An intravesical auxiliary wireless clamp

Abstract

The application relates to an intra-bladder auxiliary wireless clamp, and relates to the technical field of medical auxiliary devices, which comprises a shell, a driving assembly and a clamping assembly arranged in the shell; the driving assembly comprises coaxial reverse double propellers independently controlled by double motors, which are used for driving the shell to advance and changing the direction of the shell; the clamping assembly comprises a clamping arm on the shell driven to rotate by a power execution member, so that clamping operation is realized; the clamping assembly and the driving assembly are arranged in the shell, and the shell is in a capsule shape. The application can precisely adapt to the minimally invasive, precise and flexible requirements in intra-bladder surgery through the core architecture of the capsule-shaped integrated shell, the coaxial reverse double propeller driving and the power execution member driving clamping, realize wireless autonomous movement and control of the direction and stable and precise clamping, and solve the problems of unstable tumor clamping and operation experience dependence in traditional transurethral tumor bladder electrocision.

Description

Technical Field

[0001] This invention relates to the field of medical assistive device technology, and in particular to a wireless clamp for intrabladder assistance. Background Technology

[0002] Transurethral resection of bladder tumor (TURP) is currently the preferred minimally invasive surgical procedure for the clinical treatment of non-muscle-invasive bladder cancer. The core of the procedure is to insert an electrocautery endoscope through the natural urethral cavity and use high-frequency current to remove the tumor in the bladder and achieve hemostasis. At the same time, tumor tissue is obtained for pathological diagnosis. When the high-frequency current comes into contact with the tumor tissue through the electrocautery ring, it generates instantaneous high temperature, causing the tumor tissue cells to vaporize and break, thus achieving precise cutting.

[0003] Current transurethral resection of bladder (TURP) techniques for tumors have several drawbacks. During the procedure, the continuous flow of irrigation fluid within the bladder, the elasticity of the tumor tissue itself, and the mechanical impact of the resection blade can cause displacement and movement of the tumor, especially pedunculated tumors and small tumors with a diameter of <2cm. This makes it difficult for surgeons to precisely target the tumor root for resection, leading to misalignment, shallow incisions, or residual tumor tissue. This can result in either the removal of the main tumor body while neglecting small invasive lesions at the base. Consequently, the recurrence rate of non-muscle-invasive bladder cancer within one year after surgery is as high as 30%-50%, requiring multiple surgeries for some patients, and even progressing to muscle-invasive bladder cancer, thus losing the ability to preserve the tumor. There is a risk of bladder loss; however, due to tumor displacement and obstruction of vision, doctors may deepen or expand the cutting depth to ensure complete removal, leading to rupture of the bladder muscle layer or even the serosal layer. This is especially true for patients with thin bladder walls, who require emergency surgery to repair perforation. In severe cases, it can lead to abdominal infection and urinary peritonitis. Current transurethral resection of bladder tumors (TURP) has several drawbacks. During the procedure, tumor fixation, exposure, and removal are difficult, directly resulting in inaccurate tumor removal, high recurrence rates, and numerous complications. These drawbacks not only affect clinical treatment outcomes but also increase the medical burden on patients and the consumption of social medical resources.

[0004] Therefore, it is necessary to propose a wireless clamp for intrabladder assistance to solve the above problems. Summary of the Invention

[0005] In order to improve the technical problems existing in related technologies during transurethral resection of bladder tumors, such as difficulty in fixing, exposing and cleaning tumor tissue, which leads to inaccurate tumor resection, high recurrence rate and many complications, thus affecting the clinical treatment effect, this invention provides a wireless clamp for intravesical assistance.

[0006] The present invention provides a wireless clamp for intrabladder assistance, which includes a housing, a driving component and a clamping component disposed within the housing; The drive assembly includes coaxial counter-rotating twin propellers controlled independently by two motors, which are used to drive the housing forward while facilitating changes in the direction of the housing. The clamping assembly includes a clamping arm on the housing that is driven to rotate by a power actuator to achieve the clamping operation; Both the clamping assembly and the driving assembly are housed within the housing, which is capsule-shaped.

[0007] The technical solutions described above in this application embodiment have at least the following technical effects: through the core architecture of capsule-shaped integrated shell, dual-motor coaxial reverse dual propeller drive, and power actuator drive clamping, it accurately adapts to the minimally invasive, precise, and flexible requirements of intrabladder surgery, realizes wireless autonomous movement and direction control, and stable and precise clamping, and specifically solves the pain points of unstable tumor clamping and operation dependence on experience in traditional transurethral resection of bladder tumor.

[0008] In some embodiments, the drive assembly includes a socket, a first motor, a second motor, a first propeller, and a second propeller. A socket base is detachably connected to the opening of the socket. The socket and the socket base are coaxially arranged. The first motor is disposed inside the socket, and the second motor is disposed inside the socket base. The output shaft of the first motor controls the first propeller, and the output shaft of the second motor controls the second propeller.

[0009] Through this technical solution, the drive component achieves the core function of precise autonomous drive through modular design, independent coaxial dual-motor drive, and detachable assembly, while also solving key issues such as miniaturization, assembly and maintenance, and medical compatibility.

[0010] In some embodiments, both the first motor and the second motor are hollow motors. The output shaft of the first motor passes through the second motor and is used to control the rotation of the first propeller at the far end. The output shaft of the second motor is cylindrical and is used to control the second propeller at the near end. The output shaft of the first motor passes through the output shaft of the second motor.

[0011] This technical solution, through the innovative design of a nested layout of dual hollow motors and coaxial transmission of inner and outer output shafts, further solves the key pain points of space occupation, coaxial accuracy, and power independence of micro drive components, while inheriting the core functions of independent control of dual motors and coaxial reversal. It perfectly adapts to the space constraints of the capsule-shaped shell and the precise drive requirements inside the bladder.

[0012] In some embodiments, a sealing ring gasket is provided on the inner wall of the housing, the output shaft of the second motor passes through the sealing ring gasket and rotates to seal with the sealing ring gasket, and the inner wall of the output shaft of the second motor rotates to seal with the outer wall of the output shaft of the first motor, so as to prevent the flushing fluid from entering the first motor and the second motor.

[0013] This technical solution, through the dual protection design of the sealing ring gasket on the inner wall of the housing and the rotational seal between the two output shafts, precisely solves the core problem of balancing waterproof sealing and rotational flexibility in the liquid environment inside the bladder. It avoids blocking the intrusion of flushing fluid into the motor cavity, ensures the reliability of the seal, and does not affect the power transmission, perfectly adapting to the working requirements of the micro nested drive component.

[0014] In some embodiments, the housing includes a middle section, a head section, and a tail section. A connecting flange is provided on the inner wall of the middle section for detachably connecting a sleeve. A sealing ring gasket is provided on the inner wall of the middle section. The first propeller and the second propeller are both provided in the cavity of the tail section. A flow guide hole is uniformly arrayed on the outer wall of the tail section for communicating with external flushing fluid.

[0015] This technical solution combines a three-section modular division of the shell structure with a detachable connecting flange design and an array of tail-end guide holes. This achieves multiple functions such as partitioned assembly of core components and optimization of fluid dynamics, while perfectly adapting to the miniaturization and medical compatibility requirements of the capsule-shaped shell, realizing modular integration, precise sealing protection, and efficient power transmission.

[0016] In some embodiments, the power actuator includes a connecting seat, a third motor disposed within the connecting seat, a lead screw that drives the lead screw to move back and forth, a pusher being disposed at the output end of the lead screw, the pusher including two symmetrically arranged connecting arms, one end of the clamping arm being rotatably connected to the middle end near the head, and the other end of the clamping arm being rotatably connected to the output shaft of the connecting arm via a connecting rod.

[0017] Through this technical solution, the power actuator, through an innovative architecture of motor drive, lead screw linear transmission and symmetrical lever linkage, accurately realizes the controllable opening and closing of the clamping arm, uniform force application and millimeter-level precision positioning, perfectly adapting to the needs of minimally invasive clamping in the bladder, realizing the conversion of rotational power into stable opening and closing motion of the clamping arm, and its opening and closing range is larger than that of horizontal opening and closing.

[0018] In some embodiments, the third motor is a hollow motor, and the lead screw passes through the third motor, causing the lead screw to move back and forth inside the housing by the rotation of the output shaft of the third motor.

[0019] This technical solution, through the innovative design of coaxial nesting of hollow motor and lead screw and direct thread transmission, not only inherits the core function of transmitting rotary motion to linear motion, but also further solves the key pain points of large axial space occupation, coaxiality deviation and low transmission efficiency of micro clamping drive mechanism. It perfectly adapts to the extreme space constraints of capsule-shaped shell, while enhancing clamping accuracy and structural reliability.

[0020] In some embodiments, a sealing plate is also provided on the inner wall of the middle part, and the connecting arm on the pusher passes through the sealing plate and is movably sealed with the sealing plate to prevent the flushing fluid from entering the housing through the head.

[0021] This technical solution, through the innovative design of physical isolation by the central sealing plate and movable sealing of the connecting arm, constructs a third sealing barrier between the head clamping working area and the central power drive area. This precisely solves the core problem of irrigation fluid intruding into the shell from the head, while also taking into account the flexible movement requirements of the connecting arm. Together with the tail double seal, it forms a full-process sealing protection system, perfectly adapting to minimally invasive operations in the intrabladder liquid environment. It achieves precise isolation protection, interference-free movement adaptation, and full-chamber sealing synergy, forming a deep synergy with the overall three-section shell and power actuators.

[0022] In some embodiments, the clamping arms are symmetrically divided into the head of the housing. When the clamping arms are combined, they form a capsule shape with the middle and tail of the housing. A serrated groove is provided on the opposite end of the clamping arms.

[0023] This technical solution, through its symmetrical segmented layout, capsule-shaped storage form, and serrated clamping surface, achieves precise and stable clamping while perfectly adapting to the minimally invasive nature of the capsule-shaped shell, urethral accessibility, and clinical operation requirements. It achieves synergistic optimization of clamping function and minimally invasive form, solving the core pain points of traditional clamping arms such as large storage volume, poor accessibility, and easy slippage. It also forms a deep synergy with the overall three-section shell, power actuator, and sealing system.

[0024] In some embodiments, a circular portion is provided in the middle of the housing, and a miniature fill light and a camera are provided on the circular portion.

[0025] This technical solution, through its innovative design integrating a visualization module, supplementary lighting, and imaging coordination in the central circular section, provides precise illumination and real-time visual feedback for intrabladder surgery. Its core functions focus on eliminating blind spots, assisting in precise operation, and recording the surgical process. It perfectly addresses the pain points of blind operation with wireless clamps, forming a closed-loop collaboration with the clamping and driving components for visualization, positioning, clamping, and resection. This solves the core problems of obstructed vision in the clamping area, unclear lesion localization, and reliance on experience in traditional surgery.

[0026] Beneficial effects: The capsule-shaped integrated shell adapts to the urethra and bladder physiological channels; the capsule shape has no sharp edges and the size can be miniaturized. The dual-motor coaxial reverse dual propeller drive counteracts the counter-torque generated by the rotation of a single propeller, preventing the shell from rotating on its own and ensuring movement stability. At the same time, the dual motors are independently controlled, and by adjusting the speed difference between the two motors, the shell can move forward, backward, turn left and right, and rotate in place, driving the shell to move precisely to any position inside the bladder. The power actuator provides controllable clamping force, driving the clamping arm to open, close, and rotate precisely, achieving stable clamping of tumor tissue, surgical debris, and hemostatic gauze without slippage. This core architecture is precisely adapted to the minimally invasive, precise, and flexible requirements of intrabladder surgery. It enables wireless autonomous movement and directional control, as well as stable and precise clamping, specifically addressing the pain points of unstable tumor clamping and reliance on experience in traditional transurethral resection of cystostomy. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a three-dimensional structural diagram of a wireless clamp for intrabladder assistance according to an embodiment of this application. Figure 1 ; Figure 2 This is a schematic diagram of a three-dimensional structure of a wireless clamp for intrabladder assistance, as described in the application embodiment. Figure 2 ; Figure 3 This is a schematic cross-sectional view of a wireless clamp for intrabladder assistance, as described in the application embodiment. Figure 4 This is a cross-sectional structural schematic diagram of a drive assembly for an intrabladder assist wireless clamp according to an embodiment of the application. Figure 5 This is a three-dimensional structural diagram of the first motor, second motor, first propeller, and second propeller in the driving assembly of a wireless clamp for intrabladder assistance according to an embodiment of the application. Figure 6 This is a cross-sectional structural schematic diagram of a clamping assembly for an intrabladder auxiliary wireless clamp according to an embodiment of the application.

[0029] In the figure, the various attached labels, 1. Shell; 11. Head; 12. Middle; 13. Tail; 131. Flow guide hole; 14. Connecting flange; 15. Circular part; 151. Miniature supplementary light; 152. Camera; 2. Drive assembly; 21. Socket; 22. Socket base; 23. First motor; 24. Second motor; 25. First propeller; 26. Second propeller; 27. Sealing ring gasket; 3. Clamping assembly; 31. Power actuator; 311. Connecting seat; 312. Third motor; 313. Lead screw; 314. Pushing component; 3141. Connecting arm; 315. Connecting rod; 32. Clamping arm; 321. Groove; 33. Sealing plate. Detailed Implementation

[0030] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application. The terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0032] Current transurethral resection of bladder (TURP) techniques for tumors have several drawbacks. During the procedure, the continuous flow of irrigation fluid within the bladder, the elasticity of the tumor tissue itself, and the mechanical impact of the resection blade can cause displacement and movement of the tumor, especially pedunculated tumors and small tumors less than 2 cm in diameter. This makes it difficult for surgeons to precisely target the tumor root, leading to misalignment, shallow incisions, or residual tumor tissue. This can result in either the removal of the main tumor body while neglecting small invasive lesions at the base. Consequently, the recurrence rate of non-muscle-invasive bladder cancer within one year is as high as 30%-50%, requiring multiple surgeries for some patients, and even progressing to muscle-invasive bladder cancer, resulting in loss of remission. While there is an opportunity to preserve the bladder, tumor displacement and obstructed vision may lead doctors to deepen or expand the cutting depth to ensure complete resection, potentially causing rupture of the bladder muscle layer or even the serosal layer. This is especially problematic for patients with thin bladder walls, requiring emergency surgery for repair after perforation. In severe cases, it can lead to abdominal infection and urinary peritonitis. Current transurethral resection of cystostomy (TURP) for tumors presents challenges in tumor fixation, exposure, and removal during the procedure, directly resulting in inaccurate tumor resection, high recurrence rates, and numerous complications. These shortcomings not only affect clinical treatment outcomes but also increase the medical burden on patients and the consumption of social medical resources.

[0033] Therefore, in order to improve the technical problems existing in the transurethral resection of cystostomy for tumors, such as difficulty in fixing, exposing and cleaning tumor tissue, which leads to inaccurate tumor resection, high recurrence rate and many complications, thus affecting the clinical treatment effect.

[0034] Please refer to the following: Figures 1 to 6 This application provides a wireless clamp for intrabladder assistance. The wireless clamp for intrabladder assistance includes a housing 1, a driving component 2 and a clamping component 3 disposed in the housing 1. Drive assembly 2 includes coaxial counter-rotating twin propellers controlled independently by dual motors, which are used to drive housing 1 forward while facilitating changes in direction of housing 1; The clamping assembly 3 includes a clamping arm 32 on the housing 1 that is driven to rotate by a power actuator 31 to achieve a clamping operation; Both the clamping component 3 and the driving component 2 are disposed inside the housing 1, which is capsule-shaped.

[0035] The bladder-assisted wireless clamp provided in this embodiment features a capsule-shaped shell 1 that integrates clamping and driving components 2. It is adaptable to the urethra and bladder physiological channels. The capsule shape is free of sharp edges and can be miniaturized. All components are built-in, resulting in a compact structure that avoids protruding parts from scratching the mucosa. It is compatible with surgical scenarios and can be inserted in conjunction with an electroresection endoscope without requiring an abdominal incision or enlarging the urethral passage. It does not interfere with the normal operation of the electroresection endoscope. The surgeon can control the electroresection blade and the wireless clamp simultaneously without adjusting the surgical position or instrument layout, thus reducing the complexity of the operation. By incorporating a dual-propeller coaxial counter-rotating design, the anti-torque generated by the rotation of a single propeller is counteracted, preventing the shell 1 from rotating on its own and ensuring stability during movement. Simultaneously, the dual motors are independently controlled, and by adjusting the speed difference between the two motors, the shell 1 can move forward, backward, turn left and right, and rotate in place, driving the shell 1 to move precisely to any position within the bladder. Adaptable to the liquid environment, the propeller drive is adapted to the saline-filled environment within the bladder, with high power transmission efficiency, allowing for flexible movement within a full bladder, significantly enhancing operational flexibility. It eliminates the need for external magnetic traction or manual pushing by the doctor, and the wireless autonomous drive eliminates the risk of entanglement. Doctors can remotely control the movement of the clamps via a console, resulting in high operational precision and significantly reducing reliance on the doctor's experience. At the same time, the power actuator 31 provides controllable clamping force to drive the clamping arm 32 to open, close and rotate precisely, so as to achieve stable clamping of tumor tissue, surgical debris and hemostatic gauze without slipping. This results in more thorough tumor resection, with autonomous drive and stable clamping working in synergy to ensure no blind spots in the field of vision, no tumor residue, and a reduced recurrence rate.

[0036] In this embodiment, the drive assembly 2 includes a sleeve 21, a first motor 23, a second motor 24, a first propeller 25, and a second propeller 26. A sleeve seat 22 is detachably connected to the opening of the sleeve 21. The sleeve 21 and the sleeve seat 22 are coaxially arranged. The first motor 23 is disposed inside the sleeve 21, and the second motor 24 is disposed inside the sleeve seat 22. The output shaft of the first motor 23 controls the first propeller 25, and the output shaft of the second motor 24 controls the second propeller 26.

[0037] With this configuration, the socket 21 serves as the mounting carrier for the first motor 23, and the socket 22 serves as the mounting carrier for the second motor 24. The coaxial assembly of the two ensures that the center lines of the output shafts of the two motors coincide, providing a structural basis for the coaxial reversal of the two propellers. The compact socket structure reduces the overall volume of the drive assembly 2, adapts to the miniaturization requirements of the capsule-shaped shell 1, and the detachable connection design facilitates the assembly, replacement, and maintenance of the motors and propellers. The first motor 23 inside the sleeve 21 and the second motor 24 inside the sleeve 22 are independently controlled and their speeds can be adjusted separately. The movement attitude control of the housing 1 is achieved by the speed difference (e.g., one side motor accelerates, the other side decelerates → turn; both motors move forward at the same speed → move forward; both motors move backward at the same speed → move backward; one side motor rotates, the other side stops → rotate 360° in place). At the same time, the twin propellers rotate in opposite directions along the same axis, which can completely counteract the counter-torque generated by the rotation of a single propeller, prevent the housing 1 from rotating with the propeller, and ensure the stability of the housing 1's attitude during the drive process.

[0038] In this embodiment, both the first motor 23 and the second motor 24 are hollow motors. The output shaft of the first motor 23 passes through the second motor 24 and is used to control the rotation of the first propeller 25 at the far end. The output shaft of the second motor 24 is cylindrical and is used to control the second propeller 26 at the near end. The output shaft of the first motor 23 passes through the output shaft of the second motor 24.

[0039] This design, with its hollow structure, enables a through-shaft layout. The output shaft of the first motor 23 is a solid shaft, which can pass through the hollow rotor and cylindrical output shaft of the second motor 24, allowing the two motors to be nested along the same axis instead of being arranged in parallel as in the traditional way. This significantly reduces the radial volume of the drive assembly 2. Independent speed control ensures that the motors do not interfere with the second motor 24 and can be adjusted independently, providing an independent power basis for speed difference steering. The two motors are nested axially, rather than arranged radially in parallel, so the radial diameter of the drive assembly 2 is determined solely by the outer diameter of the motors, achieving a miniaturization breakthrough. Absolute coaxial transmission ensures that the two output shafts share the same axis, with a coaxiality error ≤0.01mm, guaranteeing that the rotation trajectories of the two propellers completely overlap, resulting in more thorough cancellation of anti-torque. Uninterrupted power distribution allows the inner and outer output shafts to rotate independently, with speed adjustments not affecting each other, ensuring precise motion control. For example, during steering, changes in speed on one side do not interfere with the power output on the other side. At the same time, the radial volume is compressed by more than 50%. After the dual motors are axially nested, the radial diameter of the drive assembly 2 is determined only by the outer diameter of a single motor (the outer diameter of the micro hollow motor is ≤3.5mm). With the compact design of the sleeve 21 and the sleeve seat 22, the overall radial diameter of the drive assembly 2 is ≤4mm and the axial length is ≤7mm, which makes enough space for the clamping assembly 3 and ensures that the overall capsule shell 1 has a diameter of ≤5mm and a length of ≤15mm, which fully meets the passage requirements of the urethral inner diameter (8-12mm).

[0040] In this embodiment, a sealing ring gasket 27 is provided on the inner wall of the housing. The output shaft of the second motor 24 passes through the sealing ring gasket 27 and rotates to seal with the sealing ring gasket 27. The inner wall of the output shaft of the second motor 24 rotates to seal with the outer wall of the output shaft of the first motor 23, thereby preventing the flushing fluid from entering the first motor 23 and the second motor 24.

[0041] With this configuration, the first waterproof barrier, the sealing ring gasket 27, fits tightly against the outer wall of the output shaft of the second motor 24, preventing the flushing fluid in the bladder from entering the drive assembly 2 through the gap between the housing and the output shaft; the use of dynamic sealing design, such as lip seal and flexible contact seal, allows the output shaft of the second motor 24 to maintain sealing performance while rotating at high speed, avoiding jamming or power loss caused by sealing. The second waterproof barrier addresses the nested gap between the two output shafts by using a miniature sealing structure, such as an embedded sealing ring or a labyrinth seal, to block a small amount of leakage that might penetrate the first seal, preventing it from directly intruding into the internal windings or bearings of the first motor 23 and the second motor 24. This ensures uninterrupted rotation, as the sealing structure does not affect the independent rotation of the two output shafts, avoiding speed loss or coaxiality deviation caused by inter-shaft friction. The first sealing ring gasket 27 blocks most of the flushing fluid, and the second inter-shaft seal intercepts minor leaks, ensuring that the inside of the drive assembly 2 remains dry at all times. Balancing sealing and rotation, both seals are made of medical-grade materials with low coefficient of friction, which minimizes rotational resistance while meeting waterproof requirements, without affecting the power output and speed regulation of the dual motors.

[0042] In this embodiment, the housing 1 includes a middle section 12, a head section 11, and a tail section 13. A connecting flange 14 is provided on the inner wall of the middle section 12 for detachably connecting the sleeve. A sealing ring gasket 27 is provided on the inner wall of the middle section 12. The first propeller 25 and the second propeller 26 are both provided in the cavity of the tail section 13. A guide hole 131 is uniformly arrayed on the outer wall of the tail section 13 for communicating with external flushing fluid.

[0043] This design features a head section 11 with reserved space for the clamping component 3, and a rounded front end to reduce friction on the urethral mucosa. The middle section 12 serves as the core assembly area, integrating the connecting flange 14 and sealing ring gasket 27 to accommodate the fixation of the drive component 2. It also isolates the space between the head section 11 clamping component 3 and the tail section 13 propeller, preventing interference between power transmission and clamping operations. The tail section 13 forms a separate propeller working chamber, providing an independent fluid movement space for the dual propellers and preventing the fluid disturbance caused by propeller rotation from affecting the clamping component 3 or the sealing structure. The streamlined design, with its three-section integrated molding, creates a capsule-like shape with no sharp edges and a smooth surface, ensuring urethral passage. The guide hole 131 connects the tail cavity 13 with the external bladder environment, allowing the flushing fluid to smoothly enter the tail cavity 13, providing a fluid circuit for the dual propellers to enter and exit, ensuring that the propellers generate stable thrust; the flow field is optimized, and the uniform array design makes the fluid flow uniform, avoiding propeller vibration or power loss caused by local turbulence; the protective function is that the diameter of the guide hole 131 is smaller than the propeller blade gap, which can block tissue debris, stones and other foreign objects in the bladder from entering the tail cavity 13, preventing the propeller from getting entangled or stuck.

[0044] In this embodiment, the power actuator includes a connecting seat 311, a third motor 312 disposed in the connecting seat 311, a lead screw 313 that moves back and forth driven by the third motor 312, a pusher 314 disposed at the output end of the lead screw 313, the pusher 314 including two symmetrically arranged connecting arms 3141, one end of the clamping arm 32 being rotatably connected to the end of the middle part 12 near the head 11, and the other end of the clamping arm 32 being rotatably connected to the output shaft of the connecting arm 3141 through a connecting rod 315.

[0045] With this configuration, the connecting seat 311 is fixed to the middle 12 of the housing 1 near the head 11, providing a stable mounting carrier for the third motor 312 and the lead screw 313, ensuring coaxiality of the transmission. For motion conversion, the third motor 312 drives the lead screw 313 to rotate, precisely converting rotational motion into linear motion, enabling controllable forward and backward movement of the pushing component 314. For precision assurance, the lead screw 313 is a ball screw or a miniature trapezoidal lead screw, with a transmission clearance ≤0.01mm, ensuring the moving accuracy of the pushing component 314 is ±0.01mm, providing a foundation for precise control of the opening and closing angle of the clamping arm 32. Simultaneously, the two connecting arms 3141 are symmetrically arranged and integrally formed with the pushing component 314 at the output end of the lead screw 313, ensuring that the power of the third motor 312 is evenly transmitted to the clamping arms 32 on both sides through the lead screw 313, avoiding clamping offset caused by unilateral force.

[0046] In this embodiment, the third motor 312 is a hollow motor, and the lead screw 313 passes through the third motor 312. The rotation of the output shaft of the third motor 312 causes the lead screw 313 to move back and forth inside the housing 1.

[0047] This coaxial nested carrier, with a hollow DC servo motor whose inner diameter precisely matches the outer diameter of the lead screw 313, allows the lead screw 313 to pass through the motor shaft, achieving a coaxial nested layout of the motor and lead screw 313 and significantly reducing axial space; direct power output, with an internal thread on the inner wall of the motor output shaft forming a precise thread engagement with the external thread of the lead screw 313, directly driving the lead screw 313 to linear motion through thread engagement when the motor rotates, eliminating the need for additional couplings, gears, or other intermediate transmission components; positioning and guidance, the motor housing is fixed to the middle 12 of the housing 1 via a connecting seat 311, and the inner hole provides radial guidance for the lead screw 313, helping to maintain the coaxiality of the transmission and preventing the lead screw 313 from shifting or jamming; The coaxial nesting design ensures that the overall axial length of the motor and the lead screw 313 is ≤4mm and the radial diameter is ≤3.5mm, allowing them to be fully embedded in the middle cavity 12 of the housing 1, without occupying the space of the head 11 clamping area and the tail 13 driving area; the backlash-free transmission, with direct thread engagement between the motor and the lead screw 313, results in a transmission gap of ≤0.005mm, which is far superior to the transmission gap of traditional motors, couplings and lead screw 313, ensuring precise control of the opening and closing angle of the clamping arm 32.

[0048] In this embodiment, a sealing plate 33 is also provided on the inner wall of the middle part 12. The connecting arm 3141 on the pusher 314 passes through the sealing plate 33 and is movably sealed with the sealing plate 33 to prevent the flushing liquid from entering the housing 1 through the head 11.

[0049] This configuration, through the sealing plate 33, forms a physical isolation barrier. The sealing plate 33 is made of medical-grade titanium alloy or polyetheretherketone material and is fixed to the inner wall of the middle section 12 near the connection between the head 11 and the middle section 12 by interference fit and ring buckle. This completely isolates the clamping working area of ​​the head 11 from the third motor 312, lead screw 313, and pusher 314 of the power drive area of ​​the middle section 12, blocking the liquid intrusion path. The connecting arm 3141 is guided and positioned. Two symmetrical through holes are opened on the sealing plate 33 (the hole diameter is adapted to the outer diameter of the connecting arm 3141, and the gap is ≤0.03mm) to provide precise guidance for the forward and backward linear movement of the connecting arm 3141, avoiding clamping deviation caused by the offset of the connecting arm 3141, and helping to maintain the coaxiality of the transmission. The sealing plate 33 is 1-1.5mm thick and has both sealing and structural support functions, enhancing the overall rigidity of the middle section 12 cavity and preventing the power transmission from being affected by slight deformation of the shell 1 during surgery. Dynamic sealing protection is achieved by embedding a medical-grade fluororubber lip seal ring into the inner wall of the through hole, or by using a flexible PTFE coating and a micro labyrinth sealing structure, so that the connecting arm 3141 can maintain a flexible fit with the sealing element as it moves back and forth, thus achieving continuous sealing in motion.

[0050] In this embodiment, the clamping arm 32 is symmetrically divided from the head 11 of the housing 1. When the clamping arms 32 are combined, they form a capsule shape with the middle part 12 and the tail part 13 of the housing 1. A serrated groove 321 is provided on one end of the clamping arm 32.

[0051] With this configuration, the clamping arm 32 is symmetrically divided into two independent flaps along the central axis of the head 11 of the housing 1, forming a symmetrical lever structure with the rotation connection point of the middle 12. This perfectly matches the power output of the symmetrical double connecting arm 3141 of the power actuator, ensuring synchronous opening and closing actions and uniform force distribution. The clamping range is comprehensive: the symmetrical layout makes the clamping arm 32 V-shaped when open, with a maximum opening and closing distance of 3-8mm, suitable for bladder tumors, tissue debris, or hemostatic gauze with a diameter of 0.5-2cm. The clamping center coincides with the central axis of the housing 1, avoiding clamping offset. Space optimization: the symmetrical division does not occupy additional radial space of the head 11, and the clamping arm 32 seamlessly connects with the middle 12 and tail 13 when closed, maintaining the overall compactness of the housing 1. Minimally invasive passability guarantee: When the clamping arm 32 is closed, the two valves, together with the middle part 12 and the tail part 13 of the shell 1, form a complete capsule shape with an overall diameter ≤5mm and a length ≤15mm, which is perfectly compatible with the physiological channel of the urethra (8-12mm); Storage and protection function: In the closed state, the serrated groove 321 of the clamping arm 32 is completely embedded, which prevents the groove 321 from scratching the urethral mucosa when the instrument enters and exits the urethra, and at the same time protects the clamping surface from wear; Flow field adaptation: The capsule shape makes the surface of the shell 1 streamlined and complete, reducing the flow resistance of the bladder irrigation fluid and not interfering with the power transmission of the propeller of the tail part 13 and the stability of the clamping operation of the head part 11; A serrated groove 321 is provided at one end of the clamping arm 32 to increase the contact area with the object being clamped and improve the coefficient of friction, forming an interlocking clamp to prevent slippage; Tissue protection and adaptation: The serrations adopt an arc-shaped transition design to avoid sharp tooth tips piercing tumor tissue or bladder mucosa. At the same time, the groove 321 can accommodate a small amount of tissue debris or blood, further improving clamping stability; Integrity of pathological samples: The interlocking clamp only acts on the surface of tumor tissue, without squeezing or damaging the internal structure, ensuring the integrity of postoperative pathological examination samples.

[0052] In this embodiment, a circular part 15 is provided on the middle part 12 of the housing 1, and a miniature fill light 151 and a camera 152 are provided on the circular part 15.

[0053] This design, through the innovative integration of visualization modules, supplementary lighting, and imaging collaboration in the central 12-ring section 15, provides precise illumination and real-time visual feedback for intrabladder surgery. Its core functions focus on eliminating blind spots, assisting in precise operation, and recording the surgical process. It perfectly addresses the pain points of blind operation with wireless clamps and forms a closed-loop collaboration with the clamping component 3 and the drive component 2 for visualization, positioning, clamping, and resection. This solves the core problems of obstructed vision in the clamping area, unclear lesion positioning, and reliance on experience in traditional surgery.

[0054] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A wireless clamp for intrabladder assistance, characterized in that, It includes a housing (1), a drive assembly (2) and a clamping assembly (3) disposed within the housing (1); The drive assembly (2) includes a coaxial counter-rotating double propeller controlled independently by two motors, which is used to drive the housing (1) forward while facilitating the change of direction of the housing (1); The clamping assembly (3) includes a clamping arm (32) on the housing (1) driven to rotate by a power actuator (31) to realize the clamping operation; The clamping assembly (3) and the driving assembly (2) are both disposed inside the housing (1), which is capsule-shaped.

2. The wireless clamp for intrabladder assistance according to claim 1, characterized in that, The drive assembly (2) includes a sleeve (21), a first motor (23), a second motor (24), a first propeller (25), and a second propeller (26). A sleeve seat (22) is detachably connected to the opening of the sleeve (21). The sleeve (21) and the sleeve seat (22) are coaxially arranged. The first motor (23) is located inside the sleeve (21), and the second motor (24) is located inside the sleeve seat (22). The output shaft of the first motor (23) controls the first propeller (25), and the output shaft of the second motor (24) controls the second propeller (26).

3. The wireless clamp for intrabladder assistance according to claim 2, characterized in that, Both the first motor (23) and the second motor (24) are hollow motors. The output shaft of the first motor (23) passes through the second motor (24) and is used to control the rotation of the first propeller (25) at the far end. The output shaft of the second motor (24) is cylindrical and is used to control the second propeller (26) at the near end. The output shaft of the first motor (23) passes through the output shaft of the second motor (24).

4. The wireless clamp for intrabladder assistance according to claim 3, characterized in that, A sealing ring gasket (27) is provided on the inner wall of the housing (1). The output shaft of the second motor (24) passes through the sealing ring gasket (27) and rotates and seals with the sealing ring gasket (27). The inner wall of the output shaft of the second motor (24) rotates and seals with the outer wall of the output shaft of the first motor (23) to prevent the flushing liquid from entering the first motor (23) and the second motor (24).

5. A wireless clamp for intrabladder assistance according to claim 4, characterized in that, The housing (1) includes a middle part (12), a head (11) and a tail part (13). A connecting flange (14) is provided on the inner wall of the middle part (12) for detachably connecting the sleeve (21). The sealing ring gasket (27) is provided on the inner wall of the middle part (12). The first propeller (25) and the second propeller (26) are both provided in the cavity of the tail part (13). The outer wall of the tail part (13) is provided with a uniform array of guide holes (131) for connecting to the external flushing liquid.

6. A wireless clamp for intrabladder assistance according to claim 5, characterized in that, The power actuator (31) includes a connecting seat (311), a third motor (312) disposed in the connecting seat (311), and a lead screw (313) that moves back and forth driven by the third motor (312). The output end of the lead screw (313) is provided with a pusher (314). The pusher (314) includes two symmetrically arranged connecting arms (3141). One end of the clamping arm (32) is rotatably connected to the end of the middle part (12) near the head (11). The other end of the clamping arm (32) is rotatably connected to the output shaft of the connecting arm (3141) through a connecting rod (315).

7. A wireless clamp for intrabladder assistance according to claim 6, characterized in that, The third motor (312) is a hollow motor. The lead screw (313) passes through the third motor (312). The lead screw (313) moves back and forth inside the housing (1) by rotating the output shaft of the third motor (312).

8. A wireless clamp for intrabladder assistance according to claim 7, characterized in that, A sealing plate (33) is also provided on the inner wall of the middle part (12). The connecting arm (3141) on the pusher (314) passes through the sealing plate (33) and is movably sealed with the sealing plate (33) to prevent the flushing liquid from entering the housing (1) through the head (11).

9. A wireless clamp for intrabladder assistance according to claim 8, characterized in that, The clamping arm (32) is symmetrically divided from the head (11) of the shell (1). When the clamping arms (32) are combined, they form a capsule shape with the middle part (12) and the tail part (13) of the shell (1). A serrated groove (321) is provided on the opposite end of the clamping arm (32).

10. A wireless clamp for intrabladder assistance according to claim 9, characterized in that, A circular part (15) is provided on the middle part (12) of the housing (1), and a miniature fill light (151) and a camera (152) are provided on the circular part (15).

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