Integrated medical endoscope and surgical system

Abstract

The integrated medical endoscope and surgical system comprises an endoscope catheter (1) and a sheathing canal (3), a dynamic isolation body (2) capable of containing the endoscope catheter (1) is arranged outside the endoscope catheter (1), and the dynamic isolation body (2) is connected with an outer opening (312) of the sheathing canal through a hollow connecting part (21); the length of the dynamic isolator (2) for accommodating the endoscope catheter (1) is adjusted through the movable part (22); one end of the dynamic isolator movable part (22) is connected with the connecting part (21), and the other end of the dynamic isolator movable part (22) is directly or indirectly connected with the tail part (13) of the endoscope catheter (1); the surgical system is provided with one or more of a lifting module, a front-back displacement module, a left-right displacement module, a rotating module and a bending module and further comprises a guide body (5) for controlling the endoscope catheter (1) to move, a traction module (52) for driving the endoscope catheter (1) to move in a strip-shaped guide space (50) is arranged in the guide body (5), and the traction module acts on the endoscope catheter tail part.

Description

Technical Field

[0001] The utility model relates to a one-piece medical endoscope and a surgical system, belonging to the technical field of medical equipment products. Background Art

[0002] There are many kinds of existing medical endoscopic catheters. When used clinically, they usually need to be guided and protected by a sheath. The sheath and the endoscope catheter of the existing technology are designed as separate parts. The relative position relationship between the two is not stable after they are combined. When in use, the endoscope catheter is inserted into the inner cavity of the sheath. The operator holds the handle at the tail of the endoscope catheter to operate. Once the fingers are relaxed, the position of the endoscope catheter will be offset and the image will be lost synchronously. If the image before the loss needs to be found, the handle needs to be operated again, which is time-consuming and laborious. For example, when performing laser lithotripsy through a sheath inserted into the ureter, the endoscope catheter needs to be repeatedly advanced, retreated and rotated in the inner cavity of the sheath. The operator continues to hold the handle at the tail of the endoscope catheter. After finger fatigue, it is easy to cause a decrease in operating accuracy and frequent operating errors, especially causing the laser to be released incorrectly and injure the urinary system mucosa; and long When an endoscopic catheter with a length of nearly 1m is withdrawn from the lumen of the sheath, it is easy to be contaminated by microorganisms or other harmful particles in the environment. The contaminated endoscopic catheter will cause infection and other injuries when it enters the body again. At the same time, the slender laser optical fiber used in laser lithotripsy is inserted into the working channel of the endoscopic catheter by the operator. The operation steps are cumbersome, time-consuming and labor-intensive. The laser optical fiber with a length of nearly 1m is also easy to be contaminated by the environment. The operation of the laser optical fiber is also performed manually. The boring and repetitive operation makes people easily fatigued, and misoperation is difficult to avoid. Laser accidental injury to the mucosa is very likely to occur to varying degrees. In addition, cooling and flushing during lithotripsy, grabbing of large pieces of gravel, and negative pressure suction to remove stone debris are performed simultaneously or successively. The operator needs to concentrate, and mistakes of varying degrees are prone to occur when the physical condition is not good. Summary of the invention

[0003] The utility model provides a one-piece medical endoscope and surgical system, which integrates a sheath tube, an endoscope catheter and a dynamic isolator outside the endoscope catheter into a one-piece design, and combines the three with a matching surgical system, thereby eliminating the above-mentioned risks of existing products to the greatest extent.

[0004] The purpose of the utility model is achieved in this way:

[0005] A one-piece medical endoscope comprises: an endoscope catheter, on which an optical component and at least one working channel running through the head and tail are arranged, the working channel is provided with an inner working channel opening for entering the body when in use and an outer working channel opening located outside the body; a sheath tube is sleeved over the endoscope catheter, the sheath tube is provided with an inner sheath tube opening for entering the body when in use and an outer sheath tube opening located outside the body, a dynamic isolator for accommodating the endoscope catheter is arranged outside the endoscope catheter, the dynamic isolator is connected to the outer sheath tube opening through a hollow connecting part; the dynamic isolator adjusts the length of the endoscope catheter it can accommodate through a movable part, the movable part is composed of one or more shapes including an elongated membrane bag shape and an elongated corrugated tube shape that are easy to bend, and the endoscope catheter is accommodated in the inner cavity of the dynamic isolator body; one end of the movable part of the dynamic isolator body is connected to the connecting part, and the other end is directly or indirectly connected to the tail part of the endoscope catheter; the tail part is provided with a connecting area that is easy to assemble with an external component and an external electronic interface.

[0006] The inner opening of the working channel is arranged at the top of the endoscope catheter head.

[0007] The dynamic isolation body accommodates the endoscope catheter, which means fully or at least partially, especially accommodating the part of the endoscope catheter that enters the inner cavity of the sheath during use; the dynamic isolation body isolates the endoscope catheter located therein from the outside to prevent microorganisms, toxic foreign matter, etc. in the air and on the surface of external objects from contacting the outer surface of the endoscope catheter. One end of the active part of the dynamic isolation body is connected to the tail of the sheath through a connecting part, and the other end of the active part is connected to the tail part of the endoscope catheter. The tail part of the endoscope catheter is enlarged, and an outer opening of the working channel is opened on the tail part.

[0008] An alternative solution is that the tail piece is pre-connected with the movable part of the dynamic isolation body, and the endoscope catheter is located in the tail piece or passes through the tail piece.

[0009] The endoscope catheter is accommodated in the dynamic isolator body cavity, which refers to partial accommodation and complete accommodation. The tail component is provided with a connection area that is easy to assemble with external components. The connection area can be a regular or irregular shape of a part of the tail component, or it can be a structure of various shapes such as assembly holes, slots, and assembly columns.

[0010] In order to better isolate from the outside, a rotatable sealed connection is provided between the sheath tail and the dynamic isolation body connection part. When the sheath tail is stationary, the dynamic isolation body connection part can rotate relative to the sheath tail and seal to the outside at the same time, and an external driving component can act on the dynamic isolation body connection part.

[0011] The optimized structure and external electronic interface of the tail component eliminate the long wires connected to the handle of the traditional endoscope, which facilitates operation and greatly saves manufacturing costs. The tail component is provided with a lateral opening, which can be connected to the pipeline to allow external fluid to enter the working channel and also to attract the fluid in the working channel to the outside. When the position of the sheath remains unchanged, the user drives the tail component toward the sheath by hand or by other equipment, and the active part of the dynamic isolation body is compressed, and the top of the endoscope catheter head can eventually protrude from the opening in the sheath. Especially for the bellows-shaped dynamic isolation body, the radial dimension increases slightly or remains unchanged during the axial compression process, and when the tail component is driven to move away from the sheath, the active part of the bellows-shaped dynamic isolation body is stretched and the outer diameter decreases slightly or remains unchanged, and the top part of the endoscope catheter head retracts into the inner cavity of the sheath.

[0012] The medical endoscope catheter in the utility model includes a flexible soft endoscope catheter and a hard endoscope catheter, and includes an electronic endoscope and an optical endoscope.

[0013] In order to facilitate perfusion and negative pressure drainage, the tail of the sheath is provided with a water inlet branch and a water outlet branch that allow fluid to pass through, and the water inlet branch and the water outlet branch are respectively connected to the perfusion module and the negative pressure suction module; the tail component of the endoscope catheter is provided with a regulating body for adjusting the bending direction and / or bending degree of the head area of ​​the endoscope catheter, and the regulating body is provided with an assembly hole or an assembly rod connected to an external power component.

[0014] Furthermore, it also includes a conveyor body accommodating tray whose outer contour is wholly or partially volute and / or disc-shaped, the outlet of the conveyor body accommodating tray is directly connected to the outer opening and / or lateral opening of the working channel on the tail component, and an elongated conveyor body guide space is provided in the conveyor body accommodating tray shell body, and the conveyor body guide space is connected to the outside through the outlet of the conveyor body accommodating tray, and the conveyor body is at least partially located in the conveyor body guide space, and the conveyor body is any one or more of a guide wire, a stone basket, a lithotripsy optical fiber, various tissue ablation catheters, angiography catheters, embolization catheters, physical and chemical information collection catheters, and negative pressure suction tubes.

[0015] A specific conveyor accommodating disk structure, the conveyor accommodating disk includes a conveyor accommodating disk shell, a conveyor accommodating disk motor, a conveyor accommodating disk rack, a conveyor accommodating disk rack groove, and a conveyor accommodating disk bridge body. A hollow conveying arm extends from the disc-shaped conveyor accommodating disk shell. A conveyor guide space is provided in the conveyor accommodating disk shell. A conveyor accommodating disk outlet is provided on the conveying arm. A slender conveyor is placed in the conveyor guide space. The conveyor can be a guide wire, a stone basket, a lithotripsy optical fiber, various tissue ablation catheters, angiography catheters, embolization catheters, physical and chemical information collection catheters, negative pressure suction tubes and other various catheters for diagnosis and treatment; tissue ablation catheters include but are not limited to Catheters with physical effects such as ultrasound, radio frequency, microwave, laser, and freezing, and also ablation catheters with chemical effects such as ozone and anhydrous ethanol; the conveyor body accommodating tray motor can be set in the conveyor body accommodating tray shell, the conveyor body accommodating tray motor can be powered by a battery or an external power supply, the conveyor body accommodating tray motor is connected to a control circuit, and can accept wired and / or wireless signal control; various catheters used for diagnosis and treatment are placed in the conveyor body accommodating tray as conveyors, and according to the different properties of the conveyor, an electrical signal interface can be set on the conveyor body accommodating tray shell to connect to various equipment such as ultrasound, radio frequency, microwave, etc.; the electrical signal interface can also be connected to the structure on the guide body, and then the guide body is connected to the corresponding equipment.

[0016] A surgical system is used to manipulate the above-mentioned one-piece medical endoscope. The surgical system has one or more of a lifting module, a front-to-back displacement module, a left-to-right displacement module, a rotation module, and a bending module, and also includes a guide body for manipulating the movement of an endoscope catheter. The guide body is provided with a strip guide space, which is straight or curved, and at least a part of the endoscope catheter tail part and the middle part can enter the strip guide space; a traction module is provided in the guide body for driving the endoscope catheter to move in the strip guide space, and the traction module acts on the endoscope catheter tail part.

[0017] The lifting module is located on the base, and a control module and a control ball are provided on the bracket. The control module can be controlled by the control ball, and can also be controlled by a control rod, a control key, a touch screen, etc. The perfusion module and the negative pressure suction module are placed on the bracket. The perfusion module is provided with a perfusion inlet and a perfusion outlet, and the negative pressure suction module is provided with a negative pressure inlet and a negative pressure outlet; the water inlet side branch and the water outlet side branch at the tail of the sheath are respectively connected to the perfusion outlet of the perfusion module and the negative pressure inlet of the negative pressure suction module, and the water inlet side branch can be used for injection or flushing after being connected to the first container, and the water outlet side branch can be used for negative pressure drainage after being connected to the second container; the working channel of the endoscope catheter can be connected to the third container through the lateral opening on the tail component for injection or negative pressure drainage. When in use, each container is connected with a connecting pipeline, and the regulating body can be driven by a motor component.

[0018] Another solution is that the tail end of the sheath can be fixedly connected to the bracket during use. When the front-to-back displacement module, the left-to-right displacement module, the rotation module, and the bending module drive the endoscope catheter to move, the tail end of the sheath is in a relatively static and stable state. Of course, the sheath can also be fixedly connected to a component extending upward from the base, and the movement of the lifting module will not affect the sheath, so that the tail end of the sheath is in a relatively static and stable state during the operation of the endoscope catheter.

[0019] Specifically, the guide body is connected to the front-rear displacement module, and the strip-shaped guide space of the guide body can be straight or curved, preferably arc-shaped; the guide body is disc-shaped as a whole; the traction module can push the endoscope catheter to displace the top of its head so that the top of its head protrudes from the opening in the sheath or pull the endoscope catheter so that the top of its head retracts into the inner cavity of the sheath; the strip-shaped guide space accommodates at least a part of the endoscope catheter, the cross-sectional size of the strip-shaped guide space is larger than the outer diameter size of the endoscope catheter, and the strip-shaped guide space constrains the endoscope catheter located therein so that the endoscope catheter is displaced according to a set trajectory; the traction module includes a traction motor, a traction belt or a traction rack, and a traction bridge body, one end of the traction bridge body is fixedly connected to the traction rack, and the other end is connected to the tail component; the traction module drives the endoscope catheter to move forward or backward in the strip-shaped guide space.

[0020] Furthermore, the strip guide space in the guide body is distributed in an arc shape; the strip guide space is distributed in an elongated arc shape, which can make the endoscope catheter located therein move according to the arc trajectory of the set strip guide space, while making the guide body smaller in size.

[0021] A specific structure, the guide body is disc-shaped, and a channel-type guide arm extends from the guide body. The endoscope catheter and the dynamic isolation body wrapped thereon are pulled into the strip-shaped guide space via the guide arm.

[0022] The hollow guide arm is actually the most primary guide channel connecting the strip guide space, and the strip guide space is a secondary guide channel. A straight guide arm is preferably provided. The guide arm can be a hollow tube. When installed and used, the tail component is passed through the guide arm and placed into the strip guide space. The guide arm can also be in an open state, such as having an opening running through the head and tail on the side, which is convenient for directly installing the endoscope catheter tail component.

[0023] Furthermore, the guide body is disc-shaped, and a channel-type guide arm extends from the guide body. The guide arm is sleeved on a sleeve located on the front and rear displacement modules. A transmission component is connected to the front end of the guide arm, and the transmission component is used in conjunction with a driving component on the rotation module. The guide arm and the sleeve are rotatably and axially fixedly connected.

[0024] The rotatable axial fixed connection means that the axial position of the guide arm with the sleeve remains unchanged when the guide arm rotates; the driving member is a gear that meshes with the transmission member at the front end of the guide arm, namely the transmission tooth, and the transmission tooth is exposed in the sleeve window.

[0025] The dynamic isolation body connection part is fixedly connected to the front and rear displacement module or the guide arm for easy disassembly; one solution is that the dynamic isolation body connection part is connected to the front and rear displacement module as a whole, and the two can move synchronously but are easy to disassemble and install at the same time; for example, an assembly hole can be set in the area below the disc-shaped connection part, and the connection part is partially inserted into a perforated slot component near the front of the sleeve of the front and rear displacement module, and the pin is inserted into the assembly hole through the perforated slot component, so that the dynamic isolation body connection part is connected to the front and rear displacement module as a whole; another solution is that the dynamic isolation body connection part is connected to the guide arm as a whole and moves synchronously; the tail of the sheath tube can also be connected to the perforated slot component, and the sheath tube moves synchronously with the front and rear displacement module.

[0026] Furthermore, the guide body is disc-shaped, the strip-shaped guide space inside the guide body is distributed in an arc shape, and an arc-shaped notch is provided on the side of the disc-shaped guide body; the volute-shaped conveying body accommodating disk is connected to the tail component through the arc-shaped notch; the side of the disc-shaped guide body is provided with an arc-shaped notch so that the conveying body accommodating disk can be docked with the tail component after the fixed connection through this arc-shaped notch, and the conveying body accommodating disk can move along the arc-shaped notch.

[0027] A more complete surgical system solution also includes a control module, which is controlled and connected to one or more of the lifting module, the front-to-back displacement module, the left-to-right displacement module, the rotation module, the bending module, the traction module, the perfusion module, the negative pressure suction module, the laser energy release module, the temperature and / or pressure sensing module, and the image display.

[0028] The control module contains a control chip, related electronic circuits and wireless communication and / or wired connection between each module. The control chip can preset various surgical procedures or make autonomous and intelligent judgments and direct the operation of each module during the operation. The control chip can also receive and execute user instructions; pressure sensors and temperature sensors can be set in the vicinity of the opening in the sheath, or in the head of the endoscope catheter, to facilitate the monitoring of pressure and temperature in the urinary tract during the operation and ensure the safety of the operation.

[0029] The utility model can be used for various natural cavities such as the urinary tract, reproductive tract, nasal cavity, various third spaces and various surgical wounds.

[0030] The beneficial effects of the utility model are:

[0031] 1. The application of dynamic isolation bodies and transport body accommodating trays enables the use of endoscopic catheters, optical fibers, guide wires and other transport bodies in an isolated state, thus eliminating the risk of their outer surfaces being contaminated by the environment and causing infection in the body to the greatest extent.

[0032] 2. The spatial position of surgical consumables such as sheaths, endoscopic catheters and transport bodies is stable, and they are well guided when relative displacement occurs between surgical consumables, ensuring the stability of the visual image.

[0033] 3. The precision motors of each module operate under program instructions and are monitored by a variety of sensors. Compared with manual surgery, the surgical operation is precise, the movements are delicate, and it is not easy to make mistakes.

[0034] 4. The product is controlled by an electronic system, and the surgeon only provides guidance most of the time, minimizing the time of laborious manual operation.

[0035] 5. The sheaths, endoscopic catheters, etc. used in the operation are stored in a safer space that is smaller and more compact than existing operations. The operating environment is clean, the operating area is highly concentrated, and the operation is less likely to be chaotic, which significantly improves the management level of surgical consumables and the operating environment.

[0036] 6. The surgical system can provide accurate dynamic memory of the visual image information of the endoscopic catheter, avoiding repeated exploratory operations that may cause prolonged surgery time and possible tissue and mucosal damage.

[0037] 7. The control module of the surgical system can couple and analyze the various information received and make timely judgments, such as the evaluation of the effect of laser power during lithotripsy and the evaluation of the effect of flushing and cooling, so as to guide subsequent surgical operations and avoid thermal damage to tissues during excessive laser release.

[0038] 8. Real-time comparison of images and pressure data, individualized dynamic analysis of the compliance of the bladder, renal pelvis, intestines or other organs and the impact of surgery on the compliance of various tissues and organs, providing a scientific basis for individualized precision care and treatment after surgery.

[0039] 9. Achieve coordination between surgical operations and respiratory movements. By analyzing the changing patterns of the interference of individual patients' respiratory movements on the images obtained by the endoscopic catheter, the system automatically adapts and tries various adjustment methods to find a coordinated strategy, avoid risky operations when the breathing amplitude is too large, and eliminate the interference of respiratory movements on operations to the greatest extent.

[0040] 10. Various operation parameters and human image information during surgery can be classified and stored to form big data for use by artificial intelligence, which will help to ultimately summarize the best intelligent solution for endoscopic robotic surgery.

[0041] 11. Individualized, programmed, high-precision operations can eliminate operational errors to the greatest extent, reduce patient pain, shorten operation time, and save operating room resources.

[0042] 12. The surgical system of the utility model is connected to the one-piece disposable sterile consumables for use in an isolated state, and there is no need to repeatedly disinfect the equipment, thus saving corresponding costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings which do not limit the present invention are as follows:

[0044] Figure 1A : Schematic diagram of the overall structure of Example 1

[0045] Figure 1B : Schematic diagram of surgical consumables such as sheath, endoscope catheter and delivery body in Example 1

[0046] Figure 1C : Schematic diagram of the bending of the endoscope catheter and the top end of the delivery body in Example 1

[0047] Figure 1D : Schematic diagram of the overall structure of another angle of Example 1

[0048] Figure 1E : Schematic diagram of another angle of Example 1, showing the connection area on the tail component assembled with the external component

[0049] Figure 1F : A three-dimensional schematic diagram of Example 1, where the endoscope catheter is displaced in the strip-shaped guide space

[0050] Figure 1G : Schematic diagram of a conveyor tray at one angle in Example 1

[0051] Figure 1H : Schematic diagram of top view of conveyor tray of embodiment 1

[0052] Fig. 1I : Schematic diagram of the top view of the conveying plate in Example 1, the conveying body is displaced in the guide space of the conveying plate

[0053] Figure 1J : Schematic cross-sectional view of a conveyor tray at one position in Example 1

[0054] Figure 1K : Schematic cross-sectional view of another position of the conveyor plate in Example 1

[0055] Figure 1L : Schematic diagram of another angle of the conveyor tray in Example 1

[0056] Figure 1M : Schematic cross-sectional view of the conveyor tray of Example 1, showing the conveyor tray rack

[0057] Figure 1N : Schematic diagram of the three-dimensional conveying plate of embodiment 1, the conveying body is provided with a bellows

[0058] Fig.1O : A three-dimensional schematic diagram of Example 1 showing the traction motor

[0059] Figure 1P : A three-dimensional schematic diagram of Example 1 showing the traction module

[0060] Figure 2A: A three-dimensional schematic diagram of an angle of embodiment 2

[0061] Figure 2B : A three-dimensional schematic diagram of another angle of Example 2

[0062] Figure 2C : A three-dimensional schematic diagram of Example 1, showing the perfusion module and the negative pressure suction module DETAILED DESCRIPTION

[0063] The embodiments of the present invention are not limited to the following:

[0064] Embodiment 1:

[0065] like Figure 1A-1P As shown, a one-piece medical endoscope, the elongated endoscope catheter 1 is composed of a head 11, a middle part 12 and a tail part 13, the endoscope catheter 1 comprises at least one working channel 10 which runs through the head and the tail, the working channel 10 is provided with an inner working channel opening 101 which enters the body when in use and an outer working channel opening 102 which is located outside the body, the outer working channel opening 102 is provided on the tail part 13; a lens 10a, an optical window 10b and a pressure and temperature two-in-one sensor 10c are provided at the top end 111 of the endoscope catheter head.

[0066] It also includes a sheath 3, which is sleeved on the outside of the endoscope catheter 1. The sheath 3 is provided with an inner sheath opening 311 that enters the body when in use and an outer sheath opening 312 that is located outside the body. A dynamic isolation body 2 that can accommodate the endoscope catheter 1 is provided outside the endoscope catheter 1. The dynamic isolation body 2 is connected to the outer sheath opening 312 through a hollow connecting portion 21, and an extension section 210 of the connecting portion 21 can be connected to the outer sheath opening 312; the dynamic isolation body 2 adjusts its length of accommodating the endoscope catheter 1 through a movable portion 22. The movable portion 22 can be in the shape of a slender corrugated tube that is easy to bend, or in the shape of a slender membrane bag that is easy to bend. This example shows that the movable portion 22 of the dynamic isolation body 2 is in the shape of a thin-walled corrugated tube, and the endoscope catheter head 11 and the middle portion 12 can be accommodated in the inner cavity 220 of the movable portion; one end of the movable portion 22 of the dynamic isolation body 2 is connected to the connecting portion 21, and the other end is connected to the tail component 13 of the endoscope catheter 1; as Figure 1E The tail component 13 is provided with a connection area 135 that is easy to assemble with an external component. The connection area 135 can be a local regular or irregular shape on the tail component 13, or it can be a structure of various shapes such as an assembly hole, a slot, and an assembly column. In this example, it is a slot 135. The side portion of the tail component 13 is also provided with an external electronic interface 131 and a lateral opening 133 for fluid entry and exit. The lateral opening 133 is communicated with the working channel 10.

[0067] The inner opening 101 of the working channel is provided at the top end 111 of the endoscope catheter head. The dynamic isolator 2 accommodates the endoscope catheter 1, which means that it accommodates all or at least part of it, especially a part of the middle part 12 of the endoscope catheter that enters the inner cavity 30 of the sheath during use; the dynamic isolator 2 isolates the endoscope catheter 1 located in the inner cavity 220 of the dynamic isolator from the outside, so as to prevent the microorganisms, toxic foreign matter, etc. in the air and the surface of external objects in the surgical environment from contacting the surface of the endoscope catheter 1. One end of the movable part 22 of the dynamic isolator 2 is connected to the tail part 33 of the sheath through the connecting part 21, and the other end of the movable part 22 is connected to the part of the middle part 12 of the endoscope catheter close to the tail part 13 or is directly connected to the tail part 13. The tail part 13 of the endoscope catheter 1 is larger in size than the middle part 12, and the outer opening 102 of the working channel is provided at the end of the tail part 13 (such as Figure 1C ), of course, the external dimensions of the tail component 13 are much smaller than those of a conventional endoscope catheter handle; one alternative is that the tail component 13 is pre-connected with the movable portion 22 of the dynamic isolation body 2, and the endoscope catheter 1 is located in the tail component 13 or passes through the tail component 13; another structure is that the sheath tail 33 and the dynamic isolation body 2 connection portion 21 are rotatably sealed, and when the sheath tail 33 is stationary, the dynamic isolation body 2 connection portion 21 can rotate relative to the sheath tail 33 while being sealed to the outside, and an external drive component can act on the dynamic isolation body connection portion 21; the external electronic interface 131 of the tail component 13 eliminates the long wires connected to the conventional endoscope handle, which facilitates operation and greatly saves manufacturing costs; a lateral opening 1 is provided on the tail component 13 33. The lateral opening 133 can be connected to a pipeline (not shown) to allow external fluid to enter the working channel 10, and can also attract the fluid in the working channel 10 to the outside; when the position of the sheath 3 remains unchanged, the user drives the tail component 13 toward the sheath 3 by hand or with the help of other equipment, the active portion 22 of the dynamic isolation body 2 is compressed, and the top end 111 of the head of the endoscopic catheter 1 can eventually be protruded out of the opening 311 in the sheath, especially the bellows-shaped dynamic isolation body 2. During the axial compression, the radial size of the active portion 22 of the dynamic isolation body 2 slightly increases or remains unchanged. When the tail component 13 is driven to move away from the sheath 3, the active portion 22 of the bellows-shaped dynamic isolation body is stretched, causing its outer diameter to slightly decrease or remain unchanged, and the top end 111 of the head of the endoscopic catheter 1 partially retracts into the inner cavity 30 of the sheath.

[0068] The medical endoscope catheter in the utility model includes a flexible soft endoscope catheter and a hard endoscope catheter, and includes an electronic endoscope and an optical endoscope.

[0069] The sheath tube tail 33 is provided with two side branches that allow fluid to pass through, namely, a water inlet side branch 331 and a water outlet side branch 332, which are connected to the perfusion module 47 and the negative pressure suction module 48 (such as Figure 2C); The tail member 13 of the endoscope catheter 1 is provided with a regulating body 132 for adjusting the bending direction and / or bending degree of a part of the endoscope catheter head 11, and the regulating body 132 is provided with a mounting hole (omitted in the figure) connected to an external power component, specifically connected to a power rod 451 on a bending module 45 of the surgical system described below ( Figure 1E ), the control body 132 can also be driven by fingers to drive the traction wire (not shown) buried in the endoscope catheter 1 to adjust the bending of a part of the endoscope catheter head 11 (such as Figure 1C ).

[0070] It also includes a conveying body accommodating plate 6 whose outer contour is wholly or partially spiral and / or disc-shaped, and the conveying body accommodating plate outlet 601 is directly connected to the outer opening 102 and / or the lateral opening 133 of the working channel on the tail component 13, and an elongated conveying body guide space 600 is provided in the conveying body accommodating plate shell 60, and the conveying body guide space 600 is connected to the outside via the conveying body accommodating plate outlet 601, and the conveying body 64 is at least partially located in the conveying body guide space 600.

[0071] like Figure 1G-1N The conveying body accommodating plate 6 includes a conveying body accommodating plate shell 60, a conveying body accommodating plate motor 61, a conveying body accommodating plate rack 62, an annular conveying body accommodating plate rack groove 65, and a conveying body accommodating plate bridge body 63. The disc-shaped conveying body accommodating plate shell 60 extends a hollow conveying arm 602, and a conveying body guide space 600 is provided in the conveying body accommodating plate shell 60. The conveying arm 602 is provided with a conveying body accommodating plate outlet 601. A slender conveying body 64 is arranged in the conveying body guide space 600. The tail of the conveying body 64 is connected to the bridge body 63, and the bridge body 63 is fixedly connected to the rack 62 in the rack groove 65. The accommodating tray motor 61 can be arranged in the housing 60 of the conveying body accommodating tray. The motor 61 can be powered by a battery (not shown) or an external power supply. The conveying body accommodating tray motor 61 is connected to a control circuit (not shown) and can be controlled by wired and / or wireless signals. When the conveying body accommodating tray motor 61 receives the command, it drives the gear 611 to rotate, and the gear 611 drives the rack 62 in the rack groove 65 to move, driving the bridge body 63 and then linking the conveying body 64, so that the conveying body 64 extends from the conveying body accommodating tray outlet 601, and the conveying body 64 enters the endoscope catheter working channel 10 and protrudes from the opening 101 in the working channel (such as Fig. 1I ), the conveying body 64 plays its own function, and the conveying body 64 is retracted when the conveying body accommodating tray motor 61 reverses; Figures 1J-1KThe rack groove 65 is provided with an upper opening 651 distributed in an annular manner. The upper opening 651 of the rack groove allows the bridge body 63 to be connected to the rack 62. The lower part 632 of the bridge body moves in the upper opening 651 of the rack groove, and the bridge body embedded part 631 penetrates into the assembly groove 621 on the rack 62. According to the different properties of the conveying body 64, the rear end 641 of the conveying body 64 can be provided with functional structures such as electronic interfaces and fluid openings (not shown).

[0072] The transport body 64 can be a guide wire, a stone basket, a lithotripsy optical fiber, various tissue ablation catheters, angiography catheters, embolization catheters, physical and chemical information collection catheters, negative pressure suction tubes and other types of catheters used for diagnosis and treatment; tissue ablation catheters include but are not limited to physical action catheters such as ultrasound, radio frequency, microwave, laser, and freezing, and also include chemical action ablation catheters such as ozone and anhydrous ethanol.

[0073] like Figure 1N As shown, in order to prevent the outer surface of the conveying body 64 from being contaminated, the conveying body 64 is wrapped with a corrugated tube-shaped isolation bag 642. When the conveying body 64 is retracted, the isolation bag 642 is stretched, and when the conveying body 64 is output, the isolation bag 642 is compressed (figure omitted).

[0074] Various catheters used for diagnosis and treatment are placed as conveying bodies in the conveying body accommodating tray 6. According to the different properties of the conveying bodies, an electrical signal interface 66 or other functional structures (not shown) can be set on the conveying body accommodating tray shell 60 to connect to various types of equipment such as ultrasound, radio frequency, and microwave; the electrical signal interface 66 can also be connected to the structure on the guide body 5 described below (not shown), and then the guide body 5 is connected to the corresponding equipment.

[0075] A surgical system for manipulating the above-mentioned one-piece medical endoscope comprises a lifting module 41, a front-rear displacement module 42, a left-right displacement module 43, a rotation module 44, and a bending module 45, and further comprises a guide body 5 for manipulating the movement of an endoscope catheter 1, wherein a strip-shaped guide space 50 is provided on the guide body 5. The strip-shaped guide space 50 in this example is arc-shaped, and at least a part of the tail component 13 and the middle part 12 of the endoscope catheter 1 can enter the strip-shaped guide space 50; a traction module 52 for driving the endoscope catheter 1 to move in the strip-shaped guide space 50 is provided in the guide body 5, and the traction module 52 acts on the tail component 13 of the endoscope catheter; a card slot 135 on the tail component 13 cooperates with an assembly column 5231 on a traction bridge body 523 of the traction module 52 on the guide body 5 ( Figure 1E ).

[0076] The guide body 5 is connected to the front-rear displacement module 42, and the strip guide space 50 of the guide body 5 can be straight, curved, preferably arc-shaped; the guide body 5 is disc-shaped as a whole; the traction module 52 can push the endoscope catheter 1 to displace the top 111 of its head to protrude from the opening 311 in the sheath tube or pull the endoscope catheter 1 to retract the top 111 of its head into the sheath tube cavity 30; the strip guide space 50 accommodates at least a part of the endoscope catheter 1, and the cross-sectional size of the strip guide space 50 is larger than the outer diameter size of the endoscope catheter 1. The strip guide space 50 constrains the endoscope catheter 1 located therein, so that the endoscope catheter 1 is displaced according to the set trajectory; the traction module 52 includes a traction motor 521, a traction belt or a traction rack 522, and a traction bridge body 523, one end of the traction bridge body 523 is fixedly connected to the traction rack 522, and the other end of the traction bridge body 523 is connected to the tail component 13 ( Figure 1P ); the traction motor 521 drives the traction gear 5211 to drive the traction rack 522, and the traction rack 522 is constrained to rotate in the annular traction rack groove 520 ( Figure 1P ), thereby driving the endoscope catheter 1 and the dynamic isolation body 2 wrapped therearound to move forward or backward in the strip guide space 50; a force sensor (not shown) can be provided on the traction module 52 to sense the resistance to the advancement of the endoscope catheter 1.

[0077] The strip-shaped guide space 50 is distributed in an elongated arc shape so that the endoscope catheter 1 located therein is displaced according to the arc trajectory set in the strip-shaped guide space 50 , and at the same time, the space occupied by the guide body 5 is made smaller.

[0078] The guide body 5 is disc-shaped and extends out a channel-like guide arm 51 . The endoscope catheter 1 and the dynamic isolation body 2 wrapped therearound are pulled into the strip-shaped guide space 50 via the guide arm 51 .

[0079] The hollow guide arm 51 is actually the most primary guide channel connecting the strip guide space 50, and the strip guide space 50 is a secondary guide channel. A straight guide arm 51 is preferably used. The guide arm 51 can be a hollow tube. When installed and used, the tail component 13 is passed through the guide arm 51 and placed into the strip guide space 50. The guide arm 51 can also be in an open state, such as having an opening running through the head and tail on the side, so as to facilitate the direct installation of the endoscope catheter tail component 13.

[0080] The guide arm 51 is sleeved on the sleeve 421 located on the front-rear displacement module 42. The front end of the guide arm 51 is connected to a transmission member 511. The transmission member 511 is used in conjunction with the driving member 442 on the rotation module 44. The guide arm 51 and the sleeve 421 are rotatably axially fixedly connected; the rotatable axially fixed connection means that the axial position of the guide arm 51 and the sleeve 421 remains unchanged when the guide arm 51 rotates; in this embodiment, the driving member 442 is a gear that meshes with the transmission member 511 at the front end of the guide arm 51, that is, the transmission tooth, and the transmission tooth 511 is exposed in the sleeve window 422; the rotation module 44 can drive the endoscope catheter 1 to perform rotational movement during surgery ( Figure 1A ).

[0081] like Figure 1A The strip-shaped guide space 50 in the guide body 5 is distributed in an arc shape, and an arc-shaped notch 53 is provided on the side of the disc-shaped guide body 5; the volute-shaped conveying body accommodating disk 6 is connected to the tail component 13 through the arc-shaped notch 53; the arc-shaped notch 53 is provided on the side of the disc-shaped guide body 5 so that the conveying body accommodating disk 6 can be docked with the tail component 13 after fixed connection through the arc-shaped notch 53, and the conveying body accommodating disk 6 can be moved along the arc-shaped notch 53, which is convenient for replacing different conveying body accommodating disks 6 through this arc-shaped notch 53 during surgery.

[0082] Since the one-piece medical endoscope catheter can be used as a sterile disposable consumable, and the surgical system is hardware that needs to be reused many times, the connection part 21 of the dynamic isolation body 2 and the front and rear displacement module 42 and / or the guide arm 51 are fixedly connected and can be easily disassembled.

[0083] One solution is that the connection part 21 of the dynamic isolation body 2 is connected to the front and rear displacement module 42 as a whole, and the two can move synchronously but are easy to disassemble and install at the same time; this embodiment specifically shows that the lower area of ​​the disc-shaped connection part 21 is provided with an assembly hole 211, which is placed in a hole-shaped card slot component 423 near the front of the sleeve 421 of the front and rear displacement module 42, and the pin 212 is inserted into the assembly hole 211 through the hole-shaped card slot component 423, so that the connection part 21 of the dynamic isolation body 2 is connected to the front and rear displacement module 42 as a whole ( Figure 1A , Figure 1C ); Another solution is that the connection part 21 of the dynamic isolation body 2 is connected to the guide arm 51 as a whole (figure omitted) and moves synchronously; the sheath tail 33 can also be connected to the hole slot component 423 (figure omitted), and the sheath 3 moves synchronously with the front and rear displacement module 42.

[0084] The lifting module 41 is located on the base 7, and a control module 46 and a control ball 461 are provided on the bracket 8. The control module 46 can be controlled by the control ball 461, and the control module 46 can also be controlled by a control lever, a control key, a touch screen, a voice recognition device, etc. The control module 46 is controlled and connected with one or more of the lifting module 41, the front-rear displacement module 42, the left-right displacement module 43, the rotation module 44, the bending module 45, the traction module 52, the perfusion module 47, the negative pressure suction module 48, the laser energy release module, the temperature and / or pressure sensor module, and the image display.

[0085] The perfusion module 47 and the negative pressure suction module 48 are placed on the bracket 8, the perfusion module 47 is provided with a perfusion liquid inlet 471 and a perfusion liquid outlet 472, and the negative pressure suction module 48 is provided with a negative pressure liquid inlet 481 and a negative pressure liquid outlet 482; the water inlet side branch 331 and the water outlet side branch 332 of the sheath tail 33 are respectively connected to the perfusion liquid outlet 472 of the perfusion module 47 and the negative pressure liquid inlet 481 of the negative pressure suction module 48, the water inlet side branch 331 can be used for injection or flushing after being connected to the first container C1, and the water outlet side branch 332 can be used for negative pressure drainage after being connected to the second container C2; the endoscope catheter working channel 10 can be connected to the second container C2 through the lateral opening 133 on the tail component 13. The three containers C3 are connected and used for injection or negative pressure drainage. When in use, each container is connected to a connecting pipeline (not shown), and the control body 132 can be driven by a motor component; one solution is that the sheath tail 33 can be fixedly connected to the bracket 8 when in use (not shown), and when the front and rear displacement module 42, the left and right displacement module 43, the rotation module 44, and the bending module 45 drive the endoscopic catheter 1 to move, the sheath tail 33 is in a relatively static and stable state; of course, the sheath 3 can also be fixedly connected to the component extending upward from the base 7 (not shown), and the movement of the lifting module 41 will not affect the sheath 3, so that the sheath tail 33 is in a relatively static and stable state during the operation of the endoscopic catheter 1.

[0086] The control module 46 contains a control chip (not shown), related electronic circuits and wireless communication and / or wired connection between each module (not shown). The control chip can preset various surgical procedures or make independent intelligent judgments and direct the operation of each module during the operation. The control chip can also receive and execute user instructions; it can receive information from pressure sensors and temperature sensors in real time, which is convenient for monitoring the pressure and temperature of the urinary tract, intestines, reproductive tract, etc. during the operation to ensure the safety of the operation.

[0087] When the utility model is applied to the treatment of urinary stones, stone crushing, stone removal, flushing and other operations are performed under the monitoring of pressure and temperature sensors, and the safety factor is improved; in order to reduce the resistance during advancement, the outer surface and inner surface of the sheath 3 and the outer surface of the endoscope catheter 1 are provided with a hydrophilic coating (not shown).

[0088] Embodiment 2:

[0089] like Figure 2A-2C As shown, in this embodiment, the side of the disc-shaped guide body 5 is not provided with an arc-shaped notch 53, and the conveying body accommodating plate 6 is connected to the endoscope catheter tail component 13 in the strip-shaped guide space 50 of the disc-shaped guide body 5 through the conveying arm 602. In this case, the conveying body accommodating plate 6 is at a vertical angle to the plane of the disc-shaped guide body 5, which is also convenient for replacing different conveying body accommodating plates 6 during surgery. Figure 2A The endoscope catheter 1 is pushed by the traction module 52 so that the endoscope catheter head 11 extends out from the inner opening 311 of the sheath tube, and at the same time, the delivery body 64 in the delivery body receiving tray 6 also protrudes from the inner opening 101 of the working channel; Figure 2B The endoscopic catheter 1 is pulled by the traction module 52 in the disc-shaped guide body 5 so that the endoscopic catheter head 11 is retracted into the sheath tube lumen 30, and at the same time, the transport body 64 in the transport body accommodating plate 6 is also retracted from the endoscopic catheter lumen, i.e., the working channel 10, into the transport body accommodating plate 6.

[0090] The one-piece medical endoscope and surgical system of the utility model is actually a surgical robot, which significantly optimizes the operation process, improves the operation accuracy, reduces tissue damage, greatly saves operation time and reduces the comprehensive treatment cost; it can be used for medical operations in various natural cavities including cardiovascular and respiratory tracts, lacrimal ducts, ear canals, reproductive tracts, digestive tracts, or in the third space of a living body such as the chest cavity and abdominal cavity, and can also be used for medical operations on penetrating wounds, pathological sinus tracts, etc.

Claims

1. One-piece medical endoscope, including: An endoscope catheter (1), wherein the slender endoscope catheter (1) is provided with an optical component and at least one working channel (10) running through the head and tail, wherein the working channel (10) is provided with an inner working channel opening (101) for entering the body when in use and an outer working channel opening (102) located outside the body; a sheath tube (3), which is sleeved outside the endoscope catheter (1), wherein the sheath tube (3) is provided with an inner sheath tube opening (311) for entering the body when in use and an outer sheath tube opening (312) located outside the body, and wherein the endoscope catheter (1) is provided with a dynamic isolator (2) capable of accommodating the endoscope catheter (1), wherein the dynamic isolator (2) is connected to the endoscope catheter (1) through a hollow connecting portion (21 ) is connected to the outer opening (312) of the sheath; the dynamic isolator (2) adjusts its length for accommodating the endoscope catheter (1) through the movable part (22); the movable part (22) is composed of one or more shapes including a slender membrane bag shape and a slender corrugated tube shape that are easy to bend, and the endoscope catheter (1) is accommodated in the inner cavity (220) of the dynamic isolator; one end of the movable part (22) of the dynamic isolator (2) is connected to the connecting part (21), and the other end is directly or indirectly connected to the tail part (13) of the endoscope catheter (1); the tail part (13) is provided with a connection area (135) that is easy to assemble with external components and an external electronic interface (131).

2. The one-piece medical endoscope according to claim 1, characterized in that: The sheath tail (33) is provided with a water inlet side branch (331) and a water outlet side branch (332) for allowing fluid to pass through, and the water inlet side branch (331) and the water outlet side branch (332) are respectively connected to the perfusion module (47) and the negative pressure suction module (48); the endoscope catheter (1) tail component (13) is provided with a regulating body (132) for adjusting the bending direction and / or bending degree of a partial area of ​​the endoscope catheter (1) head (11), and the regulating body (132) is provided with an assembly hole or an assembly rod connected to an external power component.

3. The one-piece medical endoscope according to claim 1, characterized in that: It also includes a conveyor receiving tray (6) whose outer contour is wholly or partially volute-shaped and / or disc-shaped, and the conveyor receiving tray outlet (601) is directly connected to the outer opening (102) and / or the lateral opening (133) of the working channel on the tail component (13). An elongated conveyor guide space (600) is provided in the conveyor receiving tray shell (60), and the conveyor guide space (600) is connected to the outside through the conveyor receiving tray outlet (601). The conveyor (64) is at least partially located in the conveyor guide space (600), and the conveyor (64) is any one of a guide wire, a stone basket, a lithotripsy optical fiber, various tissue ablation catheters, angiography catheters, embolization catheters, physical and chemical information collection catheters, and negative pressure suction tubes.

4. A surgical system for manipulating the one-piece medical endoscope according to any one of claims 1 to 3, the surgical system comprising one or more of a lifting module (41), a front-to-back displacement module (42), a left-to-right displacement module (43), a rotation module (44), and a bending module (45), characterized in that: The invention also comprises a guide body (5) for controlling the movement of the endoscope catheter (1); a strip-shaped guide space (50) is provided on the guide body (5); the strip-shaped guide space (50) is in a straight and / or curved state; at least a portion of the tail part (13) and the middle part (12) of the endoscope catheter (1) can enter the strip-shaped guide space (50); a traction module (52) is provided in the guide body (5) for driving the endoscope catheter (1) to move in the strip-shaped guide space (50); the traction module (52) acts on the tail part (13) of the endoscope catheter.

5. A surgical system according to claim 4, characterized in that: The strip-shaped guide space (50) in the guide body (5) is distributed in an arc shape.

6. A surgical system according to claim 4, characterized in that: The guide body (5) is disc-shaped, and a channel-type guide arm (51) extends from the guide body (5). The endoscope catheter (1) and the dynamic isolation body (2) wrapped therearound are pulled into the strip-shaped guide space (50) via the guide arm (51).

7. A surgical system according to claim 4, characterized in that: The guide body (5) is disc-shaped, and a channel-type guide arm (51) extends from the guide body (5). The guide arm (51) is sleeved on a sleeve (421) located on the front and rear displacement modules (42). A transmission component (511) is connected to the front end of the guide arm (51). The transmission component (511) cooperates with a driving component (442) on the rotation module (44). The guide arm (51) and the sleeve (421) are rotatably and axially fixedly connected.

8. A surgical system according to any one of claims 4 or 7, characterized in that: The connection portion (21) of the dynamic isolating body (2) and the front and rear displacement modules (42) or the guide arm (51) are fixedly connected and can be easily disassembled.

9. A surgical system according to claim 4, characterized in that: The guide body (5) is in the shape of a disk, the strip-shaped guide space (50) in the guide body (5) is distributed in an arc shape, and an arc-shaped notch (53) is provided on the side of the disk-shaped guide body (5); the volute-shaped conveying body accommodating disk (6) is connected to the tail component (13) through the arc-shaped notch (53).

10. A surgical system according to claim 4, characterized in that: The device further comprises a control module (46), wherein the control module (46) is connected to one or more of a lifting module (41), a front-to-rear displacement module (42), a left-to-right displacement module (43), a rotation module (44), a bending module (45), a traction module (52), an infusion module (47), a negative pressure suction module (48), a laser energy release module, a temperature and / or pressure sensing module, and an image display.

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