Instrument, auxiliary device and operation part

Abstract

The embodiment of the utility model provides an instrument, an auxiliary device and an operation part. The instrument comprises a sheathing canal and an end instrument located at the far end of the sheathing canal, the sheathing canal comprises a sheathing canal body part and a deflection part, and the deflection part is located in the far end area of the sheathing canal.

Description

Technical Field

[0001] This manual relates to the field of medical devices, and in particular to a device, auxiliary device, or operating unit. Background Technology

[0002] Endoscopic instruments have been widely used in the medical field. However, commonly used instruments such as grasping forceps, biopsy forceps, electrocoagulation forceps, clamps, and cutting knives sometimes encounter difficult angles or directions where the target location is not easy for the instrument to handle, making it impossible to handle efficiently and safely.

[0003] For example, currently, various foreign bodies lodged in the gastrointestinal tract are removed using forceps, which has a high success rate and safety. However, the distal end of the forceps cannot be flexibly adjusted to target locations at different angles and directions. For some difficult-to-grasp locations, the foreign body cannot be removed safely and in a timely manner. In such cases, it is often necessary to rotate or change the position of the endoscope to remove the foreign body, which can cause complications such as esophageal or tracheal perforation and massive bleeding in patients.

[0004] The instruments can be used in conjunction with endoscopic mucosal dissection. The dissection of the submucosal tissue of the lesion is the core part of the endoscopic mucosal dissection procedure, and the exposure of the surgical field between the mucosa and the submucosal tissue is one of the keys to effective dissection. At present, the submucosal liquid injection method is commonly used to maintain the tension of the mucosa and submucosal tissue and expose the surgical field. This method is mainly for cases where the lesion is shallow or the lesion area is small. When the lesion is complex and the area is large, the effect of the submucosal liquid injection method is limited. Repeated injections not only greatly prolong the operation time, but also increase the incidence of complications such as bleeding and perforation.

[0005] Therefore, this utility model aims to provide an instrument, auxiliary device, or operating unit to at least partially solve the above-mentioned problems. Utility Model Content

[0006] This specification provides an apparatus according to one or more embodiments, including a sheath and an end device located at the distal end of the sheath, the sheath including a sheath body and a deflection portion, the deflection portion being located in the distal region of the sheath;

[0007] The deflecting part is rotatably connected to the sheath body part through a rotating mechanism, and the end device rotates with the deflecting part.

[0008] The deflection part includes a bending mechanism, which includes a bendable structure. The deflection part bends through the bending mechanism, and the end device follows the bending of the deflection part toward the target direction.

[0009] In some embodiments, the flexible structure includes a plurality of bending units, and at least two adjacent bending units constitute a first minimum bending group;

[0010] The adjacent bending units are rotatably connected by a bending connection, and the adjacent bending units have a bending space. When the adjacent bending units bend, the bending connection and the bending space are linked together.

[0011] The bending mechanism includes at least one deflecting traction member that drives the bendable structure to rotate and / or bend.

[0012] In some embodiments, the curved connection portion is located on at least two sides of the plurality of curved units along the axial direction, and the curved space is located on at least two other sides of the plurality of curved units along the axial direction, with the side having the curved connection portion adjacent to the side having the curved space.

[0013] In some embodiments, the first minimum bending group is rotatably connected to at least one of the bending units through the bending connection, three of the bending units constitute a second minimum bending group, and multiple bending connections and multiple bending spaces are alternately arranged on the same side located in the axial direction of multiple bending units; the multiple bending units are composed of at least one second minimum bending group.

[0014] In some embodiments, the curved connection is located on four sides of the plurality of curved units along the axial direction, and the curved space is located on the same four sides of the plurality of curved units along the axial direction; the four sides are evenly distributed at intervals.

[0015] In some embodiments, the rotating mechanism includes a first rotating part and a second rotating part rotatably connected; the first rotating part is located on one of the deflection part and the sheath body part, and the second rotating part is located on the other.

[0016] In some embodiments, the proximal end of the end device is rotatably connected to the distal end of the sheath via a device rotating part, or / and the outer surface of the end device is provided with a spiral protrusion.

[0017] In some embodiments, an operating unit is included, the operating unit including an operating body and a deflection control unit disposed on the operating body, the deflection control unit including a deflection bending control portion; the deflection bending control portion including a deflection movable portion connected to a deflection traction member, the deflection traction member being at least partially connected to the bendable structure.

[0018] In some embodiments, the deflecting movable part and the deflecting traction member are relatively limited in at least the direction of movement; the deflecting movable part drives the deflecting traction member to move, and the displacement of the deflecting traction member drives the flexible structure to bend or reset.

[0019] In some embodiments, a control unit is provided between the deflection movable part and the operating body to enable relative movement or relative limitation between the two. The control unit includes an adjustment control and a deflection transmission structure disposed between the adjustment control and the deflection movable part.

[0020] In some embodiments, the deflection transmission structure is a threaded transmission structure, and the rotation of the adjustment control causes the deflection movable part to shift; or...

[0021] The deflection transmission structure is a switching transmission structure, which includes a first switching part and a second switching part. The adjustment control switches the engagement and disengagement states of the first switching part and the second switching part. The first switching part is disposed on one of the deflection movable part and the operating body, and the second switching part is disposed on the other. Alternatively...

[0022] The deflection transmission structure includes a deflection transmission part, and the deflection traction member includes a connecting section and transmission sections located on both sides of the connecting section. The deflection traction member is connected to the deflection transmission part through the connecting section, and the transmission sections on both sides pass through the deflection movable part and are connected to the flexible structure.

[0023] In some embodiments, the first switching part is a switching slot, the second switching part is a switching block, the adjustment control is rotatably or slidably connected to the deflection movable part or to the operating body, and the rotation or sliding action of the adjustment control causes the switching slot or the switching block to rotate or slide.

[0024] In some embodiments, the control switch is rotatably or slidably connected to a switching block in each of the two directions of rotation or sliding;

[0025] When the control switch is rotated or slid in one direction, the switching block on the other side separates from the switching slot, while the switching block on the same side is at most in movable contact with the switching slot.

[0026] In some embodiments, the connecting segment is slidably connected to the deflection transmission part, or the connecting segment is fixedly connected to the deflection transmission part;

[0027] When the connecting segment is slidably connected to the deflection transmission part, one side of the transmission segment is connected to the deflection movable part in the upper limit of the displacement direction, and the other side of the transmission segment is slidably connected to the deflection movable part in the displacement direction.

[0028] When the connecting section is fixedly connected to the deflection transmission part, the transmission sections located on both sides are slidably connected to the deflection movable part in the displacement direction.

[0029] In some embodiments, the deflection active part and / or the operating body are provided with a locking element for locking or unlocking the deflection active part and the operating body.

[0030] In some embodiments, the deflection control unit includes a deflection rotation control section, the deflection rotation control section includes a deflection rotation part, the deflection rotation part is connected to a deflection traction member, and the deflection traction member is at least partially connected to the flexible structure;

[0031] The deflecting rotating part and the deflecting traction member are relatively limited in the circumferential direction at least in the direction of rotation. The rotation of the deflecting rotating part sequentially drives the deflecting traction member and the flexible structure to rotate.

[0032] The deflection rotating part and the deflection movable part are each connected to a deflection traction member, or the deflection rotating part and the deflection movable part are connected to the same deflection traction member.

[0033] In some embodiments, an operation unit is included, the operation unit including an operation body and an appliance control unit disposed on the operation body, the appliance control unit including an appliance rotation control part and an appliance handling control part;

[0034] The appliance rotation control section and the appliance processing control section are each connected to the end appliance by connecting to an appliance traction member, or the appliance rotation control section and the appliance processing control section are connected to the end appliance by connecting to the same appliance traction member.

[0035] In some embodiments, the operating unit includes a forward / backward control unit disposed on the operating body, the forward / backward control unit controlling the displacement of the instrument relative to an external device.

[0036] This specification provides one or more embodiments of an auxiliary device, including a connecting mechanism and an instrument as described above. The connecting mechanism includes an instrument connecting portion and an external connecting portion. The instrument connecting portion connects to the instrument, and the external connecting portion is used to connect to an external device. The deflection portion of the instrument, located at least outside the connecting mechanism, is bendable and / or rotatable.

[0037] In some embodiments, the instrument connection includes a guide member that is slidably connected to the instrument, and / or the guide member is slidably connected to the external connection portion, and / or the guide member is slidably connected to the external device.

[0038] In some embodiments, the distal end of the external connector is located on the distal side relative to the distal end of the instrument connector.

[0039] In some embodiments, the operating unit includes a forward / backward control unit disposed on the operating body, the forward / backward control unit controlling the displacement of the instrument relative to the external device.

[0040] In some embodiments, the forward / backward control unit includes a forward / backward displacement section, the forward / backward displacement section and the sheath are relatively limited relative to each other at least in the displacement direction, and the operating body and the connecting mechanism or the external device are relatively limited relative to each other at least in the displacement direction;

[0041] The forward / backward displacement section and the operating body are provided with an adjustment section that allows the relative displacement of the two. The adjustment section includes an adjustment member and a forward / backward transmission structure disposed between the adjustment member and the forward / backward displacement section.

[0042] In some embodiments, the forward / backward transmission structure includes a first engagement portion and a second engagement portion, and the adjusting member switches the engagement or disengagement states of the first engagement portion and the second engagement portion; the first engagement portion is disposed on one of the forward / backward displacement portion and the operating body, and the second engagement portion is disposed on the other.

[0043] In some embodiments, the instrument is configured as a first electrode, and the second instrument connected to the external device can be configured as a second electrode, the instrument and the second instrument forming a bipolar structure;

[0044] The end device of the aforementioned instrument is connected to a power source via an instrument traction member and a first electrode holder, and the distal device of the second instrument is connected to the power source via a treatment traction member and a second electrode holder.

[0045] This specification provides one or more embodiments of an operating unit, the operating unit including an operating body and a deflection control unit disposed on the operating body, the deflection control unit including a deflection bending control part and a deflection rotation control part; the deflection bending control part includes a deflection movable part for connecting a deflection traction member; the deflection rotation control part includes a deflection rotation part for connecting a deflection traction member.

[0046] In some embodiments, when the deflection movable part is connected to the deflection traction member, the deflection movable part and the deflection traction member are relatively limited at least in the direction of movement; the movement of the deflection movable part can sequentially drive the movement of the deflection traction member, and the sheath portion connected to the deflection traction member to bend or reset.

[0047] In some embodiments, a control unit is provided between the deflection movable part and the operating body to enable relative movement or relative limitation between the two. The control unit includes an adjustment control and a deflection transmission structure disposed between the adjustment control and the deflection movable part.

[0048] In some embodiments, the deflection transmission structure is a threaded transmission structure, and the rotation of the adjustment control causes the deflection movable part to shift; or...

[0049] The deflection transmission structure is a switching transmission structure, which includes a first switching part and a second switching part. The adjustment control switches the engagement and disengagement states of the first switching part and the second switching part. The first switching part is disposed on one of the deflection movable part and the operating body, and the second switching part is disposed on the other. Alternatively...

[0050] The deflection transmission structure includes a deflection transmission part, and the deflection traction member includes a connecting section and transmission sections located on both sides of the connecting section. The deflection transmission part is used to connect the connecting section, and the deflection movable part is used to pass through the transmission sections on both sides. After passing through the deflection movable part, the transmission sections on both sides are connected to the flexible structure of the sheath.

[0051] In some embodiments, the first switching part is a switching slot, the second switching part is a switching block, the adjustment control is rotatably or slidably connected to the deflection movable part or to the operating body, and the rotation or sliding action of the adjustment control causes the switching slot or the switching block to rotate or slide.

[0052] In some embodiments, the control switch is rotatably or slidably connected to a switching block in each of the two directions of rotation or sliding;

[0053] When the control switch is rotated or slid in one direction, the switching block on the other side separates from the switching slot, while the switching block on the same side is at most in movable contact with the switching slot.

[0054] In some embodiments, the deflection transmission part is slidably connected to the connecting section, or the deflection transmission part is fixedly connected to the connecting section;

[0055] When the deflection transmission part is slidably connected to the connecting section, one side of the transmission section is connected to the deflection movable part at the upper limit in the displacement direction, and the other side of the transmission section is slidably connected to the deflection movable part in the displacement direction.

[0056] When the deflection transmission part is fixedly connected to the connecting section, the transmission sections located on both sides are slidably connected to the deflection movable part in the displacement direction.

[0057] In some embodiments, the deflection active part and / or the operating body are provided with a locking element for locking or unlocking the deflection active part and the operating body.

[0058] In some embodiments, the deflection rotating part is connected to the deflection traction member, and the deflection rotating part and the deflection traction member are relatively limited relative to each other at least in the circumferential direction of the rotation direction. The rotation of the deflection rotating part can sequentially drive the deflection traction member and the sheath portion connected to the deflection traction member to rotate.

[0059] The deflection rotating part and the deflection movable part can be respectively connected to one of the deflection traction members, or the deflection rotating part and the deflection movable part can be connected to the same deflection traction member.

[0060] In some embodiments, an operation unit is included, the operation unit including an operation body and an appliance control unit disposed on the operation body, the appliance control unit including an appliance rotation control part and an appliance handling control part;

[0061] The appliance rotation control section and the appliance processing control section can be connected to the end appliance by connecting to an appliance traction member, or the appliance rotation control section and the appliance processing control section can be connected to the end appliance by connecting to the same appliance traction member.

[0062] In some embodiments, the operating unit includes a forward / backward control unit disposed on the operating body, the forward / backward control unit controlling the displacement of the instrument relative to an external device.

[0063] The deflection unit in the embodiments of this specification can drive the end instrument to more treatment positions, which is efficient and safe; as an auxiliary device for endoscopic mucosal dissection, the deflection unit can be designed with different bending requirements as needed, such as having a design that bends downward to grasp tissue and bends upward to lift it in two opposite directions. Attached Figure Description

[0064] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0065] Figure 1 These are exemplary structural diagrams of the apparatus shown in some embodiments of this specification.

[0066] Figure 2A This is an exemplary internal structural diagram of the deflection section of the device according to some embodiments of this specification.

[0067] Figure 2BThis is another exemplary structural diagram of the deflection section of the device shown in some embodiments of this specification.

[0068] Figure 2C yes Figure 2B An example internal structural diagram.

[0069] Figure 2D yes Figure 2A , Figure 2B , Figure 2C Exemplary structural diagrams on the distal or proximal side.

[0070] Figure 2E This is yet another exemplary structural diagram of the deflection section of the device shown in some embodiments of this specification.

[0071] Figure 2F yes Figure 2E An exemplary structural diagram of the end.

[0072] Figure 2G yes Figure 2B , Figure 2C , Figure 2E An exemplary structural diagram of a bendable structure.

[0073] Figure 2H yes Figure 2G An exemplary structural diagram showing a bending change to one of the angles.

[0074] Figure 2I yes Figure 2G An exemplary structural diagram of one side of the middle section.

[0075] Figure 2J yes Figure 2I An exemplary structural diagram showing a bending change to one of the angles.

[0076] Figure 3 These are exemplary structural diagrams of the apparatus shown in some embodiments of this specification.

[0077] Figure 3A This is an exemplary structural diagram of a rotating mechanism of an instrument according to some embodiments of this specification.

[0078] Figure 4 yes Figure 3 An exemplary internal structural diagram of the operating unit.

[0079] Figure 5 This is one of the exemplary internal structural diagrams of the instrument operating part shown in some embodiments of this specification.

[0080] Figure 5A yes Figure 5 Enlarged view of section B in the middle.

[0081] Figure 6This is an exemplary structural diagram of the jaws of the instrument shown in some embodiments of this specification, taking a gripper as an example.

[0082] Figure 7 This is one of the exemplary operational state structure diagrams of the device shown in some embodiments of this specification, taking the gripper as an example, when gripping a foreign object.

[0083] Figure 8 This is the second exemplary operational state structure for grasping foreign objects using a gripper as an example, according to some embodiments of this specification.

[0084] Figure 8A yes Figure 8 Enlarged view of section C.

[0085] Figure 9 This is the third exemplary operational state structure for grasping foreign objects using a gripper as an example, according to some embodiments of this specification.

[0086] Figure 10 This is the fourth exemplary operational state structure for grasping foreign objects using a gripper as an example, according to some embodiments of this specification.

[0087] Figure 11 This is the fifth exemplary operational state structure for grasping foreign objects using a gripper as an example, according to some embodiments of this specification.

[0088] Figure 11A yes Figure 11 Enlarged view of section D in the middle.

[0089] Figure 12 This is another exemplary structural diagram of the device shown in some embodiments of this specification.

[0090] Figure 13 This is an exemplary internal structural diagram of the instrument operating part according to some embodiments of this specification.

[0091] Figure 13A yes Figure 13 Enlarged view of section E in the middle.

[0092] Figure 14 This is another exemplary operational state structure for grasping foreign objects using a gripper as an example, according to some embodiments of this specification.

[0093] Figure 15 This is another exemplary operational state structure for grasping foreign objects using a gripper as an example, according to some embodiments of this specification.

[0094] Figure 16 This is another exemplary operational state structure for grasping foreign objects using a gripper as an example, according to some embodiments of this specification.

[0095] Figure 17 This is another exemplary operational state structure for grasping foreign objects using a gripper as an example, according to some embodiments of this specification.

[0096] Figure 18 This is another exemplary operational state structure for grasping foreign objects using a gripper as an example, according to some embodiments of this specification.

[0097] Figure 19 This is another exemplary operational state structure for grasping foreign objects using a gripper as an example, according to some embodiments of this specification.

[0098] Figure 19A yes Figure 19 Enlarged view of section F in the middle.

[0099] Figure 20 This is another exemplary structural diagram of the instrument shown in some embodiments of this specification, taking the gripper as an example, when gripping foreign objects.

[0100] Figure 20A yes Figure 20 Enlarged view of the internal exemplary structure of the operating section in the middle G section;

[0101] Figure 21 This is an exemplary structural diagram of an auxiliary device according to some embodiments of this specification.

[0102] Figure 21A yes Figure 21 An enlarged view of an exemplary structure of the remote portion of the auxiliary device in section H1.

[0103] Figure 21B yes Figure 21 Enlarged view of the internal exemplary structure of the auxiliary device operation section in part H2.

[0104] Figure 22 This is an exemplary structural diagram of an auxiliary device according to some embodiments of this specification, in which a current loop is formed between the instrument and the second instrument.

[0105] Figure 23 This is one of the exemplary operational state structures in which the auxiliary device (including gripper) and the second instrument cooperate in operation according to some embodiments of this specification.

[0106] Figure 23A yes Figure 23 Enlarged view of part A in the middle.

[0107] Figure 24 This is one of the exemplary operational states of the auxiliary device (including grippers) and the second instrument operating in conjunction with some embodiments shown in this specification.

[0108] Figure 24A yes Figure 24 Enlarged view of the middle J section.

[0109] Figure 25 This is the third exemplary operating state structure of the auxiliary device (including grippers) and the second instrument in cooperation with some embodiments shown in this specification.

[0110] Figure 26 This is the fourth exemplary operating state structure of the auxiliary device (including gripper) and the second instrument in cooperation with some embodiments shown in this specification.

[0111] Figure 27 This is the fifth exemplary operating state structure of the auxiliary device (including grippers) and the second instrument in cooperation with some embodiments shown in this specification.

[0112] Figure 27A yes Figure 27 A magnified view of the middle K section.

[0113] Figure 28 This is the sixth exemplary operational state structure of the auxiliary device (including grippers) and the second instrument in cooperation with some embodiments shown in this specification.

[0114] Figure 29 This is the seventh exemplary operating state structure of the auxiliary device (including grippers) and the second instrument in cooperation with some embodiments shown in this specification.

[0115] Explanation of reference numerals in the attached drawings: Instrument 1000, Sheath 1100, Sheath body 1110, Deflection part 1120, Rotation mechanism 1200, First rotating part 1210, First folding part 1211, Second rotating part 1220, Second folding part 1221, Bending mechanism 1300, Bending structure 1310, Bending unit 1311, Traction groove 1323, First section 1311A, First section fixing groove 1311A2, First section hinge 1311A3, First section first oblique opening 1311A4, First section... Second oblique opening 1311A5, Second section 1311B, Second section connecting groove 1311B2, Second section first hinge 1311B3, Second section first oblique opening 1311B4, Second section second oblique opening 1311B5, Second section third oblique opening 1311B6, Second section fourth oblique opening 1311B7, Second section second hinge 1311B8, Third section 1311C, Third section connecting groove 1311C2, Third section first hinge 1311C3, Third section first oblique opening 1311C4, Third section second oblique opening 1311C5, Third Section Third Inclined Opening 1311C6, Third Section Fourth Inclined Opening 1311C7, Third Section Second Hinge 1311C8, First Bending Space 1311D, First Angle 1311E, Second Bending Space 1311K, Second Angle 1311F, Third Bending Space 1311G, Third Angle 1311H, Fourth Bending Space 1311I, Fourth Angle 1311J, Bending Connector 1312, Bending Space 1313, Deflection Traction Member 1320, Connecting Section 1321 Transmission section 1322, fixed transmission section 1322A, moving transmission section 1322B, first limiting member 1323, second limiting member 1324, end device 1400, device rotating part 1410, spiral protrusion 1420, operating part 1500, operating body 1510, deflection control unit 1520, deflection bending control part 1521, deflection moving part 15211, deflection rotation control part 1522, deflection rotation part 15221, deflection roller A 15221A, deflection roller B 15221B. Ring 1523, Appliance control unit 1530, Appliance rotation control part 1531, Appliance roller A 15311, Appliance slip ring A 15312, Appliance slip ring B 15313, Appliance slip ring C 15314, Appliance roller B 15315, Appliance handling control part 1532, Locking element 15321, Appliance traction element 1533, Advance / Retreat control unit 1540, Advance / Retreat displacement part 1541, Adjusting element 15421, Advance / Retreat transmission structure 15422, First joint 15422A, Second joint 15422B, Engagement elastic element 1543, Displacement range S2, Adjustment control 1551, Threaded transmission structure 1552, Rotating groove 15521, Rotating convexity 15522 15523, 15524, 15525, 15525, 15525A, 15525B, 1553, 1554, 15541, 15553, 1556, 1557, 1558, 1559, 1560, 1555, 2000, 2100, 2110, 2111, 2112, 2200, 2210, 2000, 3000, 3100, 4000, 5000. Detailed Implementation

[0116] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0117] Flowcharts are used in this specification to illustrate the operations performed by the system according to embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, the steps can be processed in reverse order or simultaneously. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them.

[0118] Endoscopic instruments are widely used in the medical field. Currently, commonly used instruments such as grasping forceps, biopsy forceps, electrocoagulation forceps, clamps, and cutting knives may sometimes be in situations where the target location is difficult to handle, affecting surgical efficiency and safety.

[0119] Multiple embodiments are shown in the figure. Figures 1-29 As shown. Figure 1 As shown, in some embodiments, the instrument 1000 includes an end effector 1400, a delivery unit, and an operating unit 1500 from distal to proximal. The end effector 1400 is used to perform surgical-related operations, such as opening and closing of forceps, opening and closing of chucks, and extension and retraction of cutting blades. The delivery unit is used to transmit the movement of the operating unit 1500 to the end effector 1400, and the delivery unit includes a sheath 1100 and a traction element for the sheath 1100. The operating unit 1500 is used to control or operate the delivery unit and the end effector 1400.

[0120] The following will provide a detailed description through several embodiments of this specification.

[0121] First, it should be noted that the terms "proximal" and "distal" used in the embodiments of this specification can indicate direction. The side facing the operator is "proximal," and the side facing the insertion into the body for treatment is "distal." "Proximal" and "distal" can also refer to a portion of the structure or end located in the corresponding direction. The terms "axial" and "radial" used in the embodiments of this specification can indicate direction. For example, the axial direction of the sheath 1100 refers to the direction along the center line or rotation axis of the sheath 1100, and the "radial" direction is perpendicular to the "axial" direction.

[0122] One embodiment of this specification provides a device 1000. In some application scenarios, the device 1000 includes, but is not limited to, active or passive grippers, biopsy forceps, electrocoagulation forceps, clamps, cutting knives, etc.

[0123] like Figure 1 , Figures 2A-2J , Figure 3-Figure 3A As shown, in some embodiments, the device 1000 includes a sheath 1100 and an end device 1400 located at the distal end of the sheath 1100. The sheath 1100 includes a sheath body portion 1110 and a deflection portion 1120. The deflection portion 1120 is located in the distal region of the sheath 1100. The deflection portion 1120 can be directly connected to the end device 1400 or connected through intermediate components (such as the sheath body portion 1110, other connectors, etc.). The deflection portion 1120 is rotatably connected to the sheath body portion 1110 through a rotating mechanism 1200, and the end device 1400 rotates with the deflection portion 1120. The deflection portion 1120 includes a bending mechanism 1300, which includes a linked bendable structure 1310 and a deflection traction member 1320. The deflection portion 1120 bends through the bending mechanism 1300, and the end device 1400 bends with the deflection portion 1120 and points in the target direction. The deflection traction member 1320 drives the flexible structure 1310 to bend or reset, or / and the rotation of the deflection traction member 1320 drives the flexible structure 1310 to rotate; the bending angle and bending direction of the deflection part 1120 are changed to adjust the position of the end device 1400.

[0124] like Figures 2A-2J As shown, in some embodiments, the bending mechanism 1300 of the deflection section 1120 includes at least one deflection traction member 1320 placed inside the sheath 1100. The deflection traction member 1320 is connected to the flexible structure 1310 or the distal end of the flexible structure 1310. The flexible side of the flexible structure 1310 connected to the deflection traction member 1320 is the traction bending side, which is bent by traction operation. The flexible side of the flexible structure 1310 not connected to the deflection traction member 1320 is the adaptive bending side.

[0125] like Figures 2A-2D , Figures 2G-2J As shown, in some embodiments, the bending mechanism 1300 includes a deflection traction member 1320, and the deflection portion 1120 has a traction bending side in one direction; in some embodiments, the deflection portion 1120 is rotatably connected to the sheath body portion 1110, and the bending direction of the deflection portion 1120 is adjusted by rotation.

[0126] like Figure 2E-2F As shown, in some embodiments, the bending mechanism 1300 includes two deflection traction members 1320, which are arranged opposite to each other. The deflection part 1120 has traction bending sides in two directions, and the two bending directions are arranged opposite to each other. In some embodiments, the deflection part 1120 is rotatably connected to the sheath body part 1110, and the rotation of the deflection traction members 1320 adjusts the bending direction of the deflection part 1120.

[0127] In some embodiments, the bending mechanism 1300 includes three or four or more deflecting traction members 1320, the deflecting portion 1120 having traction bending sides in more directions.

[0128] like Figures 2A-2J As shown, in some embodiments, the inner wall of the flexible structure 1310 is provided with a traction groove 1323. At least part of the deflection traction member 1320 slides through the traction groove 1323 and is connected to the flexible structure 1310 or the distal end of the flexible structure 1310. The distal end of the flexible structure 1310 may be located on the sheath body 1110 or on the end device 1400. The number of rows of the traction groove 1323 in the axial direction corresponds to the number of deflection traction members 1320. The flexible mechanism 1300 and the deflection traction member 1320 overlap in the projection from the radial direction to the axial direction.

[0129] In some embodiments, the axial length of the deflection portion 1120 is 2 to 100 mm.

[0130] In some embodiments, the angle α between the direction pointed to by the distal end of the deflector 1120 when it bends and the direction pointed to by the distal end of the deflector 1120 in its initial state ranges from 0 to 120°. This direction is a unidirectional bending direction. When bidirectional bending is involved, the angle α*2 ranges from 0 to 240°. In some embodiments, the angle α ranges from 0 to 90°. Figure 1 In the example shown, the angle α is 90°.

[0131] In some embodiments, the flexible structure 1310 may be a snake-shaped tube, an elastic tube, a tube with a notch on the side, etc.

[0132] Further details about the 1310 flexible structure are provided below.

[0133] like Figures 2A-2J As shown, in some embodiments, the bendable structure 1310 adopts a snake-bone tube, which includes multiple bending units 1311, at least two adjacent bending units 1311 forming a first minimum bending group; adjacent bending units 1311 are rotatably connected by bending connecting parts 1312, and adjacent bending units 1311 have bending spaces 1313; the rotational change of the bending connecting parts 1312 and the size change of the bending spaces 1313 are linked when adjacent bending units 1311 bend, such as... Figures 2G-2J As shown, during the bending process of the deflection part 1120, the bending connection part 1312 between adjacent bending units 1311 rotates, the bending space 1313 on the same side of the bending direction decreases, and the bending space 1313 on the opposite side of the bending direction increases. The bending mechanism 1300 includes at least one deflection traction member 1320 that drives the bendable structure 1310 to rotate and / or bend. The deflection traction member 1320 is at least partially located on one side of the bendable structure 1310 with the bending space 1313 in the axial direction. The deflection traction member 1320 can be displaced relative to the bending space 1313, causing the bending connection part 1312 to rotate and the size of the bending space 1313 to change.

[0134] like Figures 2A-2D , Figures 2G-2J As shown, in some embodiments, the bending mechanism 1300 includes a deflection traction member 1320, which is partially located on one side of the bendable structure 1310 with a bending space 1313 in the axial direction. The deflection portion 1120 has a traction bending side in one direction. In some embodiments, the deflection portion 1120 is rotatably connected to the sheath body portion 1110, and the rotation of the deflection traction member 1320 adjusts the bending direction of the deflection portion 1120.

[0135] like Figures 2E-2FAs shown, in some embodiments, the bending mechanism 1300 includes two deflection traction members 1320, which are arranged opposite to each other. The deflection portion 1120 has traction bending sides in two directions, and the two bending directions are arranged opposite to each other. In some embodiments, the other two sides of the bendable structure 1310 are adaptive bending sides. In some embodiments, the deflection portion 1120 is rotatably connected to the sheath body portion 1110, and the rotation of the deflection traction members 1320 adjusts the bending direction of the deflection portion 1120.

[0136] In some embodiments, the bent connection 1312 may be a movable joint (such as a pivot hinge, a surround hinge, a universal hinge, etc.), an elastic element, an integrally formed and bendable component, etc. Any structure that can achieve a rotatable connection between adjacent bent units 1311 is a bent connection 1312.

[0137] See Figure 2A As shown, in some embodiments, the bending connection 1312 is located on at least two sides of the plurality of bending units 1311 along the axial direction, and the bending space 1313 is located on at least two other sides of the plurality of bending units 1311 along the axial direction. The side with the bending connection 1312 is adjacent to the side with the bending space 1313, wherein the two sides are arranged opposite each other and the other two sides are also arranged opposite each other, and the four sides are evenly distributed at intervals. The bendable structure 1310 has two degrees of freedom in the bending direction. When one deflection traction member 1320 is provided, the deflection part 1120 has a traction bending side in one direction. When two deflection traction members 1320 are provided, the deflection part 1120 has a traction bending side in two directions.

[0138] like Figure 2B , Figure 2C , Figure 2E , Figures 2G-2JAs shown, in some embodiments, a first minimum bending group is rotatably connected to at least one bending unit 1311 via a bending connection 1312. Three bending units 1311 constitute a second minimum bending group. Multiple bending connections 1312 and multiple bending spaces 1313 are alternately arranged on the same side of the multiple bending units 1311 along their axial direction. The multiple bending units 1311 constitute at least one second minimum bending group. In some embodiments, the bending connections 1312 are located on four sides of the multiple bending units 1311 along their axial direction, and the bending spaces 1313 are located on the multiple bending units. On the same four sides along the axial direction, the four sides are evenly spaced, giving the bendable structure 1310 four degrees of freedom in bending directions, resulting in high flexibility. The bendable structure 1310 itself has 360° bending direction freedom, facilitating adaptive passage within bending channels. When one deflection traction member 1320 is provided, the deflection part 1120 has a traction bending side in one direction and an adaptive bending side in the other directions. When two deflection traction members 1320 are provided, the deflection part 1120 has a traction bending side in two directions and an adaptive bending side in the other directions.

[0139] The bendable structure 1310 can be composed of multiple first minimum bending groups arranged in a regular manner (single or continuous) or irregularly (e.g., a bending unit 1311 is connected between two first minimum bending groups), or it can be composed of second minimum bending groups arranged in a regular manner (single or continuous) or irregularly (e.g., a bending unit 1311 is connected between two second minimum bending groups), or it can be composed of a combination of first minimum bending groups and second minimum bending groups (which can be arranged in a regular manner or irregularly). The arrangement of its composition can be set as needed.

[0140] For a more detailed description of the structure of the bendable structure 1310 consisting of the second minimum bending group, see below.

[0141] like Figures 2A-2J As shown, in some embodiments, the flexible structure 1310 adopts a snake tube, which includes a bending unit 1311 and a bending connection 1312. The second minimum bending group includes three bending units 1311, which correspond to the first section 1311A, the second section 1311B, and the third section 1311C, respectively. The bending unit 1311 is provided with a traction groove 1323. The bending connection 1312 is an enclosed hinge, specifically, it partially encloses and can rotate relative to each other between two hinges. The flexible structure 1310 includes four evenly spaced first side, second side, third side, and fourth side, with the first side and second side facing each other, and the third side and fourth side facing each other.

[0142] Specifically: the first section 1311A is provided with a first section connecting groove 1311A2 (traction groove 1323), a first section hinge 1311A3, a first section first bevel 1311A4, and a first section second bevel 1311A5; the second section 1311B is provided with a second section connecting groove 1311B2 (traction groove 1323), a second section first hinge 1311B3, a second section first bevel 1311B4, a second section second bevel 1311B5, and a second section... The third oblique opening 1311B6, the second section fourth oblique opening 1311B7, and the second section second hinge 1311B8 are provided on the third section 1311C; the third section 1311C is provided with the third section connecting groove 1311C2 (traction groove 1323), the third section first hinge 1311C3, the third section first oblique opening 1311C4, the third section second oblique opening 1311C5, the third section third oblique opening 1311C6, the third section fourth oblique opening 1311C7, and the third section second hinge 1311C8.

[0143] The first section 1311A and the second section 1311B are hinged together by the first section hinge 1311A3 and the second section first hinge 1311B3. A first bending space 1311D is formed between the first section first bevel 1311A4 and the second section first bevel 1311B4 located on the first side. In the initial state where the deflection part 1120 is not bent, a first angle 1311E is formed between the hinge point of the first section hinge 1311A3 and the second section first hinge 1311B3 facing outward and the first bending space 1311D, which can realize the bending range.

[0144] A second bending space 1311K is formed between the first section second oblique opening 1311A5 and the second section second oblique opening 1311B5 on the second side. In the initial state where the deflection part 1120 is not bent, a second angle 1311F is formed between the hinge of the first section hinge 1311A3 and the second section first hinge 1311B3 facing outward and the second bending space 1311K, which can realize the bending range.

[0145] The second body 1311B and the third section 1311C are hinged to the third section via the second hinge 1311B8 and the first hinge 1311C3. The second hinge 1311B8 is located on the third side. In the initial state where the deflection part 1120 is not bent, the construction of the second hinge 1311B8 and the first hinge 1311B3 can include multiple hinges and are spirally distributed in the axial direction of the flexible structure 1310; the hinge between the second hinge 1311B8 and the first hinge 1311C3... The rotation axis B, the first hinge 1311A3 and the second hinge 1311B3 are perpendicular to each other when projected from the axial direction onto the radial plane; a third bending space 1311G is formed between the third bevel of the second section 1311B6 and the first bevel of the third section 1311C4; a third angle 1311H is formed between the hinge of the second hinge 1311B8 and the first hinge of the third section 1311C3 facing outward and the third bending space 1311G, which can realize the bending range.

[0146] A fourth bending space 1311I is formed between the second section fourth oblique opening 1311B7 and the third section second oblique opening 1311C5 on the fourth side. A fourth angle 1311J that can realize the bending range is formed between the hinge of the second section second hinge 1311B8 and the third section first hinge 1311C3 facing outward and the fourth bending space 1311I.

[0147] The deflection traction member 1320 slides through the third connecting groove 1311C2, the second connecting groove 1311B2, etc., and finally is fixedly connected to the first connecting groove 1311A2. The deflection traction member 1320 is given a pulling force to control the bending or rotation of the flexible structure 1310.

[0148] like Figure 3 , Figure 3A As shown, in some embodiments, the rotating mechanism 1200 includes a first rotating portion 1210 and a second rotating portion 1220 rotatably connected. The first rotating portion 1210 is located on one of the deflecting portion 1120 and the sheath body portion 1110, and the second rotating portion 1220 is located on the other. The first rotating portion 1210 includes a first fold 1211 formed by bending radially outward, and the second rotating portion 1220 includes a second fold 1221 formed by bending radially inward. The first fold 1211 and the second fold 1221 are overlapped and engaged to be positioned at the upper limit in the axial direction, and a rotational gap is provided between the first fold 1211 and the second fold 1221. The rotation of the deflecting traction member can be achieved by the rotating mechanism 1200 driving the deflecting portion 1120 to rotate 360° circumferentially, thereby adjusting the bending direction of the deflecting portion 1120.

[0149] In some embodiments, the proximal end of the end device 1400 and the distal end of the sheath 1100 are rotatably connected via an instrument rotating part 1410. Rotation of the instrument traction member connected to the end device 1400 can drive the end device 1400 to rotate 360° circumferentially via the instrument rotating part 1410, thus adjusting the orientation of the end device 1400. The structure and principle of the instrument rotating part 1410 are described below. Figure 3 The rotating mechanism 1200 shown.

[0150] In some embodiments, the end effector 1400 adopts a forceps head structure such as an active or passive gripper, an active or passive biopsy forceps, a clamp head structure such as a clip, a cutting blade head structure, etc. The end effector 1400 includes a connected forceps base and two forceps heads. The forceps base is connected to the sheath 1100, and the forceps heads are connected to the operating part 1500 through an instrument traction member.

[0151] like Figure 6 As shown, in some embodiments, the outer surface of the end effector 1400 is provided with a spiral protrusion 1420. In some embodiments, the end effector 1400 is a pliers head, and the spiral protrusion 1420 is disposed on the outer surface of the pliers head. In the direction from radial projection to axial projection, there is an angle between the projection of the spiral protrusion 1420 and the projection of the radial plane, with the angle range N being 0° < N ≤ 20°; the end effector 1400 is automatically guided to facilitate passage through curved pliers.

[0152] like Figure 1 , Figures 3-5A , Figures 7-20A As shown, in some embodiments, the device includes an operating unit 1500, which includes an operating body 1510 and a deflection control unit 1520 disposed on the operating body 1510. The deflection control unit 1520 includes a deflection bending control portion 1521. The deflection bending control portion 1521 includes a deflection movable portion 15211, which is connected to a deflection traction member 1320. The deflection traction member 1320 is at least partially connected to the bendable structure 1310.

[0153] In some embodiments, the deflecting movable part 15211 and the deflecting traction member 1320 are connected at least in the direction of movement (e.g., axially) by a limiting block structure (e.g., Figure 5A First limiting component 1323, such as Figure 20A The second limiting member 1324) is relatively limited; the deflection movable part 15211 drives the deflection traction member 1320 to move, and the displacement of the deflection traction member 1320 drives the bendable structure 1310 to bend or reset, that is, the bending or reset of the deflection part 1120.

[0154] In some embodiments, a control unit is provided between the deflection movable part 15211 and the operation body 1510 to enable relative movement or relative limitation between the two. The control unit includes a control tool 1551 and a deflection transmission structure disposed between the control tool 1551 and the deflection movable part 15211.

[0155] like Figure 4 , Figure 5 , Figure 5A , Figures 7-11A As shown, in some embodiments, the deflection transmission structure is a threaded transmission structure 1552, and the rotation of the adjusting control 1551 drives the deflection movable part 15211 to move. The adjusting part 1550 includes a circumferential rotation structure disposed between the adjusting control 1551 and the operating body 1510. The circumferential rotation structure includes a rotating groove 15521 and a rotating protrusion 15522 that are rotatably engaged. The rotating groove 15521 is disposed on one of the adjusting control 1551 and the operating body 1510, and the rotating protrusion 15522 is disposed on the other. The adjusting control 1551 and the operating body 1510 rotate relative to each other in the circumferential direction and are relatively limited in the axial direction. The adjusting control 1551 is a threaded sleeve 15523, and the deflection movable part 15211 is a bolt 15524. Rotating the threaded sleeve 15523 causes the bolt 15524 and the deflection traction member 1320 to move, thereby adjusting the bending angle of the deflection part 1120.

[0156] In some embodiments, a positioning element 15525 is provided between the adjustment control 1551 and the operating body 1510. The positioning element 15525 switches the axial limiting state and relative displacement state of the adjustment control 1551 and the operating body 1510. The positioning element 15525 can be provided on one of the adjustment control 1551 and the operating body 1510 or simultaneously on both. The positioning element 15525 can be an independent component connected to the adjustment control 1551 and / or the operating body 1510, or it can be part of the structure of the adjustment control 1551 and / or the operating body 1510 itself. The positioning element 15525 includes a movably connected fastening portion 15525A and a pressing portion 15525B. The fastening portion 15525A can press or release the pressing portion 15525B (e.g., by rotating / sliding the fastening portion 15525A to press down and press). Part 15525B (lifting and loosening the clamping part 15525B), when the fastening part 15525A presses against the clamping part 15525B, the clamping component can press against the operating body 1510, and the adjusting control 1551 and the operating body 1510 enter a limited state. When the fastening part 15525A releases the clamping part 15525B, the clamping component can release the operating body 1510, and the adjusting control 1551 or the deflection movable part 15211 and the operating body 1510 enter a state where they can be relatively displaced. In some embodiments, the positioning member 15525 is provided on the adjusting control 1551. The above-mentioned circumferential rotation structure is provided between the positioning member 15525 and the operating body 1510. The positioning member 15525 presses against the operating body 1510, restricting the axial relative displacement of the adjusting control 1551 and the operating body 1510, but not restricting the circumferential relative rotation of the adjusting control 1551 and the operating body 1510.

[0157] like Figures 12-19A As shown, in some embodiments, the deflection transmission structure is a switching transmission structure, which includes a first switching part and a second switching part. The adjustment control 1551 switches between the engagement state and the disengagement state of the first switching part and the second switching part. The engagement state is a state in which the deflection movable part 15211 and the operating body 1510 are relatively limited, and the disengagement state is a state in which the deflection movable part 15211 and the operating body 1510 are relatively movable. The first switching part is disposed on one of the deflection movable part 15211 and the operating body 1510, and the second switching part is disposed on the other.

[0158] In some embodiments, the first switching part is a switching groove 1553, the second switching part is a switching block 1554, and the adjustment control 1551 is a lever 1557, which is rotatably or slidably connected to the deflection movable part 15211 or to the operation body 1510. The rotation or sliding action of the lever 1557 drives the switching groove 1553 or the switching block 1554 to rotate or slide.

[0159] In some embodiments, the lever 1557 and the switching block 1554 are rotatably or slidably connected to the deflection movable part 15211 or the operating body 1510. When the lever 1557 rotates or slides, it abuts against and drives the switching block 1554 to rotate or slide. At this time, the switching block 1554 and the switching groove 1553 enter a separated state.

[0160] In some embodiments, a switching block 1554 is rotatably or slidably connected to the lever 1557 in two directions of rotation or sliding, respectively; when the lever 1557 rotates or slides in one direction, the switching block 1554 on the other side is separated from the switching groove 1553, and the switching block 1554 on the same side is at most in movable contact with the switching groove 1553.

[0161] In some embodiments, the switching groove 1553 is a rack, and the end of the switching block 1554 is provided with a guide slope 15541. The guide slope 15541 engages with or separates from the rack, and the guide slope 15541 of the switching block 1554 can guide the deflection movable part 15211 or the operating body 1510 in the direction of movement.

[0162] In some embodiments, the lever 1557 and the two switching blocks 1554 are rotatably mounted on the deflection movable part 15211. The two switching blocks 1554 are respectively located on the two rotation direction sides of the lever 1557. When the switching groove 1553 and the switching block 1554 are in an engaged state, the inclination directions of the two guide slopes 15541 corresponding to the two switching blocks 1554 are symmetrical.

[0163] In some embodiments, the switching block 1554 is connected to a switching elastic element 1558, and the elastic force of the switching elastic element 1558 tends to drive the switching block 1554 to engage the switching groove 1553, so as to facilitate entering the engagement state; in some embodiments, the switching elastic element 1558 is placed between the switching block 1554 and the deflection movable part 15211; in some embodiments, the elastic element is a spring.

[0164] In some embodiments, the deflection movable part 15211 is a frame 1559 rotatably equipped with a deflection roller B15221 B. The switching block 1554, lever 1557, and switching elastic member 1558 are connected to the frame 1559. The switching elastic member 1558 abuts against the switching block 1554, so that the switching block 1554 abuts against the lever 1557, which facilitates reset and locking and can maintain the engagement state of the switching block 1554 and the switching groove 1553. The deflection roller B15221 B adjusts the bending direction of the deflection part 1120.

[0165] like Figure 20 , Figure 20AAs shown, in some embodiments, the deflection transmission structure includes a deflection transmission part 1555, and a deflection traction member 1320 includes a connecting section 1321 and transmission sections 1322 located on both sides of the connecting section 1321. The deflection traction member 1320 is connected to the deflection transmission part 1555 through the connecting section 1321. The transmission sections 1322 on both sides pass through the deflection movable part 15211 and are connected to the flexible structure 1310. The deflection movable part 15211 is a displacement block 15553. The length of the deflection traction member 1320 is fixed, and the lengths of the two transmission sections 1322 are variable. The flexible structure 1310 has traction bending sides in two directions.

[0166] In some embodiments, the connecting segment 1321 is slidably connected to the deflection transmission part 1555, wherein one side of the transmission segment 1322 is a fixed transmission segment 1322A, which is limited and connected to the deflection movable part 15211 in the displacement direction by a second limiting member 1324, and the other side of the transmission segment 1322 is a movable transmission segment 1322B, which is slidably connected to the deflection movable part 15211 in the displacement direction. In some embodiments, the deflection transmission part 1555 is a pulley rotatably connected to the operating body 1510. The deflecting movable part 15211 drives the fixed transmission section 1322A to move, and the displacement of the fixed transmission section 1322A is transmitted through pulleys to drive the displacement of the movable transmission section 1322B. When the side of the bendable structure 1310 with the fixed transmission section 1322A is bent, the deflecting movable part 15211 drives a part of the fixed transmission section 1322A into the side of the bendable structure 1310 with the movable transmission section 1322B. The part of the fixed transmission section 1322A that has entered and the movable transmission section 1322B provide bending stroke for bending on the other side. Similarly, when the side of the bendable structure 1310 with the movable transmission section 1322B is bent, the deflecting movable part 15211 drives a part of the movable transmission section 1322B into the side of the bendable structure 1310 with the fixed transmission section 1322A. The part of the movable transmission section 1322B that has entered and the fixed transmission section 1322A provide bending stroke for bending on the other side.

[0167] In some embodiments, the deflecting movable part 15211 and / or the operating body 1510 are provided with a locking member 1556 for locking or unlocking the deflecting movable part 15211 and the operating body 1510, locking to maintain the bending direction and bending angle. In some embodiments, the deflecting movable part 15211 includes a locking member with a circumferential gap, the locking part is sleeved on the operating body 1510, and the locking member 1556 surrounds the locking part; the locking member 1556 locks or unlocks the deflecting movable part 15211 relative to the operating body 1510 by tightening or loosening the locking member.

[0168] In some embodiments, the deflection transmission part 1555 is a through hole rotatably connected to the operating body 1510, and the deflection traction member 1320 is slidably inserted therethrough.

[0169] In some embodiments, the connecting segment 1321 is fixedly connected to the deflection transmission part 1555, and the transmission segments 1322 on both sides are slidably connected to the deflection movable part 15211 in the displacement direction. At this time, the bending of the bendable structure can be adjusted simply by rotating the deflection transmission part 1555 itself.

[0170] like Figure 1 , Figures 3-5A , Figures 7-20A As shown, in some embodiments, the deflection control unit 1520 includes a deflection rotation control section 1522, which includes a deflection rotation part 15221. The deflection rotation part 15221 is connected to the deflection traction member 1320, which is at least partially connected to the flexible structure 1310. The deflection rotation part 15221 and the deflection traction member 1320 are relatively limited relative to each other at least in the circumferential direction of rotation. The rotation of the deflection rotation part 15221 sequentially drives the deflection traction member 1320 and the flexible structure. 1310 rotates to adjust the bending direction of the deflection part 1120; the range of rotation of the flexible structure 1310 can be 0° < M ≤ 360°, in some embodiments it can be 0° < M ≤ 180°, and in some embodiments it can be 0° < M ≤ 90°; in some embodiments, the deflection rotating part 15221 and the deflection movable part 15211 are connected to the same deflection traction member 1320; the connection of the deflection rotating part 15221 and the deflection movable part 15211 to the same deflection traction member 1320 embodies the integrated design of the conveying part and the operating part 1500. For example... Figure 4 , Figure 5 The deflecting rotating part 15221 shown is a deflecting roller A15221A, as shown. Figure 13 , Figure 14 The deflecting rotating part 15221 shown is a deflecting roller B15221B.

[0171] In some embodiments, the deflection rotating part 15221 and the deflection moving part 15211 are respectively connected to a deflection traction member 1320.

[0172] like Figure 1 , Figures 3-5A , Figures 7-20AAs shown, in some embodiments, the operation unit 1500 includes an appliance control unit 1530 disposed on the operation body 1510. The appliance control unit 1530 includes an appliance rotation control section 1531 and an appliance handling control section 1532. The appliance rotation control section 1531 and the appliance handling control section 1532 are connected to the end appliance 1400 by connecting to the same appliance traction member 1533. In some embodiments, the appliance rotation control section 1531 and the appliance handling control section 1532 are each connected to the end appliance 1400 by connecting to an appliance traction member 1533.

[0173] The appliance rotation control unit 1531 and the appliance traction member 1533 are relatively limited at least in the circumferential direction of the rotation direction. Rotation of the appliance rotation control unit 1531 sequentially drives the appliance traction member 1533 and the end appliance 1400 to rotate. In some embodiments, such as... Figure 4 As shown, the appliance rotation control part 1531 is the appliance roller A15311, the appliance traction member 1533 is the traction wire, and the appliance roller A15311 is connected to the appliance traction member 1533.

[0174] In some embodiments, such as Figure 13 , Figure 13A As shown, the appliance rotation control part 1531 is an appliance slip ring B15313 slidably mounted on the operating body 1510, and the appliance traction member 1533 is a traction wire. The appliance slip ring B15313 is connected to the appliance traction member 1533. Both the appliance slip ring B15313 and the appliance traction member 1533 are limited in both the axial and circumferential directions. A rotation structure is provided between the operating body 1510 and the sheath 1100 to allow both of them to rotate. The rotation structure can refer to the structure of the aforementioned rotation mechanism 1200, or at least the principle is the same. Rotating the appliance slip ring B15313 and / or the operating body 1510 causes the appliance traction member 1533 and the end appliance 1400 to rotate together.

[0175] The appliance handling control unit 1532 is slidably mounted on the operating body 1510. The appliance handling control unit 1532 is connected to the end appliance 1400 via a connecting appliance traction member 1533. The appliance handling control unit 1532 and the appliance traction member are at least relatively limited in the displacement direction and rotate relative to each other in the circumferential direction. The displacement of the appliance handling control unit 1532 sequentially drives the displacement of the appliance traction member 1533 and the handling of the end appliance 1400. In some embodiments, such as... Figure 13As shown, the instrument handling control section 1532 is an instrument slip ring B15313 slidably disposed on the operating body 1510. A finger ring 1523 is connected to the proximal end of the operating body 1510. The instrument slip ring B15313 slides on the operating body 1510, sequentially driving the displacement of the instrument traction member 1533 and the handling of the end instrument 1400 (e.g., opening and closing of pliers, extension and retraction of knives, etc.). In some embodiments, such as Figure 5 As shown, the appliance handling control section 1532 is an appliance slip ring A15312 that is slidably disposed on the operating body 1510.

[0176] Another embodiment of this utility model provides an operation unit 1500, the structure of which includes at least all the structures of the operation unit 1500 in the foregoing embodiments. (Refer to...) Figures 1-29 The operation unit 1500 includes an operation body 1510 and a deflection control unit 1520 disposed on the operation body 1510. The deflection control unit 1520 includes a deflection bending control part 1521. The deflection bending control part 1521 includes a deflection movable part 15211, which is used to connect to the deflection traction member 1320.

[0177] When the deflection movable part 15211 is connected to the deflection traction member 1320, the deflection movable part 15211 and the deflection traction member 1320 are relatively limited in the direction of movement at least; the movement of the deflection movable part 15211 can sequentially drive the deflection traction member 1320 to move, and the sheath tube 1100 connected to the deflection traction member 1320 to bend or reset.

[0178] A control unit is provided between the deflection movable part 15211 and the operating body 1510 to enable relative movement or relative limitation between the two. The control unit includes a control tool 1551 and a deflection transmission structure disposed between the control tool 1551 and the deflection movable part 15211.

[0179] The deflection transmission structure is a threaded transmission structure 1552, and the rotation of the adjusting control 1551 drives the deflection movable part 15211 to move; or, the deflection transmission structure is a switching transmission structure, which includes a first switching part and a second switching part, and the adjusting control 1551 switches the engagement state and disengagement state between the first switching part and the second switching part; the first switching part is set on one of the deflection movable part 15211 and the operating body 1510, and the second switching part is set on the other; or, the deflection transmission structure includes a deflection transmission part 1555, and the deflection traction member 1320 includes a connecting section 1321 and transmission sections 1322 located on both sides of the connecting section 1321. The deflection transmission part 1555 is used to connect the connecting section 1321, and the deflection movable part 15211 is used to pass through the transmission sections 1322 on both sides. After passing through the deflection movable part 15211, the transmission sections 1322 on both sides are connected to the flexible structure 1310 of the sheath tube 1100.

[0180] The first switching part is the switching slot 1553, and the second switching part is the switching block 1554. The control unit 1551 is rotatably or slidably connected to the deflection movable part 15211 or to the operating body 1510. The rotation or sliding action of the control unit 1551 drives the switching slot 1553 or the switching block 1554 to rotate or slide.

[0181] The control panel 1551 is rotatably or slidably connected to a switching block 1554 in each of the two directions of rotation or sliding; when the control panel 1551 rotates or slides in one direction, the switching block 1554 on the other side separates from the switching groove 1553, and the switching block 1554 on the same side and the switching groove 1553 are at most in movable contact.

[0182] The deflection transmission part 1555 is slidably connected to the connecting section 1321, or the deflection transmission part 1555 is fixedly connected to the connecting section 1321. When the deflection transmission part 1555 is slidably connected to the connecting section 1321, one side of the transmission section 1322 is connected to the deflection movable part 15211 at the upper limit in the displacement direction, and the other side of the transmission section 1322 is slidably connected to the deflection movable part 15211 in the displacement direction. When the deflection transmission part 1555 is fixedly connected to the connecting section 1321, the transmission sections 1322 on both sides are slidably connected to the deflection movable part 15211 in the displacement direction.

[0183] A locking element 1556 is provided on the deflecting movable part 15211 and / or the operating body 1510 for locking or unlocking the deflecting movable part 15211 and the operating body 1510.

[0184] The deflection control unit 1520 includes a deflection rotation control section 1522, which includes a deflection rotation part 15221 for connecting to the deflection traction member 1320. When the deflection rotation part 15221 is connected to the deflection traction member 1320, the deflection rotation part 15221 and the deflection traction member 1320 are relatively limited relative to each other at least in the circumferential direction of rotation. The rotation of the deflection rotation part 15221 can sequentially drive the deflection traction member 1320 and the sheath 1100 part connected to the deflection traction member 1320 to rotate. The deflection rotation part 15221 and the deflection movable part 15211 can be connected to a deflection traction member 1320 respectively, or the deflection rotation part 15221 and the deflection movable part 15211 can be connected to the same deflection traction member 1320.

[0185] The operation unit 1500 includes an appliance control unit 1530 disposed on the operation body 1510. The appliance control unit 1530 includes an appliance rotation control part 1531 and an appliance handling control part 1532. The appliance rotation control part 1531 and the appliance handling control part can be connected to the end appliance 1400 by connecting to an appliance traction member, or the appliance rotation control part 1531 and the appliance handling control part 1532 can be connected to the end appliance 1400 by connecting to the same appliance traction member.

[0186] The operation unit 1500 includes a forward / backward control unit 1540 disposed on the operation body 1510, the forward / backward control unit 1540 controlling the displacement of the instrument 1000 relative to an external device.

[0187] A method of operating an instrument, such as Figures 3-11A Or such as Figures 12-19A or Figures 20-20A The operation method is based on the aforementioned instrument, enabling the end-effector 1400 to acquire the target object 5000. This embodiment takes the gripper grasping a foreign object as an example, including:

[0188] S1: Initial state, the end effector 1400 approaches the target object 5000, driving the end effector 1400 to enter the preprocessing state;

[0189] S2: Drive the deflection unit 1120 to rotate to the target direction;

[0190] S3: Drive the deflector 1120 to bend to the target angle;

[0191] S4: Drive the end device 1400 into a closed or extended processing state to process the target object 5000;

[0192] S5: Drive the deflection unit 1120 back to its initial state.

[0193] An intermediate step exists between S3 and S4: the drive device rotation control unit 1531 controls the end device 1400 to rotate to the target direction. At this time, the device traction member 1533 contacts the inner wall of the sheath 1100, creating friction and entering a self-locking state, thus locking the rotation direction of the end device 1400. For example... Figure 9 As shown, the instrument rotation control part 1531 is an instrument roller A15311. Rotating the instrument roller A15311 causes the instrument traction member 1533 and the gripper head (end instrument 1400) to rotate to a direction that makes it easy to grip the foreign object (target object 5000).

[0194] In some embodiments, the following steps are based on the aforementioned operating method, wherein the deflection drive structure adopts a threaded drive structure 1552, such as... Figures 3-11A As shown, where:

[0195] Before S1, before the gripper head (end device 1400) approaches the foreign object (target object 5000), the deflection and bending control part 1521 can be displaced as a whole. At this time, the fastening part 15525A is in the state of lifting and releasing the clamping part 15525B, thus solving the problem of empty stroke.

[0196] In S1, the drive device processing control unit 1532 controls the end effector 1400 to enter the pre-processing state, that is, the gripper head (end effector 1400) is in the open state. In other embodiments, this could be a blade extending, such as... Figure 3 As shown;

[0197] In S2, the drive deflection rotation control unit 1522 controls the deflection part 1120 to rotate to the target direction. At this time, the deflection traction member 1320 contacts the inner wall of the sheath 1100, and friction exists between them, so they enter a self-locking state, locking the rotation direction of the deflection part 1120; Figure 7 As shown, the deflection and rotation control unit 1522 includes a deflection roller A15221A. Rotating the deflection roller A15221A causes the deflection unit 1120 to rotate toward the foreign object (target object 5000).

[0198] In S3, the drive deflection bending control section 1521 controls the deflection section 1120 to bend to the target angle, and enters a locked state through a positioning member 15525, locking the bending angle of the deflection section 1120, and keeping the bending angle stable; as Figure 8 , 8A As shown, pressing down the fastening part 15525A will clamp the pressing part 15525B to the operating body 1510. After the pressing part 15525B is clamped, it will restrict the axial movement of the threaded sleeve 15523 and allow it to rotate only. Rotating the threaded sleeve 15523 will cause the bolt 15524 to be pulled and deflected by the traction member 1320 towards the proximal end, causing the deflection part 1120 to bend towards the foreign object (target object 5000).

[0199] In S4, the drive device processing control unit 1532 controls the end effector 1400 to enter the processing state. The processing state varies depending on the end effector 1400, including but not limited to clamping the target object 5000 with its jaws closed, and extending or retracting the cutter to process the target object 5000. In this embodiment, it is clamping the target object 5000 with its jaws closed. Figure 10 As shown, the slip ring A15312 of the instrument moves away from the deflection part 1120, causing the gripper head (end device 1400) to close and grip the foreign object (target object 5000).

[0200] In S5, the drive deflection bending control section 1521 controls the deflection section 1120 to return to its initial state, which includes restoring the deflection section 1120 to a horizontal or near-horizontal state. For example... Figure 11 As shown, opposite to the rotation direction of the S3 threaded sleeve 15523, the bolt 15524 is displaced toward the distal end, causing the deflection traction member 1320 to move toward the distal end, and the deflection part 1120 to return to a horizontal or near-horizontal state; where horizontal means that the deflection part 1120 is in an unbent state, and near-horizontal means that the deflection part 1120 has a certain bending angle, and the range of the angle X between the deflection part 1120 and the sheath body part 1110 is: 150° < X < 180°.

[0201] In some embodiments, the following steps are also based on the aforementioned operating method, and the deflection transmission structure of the operating unit 1500 adopts a switching transmission structure, such as... Figures 12-19A ,in:

[0202] In S1, such as Figure 14 As shown, in the initial state, the jaws (end-end tool 1400) enter a pre-processing state, i.e., the jaws are open, or in some embodiments, the blade is extended or retracted; simultaneously, the lever 1557 is rotated to one side, causing the switching block 1554 on the other side to separate from the switching slot 1553.

[0203] In S2, such as Figure 15 As shown, rotating the deflection roller B 15221B will rotate the deflection part 1120 toward the foreign object 500, that is, the deflection part 1120 will rotate to the target direction;

[0204] In S3, such as Figure 16As shown, the frame 1559 is displaced toward the side away from the deflection part 1120, causing the deflection part 1120 to bend to the position of the foreign object 500. During the displacement of the frame 1559, the switching block 1554 will follow the displacement. Blocked by the switching groove 1553, the switching block 1554 will rotate toward the side facing the deflection part 1120. At the same time, it will be resisted by the elastic force of the switching elastic member 1558, so that the switching block 1554 and the switching groove 1553 are always in close contact. When the deflection part 1120 bends to the position of the foreign object, the frame 1559 stops displacing. The frame 1559 has a tendency to displace in the direction of the deflection part 1120. The deflection part 1120 has a tendency to return to a horizontal state or a near-horizontal state. However, the switching block 1554 will engage with the switching groove 1553, preventing the frame 1559 from moving in the direction of the deflection part 1120.

[0205] In S4, such as Figure 17 As shown, rotate the operating body 1510 and the tool slip ring B15313 to rotate the pliers head 110 to a direction that makes it easy to grasp the foreign object 500.

[0206] In S5, such as Figure 18 As shown, the slip ring B15313 of the instrument moves away from the deflection part 1120, causing the clamp head 110 to close and grasp the foreign object 500.

[0207] S6, as shown Figure 19 As shown, when the lever 1557 is rotated to a direction away from the deflection part 1120, the switching block 1554 will separate from the switching slot 1553, and the frame 1559 will move toward the direction of the deflection part 1120, so that the deflection part 1120 returns to a horizontal or near-horizontal state.

[0208] In some embodiments, the following steps are also based on the aforementioned operating method, and when the deflection transmission structure of the operating unit 1500 includes the deflection transmission unit 1555, see [reference needed]. Figures 20-20A ,in:

[0209] In S1, in the initial state, the drive device processing control section causes the end device 1400 to enter the preprocessing state;

[0210] In S2 and S3, the drive deflection movable part 15211 controls the displacement of the deflection traction member 1320, while the deflection traction member 1320 slides relative to the deflection transmission part 1555, and the deflection part 1120 rotates to the target direction and bends to the target angle and locks; or, the drive deflection transmission part 1555 rotates to drive the deflection traction member 1320 to move, and the deflection part 1120 rotates to the target direction and bends to the target angle and locks.

[0211] Between S3 and S4, rotate the tool roller B15315 to rotate the end tool 1400 to the direction of the target object.

[0212] In S4, the drive device processing control part device slip ring C15314 pulls the device traction member in a direction away from the end device 1400, so that the end device 1400 closes or extends to process the target object.

[0213] In S5, the deflection moving part 15211 is unlocked and driven to control the deflection traction member 1320 to reset. At the same time, the deflection traction member 1320 slides in the opposite direction relative to the deflection transmission part 1555, and the deflection part 1120 returns to its initial state or close to its initial state; or, the deflection transmission part 1555 is unlocked and driven to rotate in the opposite direction to drive the deflection traction member 1320 to move, and the deflection part 1120 returns to its initial state or close to its initial state.

[0214] An auxiliary device, such as Figure 21-29 , Figures 2G-2J As shown, the device includes a connecting mechanism 2000 and an instrument 1000. The connecting mechanism 2000 includes an instrument connecting part 2100 and an external connecting part 2200. The instrument connecting part 2100 connects to the instrument, and the external connecting part 2200 is used to connect to an external device 3000. The instrument and the external device 3000 are connected through the connecting mechanism 2000. The deflection part 1120 of the instrument, which is located at least outside the connecting mechanism 2000, is bendable and / or rotatable.

[0215] In some applications, such as endoscopic mucosal dissection, it is necessary to continuously and effectively lift the tissue to facilitate cutting with a scalpel. Since the tissue needs to be lifted dynamically in real time and the amount of tissue being lifted is relatively large, instruments with deflection parts 1120 are used for tissue lifting, providing relatively objective control over tissue tension, real-time lifting, and the lifting range. In some embodiments, the instrument 1000 is a grasping forceps, clamp, hook knife, etc.

[0216] In some embodiments, the external device 3000 is an endoscope, and the external connection part 2200 includes a socket 2210, the insertion part of the endoscope is connected to the socket 2210 of the external connection part 2200.

[0217] In some embodiments, the instrument connection portion 2100 includes a guide 2110, which is slidably connected to the instrument 1000; in some embodiments, the guide 2110 is slidably connected to the external connection portion 2200; in some embodiments, the guide 2110 is slidably connected to the external device 3000.

[0218] In some embodiments, the device connection portion 2100 includes a guide 2110, which is slidably connected to the device 1000. The guide 2110 includes a distal guide portion 2111 located at the distal end and a guide channel portion 2112 extending from the distal guide portion 2111 along the insertion portion to the proximal end of the device 1000. The device 1000 is slidably disposed in the distal guide portion 2111 and the guide channel portion 2112, wherein the distal guide portion 2111 is connected to the sleeve 2210.

[0219] In some embodiments, the instrument connection portion 2100 further includes an auxiliary connection portion for connecting the guide channel portion 2112 and the insertion portion. The auxiliary connection portion includes, but is not limited to, straps, tapes, magnetic components, snap fasteners, sliders, adhesive materials, etc.

[0220] In some embodiments, the distal end of the external connection portion 2200 is located on the distal side relative to the distal end of the connection portion 2100 of the device 1000; a larger deflection space S1 is provided at the distal end of the connection mechanism 2000 for the deflection portion 1120.

[0221] In some embodiments, the bendable structure 1310 of the deflection section 1120 is continuously constructed with a plurality of second minimum bending groups, and the deflection traction member 1320 of the deflection section 1120 includes two oppositely arranged members. The deflection section 1120 has a traction bending side in two opposite directions and an adaptive bending side in two other opposite directions.

[0222] The auxiliary device includes an operation unit 1500, which uses the structure of the operation unit 1500 in the aforementioned instrument embodiment.

[0223] In some embodiments, the deflection transmission structure of the operating unit 1500 relates to the aforementioned structure of the deflection transmission unit 1555. The deflection traction member 1320 includes a connecting section 1321 and transmission sections 1322 located on both sides of the connecting section 1321. The deflection traction member 1320 is connected to the deflection transmission unit 1555 via the connecting section 1321. The transmission sections 1322 on both sides pass through the deflection movable part 15211 and are connected to the flexible structure 1310. The length of the deflection traction member 1320 is fixed, while the lengths of the two transmission sections 1322 are variable. The flexible structure 1310 has traction bending sides in two directions. The moving direction of the deflection movable part 15211 determines the bending direction of the deflection part 1120, and the displacement stroke of the deflection movable part 15211 determines the bending angle. The connecting section 1321 is slidably connected to the deflection transmission part 1555. One side of the transmission section 1322 is a fixed transmission section 1322A, which is limited and connected to the deflection movable part 15211 in the displacement direction by a second limiting member 1324. The other side of the transmission section 1322 is a moving transmission section 1322B, which is slidably connected to the deflection movable part 15211 in the displacement direction. In some embodiments, the deflection movable part 15211 is a pulley rotatably connected to the operating body 1510. In some embodiments, the deflection movable part 15211 is a through hole rotatably connected to the operating body 1510. In some embodiments, the deflection movable part 15211 is a hand-operated wheel rotatably connected to the operating body 1510.

[0224] In some embodiments, the deflecting movable part 15211 is provided with a locking member 1556 for locking or unlocking the deflecting movable part 15211 and the operating body 1510, and locking to maintain the bending direction and bending angle.

[0225] In some embodiments, the deflecting movable part 15211 and the locking member 1556 are threadedly connected. In the initial state, the deflecting movable part 15211 and the locking member 1556 are not threadedly connected. Moving the deflecting movable part 15211 can drive the deflection traction member 1320 to move, driving the bending direction and bending angle of the deflecting part 1120. After obtaining an appropriate bending angle, the locking member 1556 is rotated. During the tightening process, the pressing surface of the locking member 1556 will gradually press against the protrusion on the deflecting movable part 15211, so that the deflecting movable part 15211 and the operating body 1510 are tightly locked, locking the bending direction and bending angle of the deflecting part 1120.

[0226] The appliance control unit 1530 includes an operating body 1510, an appliance rotation control part 1531, a locking member 15321, an appliance handling control part 1532, an appliance slip ring C15314, and a first electrode holder 1560. The appliance rotation control part 1531 is connected to the appliance traction member 1533, and the two are circumferentially limited and axially displaceable relative to each other to control the rotation of the end appliance 1400. The first electrode holder 1560 is fixed to the appliance handling control part 1532. A fixed connection is established, with the first electrode holder 1560 connected to the instrument traction member 1533. Both are axially limited and circumferentially rotatable, used to control the opening and closing of the end instrument 1400, such as the pliers head. A locking member 15321 is rotatably connected to the instrument processing control section 1532. The locking member 15321 can be raised and lowered. Lowering the locking member 15321 fixes the instrument processing control section 1532 to the operating body 1510, thereby locking the end instrument 1400, such as the pliers head, into a closed state. In some embodiments, the instrument rotation control section 1531 includes an instrument roller B15315. In some embodiments, the instrument processing control section 1532 includes an instrument slip ring C15314.

[0227] In some embodiments, the end device 1400 and the sheath 1100 can rotate relative to each other, and the rotation of the end device 1400 can be controlled to adjust the bending direction. The specific design of the rotation structure is detailed above.

[0228] In some embodiments, the end device 1400 is fixedly connected to the sheath 1100.

[0229] In some embodiments, the operating unit 1500 further includes a forward / backward control unit 1540 disposed on the operating body 1510, the forward / backward control unit 1540 controlling the displacement of the instrument relative to the external device 3000. The forward / backward control unit 1540 includes a forward / backward displacement section 1541, the forward / backward displacement section 1541 being relatively limited relative to the sheath 1100 at least in the displacement direction, and the operating body 1510 being relatively limited relative to the guide channel section 2112 of the instrument connection section 2100 at least in the displacement direction; an adjustment section is provided between the forward / backward displacement section 1541 and the operating body 1510 to displace the two relative to each other, the adjustment section including an adjustment member 15421 and a forward / backward transmission structure 15422 disposed between the adjustment member 15421 and the forward / backward displacement section 1541.

[0230] In some embodiments, the forward and backward transmission structure 15422 includes a first engagement portion 15422A and a second engagement portion 15422B, and an adjusting member 15421 switches the engagement or disengagement states of the first engagement portion 15422A and the second engagement portion 15422B; the first engagement portion 15422A is disposed on the forward and backward displacement portion 1541, and the second engagement portion 15422B is disposed on the operating body 1510.

[0231] In some embodiments, the first engagement portion 15422A is an engagement groove (e.g., a rack and pinion structure), and the second engagement portion 15422B is an engagement block (e.g., a toothed structure). The adjusting member 15421 is pivotally connected to the operating body 1510. The rotation of the adjusting member 15421 causes the engagement block to rotate, adjusting the engagement or disengagement state of the engagement block and the engagement groove. In some embodiments, the engagement block is connected to an engagement elastic member 1543, such as a spring. The elastic force of the engagement elastic member 1543 tends to drive the engagement block to engage the engagement groove. In the initial state, the engagement elastic member 1543 abuts and lifts the adjusting member 15421, and the engagement block engages with the engagement groove, limiting the displacement of the advance and retraction displacement portion 1541. When the adjusting member 15421 is pressed down, the engagement block separates from the engagement groove, and the advance and retraction displacement portion 1541 can slide within the operating body 1510 to control the displacement of the instrument.

[0232] In some embodiments, the operating body 1510 is provided with a displacement range S2, and the forward and backward displacement part 1541 is placed in the displacement range S2, which limits the displacement range S2 of the forward and backward displacement part 1541, that is, limits the length of the instrument extendable guide 2110 and the reset length.

[0233] like Figure 22 As shown, in some embodiments, the instrument 1000 is configured as a first electrode, and the second instrument 3100 connected to the external device 3000 can be configured as a second electrode, forming a bipolar structure. The end fitting 1400 of the instrument 1000 is connected to the power supply 4000 via a traction member 1533 and a first electrode holder 1560, and the distal end of the second instrument 3100 is connected to the power supply 4000 via a treatment traction member (not shown) and a second electrode holder (not shown). In some embodiments, the instrument 1000 is a grasping forceps used to lift the target object 5000 (tissue), and the second instrument 3100 is a high-frequency cutting knife used to cut and peel the target object 5000 (tissue). During the procedure, such as... Figure 22 , Figure 27A As shown, both instrument 1000 and second instrument 3100 are in contact with the tissue. When energized, instrument 1000, target object 5000 (tissue), second instrument 3100 and power supply 4000 form a current loop to achieve tissue stripping.

[0234] An operating method for an auxiliary device, such as Figure 21-29 As shown, the operating method is based on the aforementioned auxiliary device, which allows the instrument (such as a grasping forceps) to lift the target object 5000 (tissue) to cooperate with the operation of the second instrument 3100 (incision knife), including:

[0235] The initial state before S1, such as Figure 23 , 24As shown, the connecting mechanism 2000 is connected to the insertion part of the endoscope 3000 and enters the digestive tract. The cutting knife 3100 has cut part of the target object 5000. The jaws of the gripper 1000 are located no more than the distal end of the connecting mechanism 2000. The advance and retreat control unit 1540 is operated to make the jaws of the gripper 1000 above the target object 5000. The specific operation process is as follows: the adjusting member 15421 is pressed down and the gripper 1000 is pushed to move. The jaws of the gripper 1000 are located above the target object 5000. The sliding device slip ring C15314 is slid to open the jaws of the gripper 1000.

[0236] S1: Drive the end device 1400 until it approaches the target object 5000, and drive the end device 1400 to enter the preprocessing state;

[0237] S2: Drive the deflection unit 1120 to bend toward the target object 5000; specifically, drive the deflection control unit 1520 to bend the end device 1400 downwards or diagonally downwards until the end device 1400 is located on the distal side of the external device 3000 and / or the distal side of the second device 3100 (e.g., directly in front) and close to or in contact with the target object 5000, then drive the locking member 1556 of the operation unit 1500 to lock the bending direction and bending angle of the deflection unit 1120 at this time, such as... Figure 25 As shown, the upward sliding displacement block 15553 causes the deflection part 1120 to bend downward or diagonally downward until the jaws of the gripper 1000 approach or contact the tissue, and then the locking member 1556 is tightened to lock the bending direction of the deflection part 1120.

[0238] S3: Drive end device 1400 connects to target object 5000; in S3, such as Figure 26 As shown, the actuator moves the slip ring C15314 to close the jaws and grasp the tissue, and then presses down the locking element 15321 to lock the jaws of the gripper 1000 in the closed state.

[0239] S4: The deflection part 1120 is driven to bend in a direction away from the target object 5000 to pull the target object 5000; specifically, the locking member 1556 of the drive operation part 1500 releases the locking state of the deflection part 1120 bending downward or diagonally downward in S2, and the drive deflection bending control part 1521 causes the deflection part 1120 to bend upward or diagonally upward to lift the target object 5000 and maintain it lifted, and then the locking member 1556 of the drive operation part 1500 locks the bending direction and bending angle of the deflection part 1120 at this time, maintaining the taut state of the lifted target object 5000; Figure 27 , 27AAs shown, the locking member 1556 is rotated in the opposite direction to release the displacement block 15553, and the displacement block 15553 is slid downward to change the bending direction of the deflection part 1120 to bend upward and lift the tissue. The locking member 1556 is tightened again to lock the upward bending and lifting state.

[0240] S5: Drive the second instrument 3100 to cut the target object 5000, and simultaneously drive the deflection part 1120 to continue bending away from the direction of the target object 5000 to maintain tension; specifically, during the process of the second instrument 3100 continuing to cut the target object 5000, the locking member 1556 of the drive operation part 1500 releases the locking state of the bending of the deflection part 1120 in S4, and drives the deflection bending control part 1521 to make the deflection part 1120 continue to bend upward or diagonally upward to further lift the target object 5000 and keep it lifted, and then the locking member 1556 of the drive operation part 1500 locks the bending direction and bending angle of the deflection part 1120 at this time, and so on, to maintain the taut state of the lifted target object 5000; Figure 28 As shown, after the high-frequency cutting knife 3000 continues to cut the tissue, the locking member 1556 is rotated in the opposite direction to release the displacement block 15553. The displacement block 15553 is slid downward to make the deflection part 1120 continue to bend and lift the tissue upward. The locking member 1556 is tightened to lock the upward bending and lifting state.

[0241] S6: After the second instrument 3100 completes the cutting operation on the target object 5000, the drive deflection unit 1120 returns to its initial state, that is, the drive instrument returns to a horizontal or near-horizontal position. Then, the advance / retreat control unit 1540 is operated to control the instrument 1000 to retract, so that the distal end of the end device 1400 does not exceed the distal end of the connecting mechanism 2000 and / or the distal end of the external device 3000; specifically, as shown... Figure 29 As shown, after the tissue 5000 is completely cut off, the locking member 1556 is rotated in the opposite direction to release the displacement block 15553. The displacement block 15553 is slid upward to restore the deflection part 1120 to a straight or nearly straight state. Then the adjusting member 15421 is pressed down and the end device 1400 is pulled back to the far end position of the connecting mechanism 2000.

[0242] S7: The end-effector 1400 continuously grips the dissected tissue and withdraws the scope along with it.

[0243] like Figure 22 , Figure 27A As shown, both instrument 1000 and second instrument 3100 are in contact with the tissue. When energized, instrument 1000, target object 5000 (tissue), second instrument 3100 and power supply 4000 form a current loop to achieve tissue stripping.

[0244] It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects may be any one or a combination of the above, or any other possible beneficial effects.

[0245] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

[0246] Furthermore, this specification uses specific terms to describe embodiments thereof. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Moreover, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0247] Similarly, it should be noted that, in order to simplify the descriptions disclosed herein and thus aid in the understanding of one or more embodiments, the foregoing description of embodiments in this specification sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this method of disclosure does not imply that the subject matter of this specification requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0248] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this specification are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0249] Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative configurations of the embodiments described herein are intended to be illustrative rather than limiting, and should be considered consistent with the teachings of this specification. Accordingly, the embodiments described herein are not limited to those explicitly introduced and described herein.

Claims

1. An apparatus, comprising: The sheath tube comprises a sheath tube body part and a deflection part at the distal end region of the sheath tube; The deflection part is rotationally connected with the sheath tube body part by a rotation mechanism, and the end part appliance rotates with the deflection part; The deflection part comprises a bending mechanism, the bending mechanism comprises a bendable structure, the deflection part is bent by the bending mechanism, and the end part appliance follows the bending direction of the deflection part to point to a target direction.

2. The apparatus of claim 1, wherein The bendable structure comprises a plurality of bending units, and at least two adjacent bending units form a first minimum bending group; Adjacent bending units are rotationally connected by a bending connecting part, adjacent bending units have a bending space, and the bending connecting part and the bending space are linked when adjacent bending units bend; The bending mechanism comprises at least one deflection traction member for rotating or / and bending the bendable structure.

3. The apparatus of claim 2, wherein, The bending connecting part is located on at least two side parts of the plurality of bending units in the axial direction, the bending space is located on at least another two side parts of the plurality of bending units in the axial direction, and the side part provided with the bending connecting part is adjacent to the side part provided with the bending space.

4. The apparatus of claim 2, wherein, The first minimum bending group rotationally connects at least one bending unit through the bending connecting part, three bending units form a second minimum bending group, and a plurality of bending connecting parts and a plurality of bending spaces are alternately arranged on the same side part of the plurality of bending units in the axial direction; a plurality of bending units are composed of at least one second minimum bending group.

5. The apparatus of claim 4, wherein, The bending connecting part is located on four side parts of the plurality of bending units in the axial direction, and the bending space is located on the same four side parts of the plurality of bending units in the axial direction; the four side parts are uniformly distributed.

6. The apparatus of claim 1, wherein The rotation mechanism comprises a first rotation part and a second rotation part rotationally connected; the first rotation part is located on one of the deflection part and the sheath tube body part, and the second rotation part is located on the other.

7. The apparatus of claim 1 wherein, The end part appliance proximal end is rotationally connected with the sheath tube distal end through an appliance rotation part, or / and the end part appliance outer surface is provided with a spiral protrusion.

8. The apparatus of claim 1, wherein The operation part comprises an operation body and a deflection control unit placed on the operation body, the deflection control unit comprises a deflection bending control part; the deflection bending control part comprises a deflection moving part, the deflection moving part is connected with a deflection traction member, and the deflection traction member is at least partially connected with the bendable structure.

9. The apparatus of claim 8, wherein, The deflection moving part and the deflection traction member are relatively limited in the moving direction; the deflection moving part drives the deflection traction member to displace, and the deflection traction member drives the bendable structure to bend or reset.

10. The apparatus of claim 8, wherein The deflection moving part and the operation body are provided with a regulation part for relatively moving or relatively limiting the deflection moving part and the operation body, the regulation part comprises a regulation member and a deflection transmission structure arranged between the regulation member and the deflection moving part.

11. The instrument of claim 10, The deflection transmission structure is a threaded transmission structure, and rotation of the control member drives displacement of the deflection movable part; or, The deflection transmission structure is a switching transmission structure, and the switching transmission structure comprises a first switching part and a second switching part, the control member switches the engagement state and the separation state between the first switching part and the second switching part, the first switching part is arranged on one of the deflection movable part and the operation body, and the second switching part is arranged on the other; or, The deflection transmission structure comprises a deflection transmission part, the deflection traction member comprises a connecting segment and transmission segments on both sides of the connecting segment, the deflection traction member is connected to the deflection transmission part through the connecting segment, and the transmission segments on both sides are connected to the bendable structure after penetrating the deflection movable part.

12. The apparatus of claim 11, wherein, The first switching part is a switching groove, the second switching part is a switching block, the control member is rotationally or slidingly connected between the deflection movable part or between the operation body, and rotation or sliding action of the control member drives rotation or sliding action of the switching groove or the switching block.

13. The apparatus of claim 12, wherein, The control member is rotationally or slidingly connected to a switching block in two directions of rotation or sliding respectively; When the control member rotates or slides in one of the directions, the switching block on the other side is separated from the switching groove, and the switching blocks on the same side are at most movably in contact with the switching groove.

14. The apparatus of claim 11, wherein, The connecting segment is slidingly connected to the deflection transmission part, or the connecting segment is fixedly connected to the deflection transmission part; When the connecting segment is slidingly connected to the deflection transmission part, one side of the transmission segment is limitingly connected to the deflection movable part in the displacement direction, and the other side of the transmission segment is slidingly connected to the deflection movable part in the displacement direction; When the connecting segment is fixedly connected to the deflection transmission part, the transmission segments on both sides are slidingly connected to the deflection movable part in the displacement direction.

15. The apparatus of claim 8 or 11 or 14, wherein, Locking members are arranged on the deflection movable part and / or the operation body to lock or unlock the deflection movable part and the operation body.

16. The apparatus of claim 8, wherein The deflection control unit comprises a deflection rotation control part, the deflection rotation control part comprises a deflection rotation part, the deflection rotation part is connected to a deflection traction member, and the deflection traction member is at least partially connected to the bendable structure; The deflection rotation part and the deflection traction member are relatively limited in the circumferential direction of the rotation direction, and rotation of the deflection rotation part in turn drives rotation of the deflection traction member and the bendable structure; The deflection rotation part and the deflection movable part are respectively connected to a deflection traction member, or the deflection rotation part and the deflection movable part are connected to the same deflection traction member.

17. The apparatus of claim 1 wherein, The operation part comprises an operation body and a tool control unit arranged on the operation body, the tool control unit comprises a tool rotation control part and a tool processing control part; The instrument rotation control part and the instrument treatment control part are connected to the end instrument through a same instrument traction member.

18. The apparatus of claim 17, wherein, The operation part includes a forward and backward control unit arranged on the operation body, and the forward and backward control unit controls displacement of the instrument relative to the external device.

19. An auxiliary device, characterized in that The instrument includes a connection mechanism and the instrument of any one of claims 1-18, the connection mechanism includes an instrument connection part and an external connection part, the instrument connection part is connected to the instrument, and the external connection part is used to connect an external device; at least the deflection part of the instrument located outside the connection mechanism is bendable or / and rotatable.

20. The supplemental device of claim 19, wherein, The instrument connection part includes a guide member, the guide member is in sliding connection with the instrument, or / and the guide member is in sliding connection with the external connection part, or / and the guide member is in sliding connection with the external device.

21. The supplemental device of claim 19, wherein, A distal end of the external connection part is located on a distal end side relative to a distal end of the instrument connection part.

22. The supplemental device of claim 19, wherein, The operation part includes a forward and backward control unit arranged on the operation body, and the forward and backward control unit controls displacement of the instrument relative to the external device.

23. The supplemental device of claim 22, wherein, The forward and backward control unit includes a forward and backward displacement part, and the forward and backward displacement part is limited relative to the sheath at least in a displacement direction; the operation body is limited relative to the connection mechanism or the external device at least in the displacement direction; An adjustment part between the forward and backward displacement part and the operation body allows relative displacement of the two; the adjustment part includes an adjustment member and a forward and backward transmission structure arranged between the adjustment member and the forward and backward displacement part.

24. The supplemental device of claim 23, wherein, The forward and backward transmission structure includes a first engagement part and a second engagement part, and the adjustment member switches engagement or separation states of the first engagement part and the second engagement part; the first engagement part is arranged on one of the forward and backward displacement part and the operation body, and the second engagement part is arranged on the other.

25. The supplemental device of claim 19, wherein, The instrument is configured as a first electrode, a second instrument connected to the external device is configured as a second electrode, and the instrument and the second instrument constitute a bipolar electrode; The end instrument of the instrument is connected to a power supply through an instrument traction member and a first electrode seat, and a distal end instrument of the second instrument is connected to the power supply through a treatment traction member and a second electrode seat.

26. An operating portion characterized by comprising: The operation part includes an operation body and a deflection control unit arranged on the operation body, the deflection control unit includes a deflection bending control part and a deflection rotation control part; the deflection bending control part includes a deflection active part used to connect a deflection traction member; and the deflection rotation control part includes a deflection rotation part used to connect a deflection traction member.

27. The operating portion according to claim 26, wherein When the deflection active part is connected to the deflection traction member, the deflection active part is limited relative to the deflection traction member at least in an active direction; and the deflection active part is active to sequentially drive the deflection traction member to be active, and a sheath part connected to the deflection traction member to be bent or reset.

28. The operating portion of claim 26, wherein, The deflection active part and the operation body are provided with a regulating part for relative movement or relative limiting of the deflection active part and the operation body, the regulating part comprises a regulating member and a deflection transmission structure arranged between the regulating member and the deflection active part.

29. The operation part of claim 28, wherein, The deflection transmission structure is a threaded transmission structure, and rotation of the regulating member drives displacement of the deflection active part; or, The deflection transmission structure is a switching transmission structure, the switching transmission structure comprises a first switching part and a second switching part, the regulating member switches the engagement state and the separation state between the first switching part and the second switching part, the first switching part is arranged on one of the deflection active part and the operation body, and the second switching part is arranged on the other one; or, The deflection transmission structure comprises a deflection transmission part, the deflection traction member comprises a connecting section and transmission sections arranged on both sides of the connecting section, the deflection transmission part is used to connect the connecting section, the deflection active part is used to pass through the transmission sections on both sides, and the transmission sections on both sides are connected with the flexible structure of the sheath after passing through the deflection active part.

30. The operating portion of claim 29, wherein, The first switching part is a switching groove, the second switching part is a switching block, the regulating member is rotationally or slidably connected with the deflection active part or the operation body, and rotation or sliding movement of the regulating member drives rotation or sliding movement of the switching groove or the switching block.

31. The operating portion of claim 30, wherein, The regulating member is rotationally or slidably connected with the switching block in two directions of rotation or sliding movement; When the regulating member rotates or slides in one direction, the switching block on the other side is separated from the switching groove, and the switching block on the same side is at most movably contacted with the switching groove.

32. The operating portion of claim 29, wherein, The deflection transmission part is slidably connected with the connecting section, or the deflection transmission part is fixedly connected with the connecting section; When the deflection transmission part is slidably connected with the connecting section, one side of the transmission section is limitingly connected with the deflection active part in the displacement direction, and the other side of the transmission section is slidably connected with the deflection active part in the displacement direction; When the deflection transmission part is fixedly connected with the connecting section, the transmission sections on both sides are slidably connected with the deflection active part in the displacement direction.

33. The operating portion according to claim 26 or 32, wherein The deflection active part and / or the operation body is provided with a locking member for locking or unlocking between the deflection active part and the operation body.

34. The operating portion of claim 26, wherein, The deflection rotating part is connected with the deflection traction member, the deflection rotating part and the deflection traction member are relatively limited at least in the circumferential direction of the rotating direction, and rotation of the deflection rotating part can sequentially drive rotation of the deflection traction member and the sheath connected with the deflection traction member; The deflection rotating part and the deflection active part can be respectively connected with the deflection traction member, or the deflection rotating part and the deflection active part can be connected with the same deflection traction member.

35. The operating portion of claim 26, wherein, The operation part further comprises a tool control unit arranged on the operation body, and the tool control unit comprises a tool rotating control part and a tool processing control part. The end tool can be connected to the tool rotation control portion and the tool processing control portion by connecting a tool pulling member, or the tool rotation control portion and the tool processing control portion can connect the end tool by connecting the same tool pulling member.

36. The operating portion of claim 26, wherein, The operation portion includes a forward / backward control unit disposed on the operation body, and the forward / backward control unit controls displacement of the instrument relative to an external device.

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