Angle adjusting mechanism and biopsy device

Abstract

The utility model relates to an angle adjusting mechanism and a biopsy device. The angle adjustment mechanism includes: a flexible tube; the first pipe comprises a first connecting part and a first pipe section, and the first connecting part is connected to the flexible pipe; the second pipe comprises a second connecting part and a second pipe section, the second pipe section is clamped to the first pipe section in the axial direction, the second pipe section is rotationally connected to the first pipe section, the rotating axis of the second pipe section is parallel to the axial direction, and the second connecting part is used for being connected with an end appliance; the control piece penetrates through the flexible pipe, the first pipe and the second pipe, the far end of the control piece is connected to the end appliance, and the control piece is used for driving the end appliance to deviate from the rotating axis relative to the second pipe. By means of the angle adjusting mechanism, the end appliance can rotate and laterally rotate in a combined mode.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an angle adjusting mechanism and a biopsy device. BACKGROUND

[0002] The disposable biopsy forceps are mainly used for medical devices under endoscopy. The disposable biopsy forceps are composed of a handle assembly, a sheath assembly and a forceps head assembly. The forceps head assembly is connected to the handle assembly through the sheath assembly. The forceps head assembly can include a cup seat and a forceps cup connected to each other in rotation. The sheath assembly transmits the power of the handle assembly to the forceps cup of the forceps head assembly to control the action of the forceps cup relative to the cup seat.

[0003] Since the sampling positions are various, it is expected that the posture of the forceps head assembly in space is more. One way is to add a tip and a tube tail. The tip is fixed to the sheath assembly. When assembling, the tube tail needs to be manually sleeved into the tip. Then the cup seat and the tube tail are fixed by welding. The flange of the tube tail can limit the axial displacement of the forceps head assembly and realize the function of circumferential rotation. Although this method can ensure the flexibility of rotation, the assembly process is relatively complex, the work efficiency is low, and the product cost is high.

[0004] Another way is to add a tube tail, an elastic pin and a spring end. The spring end is fixed to the sheath assembly. The elastic pin is manually buckled into the structure hole of the tube tail. However, since the elastic pin is small in size, it is inconvenient to install. The elastic pin is buckled into the structure of the spring end. The elastic pin is easy to deform, which will cause poor rotation function or skew of the forceps head. At the same time, the cost is high. The steel wire hook needs to pass through the inner hole of the elastic pin tube body. When the forceps cup is opened and closed, the steel wire hook will rub with the tail pipe body of the elastic pin, affecting the opening and closing flexibility of the forceps cup. The tail pipe body of the elastic pin swings when rotating, which scratches the inner wall of the spring hose, affecting the rotation flexibility of the forceps head assembly.

[0005] This makes it difficult to design and manufacture the rotating connection structure of the cup seat and the tip. Even if the forceps head assembly can rotate, the operation difficulty is still large for part of the sampling angle, and the time is long. Of course, this is not limited to biopsy forceps. Grasping forceps, electrocoagulation forceps and clamps also face such problems. Content of the utility model

[0006] Therefore, it is necessary to provide an angle adjusting mechanism and a biopsy device to solve at least one of the above problems.

[0007] In one aspect, the present application provides an angle adjustment mechanism for controlling an end instrument. The angle adjustment mechanism comprises: a flexible tube; a first tube comprising a first connecting portion and a first tube segment, the first connecting portion being connected to the flexible tube; a second tube comprising a second connecting portion and a second tube segment, the second tube segment being axially clamped to the first tube segment, the second tube segment being rotationally connected to the first tube segment, an axis of rotation of the second tube segment being parallel to the axial direction, the second connecting portion being configured to connect to the end instrument; and a control member being arranged through the flexible tube, the first tube and the second tube, a distal end of the control member being connected to the end instrument, the control member being configured to drive the end instrument to be offset relative to the second tube segment along the axis of rotation.

[0008] By operating the control member, the end instrument can realize a combined motion of rotation and side turning, and can adapt to different angle treatment requirements. The angle adjustment mechanism is flexible to use and can adapt to diversified operation requirements.

[0009] In some embodiments, the second tube segment comprises, from the distal end to the proximal end, a receiving tube segment, a gap tube segment and a clamping tooth; the first tube segment comprises an inner limiting ring, the inner limiting ring being axially limited between the receiving tube segment and the clamping tooth.

[0010] In some embodiments, the second tube segment is provided with a plurality of slits extending from the proximal end of the second tube segment towards the receiving tube segment.

[0011] In some embodiments, the slits extend into the receiving tube segment by an axial distance less than or equal to 0.3 mm.

[0012] In some embodiments, the second tube segment further comprises a transition tube segment, the gap tube segment being connected to the receiving tube segment through the transition tube segment; an inner diameter of the receiving tube segment is greater than an inner diameter of the gap tube segment, and an inner wall surface or / and an outer wall surface of the transition tube segment is a tapered surface.

[0013] In some embodiments, the second tube segment further comprises a buffer tube segment, the buffer tube segment being located on a side of the clamping tooth away from the receiving tube segment, and an axial dimension of the buffer tube segment is greater than or equal to 0.1 mm.

[0014] In some embodiments, an axial dimension of the gap tube segment ranges from 0.15 mm to 2 mm.

[0015] In some embodiments, the plurality of clamping teeth of the second tube segment comprises first and second clamping teeth that are diametrically opposite to each other along the second tube segment; an arc between two slits adjacent to the clamping tooth along the circumferential direction is less than π.

[0016] In some embodiments, the receiving tube segment, the gap tube segment and the clamping tooth are integrally formed.

[0017] In some embodiments, the first tube further comprises a stop protrusion, the stop protrusion being located between the first connecting portion and the first tube segment, and the stop protrusion being spaced apart from the second tube segment along the axial direction.

[0018] The structure of the second pipe section enables the second pipe section and the first pipe section to be easily snap-fitted, avoiding the use of small-size and complex-stress connecting pieces. The second pipe can be manufactured by stamping or other processes, simplifying the manufacturing process and ensuring the quality of batch manufacturing. The gap can ensure the snap-fitting action of the clamping teeth and also absorb certain stress; the size of the accommodating pipe section is larger, which can improve the structural strength of the gap pipe section and the clamping teeth. The shape of the second pipe section cooperates with the inner limiting ring to enable rotation and maintain stable connection during rotation. The inner limiting ring can flexibly rotate between the clamping teeth and the accommodating pipe section.

[0019] In some embodiments, an inner diameter of the passage in the flexible tube for passing the control piece is greater than an outer diameter of the control piece.

[0020] In some embodiments, the control piece includes at least two control wires, and there is a stroke difference between the at least two control wires when the flexible tube is in a flexible bending state.

[0021] In some embodiments, the control piece further includes a torque wire, and a proximal end of each control wire is connected to a distal end of the torque wire.

[0022] In some embodiments, a distance between the proximal end of the control wire and the distal end of the flexible tube is greater than or equal to 60 mm.

[0023] In some embodiments, a length of the control wire ranges between 500 mm and 1000 mm.

[0024] In some embodiments, the end instrument includes a biopsy forceps cup, a grasping forceps cup, an electrocoagulation forceps cup, or a clip.

[0025] In another aspect, the application provides a biopsy device, which includes: an end instrument including at least two forceps cups; and the aforementioned angle adjustment mechanism, the second connecting part and the control piece are connected to the forceps cups, and the control piece is used to control the forceps cups. Illustratively, the two forceps cups are rotationally connected to the second connecting part, and the two forceps cups have an open state and a clamping state; the distal ends of the two control wires of the control piece are connected to the corresponding forceps cups to control the rotation and lateral turning of the forceps cups.

[0026] The biopsy device of the application can realize the rotation and lateral turning of the end instrument, the posture of the end instrument in space is rich, and can adapt to the sampling requirements of lesions at different angles; the end instrument can be adjusted when sampling in the cavity, without repeatedly withdrawing the mirror to find the appropriate angle, having the beneficial effects of simple operation, high surgical efficiency, etc. In the process of controlling the rotation or lateral turning of the end instrument, the biopsy device has at least one of the beneficial effects of high action stability, accurate position, simple process, 360° rotation, etc. The biopsy device realizes process simplification.

[0027] In some embodiments, the biopsy device further comprises a first handle and a second handle, the first handle is rotationally connected to the proximal end of the flexible tube; the second handle is connected to the proximal end of the control member, and the second handle is slidingly connected to the first handle.

[0028] In another aspect, the present application provides a method for operating the aforementioned angle adjustment mechanism, the method comprising: rotating the control member to drive the end instrument and the second tube to rotate relative to the first tube; laterally turning the end instrument relative to the second tube; and controlling the end instrument to perform a working action through the control member.

[0029] The method for operating the angle adjustment mechanism of the present application can simply and effectively control the posture of the end instrument, and then perform a working action such as clamping at a desired angle. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 A structural schematic diagram of a biopsy device according to one or more embodiments;

[0031] Figure 2 A structural schematic diagram of a biopsy device according to one or more embodiments;

[0032] Figure 3 A structural schematic diagram of a biopsy device according to one or more embodiments;

[0033] Figure 4 A structural schematic diagram of a biopsy device in a use posture according to one or more embodiments;

[0034] Figure 5 A partial structural schematic diagram of an angle adjustment mechanism according to one or more embodiments;

[0035] Figure 6 A structural schematic diagram of a first tube according to one or more embodiments;

[0036] Figure 7 A structural schematic diagram of a second tube according to one or more embodiments;

[0037] Figure 8 A structural schematic diagram of a control member according to one or more embodiments;

[0038] Figure 9 A structural schematic diagram of a biopsy device according to one or more embodiments;

[0039] Figure 10 A structural schematic diagram of a handle mechanism according to one or more embodiments;

[0040] Figure 11 A structural schematic diagram of a handle mechanism according to one or more embodiments; Figure 10 An enlarged schematic view of A in FIG. 8;

[0041] Figure 12 A method for operating the aforementioned angle adjustment mechanism according to one or more embodiments.

[0042] Legend: 100, biopsy device; 210, angle adjustment mechanism; 1, first tube; 11, first tube segment; 111, inner limiting ring; 112, extension tube segment; 12, first connecting portion; 13, limiting protrusion; 2, second tube; 201, gap; 202, dovetail groove structure; 21, second tube segment; 211, accommodating tube segment; 212, transition tube segment; 213, clamping tooth; 2131, first clamping tooth; 2132, second clamping tooth; 214, gap tube segment; 215, buffer tube segment; 22, second connecting portion; 23, push piece; 3, control member; 31, control wire; 311, first control wire; 312, second control wire; 32, torque wire; 33, fixed tube; 4, flexible tube; 41, lubricating tube; 42, fixing member; 401, channel;

[0043] 220, end instrument; 5, forceps cup; 51, forceps head; 52, forceps handle; 501, pin shaft; 502, first forceps cup; 503, second forceps cup;

[0044] 230, handle mechanism; 231, first handle; 2310, ring groove; 232, second handle; 233, guide tube; 234, finger ring. DETAILED DESCRIPTION

[0045] In order to make the above objectives, characteristics and advantages of the present application more apparent and comprehensible, the specific embodiments of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, a large number of specific details are set forth in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, and therefore the present application is not limited to the specific embodiments of the disclosed embodiments.

[0046] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0047] In the present application, unless specifically defined otherwise and limited in the specification, a first feature "on" or "under" a second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact with an intermediate medium. Moreover, the first feature "over", "above" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. The first feature "under", "below" and "underneath" the second feature can mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0048] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or an indicated number of technical features. Thus, a feature defined with "first", "second" can explicitly or implicitly include at least one of the features. For example, the first control wire can also be referred to as the second control wire, and the second control wire can also be referred to as the first control wire. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0049] In the present application, unless specifically defined otherwise and limited in the specification, the terms "connected", "connected", etc. should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be flexibly connected, or it can be rigidly connected in at least one direction; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be directly connected while an intermediate medium exists, or it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. The terms "installation", "setting", "fixing", etc. can be broadly understood as connection. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0050] It should be noted that in the present application, the distal end and the proximal end are based on the operator, the end close to the operator is the proximal end or the proximal end part, and the end away from the operator is the distal end or the distal end part. The distal direction, the proximal direction represent two directions; the distal-proximal direction is parallel to the distal direction and the proximal direction, and the distal-proximal direction does not specifically indicate the forward direction or the reverse direction. The axial direction is the extension direction of the tube; the radial direction is the direction perpendicular to the extension direction of the tube; the circumferential direction refers to the "circumferential direction", that is, the direction around the cylindrical axis direction for one turn, and the circumferential direction is perpendicular to the axial direction and the radial direction.

[0051] It should be noted that the end instrument can be any instrument such as a biopsy forceps, a grasping forceps, an electrocoagulation forceps, a clamp, etc.

[0052] The present embodiment provides a biopsy device for sampling in a lumen, a cavity through an endoscope. Referring toFigure 1 In an exemplary embodiment, the biopsy device 100 comprises an angle adjustment mechanism 210 and an end instrument 220. The angle adjustment mechanism 210 can be used to mount, control and adjust the posture of the end instrument 220 in space, and can adapt to the sampling requirements of the lesion at different angles.

[0053] Exemplarily, the angle adjustment mechanism 210 provided by the present application comprises a first tube 1, a second tube 2, a control member 3 and a flexible tube 4. From the distal end to the proximal end of the angle adjustment mechanism 210, the first tube 1, the second tube 2 and the flexible tube 4 are connected in sequence, and the control member 3 is arranged in the first tube 1, the second tube 2 and the flexible tube 4. The force received by the proximal end of the control member 3 can be transmitted to the distal end of the control member 3 and to the end instrument 220.

[0054] For the convenience of description, a straight coordinate system XYZ is established, but the shape and posture of the product provided by the present application are not limited thereto. Figure 1 The right end of the biopsy device 100 can be the proximal end, and the left end can be the distal end.

[0055] Exemplarily, the first tube 1 and the second tube 2 of the angle adjustment mechanism 210 are used to constitute a rotating mechanism. The first tube 1 comprises a first connecting portion 12 and a first tube segment 11, and the second tube 2 comprises a second connecting portion 22 and a second tube segment 21. The second tube segment 21 is rotationally connected to the first tube segment 11, so that the first tube 1 and the second tube 2 are rotationally connected. Both the first tube 1 and the second tube 2 can be hard tubes, and can also be circular tubes. Figure 1 In the present application, the axial direction of the second tube segment 21 in the second tube 2 is substantially parallel to the X-axis direction, and the rotation axis L1 of the second tube segment 21 is substantially parallel to the axial direction thereof. The rotation axis L1 can be the central axis of the second tube segment 21, or can have a certain eccentricity. Exemplarily, the second tube segment 21 can be coaxially arranged with the first tube segment 11, but can also be arranged eccentrically. The second tube segment 21 is clamped in the axial direction of the first tube segment 11, so that the installation is simple and direct, and the first tube 1 and the second tube 2 are not easy to be separated.

[0056] The distal end of the flexible tube 4 is connected to the first connecting portion 12 of the first tube 1. The flexible tube 4 can comprise a spring hose, which is fixed to the first connecting portion 12, for example, by welding or gluing. The flexible tube 4 can comprise a sealing protective layer as the outermost layer. The flexible tube 4 can be bent, and can follow the bending of the endoscope and other operations, so as to ensure that the end instrument 220 and the like smoothly pass into the cavity and reach the position where the work is to be performed by the end instrument 220.

[0057] The control member 3 can pass through the first tube segment 11 and the second tube segment 21 and be adapted to slide substantially in the axial direction, and the distal end of the control member 3 is movable relative to the second connecting portion 22. Specifically, the second connecting portion 22 is used to connect other mechanisms, and the control member 3 is also used to connect the other mechanisms. For example, Figure 1As shown, the second connecting part 22 of the angle adjustment mechanism 210 and the control member 3 are provided with an end tool 220. Exemplarily, the position of the distal end of the control member 3 in space deviates from the rotation axis L1 of the second connecting part 22. The distal end of the control member 3 can be a wire hook.

[0058] The control member 3 is rotated, and the distal end of the control member 3 is subjected to a torque around the rotation axis L1, thereby driving the second tube 2 to rotate, and the second tube 2 can be rotated to a desired rotational angle position relative to the first tube 1. Understandably, each part positioned along the circumference of the second tube 2 also rotates.

[0059] The flexible tube 4 of the angle adjustment mechanism 210 and the control member 3 are used to constitute a deflection mechanism. The end tool 220 can be defined to have a direction, for example, a jaw opening direction or a jaw closing direction. By subjecting the distal end of the end tool 220 to an external force, the end tool 220 drives the control member 3 connected thereto to move relative to the flexible tube 4, so that the original direction of the end tool 220 is offset from the position of the rotation axis L1. For example, the distal end of the end tool 220 abuts against the object to be clamped (lesion), and the counterforce exerted by the object to be clamped drives the end tool 220 to have a desired side turning angle position, which can have a specific posture in space to better correspond to the object to be clamped. The curved control member 3 can absorb the size change caused by the side turning of the end tool 220.

[0060] The angle adjustment mechanism 210 is stable and flexible in operation, and can realize rich selection of rotational angle or / and side turning angle. The end tool 220 includes a biopsy forceps cup, a grasping forceps cup, an electrocoagulation forceps cup, or a clamp.

[0061] Reference Figures 1 to 4 In the biopsy device 100 of the present application, the second connecting part 22 of the angle adjustment mechanism 210 and the control member 3 are jointly connected to the end tool 220, and the control member 3 is used to control the end tool 220. Exemplarily, the end tool 220 includes two forceps cups 5, and the control member 3 includes two control wires 31, the distal ends of which are connected to the corresponding forceps cups 5 and are used to control the forceps cups 5. The forceps cups 5 of the biopsy device 100 can be biopsy forceps cups.

[0062] The inner diameter of the channel 401 in the flexible tube 4 for passing the control member 3 is greater than the outer diameter of the control member 3. Specifically, the inner diameter of the channel 401 is greater than the sum of the diameters of all the control wires 31. The control wires 31 can slide in the channel 401 and can be located at different positions in the radial direction. Exemplarily, a lubricating tube 41 is provided in the flexible tube 4, which can be provided in an elastic hose. The control member 3 passes through the lubricating tube 41 and has small friction when sliding, which is conducive to sensitive control of the end tool 220 and also conducive to protection of the control member 3 and protection of the elastic hose. The lubricating tube 41 can be used to define or form the channel 401.

[0063] Two jaw cups 5 are rotatably connected to the second tube 2. In an exemplary embodiment, the jaw cups 5 are rotatably connected to the second connecting portion 22 by a pin shaft 501, the axis of the pin shaft 501 is perpendicular to the rotation axis L1. Referring to Figure 1 , the axis of the pin shaft 501 is substantially parallel to the Z-axis direction, and thus perpendicular to the rotation axis L1.

[0064] In an exemplary embodiment, the jaw cup 5 comprises a jaw head 51 and a jaw handle 52, the jaw head 51 and the jaw handle 52 are located on two sides of the pin shaft 501. The control wire 31 is connected to the jaw handle 52, when the control wire 31 is pushed or pulled, the jaw cup 5 rotates around the pin shaft 501. The two jaw cups 5 have an open state and a clamping state. Referring to Figure 4 , of the two jaw cups 5, the first jaw cup 502 rotates clockwise for clamping, and the second jaw cup 503 rotates counterclockwise for clamping. In the open state, the two jaw heads 51 of the two jaw cups 5 have a sufficient distance; in the clamping state, the two jaw heads 51 are close to each other, for example, the cutting edge can cut off the tissue sample. The cutting edges of the two jaw heads 51 can be substantially located in a plane, and thus the cutting edge plane can have different effects when cutting the tissue at different angles, so that the appropriate cutting angle can be selected according to the needs to achieve better effects.

[0065] When using the biopsy device 100, the tissue to be sampled may be located directly in front of the distal end of the end implement 220, in this case, the second tube 2 and the end implement 220 can not be rotated, and the end implement 220 can not be laterally turned, the control member 3 can be directly pulled, and then the two jaw cups 5 of the end implement 220 obtain the sample tissue. When the end implement 220 is not directly opposite the tissue to be sampled, the end implement 220 can be rotated or / and laterally turned to adjust the clamping angle to align with the tissue to be sampled; the biopsy device 100 can adapt to various operation requirements.

[0066] Referring to Figure 5 , in an exemplary embodiment, the second tube segment 21 comprises a receiving tube segment 211, a gap tube segment 214 and a catch 213 arranged in sequence. The first tube segment 11 comprises an inner limiting ring 111. The catch 213 is arranged in the first tube segment 11, and when installed, the catch 213 can pass through the inner limiting ring 111 and enter the first tube segment 11. The inner limiting ring 111 is axially limited between the receiving tube segment 211 and the catch 213. The second tube segment 21 can comprise a plurality of catches 213. The surface of the catch 213 for limiting the inner limiting ring 111 can be substantially planar; the guide surface of the catch 213 facing the inner limiting ring 111 during installation can be inclined. When the first tube 1 and the second tube 2 are relatively rotated, the inner limiting ring 111 is substantially rotated around the gap tube segment 214.

[0067] Referring to Figure 1 , Figure 2 and Figure 5The first connecting portion 12 is configured to connect the flexible tube 4, and the second connecting portion 22 is configured to have a pin hole for the pin 501. In other embodiments, the second connecting portion 22 of the second tube 2 is configured to connect the flexible tube 4, and the first connecting portion 12 of the first tube 1 is configured to connect other mechanisms with the control member 3. The engagement structure of the first tube 1 and the second tube 2 can be interchangeable. For example, the second tube 2 is configured to have the clamping teeth 213, so that the radial dimension of the second tube 2 is smaller.

[0068] The first tube 1 and the second tube 2 can be sheet metal parts, which are manufactured separately and then assembled simply. For example, the first tube 1 can have substantially equal thickness at different positions, and the second tube 2 can have substantially equal thickness at different positions.

[0069] In combination Figure 6 As shown, the first tube 1 includes a stop protrusion 13 between the first connecting portion 12 and the first tube segment 11. The stop protrusion 13 protrudes in a direction along the radial direction of the first tube 1. For example, the flexible tube 4 is arranged in the first connecting portion 12, and the stop protrusion 13 protrudes inwardly relative to the first connecting portion 12 to limit the penetration depth of the flexible tube 4 in the axial direction. The stop protrusion 13 is spaced apart from the second tube segment 21 in the axial direction, so that the second tube segment 21 does not interfere with the distal end of the flexible tube 4 after the second tube segment 21 is assembled with the first tube segment 11.

[0070] For example, the first tube segment 11 further includes an extension tube segment 112 between the inner limiting ring 111 and the stop protrusion 13, so that the inner limiting ring 111 is spaced apart from the stop protrusion 13 and sufficient space is provided for the clamping teeth 213.

[0071] The gap tube segment 214 is provided with a plurality of slits 201 extending towards the accommodation tube segment 211. For example, the plurality of slits 201 divide the plurality of clamping teeth 213 in the circumferential direction. When the second tube segment 21 is installed into the first tube segment 11, the clamping teeth 213 are pressed, and the clamping teeth 213 rebound after being installed in place. The slits 201 facilitate the pressing and rebounding of the clamping teeth 213.

[0072] For example, the slits 201 extend through to the proximal end surface of the second tube 2, and the proximal end of the second tube 2 is divided into a plurality of petals.

[0073] In combination Figure 7As shown, the slit 201 extends into the accommodating tube segment 211, thus facilitating the flexibility of the multi-petal structure corresponding to the clamping tooth 213 in the second tube segment 21. Exemplarily, the axial extension distance N of the slit 201 into the accommodating tube segment 211 is less than or equal to 0.3 mm, for example, 0.1 mm or 0.2 mm, which can ensure the structural strength of the accommodating tube segment 211. The second tube 2 can be formed by stamping, curling or other processes of a metal sheet. When the metal sheet is curled into a tube, the joint edge can be provided with the dovetail groove structure 202. The extension depth of the slit 201 can be designed to not reach the depth of the dovetail groove structure 202 along the axial direction.

[0074] The outer diameter of the accommodating tube segment 211 is greater than the outer diameter of the gap tube segment 214, and the inner diameter of the accommodating tube segment 211 can also be greater than the inner diameter of the gap tube segment 214. The second tube segment 21 further comprises a transition tube segment 212, and the gap tube segment 214 is connected to the accommodating tube segment 211 through the transition tube segment 212. The connection between each tube segment of the second tube 2 can be circularly arcuate, and the second tube 2 is easy to manufacture and has sufficient strength and flexibility. The inner wall surface of the transition tube segment 212 is a tapered surface, which helps to reduce friction on the control wire 31. The outer wall surface of the transition tube segment 212 can also be a tapered surface, which can still limit the inner limiting ring 111 along the axial direction.

[0075] As shown in Figure 2 , Figure 3 and Figure 4 , the second tube segment 21 is provided with a push piece 23. The push piece 23 is connected to the second connecting portion 22 or the accommodating tube segment 211, for example, the push piece 23 is connected to the second connecting portion 22 through a pin shaft 501. The push piece 23 can limit the excessive rotation of the forceps cup 5 itself and cannot be returned to the original position. When the forceps cup 5 is pulled by the control wire 31, the forceps handle 52 can be pulled to a position close to or / and away from the rotation axis L1. When the protrusion on the forceps handle 52 abuts against the push piece 23, the rotation of the forceps handle 52 can be prevented. The part of the push piece 23 in the accommodating tube segment 211 has a radially extending sheet structure, which can separate different control wires 31. The protrusion can be a component formed at the connection between the control member 3 and the forceps handle 52.

[0076] The second tube segment 21 can further comprise a buffer tube segment 215, which is located on the side of the clamping tooth 213 away from the accommodating tube segment 211. When assembling the first tube 1 and the second tube 2, the buffer tube segment 215 is first inserted into the inner limiting ring 111, which helps to guide the clamping tooth 213 to be smoothly inserted into and clamped to the inner limiting ring 111. Exemplarily, the axial dimension of the buffer tube segment 215 is greater than or equal to 0.1 mm, which facilitates to ensure the guiding effect during installation. The buffer tube segment 215 has a spacing with the first connecting portion 12 after installation.

[0077] Exemplarily, the gap tube segment 214 has an axial dimension ranging from 0.15 mm to 2 mm, such as 0.5 mm, 1 mm or 1.5 mm, which can provide sufficient space for limiting the inner limiting ring 111 and ensure reliable clamping performance of the clamping teeth 213. The difference δ1 between the outer diameter of the gap tube segment 214 and the inner diameter of the inner limiting ring 111 can satisfy: 0 mm < δ1 ≤ 0.15 mm.

[0078] The second tube segment 21 can include a plurality of clamping teeth 213. Exemplarily, the second tube segment 21 includes a first clamping tooth 2131 and a second clamping tooth 2132 opposite in the radial direction. The first clamping tooth 2131 and the second clamping tooth 2132 can be connected to the gap tube segment 214. Figure 6 And Figure 7 The outer diameter D3 of the buffer tube segment 215 is smaller than the inner diameter D1 of the inner limiting ring 111, and the maximum outer diameter D4 of the first clamping tooth 2131 and the second clamping tooth 2132 is greater than the inner diameter D1 of the inner limiting ring 111 to achieve clamping. The maximum outer diameter D4 is smaller than the inner diameter of the extension tube segment 112, and the difference δ2 between the two can satisfy: 0 mm < δ2 ≤ 0.22 mm. Exemplarily, the inner limiting ring 111 and the extension tube segment 112 can be connected in a circular arc, and the maximum outer diameter D4 can be smaller than the outer diameter D2 of the inner limiting ring 111 to ensure stable clamping.

[0079] The arc between two slits 201 adjacent to the clamping teeth 213 in the circumferential direction can be less than π. The gap tube segment 214 is divided into several segments in the circumferential direction by the slits 201, and the length of a segment connected to a clamping tooth 213 is less than a semicircular arc. This segment can be longer than the clamping tooth 213 in the circumferential direction, which can ensure elasticity and facilitate the avoidance action of the clamping tooth 213. Optionally, the four slits 201 are evenly arranged in the circumferential direction. The width of each slit 201 is smaller than the width of the clamping tooth 213.

[0080] The entire second tube 2 is integrally formed, i.e., the second connecting portion 22, the accommodation tube segment 211, the transition tube segment 212, the gap tube segment 214, the clamping tooth 213, and the buffer tube segment 215 are integrally formed; or / and, the entire first tube 1 is integrally formed, i.e., the inner limiting ring 111, the extension tube segment 112, the first connecting portion 12, and the stop protrusion 13 are integrally formed.

[0081] In combination with Figure 8 As shown in FIG. 3, the control member 3 further includes a torque wire 32, and the proximal end of each control wire 31 is connected to the distal end of the torque wire 32. It is easier to rotate the torque wire 32, and the torque wire 32 can transmit torque to the two control wires 31. At the same time, since the length of the control wire 31 can be set to be relatively short, it is beneficial to avoid entanglement between the control wires 31 and improve the operability of the control member 3. Exemplarily, the distance between the proximal end of the control wire 31 and the distal end of the flexible tube 4 is greater than or equal to 60 mm, which is beneficial to ensure that the control wire 31 bends in the flexible tube 4.

[0082] Optionally, the length of the control member 3 is 700mm to 2700mm, for example, 700mm, 1200mm, 1600mm, 1800mm, 2000mm, 2300mm or 2700mm; optionally, the length of the control wire 31 ranges from 500mm to 1000mm, for example, 700mm or 900mm.

[0083] Optionally, the control member 3 further comprises a fixing tube 33. The proximal ends of the plurality of control wires 31 are arranged through the fixing tube 33, and the fixing tube 33 is fixed to the control wires 31 by crimping the fixing tube 33; the distal end of the torque wire 32 is arranged through the fixing tube 33, and the fixing tube 33 is also fixed to the torque wire 32 by crimping the fixing tube 33. The fixing tube 33 is simple in structure and can effectively fix the control wires 31 and the torque wire 32.

[0084] Reference Figure 9 The biopsy device 100 of the embodiment further comprises a handle mechanism 230, which can be used to manipulate the angle adjustment mechanism 210 and the end instrument 220. In other embodiments, other mechanisms, such as automatic mechanisms, can be used to manipulate the angle adjustment mechanism 210 and the end instrument 220.

[0085] Optionally, the biopsy device 100 comprises a first handle 231 and a second handle 232. The first handle 231 and the second handle 232 are used in cooperation to constitute the handle mechanism 230.

[0086] The first handle 231 is rotationally connected to the proximal end of the flexible tube 4, for example, to a fixing member 42 arranged at the proximal end of the flexible tube 4. The fixing member 42 can be fixed to the proximal end of the spring hose, and can be a metal member or other part with certain strength, which can be limited in the axial direction and rotated around the axis with the first handle 231. Optionally, at least a part of the fixing member 42 has an outer diameter greater than that of the spring hose, which part can have a disc shape, and the first handle 231 can be provided with a ring groove 2310 matched with the part.

[0087] In other embodiments, the fixing member can be provided with a ring groove, and the first handle can be internally provided with a protrusion limited in the axial direction and capable of rotating along the ring groove.

[0088] The second handle 232 is slidingly connected to the first handle 231, and the sliding direction of the second handle 232 can be the proximal-distal direction or other direction capable of moving the control member 3. Reference Figure 10 When the second handle 232 is pushed to the distal end or pulled to the proximal end relative to the first handle 231, the proximal end of the control member 3 also moves in the distal direction or the proximal direction along with the second handle 232, which also drives the distal end of the control member 3 to move, thereby controlling the opening and closing action of the end instrument 220.

[0089] In combination Figure 11 The handle mechanism 230 comprises a guide tube 233 fixed to the proximal end of the control member 3. The control wire 31 can be directly fixed to the guide tube 233. When the torque wire 32 is provided, the control wire 31 is fixed to the guide tube 233 through the torque wire 32. The guide tube 233 is fixed to the second handle 232, which can be slid along the first handle 231. Optionally, the second handle 232 can comprise two halves which are engaged with each other. The assembly of the second handle 232 is conducive to the installation of the second handle 232 to the first handle 231 and the connection of the guide tube 233.

[0090] The handle mechanism 230 can further comprise a finger ring 234 which is rotatably connected to the first handle 231. The finger ring 234 can be coaxial with the proximal end of the flexible tube 4. When it is necessary to rotate the first handle 231 or move the second handle 232, the finger ring 234 can be held to stably operate the first handle 231 or the second handle 232.

[0091] With reference to Figure 12 The present application provides a method 1000 for operating the angle adjustment mechanism, which can be performed based on the angle adjustment mechanism 210 provided with the end instrument 220.

[0092] Further, the present application provides a method for operating the biopsy device, which can be performed based on the biopsy device 100 described above. The method for operating the biopsy device can comprise the steps of the method 1000 for operating the angle adjustment mechanism. The method for operating the biopsy device can be used to check whether the actions of the biopsy device 100 are sensitive. Exemplarily, the biopsy device 100 can be used to sample the tissue to be sampled.

[0093] The steps of the method 1000 for operating the angle adjustment mechanism can be performed during the sampling process. The method 1000 can comprise at least one of the steps, and different steps can be performed according to the use requirements, so as to adapt to various operation requirements.

[0094] When the rotation angle position of the end instrument 220 is not appropriate, the end instrument 220 can be rotated to adjust the rotation angle position thereof. The step S101 comprises: rotating the control member 3 to drive the end instrument 220 and the second tube 2 to rotate relative to the first tube 1.

[0095] Specifically, the flexible tube 4 can be kept from rotating, and thus the first tube 1 is also kept from rotating. The first handle 231 is rotated to drive the second handle 232, the guide tube 233 and the control member 3 to rotate. Then, the torque is transmitted along the control member 3 to the end instrument 220 and the second tube 2 at the distal end of the control member 3. The end instrument 220 and the second tube 2 can be rotated to the desired rotation angle position relative to the first tube 1 about the rotation axis L1.

[0096] For example, the end effector 220 can be in a clamped state before rotation, and after rotation, the end effector 220 can be controlled to become an open state, which can be adjusted according to the surgical scenario.

[0097] When the lateral position of the end device 220 is not suitable, the end device 220 can be laterally rotated to a suitable position. Step S102: The end device 220 is laterally rotated relative to the second tube 2.

[0098] refer to Figure 4 The end-effector 220 includes a first clamp cup 502 and a second clamp cup 503. A pin 501 may be perpendicular to the XY plane, and consequently, the plane in which the first clamp cup 502 and the second clamp cup 503 rotate about the pin 501 may be parallel to the XY plane. The proximal end of the flexible tube 4 may have a central axis L2, which may be parallel to the X-axis direction. To laterally rotate the end-effector 220, an external force F may be applied to, for example, the distal end of the first clamp cup 502. During sampling, the first clamp cup 502 may be pressed against the tissue to be sampled, and then the flexible tube 4 may be pushed. The external force F deviates from the rotation axis L1, creating a torque that causes the end-effector 220 to laterally rotate relative to the second tube 2, for example, by... Figure 4 This is one posture shown. The rotation axis L1 can be parallel to the Y-axis and perpendicular to the central axis L2.

[0099] During the side-turning process, the first clamp cup 502 rotates counterclockwise around the pin 501, and the jaw 51 of the first clamp cup 502 has a large included angle with the rotation axis L1 in the XY plane. The jaw 51 of the first clamp cup 502 may have a contact point with the handle 52 of the second clamp cup 503, or / and the handle 52 of the first clamp cup 502 may have a contact point with the jaw 51 of the second clamp cup 503. When the first clamp cup 502 rotates to the point where it can contact the second clamp cup 503, the first clamp cup 502 will drive the second clamp cup 503 to rotate together. The second clamp cup 503 rotates around the pin 501, and the jaw 51 of the second clamp cup 503 has a small included angle with the rotation axis L1 in the XY plane.

[0100] refer to Figure 4 The flexible tube 4 has a channel 401. When the flexible tube 4 is bent, the side with a smaller bending radius is compressed, while the side with a larger bending radius is stretched. Therefore, in the channel 401 of the flexible tube 4, the travel on the side with a smaller bending radius is less than the travel on the side with a larger bending radius. For different control wires 31, there are different travels on the side with a smaller bending radius and the side with a larger bending radius in the channel 401, and there is a travel difference between the travels, which provides conditions for the lateral rotation of the end device 220. For example, the distance between the proximal end of the control wire 31 and the distal end of the flexible tube 4 is greater than 60 mm, which helps the channel 401 to provide a sufficient travel difference.

[0101] like Figure 4As shown, the plurality of control wires 31 of the control member 3 includes a first control wire 311 and a second control wire 312. The jaw 52 of the first jaw cup 502 is increasingly distanced from the first tube 1 during the lateral bending, the first control wire 311 connected thereto is pulled distally, and the first control wire 311 is bent along with the bending of the flexible tube 4. The first control wire 311 is pulled in the channel 401 to the side close to the smaller bending radius. Influenced by the first jaw cup 502, the jaw 52 of the second jaw cup 503 is increasingly proximally approached to the first tube 1 during the lateral bending, the second control wire 312 connected thereto is pushed proximally, and the second control wire 312 is also bent along with the bending of the flexible tube 4. The second control wire 312 is pulled in the channel 401 to the side close to the larger bending radius. There is a stroke difference between the second control wire 312 and the first control wire 311, which helps to achieve the lateral bending of the end effector 220. The opening between the two jaw cups 5 of the end effector 220 is deflected relative to the rotation axis L1.

[0102] The present application also provides a method for operating the angle adjustment mechanism, which can not perform step S101 and step S102, and perform step S103; or perform step S103 after performing step S101 or step S102, or after performing step S101 and step S102. In step S103, the end effector 220 is controlled by the control member 3 to perform a working action. The working action of the end effector 220 refers to the action that occurs in order to achieve its own function, including but not limited to clamping, cutting, pinching or opening.

[0103] The method of performing step S101 and step S102 and then performing step S103 includes: in step S101, the end effector 200 and the second tube 2 are rotated relative to the first tube 1 by rotating the control member 3; in step S102, the end effector 200 is laterally bent relative to the second tube 2; and in step S103, the end effector 200 is controlled by the control member 3 to perform a working action.

[0104] In order to extend the biopsy device 100 into the cavity, the end effector 220 can be kept in the pinching state first, and then the two jaw cups 5 are opened after the end effector 220 enters the cavity. Illustratively, if the opening between the two jaw cups 5 is suitable for sampling, the control member 3 can be pulled to make the two jaw cups 5 pinch, and then the biopsy device 100 can be used to take out the obtained tissue sample from the cavity.

[0105] Illustratively, after performing step S101, the second handle 232 is pulled proximally relative to the first handle 231, so that the two jaw cups 5 are pinched and the desired tissue sample can be cut off by the cutting edge.

[0106] Illustratively, after performing step S102, in combination with Figure 4As shown, pulling the second handle 232 proximally in turn pulls the first control wire 311 and the second control wire 312 to pull the first jaw cup 502 and the second jaw cup 503, respectively, wherein the first jaw cup 502 rotates and moves toward the second jaw cup 503 until the two are closed, and the second jaw cup 503 can have no rotation or less rotation.

[0107] The biopsy device 100 provided by the present application can realize various angles of posture, can be flexibly used for sampling, and can avoid repeated withdrawal of the mirror when the sampling angle is not appropriate, can be conveniently adjusted in the cavity, and then sample in a suitable posture. The biopsy device 100 has the advantages of high stability, accurate position, simple operation process, 360° rotation, etc.

[0108] The technical features of each of the above disclosed embodiments can be combined arbitrarily, and in order to make the description concise, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0109] In the above disclosed embodiments, unless otherwise specified and limited, the execution order of each step can be executed in parallel, or in different order. The sub-steps of each step can also be executed in staggered manner. The above various forms of flow can be used, and the steps can be reordered, added or deleted, as long as the desired results of the technical solutions provided by the present application can be achieved, and the present application does not limit here.

[0110] The above disclosed embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the patent protection scope of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the patent protection scope required by the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. An angle adjustment mechanism for controlling an end effector, characterized by, The angle adjustment mechanism comprises: a flexible tube; a first tube comprising a first connecting portion and a first tube segment, the first connecting portion being connected to the flexible tube; a second tube comprising a second connecting portion and a second tube segment, the second tube segment being axially clamped to the first tube segment, the second tube segment being rotationally connected to the first tube segment, an axis of rotation of the second tube segment being parallel to the axial direction, the second connecting portion being used for connecting the end tool; and a control member penetrating through the flexible tube, the first tube and the second tube, a distal end of the control member being connected to the end tool, the control member being used for driving the end tool to be offset relative to the second tube along the axis of rotation.

2. The angle adjustment mechanism according to claim 1, characterized in that The second tube segment comprises, from a distal end to a proximal end, a receiving tube segment, a gap tube segment and a clamping tooth. The first tube segment comprises an inner limiting ring, the inner limiting ring being limited between the receiving tube segment and the clamping tooth along the axial direction.

3. The angle adjustment mechanism of claim 2, wherein The second tube segment is provided with a plurality of slits extending from the proximal end of the second tube segment towards the receiving tube segment.

4. The angle adjustment mechanism of claim 3, wherein The axial distance of the slits extending into the receiving tube segment is less than or equal to 0.3 mm.

5. The angle adjustment mechanism of claim 2, wherein The second tube segment further comprises a transition tube segment, the gap tube segment being connected to the receiving tube segment through the transition tube segment. An inner diameter of the receiving tube segment is greater than an inner diameter of the gap tube segment, and an inner wall surface or / and an outer wall surface of the transition tube segment is a tapered surface.

6. The angle adjustment mechanism of claim 2, wherein The second tube segment further comprises a buffer tube segment, the buffer tube segment being located on a side of the clamping tooth away from the receiving tube segment, and a dimension of the buffer tube segment along the axial direction is greater than or equal to 0.1 mm.

7. The angle adjustment mechanism of claim 2, wherein The plurality of clamping teeth of the second tube segment comprises first and second clamping teeth opposite along a radial direction of the second tube segment. An arc between two slits adjacent to the clamping tooth along a circumferential direction is less than π.

8. The angle adjustment mechanism of claim 2, wherein The receiving tube segment, the gap tube segment and the clamping tooth are integrally formed.

9. The angle adjustment mechanism of claim 1, wherein The first tube further comprises a limiting protrusion between the first connecting portion and the first tube segment, the limiting protrusion being spaced apart from the second tube segment along the axial direction.

10. The angle adjustment mechanism of claim 1, wherein An inner diameter of a channel in the flexible tube for penetrating the control member is greater than an outer diameter of the control member.

11. The angle adjustment mechanism of claim 10, wherein The control member comprises at least two control wires, and there is a stroke difference between the at least two control wires when the flexible tube is in a flexible bending state.

12. The angle adjustment mechanism of claim 11, wherein, The control member further comprises a torque wire, and a proximal end of each control wire is connected to a distal end of the torque wire.

13. The angle adjustment mechanism of claim 11, wherein, A distance between the proximal end of the control wire and a distal end of the flexible tube is greater than or equal to 60 mm.

14. A biopsy device characterized by, The angle adjustment mechanism comprises: an end tool comprising at least two jaw cups; and The angle adjustment mechanism according to any one of claims 1 to 13, the second connecting portion and the control member being connected to the jaw cups, the control member being used for controlling the jaw cups; The two jaw cups are respectively rotationally connected to the second connecting portion and have an open state and a clamping state; Distal ends of the two control wires of the control member are connected to the corresponding jaw cups to control rotation and lateral turning of the jaw cups. ​ 15. The biopsy device of claim 14, wherein, Further comprising a first handle rotatably connected to a proximal end of the flexible tube; and a second handle connected to a proximal end of the control member, the second handle being slidably connected to the first handle.

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