Visualizing catheter for urinary tract

Abstract

The utility model provides a kind of visual catheter for urinary cavity, the visual catheter includes catheter body, the catheter body includes operating part and cannula from proximal end towards distal direction, the operating part is located at the proximal end of the catheter body, the cannula is located at the distal end of the catheter body, the operating part is equipped with perfusion joint and suction joint, cannula is formed with mutually isolated liquid outlet passage and liquid inlet passage, liquid outlet passage and suction joint are in fluid communication, and liquid inlet passage and perfusion joint are in fluid communication;Camera assembly is arranged on catheter body, for imaging urinary cavity.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, to flexible endoscopic surgery through natural orifices, and more specifically to a visual catheter for the urinary tract that integrates irrigation, aspiration, imaging and laser functions, and has multi-directional active bending function. Background Technology

[0002] Currently, in natural orifice flexible endoscopic surgery, the main tools used are ureteral guiding sheaths and flexible ureteroscopes. The ureteral guiding sheath is inserted into the urinary tract through the patient's urethra to establish an effective passage, allowing surgical instruments such as the flexible ureteroscope to smoothly enter and exit the urinary tract for surgical procedures. Flexible ureteroscopes are typically thin (approximately 2-3 mm in diameter) and long (40-50 cm) to accommodate long-distance operations from the urethra to the ureter. Furthermore, the tip of the flexible ureteroscope can be actively bent (up to an angle of over 180°), and the flexible body allows it to pass through the ureter into the renal pelvis and even the renal calyces, making it suitable for the upper ureter and complex intrarenal structures. The endoscope has a working channel (approximately 1 mm in diameter) for inserting instruments such as laser fibers, stone forceps, and guidewires, and also has irrigation and imaging functions. The flexible ureteroscope enters the bladder through the patient's urethra, then from the bladder into the ureter, and finally reaches the renal pelvis or renal calyces. The entire procedure requires no external incision and relies entirely on the body's natural cavities. The process is trauma-free and recovery is quick (usually discharged in 1-2 days). However, ureteral stenosis or tortuosity increases the difficulty of the procedure.

[0003] In existing natural orifice flexible endoscopic surgery, please refer to Figure 1 and Figure 2 The endoscope is used in conjunction with a sheath. Water is introduced into the working channel of the flexible ureteroscope to infuse the tissue, while water exits through the gap between the endoscope and the sheath. This allows the fluid within the tissue to be suctioned away by the laser-dislodged stone fragments using negative pressure. During stone suction, due to the small gap between the endoscope and the sheath, stone fragments can easily become trapped between them. Therefore, the endoscope needs to be withdrawn from the sheath to remove the fragments promptly. This requires repeated insertion and withdrawal of the endoscope during the procedure, making the entire process quite cumbersome. In current technology, endoscopes typically employ a snake-bone structure, which is composed of multiple metal bone segments connected together. If not used in conjunction with a sheath, the sharp edges of the metal joints may scratch the ureteral mucosa and cause perforation when the metal joints are repeatedly bent within the narrow ureter. At the same time, due to the repeated friction of the snake-bone metal joints, iron filings are generated. If the fluid channel comes into contact with the inner wall of the endoscope tube, the iron filings will enter the body with the fluid channel, causing inflammation or other adverse reactions. Therefore, a separate fluid inlet and outlet channel 15 must be provided. Furthermore, the internal tubing of the endoscope must avoid the space for the metal joints to engage and disengage, resulting in a significant restriction and compression of the internal space. Utility Model Content

[0004] In view of the above-mentioned defects and shortcomings, the present invention aims to provide a visual catheter for the urinary tract, which is used for flexible endoscopic surgery through natural cavities. The catheter body can avoid the constant withdrawal of the endoscope, eliminates the need for a sheath, integrates irrigation, aspiration, visualization, and laser functions, and the internal tube space is not restricted or compressed. Furthermore, the distal end of the visual catheter can be compliantly bent when passing through natural cavities, especially narrow passages, and this bending process is friendly to the ureter.

[0005] Compared to existing endoscopes and sheath structures, the visual catheter provided by this invention offers greater advantages in perfusion and aspiration functions, allowing target materials (such as stones, polyps, or blood clots) to approach the aspiration outlet more easily. The visual catheter includes:

[0006] The catheter body includes an operating part and a cannula from the proximal end to the distal end. The operating part is located at the proximal end of the catheter body, and the cannula is located at the distal end of the catheter body. The operating part is provided with an infusion connector and an aspiration connector. The cannula has a mutually isolated outflow channel and an inflow channel. The outflow channel is in fluid communication with the aspiration connector, and the inflow channel is in fluid communication with the infusion connector.

[0007] The camera component, which is mounted on the catheter body, is used to image the urinary tract.

[0008] In some embodiments, the outlet channel is located in the middle of the insertion tube, and at least the inner diameter of the outlet channel head is larger than the inner diameter of the inlet channel head.

[0009] In some embodiments, the cannula further includes at least one longitudinally extending instrument channel through which an instrument passes, and the operating part is provided with an instrument inlet communicating with the instrument channel.

[0010] In some embodiments, the instrument channel, the liquid outlet channel, and the liquid inlet channel are separated.

[0011] In some embodiments, the wall of the cannula defines a lumen, and a main tube and at least one instrument outer tube are disposed within the lumen. The main tube forms an outlet channel, the instrument outer tube forms an instrument channel, and the remaining gap in the lumen forms an inlet channel.

[0012] In some embodiments, the cannula extends from the proximal end to the distal end, including a main section, a curved section, and a tip. The curved section is driven by an operating unit to deflect the tip. The curved section includes a flexible tube, and the main section includes a rigid tube. The wall of the flexible tube at least partially defines the boundaries of the inlet and / or outlet channels.

[0013] In some embodiments, at least one pull wire extends longitudinally from the main tube section of the cannula and the interior of the flexible tube. The distal end of the pull wire is fixed to the head end of the flexible tube or the cannula and is controlled by an operating unit to drive the pull wire to move longitudinally relative to the main tube section, thereby causing the flexible tube to deflect.

[0014] In some embodiments, the main tube section and the flexible tube are provided with four longitudinally extending pull wires. The four pull wires are evenly distributed. Pulling any two pull wires with the same tension or the same movement stroke will cause them to deflect in the 45° direction of the corresponding quadrant. Pulling any two pull wires with different tensions or different movement strokes will cause them to deflect in any direction within the corresponding quadrant. Pulling one pull wire to a certain angle and then pulling the adjacent pull wire will cause the front end to deflect circumferentially.

[0015] In some embodiments, the cannula has the same number of longitudinally extending pull channels as the pull cable, and the pull cable is slidably disposed within the pull channels.

[0016] In some embodiments, the wall of the flexible tube includes an outer tube, a support layer, and an inner tube, with the support layer formed between the outer tube and the inner tube, and the pull wires disposed inside any of the outer tube, the support layer, and the inner tube or in the gap between them.

[0017] In some embodiments, a power transmission component is provided within the operating part, the proximal end of the pull wire is located within the power transmission component, and the power transmission component is connected to the pull wire, thereby causing longitudinal sliding.

[0018] In some embodiments, the pull cable channel includes a pull cable outer tube and multiple longitudinally extending arched limiting grooves formed inside the tube wall. The multiple limiting grooves are arranged at equal intervals along the tube wall of the insertion part, and the pull cable outer tube is embedded in the limiting groove.

[0019] In some embodiments, the cannula wall has a pressure measuring channel, a pressure measuring hole is opened on the distal side of the pressure measuring channel, and a pressure detection element is provided on the pressure measuring channel or any path connected to it.

[0020] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the head end of the sheath and endoscope in the prior art;

[0022] Figures 2-3 This is a schematic diagram of the structure of the visual catheter provided by this utility model;

[0023] Figure 4 A transverse cross-sectional view of a visual catheter provided in one embodiment of the present invention;

[0024] Figure 5 A schematic diagram of the tip structure of a visual catheter provided in another embodiment of the present invention;

[0025] Figure 6 A transverse sectional view of a visual catheter provided in another embodiment of the present invention;

[0026] Figure 7 A schematic diagram of the tip structure of a visual catheter provided in another embodiment of the present invention;

[0027] Figure 8 A schematic diagram of the tip structure of a visual catheter provided in another embodiment of the present invention;

[0028] Figure 9 A transverse sectional view of a visual catheter provided in another embodiment of the present invention;

[0029] Figure 10 A schematic diagram of the operating part of the visual catheter provided by this utility model;

[0030] Figure 11 A structurally disassembled schematic diagram of the proximal end of the visual catheter provided by this utility model;

[0031] Figure 12 A transverse cross-sectional view of the distal side of a deflectable visual catheter provided in one embodiment of the present invention;

[0032] Figure 13 A longitudinal sectional view of the distal side of a deflectable visual catheter provided in one embodiment of the present invention;

[0033] Figure 14 A transverse cross-sectional view of the distal side of the cannulation of a deflectable visual catheter provided in another embodiment of the present invention;

[0034] Figure 15 A longitudinal sectional view of the distal side of a deflectable visual catheter provided in another embodiment of the present invention;

[0035] Figure 16 A transverse cross-sectional view of the distal side of the cannulation of a deflectable visual catheter provided in another embodiment of the present invention;

[0036] Figure 17 A transverse cross-sectional view of the distal side of the cannulation of a deflectable visual catheter provided in another embodiment of the present invention;

[0037] Figure 18 for Figure 17 A magnified view of part A;

[0038] Figure 19 A longitudinal sectional view of the distal side of a deflectable visual catheter provided in another embodiment of the present invention;

[0039] Figures 20-22 A schematic diagram illustrating the adjustment of the tip direction of the visual catheter provided by this utility model;

[0040] Figures 23-24 A schematic diagram of the fixing structure of the visual guide wire provided by this utility model;

[0041] Figure 25 This is a schematic diagram of the pull-wire power transmission component of the visual conduit of this utility model.

[0042] Figure 26 for Figure 25 A magnified view of a portion of the image. Detailed Implementation

[0043] The present invention or its technical solution will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings.

[0044] In the description of this utility model, "proximal end" and "proximal side" refer to the end of the medical device that is closer to the doctor during normal operation, while "distal end" and "distal side" usually refer to the end that first enters the patient's body.

[0045] In the description of this utility model, it should be noted that, unless otherwise specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two components. They can be direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0046] Please see Figure 1 In current natural orifice flexible endoscopic surgery, the endoscope 91 is located in the middle of the sheath 92 ( Figure 1(A schematic diagram of the sheath and endoscope engagement is shown). The endoscope 91's clamp channel forms an inlet channel for injecting saline or other fluids into the body. The gap between the sheath 92 and the endoscope 91 forms an outlet channel 15 to aspirate waste fluid containing stones. In practice, the target object directly in front can easily be hit by the water jet from the outlet of the endoscope 91's clamp channel, causing it to move further away from the sheath 92 and making effective aspiration difficult. Furthermore, since the target object needs to flow out through the gap between the endoscope 91 and the sheath 92, the position and shape of the endoscope 91 within the sheath 92 cannot remain stable. Therefore, the gap may be large in some places and small in others. The target object may become stuck in a smaller gap, preventing timely aspiration of fluid and leading to high pressure within the cavity, posing a higher risk. In this case, the endoscope needs to be withdrawn from the sheath to allow the target object to flow out. The "target object" here includes, but is not limited to, stones, polyps, tumors, and blood clots.

[0047] Based on the aforementioned technical issues, please refer to Figure 2 and Figure 3 This embodiment provides a visual catheter for the urinary tract. The catheter includes a catheter body and a camera assembly. The catheter body includes an operating part 3 and a cannula 2 from the proximal end to the distal end. The operating part is located at the proximal end of the catheter body, and the cannula is located at the distal end of the catheter body. The camera assembly is mounted on the catheter body and is used for imaging the urinary tract. The camera assembly includes a camera mounted on the tip 1 of the cannula 2 and a signal harness connected to the camera. The cannula 2 has a proximal end and a distal end. Please refer to [link to relevant documentation]. Figure 10 The operating unit 3 is connected to the proximal end of the cannula 2. The operating unit 3 includes an operating unit housing and an infusion connector 33, a suction connector 34, and an instrument inlet 32 ​​disposed on the operating unit housing. Please refer to [link to relevant documentation]. Figure 4 The cannula 2 has an inlet channel 16 and an outlet channel 15, which are separated from each other. The outlet channel is in fluid communication with the suction connector, and the inlet channel is in fluid communication with the infusion connector. In this embodiment, the inlet channel 16 is formed by the remaining gap in the lumen outside the outlet channel 15.

[0048] The cannula 2, extending from the proximal end to the distal end, includes a main tube section 22, a curved section 21, and a tip 1. The curved section 21 is driven by the operating unit 3 to deflect the tip 1. The curved section 21 includes a flexible tube, while the main tube section 22 includes a rigid tube. The rigid tube has higher rigidity than the flexible tube and can still be bent to a certain extent. The wall of the flexible tube directly defines the boundary of the inlet channel 16 and / or the outlet channel 15, achieving direct contact between the fluid and the tube wall. The independent fluid path pipe separated from the flexible tube wall is eliminated, and only the inlet channel 16 and the outlet channel 15 need to be isolated. This frees up lumen space to increase the channel cross-sectional size or accommodate new functional channels, such as multiple instrument channels. The integrated structure of the flexible tube avoids multi-stage joint movements, eliminating the ineffective space reserved for dynamic avoidance in traditional designs. At the same time, the built-in independent outlet channel 15 avoids the gap blockage problem of the traditional endoscope + sheath combination, eliminating the need for catheter removal and cleaning. Furthermore, the non-metallic properties of the flexible tube avoid the risk of metal friction debris.

[0049] Please refer to some embodiments of this utility model. Figure 4 The cannula defines an inlet channel 16 and an outlet channel 15. Optionally, the inner diameter of the tip of the outlet channel 15 is larger than the inner diameter of the tip of the inlet channel 16. Physiological saline or other liquids are injected into the body cavity through the inlet channel 16, while fluids containing stones or tissue are aspirated out of the body through the larger-diameter outlet channel 15. Compared to the existing irrigation and aspiration processes of the endoscope 91 and sheath 92, the larger distal inner diameter of the outlet channel 15 provided in this embodiment is more conducive to the approach of the target object, facilitating its removal through the outlet channel 15. More preferably, the inner diameter of the outlet channel 15 is larger than the inner diameter of the inlet channel 16, and the outlet channel 15 is located in the middle of the cannula. This middle position can refer to being coaxial with the cannula or offset from the coaxial direction; it only needs to be approximately central. Regardless of whether it is strictly coaxial, its approximate central position is beneficial for the target object to approach and be aspirated. External instruments can enter and reach the tip through the outflow channel 15 and / or inflow channel 16 to crush stones or cut tissue in the target cavity.

[0050] Optionally, please refer to Figure 5 - Figure 9The cannula also has an instrument channel 14. The outflow channel 15 is connected to the aspiration connector 34, the inflow channel 16 is connected to the irrigation connector 33, and the instrument channel 14 is connected to the instrument interface 32. This allows the camera at the cannula tip to facilitate the doctor's understanding of the cavity. The instrument channel 14 allows external instruments such as laser fibers to pass through and reach the tip to fragment stones or cut tissue within the target cavity. If the inner diameter of the instrument channel is too large, the laser fiber is prone to swaying during operation, causing the laser emitter (fiber head) to shift position, potentially damaging non-target tissue or reducing lithotripsy efficiency. Existing technologies typically address this issue by adding fiber support structures within the channel, but this occupies valuable internal pipe space. This embodiment establishes an independent channel for laser transmission. This independent channel not only provides precise guidance for the laser fiber, effectively constraining its sway and avoiding the risk of positional shift, but also significantly saves internal pipe space because its precise guiding function replaces the need for additional support structures.

[0051] In some embodiments, please refer to Figures 5-7 The cannula provides an instrument channel 14, with the corresponding tip having: a camera port 13, a laser port 110, a left inlet port 114 and a right inlet port 113, and an outlet port 151. The laser port 110, located at the distal end of the instrument channel, is positioned to the left or right of the camera port 13. For other examples, please refer to... Figure 8 and Figure 9 The device provides two instrument channels 14, each with a camera 112, a left laser port 112 and a right laser port 111, a fluid outlet 151, a left fluid inlet 114 and a right fluid inlet 113 at its tip. The left and right laser optical fibers extend longitudinally within the instrument channels 14 and protrude from the left laser port 112 and the right laser port 111, respectively. Currently, under normal circumstances, the laser optical fiber can only be accessed from one channel of the endoscope and its position cannot be adjusted. For some targets in special locations, the lack of options makes it impossible to reach the target. However, this visual catheter has two laser optical fiber positions to choose from, allowing the position of the laser optical fiber to be adjusted in a timely manner according to the doctor's preference or the location of the target, providing greater flexibility and convenience. At the same time, the other channel without a laser optical fiber can be used for water irrigation, achieving a larger irrigation volume.

[0052] In some examples, please refer to Figure 11The described visual catheter is equipped with a camera and at least one laser fiber. The laser fiber extends through the instrument channel 14 of the catheter and is used to crush stones or cut tissue. The camera is installed at the tip 1 of the catheter 2 to facilitate observation of the tissue or stones within the cavity. To facilitate the installation of the camera and laser fiber, the tip 1 has a camera port 13 for mounting the camera and at least one laser port for mounting the laser fiber. A signal bundle 130 extends longitudinally within the catheter. The proximal end of the signal bundle 130 is adapted to connect to an external device to display the camera image, and the camera is connected to the distal end of the signal bundle 130. Liquid within the target cavity is drawn out by negative pressure, flowing out from the outlet channel 15, then reaching the suction connector 34 inside the catheter body, and finally flowing into the equipment waste collection bottle. Accordingly, the visual catheter provided in this embodiment integrates a camera, drainage, suction, and laser, enabling the crushing of stones, cutting of tissue, infusion of liquid, and visual operation while facilitating the aspiration of the target object from the body.

[0053] In this embodiment, the wall of the cannula 2 defines a lumen. The lumen contains a main body, two laser outer tubes, and a signal beam 130. The main body forms an outlet channel 15, the laser outer tubes form an instrument channel, and the remaining gap in the lumen forms an inlet channel 16. The distal end of the signal beam 130 is connected to a camera, and the laser fiber reaches the head end through the laser outer tubes. Thus, the main body is connected to the aspiration connector 34, the instrument inlet 32 ​​is connected to the proximal end of the laser outer tubes, and the remaining gap communicates with the perfusion connector 33 to achieve liquid perfusion. The head end 1 has multiple outlets communicating with these gaps. Specifically, physiological saline, aided by the pressure of the perfusion pump, reaches the perfusion connector 33, enters the cannula 2, and through the inlet channel 16 inside the cannula 2, reaches the left inlet 114 and right inlet 113 of the catheter head end 1, before being discharged to the target location.

[0054] This utility model provides hardware devices such as a visual catheter proximal connection robot. The device displays the camera image of the catheter body. The infusion connector 33 is connected to the infusion system to realize the infusion of physiological saline. The suction connector 34 is connected to a negative pressure suction device to suction out the liquid in the target cavity such as the renal pelvis.

[0055] This embodiment integrates both inlet and outlet functions within a limited space, ensuring that the outer diameter of the catheter body does not exceed the outer diameter of currently used clinical sheaths. This design makes full use of the internal space of the catheter body and achieves good results. Flexible catheter bodies, due to their stable integrated structure and larger outlet channel, do not exhibit this problem and are more conducive to the discharge of target substances.

[0056] In addition, please see Figure 11The cannula 2 has a pressure measuring hole 24 on its distal side, and a pressure measuring channel communicating with the pressure measuring hole 24 is provided inside the cannula wall. A pressure detection component for detecting the pressure within the pressure measuring channel is provided on the pressure measuring channel or any path communicating with it. For example, a pressure sensor is provided at the pressure measuring hole in the pressure measuring channel.

[0057] During pyelolithotomy via the urinary tract, the tip 1 of the cannula 2 needs to be aligned with the target for operations such as laser lithotripsy, irrigation, and aspiration. However, due to the narrowness and twisting of the urinary tract, the position of the cannula cannot be adjusted. Therefore, at least one drawstring extends longitudinally from the main tube section 22 of the cannula 2 into the flexible tube. The distal end of the drawstring is fixed to the flexible tube or the tip of the cannula 2, and is controlled by the operating unit 3 to move the drawstring longitudinally relative to the main tube section 22, thereby causing the flexible tube to deflect. Compared to a snake-bone tube, the flexible tube has no sharp joints and does not generate metal filings from frequent use. Furthermore, as mentioned earlier, the visual catheter provided by this invention is used in the urinary tract. While existing urinary endoscopes have bending capabilities, they mostly employ a snake-bone structure, which suffers from wear and tear that generates metal filings, occupies luminal space, and has limited bending direction, requiring the entire endoscope tube to rotate to adjust the angle.

[0058] In some embodiments of this utility model, please refer to Figures 12 and 13. A pull wire 30 extends longitudinally inside the main pipe section 22 and the curved section 21 of the cannula 2. To ensure the stability and smoothness of the pull wire 30 during movement, and to avoid affecting other channels within the cavity, the walls of the main pipe section 22 and the curved section 21 of the cannula 2 are provided with an outer pull wire tube 31. The outer pull wire tube 31 is cleverly fitted to the inner side of the tube wall. Its structure is compact and does not occupy additional space within the cavity, thereby ensuring that the normal use of other functional channels such as the inlet channel 16 and the outlet channel 15 is not interfered with. The pull wire 30 is slidably disposed inside the outer pull wire tube 31. The distal end of the pull wire 30 is fixed to the curved section 21 or the head end 1. It is controlled by the operating unit 3 to drive the pull wire 30 to move longitudinally relative to the main pipe section 22, thereby causing the curved section 21 to deflect. For example, pulling the cable 30 will cause the curved section 21 to deflect relative to the main section 22, and the direction of the deflection is upward.

[0059] In other embodiments of this utility model, please refer to Figure 14 and Figure 15The main tube section 22 of the cannula 2 and the flexible tube are symmetrically provided with two longitudinally extending pull wires 30. The main tube section 22 of the cannula 2 and the tube wall of the flexible tube are provided with pull wire outer tubes 31. The pull wires 30 are slidably pulled inside the pull wire outer tubes 31. The distal end of the pull wire 30 is fixed to the flexible tube or the head end 1. Pulling the pull wire 1 causes the flexible tube to deflect upward or downward. However, its deflection direction is relatively unidirectional. During the operation, the catheter body needs to be frequently rotated to adjust the direction.

[0060] The solution provided by this invention features a smooth outer wall for the insertion cannula, reducing insertion resistance and tissue damage, thereby improving patient comfort and surgical safety.

[0061] In other embodiments of this utility model, please refer to Figures 16-19 The main tube section 22 and the curved section 21 of the cannula 2 are provided with four longitudinally extending pull wires 301, 302, 303, and 304. The four pull wires 301, 302, 303, and 304 are evenly distributed. The distal ends of the four pull wires 301, 302, 303, and 304 are fixed to the curved section or the head end 1. The four pull wires 301, 302, 303, and 304 are controlled by the operating unit 3. The four pull wires 301, 302, 303, and 304 move longitudinally relative to the main tube section 22 to drive the curved section to deflect to any direction and any angle.

[0062] The method for adjusting in any direction here is as follows: Please refer to [link / reference]. Figure 20 The system consists of four individual pull wires. The independent longitudinal movement of these four wires causes the flexible tube to deflect in four directions: left, right, up, and down. Here, the left-right direction is defined as the X-axis, and the up-down direction is defined as the Y-axis. The X-axis passes through the tube's axis and intersects the Y-axis perpendicularly. The X-axis and Y-axis together form a two-dimensional coordinate system. This two-dimensional coordinate system divides the XY plane into four quadrants: the first quadrant (A), the second quadrant (B), the third quadrant (C), and the fourth quadrant (D). The angles in the first quadrant range from 0° to 90°, the angles in the second quadrant range from 90° to 180°, the angles in the third quadrant range from 180° to 270°, and the angles in the fourth quadrant range from 270° to 360°.

[0063] Please see Figure 21 By pulling any two wires with the same tension or the same stroke, the flexible tube can be deflected in the 45° direction in the corresponding quadrant; that is, the longitudinal movement of the same displacement of the two adjacent wires causes the flexible tube to deflect in the 45°, 135°, 225° and 315° directions in the first quadrant, second quadrant, third quadrant and fourth quadrant respectively.

[0064] Please see Figure 22By pulling any two wires with different tensions or different strokes, the flexible tube can be deflected in any direction within the corresponding quadrant. Specifically, the longitudinal movement of the two adjacent wires with different displacements causes the flexible tube to deflect in the first, second, third, and fourth quadrants at angles of 0-45°, 45°-90°, 90°-135°, 135°-180°, 180°-225°, 225°-270°, 270°-315°, and 315°-360° respectively. These deflection angle ranges do not include the endpoints. For example, one wire in the target quadrant can be pulled first, and then the direction can be adjusted by pulling another adjacent wire. Alternatively, both wires can be pulled simultaneously, and adjusting both wires at the same time can quickly help the doctor align the head end with the target position.

[0065] Compared to existing technologies where bidirectional snake-bone tube segments require rotation of the tube body for steering, resulting in inconvenient operation and low efficiency, and where four-way adjustment structures are prone to jamming and unstable directional control, this invention achieves any deflection of the flexible tube within 360° by the independent or combined movement of four pull lines. This not only overcomes the shortcomings of existing technologies but also fills the gap in the application of this technology in the field of transurethral endoscopy, allowing users to align the flexible tube with any position within the cavity according to surgical needs without frequently rotating the endoscope or catheter.

[0066] The use of four or more drawstrings allows for independent adjustment of the catheter tip in multiple directions. Each drawstring can drive the flexible tube to deflect at different angles, enabling more complex movements and covering a wider range of angles and directions to meet the diverse angular needs of surgical procedures. In handling complex surgical cases, such as navigation within narrow or tortuous anatomical structures, the design of at least four drawstrings allows for simultaneous multi-directional manipulation, enabling the catheter to flexibly respond to different surgical requirements and real-time changes, effectively improving the success rate of the surgery.

[0067] Traditional pull-suture control structures have significant drawbacks: if the pull suture is not mounted on the tube wall, it directly encroaches on the already limited cavity space, severely affecting the installation and operation of other functional components of surgical instruments. Furthermore, pull-suture systems using a serpentine structure lack a precise serpentine bone joint guiding and limiting mechanism, making it prone to unexpected multi-directional bending when the suture is pulled. This makes it difficult for surgeons to precisely control the bending direction and angle of the flexible tube, thus affecting the precision and safety of the surgery. To address these technical bottlenecks, the insertion cannula of this invention has the same number of longitudinally extending pull-suture channels as the pull suture, and the pull suture is slidably disposed within these channels. In some embodiments, the pull-suture channel may consist of an outer pull-suture tube and a limiting groove; please refer to [reference needed]. Figure 17 and Figure 18The inner wall of the insertion cannula 2 is fixed with pull-wire outer tubes 311, 312, 313, and 314. Pull wires 301, 302, 303, and 304 extend longitudinally within these outer tubes. The proximal ends of pull wires 301, 302, 303, and 304 are controlled by an operating unit. In this embodiment, four pull-wire outer tubes 311, 312, 313, and 314 are arranged inside the wall of the insertion cannula 1. Pull wires 301, 302, 303, and 304 pass through these outer tubes. Pulling pull wires 301, 302, 303, and 304 causes them to slide within the outer tubes 311, 312, 313, and 314. As described above, the independent or combined movement of the four pull wires allows the flexible tube to deflect in any direction within 360°, enabling the user to align the tip with any position within the cavity as needed during surgery, without the need for frequent rotation of the endoscope or catheter body. Understandably, to ensure smooth longitudinal movement of the pull wires, please refer to [the relevant documentation / reference needed]. Figure 17 The insertion cannula 2 has four pull-wire outer tubes 311, 312, 313, and 314 fixed inside its wall. Pull wires 301, 302, 303, and 304 extend longitudinally within these outer tubes. The proximal ends of the pull wires 301, 302, 303, and 304 are controlled by the operating unit 3. In this embodiment, four pull-wire outer tubes 311, 312, 313, and 314 are arranged inside the wall of the insertion cannula 2. Pull wires 301, 302, 303, and 304 pass through these outer tubes. Pulling the pull wires 301, 302, 303, and 304 causes them to slide within the outer tubes 311, 312, 313, and 314.

[0068] The arbitrary angle deflection adjustment method here refers to controlling the deflection angle of the flexible tube by adjusting the travel of the pull wire after determining the deflection direction.

[0069] Please refer to further information. Figure 18 Multiple longitudinally extending arched limiting grooves 5 are formed within the wall of the insertion tube 2, and these grooves 5 are arranged at equal intervals along the wall of the insertion tube 2. The outer tubes 311, 312, 313, and 314 of the pull wire are embedded in these limiting grooves 5, meaning they are confined within the arched limiting grooves 5. This structural design prevents lateral displacement of the outer tubes during processing or use, and solves the problem of left-right swaying or even bending that might occur during traction if the pull wires were not equipped with limiting grooves. This prevents the overall distribution of the four pull wires from becoming chaotic and causing directional deviation due to skewed pull wire angles. Compared to a circular cavity, the arched limiting grooves 5 more effectively constrain the outer tubes of the pull wire, ensuring the equidistant distribution of the four pull wires and thus guaranteeing the accuracy of directional adjustment.

[0070] To achieve deflection of the flexible tube, the distal ends of guy wires 301, 302, 303, and 304 can be fixed to head end 1. For easier fixing of the distal ends of the guy wires, please refer to [link / reference needed]. Figures 23-24 The head end 1 has a circumferential fixing member 6, and the pull wires are circumferentially fixedly connected to the circumferential fixing member 6 at intervals. In some embodiments, the head end 1 includes a tube body and the circumferential fixing member 6 disposed within the tube body. In this embodiment, the circumferential fixing member 6 is specifically implemented as an anchoring ring. The head end includes an outer tube 121, an anchoring ring, and an inner tube. The anchoring ring is disposed between the outer tube and the inner tube. The distal ends of the four pull wires 301, 302, 303, and 304 are fixed to the circumferential fixing member 6. Exemplarily, the pull wires 301, 302, 303, and 304 are fixedly connected to the anchoring ring by laser welding, soldering, or crimping, ensuring that the direction of the pull wires will not be significantly deviated after fixing. This also strengthens the directionality of the pull wires during the tube body forming process.

[0071] In this embodiment, the main pipe section 22 is a rigid pipe section, and the hardness of the rigid pipe section is not uniform. In some embodiments, the rigid pipe section 22 includes a first pipe section and a second pipe section. The hardness of the second pipe section is between that of the first pipe section and the flexible pipe. It is attached between the first pipe section and the bending section 21, which extends the service life of the conduit body when the flexible pipe is deflected.

[0072] Please refer to some embodiments of this utility model. Figures 14-19 The flexible tube wall comprises an outer tube 121, a support layer 122, and an inner tube 123. The materials of the rigid tube (main tube section 22) and the outer tube 121 of the flexible tube can be selected according to functional requirements: they can be different materials, or the same base material can be used but processed through different techniques (such as modification, reinforcement, or heat treatment) to exhibit different hardness characteristics. The support layer 122 is an elastic layer used to increase the compressive and flexural strength of the tube body. The support layer 122 includes, but is not limited to, spring tubes, braided tubes, or hyaluronic acid tubes. The inner tube 123 is an ultra-thin, smooth layer that effectively reduces friction on the inner surface. To achieve effective connection between the inner tube and the outer tube material, etching is generally added to the outer surface of the inner tube 123. The inner tube is generally an etched fluoroplastic tube.

[0073] In this embodiment, the pull wires 301, 302, 303, and 304 are all disposed inside any of the outer tube 121, the support layer 122, and the inner tube 123, or in the gap thereof; in this embodiment, please refer to Figure 16 and Figure 17 The pull wires 301, 302, 303, and 304 are all located inside the inner tube 123.

[0074] Please refer to some embodiments of this utility model. Figure 25 and Figure 16 The operating unit 3 includes an operating unit housing 31 and four power transmission components 71, 72, 73, and 74 disposed inside the operating unit housing 31. The proximal ends of the pull cables 301, 302, 303, and 304 are disposed on the power transmission components 71, 72, 73, and 74. The power transmission components 71, 72, 73, and 74 are adapted to be connected to a motor. Each pull cable 301, 302, 303, and 304 is driven by the power transmission components 71, 72, 73, and 74 to slide longitudinally. For example, the power transmission components 71, 72, 73, and 74 are turntables. The proximal ends of the pull cables 301, 302, 303, and 304 are wound on the turntables. The counterclockwise or clockwise rotation of the turntables drives the pull cables to move longitudinally in the proximal or distal direction. Each of the four pull wires is controlled by a separate motor. Inside the operating section of the catheter body, a turntable connects each individual pull wire 301, 302, 303, and 304. The turntable is connected to the corresponding mating parts on the equipment, which transmits the power of the motor on the equipment to the turntable, and then transmits it to the bending posture of the catheter body head through the pull wires.

[0075] By controlling a single cable with a separate motor, bending in four directions can be achieved. By using two adjacent motors with the same force to control two adjacent cables, bending in eight directions can be achieved. If two adjacent motors use different forces to control two adjacent cables, precise angle control can be achieved through precise force control. Compared to bending in eight directions, full-directional adjustment can be achieved, ultimately reaching any angle without rotation.

[0076] The visual catheter provided by this invention can be deflected and bent in any direction. It can help doctors quickly and easily achieve omnidirectional turning, greatly facilitating the doctor's operation, while also being safer and more reliable.

[0077] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0078] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A visual catheter for use in the urinary tract, characterized in that, The visual catheter includes: The catheter body includes an operating part and a cannula from the proximal end to the distal end. The operating part is located at the proximal end of the catheter body, and the cannula is located at the distal end of the catheter body. The operating part is provided with an infusion connector and an aspiration connector. The cannula has a mutually isolated outflow channel and an inflow channel. The outflow channel is in fluid communication with the aspiration connector, and the inflow channel is in fluid communication with the infusion connector. The camera component, which is mounted on the catheter body, is used to image the urinary tract.

2. The visual catheter according to claim 1, characterized in that, The outlet channel is located in the middle of the insertion tube, and at least the inner diameter of the outlet channel head is larger than the inner diameter of the inlet channel head.

3. The visual catheter according to claim 1, characterized in that, The cannula also includes at least one longitudinally extending instrument channel for instruments to pass through, and the operating part is provided with an instrument inlet communicating with the instrument channel.

4. The visual catheter according to claim 3, characterized in that, The instrument channel is separated from the liquid outlet channel and / or liquid inlet channel.

5. The visual catheter according to claim 3, characterized in that, The wall of the cannula defines a lumen, and a main tube and at least one instrument outer tube are disposed within the lumen. The main tube forms an outlet channel, the instrument outer tube forms an instrument channel, and the remaining gap in the lumen forms an inlet channel.

6. The visual catheter according to any one of claims 1-5, characterized in that, The cannula extends from the proximal end to the distal end, including a main tube section, a curved section, and a tip. The curved section is driven by an operating unit to deflect the tip. The curved section includes a flexible tube, and the main tube section includes a rigid tube. The wall of the flexible tube at least partially defines the boundaries of the inlet and / or outlet channels.

7. The visual catheter according to claim 6, characterized in that, At least one pull wire extends longitudinally from the main tube section and the inside of the flexible tube. The distal end of the pull wire is fixed to the head end of the flexible tube or the insertion tube. The operation unit controls the pull wire to move longitudinally relative to the main tube section, thereby causing the flexible tube to deflect.

8. The visual catheter according to claim 6, characterized in that, The main tube and the flexible tube are equipped with four longitudinally extending pull wires. The four pull wires are evenly spaced. Pulling any two pull wires with the same tension or the same stroke will cause them to deflect in the 45° direction of the corresponding quadrant. Pulling any two pull wires with different tensions or different strokes will cause them to deflect in any direction within the corresponding quadrant. Pulling one pull wire to a certain angle and then pulling the adjacent pull wire will cause the front end to deflect circumferentially.

9. The visual catheter according to claim 7, characterized in that, The cannula has the same number of longitudinally extending pull wire channels as the pull wire, and the pull wire is slidably disposed within the pull wire channels.

10. The visual catheter according to claim 7, characterized in that, The flexible tube wall includes an outer tube, a support layer and an inner tube. The support layer is formed between the outer tube and the inner tube. The pull wires are all located inside the outer tube, the support layer and the inner tube or in the gap between them.

11. The visual catheter according to claim 7, characterized in that, The operating part is equipped with a power transmission component, the proximal end of the pull wire is located on the power transmission component, and the power transmission component is connected to the pull wire, thereby driving longitudinal sliding.

12. The visual catheter according to claim 9, characterized in that, The pull cable channel includes a pull cable outer tube and multiple longitudinally extending arched limiting grooves formed inside the tube wall. The multiple limiting grooves are arranged at equal intervals along the tube wall of the insertion part, and the pull cable outer tube is embedded in the limiting groove.

13. The visual catheter according to claim 1, characterized in that, The cannula has a pressure measuring channel inside its wall, and a pressure measuring hole is opened on the far side of the pressure measuring channel. A pressure detection element is provided on the pressure measuring channel or any path connected to it.

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