has a gate-shaped bracket, and a return spring is provided between the gate-shaped bracket and the sampling seat. The two legs of the gate-shaped bracket pass through the vertical slides and have cylindrical protrusions at their ends. The cylindrical protrusions are always inserted into the oblique channels of the movable buckles. Moving the unlocking button up and down can drive the movable buckles to move horizontally inward or outward through the cooperation of the cylindrical protrusions and the oblique channels, thereby disengaging from or engaging with the slots of the sampling component, thus realizing the snap-fit ​​and release of the sampling component pressed into the sampling seat.

[0020] Optionally, the gas-liquid delivery mechanism includes a liquid tank, an air pump, and a gas storage cylinder; the liquid tank is connected to the gas-liquid mixing pipeline via a liquid pipeline and is equipped with a liquid control valve; the air pump and the gas storage cylinder are connected to the gas-liquid mixing pipeline via a gas pipeline and are equipped with a gas control valve; the gas-liquid mixing pipeline is connected to the air inlet of the water vapor mixing medium passage of the sampling seat.

[0021] Optionally, the liquid pipeline includes a vertical section, and a liquid outlet chamber connected to the gas pipeline is provided below the vertical section of the liquid pipeline. The liquid is arranged in the liquid outlet chamber above the gas pipeline by gravity flow to store a fixed amount of liquid. When the gas flows through, the gas outlet becomes smaller, and at this time, the gas can carry the stored liquid to the sampling chamber under the pressure of the gas storage bottle.

[0022] Optionally, the test tube recovery mechanism includes a rotary motor and a rotating disk. The rotating disk is fixed to the output end of the rotary motor and is equipped with an encoder. The rotating disk is equipped with a test tube rack, and test tubes are installed in the test tube rack. The rotating disk is used to rotate the test tubes to the bottom of the sampling chamber to receive the samples blown off the instrument, and rotates them out of the sampling position after the samples are blown into the test tubes.

[0023] To achieve the other objective mentioned above, the present invention provides an instrument delivery station for delivering necessary instruments and retrieving samples taken from the human body, comprising a movable operating table, a driver disposed on the operating table, and a cassette instrument driven by the driver, characterized in that it further comprises a sampling mechanism as described in any one of the above claims, wherein the driver is used to drive the instrument inside the cassette instrument into the sampling assembly, and then along the first instrument channel, the internal channel and the second instrument channel of the sampling assembly into the endoscope working channel, thereby entering the human lumen.

[0024] Optionally, the box-shaped instrument is connected to the driver via a snap-fit ​​to transmit power and drive the instruments inside the box-shaped instrument to operate; the driver is provided with three non-coaxial rotary output power sources, and the three power sources output independently through three rotating nested shafts.

[0025] Optionally, the driver includes a main rotating disk, a first rotating disk, a second rotating disk, and a fixing buckle. The fixing buckle is fixed on the main rotating disk for fixed connection with the inner rotating disk of the cassette device. The main rotating disk can drive the inner rotating disk of the cassette device to rotate, thereby driving the delivery of the treatment device. The second rotating disk and the first rotating disk are respectively connected to the bottom output shaft disk of the cassette device to realize the output of rotational power and provide rotational and pushing-pull operation power for the cassette device inside.

[0026] Optionally, the first gear of the driver is coaxially fixed with the second rotating disk, the first gear is rotatably arranged with the central member and meshes with the second gear; the second gear is rotatably arranged with the central member and the sixth gear and coaxially fixed with the third gear; the gear meshes with the fourth gear, the fourth gear is fixed on the output shaft of the first motor, and the first motor is fixed on the fixed plate; The fifth gear is fixed coaxially with the first rotating disk, the fifth gear is rotatably arranged with the central component, and meshes with the sixth gear; the sixth gear is rotatably arranged with the central component and the second gear, and is fixed coaxially with the seventh gear. The seventh gear meshes with the eighth gear, the eighth gear is fixed on the output shaft of the second motor, and the second motor is fixed on the fixed plate; the main rotating disk is fixed on the central component, the central component is rotatably arranged with the fixed plate and coaxially fixed with the ninth gear, the ninth gear meshes with the tenth gear, the tenth gear is fixed on the output shaft of the third motor, and the third motor is fixed on the fixed plate.

[0027] To achieve the other objective mentioned above, the present invention provides a flexible endoscopic surgical instrument workstation, comprising an instrument delivery table, an endoscope, an endoscope workstation, and an instrument remote control console, wherein the instrument delivery table is any of the instrument delivery tables described above.

[0028] The sampling mechanism provided by this invention can provide an endoscope channel for examination or treatment instruments. The instruments can enter the endoscope working channel (biopsy channel) along the provided channel to enter the human body lumen for treatment, sample collection and other operations. After the instruments complete the sampling, they can enter the sampling chamber and blow the sample into the test tube by mixing water and steam, ensuring that the entire sampling process is safe and pollution-free. Attached Figure Description

[0029] Figure 1 A schematic diagram of the structure of a flexible endoscopic surgical instrument workstation provided in an embodiment of the present invention; Figure 2 An axonometric view of the instrument delivery station provided in an embodiment of the present invention; Figure 3 for Figure 2 The front view of the instrument delivery station shown; Figure 4 for Figure 2 Top view of the instrument delivery station shown; Figure 5 This is a schematic diagram of the assembly of the actuator and the cassette device; Figure 6 A schematic diagram showing the disassembly of the actuator and the cartridge device; Figure 7 for Figure 5 The main view; Figure 8 This is an isometric view of the driver; Figure 9 Top view of the drive; Figure 10 for Figure 9 AA view; Figure 11 for Figure 9 BB view; Figure 12 This is a schematic diagram of the exploded structure of the driver; Figure 13This is a schematic diagram of the overall structure of the sampling mechanism; Figure 14 for Figure 13 Front view of the sampling mechanism shown; Figure 15 for Figure 13 Side view of the sampling mechanism shown; Figure 16 for Figure 13 Top view of the sampling mechanism shown; Figure 17 This is a schematic diagram of the gas-liquid mixing section of a gas-liquid conveying mechanism. Figure 18 for Figure 17 A bottom view; Figure 19 for Figure 17 BB view; Figure 20 for Figure 18 CC view; Figure 21 This is a schematic diagram of the switching sampling component; Figure 22 for Figure 21 A bottom view; Figure 23 for Figure 22 AA view; Figure 24 This is the main view of the through-sampling component; Figure 25 for Figure 24 Top view of the through-type sampling component shown; Figure 26 for Figure 24 AA diagram; Figure 27 for Figure 26 A magnified view of part II in the middle section; Figure 28 for Figure 25 A schematic diagram of a BB (Baby Window) diagram; Figure 29 for Figure 28 A magnified view of part I in the middle; Figure 30 This is an isometric view of the through-feed sampling assembly; Figure 31 This is an exploded view of the through-type sampling component.

[0030] The annotations in the attached figures are explained as follows: 100 – Instrument delivery table; 110 – Mobile operating table; 1101 – Control handle; 120 – Driver; 121 – Main rotary table; 122 – First rotary table; 123 – Second rotary table; 124 – Fixed buckle; 125a – First gear; 125b – Second gear; 125c – Third gear; 125d – Fourth gear; 125e – Fifth gear; 125f – Sixth gear; 125g – Seventh gear; 125h – Eighth gear; 125i – Ninth gear; 125j – Tenth gear; 126 – Central component; 127a – First motor; 127b – Second motor; 127c – Third motor; 130 —Box-type instrument; 140—Sampling mechanism; 141—Sampling seat; 1411—Water vapor mixing medium passage; 14111—Left air inlet; 14112—Right air inlet; 1412—Horizontal slide; 1413—Vertical slide; 142—Sampling assembly; 1421—First instrument channel; 14211—Flare-shaped guide port; 1422—Second instrument channel; 1423—Internal channel; 1424—Sampling chamber; 14241—Annular chamber; 14241a—Air inlet; 14242—Annular air blowing port; 14243—Outlet edge; 14244—Ventilation hole; 1425—Reversing plate; 14251—Horizontal internal passage 14252 – Arc-shaped internal channel; 1426 – Commutator segment receiving cavity; 1427 – Return spring; 1428 – Commutator block; 1429 – Commutator drive component; 1431 – Test tube; 1432 – Rotary motor; 1433 – Rotary disk; 1434 – Encoder; 1435 – Test tube rack; 143 – Test tube recovery mechanism; 144 – Gas-liquid conveying mechanism; 1441 – Liquid tank; 1442 – Air pump; 1443 – Gas storage cylinder; 1444 – Liquid pipeline; 14441 – Vertical section of liquid pipeline; 14442 – Liquid outlet chamber; 1445 – Liquid control valve; 1446 – Gas control valve; 1447 – Gas-liquid mixing pipeline ; 1448 - One-way valve; 1449 - Safety valve; 1450 - Gas pipeline; 150 - Fixing plate; 160 - Snap-fit ​​mechanism; 161 - Moving buckle; 1611 - Angled channel; 162 - Unlock button; 1621 - Portal bracket; 16211 - Support leg; 16212 - Cylindrical protrusion; 1622 - Return spring; 1460 - Straight channel; 1461 - Gas collection chamber; 14611 - Left air inlet of gas collection chamber; 14612 - Right air inlet of gas collection chamber; 1462 - Air inlet baffle; 14621 - Air inlet hole; 1463 - Slot; 200 - Endoscope; 300 - Endoscope workstation; 400 - Instrument remote control console. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0032] In this document, terms such as "upper," "lower," "inner," and "outer" are established based on the positional relationships shown in the accompanying drawings. Depending on the drawings, the corresponding positional relationships may also change. Therefore, they should not be interpreted as an absolute limitation on the scope of protection. Moreover, relational terms such as "first" and "second" are only used to distinguish one component from another that has the same name, and do not necessarily require or imply any such actual relationship or order between these components.

[0033] Please refer to Figure 1 A schematic diagram of the structure of the flexible endoscopic surgical instrument workstation provided in this embodiment of the invention.

[0034] As shown in the figure, in one specific embodiment, the flexible endoscopic surgical instrument workstation provided by the present invention is an endoscopic surgical robot used for the observation, treatment, and detection of lesions within the body's natural cavities. This flexible endoscopic surgical instrument workstation mainly includes an instrument delivery table 100, an endoscope 200, an endoscope workstation 300, and an instrument remote control console 400.

[0035] The endoscope 200 is inserted into the human body to create a channel for the treatment instruments and provide the surgeon with a endoscopic view. The instrument delivery station 100 is used to deliver various instruments as needed and to retrieve samples taken from the human body. The endoscope workstation 300 provides electrical signals, light signals, and moisture support for the endoscope 200's operation inside the human body. The instrument remote control console 400 provides the surgeon with input and display support for remotely controlling the treatment instruments.

[0036] In this embodiment, the entire procedure can be completed collaboratively by one doctor and two assistants. The doctor operates the instrument remote control console 400 remotely, one assistant operates the endoscope 200, and the other assistant operates the instrument delivery table 100. The operation of the surgical instruments is entirely controlled remotely by the surgeon, saving the surgeon's physical exertion, ensuring more accurate and reliable control, facilitating operation, and allowing the surgeon to concentrate more fully on complex surgeries.

[0037] Please refer to this as well. Figure 2 , Figure 3 , Figure 4 , Figure 2 An axonometric view of the instrument delivery station provided in an embodiment of the present invention; Figure 3 for Figure 2 The front view of the instrument delivery station shown; Figure 4 for Figure 2 Top view of the instrument delivery station shown.

[0038] As shown in the figure, the instrument delivery station 100 includes a movable operating table 110, a driver 120 disposed on the operating table 110, a box-type instrument 130 driven by the driver 120, and a sampling mechanism 140. The movable operating table 110 is provided with an operating handle 1101.

[0039] The actuator 120 provides rotational power output to the cassette instrument 130, which contains different therapeutic instruments. The actuator 120 provides delivery, pushing, pulling, and rotational power to these instruments to perform different surgeries.

[0040] The cassette instrument 130, as a consumable, can be quickly installed onto the actuator 120. The cassette instrument 130 connects to the actuator 120 via a snap-fit ​​mechanism to transmit power, driving the therapeutic instruments within the cassette instrument 130 to perform operations such as delivery, rotation, and pushing / pulling. The cassette instrument 130 includes, but is not limited to, biopsy forceps, hemostatic clips, snares, injection needles, sprayers, and endoscopic electrocoagulators.

[0041] The actuator 120 drives the instrument inside the cassette instrument 130 into the sampling component 142 of the sampling mechanism 140, and then along the first instrument channel 1421, the internal channel 1423 and the second instrument channel 1422 of the sampling component 142 into the working channel (biopsy channel) of the endoscope 200, thereby entering the human lumen for treatment, sample collection and other operations.

[0042] Please refer to this as well. Figures 5 to 7 , Figure 5 This is a schematic diagram of the assembly of the actuator and the cassette device; Figure 6 A schematic diagram showing the disassembly of the actuator and the cartridge device; Figure 7 for Figure 5 The main view.

[0043] As shown in the figure, the driver 120 is equipped with three non-coaxial rotary output power sources, and the three power sources output independently through three nested rotary shafts.

[0044] The actuator 120 includes a main rotating disk 121, a first rotating disk 122, a second rotating disk 123, and a retaining clip 124. The retaining clip 124 is fixed to the main rotating disk 121 and is used for fixed connection with the inner rotating disk of the cassette instrument 130. The main rotating disk 121 can drive the inner rotating disk of the cassette instrument 130 to rotate, thereby driving the delivery of the therapeutic instrument. The second rotating disk 123 and the first rotating disk 122 are respectively connected to the bottom output shaft disk of the cassette instrument 130 to realize the output of rotational power, providing rotational and pushing / pulling operating power for the cassette instrument 130 inside.

[0045] See Figures 8 to 12 The transmission structure of the driver 120 is as follows: The first gear 125a is coaxially fixed with the second rotating disk 123. The first gear 125a is rotatably configured with the central member 126 and meshes with the second gear 125b. The second gear 125b is rotatably configured with the central member 126 and the sixth gear 125f, and is coaxially fixed with the third gear 125c. The third gear 125c meshes with the fourth gear 125d, which is fixed on the output shaft of the first motor 127a. The first motor 127a is fixed on the fixing plate 150.

[0046] The fifth gear 125e is coaxially fixed with the first rotating disk 122, rotatably mounted with the center member 126, and meshes with the sixth gear 125f. The sixth gear 125f is rotatably mounted with the center member 126 and the second gear 125b, and coaxially fixed with the seventh gear 125g. The seventh gear 125g meshes with the eighth gear 125h, which is fixed on the output shaft of the second motor 127b, which is fixed on the fixing plate 150.

[0047] The main rotating disk 121 is fixed on the center component 126. The center component 126 is rotatably set with the fixing plate 150 and is coaxially fixed with the ninth gear 125i. The ninth gear 125i meshes with the tenth gear 125j. The tenth gear 125j is fixed on the output shaft of the third motor 127c. The third motor 127c is fixed on the fixing plate 150.

[0048] Through the above transmission structure, the first motor 127a, the second motor 127b and the third motor 127c independently drive the second rotating disk 123, the first rotating disk 122 and the main rotating disk 121 to rotate, respectively, so as to realize the independent control of the three non-coaxial rotation output power sources.

[0049] Please continue to refer to this. Figures 13 to 16 , Figure 13 This is a schematic diagram of the overall structure of the sampling mechanism; Figure 14 for Figure 13 Front view of the sampling mechanism shown; Figure 15 for Figure 13 Side view of the sampling mechanism shown; Figure 16 for Figure 13 Top view of the sampling mechanism shown.

[0050] As shown in the figure, the sampling mechanism 140 includes a sampling seat 141, a sampling component 142, a test tube recovery mechanism 143, and a gas-liquid delivery mechanism 144.

[0051] The fixing plate 150 is used to fix various parts. The sampling seat 141 and the test tube recovery mechanism 143 are both mounted on the fixing plate 150, and then mounted on the instrument delivery table 100 through the fixing plate 150. The gas-liquid delivery mechanism 144 is installed inside the instrument delivery table 100.

[0052] The sampling station 141 is provided with a water vapor mixing medium passage 1411. The sampling assembly 142 is disposed on the sampling station 141, and its air inlet is connected to the air outlet of the water vapor mixing medium passage 1411 of the sampling station 141. The sampling assembly 142 has a first instrument channel 1421 and a second instrument channel 1422 on both sides, and the sampling assembly 142 has an internal channel 1423 and a sampling chamber 1424 with an opening facing downward. The first instrument channel 1421, the internal channel 1423 and the second instrument channel 1422 form a channel through which instruments can pass and enter the endoscope 200.

[0053] The first instrument channel 1421 and the second instrument channel 1422 are located on the same straight line, and both extend horizontally outward from the left and right sides of the sampling component 142 by a certain distance. The first instrument channel 1421 has a flared guide port 14211 at its starting end to guide the instrument into the first instrument channel 1421.

[0054] In use, the instrument enters through the first instrument channel 1421 on one side, passes through the internal channel 1423 of the sampling component 142, and then enters the endoscope 200 through the second instrument channel 1422 on the other side, and then enters the human lumen along the passage of the endoscope 200.

[0055] The sampling component 142 and the sampling seat 141 are quickly snapped together by a snap-fit ​​mechanism, establishing a water vapor channel between them. The lower outlet of the sampling chamber 1424 is aligned with the test tube opening, with a slight height difference between the two surfaces.

[0056] The test tube recovery mechanism 143 carries test tubes 1431 and is located below the sampling chamber 1424. It is used to receive samples blown off the instrument through the test tubes 1431.

[0057] The gas-liquid delivery mechanism 144 is connected to the air inlet of the water vapor mixing medium passage 1411 of the sampling seat 141. It mixes gas and liquid to form a pressurized gas-liquid mixture, which is then fed into the sampling chamber 1424 via the sampling seat 141. This blows the sample from the instrument into the test tube 1431, completing the sample recovery. The sampling process is safer and less contaminated because the sample is blown into the test tube 1431 via a water vapor mixture.

[0058] The gas-liquid conveying mechanism 144 is equipped with a liquid tank 1441, an air pump 1442, and a gas storage cylinder 1443.

[0059] The liquid tank 1441 contains the required liquid, which can be tissue fluid, physiological saline, distilled water, etc. The liquid tank 1441 is connected to the gas-liquid mixing pipeline 1447 via a liquid pipeline 1444 and is equipped with a liquid control valve 1445 (liquid solenoid valve). The liquid control valve 1445 is used to control the amount of liquid flowing into the gas passage.

[0060] Air pump 1442 supplies pressurized gas to gas cylinder 1443. A one-way valve 1448 is installed between air pump 1442 and gas cylinder 1443. The one-way valve 1448 prevents backflow of gas entering gas cylinder 1443, thus ensuring the pressure of the gas inside gas cylinder 1443. Gas cylinder 1443 is equipped with a safety valve 1449, which controls the maximum pressure of the gas inside gas cylinder 1443, ensuring it does not exceed the maximum withstand value of gas cylinder 1443.

[0061] The air pump 1442 and the gas storage cylinder 1443 are connected to the gas-liquid mixing pipeline 1447 via the gas pipeline 1450, and are equipped with a gas control valve 1446 (gas solenoid valve). The gas control valve 1446 is used to control the flow rate of gas into the instrument channel to blow off the sample. The gas-liquid mixing pipeline 1447 is connected to the air inlet of the water vapor mixing medium passage 1411 of the sampling seat 141.

[0062] The entire gas path operation process of the sampling mechanism 140 is as follows: the air pump 1442 pumps air, which enters the gas storage cylinder 1443 through the one-way valve 1448, and stops pumping air after reaching a certain pressure; the blowing time is controlled by the gas control valve 1446 (gas solenoid valve) to complete the blowing of the sample.

[0063] See Figures 17 to 20 The liquid pipeline 1444 includes a vertical section 14441, and a liquid outlet chamber 14442 connected to the gas pipeline 1450 is located below the vertical section 14441. Liquid flows by gravity into the liquid outlet chamber 14442 above the gas pipeline to store a fixed quantity of liquid. The amount of liquid flowing into the liquid outlet chamber 14442 is controlled by adjusting the opening and closing time of the liquid control valve 1445 (liquid solenoid valve). When gas flows through, the gas outlet narrows, and the gas, under the pressure of the gas storage cylinder 1443, can carry the stored liquid to the sampling chamber 1424.

[0064] During operation, the gas, under the pressure of the gas storage cylinder 1443, carries a small amount of liquid and blows it toward the already opened biopsy forceps in the sampling chamber 1424. The water vapor will exert a force on the sample on the biopsy forceps, thus blowing it into the test tube 1431 below.

[0065] The test tube recovery mechanism 143 includes a rotary motor 1432 and a rotary disk 1433. The rotary disk 1433 is fixed to the output end of the rotary motor 1432 and is equipped with an encoder 1434. A test tube rack 1435 is provided on the rotary disk 1433, and test tubes 1431 are installed in the test tube rack 1435.

[0066] The rotating disk 1433 is used to rotate the test tube 1431 to a position below the sampling chamber 1424 to receive the sample blown off the instrument. After the sample is blown into the test tube 1431, the rotating disk 1433 rotates out of the sampling position, so that the next empty test tube 1431 rotates to a position below the sampling chamber 1424, ready for the next sampling. The encoder 1434 is used to precisely control the rotation angle of the rotating disk 1433, ensuring that the test tube 1431 is accurately aligned with the outlet of the sampling chamber 1424 after each rotation.

[0067] In one embodiment, the sampling component 142 is designed to bypass the sampling chamber before instrument sampling and to enter the sampling chamber after instrument sampling via a switching mechanism.

[0068] See Figure 21 and Figure 23 In this embodiment, the sampling assembly 142 is internally provided with a reversing plate 1425, which has a horizontal internal channel 14251 and an arc-shaped internal channel 14252. In a first state, the horizontal internal channel 14251 connects the first instrument channel 1421 and the second instrument channel 1422, allowing instruments to pass directly through the sampling assembly 142 into the endoscope 200 in a horizontal direction. In a second state, the arc-shaped internal channel 14252 connects the first instrument channel 1421 and the sampling chamber 1424, allowing instruments to enter the sampling chamber 1424 after sampling via the arc-shaped internal channel 14252.

[0069] The sampling assembly 142 has a commutator receiving cavity 1426 located above the sampling chamber 1424. The commutator 1425 is slidably installed in the commutator receiving cavity 1426 and is provided with a return spring 1427. When the commutator 1425 returns to its original position under the action of the spring 1427, its internal horizontal channel 14251 connects the first instrument channel 1421 and the second instrument channel 1422 (first state).

[0070] The commutator segment 1425 is connected to the commutation drive component 1429 via the commutation block 1428. The commutation drive component 1429 can be an electric actuator, which is fixed on the fixed plate 150 and used to push and pull the commutation block 1428. The commutation drive component 1429 pushes and pulls the commutation block 1428 to lift the commutator segment 1425, thereby switching the internal passage of the sampling assembly 142 from a first state to a second state. When the commutator segment 1425 moves upward, its internal arc-shaped internal channel 14252 connects the first instrument channel 1421 with the sampling chamber 1424.

[0071] The sampling chamber 1424 is surrounded by an annular chamber 14241, which is "M" shaped in longitudinal section. The lower end of the inverted conical portion of the annular chamber 14241 forms an annular air inlet 14242 located at the top of the sampling chamber 1424. An arc-shaped internal channel 14252 connects to the sampling chamber 1424 from the middle position of the top of the sampling chamber 1424.

[0072] The sampling chamber 1424 is mainly used to hold the biopsy forceps that have been retrieved. The biopsy forceps can open their heads in the sampling chamber 1424 so that the water vapor mixture coming out of the annular air outlet 14242 can blow off the sample.

[0073] The gas-liquid delivery mechanism 144 is divided into left and right paths and connected to the left and right air inlets 14111 and 14112 of the sampling seat 141. The left and right air inlets 14111 and 14112 of the sampling seat 141 are respectively connected to the left and right air inlets 14241a of the annular chamber 14241, so that the gas-liquid mixture enters the annular chamber 14241 evenly from both sides, and is then blown out evenly from the annular air outlet 14242, acting on the instruments in the sampling chamber 1424.

[0074] The working process of this embodiment is as follows: (1) In the initial state, the commutator 1425 is in the first state, and the horizontal internal channel 14251 connects the first instrument channel 1421 and the second instrument channel 1422. The instrument passes through the first instrument channel 1421, the horizontal internal channel 14251, and the second instrument channel 1422 to enter the endoscope 200, and then enters the human lumen for biopsy sampling.

[0075] (2) After the instrument has finished sampling, the instrument returns to the sampling assembly 142. The reversing drive component 1429 pushes the reversing block 1428 to lift the reversing segment 1425 and switch to the second state. The arc-shaped internal channel 14252 connects the first instrument channel 1421 and the sampling chamber 1424.

[0076] (3) The instrument enters the sampling chamber 1424 along the arc-shaped internal channel 14252, and the biopsy forceps open the forceps head in the sampling chamber 1424.

[0077] (4) The gas-liquid transport mechanism 144 inputs the gas-liquid mixed medium into the annular chamber 14241 through the water vapor mixed medium passage 1411 of the sampling seat 141. The gas-liquid mixed medium is blown out evenly from the annular air blowing port 14242 and acts on the sample on the biopsy forceps, blowing the sample into the test tube 1431 below.

[0078] (5) After sampling is completed, the reversing drive component 1429 releases the reversing block 1428, and the reversing segment 1425 returns to the first state under the action of the reset spring 1427. The rotating disk 1433 of the test tube recovery mechanism 143 rotates, and the next empty test tube 1431 is moved to the bottom of the sampling chamber 1424, ready for the next sampling.

[0079] In another embodiment, the sampling component is designed to pass directly through the sampling chamber before the instrument takes a sample and then return directly to the sampling chamber after the instrument takes a sample; this is a straight-through sampling component.

[0080] See Figure 24 and Figure 31 In this embodiment, the sampling assembly 142 is provided with a vertical straight channel 1460, which includes an upper gas collection chamber 1461 and a lower sampling chamber 1424. A first instrument channel 1421 and a second instrument channel 1422 are located on both sides of the sampling chamber 1424 and are linearly connected to it in the lateral direction. Before sampling, the instrument passes directly through the first instrument channel 1421 through the sampling chamber 1424 and enters the endoscope 200 through the second instrument channel 1422. After sampling, the instrument can be directly returned to the sampling chamber 1424.

[0081] After the sampling instrument has taken a sample and returned to the sampling chamber 1424, the instrument can be opened (e.g., the biopsy forceps head can be opened), and air can be blown through the docked water vapor channel. Air should be blown evenly downwards above the instrument head so that the sample can be blown into the test tube 1431 below.

[0082] The gas collection chamber 1461 is provided with air inlets 14611 and 14612 on both sides. The gas-liquid conveying mechanism 144 is divided into left and right paths and connected to the left and right air inlets 14111 and 14112 of the sampling seat 141. The left and right air inlets 14111 and 14112 of the sampling seat 141 are respectively connected to the left and right air inlets 14611 and 14612 of the gas collection chamber 1461.

[0083] To prevent uneven airflow into the sampling chamber 1424, a large gas collecting chamber 1461 is provided at the air inlet. An air inlet baffle 1462 is provided between the sampling chamber 1424 and the gas collecting chamber 1461, and the air inlet baffle 1462 has evenly distributed air inlet holes 14621. The gas-liquid mixture first enters the gas collecting chamber 1461 and is thoroughly mixed, and then is evenly blown downwards into the sampling chamber 1424 through the air inlet holes 14621 on the air inlet baffle 1462, ensuring uniform airflow acting on the instrument.

[0084] To prevent excessively strong airflow entering test tube 1431, which could create a strong rebound airflow upon reaching the bottom of test tube 1431 and potentially affect the sample's drop path, sampling chamber 1424 is provided with an outlet edge 14243, on which circumferentially distributed diffuser holes 14244 are provided. Part of the airflow dissipates outward through the diffuser holes 14244, thereby reducing the intensity of the airflow entering test tube 1431 and preventing the rebound airflow from affecting normal sample collection.

[0085] In this embodiment, the sampling component 142 and the sampling seat 141 are connected by a snap-fit ​​mechanism 160.

[0086] The locking mechanism 160 includes a movable latch 161 and an unlocking button 162. The movable latches 161 are symmetrically installed in the transverse slide rails 1412 of the sampling base 141. The sampling assembly 142 has slots 1463 on both sides corresponding to the movable latches 161.

[0087] The sampling seat 141 has two vertical slides 1413 that communicate with the horizontal slide 1412. The unlocking button 162 has a gate-shaped bracket 1621, and a return spring 1622 is provided between the gate-shaped bracket 1621 and the sampling seat 141. The two legs 16211 of the gate-shaped bracket 1621 pass through the vertical slides 1413 and have cylindrical protrusions 16212 at their ends. The cylindrical protrusions 16212 are always inserted into the inclined channel 1611 of the movable latch 161.

[0088] The up-and-down movement of the unlocking button 162 can drive the moving buckle 161 to move horizontally inward or outward through the cooperation of the cylindrical protrusion 16212 and the oblique channel 1611, thereby disengaging from or engaging with the slot 1463 of the sampling component 142, thus enabling the sampling component 142 pressed into the sampling seat 141 to be engaged and disengaged.

[0089] Specifically, when the sampling component 142 needs to be installed, it is pressed into the sampling base 141. The movable latch 161 automatically engages with the slot 1463 under the action of the return spring 1622, achieving quick engagement. When the sampling component 142 needs to be disassembled, the unlocking button 162 is pushed upward, and the cylindrical protrusion 16212 slides along the inclined channel 1611, causing the movable latch 161 to move horizontally outward and disengage from the slot 1463, allowing the sampling component 142 to be removed from the sampling base 141.

[0090] The working process of this embodiment is as follows: (1) The sampling component 142 is quickly installed onto the sampling base 141 through the snap-fit ​​mechanism 160 to establish a water vapor channel.

[0091] (2) The instrument passes directly through the sampling chamber 1424 from the first instrument channel 1421, enters the endoscope 200 through the second instrument channel 1422, and then enters the human lumen for biopsy sampling.

[0092] (3) After the instrument has finished taking the sample, the instrument is returned directly to the sampling chamber 1424, and the biopsy forceps open the forceps head in the sampling chamber 1424.

[0093] (4) The gas-liquid transport mechanism 144 inputs the gas-liquid mixed medium into the gas collection chamber 1461 through the water vapor mixed medium passage 1411 of the sampling seat 141. The gas-liquid mixed medium is evenly blown downward into the sampling chamber 1424 through the air inlet hole 14621 on the air inlet baffle 1462, acting on the sample on the biopsy forceps and blowing the sample into the test tube 1431 below. Part of the airflow is dispersed through the air diffuser hole 14244 on the outlet edge 14243 to prevent the rebound airflow from affecting the sample collection.

[0094] (5) After sampling is completed, the rotating disk 1433 of the test tube recovery mechanism 143 rotates, moving the next empty test tube 1431 to the bottom of the sampling chamber 1424, ready for the next sampling. The sampling component 142 can be quickly disassembled for replacement or cleaning via the unlocking button 162.

[0095] The sampling mechanism, instrument delivery table, and flexible endoscopic surgical instrument workstation provided by this invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A sampling mechanism, characterized in that, include: The sampling station is equipped with a water vapor mixing medium passage; A sampling assembly is disposed on the sampling seat, and its air inlet is connected to the air outlet of the water vapor mixing medium passage of the sampling seat; the sampling assembly has a first instrument channel and a second instrument channel on both sides, and the sampling assembly has an internal channel and a sampling chamber with an opening facing downward; the first instrument channel, the internal channel and the second instrument channel form a channel through which instruments can pass and enter the endoscope, and the instruments can directly or indirectly enter the sampling chamber after sampling. A test tube retrieval mechanism, which carries test tubes and is located below the sampling chamber, is used to catch samples blown off the instrument through the test tubes. The gas-liquid delivery mechanism is connected to the air inlet of the water vapor mixing medium passage of the sampling seat. It is used to mix gas and liquid to form a pressurized gas-liquid mixing medium and input it into the sampling chamber through the sampling seat, so as to blow the sample on the instrument into the test tube and complete the sample recovery.

2. The sampling mechanism according to claim 1, characterized in that, After sampling, the instrument is switched to enter the sampling chamber; the sampling component is provided with a reversing plate inside, and the reversing plate is provided with a horizontal internal channel and an arc-shaped internal channel. In the first state, the horizontal internal channel connects the first instrument channel and the second instrument channel. In the second state, the instrument is switched to connect the first instrument channel and the sampling chamber via the arc-shaped internal channel.

3. The sampling mechanism according to claim 2, characterized in that, The sampling assembly has a commutator receiving cavity located above the sampling chamber, and the commutator is slidably mounted in the commutator receiving cavity and is provided with a return spring.

4. The sampling mechanism according to claim 3, characterized in that, The commutator segment is connected to the commutation drive component via a commutation block. The commutation drive component pushes and pulls the commutation block to lift the commutator segment, thereby switching the internal path of the sampling component from a first state to a second state.

5. The sampling mechanism according to claim 4, characterized in that, The sampling chamber is surrounded by an annular chamber, which is "M" shaped in longitudinal section. The lower end of the inverted conical part of the annular chamber forms an annular air inlet at the top of the sampling chamber. The arc-shaped internal channel is connected to the sampling chamber from the middle position of the top of the sampling chamber.

6. The sampling mechanism according to claim 5, characterized in that, The gas-liquid delivery mechanism is divided into left and right paths and connected to the left and right air inlets of the sampling seat. The left and right air inlets of the sampling seat are respectively connected to the left and right air inlets of the annular chamber.

7. The sampling mechanism according to claim 1, characterized in that, After sampling, the instrument directly enters the sampling chamber; the sampling component is provided with a vertical straight channel, which includes an upper gas collection chamber and a lower sampling chamber. The first instrument channel and the second instrument channel are located on both sides of the sampling chamber and are connected to the sampling chamber in a straight line in the horizontal direction. After sampling, the instrument can directly return to the sampling chamber.

8. The sampling mechanism according to claim 7, characterized in that, The gas collection chamber is provided with air inlets on both sides. The gas-liquid delivery mechanism is divided into left and right paths and connected to the left and right air inlets of the sampling seat. The left and right air inlets of the sampling seat are respectively connected to the left and right air inlets of the gas collection chamber.

9. The sampling mechanism according to claim 8, characterized in that, An air intake baffle is provided between the sampling chamber and the gas collection chamber, and the air intake baffle is provided with evenly distributed air intake holes.

10. The sampling mechanism according to claim 9, characterized in that, The sampling chamber has an outlet edge and ventilation holes on the outlet edge.

11. The sampling mechanism according to claim 7, characterized in that, The sampling component and the sampling seat are connected by a snap-fit ​​mechanism. The snap-fit ​​mechanism includes a movable buckle and an unlocking button. The movable buckles are symmetrically installed in the horizontal slide of the sampling seat. The sampling component has slots on both sides corresponding to the movable buckles. The sampling seat has two vertical slides that communicate with the horizontal slides. The unlocking button has a gate-shaped bracket. A return spring is provided between the gate-shaped bracket and the sampling seat. The two legs of the gate-shaped bracket pass through the vertical slides and have cylindrical protrusions at their ends. The cylindrical protrusions are always inserted into the oblique channels of the movable buckles. Moving the unlocking button up and down can drive the movable buckles to move horizontally inward or outward through the cooperation of the cylindrical protrusions and the oblique channels, thereby disengaging from or engaging with the slots of the sampling component, thus realizing the snap-fit ​​and release of the sampling component pressed into the sampling seat.

12. The sampling mechanism according to any one of claims 1 to 11, characterized in that, The gas-liquid delivery mechanism includes a liquid tank, an air pump, and a gas storage cylinder. The liquid tank is connected to the gas-liquid mixing pipeline via a liquid pipeline and is equipped with a liquid control valve. The air pump and the gas storage cylinder are connected to the gas-liquid mixing pipeline via a gas pipeline and are equipped with a gas control valve. The gas-liquid mixing pipeline is connected to the air inlet of the water vapor mixing medium passage of the sampling seat.

13. The sampling mechanism according to claim 12, characterized in that, The liquid pipeline includes a vertical section, and a liquid outlet chamber connected to the gas pipeline is provided below the vertical section of the liquid pipeline. The liquid enters the liquid outlet chamber above the gas pipeline by gravity flow to store a certain amount of liquid. When the gas flows through, the gas outlet becomes smaller. At this time, the gas can carry the stored liquid to the sampling chamber under the pressure of the gas storage bottle.

14. The sampling mechanism according to any one of claims 1 to 11, characterized in that, The test tube retrieval mechanism includes a rotary motor and a rotating disk. The rotating disk is fixed to the output end of the rotary motor and is equipped with an encoder. The rotating disk is equipped with a test tube rack, and test tubes are installed in the test tube rack. The rotating disk is used to rotate the test tubes to the bottom of the sampling chamber to receive the samples blown off the instrument, and rotates them out of the sampling position after the samples are blown into the test tubes.

15. An instrument delivery station for delivering necessary instruments and retrieving samples removed from the human body, comprising a movable operating table, a driver disposed on the operating table, and a cassette-type instrument driven by the driver, characterized in that, It also includes the sampling mechanism according to any one of claims 1 to 14, wherein the actuator is used to drive the instrument inside the cassette device into the sampling assembly, and then into the endoscope working channel along the first instrument channel, the internal channel and the second instrument channel of the sampling assembly, thereby entering the human lumen.

16. The instrument delivery station according to claim 15, characterized in that, The box-shaped instrument is connected to the driver via a snap-fit ​​mechanism to transmit power and drive the instruments inside the box-shaped instrument to operate. The driver has three non-coaxial rotary output power sources, which output power independently through three nested rotary shafts.

17. The instrument delivery station according to claim 16, characterized in that, The driver includes a main rotating disk, a first rotating disk, a second rotating disk, and a fixing buckle. The fixing buckle is fixed on the main rotating disk for fixed connection with the inner rotating disk of the cassette device. The main rotating disk can drive the inner rotating disk of the cassette device to rotate, thereby driving the delivery of the treatment device. The second rotating disk and the first rotating disk are respectively connected to the bottom output shaft disk of the cassette device to realize the output of rotational power and provide rotational and pushing-pull operation power for the cassette device inside.

18. The instrument delivery station according to claim 17, characterized in that, The first gear of the driver is coaxially fixed with the second rotating disk; the first gear is rotatably arranged with the central component and meshes with the second gear; the second gear is rotatably arranged with the central component and the sixth gear and is coaxially fixed with the third gear. The third gear meshes with the fourth gear, the fourth gear is fixed on the output shaft of the first motor, and the first motor is fixed on the fixing plate; The fifth gear is fixed coaxially with the first rotating disk, the fifth gear is rotatably arranged with the central component, and meshes with the sixth gear; the sixth gear is rotatably arranged with the central component and the second gear, and is fixed coaxially with the seventh gear. The seventh gear meshes with the eighth gear, the eighth gear is fixed on the output shaft of the second motor, and the second motor is fixed on the fixed plate; the main rotating disk is fixed on the central component, the central component is rotatably arranged with the fixed plate and coaxially fixed with the ninth gear, the ninth gear meshes with the tenth gear, the tenth gear is fixed on the output shaft of the third motor, and the third motor is fixed on the fixed plate.

19. A flexible endoscopic surgical instrument workstation, comprising an instrument delivery table, an endoscope, an endoscope workstation, and an instrument remote control console, characterized in that, The instrument delivery station is the instrument delivery station according to any one of claims 15 to 18.

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