Surgical instrument and auxiliary device applied to endoscope

Abstract

A surgical instrument and an auxiliary device applied to an endoscope. The surgical instrument comprises a sheath (1100) and an end tool (1400) located at the distal end of the sheath (1100), wherein the sheath (1100) comprises a body portion (1110) and a deflection portion (1120), the deflection portion (1120) being located in a distal region of the sheath (1100).

Description

Surgical instruments and auxiliary devices used in endoscopy Cross-referencing

[0001] This application claims priority to Chinese application No. 202411187836.7, filed on August 27, 2024; Chinese application No. 202411693872.0, filed on November 22, 2024; Chinese application No. 202510065253.5, filed on January 15, 2025; and Chinese application No. 202520113479.3, filed on January 17, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This manual relates to medical device technology, and in particular to a surgical instrument and an auxiliary device used in endoscopy. Background Technology

[0003] Endoscopic instruments are widely used in the medical field. However, commonly used instruments such as grasping forceps, biopsy forceps, electrocoagulation forceps, clamps, and cutting knives sometimes encounter difficult angles or directions where the target is located, hindering efficient and safe removal. For example, grasping forceps are currently used to remove various foreign bodies lodged in the gastrointestinal tract, boasting a high success rate and safety. However, the distal end of these forceps cannot be flexibly adjusted to accommodate different angles and directions. For some difficult-to-grasp locations, the foreign body cannot be removed safely and promptly. In such cases, rotating or changing the endoscope's position is often necessary, which can lead to complications such as esophageal or tracheal perforation and massive bleeding. Summary of the Invention

[0004] This specification provides one or more embodiments of a surgical instrument, including a sheath and an end device located at the distal end of the sheath. The sheath includes a body portion and a deflection portion, the proximal end of the deflection portion and the distal end of the body portion forming a limit at least in the axial direction. The deflection portion includes a bending mechanism, the bending mechanism including a bendable structure, the deflection portion bends via the bending mechanism, and the end device follows the bending of the deflection portion toward a target direction.

[0005] This specification provides one or more embodiments of an auxiliary device for use in an endoscope, including a tip cap assembly and a surgical instrument as described above. The tip cap assembly includes an instrument connection portion and a tip cap. The instrument connection portion is used to mount the surgical instrument. At least a deflection portion of the surgical instrument located outside the tip cap assembly is bendable and / or rotatable.

[0006] This specification provides one or more embodiments of an auxiliary device for use with an endoscope, the auxiliary device for use with an endoscope including a tip cap assembly, the tip cap assembly including: a tip cap; a rotating ring configured to rotate about the tip cap; and a rotation control unit slidably engaged with the rotating ring and configured to drive the rotating ring to move.

[0007] This specification provides one or more embodiments of a surgical instrument, including an end effector. The end effector includes: a first shaft defining a rotation axis; a second shaft, both located in a first direction perpendicular to the rotation axis; and at least two clamping members connected to the first shaft and rotatable about the rotation axis. Each clamping member has a groove that engages with the second shaft, allowing it to rotate according to the distance between the second shaft and the rotation axis along the first direction. When the starting point of the groove is at the second shaft, the clamping member is in an open state; when the ending point of the groove is at the second shaft, the clamping member is in a clamping state. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings.

[0009] Figure 1 is an exemplary structural diagram of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification;

[0010] Figure 2A is an exemplary internal structural diagram of the deflection section of the device shown in some embodiments of this specification;

[0011] Figure 2B is another exemplary structural diagram of the deflection section of the device shown in some embodiments of this specification;

[0012] Figure 2C is an exemplary internal structural diagram of Figure 2B;

[0013] Figure 2D is an exemplary structural diagram of Figures 2A, 2B, and 2C on the distal or proximal side;

[0014] Figure 2E is yet another exemplary structural diagram of the deflection section of the device shown in some embodiments of this specification;

[0015] Figure 2F is an exemplary structural diagram of the end of Figure 2E;

[0016] Figure 2G is an exemplary structural diagram of the bendable structure shown in Figures 2B, 2C, and 2E;

[0017] Figure 2H is an exemplary structural diagram of Figure 2G bending to one of the angles;

[0018] Figure 2I is an exemplary structural diagram of one side of Figure 2G;

[0019] Figure 2J is an exemplary structural diagram of Figure 2I, showing the bending change to one of the angles.

[0020] Figure 3 is an exemplary internal structural diagram of the deflection section of the device shown in some other embodiments of this specification;

[0021] Figure 4A is an exemplary structural diagram of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification;

[0022] Figure 4B is an exemplary structural diagram of the rotating mechanism of the instrument shown in some embodiments of this specification;

[0023] Figure 4C is an exemplary structural diagram of the sheath shown in some embodiments of this specification;

[0024] Figure 5 is an exemplary internal structural diagram of the operating handle in Figure 3;

[0025] Figure 6A is one of the exemplary internal structural diagrams of a portion of the instrument operating handle shown in some embodiments of this specification;

[0026] Figure 6B is an enlarged view of part B in Figure 6A;

[0027] Figure 7 is an exemplary structural diagram of the jaws of the auxiliary device shown in some embodiments of this specification, taking the gripper as an example;

[0028] Figure 8 is one of the operation states of the auxiliary device shown in some embodiments of this specification, taking the gripper as an example, when gripping foreign objects;

[0029] Figure 9A shows the second operational state of the auxiliary device shown in some embodiments of this specification, taking the gripper as an example, when gripping a foreign object;

[0030] Figure 9B is an enlarged view of part C in Figure 9A;

[0031] Figure 10 shows the third operational state of the auxiliary device shown in some embodiments of this specification, taking the gripper as an example, when gripping a foreign object;

[0032] Figure 11 shows the fourth operational state of the auxiliary device shown in some embodiments of this specification, taking the gripper as an example, when gripping a foreign object;

[0033] Figure 12A shows the fifth operational state of the auxiliary device shown in some embodiments of this specification, taking the gripper as an example, when gripping a foreign object;

[0034] Figure 12B is an enlarged view of part D in Figure 12A;

[0035] Figure 13 is another exemplary structural diagram of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification;

[0036] Figure 14A is an exemplary internal structural diagram of the instrument operating handle shown in some embodiments of this specification;

[0037] Figure 14B is an enlarged view of part E in Figure 14A;

[0038] Figure 15 shows one of the operating states of the auxiliary device shown in some embodiments of this specification, taking the gripper as an example, when gripping a foreign object;

[0039] Figure 16 shows another operating state of the auxiliary device shown in some embodiments of this specification, taking the gripper as an example, for grasping foreign objects;

[0040] Figure 17 shows another operating state of the auxiliary device shown in some embodiments of this specification, taking the gripper as an example, for grasping foreign objects;

[0041] Figure 18 shows another operating state of the auxiliary device shown in some embodiments of this specification, taking the gripper as an example, for grasping foreign objects;

[0042] Figure 19 shows another operating state of the auxiliary device shown in some embodiments of this specification, taking the gripper as an example, for grasping foreign objects;

[0043] Figure 20A shows another operational structure of the auxiliary device for grasping foreign objects, taking the gripper as an example, as shown in some embodiments of this specification.

[0044] Figure 20B is an enlarged view of part F in Figure 20A;

[0045] Figure 21A is another exemplary structural diagram of the auxiliary device shown in some embodiments of this specification, taking a gripper as an example, for grasping foreign objects;

[0046] Figure 21B is an enlarged view of the internal exemplary structure of part G in Figure 21A regarding the operating handle;

[0047] Figure 22A is an exemplary structural diagram of the auxiliary device shown in some embodiments of this specification;

[0048] Figure 22B is an enlarged view of an exemplary structure of part H1 in Figure 22A regarding the distal portion of the auxiliary device;

[0049] Figure 22C is an enlarged view of the internal exemplary structure of the auxiliary device operating handle in part H2 of Figure 22A;

[0050] Figure 23 is an exemplary structural diagram of the auxiliary device shown in some embodiments of this specification, in which the instrument and the second instrument form a current loop;

[0051] Figure 24A shows one of the operating states of the auxiliary device (including grippers) and the second instrument in cooperation with some embodiments of this specification;

[0052] Figure 24B is an enlarged view of part A in Figure 24A;

[0053] Figure 25A shows two operational states of the auxiliary device (including grippers) and the second instrument in cooperation with some embodiments of this specification.

[0054] Figure 25B is an enlarged view of part J in Figure 25A;

[0055] Figure 26 shows the third operational state of the auxiliary device (including grippers) and the second instrument in cooperation with some embodiments of this specification;

[0056] Figure 27 shows one of the four operational states of the auxiliary device (including grippers) and the second instrument in cooperation with some embodiments of this specification.

[0057] Figure 28A shows the fifth operational state of the auxiliary device (including grippers) and the second instrument in cooperation with some embodiments of this specification.

[0058] Figure 28B is an enlarged view of part K in Figure 28A;

[0059] Figure 29 shows one of the six operational states of the auxiliary device (including grippers) and the second instrument in cooperation with some embodiments of this specification;

[0060] Figure 30 shows the seventh operational state of the auxiliary device (including grippers) and the second instrument in cooperation with some embodiments of this specification;

[0061] Figure 31 is a schematic diagram of the structure of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification;

[0062] Figure 32A is a partial cross-sectional view of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification;

[0063] Figure 32B is a partial cross-sectional view from another angle of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification.

[0064] Figure 33A is a partial cross-sectional view of an auxiliary device for an endoscope in a rotatable state, as shown in some other embodiments of this specification.

[0065] Figure 33B is a partial cross-sectional view of an auxiliary device for endoscopes in a non-rotatable state, as shown in some other embodiments of this specification.

[0066] Figure 34 is a side view along the axial direction of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification;

[0067] Figure 35 is an isometric view of the tip cap assembly shown in some embodiments of this specification;

[0068] Figure 36A is an exploded schematic diagram of the first sidewall of the tip cap shown in some embodiments of this specification;

[0069] Figure 36B is a side view of the tip cap assembly shown in some embodiments of this specification;

[0070] Figure 37A is a side view of the tip cap assembly shown in some embodiments of this specification, wherein the rotating ring is in a 45° rotation position;

[0071] Figure 37B is a side view of the tip cap assembly shown in some embodiments of this specification, wherein the rotating ring is in a 90° rotation position;

[0072] Figure 37C is a side view of the tip cap assembly shown in some embodiments of this specification, wherein the rotating ring is in the initial position;

[0073] Figure 37D is a side view of the tip cap assembly shown in some embodiments of this specification, wherein the rotating ring is in the deflection limit position;

[0074] Figure 38A is a schematic cross-sectional view of a sliding hole shown in some embodiments of this specification;

[0075] Figure 38B is a schematic cross-sectional view of a sliding hole shown in some other embodiments of this specification;

[0076] Figure 39 is a partial enlarged view of region A of the auxiliary device applied to the endoscope shown in Figure 32A;

[0077] Figure 40 is a partial enlarged view of region B of the auxiliary device applied to the endoscope shown in Figure 32B;

[0078] Figure 41 is a side view of a rotating ring shown in some other embodiments of this specification;

[0079] Figure 42A is a distal isometric view of the tip cap shown in some other embodiments of this specification;

[0080] Figure 42B is a proximal isometric view of the tip cap shown in some other embodiments of this specification;

[0081] Figure 43 is a schematic diagram of the structure of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification;

[0082] Figure 44 is an axial sectional view of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification;

[0083] Figure 45 is a partial enlarged view of region C of the auxiliary device applied to the endoscope shown in Figure 44;

[0084] Figure 46 is a schematic diagram of the structure of the surgical instrument shown in some embodiments of this specification;

[0085] Figure 47 is a schematic diagram of the current flow of the endoscope processing system shown in some embodiments of this specification;

[0086] Figure 48 is a schematic diagram of an auxiliary device for endoscopes in its initial state, as shown in some embodiments of this specification;

[0087] Figure 49 is a schematic diagram of the rotating surrounding tip cap after rotation, as shown in some embodiments of this specification;

[0088] Figure 50 is a schematic diagram of the surgical instrument contacting the target object as shown in some embodiments of this specification;

[0089] Figure 51 is a schematic diagram of a surgical instrument pulling a target object according to some embodiments of this specification;

[0090] Figure 52 is a flowchart illustrating the operation method of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification.

[0091] Figure 53 is a schematic block diagram of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification;

[0092] Figure 54A is a schematic diagram of the structure of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification;

[0093] Figure 54B is a structural cross-sectional view of an auxiliary device applied to an endoscope, as shown in some embodiments of Figure 54A;

[0094] Figure 55A is a schematic diagram of the structure of the rotating ring shown in some embodiments of this specification;

[0095] Figure 55B is a rear-end side view of a rotating ring shown in some embodiments of this specification;

[0096] Figure 56A is a front-end isometric view of the tip cap and stabilizing mechanism shown in some embodiments of this specification;

[0097] Figure 56B is a rear isometric view of the tip cap and stabilizing mechanism shown in some embodiments of this specification;

[0098] Figure 57A is a schematic diagram of the structure of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification;

[0099] Figure 57B is a structural cross-sectional view of an auxiliary device applied to an endoscope, as shown in some embodiments of Figure 57A;

[0100] Figure 58A is a schematic diagram of the rotating ring and the pull wire in some embodiments of this specification;

[0101] Figure 58B is a rear-end side view of the rotating ring and the pull wire as shown in some embodiments of Figure 58A;

[0102] Figure 59 is a schematic diagram showing the engagement of the tip cap and the pull wire in some embodiments of this specification;

[0103] Figure 60 is a schematic diagram of the connection between the pull wire and the first sleeve as shown in some embodiments of this specification;

[0104] Figure 61A is a schematic diagram of the structure of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification;

[0105] Figure 61B is a structural cross-sectional view of an auxiliary device applied to an endoscope, as shown in some embodiments of Figure 61A;

[0106] Figure 62 is a schematic diagram of an auxiliary device for endoscopes in its initial state, as shown in some embodiments of this specification;

[0107] Figure 63 is a schematic diagram of the rotating surrounding tip cap after rotation, as shown in some embodiments of this specification;

[0108] Figure 64 is a schematic diagram of the surgical instrument contacting the target object as shown in some embodiments of this specification;

[0109] Figure 65 is a schematic diagram of a surgical instrument pulling a target object according to some embodiments of this specification;

[0110] Figure 66 is a schematic block diagram of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification;

[0111] Figure 67 is a schematic diagram of the structure of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification;

[0112] Figure 68A is a schematic diagram of the positioning control unit shown in some embodiments of this specification;

[0113] Figure 68B is a schematic diagram of the positioning control unit shown in some embodiments of this specification.

[0114] Figure 69 is a schematic diagram of the structure of the surgical instrument shown in some embodiments of this specification;

[0115] Figure 70 is a schematic diagram of an auxiliary device for use with an endoscope in its initial state, as shown in some embodiments of this specification;

[0116] Figure 71 is a schematic diagram of the rotating surrounding tip cap after rotation, as shown in some embodiments of this specification;

[0117] Figure 72 is a schematic diagram of the axial movement of a surgical instrument as shown in some embodiments of this specification;

[0118] Figure 73 is a schematic diagram showing the deflection of surgical instruments toward the target object in some embodiments of this specification;

[0119] Figure 74 is a schematic diagram of a surgical instrument pulling a target object in the opposite direction, as shown in some embodiments of this specification;

[0120] Figure 75 is a schematic diagram showing the target object moving to the front end of the endoscope along with the surgical instrument, as illustrated in some embodiments of this specification.

[0121] Figure 76 is a flowchart illustrating the operation method of an auxiliary device applied to an endoscope, as shown in some embodiments of this specification.

[0122] Figure 77 is a schematic diagram of the clamping device in the open state according to one or more embodiments;

[0123] Figure 78 is a schematic top view of the clamping device in the open state according to one or more embodiments;

[0124] Figure 79 is a schematic diagram of the pincer tail structure of one or more embodiments;

[0125] Figure 80 is a schematic diagram of the structure of a clamping device in a clamping state according to one or more embodiments;

[0126] Figure 81 is a schematic diagram of the structure of a clamping device in a clamping state according to one or more embodiments;

[0127] Figure 82 is a schematic structural diagram of a clamping device in the open state according to one or more embodiments;

[0128] Figure 83 is a schematic structural diagram of a clamping device in a transitional state according to one or more embodiments;

[0129] Figure 84 is a schematic structural diagram of a clamping device in a clamping state according to one or more embodiments;

[0130] Figure 85 is a schematic diagram of the theoretical angular relationship of the clamping device in one or more embodiments;

[0131] Figure 86 is a schematic diagram of the structure of a clamping device according to one or more embodiments;

[0132] Figure 87 is a schematic diagram of the theoretical angular relationship of the clamping device in one or more embodiments;

[0133] Figure 88 is a schematic diagram of the structure of a clamping device according to one or more embodiments;

[0134] Figure 89 is a schematic diagram of the theoretical angular relationship of the clamping device in one or more embodiments;

[0135] Figure 90 is a schematic diagram of the structure of a clamping device according to one or more embodiments;

[0136] Figure 91 is a schematic diagram of the theoretical angular relationship of the clamping device in one or more embodiments;

[0137] Figure 92 is a schematic diagram of the structure of a clamping device according to one or more embodiments;

[0138] Figure 93 is a schematic structural diagram of a clamping device according to one or more embodiments;

[0139] Figure 94 is a schematic structural diagram of the device according to one or more embodiments. Detailed Implementation

[0140] The accompanying drawings used in the description of the embodiments will be briefly introduced below. The drawings do not represent all embodiments.

[0141] Unless the context clearly indicates an exception, words such as "a," "an," "a kind," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0142] In the embodiments described in this specification, the order of the steps is interchangeable unless otherwise specified, and steps may be omitted. Other steps may also be included in the operation process.

[0143] Certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined. The embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative embodiments of the embodiments of this specification can be combined with other structures in other embodiments.

[0144] Endoscopic instruments are widely used in the medical field. However, commonly used instruments such as grasping forceps, biopsy forceps, electrocoagulation forceps, clamps, and incision knives sometimes present challenges in handling the target area, affecting surgical efficiency and safety. In some embodiments, these instruments can be collectively referred to as surgical instruments. This specification provides one or more embodiments of an instrument 1000 that addresses the aforementioned problems. This specification provides multiple embodiments, each relating to different components of the instrument 1000, and these components can be combined or referenced in any way.

[0145] Embodiment 1 of this specification provides a surgical instrument, as detailed below.

[0146] As shown in Figure 1, in some embodiments, the instrument 1000 includes an end effector 1400, a delivery unit, and an operating handle 1500 from distal to proximal. The end effector 1400 is used to perform surgical-related operations, such as opening and closing of the forceps head, opening and closing of the chuck head, and extension and retraction of the incision blade. The delivery unit is used to transmit the movement of the operating handle 1500 to the end effector 1400, and the delivery unit includes a sheath 1100 and a traction element for the internal sheath 1100. The operating handle 1500 is used to control or operate the delivery unit and the end effector 1400.

[0147] First, it should be noted that the terms "proximal" and "distal" used in the embodiments of this specification can indicate direction. The side facing the operator is "proximal," and the side facing the insertion into the body for treatment is "distal." "Proximal" and "distal" can also refer to a portion of the structure or end located in the corresponding direction. The terms "axial" and "radial" used in the embodiments of this specification can indicate direction. For example, the axial direction of the sheath 1100 refers to the direction along the center line or rotation axis of the sheath 1100, and the "radial" direction is perpendicular to the "axial" direction.

[0148] In some embodiments, the surgical instrument (i.e., the surgical execution component in the instrument 1000 such as grasping forceps, biopsy forceps, electrocoagulation forceps, clamps, and incision knives mentioned above) includes a sheath 1100 and an end effector 1400 located at the distal end of the sheath 1100. The sheath 1100 includes a body portion 1110 and a deflection portion 1120, with the proximal end of the deflection portion 1120 and the distal end of the body portion 1110 forming a limit at least in the axial direction. The deflection portion 1120 includes a bending mechanism 1300, which includes a bendable structure 1310. The deflection portion 1120 bends via the bending mechanism 1300, and the end effector 1400 follows the bending of the deflection portion 1120 toward the target direction.

[0149] In this context, the deflecting portion 1120 refers to the part of the sheath 1100 that can bend and deflect in a specific direction. The body portion 1110 refers to the part of the sheath 1100 used to support the deflecting portion 1120. The surgical instrument will be described below with reference to the accompanying drawings. Axial direction limiting means that the relative displacement between the deflecting portion 1120 and the body portion 1110 is restricted in the axial direction. In this embodiment, axial direction refers to the axial direction of the proximal end of the deflecting portion 1120 and / or the axial direction of the distal end of the body portion 1110. More details regarding the axial direction limiting of the proximal end of the deflecting portion 1120 and the distal end of the body portion 1110 can be found in FIG4C and its description. In some embodiments, the proximal end of the deflecting portion 1120 and the distal end of the body portion 1110 are limited in both the axial and radial directions. Radial limiting means that the relative displacement between the deflecting part 1120 and the main body 1110 is restricted in the radial direction. For example, the main body 1110 and the deflecting part 1120 are fixedly connected and cannot rotate relative to each other. The end effector 1400 refers to the actuating part of a surgical instrument. The end effector 1400 is used to perform surgical operations (such as grasping, biopsy, electrocoagulation, clamping, incision, etc.). The end effector 1400 can be a component used to directly contact the target object (such as an organ, diseased tissue, etc.) and perform a specific task. The end effector 1400 includes, but is not limited to, grasping forceps, sampling forceps, electrocoagulation forceps, clamps, and other clamping ends, and can also be a cutting knife, syringe, scissors, probe, etc.

[0150] One embodiment of this specification provides a device 1000. In some application scenarios, the device 1000 includes, but is not limited to, active or passive grasping forceps, biopsy forceps, electrocoagulation forceps, clamps, and cutting knives. As shown in Figures 1, 2A-2J, and 3, in some embodiments, the device 1000 includes a sheath 1100 and an end effector 1400 located at the distal end of the sheath 1100. The sheath 1100 includes a body portion 1110 and a deflection portion 1120. The deflection portion 1120 is located in the distal region of the sheath 1100 and can be directly connected to the end effector 1400 or connected via intermediate components (such as the body portion 1110, other connecting parts, etc.). The deflecting part 1120 is rotatably connected to the main body 1110 via a rotating mechanism 1200, and the end device 1400 rotates with the deflecting part 1120. The deflecting part 1120 includes a bending mechanism 1300, which includes a linked bendable structure 1310 and a deflecting traction member 1320. The deflecting part 1120 bends via the bending mechanism 1300, and the end device 1400 follows the bending of the deflecting part 1120 to point in the target direction. The deflecting traction member 1320 drives the bendable structure 1310 to bend or reset, or / and the rotation of the deflecting traction member 1320 drives the bendable structure 1310 to rotate. The bending angle and bending direction of the deflecting part 1120 adjust the pointing position of the end device 1400.

[0151] As shown in Figures 2A-2J, in some embodiments, the bending mechanism 1300 of the deflection section 1120 includes at least one deflection traction member 1320 placed inside the sheath tube 1100. The deflection traction member 1320 is connected to the flexible structure 1310 or the distal end of the flexible structure 1310. The flexible side of the flexible structure 1310 connected to the deflection traction member 1320 is the traction bending side, which is bent by traction operation. The flexible side of the flexible structure 1310 not connected to the deflection traction member 1320 is the adaptive bending side.

[0152] As shown in Figures 2A-2D and 2G-2J, in some embodiments, the bending mechanism 1300 includes a deflection traction member 1320, and the deflection part 1120 has a traction bending side in one direction; in some embodiments, the deflection part 1120 is rotatably connected to the body part 1110, and the bending direction of the deflection part 1120 is adjusted by rotation.

[0153] As shown in Figures 2E-2F, in some embodiments, the bending mechanism 1300 includes two deflection traction members 1320, which are arranged opposite to each other. The deflection part 1120 has traction bending sides in two directions, and the two bending directions are arranged opposite to each other. In some embodiments, the deflection part 1120 is rotatably connected to the main body part 1110, and the rotation of the deflection traction members 1320 adjusts the bending direction of the deflection part 1120.

[0154] In some embodiments, the bending mechanism 1300 includes three or four or more deflecting traction members 1320, the deflecting portion 1120 having traction bending sides in more directions.

[0155] As shown in Figures 2A-2J, in some embodiments, the inner wall of the flexible structure 1310 is provided with a traction groove 1323. At least part of the deflection traction member 1320 slides through the traction groove 1323 and is connected to the flexible structure 1310 or the distal end of the flexible structure 1310. The distal end of the flexible structure 1310 can be located on the body part 1110 or on the end device 1400. The number of rows of the traction groove 1323 in the axial direction corresponds to the number of deflection traction members 1320. The flexible mechanism 1300 and the deflection traction member 1320 overlap in the projection from the radial direction to the axial direction.

[0156] In some embodiments, the axial length of the deflection portion 1120 is 2 to 100 mm.

[0157] In some embodiments, the angle α between the direction pointed to by the distal end of the deflector 1120 when it bends and the direction pointed to by the distal end of the deflector 1120 in its initial state is in the range of 0 to 120°. This direction is a unidirectional bending direction. When bidirectional bending is involved, the angle α*2 ranges from 0 to 240°. In some embodiments, the angle α ranges from 0 to 90°. As shown in the example in FIG1, the angle α is 90°.

[0158] In some embodiments, the flexible structure 1310 may be a serpentine tube, an elastic tube, a tube with notches on the sides, etc. Further details regarding the flexible structure 1310 are provided below.

[0159] As shown in Figures 2A-2J, in some embodiments, the bendable structure 1310 adopts a snake-bone tube, which includes multiple bending units 1311. At least two adjacent bending units 1311 constitute a first minimum bending group. Adjacent bending units 1311 are rotatably connected by bending connecting parts 1312, and adjacent bending units 1311 have bending spaces 1313. When adjacent bending units 1311 bend, the rotational change of the bending connecting parts 1312 and the size change of the bending spaces 1313 are linked. As shown in Figures 2G-2J, during the bending process of the deflection part 1120, adjacent... The bending connection 1312 between the bending units 1311 rotates, the bending space 1313 on the same side of the bending direction decreases, and the bending space 1313 on the opposite side of the bending direction increases; the bending mechanism 1300 includes at least one deflecting traction member 1320 that drives the bendable structure 1310 to rotate and / or bend. The deflecting traction member 1320 is at least partially located on one side of the bendable structure 1310 with the bending space 1313 in the axial direction. The deflecting traction member 1320 can be displaced relative to the bending space 1313, thereby driving the bending connection 1312 to rotate and the bending space 1313 to change size.

[0160] As shown in Figures 2A-2D, 2G-2J, and 3, in some embodiments, the bending mechanism 1300 includes a deflection traction member 1320, which is partially located on one side of the bendable structure 1310 with a bending space 1313 in the axial direction. The deflection portion 1120 has a traction bending side in one direction. In some embodiments, the deflection portion 1120 is rotatably connected to the body portion 1110, and the rotation of the deflection traction member 1320 adjusts the bending direction of the deflection portion 1120.

[0161] As shown in Figures 2E-2F, in some embodiments, the bending mechanism 1300 includes two deflection traction members 1320, which are arranged opposite to each other. The deflection part 1120 has traction bending sides in two directions, and the two bending directions are arranged opposite to each other. In some embodiments, the other two sides of the bendable structure 1310 are adaptive bending sides. In some embodiments, the deflection part 1120 is rotatably connected to the body part 1110, and the rotation of the deflection traction members 1320 adjusts the bending direction of the deflection part 1120.

[0162] In some embodiments, the bent connection 1312 may be a movable joint (such as a pivot hinge, a surround hinge, a universal hinge, etc.), an elastic element, an integrally formed and bendable component, etc. Any structure that can achieve a rotatable connection between adjacent bent units 1311 is a bent connection 1312.

[0163] Referring to Figures 2A and 3, in some embodiments, the bending connection 1312 is located on at least two sides of the plurality of bending units 1311 along the axial direction, and the bending space 1313 is located on at least two other sides of the plurality of bending units 1311 along the axial direction. The side with the bending connection 1312 is adjacent to the side with the bending space 1313, wherein the two sides are arranged opposite each other and the other two sides are also arranged opposite each other, and the four sides are evenly distributed at intervals. The bendable structure 1310 has two degrees of freedom in the bending direction. When one deflection traction member 1320 is provided, the deflection part 1120 has a traction bending side in one direction. When two deflection traction members 1320 are provided, the deflection part 1120 has a traction bending side in two directions. In some other embodiments, when a deflection traction member 1320 is provided, pushing the deflection traction member 1320 to the distal end causes the deflection portion 1120 to bend in one direction, and pulling the deflection traction member 1320 to the proximal end causes the deflection portion 1120 to bend in the opposite direction.

[0164] As shown in Figures 2B, 2C, 2E, and 2G-2J, in some embodiments, the first minimum bending group is rotatably connected to at least one bending unit 1311 via a bending connection 1312, and three bending units 1311 constitute a second minimum bending group. Multiple bending connections 1312 and multiple bending spaces 1313 are alternately arranged on the same side of the multiple bending units 1311 along their axial direction, and the multiple bending units 1311 constitute at least one second minimum bending group.

[0165] In some embodiments, the bending connection 1312 is located on four sides of the plurality of bending units 1311 along the axial direction, and the bending space 1313 is located on the same side of the plurality of bending units 1311 along the axial direction. The four sides are evenly distributed, and the bendable structure 1310 has four degrees of freedom in the bending direction, providing high flexibility. The bendable structure 1310 itself has 360° degrees of freedom in the bending direction, facilitating adaptive passage within the bending channel. When one deflection traction member 1320 is provided, the deflection part 1120 has a traction bending side in one direction and an adaptive bending side in the other directions. When two deflection traction members 1320 are provided, the deflection part 1120 has a traction bending side in two directions and an adaptive bending side in the other directions. In some other embodiments, as shown in FIG3, bending spaces 1313 are provided on opposite sides of the plurality of bending units 1311 along the axial direction. The different gap sizes of the curved spaces 1313 on both sides cause the deflecting part 1120 to have different deflection angles when it deflects in different directions. The deflection angle refers to the angle through which the deflecting part 1120 rotates relative to the axis b. For example, if the gap size of the curved space 1313 is small, the corresponding deflection angle is small; if the gap size of the curved space 1313 is large, the corresponding deflection angle is large.

[0166] It should be noted that the bending space 1313 being located on the same side of the axial direction of the multiple bending units 1311 means that the bending space 1313 and the bending connection 1312 are located on the same side of the axial direction of the multiple bending units 1311.

[0167] The bendable structure 1310 can be composed of multiple first minimum bending groups arranged in a regular (single or continuous) or irregular (e.g., a bending unit 1311 connecting two first minimum bending groups), or it can be composed of second minimum bending groups arranged in a regular (single or continuous) or irregular (e.g., a bending unit 1311 connecting two second minimum bending groups), or it can be composed of a combination of first minimum bending groups and second minimum bending groups (arranged in a regular or irregular manner). The arrangement of these groups can be set as needed. A more detailed structural description of the bendable structure 1310 composed of second minimum bending groups is provided below.

[0168] As shown in Figures 2A-2J, in some embodiments, the flexible structure 1310 adopts a snake-bone tube, which includes a bending unit 1311 and a bending connection 1312. The second minimum bending group includes three bending units 1311, which correspond to the first section 1311A, the second section 1311B, and the third section 1311C, respectively. The bending unit 1311 is provided with a traction groove 1323. The bending connection 1312 is an enclosed hinge, specifically, it partially encloses and can rotate relative to each other between two hinges. The flexible structure 1310 includes four evenly spaced first side, second side, third side, and fourth side, with the first side and second side facing each other, and the third side and fourth side facing each other.

[0169] Example: The first section 1311A is provided with a first section connecting groove 1311A2 (traction groove 1323), a first section hinge 1311A3, a first section first bevel 1311A4, and a first section second bevel 1311A5; the second section 1311B is provided with a second section connecting groove 1311B2 (traction groove 1323), a second section first hinge 1311B3, a second section first bevel 1311B4, a second section second bevel 1311B5, and a second section... The third oblique opening 1311B6, the second section fourth oblique opening 1311B7, and the second section second hinge 1311B8 are provided on the third section 1311C; the third section 1311C is provided with the third section connecting groove 1311C2 (traction groove 1323), the third section first hinge 1311C3, the third section first oblique opening 1311C4, the third section second oblique opening 1311C5, the third section third oblique opening 1311C6, the third section fourth oblique opening 1311C7, and the third section second hinge 1311C8.

[0170] The first section 1311A and the second section 1311B are hinged together by the first section hinge 1311A3 and the second section first hinge 1311B3. A first bending space 1311D is formed between the first section first bevel 1311A4 and the second section first bevel 1311B4 located on the first side. In the initial state where the deflection part 1120 is not bent, a first angle 1311E is formed between the hinge point of the first section hinge 1311A3 and the second section first hinge 1311B3 facing outward and the first bending space 1311D, which can realize the bending range.

[0171] A second bending space 1311K is formed between the first section second oblique opening 1311A5 and the second section second oblique opening 1311B5 on the second side. In the initial state where the deflection part 1120 is not bent, a second angle 1311F is formed between the hinge of the first section hinge 1311A3 and the second section first hinge 1311B3 facing outward and the second bending space 1311K, which can realize the bending range.

[0172] The second body 1311B and the third section 1311C are hinged to the third section via the second hinge 1311B8 and the first hinge 1311C3. The second hinge 1311B8 is located on the third side. In the initial state where the deflection part 1120 is not bent, the construction of the second hinge 1311B8 and the first hinge 1311B3 can include multiple hinges and are spirally distributed in the axial direction of the flexible structure 1310; the hinge between the second hinge 1311B8 and the first hinge 1311C3... The rotation axis B, the first hinge 1311A3, and the second hinge 1311B3's rotation axis A are perpendicular to each other when projected from the axial direction onto the radial plane. A third bending space 1311G is formed between the second third bevel 1311B6 and the third first bevel 1311C4. A third angle 1311H, which allows for bending, is formed between the hinge joint of the second hinge 1311B8 and the third first hinge 1311C3 facing outwards and the third bending space 1311G. A fourth bending space 1311I is formed between the second fourth bevel 1311B7 and the third second bevel 1311C5 on the fourth side. A fourth angle 1311J, which allows for bending, is formed between the hinge joint of the second hinge 1311B8 and the third first hinge 1311C3 facing outwards and the fourth bending space 1311I.

[0173] The deflection traction member 1320 slides through the third connecting groove 1311C2, the second connecting groove 1311B2, etc., and finally is fixedly connected to the first connecting groove 1311A2. The deflection traction member 1320 is given a pulling force to control the bending or rotation of the flexible structure 1310.

[0174] In some embodiments, as shown in FIG1 and FIG4A, a connecting structure 1130 is provided between the body portion 1110 and the deflection portion 1120, and the connecting structure 1130 is configured to at least limit the axial relative displacement between the body portion 1110 and the deflection portion 1120. The connecting structure 1130 includes a first connecting tube 1131 and a second connecting tube 1133. A first limiting flange 1132 is formed at the distal end of the first connecting tube 1131, and a second limiting flange 1134 is formed at the proximal end of the second connecting tube 1133. The second connecting tube 1133 is sleeved on the outer peripheral surface of the first connecting tube 1131. The proximal end of the first connecting tube 1131 forms at least an axial limit with the body portion 1110. The first limiting flange 1132 forms at least an axial limit with the distal end surface of the second connecting tube 1133. The distal end of the second connecting tube 1133 forms at least an axial limit with the deflection portion 1120. The second limiting flange 1134 forms at least an axial limit with the proximal end surface of the deflection portion 1120.

[0175] For example, the body portion 1110 may include a third connecting tube 1111 (e.g., the second sleeve 72 hereinafter) and a fourth connecting tube 1112, with the fourth connecting tube 1112 and the connecting structure 1130 disposed within the third connecting tube 1111. The distal end of the fourth connecting tube 1112 is fixed to the proximal end of the first connecting tube 1131 by a clearance fit (e.g., a sleeve fit), thereby axially limiting the proximal end of the first connecting tube 1131 and the body portion 1110. The proximal end of the deflection portion 1120 (e.g., the proximal end of the flexible structure 1310 mentioned above) is fixed to the distal end of the second connecting tube 1133 by a clearance fit (e.g., a sleeve fit). A limiting groove 1121 corresponding to the second limiting flange 1134 of the second connecting pipe 1133 is provided at the proximal end of the deflection part 1120. The second limiting flange 1134 and the limiting groove 1121 are in clearance fit, so that the distal end of the second connecting pipe 1133 and the deflection part 1120 form an axial limit.

[0176] Through the above design, the first connecting pipe 1131 and the second connecting pipe 1133 are fixedly connected to the main body 1110 and the deflection part 1120 respectively, and the first connecting pipe 1131 and the second connecting pipe 1133 can rotate relative to each other, thereby constraining the axial relative displacement of the main body 1110 and the deflection part 1120 without affecting the relative rotation of the main body 1110 and the deflection part 1120.

[0177] In some embodiments, the proximal end of the deflection portion 1120 may be fixedly connected to the distal end of the fourth connecting tube 1112 (e.g., by welding).

[0178] In some embodiments, the main body 1110 further includes an outer sleeve 1113. The proximal end of the deflection part 1110 and the fourth connecting tube 1112 are disposed inside the outer sleeve 1113. The outer sleeve 1113 is provided with an infeed groove 1114 corresponding to the second limiting flange 1134 of the second connecting tube 1133. The second limiting flange 1134 is inserted into the infeed groove 1114, which guides the relative sliding between the infeed groove 1114 and the second limiting flange 1134, while limiting the deflection direction of the deflection part 1120 to ensure that the deflection direction of the deflection part 1120 is always towards the target direction.

[0179] In some embodiments, the first connecting pipe 1131 can be a stamped pipe formed by stamping, the second connecting pipe 1133 can be a stainless steel pipe, and the fourth connecting pipe 1112 can be a plastic-coated spring hose.

[0180] In some embodiments, the proximal end of the deflection portion 1120 and the distal end of the body portion 1110 can rotate relative to each other to adjust the bending direction of the deflection portion 1120. In some embodiments, the deflection portion 1120 and the body portion 1110 can be rotatably connected by a rotating mechanism (e.g., the rotating mechanism 1200 mentioned above), and the end device 1400 rotates with the deflection portion 1120.

[0181] As shown in Figure 3, in some embodiments, the rotating mechanism 1200 includes a first rotating part 1210 and a second rotating part 1220 rotatably connected. The first rotating part 1210 is located on one of the deflection part 1120 and the main body part 1110, and the second rotating part 1220 is located on the other. The first rotating part 1210 includes a first fold 1211 formed by bending radially outward, and the second rotating part 1220 includes a second fold 1221 formed by bending radially inward. The first fold 1211 and the second fold 1221 are overlapped and interlocked to be positioned at the upper limit in the axial direction, and a rotational gap is provided between the first fold 1211 and the second fold 1221. The rotation of the deflection traction member can be achieved by the rotating mechanism 1200 driving the deflection part 1120 to rotate 360° circumferentially, thereby adjusting the bending direction of the deflection part 1120.

[0182] In some embodiments, the proximal end of the end device 1400 is rotatably connected to the distal end of the sheath 1100 via a device rotating part 1410. Rotation of the device traction member connected to the end device 1400 can drive the end device 1400 to rotate 360° circumferentially via the device rotating part 1410, thus adjusting the orientation of the end device 1400. The structure and principle of the device rotating part 1410 are described with reference to the rotating mechanism 1200 shown in Figure 3.

[0183] In some embodiments, the end effector 1400 adopts a forceps head structure such as an active or passive gripper, an active or passive biopsy forceps, a clamp head structure such as a clip, a cutting blade head structure, etc. The end effector 1400 includes a connected forceps base and two forceps heads. The forceps base is connected to the sheath 1100, and the forceps heads are connected to the operating handle 1500 through an instrument traction member.

[0184] As shown in Figure 7, in some embodiments, the outer surface of the end effector 1400 is provided with a spiral protrusion 1420. In some embodiments, the end effector 1400 is a pliers head, and the spiral protrusion 1420 is disposed on the outer surface of the pliers head. In the direction from radial projection to axial projection, there is an angle between the projection of the spiral protrusion 1420 and the projection of the radial plane, with the angle range N being 0° < N ≤ 20°; the end effector 1400 is automatically guided to facilitate passage through curved pliers.

[0185] In some embodiments, the surgical instrument includes an operating handle 1500, which includes an operating body 1510 and a deflection control unit 1520 disposed on the operating body 1510. The deflection control unit 1520 includes a deflection bending control portion 1521. The deflection bending control portion 1521 includes a deflection movable portion 15211 connected to a deflection traction member 1320, which is at least partially connected to the flexible structure 1310. As described above, the deflection traction member 1320 can be used to control the deflection of the flexible structure 1310 of the deflection portion 1120. The operating handle 1500 refers to the part of the surgical instrument that can be operated by an operator (e.g., a user). For example, the operating handle 1500 can be located outside the body for direct operation by the operator. The user can control or operate the end effector 1400, the deflection traction member 1320, etc., through the operating handle 1500. For example, the deflection part 1120 is deflected by controlling the deflection traction member 1320.

[0186] As shown in Figures 1, 3-6B, and 8-21A, in some embodiments, the device includes an operating handle 1500, which includes an operating body 1510 and a deflection control unit 1520 disposed on the operating body 1510. The deflection control unit 1520 includes a deflection bending control portion 1521. The deflection bending control portion 1521 includes a deflection movable portion 15211, which is connected to a deflection traction member 1320. The deflection traction member 1320 is at least partially connected to the bendable structure 1310.

[0187] In some embodiments, the deflecting movable part 15211 and the deflecting traction member 1320 are relatively limited in at least the direction of movement (e.g., axial direction) by a limiting block structure (as shown in Figure 6B, the first limiting member 1323, and as shown in Figure 21B, the second limiting member 1324); the deflecting movable part 15211 drives the deflecting traction member 1320 to move, and the displacement of the deflecting traction member 1320 drives the flexible structure 1310 to bend or reset, that is, the bending or reset of the deflecting part 1120.

[0188] In some embodiments, a control unit is provided between the deflection movable part 15211 and the operation body 1510 to enable relative movement or relative limitation between the two. The control unit includes a control tool 1551 and a deflection transmission structure disposed between the control tool 1551 and the deflection movable part 15211.

[0189] In some embodiments, the control unit 1550 can make the deflection movable part 15211 and the operating body 1510 relatively movable or relatively limited in various ways. In some embodiments, the deflection transmission structure shown in FIG5, FIG6A, FIG6B, and FIG8-FIG12B is a threaded transmission structure, and the rotation of the control unit 1550 drives the deflection movable part 15211 to move; or, as shown in FIG13-FIG20B, the deflection transmission structure is a switching transmission structure, which includes a first switching part and a second switching part, and the control unit 1550 switches the engagement state and disengagement state between the first switching part and the second switching part; the first switching part is disposed on the deflection movable part 15211. 211. On one of the operating bodies 1510, the second switching part is disposed on the other; or, as shown in Figures 21A and 21B, the deflection transmission structure includes a deflection transmission part, and the deflection traction member 1320 includes a connecting section 1321 and transmission sections 1322 located on both sides of the connecting section 1321. The deflection traction member 1320 is connected to the deflection transmission part 1555 through the connecting section 1321, and the transmission sections 13221 on both sides pass through the deflection movable part and are connected to the flexible structure 1310. Three exemplary control parts 1550 will be described below with reference to the accompanying drawings.

[0190] As shown in Figures 5, 6A, 6B, and 8-12B, in some embodiments, the deflection transmission structure is a threaded transmission structure 1552. The rotation of the adjusting control 1551 drives the deflection movable part 15211 to move. The adjusting part 1550 includes a circumferential rotation structure disposed between the adjusting control 1551 and the operating body 1510. The circumferential rotation structure includes a rotating groove 15521 and a rotating protrusion 15522 that are rotatably engaged. The rotating groove 15521 is disposed on one of the adjusting control 1551 and the operating body 1510, and the rotating protrusion 15522 is disposed on the other. The adjusting control 1551 and the operating body 1510 rotate relative to each other in the circumferential direction and are relatively limited in the axial direction. The adjusting control 1551 is a threaded sleeve 15523, and the deflection movable part 15211 is a bolt 15524. Rotating the threaded sleeve 15523 causes the bolt 15524 and the deflection traction member 1320 to move, thereby adjusting the bending angle of the deflection part 1120.

[0191] In some embodiments, a positioning element 15525 is provided between the adjustment control 1551 and the operating body 1510. The positioning element 15525 switches the axial limiting state and relative displacement state of the adjustment control 1551 and the operating body 1510. The positioning element 15525 can be provided on one of the adjustment control 1551 and the operating body 1510 or simultaneously on both. The positioning element 15525 can be an independent component connected to the adjustment control 1551 and / or the operating body 1510, or it can be part of the structure of the adjustment control 1551 and / or the operating body 1510 itself. The positioning element 15525 includes a movably connected fastening portion 15525A and a pressing portion 15525B. The fastening portion 15525A can press or release the pressing portion 15525B (e.g., by rotating / sliding the fastening portion 15525A to press down and press). Part 15525B (lifting and loosening the clamping part 15525B), when the fastening part 15525A presses against the clamping part 15525B, the clamping component can press against the operating body 1510, and the adjusting control 1551 and the operating body 1510 enter a limited state. When the fastening part 15525A releases the clamping part 15525B, the clamping component can release the operating body 1510, and the adjusting control 1551 or the deflection movable part 15211 and the operating body 1510 enter a state where they can be relatively displaced. In some embodiments, the positioning member 15525 is provided on the adjusting control 1551. The above-mentioned circumferential rotation structure is provided between the positioning member 15525 and the operating body 1510. The positioning member 15525 presses against the operating body 1510, restricting the axial relative displacement of the adjusting control 1551 and the operating body 1510, but not restricting the circumferential relative rotation of the adjusting control 1551 and the operating body 1510.

[0192] As shown in Figures 13-20B, in some embodiments, the deflection transmission structure is a switching transmission structure. The switching transmission structure includes a first switching part and a second switching part. The adjustment control 1551 switches the engagement state and the disengagement state between the first switching part and the second switching part. The engagement state is a state in which the deflection movable part 15211 and the operating body 1510 are relatively limited. The disengagement state is a state in which the deflection movable part 15211 and the operating body 1510 are relatively movable. The first switching part is disposed on one of the deflection movable part 15211 and the operating body 1510, and the second switching part is disposed on the other.

[0193] In some embodiments, the first switching part is a switching groove 1553, the second switching part is a switching block 1554, and the adjustment control 1551 is a lever 1557, which is rotatably or slidably connected to the deflection movable part 15211 or to the operation body 1510. The rotation or sliding action of the lever 1557 drives the switching groove 1553 or the switching block 1554 to rotate or slide.

[0194] In some embodiments, the lever 1557 and the switching block 1554 are rotatably connected to the deflection movable part 15211 or the operating body 1510. When the lever 1557 rotates, it abuts against and drives the switching block 1554 to rotate, at which time the switching block 1554 and the switching groove 1553 enter a separated state. Alternatively, the lever 1557 and the switching block 1554 are slidably connected to the deflection movable part 15211 or the operating body 1510. When the lever 1557 slides, it abuts against and drives the switching block 1554 to slide, at which time the switching block 1554 and the switching groove 1553 enter a separated state.

[0195] In some embodiments, a switching block 1554 is rotatably or slidably connected to the lever 1557 in two directions of rotation or sliding, respectively; when the lever 1557 rotates or slides in one direction, the switching block 1554 on the other side separates from the switching groove 1553, and the switching block 1554 on the same side is in movable contact with the switching groove 1553.

[0196] In some embodiments, the switching groove 1553 is a rack, and the end of the switching block 1554 is provided with a guide slope 15541. The guide slope 15541 engages with or separates from the rack, and the guide slope 15541 of the switching block 1554 can guide the deflection movable part 15211 or the operating body 1510 in the direction of movement.

[0197] In some embodiments, the lever 1557 and the two switching blocks 1554 are rotatably mounted on the deflection movable part 15211. The two switching blocks 1554 are respectively located on the two rotation direction sides of the lever 1557. When the switching groove 1553 and the switching block 1554 are in an engaged state, the inclination directions of the two guide slopes 15541 corresponding to the two switching blocks 1554 are symmetrical.

[0198] In some embodiments, the switching block 1554 is connected to a switching elastic element 1558, and the elastic force of the switching elastic element 1558 tends to drive the switching block 1554 to engage the switching groove 1553, so as to facilitate entering the engagement state; in some embodiments, the switching elastic element 1558 is placed between the switching block 1554 and the deflection movable part 15211; in some embodiments, the elastic element is a spring.

[0199] In some embodiments, the deflection movable part 15211 is a frame 1559 rotatably equipped with a deflection roller 15221B. The switching block 1554, lever 1557, and switching elastic member 1558 are connected to the frame 1559. The switching elastic member 1558 abuts against the switching block 1554, so that the switching block 1554 abuts against the lever 1557, which facilitates reset and locking and can maintain the engagement state of the switching block 1554 and the switching groove 1553. The deflection roller 15221B adjusts the bending direction of the deflection part 1120.

[0200] As shown in Figures 21A and 21B, in some embodiments, the deflection transmission structure includes a deflection transmission part 1555, and a deflection traction member 1320 includes a connecting section 1321 and transmission sections 1322 located on both sides of the connecting section 1321. The deflection traction member 1320 is connected to the deflection transmission part 1555 through the connecting section 1321. The transmission sections 1322 on both sides pass through the deflection movable part 15211 and are connected to the flexible structure 1310. The deflection movable part 15211 is a displacement block 15553. The length of the deflection traction member 1320 is fixed, and the lengths of the two transmission sections 1322 are variable. The flexible structure 1310 has traction bending sides in two directions.

[0201] In some embodiments, the connecting segment 1321 is slidably connected to the deflection transmission part 1555, wherein one side of the transmission segment 1322 is a fixed transmission segment 1322A, which is limited and connected to the deflection movable part 15211 in the displacement direction by a second limiting member 1324, and the other side of the transmission segment 1322 is a movable transmission segment 1322B, which is slidably connected to the deflection movable part 15211 in the displacement direction. In some embodiments, the deflection transmission part 1555 is a pulley rotatably connected to the operating body 1510. The deflecting movable part 15211 drives the fixed transmission section 1322A to move, and the displacement of the fixed transmission section 1322A is transmitted through pulleys to drive the displacement of the movable transmission section 1322B. When the side of the bendable structure 1310 with the fixed transmission section 1322A is bent, the deflecting movable part 15211 drives a part of the fixed transmission section 1322A into the side of the bendable structure 1310 with the movable transmission section 1322B. The part of the fixed transmission section 1322A that has entered and the movable transmission section 1322B provide bending stroke for bending on the other side. Similarly, when the side of the bendable structure 1310 with the movable transmission section 1322B is bent, the deflecting movable part 15211 drives a part of the movable transmission section 1322B into the side of the bendable structure 1310 with the fixed transmission section 1322A. The part of the movable transmission section 1322B that has entered and the fixed transmission section 1322A provide bending stroke for bending on the other side.

[0202] In some embodiments, the deflection transmission part 1555 is a through hole rotatably connected to the operating body 1510, through which the deflection traction member 1320 slides. The connecting section 1321 is fixedly connected to the deflection transmission part 1555, and the transmission sections 1322 on both sides are slidably connected to the deflection movable part 15211 in the displacement direction. At this time, the bending of the bendable structure can be adjusted simply by rotating the deflection transmission part 1555 itself.

[0203] In some embodiments, the deflecting movable part 15211 and / or the operating body 1510 are provided with a locking member 1556 for locking or unlocking the deflecting movable part 15211 and the operating body 1510, locking to maintain the bending direction and bending angle. In some embodiments, the deflecting movable part 15211 includes a locking member with a circumferential gap, the locking part is sleeved on the operating body 1510, and the locking member 1556 surrounds the locking part; the locking member 1556 locks or unlocks the deflecting movable part 15211 relative to the operating body 1510 by tightening or loosening the locking member.

[0204] In some embodiments, the deflecting movable part 15211 and the locking member 1556 are threadedly connected. In the initial state, the deflecting movable part 15211 and the locking member 1556 are not threadedly connected. Moving the deflecting movable part 15211 can drive the deflection traction member 1320 to move, driving the bending direction and bending angle of the deflecting part 1120. After obtaining an appropriate bending angle, the locking member 1556 is rotated. During the tightening process, the pressing surface of the locking member 1556 will gradually press against the protrusion on the deflecting movable part 15211, so that the deflecting movable part 15211 and the operating body 1510 are tightly locked, locking the bending direction and bending angle of the deflecting part 1120.

[0205] As shown in Figures 1, 3-6B, and 8-21A, in some embodiments, the deflection control unit 1520 includes a deflection rotation control part 1522, which includes a deflection rotation section 15221. The deflection rotation section 15221 is connected to a deflection traction member 1320, which is at least partially connected to the flexible structure 1310. The deflection rotation section 15221 and the deflection traction member 1320 are relatively limited at least in the circumferential direction of rotation. The rotation of the deflection rotation section 15221 sequentially drives the deflection traction member 1320. 20. The flexible structure 1310 rotates to adjust the bending direction of the deflection part 1120; the rotation range of the flexible structure 1310 can be 0° < M ≤ 360°, in some embodiments it can be 0° < M ≤ 180°, and in some embodiments it can be 0° < M ≤ 90°; in some embodiments, the deflection rotating part 15221 and the deflection movable part 15211 are connected to the same deflection traction member 1320; the connection of the deflection rotating part 15221 and the deflection movable part 15211 to the same deflection traction member 1320 embodies the integrated design of the conveying part and the operating handle 1500. As shown in Figures 5 and 6A, the deflection rotating part 15221 is a deflection roller 15221A, and as shown in Figures 14A and 16, the deflection rotating part 15221 is a deflection roller 15221B.

[0206] In some embodiments, the deflection rotating part 15221 and the deflection moving part 15211 are respectively connected to a deflection traction member 1320.

[0207] Embodiments of the device control unit 1530 can be combined with embodiments of the deflection control unit 1520. For example, as shown in Figures 1, 3-6B, and 8-21A, the operating handle 1500 includes both the deflection control unit 1520 and the device control unit 1530. The deflection control unit 1520 and the device control unit 1530 are respectively used to control the direction and orientation of the end-effector 1400 within the human body cavity, and to control the end-effector 1400 to perform therapeutic or diagnostic actions. The device control unit 1530 will be described in detail below with reference to the accompanying drawings.

[0208] As shown in Figures 1, 3-6B, and 8-21A, in some embodiments, the operating handle 1500 includes an appliance control unit 1530 disposed on the operating body 1510. The appliance control unit 1530 includes an appliance rotation control portion 1531 and an appliance handling control portion 1532. The appliance rotation control portion 1531 and the appliance handling control portion 1532 are connected to the end appliance 1400 by connecting to the same appliance traction member 1533. In some embodiments, the appliance rotation control portion 1531 and the appliance handling control portion 1532 are each connected to the end appliance 1400 by connecting to an appliance traction member 1533.

[0209] The appliance rotation control part 1531 and the appliance traction member 1533 are relatively limited in at least the circumferential direction of the rotation direction. The rotation of the appliance rotation control part 1531 sequentially drives the appliance traction member 1533 and the end appliance 1400 to rotate. In some embodiments, as shown in FIG5, the appliance rotation control part 1531 is an appliance roller 15311, the appliance traction member 1533 is a traction wire, and the appliance roller 15311 is connected to the appliance traction member 1533.

[0210] In some embodiments, as shown in Figures 14A and 14B, the appliance rotation control part 1531 is an appliance slip ring 15313 slidably disposed on the operating body 1510, and the appliance traction member 1533 is a traction wire. The appliance slip ring 15313 is connected to the appliance traction member 1533. Both the appliance slip ring 15313 and the appliance traction member 1533 are limited in both the axial and circumferential directions. A rotation structure is provided between the operating body 1510 and the sheath 1100 to allow both to rotate. The rotation structure can refer to the structure of the aforementioned rotation mechanism 1200, at least in principle. Rotating the appliance slip ring 15313 and / or the operating body 1510 causes the appliance traction member 1533 and the end appliance 1400 to rotate together.

[0211] The instrument handling control section 1532 is slidably disposed on the operating body 1510. The instrument handling control section 1532 is connected to the end instrument 1400 via a connecting instrument traction member 1533. The instrument handling control section 1532 and the instrument traction member are at least relatively limited in the displacement direction and rotate relative to each other in the circumferential direction. The displacement of the instrument handling control section 1532 sequentially drives the displacement of the instrument traction member 1533 and the handling of the end instrument 1400. In some embodiments, as shown in FIG14A, the instrument handling control section 1532 is an instrument slip ring 15313 slidably disposed on the operating body 1510. A finger ring 1523 is connected to the proximal end of the operating body 1510. The instrument slip ring 15313 slides on the operating body 1510 and sequentially drives the displacement of the instrument traction member 1533 and the handling of the end instrument 1400 (e.g., opening and closing of pliers, extension and retraction of knives, etc.). In some embodiments, as shown in FIG6A, the appliance handling control section 1532 is an appliance slip ring 15312 that is slidably disposed on the operating body 1510.

[0212] For more details about the appliance control unit 1530, please refer to the description below.

[0213] In some embodiments, the operating handle 1500 further includes a forward / backward control unit 1540 disposed on the operating body 1510, the forward / backward control unit 1540 controlling the displacement of the instrument relative to the scope body 3000. The forward / backward control unit 1540 includes a forward / backward displacement portion 1541, which is relatively limited relative to the sheath 1100 at least in the displacement direction, and the operating body 1510 and the guide channel portion 2112 of the instrument connection portion 2100 are relatively limited relative to each other at least in the displacement direction; an adjustment portion is provided between the forward / backward displacement portion 1541 and the operating body 1510 to displace the two relative to each other, the adjustment portion including an adjustment member 15421 and a forward / backward transmission structure 15422 disposed between the adjustment member 15421 and the forward / backward displacement portion 1541.

[0214] The endoscope body 3000 refers to the main body of the endoscope, and surgical instruments are attached to the endoscope body 3000 via a tip cap assembly. In some embodiments, the movement of the surgical instruments relative to the endoscope body 3000 is controlled by a forward / reverse control unit 1540. Embodiments of the forward / reverse control unit 1540 can be combined with embodiments of the deflection control unit 1520 and the instrument control unit 1530 described above. For example, in the embodiment shown in FIG22A, the operating handle 1500 simultaneously includes the forward / reverse control unit 1540, the deflection control unit 1520, and the instrument control unit 1530. Further details regarding the forward / reverse control unit can be found in the description below.

[0215] Another embodiment of the present invention provides an operating handle 1500, the structure of which includes at least the structure of the operating handle 1500 in any of the foregoing embodiments. Referring to Figures 1-30, the operating handle 1500 includes an operating body 1510 and a deflection control unit 1520 disposed on the operating body 1510. The deflection control unit 1520 includes a deflection bending control portion 1521; the deflection bending control portion 1521 includes a deflection movable portion 15211, which is used to connect to the deflection traction member 1320.

[0216] A control unit is provided between the deflection movable part 15211 and the operating body 1510 to enable relative movement or relative limitation between the two. The control unit includes a control tool 1551 and a deflection transmission structure disposed between the control tool 1551 and the deflection movable part 15211.

[0217] The control panel 1551 is rotatably or slidably connected to a switching block 1554 in each of the two directions of rotation or sliding; when the control panel 1551 rotates or slides in one direction, the switching block 1554 on the other side separates from the switching groove 1553, and the switching block 1554 on the same side and the switching groove 1553 are at most in movable contact.

[0218] The deflection transmission part 1555 is slidably connected to the connecting section 1321, or the deflection transmission part 1555 is fixedly connected to the connecting section 1321. When the deflection transmission part 1555 is slidably connected to the connecting section 1321, one side of the transmission section 1322 is connected to the deflection movable part 15211 at the upper limit in the displacement direction, and the other side of the transmission section 1322 is slidably connected to the deflection movable part 15211 in the displacement direction. When the deflection transmission part 1555 is fixedly connected to the connecting section 1321, the transmission sections 1322 on both sides are slidably connected to the deflection movable part 15211 in the displacement direction.

[0219] A locking element 1556 is provided on the deflecting movable part 15211 and / or the operating body 1510 for locking or unlocking the deflecting movable part 15211 and the operating body 1510.

[0220] The deflection control unit 1520 includes a deflection rotation control section 1522, which includes a deflection rotation part 15221 for connecting to the deflection traction member 1320. When the deflection rotation part 15221 is connected to the deflection traction member 1320, the deflection rotation part 15221 and the deflection traction member 1320 are relatively limited relative to each other at least in the circumferential direction of the rotation direction. The rotation of the deflection rotation part 15221 can sequentially drive the deflection traction member 1320 and the sheath 1100 part connected to the deflection traction member 1320 to rotate. The deflection rotation part 15221 and the deflection movable part 15211 can be connected to a deflection traction member 1320 respectively, or the deflection rotation part 15221 and the deflection movable part 15211 can be connected to the same deflection traction member 1320.

[0221] The operating handle 1500 includes an appliance control unit 1530 located on the operating body 1510. The appliance control unit 1530 includes an appliance rotation control part 1531 and an appliance handling control part 1532. The appliance rotation control part 1531 and the appliance handling control part can be connected to the end appliance 1400 by connecting to an appliance traction member, or the appliance rotation control part 1531 and the appliance handling control part 1532 can be connected to the end appliance 1400 by connecting to the same appliance traction member.

[0222] The operating handle 1500 includes a forward / backward control unit 1540 placed on the operating body 1510, which controls the displacement of the instrument 1000 relative to the mirror body.

[0223] Some embodiments of this specification also provide a method for operating the instrument, as shown in Figures 3-12B, 13-20B, or 21A-21B. The method is based on the aforementioned instrument, enabling the end effector 1400 to acquire the target object 5000. This embodiment uses a gripper grasping a foreign object as an example, including:

[0224] S1: Initial state, the end effector 1400 approaches the target object 5000, driving the end effector 1400 to enter the preprocessing state;

[0225] S2: Drive the deflection unit 1120 to rotate to the target direction;

[0226] S3: Drive the deflector 1120 to bend to the target angle;

[0227] S4: Drive the end device 1400 into a closed or extended processing state to process the target object 5000;

[0228] S5: Drive the deflection unit 1120 back to its initial state.

[0229] There is an intermediate step between S3 and S4: the drive device rotation control unit 1531 controls the end device 1400 to rotate to the target direction. At this time, the device traction member 1533 contacts the inner wall of the sheath tube 1100 and enters a self-locking state due to friction, locking the rotation direction of the end device 1400. As shown in Figure 10, the device rotation control unit 1531 is the device roller 15311. Rotating the device roller 15311 causes the device traction member 1533 and the gripper head (end device 1400) to rotate to a direction that makes it easy to grasp the foreign object (target object 5000).

[0230] In some embodiments, the following steps are based on the aforementioned operating method, wherein the deflection drive structure adopts a threaded drive structure 1552, as shown in Figures 3-12B, wherein:

[0231] Before S1, before the gripper head (end device 1400) approaches the foreign object (target object 5000), the deflection and bending control part 1521 is movable as a whole. At this time, the latching part 15525A is in the state of lifting and releasing the clamping part 15525B, thus solving the problem of empty stroke.

[0232] In S1, the drive device processing control unit 1532 controls the end effector 1400 to enter the pre-processing state, that is, the gripper head (end effector 1400) is in the open state. In other embodiments, it may be a knife extending, as shown in Figure 3.

[0233] In S2, the deflection rotation control unit 1522 controls the deflection part 1120 to rotate to the target direction. At this time, the deflection traction member 1320 and the inner wall of the sheath tube 1100 are in contact with each other and there is friction. The two enter a self-locking state, locking the rotation direction of the deflection part 1120. As shown in Figure 8, the deflection rotation control unit 1522 includes a deflection roller 15221A. Rotating the deflection roller 15221A causes the deflection part 1120 to rotate towards the foreign object (target object 5000).

[0234] In S3, the drive deflection bending control part 1521 controls the deflection part 1120 to bend to the target angle, and enters the locking state through a positioning part 15525 to lock the bending angle of the deflection part 1120, and the bending angle remains stable; as shown in Figures 9A and 9B, pressing down the fastening part 15525A will clamp the pressing part 15525B with the operating body 1510. After the pressing part 15525B is clamped, it will restrict the axial movement of the threaded sleeve 15523 and only allow it to rotate. Rotating the threaded sleeve 15523 will cause the bolt 15524 to pull the deflection traction member 1320 to move towards the proximal end, causing the deflection part 1120 to bend towards the foreign object (target object 5000).

[0235] In S4, the drive tool processing control unit 1532 controls the end tool 1400 to enter the processing state. The processing state varies depending on the end tool 1400, including but not limited to closing the jaws to grip the target object 5000 and extending the cutter to process the target object 5000. In this embodiment, the jaws of the gripper close to grip the target object 5000. As shown in Figure 11, the tool slip ring 15312 moves away from the deflection part 1120, causing the jaws of the gripper (end tool 1400) to close and grip the foreign object (target object 5000).

[0236] In S5, the drive deflection bending control section 1521 controls the deflection section 1120 to return to its initial state, which includes restoring the deflection section 1120 to a horizontal or near-horizontal state. As shown in Figure 12A, opposite to the rotation direction of the screw sleeve 15523 in S3, the bolt 15524 is displaced toward the distal end, causing the deflection traction member 1320 to move toward the distal end, thus restoring the deflection section 1120 to a horizontal or near-horizontal state; where horizontal means that the deflection section 1120 is in an unbent state, and near-horizontal means that the deflection section 1120 has a certain bending angle, and the range of the angle X between the deflection section 1120 and the body section 1110 is: 150° < X < 180°.

[0237] In some embodiments, the following steps are also based on the aforementioned operating method, and the deflection transmission structure of the operating handle 1500 adopts a switching transmission structure, as shown in Figures 13-20B, wherein:

[0238] In S1, as shown in Figure 15, in the initial state, the gripper head (end tool 1400) enters the pre-processing state, that is, the gripper head is open, which in some embodiments is the extension and retraction of the blade; at the same time, the lever 1557 is rotated to one side, so that the switching block 1554 on the other side is separated from the switching groove 1553.

[0239] In S2, as shown in Figure 16, rotating the deflection roller 15221B will rotate the deflection part 1120 toward the foreign object 500, that is, the deflection part 1120 will rotate to the target direction.

[0240] In S3, as shown in Figure 17, the frame 1559 is displaced toward the side away from the deflection part 1120, causing the deflection part 1120 to bend to the position of the foreign object 500. During the displacement of the frame 1559, the switching block 1554 will follow the displacement. Blocked by the switching groove 1553, the switching block 1554 will rotate toward the side facing the deflection part 1120. At the same time, it will be resisted by the elastic force of the switching elastic member 1558, so that the switching block 1554 and the switching groove 1553 are always in close contact. When the deflection part 1120 bends to the position of the foreign object, the frame 1559 stops displacing. The frame 1559 has a tendency to displace in the direction of the deflection part 1120, and the deflection part 1120 has a tendency to return to a horizontal state or a near-horizontal state. However, the switching block 1554 will engage with the switching groove 1553, preventing the frame 1559 from moving in the direction of the deflection part 1120.

[0241] In S4, as shown in Figure 18, the operating body 1510 and the tool slip ring 15313 are rotated to make the pliers head 110 rotate to a direction that makes it easy to grasp the foreign object 500.

[0242] In S5, as shown in Figure 19, the instrument slip ring 15313 moves away from the deflection part 1120, causing the clamp head 110 to close and grasp the foreign object 500.

[0243] In S6, as shown in Figure 20A, when the lever 1557 is rotated to a direction away from the deflection part 1120, the switching block 1554 will separate from the switching groove 1553, and the frame 1559 will move toward the direction of the deflection part 1120, so that the deflection part 1120 returns to a horizontal or near-horizontal state.

[0244] In some embodiments, the following steps are also based on the aforementioned operating method, and when the deflection transmission structure of the operating handle 1500 includes a deflection transmission part 1555, see Figures 21A-21B, wherein:

[0245] In S1, in the initial state, the drive device processing control section causes the end device 1400 to enter the preprocessing state;

[0246] In S2 and S3, the drive deflection movable part 15211 controls the displacement of the deflection traction member 1320, while the deflection traction member 1320 slides relative to the deflection transmission part 1555, and the deflection part 1120 rotates to the target direction and bends to the target angle and locks; or, the drive deflection transmission part 1555 rotates to drive the deflection traction member 1320 to move, and the deflection part 1120 rotates to the target direction and bends to the target angle and locks.

[0247] Between S3 and S4, rotate the tool roller 15315 to rotate the end tool 1400 to the direction of the target object.

[0248] In S4, the drive device processing control part device slip ring 15314 pulls the device traction member in a direction away from the end device 1400, so that the end device 1400 closes or extends to process the target object.

[0249] In S5, the deflection actuator 15211 is unlocked and driven to reset the deflection traction member 1320. At the same time, the deflection traction member 1320 slides in the opposite direction relative to the deflection transmission member 1555, and the deflection member 1120 returns to its initial state or near its initial state. Alternatively, the deflection transmission member 1555 is unlocked and driven to rotate in the opposite direction to drive the deflection traction member 1320 to move, and the deflection member 1120 returns to its initial state or near its initial state.

[0250] Embodiment 2 of this specification also provides an auxiliary device for use with an endoscope, as detailed below.

[0251] This specification also provides an auxiliary device (or instrument 1000) for use with an endoscope. This auxiliary device connects the surgical instruments mentioned above to the endoscope body 3000 and allows the surgical instruments to move and be manipulated stably and controllably within the field of view of the endoscope body 3000, thereby improving surgical efficiency.

[0252] In some embodiments, the auxiliary device applied to the endoscope includes a cap assembly and the surgical instrument described above. The cap assembly includes an instrument connection 2100 and a cap. The instrument connection 2100 is used to mount the surgical instrument, and the cap is used to connect to the endoscope body. A deflection portion 1120 of the surgical instrument, located at least outside the cap assembly, is bendable and / or rotatable. The cap assembly refers to the structure connecting the surgical instrument and the endoscope. The cap is used to connect to the endoscope body 3000. The instrument connection 2100 and the cap are respectively connected to the surgical instrument and the endoscope body, and the instrument connection 2100 is connected to the endoscope body, thereby mounting the surgical instrument and the cap onto the endoscope body.

[0253] In some embodiments, the instrument connection 2100 includes a guide 2110 for ensuring that the surgical instrument (or device) can move stably along a predetermined path during operation. In some embodiments, the guide 2110 is slidably connected to the surgical instrument and / or to the tip cap (i.e., tip cap 2200), and / or to the endoscope body (i.e., endoscope body 3000). It is understood that the guide 2110 may be slidably connected to any one of the surgical instrument, the tip cap, and the endoscope body, or to any two of the surgical instrument, the tip cap, and the endoscope body, or to all of the surgical instrument, the tip cap, and the endoscope body simultaneously. In this embodiment, the sliding connection between the guide member 2110 and the surgical instrument, the tip cap, and the endoscope does not mean that the guide member 2110 must be in direct contact with the surgical instrument, the tip cap, and the endoscope. Rather, the guide member 2110 can slide relative to the surgical instrument, the tip cap, and the endoscope, and has a direct or indirect connection with the surgical instrument, the tip cap, and the endoscope.

[0254] For further details regarding the flexibility and rotation of the deflector 1120 of the surgical instrument, please refer to the description above. Several exemplary auxiliary devices will now be described in conjunction with the accompanying drawings.

[0255] Embodiment 3 of this specification also provides an auxiliary device for use with an endoscope, as detailed below.

[0256] This specification also provides an auxiliary device for use with an endoscope, as shown in Figures 22A-30 and 2G-2J, including a tip cap assembly 2000 and an instrument 1000. The tip cap assembly 2000 includes an instrument connecting part 2100 and a tip cap 2200. The instrument connecting part 2100 connects to the instrument, and the tip cap 2200 is used to connect to the endoscope body 3000. The instrument and the endoscope body 3000 are connected through the tip cap assembly 2000. The deflection part 1120 of the instrument, at least located outside the tip cap assembly 2000, is bendable and / or rotatable.

[0257] In some applications, such as endoscopic mucosal dissection, it is necessary to continuously and effectively lift the tissue to facilitate cutting with a scalpel. Since the tissue needs to be lifted dynamically in real time and the amount of tissue being lifted is relatively large, instruments with deflection parts 1120 are used for tissue lifting, providing relatively objective control over tissue tension, real-time lifting, and the lifting range. In some embodiments, the instrument 1000 is a grasping forceps, clamp, hook knife, etc.

[0258] In some embodiments, the endoscope body 3000 is an endoscope, and the tip cap 2200 includes a sleeve 2210, the insertion part of the endoscope being sleeved and connected to the sleeve 2210 of the tip cap 2200.

[0259] In some embodiments, the instrument connection 2100 includes a guide 2110, which is slidably connected to the instrument 1000; in some embodiments, the guide 2110 is slidably connected to the tip cap 2200; in some embodiments, the guide 2110 is slidably connected to the lens body 3000.

[0260] In some embodiments, the device connection portion 2100 includes a guide 2110, which is slidably connected to the device 1000. The guide 2110 includes a distal guide portion 2111 located at the distal end and a guide channel portion 2112 extending from the distal guide portion 2111 along the insertion portion to the proximal end of the device 1000. The device 1000 is slidably disposed in the distal guide portion 2111 and the guide channel portion 2112, wherein the distal guide portion 2111 is connected to the sleeve 2210.

[0261] In some embodiments, the instrument connection portion 2100 further includes an auxiliary connection portion for connecting the guide channel portion 2112 and the insertion portion. The auxiliary connection portion includes, but is not limited to, straps, tapes, magnetic components, snap fasteners, sliders, adhesive materials, etc.

[0262] In some embodiments, the distal end of the tip cap 2200 is located on the distal side relative to the distal end of the device 1000 connection portion 2100; a larger deflection space S1 is provided at the distal end of the tip cap assembly 2000 for the deflection portion 1120.

[0263] In some embodiments, the bendable structure 1310 of the deflection section 1120 is continuously constructed with a plurality of second minimum bending groups, and the deflection traction member 1320 of the deflection section 1120 includes two oppositely arranged members. The deflection section 1120 has a traction bending side in two opposite directions and an adaptive bending side in two other opposite directions.

[0264] The embodiment of the operating handle 1500 described above can be combined with embodiments of an auxiliary device for endoscopy. For example, the operating handle 1500 can be part of a surgical instrument, integrated into the auxiliary device via the instrument connection 2100. By providing the operating handle 1500, the operator can easily hold and operate it directly for remote control of various movements of the distal instrument 14001. As described above, the operating handle 500 includes at least one of a deflection control unit 1520, an instrument control unit 1530, a forward / backward control unit 1540, and a control unit 1550.

[0265] The auxiliary device includes an operating handle 1500, which adopts the structure of the operating handle 1500 in the aforementioned instrument embodiments.

[0266] In some embodiments, the deflection transmission structure of the operating handle 1500 relates to the aforementioned structure of the deflection transmission part 1555. The deflection traction member 1320 includes a connecting section 1321 and transmission sections 1322 located on both sides of the connecting section 1321. The deflection traction member 1320 is connected to the deflection transmission part 1555 via the connecting section 1321. The transmission sections 1322 on both sides pass through the deflection movable part 15211 and are connected to the flexible structure 1310. The length of the deflection traction member 1320 is fixed, while the lengths of the two transmission sections 1322 are variable. The flexible structure 1310 has traction bending sides in two directions. The moving direction of the deflection movable part 15211 determines the bending direction of the deflection part 1120, and the displacement stroke of the deflection movable part 15211 determines the bending angle. The connecting section 1321 is slidably connected to the deflection transmission part 1555. One side of the transmission section 1322 is a fixed transmission section 1322A, which is limited and connected to the deflection movable part 15211 in the displacement direction by a second limiting member 1324. The other side of the transmission section 1322 is a moving transmission section 1322B, which is slidably connected to the deflection movable part 15211 in the displacement direction. In some embodiments, the deflection movable part 15211 is a pulley rotatably connected to the operating body 1510. In some embodiments, the deflection movable part 15211 is a through hole rotatably connected to the operating body 1510. In some embodiments, the deflection movable part 15211 is a hand-operated wheel rotatably connected to the operating body 1510.

[0267] In some embodiments, the deflecting movable part 15211 is provided with a locking member 1556 for locking or unlocking the deflecting movable part 15211 and the operating body 1510, locking to maintain the bending direction and bending angle. More details about the locking member 1556 can be found in the description above.

[0268] The appliance control unit 1530 includes an operating body 1510, an appliance rotation control part 1531, a locking member 15321, an appliance handling control part 1532, an appliance slip ring 15314, and a first electrode holder 1560. The appliance rotation control part 1531 is connected to the appliance traction member 1533, and the two are limited in the circumferential direction and can be relatively displaced in the axial direction to control the rotation of the end appliance 1400. The first electrode holder 1560 is fixed to the appliance handling control part 1532. The first electrode holder 1560 is connected to the instrument traction member 1533, both being axially limited and circumferentially rotatable, for controlling the opening and closing of the end instrument 1400, such as the pliers head. A locking member 15321 is rotatably connected to the instrument processing control section 1532. The locking member 15321 can be raised and lowered; lowering the locking member 15321 fixes the instrument processing control section 1532 to the operating body 1510, thereby locking the end instrument 1400, such as the pliers head, into a closed state. In some embodiments, the instrument rotation control section 1531 includes an instrument roller 15315. In some embodiments, the instrument processing control section 1532 includes an instrument slip ring 15314.

[0269] In some embodiments, the end device 1400 and the sheath 1100 can rotate relative to each other, and the rotation of the end device 1400 can be controlled to adjust the bending direction. The specific design of the rotation structure is detailed above.

[0270] In some embodiments, the end device 1400 is fixedly connected to the sheath 1100.

[0271] In some embodiments, the operating handle 1500 of the auxiliary device includes a forward / backward control unit 1540 placed on the operating body 1510, which controls the displacement of the surgical instruments relative to the endoscope.

[0272] In some embodiments, the advance / retreat control unit 1540 includes an advance / retreat displacement section 1541, which is relatively limited relative to the sheath 1100 of the surgical instrument at least in the displacement direction, and the operating body 1510 is relatively limited relative to the tip cap assembly (e.g., tip cap assembly 2000) or the endoscope body at least in the displacement direction; an adjustment section is provided between the advance / retreat displacement section 1541 and the operating body 1510 to displace the two relative to each other, and the adjustment section includes an adjustment member 15421 and an advance / retreat transmission structure 15422 disposed between the adjustment member 15421 and the advance / retreat displacement section 1541.

[0273] In some embodiments, the forward and backward transmission structure 15422 includes a first engagement portion 15422A and a second engagement portion 15422B, and an adjusting member 15421 switches the engagement or disengagement states of the first engagement portion 15422A and the second engagement portion 15422B; the first engagement portion 15422A is disposed on the forward and backward displacement portion 1541, and the second engagement portion 15422B is disposed on the operating body 1510.

[0274] In some embodiments, the first engagement portion 15422A is an engagement groove (e.g., a rack and pinion structure), and the second engagement portion 15422B is an engagement block (e.g., a toothed structure). The adjusting member 15421 is pivotally connected to the operating body 1510. The rotation of the adjusting member 15421 causes the engagement block to rotate, adjusting the engagement or disengagement state of the engagement block and the engagement groove. In some embodiments, the engagement block is connected to an engagement elastic member 1543, such as a spring. The elastic force of the engagement elastic member 1543 tends to drive the engagement block to engage the engagement groove. In the initial state, the engagement elastic member 1543 abuts and lifts the adjusting member 15421, and the engagement block engages with the engagement groove, limiting the displacement of the advance and retraction displacement portion 1541. When the adjusting member 15421 is pressed down, the engagement block separates from the engagement groove, and the advance and retraction displacement portion 1541 can slide within the operating body 1510 to control the displacement of the instrument.

[0275] In some embodiments, the operating body 1510 is provided with a displacement range S2, and the forward and backward displacement part 1541 is placed in the displacement range S2, which limits the displacement range S2 of the forward and backward displacement part 1541, that is, limits the length of the instrument extendable guide 2110 and the reset length.

[0276] As shown in Figure 23, in some embodiments, the instrument 1000 is configured as the first electrode, and the second instrument 3100 connected to the mirror body 3000 can be configured as the second electrode, forming a bipolar structure with the instrument 1000 and the second instrument 3100; wherein the end device 1400 of the instrument 1000 is connected to the power supply 4000 via the device traction member 1533 and the first electrode holder 1560, and the distal end of the second instrument 3100 is connected to the power supply 4000 via the treatment traction member (not shown) and the second electrode holder (not shown). In some embodiments, the instrument 1000 is a gripper used to lift the target object 5000 (tissue), and the second instrument 3100 is a high-frequency cutting knife used to cut and peel off the target object 5000 (tissue). During the operation, as shown in Figures 23 and 28B, both the instrument 1000 and the second instrument 3100 are in contact with the tissue. When energized, the instrument 1000, the target object 5000 (tissue), the second instrument 3100, and the power supply 4000 form a current circuit to achieve the peeling of the tissue.

[0277] This specification also provides an operating method for the auxiliary device, as shown in Figures 22A-30. The operating method, based on the aforementioned auxiliary device, involves lifting the target object 5000 (tissue) with an instrument (such as a grasping forceps) to cooperate with the operation of the second instrument 3100 (incision knife), including:

[0278] In the initial state before S1, as shown in Figures 24A and 25A, the tip cap assembly 2000 is connected to the insertion part of the endoscope 3000 and enters the digestive tract. The cutting knife 3100 has cut part of the target object 5000, and the jaws of the gripper 1000 are located no more than the distal end of the tip cap assembly 2000. The advance and retraction control unit 1540 is operated to position the jaws of the gripper 1000 above the target object 5000. Specifically, the adjustment member 15421 is pressed down and the gripper 1000 is pushed to move, so that the jaws of the gripper 1000 are above the target object 5000. The sliding device ring 15314 is slid to open the jaws of the gripper 1000.

[0279] S1: Drive the end device 1400 until it approaches the target object 5000, and drive the end device 1400 to enter the preprocessing state;

[0280] S2: Drive the deflection part 1120 to bend toward the target object 5000; specifically, drive the deflection control unit 1520 to bend the end instrument 1400 downward or diagonally downward until the end instrument 1400 is located on the distal side of the scope body 3000 or / and the distal side of the second instrument 3100 (e.g., directly in front) and approaches or contacts the target object 5000, and then drive the locking member 1556 of the operating handle 1500 to lock the bending direction and bending angle of the deflection part 1120 at this time, as shown in FIG26, slide the displacement block 15553 upward to make the deflection part 1120 bend downward or diagonally downward until the jaw of the gripper 1000 approaches or contacts the tissue, and then tighten the locking member 1556 to lock the bending direction of the deflection part 1120.

[0281] S3: Drive the end device 1400 to connect to the target object 5000; In S3, as shown in Figure 27, drive the slip ring 15314 to displace so that the jaws close to grasp the tissue, and then press down the locking member 15321 to lock the closed state of the jaws of the gripper 1000.

[0282] S4: Drive the deflection part 1120 to bend away from the target object 5000 to pull the target object 5000; specifically, drive the locking member 1556 of the operating handle 1500 to release the locking state of the deflection part 1120 bending downward or diagonally downward in S2, drive the deflection bending control part 1521 to bend the deflection part 1120 upward or diagonally upward to lift the target object 5000 and keep it lifted, then drive the locking member 1556 of the operating handle 1500 to lock the bending direction and bending angle of the deflection part 1120 at this time, and maintain the taut state of the target object 5000 being lifted; as shown in Figures 28A and 28B, rotate the locking member 1556 in the opposite direction to release the displacement block 15553, slide the displacement block 15553 downward to change the bending direction of the deflection part 1120 to bend upward to lift the tissue, and tighten the locking member 1556 again to lock the upward bending and lifting state.

[0283] S5: Drive the second instrument 3100 to cut the target object 5000, and simultaneously drive the deflection part 1120 to continue bending away from the direction of the target object 5000 to maintain tension; specifically, during the process of the second instrument 3100 continuing to cut the target object 5000, drive the locking member 1556 of the operating handle 1500 to release the locking state of the bending of the deflection part 1120 in S4, and drive the deflection bending control part 1521 to make the deflection part 1120 continue to bend upward or diagonally upward to further lift the target object. The target object 5000 is kept lifted, and then the locking member 1556 of the operating handle 1500 is driven to lock the bending direction and bending angle of the deflection part 1120 at this time. This is done continuously to maintain the taut state of the target object 5000 being lifted. As shown in Figure 29, after the high-frequency cutting knife 3000 continues to cut the tissue, the locking member 1556 is rotated in the opposite direction to release the displacement block 15553. The displacement block 15553 is slid downward to make the deflection part 1120 continue to bend upward and lift the tissue. The locking member 1556 is tightened to lock the upward bending and lifting state.

[0284] S6: After the second instrument 3100 completes the cutting of the target object 5000, the drive deflection part 1120 returns to its initial state, that is, the drive instrument returns to a horizontal or near-horizontal state. Then, the advance and retreat control unit 1540 is operated to control the instrument 1000 to retract, so that the distal end of the end instrument 1400 does not exceed the distal end of the tip cap assembly 2000 or / and the distal end of the endoscope body 3000. Specifically, as shown in Figure 30, after the tissue 5000 is completely cut off, the locking member 1556 is rotated in the opposite direction to release the displacement block 15553. The displacement block 15553 is slid upward to make the deflection part 1120 return to a straight or near-straight state. Then, the adjusting member 15421 is pressed down and the end instrument 1400 is pulled back to a position that does not exceed the distal end of the tip cap assembly 2000.

[0285] S7: The end-effector 1400 continuously grips the dissected tissue and withdraws the scope along with it.

[0286] As shown in Figures 23 and 28B, both instrument 1000 and the second instrument 3100 are in contact with the tissue. When energized, instrument 1000, the target object 5000 (tissue), the second instrument 3100 and the power supply 4000 form a current loop to achieve tissue stripping.

[0287] In endoscopic surgeries such as endoscopic submucosal dissection (ESD), the auxiliary devices used with the endoscope typically rely on directly connecting a tether to a rotating ring for operation. The main challenge of this traditional actuation method is the low efficiency of mechanical transmission; for example, the tether generates a significant driving force to initiate and maintain the rotation of the rotating ring. Furthermore, during the rotation of the ring, the accumulated torsion of the cannula connected to the ring (as described in the second cannula below) gradually increases the operating resistance, further increasing the driving force on the tether. Moreover, the torsional force of the cannula after rotating to a certain position can cause the rotating ring to spring back, negatively impacting the operational accuracy and stability of the surgical instruments.

[0288] In view of this, this specification aims to solve the problem of high cable driving force by providing various embodiments of auxiliary devices for endoscopes. In some embodiments, this specification reduces the cable driving force by improving the connection method between the cable and the rotating ring and utilizing the principle of a movable pulley. In other embodiments, this specification further reduces the cable driving force by improving the connection method between the rotating ring and the second sleeve, eliminating or reducing the operating resistance caused by the torsion of the second sleeve.

[0289] Embodiment 4 of this specification also provides an auxiliary device for use with an endoscope. The auxiliary device for use with an endoscope in Embodiment 4 will be described in detail below with reference to the accompanying drawings.

[0290] Figures 31-52 show another type of auxiliary device for use with endoscopes (i.e., auxiliary devices for use with endoscopes hereinafter referred to as such). The difference from the auxiliary devices in Figures 1-30 is that, in the auxiliary devices shown in Figures 31-52, the surgical instruments and endoscope integrated into the auxiliary device can rotate relative to each other.

[0291] In some embodiments, as shown in Figures 31-52, the auxiliary device applied to the endoscope includes a tip cap assembly (i.e., tip cap assembly 2000 mentioned above), the tip cap assembly including: a tip cap 10, a rotating ring 20-1 configured to rotate about the tip cap 10; and a rotation control unit, which is slidably engaged with the rotating ring 20-1 and configured to drive the rotating ring 20-1 to move.

[0292] In some embodiments, the endoscope includes a body 40, the tip of which refers to the most distal portion of the endoscope body. For example, the tip of the body may include an endoscope lens, an illumination LED or fiber optic light guide outlet, other sensors, etc. In some embodiments, a tip cap 10 is disposed at the tip of the body 40; the rotation control unit refers to a structure that controls the rotation of the rotating ring 20-1. In some embodiments, the rotation control unit may include a rotation traction member and a rotation drive unit that provides driving force to the rotation traction member, the rotation traction member driving the rotating ring 20-1 to rotate under the drive of the rotation drive unit. In some embodiments, the rotation drive unit may include one or more of the following components: a drive motor, a winder, a transmission mechanism (such as gear transmission), a reducer, a control chip, etc.

[0293] For example, the traction member for rotation is a structure that matches the rotation drive unit. For instance, when the rotation drive unit is one or more of the following components: a drive motor, a winder, a transmission mechanism (such as a gear drive), a reducer, a control chip, etc., the traction member for rotation can be one or more of the following components: a pull wire (e.g., pull wire 61 hereinafter), a pull rod, a gear ring, a rack, etc. In this specification, pull wire 61 is used as a specific example of the traction member for rotation. It is to be understood that such description is for illustrative purposes only and does not limit the implementation of the traction member for rotation to a pull wire. After understanding the working principle of the traction member for rotation, other structures listed above can be used instead of the pull wire as the traction member for rotation.

[0294] It should be noted that, since the rotational traction member is the actuator in the rotational drive unit 50 that drives the rotating ring 20-1 to rotate, in other embodiments of this description, the rotational traction member can also be described as slidingly engaging with the rotating ring 20-1 and configured to drive the rotating ring 20-1 to move. In some embodiments, the tip cap assembly is replaced by an auxiliary device applied to an endoscope; the tip cap assembly and the auxiliary device applied to an endoscope are different descriptions of the same structure.

[0295] Figure 31 is a schematic diagram of an auxiliary device for use with an endoscope according to some embodiments of this specification.

[0296] As shown in Figure 31, some embodiments of this specification provide an auxiliary device for use with an endoscope, which includes a tip cap 10, a rotating ring 20-1, and a rotating traction member 60.

[0297] In some embodiments, the tip cap 10 is configured on the tip of the endoscope 40 to assist clinical operations when observing objects (such as the digestive tract wall) endoscopically, to provide a clear surgical field, and to protect the tip of the endoscope 40.

[0298] In some embodiments, the rotating ring 20-1 is configured to rotate about the tip cap 10. For example, the rotating ring 20-1 is rotatably arranged on the inner or outer wall of the tip cap 10 and can rotate along the circumferential direction of the tip cap 10 under the drive of an external force.

[0299] In some embodiments, the rotating traction member 60 is slidably engaged with the rotating ring 20-1 and configured to drive the rotating ring 20-1 to move. The slidable engagement of the rotating traction member 60 with the rotating ring 20-1 can distribute the force driving the rotating ring 20-1 to both sides of the rotating ring 20-1, thereby improving the mechanical transmission efficiency.

[0300] In some embodiments, the auxiliary device applied to the endoscope further includes a rotation drive unit 50, the proximal end of the pull cable 61 being connected to the rotation drive unit 50, and the rotation drive unit 50 being configured to apply a driving force proximal to the pull cable 61. By setting the rotation drive unit 50 to automatically control the pull cable 61, the problem of manual operation of the rotating ring 20-1 by the operator is solved, saving labor costs.

[0301] In some embodiments, the rotating traction member 60 is further configured such that the driving force of the drive unit is less than the effective force on the rotating ring 20-1. The driving force can be the force output by the rotating traction member 60, such as the force output by the rotating drive unit 50 mentioned below or the tension of the pull cable 61; the effective force can be the force that overcomes the rotational resistance of the rotating ring 20-1. Since the driving force of the rotating traction member 60 is less than the effective force on the rotating ring 20-1, the rotating ring 20-1 can be driven to rotate. This reduces the energy demand on the rotating traction member 60, improves the overall energy efficiency ratio, and requires less effort to operate the rotating traction member 60, facilitating a faster response of the rotating ring 20-1 to the control of the rotating traction member 60.

[0302] In some embodiments, the ratio of the driving force to the effective force (i.e., the first ratio hereinafter) ranges from 50% to 90%. In some embodiments, when the resistance or other energy loss experienced by the rotating traction member 60 is small or almost zero, the ratio of the driving force to the effective force is approximately 50%, at which point the overall energy efficiency of the structure reaches its optimal state. In some embodiments, when the rotating traction member 60 itself experiences some resistance or other energy loss, such as the frictional force experienced by the rotating traction member 60 in contact with the rotating ring 20-1, or the frictional force experienced by the rotating traction member 60 in the through hole 33 or the first sleeve 71 mentioned below, the ratio of the driving force to the effective force is greater than 50%, for example, the ratio is approximately 60%, 70%, 80%, or 90%. Controlling the ratio within the range of 50% to 90% allows the overall energy efficiency of the structure to reach a better state, resulting in less effort during operation.

[0303] Figure 32A is a partial cross-sectional view of an auxiliary device for an endoscope according to some embodiments of this specification. Figure 32B is a partial cross-sectional view of an auxiliary device for an endoscope according to some embodiments of this specification from another perspective. Figure 33A is a partial cross-sectional view of an auxiliary device for an endoscope according to other embodiments of this specification in a rotatable state. Figure 33B is a partial cross-sectional view of an auxiliary device for an endoscope according to other embodiments of this specification in a non-rotatable state. Figure 34 is a side view along the axial direction of an auxiliary device for an endoscope according to some embodiments of this specification.

[0304] In some embodiments, the rotation control unit includes at least one rotation traction member (i.e., pull wire 61). The rotation traction member includes at least a fixed section 611 and an operating section 612. The fixed section 611 is fixedly connected to a rotating ring (e.g., rotating ring 20-2 hereinafter referred to as rotating ring 20-2) or a cap 10, and the operating section 612 is slidably engaged with the cap 10. In some embodiments, the operating section 612 is also connected to a rotation drive unit, which drives the operating section 612 to move. The operating section 612 drives the fixed section 611 to move, and the fixed section 611 drives the rotating ring 20-2 to rotate around the cap 10. The fixed section 611 and the operating section 612 refer to sections on the rotation traction member (e.g., pull wire 61) that have corresponding functions, and their edges or ends are not limited to having clear boundaries. For example, the fixed section 611 may be a section fixed to the cap 10 or the rotating ring (e.g., rotating ring 20-2 hereinafter referred to as rotating ring 20-2), and the operating section 612 may be a section used to pull the fixed section 611. The edges or ends of these operating sections may overlap or be spaced apart. In the embodiments shown in Figures 53-76, the rotational traction member includes a fixed section 611 and an operating section 612. The fixed section 611 is fixed to the rotating ring 20-2, and the operating section 612 is connected to the rotational drive unit. The rotational drive unit pulls the operating section 612 to control the rotating ring 20-2 to rotate forward and / or reverse. In the embodiments shown in Figures 31-52, the rotational traction member includes a fixed section 611, a sliding section 613, and an operating section 612. The fixed section 611 is fixed to the tip cap 10, the sliding section 613 is slidably engaged with the rotating ring 20-1, and the operating section 612 is connected to the rotational drive unit. The rotational drive unit drives the operating section 612 to move, controlling the sliding section 613 to slide relative to the rotating ring 20-1, thereby driving the rotating ring 20-1 to rotate around the tip cap 10.

[0305] In some embodiments, the connection method between the rotating traction member (i.e., the pull wire 61) and the rotating drive unit is related to the working mode of the rotating drive unit. The working mode of the rotating drive unit includes rotation, translation, etc. Accordingly, the rotating traction member and the rotating drive unit need to be connected in different ways so that the two can work together normally.

[0306] In some embodiments, the rotational traction member engages with the rotational drive unit in a ring-shaped manner. The rotational drive unit drives the operating segment 612 to move proximally by rotation. The operating segment 612 is configured to cause the sliding segment 613 to slide relative to the rotating ring 20-1 and drive the rotating ring 20-1 to rotate around the tip cap 10. For example, the rotational drive unit can be a winder, and the rotational traction member is a pull wire 61, which is wound around the winder in a ring-shaped manner. The winder releases or tightens the pull wire by rotation, thereby driving the operating segment 612 to move proximally.

[0307] In some embodiments, a rotational traction member (i.e., a pull wire 61) is connected to a rotational drive unit, which drives an operating segment 612 to move proximally via translation. The operating segment 612 is configured to cause a sliding segment 613 to slide relative to the rotating ring 20-1 and drive the rotating ring 20-1 to rotate around the tip cap 10. For example, the rotational drive unit may include a slider and a slide rail adapted to the slider. The rotational traction member is connected to the slider, and the slider drives the operating segment 612 to move proximally by moving relative to the slide rail.

[0308] In some embodiments, the number of rotating traction members (i.e., pull wire 61) can be one. When there is only one rotating traction member, the forward and reverse rotation of the rotating ring 20-1 can be controlled by driving the rotating traction member to move in a certain direction and in the opposite direction. In some embodiments, the number of rotating traction members can be two, one of which (may be referred to as the first rotating traction member, e.g., the first pull wire 61-1 hereinafter) is used to control the forward rotation of the rotating ring 20-1, and the other (may be referred to as the second rotating traction member, e.g., the second pull wire 61-2 hereinafter) is used to control the reverse rotation of the rotating ring 20-1. For example, in the circumferential direction of the tip cap 10, one rotating traction member is used to control the forward rotation of the rotating ring 20-1, and the other rotating traction member is used to control the reverse rotation of the rotating ring 20-1. The number of rotating traction members can be adjusted according to actual needs; for example, the number of rotating traction members can also be three, four, or more. The specific working process of different numbers of rotating traction members can be found in the following description.

[0309] This specification will describe the specific process of the rotating traction member pulling the rotating ring 20-1 to rotate, with reference to the accompanying drawings. For ease of understanding, a pull wire is used instead of the rotating traction member in the relevant embodiments. It should be noted that the pull wire 61 is a specific structure of the rotating traction member, intended to exemplify the process and working principle of the rotating traction member pulling the rotating ring 20-1 to rotate, but it does not limit the rotating traction member to the pull wire 61. In the relevant embodiments, other possible structures listed above can be used to replace the pull wire 61 as the rotating traction member. For example, a pull rod, a gear ring, a rack, or other structures can be used to replace the pull wire 61 as the rotating traction member to pull the rotating ring 20-1 to rotate.

[0310] As shown in Figures 32A to 34, in some embodiments, the rotating traction member 60 includes at least one pull wire 61 for driving the rotating ring 20-1 to rotate. The pull wire 61 includes a fixed section 611, a sliding section 613, and an operating section 612. For example, the fixed section 611 is fixed to the tip cap 10, for instance, by at least one of welding, bonding, snap-fitting, binding, or knotting. For example, the sliding section 613 is slidably engaged with the rotating ring 20-1. For example, the rotating ring 20-1 includes a hole or groove, and the sliding section 613 is slidably inserted into the hole or groove to form a sliding engagement. Here, the hole can be a sliding hole 25 formed in the sidewall of the rotating ring 20-1, or the groove can be a limiting groove provided on the outer peripheral wall of the rotating ring. It is understood that the sliding engagement can also be other sliding engagement methods. For example, when the operating segment 612 is configured to move towards the proximal end, the control sliding segment 613 slides relative to the rotating ring 20-1, thereby driving the rotating ring 20-1 to rotate around the tip cap 10.

[0311] In some embodiments, after the sliding segment 613 is slidably engaged with the rotating ring 20-1, there is a section of sliding segment 613 on both the proximal and distal sides of the rotating ring 20-1, so that the sliding segment 613 can slide proximally relative to the rotating ring 20-1 and also slide distally relative to the rotating ring 20-1. The force required for the rotation of the rotating ring 20-1 is distributed on the sliding segments 613 on both sides of the rotating ring 20-1. The entire structure is similar to a movable pulley, so that the driving force of the operating segment 612 is less than the force required for the rotation of the rotating ring 20-1, and the driving force value of the pull wire 61 is less than the effective force value of the rotating ring 20-1, thereby improving the energy efficiency ratio of the overall structure.

[0312] It should be noted that the fixed section 611, sliding section 613, and operating section 612 can refer to the sections on the pull wire 61 that have corresponding functions, and their edges or ends are not limited to having clear boundaries. For example, the fixed section 611 can refer to the section fixed to the tip cap 10, the sliding section 613 can refer to the section that slides with the rotating ring 20-1, and the operating section 612 can refer to the section used to pull the sliding section 613. The edges or ends of these functional sections can overlap or be spaced apart.

[0313] As shown in Figures 31 to 34, in some embodiments, the rotating ring 20-1 includes a sliding hole 25, and a sliding segment 613 passes through the sliding hole 25. When the operating segment 612 moves towards the proximal end, the sliding segment 613 slides relative to the sliding hole 25, causing the rotating ring 20-1 to rotate around the tip cap 10. By providing the sliding hole 25, a stable fit between the pull wire 61 and the rotating ring 20-1 can be achieved.

[0314] In some embodiments, each draw wire 61 causes the rotating ring 20-1 to have a rotatable state and a non-rotatable state.

[0315] For example, as shown in Figures 32A, 32B, and 33A, when the rotating ring 20-1 is in a rotatable state, the sliding position of the sliding segment 613 is outside the virtual connection line L between the fixed position of the fixed segment 611 and the fulcrum position of the operating segment 612. When the pull wire 61 is pulled, the sliding segment 613 moves relative to the rotating ring 20-1, thereby driving the rotating ring 20-1 to rotate. For example, as shown in Figure 33B, when the rotating ring 20-1 is in a non-rotatable state, the sliding position of the sliding segment 613 is above the virtual connection line L between the fixed position of the fixed segment 611 and the fulcrum position of the operating segment 612. At this time, the pull wire 61 is in a non-pullable state, that is, the sliding hole 25 on the rotating ring 20-1 shown in the figure rotates to the position indicated by the dashed line. It is understandable that when the rotating ring 20-1 is in a non-rotatable state, it means that the rotating ring 20-1 has reached its limit in the current rotation direction under the control of the current pull wire (such as the first pull wire 61-1), but can rotate in the opposite direction under the control of another pull wire 61 (such as the second pull wire 61-2). It should be noted that the sliding position of the sliding section 613 can refer to the position where the sliding section 613 mates with the rotating ring 20-1, such as the position of the sliding hole 25 mentioned later. More specifically, the sliding position can be the midpoint of the sliding hole 25 in the axial direction. The fixed position of the fixed section 611 can refer to the position where the fixed section 611 is fixed to the tip cap 10, such as the position of the fixed part 13 mentioned later. The fulcrum position of the operating section 612 is used to guide the directional change of the operating section 612 or to provide positional support. It can be the position where the operating section 612 and the tip cap 10 form pressure contact, such as the position of the through hole 33 mentioned later.

[0316] In some embodiments, the fixed segment 611 is located on the distal side of the rotating ring 20-1, where distal side refers to the side farther from the operator. In some embodiments, the operating segment 612 is located on the proximal side of the rotating ring 20-1, where proximal side refers to the side closer to the operator. It should be noted that the terms "distal" and "proximal" mentioned in some embodiments of this specification are used to indicate orientation. For example, along the axis of the endoscope 40, "distal" refers to the end facing the target object 5000 (such as a lesion mucosa), and "proximal" refers to the end facing the operator, as specifically shown by the arrows in the accompanying drawings. When the pull cord 61 is arranged in the above manner, the winding angle and path of the pull cord 61 are optimized, reducing wear on the pull cord 61 and making the stress on the pull cord 61 more uniform under tension, which is beneficial to improving the load-bearing capacity of the pull cord 61. Furthermore, the reasonable winding angle and path of the pull cord 61 can also reduce the damage accumulated during loading and unloading, avoiding breakage.

[0317] In some other embodiments, the fixed segment 611 is located on the proximal side of the rotating ring 20-1, and the operating segment 612 is located on the distal side of the rotating ring 20-1; or, both the fixed segment 611 and the operating segment 612 are located on the distal side of the rotating ring 20-1; or, both the fixed segment 611 and the operating segment 612 are located on the proximal side of the rotating ring 20-1.

[0318] The aforementioned positional relationship between the fixed section 611 and the operating section 612 enables the force driving the rotating ring 20-1 to move to be distributed on both sides of the rotating ring 20-1, namely the wire fixed section 611 side and the wire operating section 612 side.

[0319] In some embodiments, the fixing position of the fixing segment 611 is located on the tip cap 10 and at the distal end of the rotating ring 20-1, the sliding position of the sliding segment 613 is the position of the sliding hole 25, and the fulcrum position of the operating segment 612 is located on the tip cap 10 and at the proximal end of the rotating ring 20-1. As mentioned above, the fixing position of the fixing segment 611 is the position where the fixing segment 611 is fixed to the tip cap 10 or the rotating ring (e.g., the rotating ring 20-2 hereinafter), such as the positions of the fixing part 13 (which may be referred to as the first fixing part) and the fixing part 24 (which may be referred to as the second fixing part) mentioned later. In the embodiments shown in Figures 31-35, the tip cap 10 includes a first retaining ring 101 and a second retaining ring 102 that restrict the axial relative displacement between the rotating ring 20-1 and the tip cap 10. The first retaining ring 101 and the second retaining ring 102 are located at the distal end and the proximal end of the rotating ring 20-1, respectively. A first peripheral protrusion 1011 is provided on the outer peripheral surface of the first retaining ring 101. The first peripheral protrusion 1011 has a first limiting hole 1012 for fixing to the rotating traction member. The first limiting hole 1012 can serve as the fixing position of the fixing section 611. A second peripheral protrusion 1021 is provided on the outer peripheral surface of the second retaining ring 102. The second peripheral protrusion 1021 has a second limiting hole 1022 (i.e., through hole 33 in other embodiments of this specification) for passing through the operating section 612 of the rotating traction member. The second limiting hole 1022 can serve as the fulcrum position of the operating section 612. In some embodiments, the second peripheral protrusion 1021 may be the same as or similar to the first connecting portion in other embodiments of this specification.

[0320] In some embodiments, an angle is formed between the fixing position of the fixing segment 611 and the fulcrum position of the operating segment 612 in the circumferential direction of the tip cap, and the angle between the fixing position and the fulcrum position is in the range of 0° to 20°. The angle between the fixing position and the fulcrum position refers to the angle between the virtual line connecting the fixing position and the center of the tip cap 10 and the virtual line connecting the fulcrum position and the center of the tip cap 10 in the circumferential direction of the tip cap 10. As mentioned above, the fixing position of the fixing segment 611 can be the position of the fixing part 13 mentioned below, and the fulcrum position of the operating segment 612 can be the position of the through hole 33 mentioned below. Further details regarding the fixing part 13 and the through hole 33 can be found in the following description. In some embodiments, an angle is formed between the fixing position of the fixing segment 611 and the fulcrum position of the operating segment 612, and the angle between the fixing position and the fulcrum position is in the range of 0° to 20°.

[0321] In some embodiments, the fixed position of the fixed segment 611 and the fulcrum position of the operating segment 612 can have any angle in the circumferential direction of the tip cap 10. Therefore, the virtual connection L between the two can be parallel to the axis of the tip cap 10 (as shown in Figure 32A) or inclined relative to the axis of the tip cap 10 (as shown in Figures 33A and 33B).

[0322] In some embodiments, the sliding hole 25 is provided on the outer peripheral surface of the rotating ring 20-1.

[0323] Figure 38A is a schematic cross-sectional view of a sliding hole according to some embodiments of this specification. Figure 38B is a schematic cross-sectional view of a sliding hole according to other embodiments of this specification.

[0324] As shown in Figures 38A and 38B, in some embodiments, the rotating ring 20-1 includes a sliding hole 25 that allows the sliding segment 613 to pass through. A first positioning structure 28 is provided within the sliding hole 25. The first positioning structure 28 is configured to restrict the sliding segment 613 from shifting within the sliding hole 25; in other words, the sliding segment 613 can move axially within the sliding hole 25 but cannot shift radially. In some embodiments, the first positioning structure 28 includes a semi-partitioned or fully partitioned sidewall disposed on the inner wall of the sliding hole 25. For example, as shown in Figure 38A, at least a portion of the sliding hole 25 is provided with a semi-partitioned sidewall, which can divide the inner cavity of the sliding hole 25 into a plurality of communicating channels, each channel being used to restrict the shift of the sliding segment 613. For example, the semi-partitioned sidewalls within the sliding hole 25 make the middle portion of the cavity cross-section of the sliding hole 25 narrower and the ends wider, thus confining the first pull wire 61-1 and the second pull wire 61-2 within the channels on both sides of the semi-partitioned sidewalls, thereby limiting the radial offset of the sliding segments 613 of the two pull wires 61. In other examples, as shown in FIG38B, at least a portion of the sliding hole 25 is provided with fully partitioned sidewalls, which can divide the cavity of the sliding hole 25 into multiple independent channels, each channel accommodating a pull wire 61.

[0325] In some embodiments, as shown in Figures 31-35, the tip cap assembly (i.e., the tip cap assembly 2000 in the above embodiments) further includes a second sleeve 72. The outer circumferential surface of the rotating ring 20-1 is provided with a mounting base 201 and a connector 2011 fixed to the mounting base 201. The connector 2011 is used to install the second sleeve. A sliding hole 25 is provided on the mounting base 201. The second sleeve is a conduit for the passage of surgical instruments and can be interchanged with the second sleeve 72 described below. Further details regarding the second sleeve can be found in the following description.

[0326] In some embodiments, the pull wire 61 includes a first pull wire 61-1 and a second pull wire 61-2. The first pull wire 61-1 is used to control the forward rotation of the rotating ring 20-1 (as shown by arrow CW in Figures 32A to 34), and the second pull wire 61-2 is used to control the reverse rotation of the rotating ring 20-1. It is understood that forward and reverse rotation are used to conveniently describe the rotation direction of the rotating ring 20-1 and do not limit the actual rotation direction of the rotating ring 20-1. For example, forward rotation can be based on a clockwise direction around the circumference of the cap 10, and reverse rotation can be based on a counterclockwise direction around the circumference of the cap 10, and vice versa. By setting the first pull wire 61-1 and the second pull wire 61-2 respectively to control the rotation of the rotating ring 20-1, the rotating ring 20-1 can achieve bidirectional rotation. After the rotating ring 20-1 rotates, it can also achieve a reset function. When the rotation angle exceeds the required angle, controlling the other pull wire 61 can adjust it back to the correct angle, resulting in a higher fault tolerance. The rotating ring 20-1 can also be fine-tuned at the target angle position by rotating forward and backward, making the rotation accuracy higher.

[0327] In some embodiments, the first pull wire 61-1 is laid out in the opposite direction to the second pull wire 61-2 in the circumferential direction of the tip cap 10. When the first pull wire 61-1 is pulled, the rotating ring 20-1 will rotate in the forward direction; when the second pull wire 61-2 is pulled, the rotating ring 20-1 will rotate in the reverse direction. By pulling these two pull wires 61 respectively, the rotating ring 20-1 can be rotated in two opposite directions, and each pull wire 61 independently controls a rotation direction, reducing the possibility of misoperation.

[0328] In some embodiments, when the first pull wire 61-1 and the second pull wire 61-2 are simultaneously subjected to the same pulling force, the rotating ring 20-1 can be controlled to lock in the current position to avoid accidental rotation during operation.

[0329] In some embodiments, the rotating traction member 60 includes a single pull wire 61, the middle of which forms a fixed section 611. A sliding section 613 and an operating section 612 are sequentially arranged on both sides of the fixed section 611, with the sliding section 613 located between the fixed section 611 and the operating section 612. In some embodiments, the rotating traction member 60 includes two pull wires 61, namely a first pull wire 61-1 and a second pull wire 61-2. One end of the first pull wire 61-1 forms the fixed section 611, and the other end forms the operating section 612. The sliding section 613 is formed between the fixed section 611 and the operating section 612. In other embodiments, the rotating traction member 60 includes a single pull wire 61, one end of which forms the fixed section 611, and the other end forms the operating section 612. The sliding section 613 is located between the fixed section 611 and the operating section 612. This pull wire 61 controls the rotating ring 20-1 to rotate in the forward direction, and the rotating ring 20-1 achieves reverse rotation through a reset mechanism such as a spring mechanism or a torsion spring mechanism.

[0330] In some embodiments, the draw wire 61 is made of a low-ductility material, including but not limited to composite materials such as ultra-high molecular weight polyethylene and polyethylene (PE), or metals such as iron, copper, and aluminum and their alloys. The low ductility of the draw wire 61 can improve the driving force transmission efficiency of the draw wire 61 and reduce energy loss. In some embodiments, the cross-sectional shape of the draw wire 61 includes but is not limited to circular, rectangular, or flat shapes.

[0331] In some embodiments, when the rotating ring 20-1 is in a non-rotatable state, the rotating ring 20-1 stops rotating. The range of rotation angle of the rotating ring 20-1 around the tip cap 10 depends at least on factors such as the included angle between the fixing part 13 and the through hole 33 in the circumferential direction, the distance between adjacent fixing parts 13, the distance between adjacent through holes 33, and interference from other components on the outer periphery of the rotating ring 20-1. In some embodiments, to avoid interference from other components on the outer periphery of the rotating ring 20-1, the range of rotation angle of the rotating ring 20-1 around the tip cap 10 can be adjusted by adjusting at least one of the parameters such as the included angle between the fixing part 13 and the through hole 33, the distance between adjacent fixing parts 13, and the distance between adjacent through holes 33. For example, the rotation angle range of the rotating ring 20-1 around the tip cap 10 includes 0° to 360°. This angle range can represent that the rotating ring 20-1 can rotate clockwise 0° to 360° around the tip cap 10 under the action of the first pull line 61-1, and simultaneously rotate counterclockwise 0° to 360° under the action of the second pull line 61-2. Alternatively, this angle range can represent the sum of the clockwise and counterclockwise rotation angle ranges of the tip cap 10. For example, the rotating ring 20-1 can rotate clockwise 0° to 180° around the tip cap 10 under the action of the first pull line 61-1, and simultaneously rotate counterclockwise 0° to 180° under the action of the second pull line 61-2. The sum of these two ranges allows the rotating ring 20-1 to rotate around the tip cap 10 within an angle range of 0° to 360°. As another example, the rotation angle range of the rotating ring 20-1 around the tip cap 10 includes 0° to 330°. For example, the rotation angle range of the rotating ring 20-1 around the tip cap 10 includes 0° to 320°. For example, the rotation angle range of the rotating ring 20-1 around the tip cap 10 includes 0° to 310°. Similar to the aforementioned "angle range of 0° to 360°", these angle ranges can be the angle range of the rotating ring 20-1 rotating clockwise, the angle range of the rotating ring 20-1 rotating counterclockwise, or the sum of the angle ranges of the rotating ring 20-1 rotating clockwise and counterclockwise.

[0332] As shown in Figures 31, 32A, and 32B, in some embodiments, the tip cap 10 includes a first annular guide groove 321-1, which is configured to limit the axial displacement of the rotating ring 20-1. The first annular guide groove 321-1 includes a first sidewall 322-1, which is provided with a fixing part 13 for fixing the fixing segment 611 of the pull wire 61. For example, the fixing part 13 includes, but is not limited to, welding points, bonding points, limiting holes, etc., and the fixing segment 611 of the pull wire 61 is connected to the fixing part 13 by welding, bonding, binding, knotting, or other means.

[0333] It should be noted that the configuration of the first annular guide groove 321-1 to limit the axial displacement of the rotating ring 20-1 means that the first annular guide groove 321-1 limits the axial relative displacement between the rotating ring 20-1 and the tip cap 10. The above embodiments are for illustrative purposes only and do not limit the first annular guide groove 321-1 to only limiting the axial relative displacement between the rotating ring 20-1 and the tip cap 10. In other embodiments of this specification, the first annular guide groove 321-1 can be used to limit both the axial and radial relative displacements between the rotating ring 20-1 and the tip cap 10. The annular guide groove 321 can be part of the tip cap 10 (e.g., integrally formed with the tip cap 10), or it can be part of other structures (e.g., the second annular guide groove 321-2 in the following description can be part of the stabilizing mechanism 30) and connected to the tip cap 10 via a connector or directly connected (e.g., by welding or bonding).

[0334] In some embodiments, the fixing part 13 includes a single fixing point, and at least one fixing segment 611 of the pull wire 61 is fixed at the same fixing point to simplify the structure. In some embodiments, the fixing part 13 includes multiple fixing points, which are spaced apart along the circumferential direction of the tip cap 10, and at least one fixing segment 611 of the pull wire 61 is fixed at different fixing points. For example, the middle part of a single pull wire 61 constitutes a fixing segment 611, and different points on the fixing segment 611 are fixed to different fixing points. As another example, the ends of multiple pull wires 61 constitute fixing segments 611, and each fixing segment 611 is fixed to a corresponding fixing point.

[0335] In some embodiments, as shown in Figures 31-32B, the fixing part 13 protrudes radially outward from the outer peripheral surface of the rotating ring 20-1. For example, the fixing part 13 may be provided on a first fixing protrusion on the outer peripheral surface of the first sidewall 322-1, so that the fixing segment 611 of the rotating traction member (e.g., pull wire 61) protruding radially outward from the outer peripheral surface of the rotating ring 20-1 is fixedly connected to the first fixing protrusion (e.g., by welding, bonding, wrapping, etc.).

[0336] In some embodiments, the first annular guide groove 321-1 includes a second sidewall 323-1, which includes a through hole 33 allowing the operating section 611 to pass through. The through hole 33 protrudes radially outward from the outer peripheral surface of the rotating ring 20-1. For example, as shown in Figures 34, 43A, and 43B, the outer peripheral surface of the second sidewall 323-1 is provided with a second fixing protrusion, and the through hole 33 is formed on the second fixing protrusion, thereby protruding radially outward from the outer peripheral surface of the rotating ring 20-1. The second fixing protrusion may be part of the first connecting portion 11 hereinafter, for example, the second fixing protrusion may correspond to the distal end of the connecting slot of the first connecting portion 11.

[0337] The embodiment of the first sidewall 322-1 can be combined with the embodiment of the second sidewall 323-1, that is, the first annular guide groove 321-1 includes the first sidewall 322-1 and the second sidewall 323-1. The first sidewall 322-1 is provided with a fixing part 13 for fixing the fixing section 611, and the second sidewall 323-1 includes a through hole that allows the operating section 612 to pass through, as shown in FIG32A.

[0338] In some embodiments, the first annular guide groove 321-1 includes a second sidewall 323-1, which includes a through hole 33 that allows the operating segment 612 to pass through, extending proximally through the through hole 33. For example, the pull wire 61 extends circumferentially within the first annular guide groove 321-1, passes through the through hole 33, and then extends axially along the tip cap 10, with the through hole 33 serving as a fulcrum for the pull wire 61 to change direction.

[0339] In some embodiments, as shown in Figures 32A and 32B, the angle between the fixing part 13 and the through hole 33 in the circumferential direction of the tip cap 10 is in the range of 0° to 20°. Within this angle range, the fixing part 13 and the through hole 33 are relatively close, which can reduce the redundant length of the pull wire 61 in the first annular guide groove 321-1. The redundant length refers to the length of the section that does not directly participate in the motion control of the rotating ring 20-1, and only serves to connect and transmit force. For example, in the circumferential direction of the tip cap 10, the angle between the fixing part 13 and the through hole 33 is 0°. At this time, the redundant length of the pull wire 61 in the first annular guide groove 321-1 is the shortest. When the pull wire 61 is in a non-rotatable state, the pull wire 61 is parallel to the axis of the tip cap 10 and is in a straight line.

[0340] In some other embodiments, the angle between the fixing part 13 and the through hole 33 in the circumferential direction of the tip cap 10 can be any angle within the range of 20° to 180°. For example, as shown in Figures 33A and 33B, the included angle between the fixing part 13 and the through hole 33 in the circumferential direction of the tip cap 10 is 90°. When the pull wire 61 is in a non-rotatable state, the pull wire 61 is in a folded state, and the portion outside the sliding hole 25 is inclined relative to the axis of the tip cap 10.

[0341] In some embodiments, the first sidewall 322-1 is located on the distal side of the rotating ring 20-1, and the second sidewall 323-1 is located on the proximal side of the rotating ring 20-1.

[0342] In some embodiments, the rotating ring 20-1 includes an inner ring layer 26, which is sleeved within a first annular guide groove 321-1. The two end faces of the inner ring layer 26 abut against a first sidewall 322-1 and a second sidewall 323-1, respectively, so that the first annular guide groove 321-1 restricts the axial displacement of the rotating ring 20-1. In some embodiments, the rotating ring 20-1 includes an outer ring layer 27, and a sliding hole 25 is formed on the outer ring layer 27. The axial width of the outer ring layer 27 is smaller than the axial width of the inner ring layer 26. The gap between the distal end face of the outer ring layer 27 and the first sidewall 322-1 forms a groove for accommodating the sliding segment 613, and the gap between the proximal end face of the outer ring layer 27 and the second sidewall 323-1 forms a groove for accommodating the sliding segment 613. The grooves on both sides of the outer ring layer 27 can limit and protect the sliding segment 613. In some embodiments, the outer ring layer 27 and the inner ring layer 26 are integrally formed.

[0343] In some embodiments, as shown in Figures 31-36B, a first sidewall 322-1 is detachably mounted on the tip cap 10. A positioning assembly is provided between the first sidewall 322-1 and the tip cap 10. The positioning assembly is configured such that the fixing part 13 is collinear with the through hole. For example, the tip cap 10 includes a first retaining ring 101 and a second retaining ring 102 that restrict the axial relative displacement between the rotating ring 20-1 and the tip cap 10. The first retaining ring 101 and the second retaining ring 102 are located at the distal end and proximal end of the rotating ring 20-1, respectively. The positioning assembly includes a positioning groove 1013 and a positioning boss 202 that fits into the positioning groove 1013. The positioning groove 1013 is symmetrically arranged with respect to the inner circumferential surface of the first retaining ring 101 about the axis b. The positioning boss 202 is symmetrically arranged in the rotating ring 20-1. Through the cooperation between the positioning boss 202 and the positioning groove 1013, the maximum angle of the rotating ring 20-1 during clockwise and counterclockwise rotation is consistent.

[0344] The embodiment of the first positioning structure 28 described above can be combined with the embodiment of the via 33. By setting the first positioning structure 28, the radial offset of the operating segment 612 within the via 33 can be limited.

[0345] Figures 37A to 37D are schematic diagrams illustrating the rotation process of the tip cap assembly according to some embodiments of this specification.

[0346] In some embodiments, in the initial state, the sliding hole 25 and the fixing part 13 are located on opposite sides of the circumferential direction of the tip cap 10, which is equivalent to the sliding hole 25 and the fixing part 13 being near the same radial line, so that the first pull wire 60-1 and the second pull wire 60-2 have the same winding length on the outer circumferential surface of the tip cap 10. When the pull wire 60-1 is pulled, the rotating ring 20-1 rotates relative to the tip cap 10, and its rotation can be controlled to any angle such as 45° or 90°. When the first sleeve on the rotating ring 20-1, on which the surgical instrument is mounted, abuts against the fixing part 13, the rotating ring rotates to its limit deflection position.

[0347] In some embodiments, the tip cap 10 includes a through hole 33 that allows the operating segment 612 to pass through. A first positioning structure 28 is provided within the through hole 33. The first positioning structure 28 is configured to restrict the offset of the operating segment 612 within the through hole 33. In other words, the operating segment 612 can move axially within the through hole 33, but cannot be offset radially. It should be noted that the cavity cross-sectional shape of the through hole 33 is similar to the structure of the sliding hole 25. For details, please refer to the relevant descriptions in Figures 38A and 38B. This specification will not elaborate further on this aspect.

[0348] In some embodiments, the tip cap 10 further includes a limiting portion 12, which is configured to constrain the radial relative displacement between the rotating ring 20-1 and the tip cap 10. The limiting portion 12 can reduce the radial wobble of the rotating ring 20-1 during rotation around the tip cap 10, improve rotational stability, reduce energy loss, and improve drive transmission efficiency. In some embodiments, the limiting portion 12 may be a limiting sleeve provided on the outer periphery of the first sidewall 322-1 and / or the second sidewall 323-1, for sleeved on the outer periphery of the rotating ring 20-1. The inner ring layer 26 of the rotating ring 20-1 forms a protruding structure 261, which rotatably engages with the inner peripheral wall of the limiting sleeve, thereby constraining the rotating ring 20-1 radially.

[0349] In some embodiments, the stabilizing mechanism 30 includes a boss 331 located at the distal end of the via 33, through which the pull wire 61 enters the via 33. For example, the spatial plane traversed by a portion of the pull wire 61 between the sliding hole 25 and the via 33 is called the first plane, and the spatial plane perpendicular to the axis of the tip cap 10 is called the second plane. The boss 331 is used to reduce the angle between the first and second planes, thus making it easier for the rotary drive unit 50 to pull the pull wire 61 and improving drive transmission efficiency.

[0350] Embodiment 5 of this specification also provides an auxiliary device for use with an endoscope (i.e., the auxiliary device for use with an endoscope hereinafter referred to as such), as detailed below.

[0351] Figure 39 is a partial enlarged view of region A of the auxiliary device applied to an endoscope according to Figure 32A. Figure 40 is a partial enlarged view of region B of the auxiliary device applied to an endoscope according to Figure 32B.

[0352] In some embodiments, the auxiliary device applied to the endoscope includes a drag-reducing structure disposed on at least one of the sliding section 613, the operating section 612, the rotating ring 20-1, and the tip cap 10, configured to reduce the resistance experienced by at least one of the sliding section 613 and the operating section 612, thereby improving the drive transmission efficiency of the pull cable 61 (i.e., the rotational traction member mentioned above). In some embodiments, the drag-reducing structure includes at least one of the following: a transition ramp, a pulley, an elastic pad, and a low-friction coating material (such as a low-friction polytetrafluoroethylene coating or a low-friction fluoroplastic coating).

[0353] For example, the sliding section 613 and / or operating section 612 of the pull wire 61 may be covered with an elastic material or coated with a low-friction coating to reduce the sliding resistance of the pull wire 61 in contact with the various components.

[0354] For example, as shown in FIG39, a transition slope 332 is provided at the through hole 33 of the cap 10 to reduce the resistance of the through hole 33 to the pull wire 61. In some other embodiments, an elastic pad and / or a low-friction coating may also be provided in the hollow channel of the through hole 33. In addition, other channels for laying the pull wire 61 that communicate with the through hole 33 may also be provided with elastic pads and / or low-friction coatings (e.g., the first connecting part 11 and the first sleeve 71 mentioned below) to reduce the resistance of the through hole 33 or other channels to the pull wire 61. In some other embodiments, a rolling element such as a pulley may be provided at the port of the through hole 33 to reduce the sliding resistance of the pull wire 61 in contact with the through hole 33.

[0355] For example, as shown in Figure 40, the sliding hole 25 of the rotating ring 20-1 has transition slopes 332 at both ends to reduce the resistance of the sliding hole 25 to the pull wire 61. In some other embodiments, an elastic pad and / or a low-friction coating may also be provided inside the hollow channel of the sliding hole 25 to reduce the resistance of the sliding hole 25 to the pull wire 61. In some other embodiments, rolling elements such as pulleys may be provided at both ends of the sliding hole 25 to reduce the sliding resistance of the pull wire 61 in contact with the sliding hole 25.

[0356] Figure 43 is a schematic diagram of an auxiliary device for use with an endoscope according to some embodiments of this specification.

[0357] As shown in Figures 42A, 42B, and 43, in some embodiments, the auxiliary device applied to the endoscope (i.e., the tip cap assembly mentioned above) includes a first sleeve 71 that accommodates the operating section 612. The tip cap 10 includes a first connecting portion 11, to which the first sleeve 71 is connected. For example, the first connecting portion 11 includes a connecting groove for engaging the end of the first sleeve 71. A through hole 33 is located at the distal end of the connecting groove, through which the pull wire 61 (i.e., the rotational traction member mentioned above) enters and continues into the first sleeve 71. In other examples, the first connecting portion 11 may also be a socket, latch, or other structure. By providing the first sleeve 71, the pull wire 61 can be protected and guided, preventing it from becoming entangled or interfering with other components.

[0358] In some embodiments, the first sleeve 71 includes a single cavity, within which at least two operating sections 612 of the pull wire 61 are disposed. The single-cavity first sleeve 71 is simple to manufacture and has a low cost.

[0359] In some embodiments, the first sleeve 71 includes at least two cavities, each cavity having at least one operating section 612 of the pull wire 61. For example, the first sleeve 71 includes two cavities, and the pull wire 61 includes two operating sections 612, which are respectively arranged in the two cavities. By providing a multi-cavity first sleeve 71, the loss of driving force transmission caused by frictional entanglement between the pull wires 61 is avoided, thereby improving the driving transmission efficiency.

[0360] It should be noted that in other embodiments of this specification, the first sleeve 71 is replaced by the first sleeve. Both the first sleeve and the first sleeve 71 refer to the same structure, namely the tubular structure used to accommodate and guide the rotating traction member (e.g., the pull wire 61).

[0361] In some embodiments, the auxiliary device for use with an endoscope further includes a second sleeve 72 for the passage of a surgical instrument 80 (the same as the surgical instrument described above, and the two are interchangeable). The rotating ring 20-1 includes a second connecting portion 23, one end of which is connected to the second connecting portion 23, and the other end is used to access the surgical instrument 80. For example, the second connecting portion 23 may be configured as a tube, with one end fixed to the tip cap 10 and the other end used to connect to the second sleeve 72. For example, the second sleeve 72 and the second connecting portion 23 may be connected by a mating structure 74 (see Figure 44 and its related description for details). In other examples, the second connecting portion 23 includes a socket channel, and one end of the second sleeve 72 is inserted into the socket channel to achieve connection. By providing the second sleeve 72, the surgical instrument 80 can be protected and guided. By providing a second connecting part 23 on the rotating ring 20-1, when the rotating ring 20-1 rotates relative to the tip cap 10, it can drive the surgical instrument 80 to rotate relative to the tip cap 10, so that the distal end of the surgical instrument 80 can approach the target object 5000 or be positioned at the target location, which is convenient for the operator to operate.

[0362] It should be noted that in other embodiments of this specification, the second sleeve 72 is replaced by a second sleeve. Both the second sleeve and the second sleeve 72 refer to the same structure, namely, the tubular structure used to accommodate and guide surgical instruments.

[0363] In some embodiments, a mating structure (e.g., mating structure 74 hereinafter) is provided between the second connecting portion 23 and the second sleeve. This mating structure is configured to restrict the relative axial displacement of the second connecting portion 23 and the second sleeve, while allowing the second sleeve to rotate about the axis of the second connecting portion 23. In some embodiments, the mating structure 74 includes a protrusion 741 and an annular recess 742, one of which is located in the second connecting portion 23, and the other in the second sleeve (i.e., the second sleeve 72). The protrusion 741 and the annular recess 742 are rotatably engaged. Further details regarding the mating structure can be found in the description of Embodiment Two.

[0364] Referring to Figure 2B, in some embodiments, the rotating ring 20-1 includes a sliding hole 25, through which a sliding segment 613 passes. In the circumferential direction of the rotating ring 20-1, the angle between the sliding hole 25 and the second connecting portion 23 is within the range of 0° to 20°. In some embodiments, this angle range is calculated using the central axis of the second connecting portion 23 and the central axis of the sliding hole 25 as the calculation point, with the included angle between the two calculation points in the circumferential direction being within the range of 0° to 20°. In other embodiments, the second connecting portion 23 and the sliding hole can also use other locations as calculation points. This arrangement allows for more uniform force distribution on the first pull wire 61-1 and the second pull wire 61-2, and ensures that the clockwise and counterclockwise rotation angles of the rotating ring 20-1 are approximately equal, which is beneficial for precise control. In other embodiments, the sliding hole 25 and the second connecting portion 23 can also have any angle within the range of 20° to 180°.

[0365] In some embodiments, the angle between the sliding hole 25 and the second connecting portion 23 in the circumferential direction of the rotating ring 20-1 is within the range of 0° to 20°; the angle between the fixing portion 13 and the through hole 33 in the circumferential direction of the tip cap 10 is within the range of 0° to 20°. The combination of these two arrangements optimizes the overall structure. Specifically, in this angle range design, the limit position of the pull wire 61 pulling the rotating ring 20-1 also corresponds to the limit position where the second connecting portion 23 and the first connecting portion 11 do not interfere with each other. This ensures that the rotating ring 20-1 reaches its maximum rotation angle without restriction, thereby making full use of the space allowed by the tip cap 10 structure and avoiding damage or failure caused by collision between the second connecting portion 23 and the first connecting portion 11, thus improving overall reliability. For example, in the circumferential direction of the tip cap 10, the angle between the sliding hole 25 and the second connecting portion 23 is 0°, maximizing the range of motion of the rotating ring 20-1 without interference.

[0366] Embodiment Six of this specification also provides another auxiliary device for use with an endoscope. The auxiliary device for use with an endoscope in Embodiment Six will be described in detail below with reference to the accompanying drawings.

[0367] Figure 44 is an axial sectional view of an auxiliary device applied to an endoscope according to some embodiments of this specification. Figure 45 is a partial enlarged view of region C of the auxiliary device applied to an endoscope according to Figure 44.

[0368] In some embodiments, the auxiliary device for the endoscope includes a tip cap 10 and a second sleeve 72. The tip cap 10 is disposed at the tip of the endoscope body 40, and the second sleeve 72 is for the passage of a surgical instrument 80. In some embodiments, the auxiliary device for the endoscope (i.e., the tip cap assembly in other embodiments) further includes a second sleeve 72 (i.e., the second sleeve in other embodiments) for the passage of a surgical instrument 80. The rotating ring 20-1 includes a second connecting portion 23, and a docking structure 74 is provided between the second connecting portion 23 and the second sleeve 72. The docking structure 74 is configured to restrict the relative axial displacement of the second connecting portion 23 and the second sleeve 72, and to allow the second sleeve 72 to rotate about the axis of the second connecting portion 23. When the rotating ring 20-1 rotates, the second connecting part 23 and the second sleeve 72 are rotatably connected through the docking structure 74, which can reduce the degree of torsion between the second connecting part 23 and the second sleeve 72, thereby reducing the rotational rebound force generated by the second sleeve 72 on the rotating ring 20-1, as well as reducing the rotational resistance of the rotating ring 20-1, improving the driving energy efficiency ratio of the overall structure, and also improving the operating accuracy and stability of the surgical instrument 80.

[0369] In some embodiments, the mating structure 74 includes a protrusion 741 and an annular recess 742. One of the protrusion 741 and the annular recess 742 is disposed on the second connecting portion 23, and the other is disposed on the second sleeve 72 (i.e., the second sleeve in other embodiments). The protrusion 741 and the annular recess 742 are rotatably engaged. After the protrusion 741 engages with the annular recess 742, the annular recess 742 restricts the axial movement of the protrusion 741 while allowing the protrusion 741 to rotate along the trajectory of the annular recess 742. This restricts the relative axial displacement of the second connecting portion 23 and the second sleeve 72, and allows the second sleeve 72 to rotate about the axis of the second connecting portion 23. For example, the protrusion 741 may be an annular protrusion or a dot-shaped protrusion that can be adapted to the annular recess 742.

[0370] In some embodiments, the docking structure 74 includes a first sleeve 743 disposed on the outer wall of the second connecting portion 23. The first sleeve 743 has a radially inwardly facing flange, which forms an annular recess 742 with the end face of the second connecting portion 23. The docking structure 74 also includes a second sleeve 744 fixed to the outer wall of the second sleeve 72. The second sleeve 744 has a radially outwardly facing annular protrusion, which rotatably engages with the annular recess 742. In other embodiments, the first sleeve 743 may also be connected to the second sleeve 72, and the second sleeve 744 may be connected to the second connecting portion 23.

[0371] In some embodiments, the connection method of the first sleeve 743 and the second connecting part 23 includes, but is not limited to, welding, threaded connection, bonding, snap-fit, and other methods. Similarly, the connection method of the second sleeve 744 and the second sleeve 72 includes, but is not limited to, welding, threaded connection, bonding, snap-fit, and other methods.

[0372] In some embodiments, the proximal end of the second connecting portion 23 includes a thickened portion, which refers to a portion where the thickness of the sidewall is greater than the thickness of the rest of the portion. The outer diameter of the thickened portion is equal to or slightly larger than the outer diameter of the annular convexity of the second sleeve 744. Thus, during assembly, after the second sleeve 744 is fixed to the second sleeve 72, the distal end of the second sleeve 744 is aligned with the proximal end face of the second connecting portion 23, and then the first sleeve 743 is fitted over the outside of the second sleeve 744 and the thickened portion.

[0373] In some other embodiments, one of the protrusion 741 or the annular recess 742 may be formed from the inner or outer wall of the second connecting portion 23, and the other may be formed from the inner or outer wall of the second sleeve 72, to simplify the docking structure 74.

[0374] In some embodiments, the cap assembly further includes a stabilizing mechanism 30 disposed on the cap 10 and / or the rotating ring (e.g., rotating ring 20-1 or rotating ring 20-2 hereinafter), and configured to control the ratio of the effective force value to the driving force value of the rotating ring within a preset force value range. The driving force value of the rotating ring can be the force output by the rotating traction member 60 or the rotating drive unit, such as the tension of the pull wire 61 (i.e., the rotating traction member), or the driving force value of the rotating ring can be the force or torque output by the rotating drive unit 50, as described above, which is a component for providing power to the rotating ring. The effective force value of the rotating ring can be the force value that overcomes the rotational resistance of the rotating ring, or the actual force value that drives the rotating ring to rotate, i.e., the force value that is actually transmitted and acts on the rotating ring to make it rotate after energy loss caused by friction, resistance, etc.

[0375] Various tip cap assemblies are provided in Figures 31-52 and 53-76 and their related embodiments in this specification. The difference between the tip cap assemblies in Figures 31-52 and those in Figures 53-76 is that the cooperation method between the rotating traction member and the rotating ring 20-1 in Figures 31-52 is different from that in Figures 53-76, resulting in different ratios of the effective force value and the driving force value of the rotating ring within different preset force value ranges. For ease of understanding, the ratio of the effective force value and the driving force value of the rotating ring 20-1 in Figures 31-52 can be referred to as the first ratio, and the preset force value range corresponding to the first ratio can be referred to as the first preset force value range. The ratio of the effective force value and the driving force value of the rotating ring 20-2 in Figures 53-76 can be referred to as the second ratio, and the preset force value range corresponding to the second ratio can be referred to as the second preset force value range.

[0376] Figure 41 is a side view of the rotating ring 20-1 according to some embodiments of this specification. Figure 42A is a distal isometric view of the tip cap 10 according to some embodiments of this specification. Figure 42B is a proximal isometric view of the tip cap 10 according to some embodiments of this specification.

[0377] In some embodiments, the auxiliary device applied to the endoscope includes a stabilizing mechanism 30, which is disposed on the tip cap 10 and / or the rotating ring 20-1 and configured to control the ratio of the effective force value to the driving force value of the rotating ring 20-1 within a preset force value range. The driving force value of the rotating ring 20-1 can be the force output by the rotating traction member 60, such as the tension of the pull cable 61 or the force output by the rotating drive unit 50 mentioned below. The effective force value of the rotating ring 20-1 can be the force value that overcomes the rotational resistance of the rotating ring 20-1. Thus, by providing the stabilizing mechanism 30, the drive transmission efficiency is greatly improved, energy consumption is reduced, and surgical time is saved. Simultaneously, based on the sliding cooperation between the rotating traction member 60 and the rotating ring 20-1, the stabilizing mechanism 30 reduces energy loss, making the ratio of the driving force value to the effective force value (i.e., the first ratio mentioned above) closer to 50%, promoting the overall structure to achieve optimal energy efficiency.

[0378] In some embodiments, the stabilizing mechanism 30 includes a drag-reducing element 31, which may be a structure or element for reducing the resistance between two contact surfaces. For example, the drag-reducing element 31 is disposed between at least one surface of the rotating ring 20-1 and the tip cap 10. For instance, the drag-reducing element 31 can improve drive transmission efficiency through various mechanisms such as reducing the contact area, changing the contact mode, and increasing lubrication.

[0379] In some embodiments, the drag-reducing element 31 includes a plurality of bump structures and a sliding surface that cooperates with the bump structures. One of the bump structures and the sliding surface is disposed on the rotating ring 20-1 and the other is disposed on the tip cap 10. The bump structure may be composed of a plurality of bumps arranged at intervals.

[0380] For example, the drag-reducing element 31 includes a first protrusion structure 311 and a first sliding surface. One of the first protrusion structure 311 and the first sliding surface is disposed on the distal end surface of the rotating ring 20-1 (especially the distal end surface of the inner ring layer 26), and the other is disposed on the proximal end surface of the first sidewall 322-1. The first protrusion structure 311 slides in contact with the first sliding surface to reduce the contact area between the distal end surface of the rotating ring 20 and the first sidewall 322-1.

[0381] For example, the drag-reducing element 31 includes a second sliding surface 314 and a second protrusion structure 313. One of the second sliding surface 314 and the second protrusion structure 313 is disposed on the proximal end face of the rotating ring 20-1 (especially the proximal end face of the outer ring layer 27), and the other is disposed on the distal end face of the second sidewall 323-1. The second protrusion structure 313 slides in contact with the second sliding surface 314 to reduce the contact area between the proximal end face of the rotating ring 20-1 and the second sidewall 323-1.

[0382] For example, the drag-reducing element 31 includes a third protrusion structure (not shown in the figure) and a third sliding surface 316. One of the third protrusion structure and the third sliding surface 316 is disposed on the inner wall of the rotating ring 20-1, and the other is disposed on the bottom of the first annular guide groove 321-1. The third protrusion structure and the third sliding surface 316 are in sliding contact to reduce the contact area between the inner wall of the rotating ring 20-1 and the outer wall of the tip cap 10. In some other embodiments, the drag-reducing element 31 may also include, but is not limited to, protrusions, balls, needle rollers, lubricants, bearings, and other components.

[0383] In some embodiments, the radial thickness of the inner ring layer 26 of the rotating ring 20-1 is less than the radial thickness of the outer ring layer 27, so as to reduce the contact area between the inner ring layer 26 and the two sidewalls of the first annular guide groove 321-1. The outer ring layer 27 is relatively thick to ensure the structural strength of the rotating ring 20-1.

[0384] According to the above solution, due to factors such as machining accuracy or assembly error, the mating surfaces of the rotating ring 20-1 and the tip cap 10 may not be parallel during actual mating, resulting in incomplete fit and causing assembly tilt. By setting a convex structure and sliding surface mating, or reducing the radial thickness of the inner ring layer 26, the parallelism of the two mating end faces can be improved, thereby increasing transmission efficiency.

[0385] In some embodiments, the first sidewall 322-1 and the second sidewall 323-1 of the first annular guide groove 321-1 may also constitute components of the stabilizing mechanism 30. For example, the first sidewall 322-1 and the second sidewall 323-1 form an axial limit on the rotating ring 20-1, enabling the rotating ring 20-1 to rotate in a limited position and improving overall stability.

[0386] Referring to Figure 31, in some embodiments, at least one of the first sidewall 322-1 and the second sidewall 323-1 is detachably connected to the tip cap 10. For example, at least one of the first sidewall 322-1 and the second sidewall 323-1 can be provided on the tip cap 10 by means of threaded connection, snap-fit ​​connection, etc., which facilitates the installation, adjustment and replacement of the rotating ring 20-1.

[0387] In other embodiments, both the first sidewall 322-1 and the second sidewall 323-1 are fixed to the tip cap 10. For example, the second sidewall 323-1 is first fixed to the tip cap 10 by welding, bonding, integral molding, or other means. Then, the rotating ring 20-1 engages with the tip cap 10 and abuts against the second sidewall 323-1. Finally, the first sidewall 322-1 is fixed to the tip cap 10 by welding, bonding, or other means.

[0388] In some embodiments, as shown in FIG43, the lens body 40 includes an inflexible section 41 (the lens body section within the dashed box in FIG43), and the axial length of the second connecting portion 23 is less than or equal to the axial length of the inflexible section 41. Thus, when the distal end of the lens body 40 is bent, the inflexible section 41 and the second connecting portion 23 remain parallel, preventing interference between the second connecting portion 23 and the bent section. In some embodiments, the axial length of the second connecting portion 23 does not exceed 20 mm to ensure no interference occurs.

[0389] In some embodiments, the auxiliary device applied to the endoscope further includes a positioning control unit 90, which is connected to the second sleeve 72. The positioning control unit 90 includes a constraint mode and a free mode, wherein: in the constraint mode, the positioning control unit 90 cooperates with the surgical instrument 80 to constrain the axial movement of the surgical instrument 80 relative to the tip cap 10 and / or the rotational movement of the surgical instrument 80 about its own axis; in the free mode, the positioning control unit 90 is disengaged from the surgical instrument 80, and the surgical instrument 80 can move axially relative to the tip cap 10 and / or rotate about its own axis. In some embodiments, the positioning control unit 90 includes, but is not limited to, a trigger-type locking device, a clamping structure with adjustable clamping force, a spring loading mechanism selectively connected to the surgical instrument 80, an electromagnetic control device, and a contact mechanism that increases friction. For more details about the positioning control unit 90, please refer to the descriptions of Embodiments 7 and 8 below.

[0390] Embodiment 7 of this specification also provides an endoscope processing system. The endoscope processing system of Embodiment 3 will be described in detail below with reference to the accompanying drawings. Without contradiction, certain features, structures, or characteristics of the various embodiments can be appropriately combined or referenced.

[0391] Figure 46 is a structural schematic diagram of a surgical instrument 80 according to some embodiments of this specification.

[0392] Embodiment 7 of this specification provides an endoscope processing system, which includes the auxiliary device for use with an endoscope as described in any of the above embodiments, and also includes a surgical instrument 80.

[0393] As shown in Figures 43 and 46, in some embodiments, the surgical instrument 80 includes an actuator 81, a delivery unit 84, and an operating handle 85. For example, the actuator 81 is a component used to directly contact a target object (such as an organ, diseased tissue, etc.) and perform a specific task. The actuator 81 includes, but is not limited to, gripping tips such as forceps, sampling forceps, electrocoagulation forceps, and clamps, and can also be a cutting knife, syringe, scissors, probe, etc. For example, the delivery unit 84 is a component responsible for delivering the actuator 81 from an external location to a target location inside the body, and can control or adjust the direction or position of the actuator 81. The delivery unit 84 includes, but is not limited to, catheters, flexible tubes, guidewires, etc. For example, the operating handle 85 is a component located externally for direct operation by the operator, capable of sending control commands to the actuator 81. The operating handle 85 includes, but is not limited to, handles, buttons, knobs, etc.

[0394] It should be noted that the surgical instrument 80 in this embodiment can be equivalent to the surgical instruments mentioned above, referring to instruments such as grasping forceps, biopsy forceps, electrocoagulation forceps, clamps, and cutting knives. The actuator 81 can be equivalent to the end effector 1400 mentioned above. The delivery unit 84 can be equivalent to the sheath 1000 mentioned above. The operating handle 85 can be equivalent to the operating handle 1500 mentioned above.

[0395] In some embodiments, the actuator 81 is located at the distal end of the conveying section 84, and the operating handle 85 is located at the proximal end of the conveying section 84.

[0396] In some embodiments, the surgical instrument 80 further includes a deflection mechanism 82 disposed between the delivery unit 84 and the actuator 81. For example, the deflection mechanism 82 includes, but is not limited to, a serpentine tube or a flexible tube, which can be deflected relative to the axis of the delivery unit 84 by a control wire or by applying external force. In some embodiments, one end of the deflection mechanism 82 is connected to the actuator 81, and the other end is connected to the delivery unit 84 via a connector 83 or directly, with the actuator 81 deflecting following the deflection mechanism 82; for example, the connector 83 includes, but is not limited to, a connecting tube, a quick-connect fitting, a clamp, a flange, etc.

[0397] In some embodiments, the deflection mechanism 82 and the conveying part 84 are rotatably connected, and the actuator 81 rotates with the deflection mechanism 82 to adjust the direction of the actuator 81.

[0398] In some embodiments, the deflection mechanism 82 is configured to respond to the operating handle 85 to control the deflection of the actuator 81 relative to the axis of the delivery unit 84. For example, the operating handle 85 includes an operating handle and control wires, one end of which is connected to the operating handle and the other end to the deflection mechanism 82. An operator can control the deflection and reset of the deflection mechanism 82 by pulling the control wires axially. For example, the control wires may include multiple wires, each with one end connected to different positions of the deflection mechanism 82 in the circumferential direction. This allows the deflection mechanism 82 to deflect in at least two directions, such as deflecting downwards to grasp the target object 5000 and deflecting upwards to pull the target object 5000. By configuring the deflection mechanism 82, the surgical instrument 80 can pull the target object 5000 in multiple directions, providing excellent traction for various lesion locations, clearly exposing the surgical field, and providing sufficient tension to the target object 5000.

[0399] In some embodiments, the control wire may include a single wire, one end of which is connected to the deflection mechanism 82, thereby enabling the deflection mechanism 82 to deflect in one direction.

[0400] In some embodiments, the deflection mechanism 82 and the conveying part 84 are rotatably connected. The rotation of the deflection mechanism 82 can be controlled by a control wire, which can be either the aforementioned "multiple control wires" scheme or the aforementioned "single control wire" scheme.

[0401] In some embodiments, a limiting structure (not shown) is provided between the second sleeve 72 and / or the second connecting portion 23 and the surgical instrument 80. The limiting structure is configured to restrict the rotation of the surgical instrument 80 about the axis of the second sleeve 72 and the second connecting portion 23. By restricting the rotation of the surgical instrument 80 about the axis of the second sleeve 72, the stability of the surgical instrument 80 in the operating direction can be ensured, the operation positioning accuracy can be improved, the risk of damage to the target object can be reduced, and at the same time, the direction and position of the surgical instrument 80 can be more easily determined, saving the operator time to adjust the position of the surgical instrument 80 and improving surgical efficiency.

[0402] In some embodiments, the limiting structure includes a limiting recess (not shown) and a limiting protrusion 732. The limiting recess extends axially and is disposed on one of the second sleeve 72 and the surgical instrument 80, and the limiting protrusion 732 is disposed on the other of the second sleeve 72 and the surgical instrument 80. The limiting protrusion 732 slidably engages with the limiting recess.

[0403] In some embodiments, the surgical instrument 80 includes a clamping portion 811, and the deflection direction of the deflection mechanism 82 is perpendicular or substantially perpendicular to the opening and closing direction of the clamping portion 811. The substantially perpendicularity can be defined as an angle between the deflection direction of the deflection mechanism 82 and the opening and closing direction of the clamping portion 811 within the range of 0 to 15°. This allows the operator to quickly determine the other direction based on either the deflection direction or the opening and closing direction, reducing the need for repeated adjustments to the orientation of the surgical instrument 80 and improving surgical efficiency.

[0404] Figure 47 is a schematic diagram of the current flow of an endoscope processing system according to some embodiments of this specification.

[0405] In some embodiments, the surgical instrument 80 passes through the second sleeve 72 and the second connecting portion 23 in sequence and extends to the distal end of the second connecting portion 23, enabling it to perform surgical operations on the target object 5000 located at the distal end. In some embodiments, a main surgical instrument 801 is provided inside the endoscope 40. The main surgical instrument 801 includes a main actuator 802. For example, the main actuator 802 includes, but is not limited to, instruments such as a high-frequency cutting knife, scissors, and an electrosurgical ring.

[0406] In some embodiments, the endoscopic processing system further includes a power supply 3, which is connected to the first electrode holder 301 and the second electrode holder 302, respectively. In some embodiments, the first electrode holder 301 and the second electrode holder 302 are respectively disposed on the surgical instrument 80 (e.g., a surgical instrument) and the main surgical instrument 801 (also referred to as the second instrument described above).

[0407] In some embodiments, the main surgical instrument 801 at the distal end of the endoscope 40 is connected to the second electrode holder 302, and the surgical instrument 80 within the second sleeve 72 is connected to the first electrode holder 301. In some application examples, when operating on the target object 5000, a bipolar connection is formed between the actuator 81 of the surgical instrument 80 and the main actuator 802 of the main surgical instrument 801 within the endoscope 40. Current from the power supply 3 flows from the second electrode holder 302 to the main surgical instrument 801, through the main actuator 802 to the target object 5000, and current from the target object 5000 flows from the actuator 81 to the surgical instrument 80, and from the surgical instrument 80 to the first electrode holder 301, thus forming a current loop. The specific flow direction can be seen from the arrows in Figure 47.

[0408] Figures 48 to 51 are schematic diagrams illustrating the operation of an endoscope processing system according to some embodiments of this specification.

[0409] As shown in Figure 48, in the initial state, the tip cap 10 is assembled with the endoscope body 40, the positioning control unit 90 is adjusted to the free mode, the surgical instrument 80 is inserted through the second sleeve 72 and the distal end of the surgical instrument 80 is slightly exposed in the endoscopic field of view, and the surgical instrument 80 is adjusted to the ready state. For example, taking the grasping forceps as an example, the grasping forceps include a distal clamping part 811, at least a part of the clamping part 811 is slightly exposed in the endoscopic field of view, and the clamping part 811 is in the open state, ready to clamp the target object 5000 (such as diseased mucosa).

[0410] As shown in Figure 49, the rotary drive unit 50 pulls the pull wire 61 inside the first sleeve 71. The first pull wire 61-1 controls the rotating ring 20-1 to rotate clockwise relative to the tip cap 10, and the second pull wire 61-2 controls the rotating ring 20-1 to rotate counterclockwise relative to the tip cap 10. Based on the position of the target object 5000 and the target pulling direction, the rotation of the rotating ring 20-1 relative to the tip cap 10 is controlled by the pull wire 61, causing the surgical instrument 80 to move to the desired position following the rotating ring 20-1. At this time, the positioning control unit 90 can be in free mode or constrained mode.

[0411] As shown in Figure 50, when the positioning control unit 90 is adjusted to free mode, the operator controls the surgical instrument 80 to move axially relative to the second sleeve 72 and the tip cap 10 via the operating handle 85, so that the actuator 81 of the surgical instrument 80 approaches or abuts against the target object 5000. In some embodiments, the positioning control unit 90 is adjusted to constrained mode, and the operator controls the surgical instrument 80 to deflect via the operating handle 85, so that the distal end of the surgical instrument 80 deflects towards the target object 5000 (e.g., downward) and approaches or abuts against the target object 5000. Then, the surgical instrument 80 performs surgical operations on the target object 5000. For example, taking a grasping forceps as an example, the grasping forceps are controlled to move axially relative to the tip cap 10, so that the clamping part 811 abuts against the target object 5000, or deflects and abuts against it, and then the clamping part 811 is controlled to close, thereby clamping the target object 5000.

[0412] As shown in Figure 51, the operator controls the surgical instrument 80 to move the target object 5000 to the target position by retracting it axially relative to the second sleeve 72 and the tip cap 10 using the operating handle 85. For example, taking a grasping forceps, by keeping the clamping part 811 closed, the grasping forceps are controlled to retract axially relative to the tip cap 10, thereby pulling the target object 5000 to the target position, for example, separating the diseased mucosa and submucosal tissue, and creating a sufficient surgical field between them.

[0413] In some embodiments, the operator controls the deflection of the surgical instrument 80 via the operating handle 85, causing the distal end of the surgical instrument 80 to deflect in another direction (e.g., upward) to pull the target object 5000 to the target position. For example, using a grasping forceps, keeping the clamping part 811 closed, the grasping forceps are controlled to deflect upward, thereby pulling the target object 5000 to the target position, for example, separating the diseased mucosa and submucosal tissue and creating a sufficient surgical field between them.

[0414] Figure 52 is a schematic flowchart illustrating the operation method of an auxiliary device applied to an endoscope according to some embodiments of this specification.

[0415] Some embodiments of this specification also provide an operating method for an auxiliary device applied to an endoscope. This operating method is applied to the auxiliary device for an endoscope as described in any of the above embodiments. The operating method includes process 1900, which includes, but is not limited to, the following steps:

[0416] Step 1910: Control the axial movement of the surgical instrument 80 relative to the tip cap 10, and adjust the actuator 81 of the surgical instrument 80 to be in a ready state.

[0417] In some embodiments, in the initial state, the tip cap 10 is assembled with the endoscope body 40, and the surgical instrument 80 is inserted through the second sleeve 72. The positioning control unit 90 switches to free mode, and the operator controls the axial movement of the surgical instrument 80 relative to the tip cap 10 through the operating handle 85, so that the actuator 81 of the surgical instrument 80 is slightly exposed in the endoscopic field of view.

[0418] Next, the operator adjusts the surgical instrument 80 to the ready state by operating the handle 85. For example, taking the grasping forceps, the actuator 81 of the grasping forceps includes a clamping part 811. The operating handle 85 controls the clamping part 811 to be in the open state, preparing to clamp the target object 5000 (such as diseased mucosa).

[0419] Step 1920: Control the rotating ring 20 to rotate relative to the tip cap 10, so that the actuator 81 is positioned in the initial position.

[0420] In some embodiments, the rotating ring 20 is controlled to rotate relative to the tip cap 10, adjusting the actuator 81 to its initial position. The initial position of the actuator 81 can be a position spaced at a preset distance from the target object 5000. At this time, the positioning control unit 90 can be in either free mode or constrained mode.

[0421] In some embodiments, the operator can determine the relative position between the actuator 81 and the target object 5000, wherein the relative position includes, but is not limited to, the relative direction and relative distance between the actuator 81 and the target object 5000. Then, based on the relative position, the operator controls the rotating ring 20 to rotate clockwise or counterclockwise relative to the tip cap 10. For example, if the target object 5000 is in a clockwise direction relative to the tip cap 10, the first pull line 61-1 is pulled, causing the rotating ring 20 to rotate clockwise until the actuator 81 moves to its initial position. For example, if the target object 5000 is in a counterclockwise direction relative to the tip cap 10, the second pull line 61-2 is pulled, causing the rotating ring 20 to rotate counterclockwise until the actuator 81 moves to its initial position.

[0422] Step 1930: Control actuator 81 to perform a pulling operation on target object 5000.

[0423] In some embodiments, the control actuator 81 performs operations on the target object 5000 including the following methods:

[0424] First, the operator controls the surgical instrument 80 to move axially relative to the tip cap 10 by operating the handle 85, so that the actuator 81 approaches or comes into contact with the target object 5000.

[0425] Next, the operator controls the actuator 81 to grasp the target object 5000 via the operating handle 85. For example, when the surgical instrument 80 is a forceps, the actuator 81 of the forceps includes a clamping part 811, and the operator controls the clamping part 811 to close via the operating handle 85, thereby grasping the target object 5000.

[0426] Finally, the operator controls the surgical instrument 80 to retract axially relative to the tip cap 10 via the operating handle 85, and / or controls the rotating ring 20 to rotate relative to the tip cap 10, so that the target object 5000 moves to the target position. For example, the lesion mucosa is pulled to the target position by the grasping forceps, thereby facilitating the dissection blade on the scope 40 to peel or remove the lesion mucosa or submucosal tissue.

[0427] During the above operations, the operator can adjust the mode of the positioning control unit 90 according to actual needs to improve operational accuracy. For example, the operator can control the positioning control unit 90 to switch to free mode. In free mode, the positional relationship between the surgical instrument 80 and the tip cap 10 can be adjusted, such as adjusting the axial forward or backward movement of the surgical instrument 80 relative to the tip cap 10, or adjusting the operating orientation of the surgical instrument 80. As another example, the operator can control the positioning control unit 90 to switch to constraint mode. In constraint mode, the positioning control unit 90 constrains the axial movement of the surgical instrument 80 relative to the tip cap 10 and / or the rotational movement around the axis of the surgical instrument 80 itself.

[0428] Embodiment 8 of this specification also provides an auxiliary device for use with an endoscope, as detailed below.

[0429] This specification also provides another auxiliary device for use with endoscopes. As shown in Figures 53-76, the auxiliary device for use with endoscopes includes a tip cap assembly (i.e., tip cap assembly 2000 mentioned above). The tip cap assembly includes a tip cap 10 for mounting the tip of the endoscope body 40; a rotating ring 20-2 configured to rotate the tip cap 10; a rotation control unit slidably engaged with the rotating ring 20-2 and configured to drive the rotating ring 20-2 to move; and a stabilizing mechanism 30 disposed on the tip cap 10 and / or the rotating ring 20-2, configured to control the ratio of the effective force value to the driving force value of the rotating ring 20-2 (i.e., the second ratio mentioned above) within a preset force value range (i.e., the second preset force value range mentioned above).

[0430] Figure 53 is a schematic block diagram of an auxiliary device applied to an endoscope according to some embodiments of this specification.

[0431] As shown in Figure 53, some embodiments of this specification provide an auxiliary device for use with an endoscope (i.e., a tip cap assembly in other embodiments), including a tip cap 10, a rotating ring 20-2, and a stabilizing mechanism 30.

[0432] In some embodiments, the rotating ring 20-2 is configured to rotate about the tip cap 10. For example, the rotating ring 20-2 is rotatably arranged on the inner or outer wall of the tip cap 10 and can rotate along the circumferential direction of the tip cap 10 under the drive of an external force.

[0433] In some embodiments, the stabilizing mechanism 30 is disposed on the tip cap 10 and / or the rotating ring 20-2, and is configured to control the ratio (i.e., the second ratio) of the effective force value and the driving force value of the rotating ring 20 within a preset force value range (i.e., the second preset force value range). The driving force value of the rotating ring 20-2 can be the force or torque output by the rotating drive unit 50, which is a component for providing power to the rotating ring 20-2, as specifically described in Figures 57A and 57B and their exemplary descriptions. The effective force value of the rotating ring 20-2 can be the actual force value that drives the rotating ring 20-2 to rotate, which is the force value that is actually transmitted and acts on the rotating ring 20-2 to cause it to rotate after energy loss due to friction, resistance, and other factors.

[0434] In some embodiments, the ratio of the effective force value to the driving force value of the rotating ring 20-2 (i.e., the second ratio) is approximately 60% to 95%, meaning that only a small or very small portion of the energy is lost during the rotation of the rotating ring 20-2, significantly improving the drive transmission efficiency. Thus, by setting the stabilizing mechanism 30, the drive transmission efficiency is greatly improved, energy consumption is reduced, and surgical time is saved.

[0435] In some embodiments, the tip cap 10 is configured on the tip of the endoscope 40 to assist clinical procedures, provide a clear surgical field, and protect the tip of the endoscope 40 when observing an object (such as the digestive tract wall) endoscopically.

[0436] Figure 54A is a structural schematic diagram of an auxiliary device for an endoscope according to some embodiments of this specification. Figure 54B is a structural cross-sectional view of an auxiliary device for an endoscope according to some embodiments of Figure 2A. Figure 55A is a structural schematic diagram of a rotating ring 20-2 according to some embodiments of this specification. Figure 55B is a rear-end side view of a rotating ring 20-2 according to some embodiments of this specification. Figure 56A is a front-end isometric schematic diagram of the tip cap 10 and the stabilizing mechanism 30 according to some embodiments of this specification. Figure 56B is a rear-end isometric schematic diagram of the tip cap 10 and the stabilizing mechanism 30 according to some embodiments of this specification.

[0437] As shown in Figures 54A and 54B, in some embodiments, the stabilizing mechanism 30 includes a drag-reducing element 31, which can be a structure or component for reducing the resistance between two contact surfaces. For example, the drag-reducing element 31 can improve drive transmission efficiency through various mechanisms such as reducing the contact area, changing the contact method, and increasing lubrication.

[0438] In some embodiments, the drag-reducing element 31 is disposed between at least one surface of the rotating ring 20-2 and the stabilizing mechanism 30, and / or, the drag-reducing element 31 is disposed between at least one surface of the rotating ring 20-2 and the tip cap 10. Thus, the drag-reducing element 31 can reduce energy loss between the rotating ring 20-2 and the stabilizing mechanism 30, improving drive efficiency; and the drag-reducing element 31 can reduce energy loss between the rotating ring 20-2 and the tip cap 10, improving drive transmission efficiency.

[0439] As shown in Figures 54A to 56B, in some embodiments, the drag-reducing element 31 is configured to reduce the contact area between the rotating ring 20-2 and the stabilizing mechanism 30 and / or the tip cap 10, thereby reducing energy loss and improving drive transmission efficiency. The drag-reducing element 31 includes multiple convex structures and sliding surfaces that mate with the convex structures. One of the convex structures and the sliding surface is located on the rotating ring 20-2, and the other is located on the stabilizing mechanism 30 and / or the tip cap 10. For example, the front end face of the rotating ring 20-2 has multiple first convex structures 311, and the stabilizing mechanism 30 has a first sliding surface 312 that corresponds to and mates with the front end face of the rotating ring 20-2. The first convex structures 311 and the first sliding surface 312 slide in contact to reduce the contact area between the front end face of the rotating ring 20-2 and the first sliding surface 312. For example, the rear end face of the rotating ring 20-2 is provided with a second sliding surface 314, and the stabilizing mechanism 30 is provided with a second protrusion structure 313 that cooperates with the second sliding surface 314. The second protrusion structure 313 slides in contact with the second sliding surface 314 to reduce the contact area between the second sliding surface 314 of the rotating ring 20-2 and the stabilizing mechanism 30. For another example, the inner wall of the rotating ring 20-2 is fitted onto the outer wall of the tip cap 10. The inner wall of the rotating ring 20-2 is provided with a third protrusion structure 315, and the outer wall of the tip cap 10 is provided with a corresponding third sliding surface 316. The third protrusion structure 315 slides in contact with the third sliding surface 316 to reduce the contact area between the inner wall of the rotating ring 20-2 and the third sliding surface 316.

[0440] Due to factors such as machining accuracy or assembly errors, the mating surfaces of the rotating ring 20-2 and the tip cap 10 may not be parallel during actual mating, resulting in incomplete fit and assembly tilt. By setting a convex structure and sliding surface mating, the parallelism of the two mating end faces can be improved, thereby increasing transmission efficiency.

[0441] In other embodiments, the drag-reducing element 31 may include, but is not limited to, bumps, balls, needle rollers, lubricants, bearings, and other elements.

[0442] As shown in Figures 54A and 54B, in some embodiments, the stabilizing mechanism 30 includes a limiting element 32 configured to constrain the radial and axial relative displacements between the rotating ring 20-2 and the tip cap 10. The limiting element 32 can reduce vibration or swaying of the rotating ring 20-2 during rotation around the tip cap 10, improve rotational stability, reduce energy loss, and improve drive transmission efficiency.

[0443] In some embodiments, the limiting element 32 includes a guide structure configured to guide the rotating ring 20-2 to move along the circumferential direction of the tip cap 10. By limiting the movement trajectory of the rotating ring 20-2, the rotational stability of the rotating ring 20-2 can be improved, and displacement errors of the rotating ring 20-2 can be avoided.

[0444] In some embodiments, the guide structure includes a second annular guide groove 321-2, in which at least a portion of the rotating ring 20-2 is embedded. The second annular guide groove 321-2 is configured to constrain the radial and axial relative displacements between the rotating ring 20-2 and the tip cap 10. For example, the second annular guide groove 321-2 includes a track extending in a circumferential direction and a cavity accommodating at least a portion of the rotating ring 20-2. Part or all of the rotating ring 20-2 is embedded in the cavity. The cavity is used to limit the axial and radial movement of the rotating ring 20-2, and the track is used to guide the direction of movement of the rotating ring 20-2. Both of these elements confine the movement of the rotating ring 20-2 to a specific trajectory, thereby improving the stability of rotation.

[0445] In some embodiments, the second annular guide groove 321-2 includes a radial groove 3211, which is configured to receive at least a portion of the rotating ring 20-2 and constrain the axial displacement of the rotating ring 20-2. The radial groove 3211 may be a groove that opens radially along the rotating ring 20-2 or the tip cap 10, and may be radially inward or radially outward. In some embodiments, the second annular guide groove 321-2 includes an axial groove 3212 disposed within the radial groove 3211, which may be a groove that opens axially along the rotating ring 20-2 or the tip cap 10. The rotating ring 20-2 includes an axially projecting flange 21, and the axial groove 3212 is configured to receive the flange 21 and constrain the radial displacement of the rotating ring 20-2. For example, at least one sidewall of the radial groove 3211 is provided with an axial groove 3212, so that the cross-section of the second annular guide groove 321-2 is configured as an inverted T-shaped or L-shaped cross-section. After at least a portion of the rotating ring 20-2 is embedded in the radial groove 3211, its flange 21 can match the axial groove 3212 and form a radial limit.

[0446] In some embodiments, a second annular guide groove 321-2 is provided on the outer wall of the tip cap 10. The second annular guide groove 321-2 includes a first sidewall 322-2 and a second sidewall 323-2, and at least one of the first sidewall 322-2 and the second sidewall 323-2 is detachably connected to the tip cap 10. For example, at least one of the first sidewall 322 and the second sidewall 323 can be provided on the tip cap 10 by means of threaded connection, snap-fit ​​connection, etc., which facilitates the installation, adjustment, and replacement of the rotating ring 20-2. In some embodiments, both the first sidewall 322-2 and the second sidewall 323-2 are fixed to the tip cap 10. For example, the second sidewall 323-2 is first fixed to the tip cap 10 by welding, bonding, integral molding, etc., then the rotating ring 20-2 cooperates with the tip cap 10 and abuts against the second sidewall 323-2, and finally the first sidewall 322-2 is fixed to the tip cap 10 by welding, bonding, etc. The first sidewall 322-2 and the second sidewall 323-2 form axial and radial limits for the rotating ring 20-2.

[0447] Figure 57A is a structural schematic diagram of an auxiliary device applied to an endoscope according to some embodiments of this specification. Figure 57B is a structural cross-sectional view of the auxiliary device applied to an endoscope according to some embodiments of Figure 57A. Figure 58A is a schematic diagram of the engagement of the rotating ring 20-2 and the pull wire 61 according to some embodiments of this specification. Figure 58B is a rear-end side view of the engagement of the rotating ring 20-2 and the pull wire 61 according to some embodiments of Figure 58A. Figure 59 is a schematic diagram of the engagement of the tip cap 10 and the pull wire 61 according to some embodiments of this specification.

[0448] As shown in Figures 57A to 59, in some embodiments, the auxiliary device applied to the endoscope further includes a rotation drive unit 50 and a rotation traction member 60. The rotation traction member 60 is connected between the rotating ring 20-2 and the rotation drive unit 50 and is configured to transmit the driving force value of the rotation drive unit 50 to the rotating ring 20-2, thereby driving the rotating ring 20-2 to rotate relative to the tip cap 10. For example, the rotation drive unit 50 includes, but is not limited to, one or more of the following components: a drive motor, a winder, a transmission mechanism (such as gear transmission), a reducer, and a control chip. The rotation traction member 60 includes, but is not limited to, one or more of the following components: a pull cable 61, a pull rod, a gear ring, and a rack. By setting the rotation drive unit 50 to automatically control the rotation traction member 60, the problem of manual operation of the rotating ring 20-2 by the operator is solved, saving labor costs.

[0449] For example, the rotating traction member 60 includes at least one pull wire 61, which includes a fixed section 611 and an operating section 612. The fixed section 611 is fixed to the rotating ring 20-2, and the operating section 612 is connected to the rotating drive unit 50. The rotating drive unit 50 is configured to control the rotating ring 20-2 to rotate forward and / or reverse by pulling the operating section 612. For example, the rotating traction member 60 includes a pull wire 61, with both ends of the pull wire 61 forming the operating section 612, and a portion between the two ends of the pull wire 61 forming the fixed section 611. When the rotating drive unit 50 pulls one of the operating sections 612 to the rear end and releases the other operating section 612 to the front end, the fixed section 611 can drive the rotating ring 20-2 to rotate forward. When the rotating drive unit 50 performs a reverse operation on the two operating sections 612, the fixed section 611 can drive the rotating ring 20-2 to rotate in the reverse direction. For example, the rotating traction member 60 includes two pull wires 61. One end of each pull wire 61 forms a fixed section 611, and the other end forms an operating section 612. When the rotating drive unit 50 pulls one of the pull wires 61 to the rear end and releases the other pull wire 61 to the front end, the fixed section 611 drives the rotating ring 20-2 to rotate clockwise and / or counterclockwise. The material and shape of the pull wires can be referred to in Embodiment 4 and its related description.

[0450] In some embodiments, the rotating ring 20-2 includes an annular groove 22, and the pull wire 61 is arranged along the annular groove 22 to maintain the pull wire 61 within the annular groove 22, ensuring control accuracy. In some embodiments, a fixing part 24 is provided in the annular groove 22, and the fixing section 611 of the pull wire 61 is fixed to the fixing part 24. For example, the fixing part 24 may be at least one through hole opened in the annular groove 22, and the pull wire 61 may be fixed to the through hole by binding or knotting. As another example, the fixing part 24 may be an adhesive point or a welding point, and the pull wire 61 may be fixed to the adhesive point or welding point by adhesive or welding agent.

[0451] It should be noted that, in this embodiment, the fixing part 24 and the fixing part 13 mentioned above both refer to the structure of the operating section 612 in the cap assembly that fixes the rotating traction member (e.g., the pull wire 61). The difference between the fixing part 24 and the fixing part 13 is that the fixing part 24 is provided on the rotating ring 20-2, so the rotating traction member is fixed to the rotating ring 20-2. The fixing part 13 is provided on the cap 10, so the rotating traction member is fixed to the cap 10.

[0452] In some embodiments, the annular groove 22 is disposed within the stabilizing mechanism 30, which is configured to block the opening of the annular groove 22, thereby confining the pull wire 61 within the annular channel, preventing the pull wire 61 from dislodging, and improving control accuracy. For example, the annular groove 22 can be disposed on the flange 21 of the rotating ring 20-2, with the flange 21 embedded in the axial groove 3212 of the stabilizing mechanism 30, which blocks the annular groove 22. By fixing the pull wire 61 within the annular groove 22, there is no relative sliding between the pull wire 61 and the annular groove 22, and because the stabilizing mechanism 30 blocks the opening of the annular groove 22, there is no contact with other components. Therefore, the frictional force experienced by the pull wire 61 during rotation is minimal or almost zero, thereby improving drive transmission efficiency.

[0453] As shown in Figures 56A and 59, in some embodiments, the stabilizing mechanism 30 includes a through hole 33. A pull wire 61 passes through the through hole 33 and extends to the rotary drive unit 50. The through hole end face 3311 and the fixing part 24 are both located on a preset cross-section, which is perpendicular to the rotation axis of the rotating ring 20-2. The through hole 33 is formed on the tip cap 10 or the stabilizing mechanism 30. The through hole end face 3311 refers to the end face where the through hole 33 meets the annular groove 22. The pull wire 61 extends from the annular groove 22 to the through hole end face 3311, enters the through hole 33 via the through hole end face 3311, and passes through the through hole 33 to connect with the rotary drive unit 50. Since the cross-sectional dimensions of the pull wire 61 may be smaller than those of the annular groove 22, in order to prevent the pull wire 61 from tilting or swaying axially within the annular groove 22, the through-hole end face 3311 and the fixing part 24 are both set on the same preset cross-section, so that the part of the pull wire 61 within the annular groove 22 can be perpendicular to the rotation axis of the rotating ring 20-2. This reduces the resistance caused by the tilting or swaying of the pull wire 61, making it easier for the rotary drive part 50 to pull the pull wire 61 and improving the drive transmission efficiency.

[0454] It should be noted that the via end face 3311 in this embodiment can be equivalent to the far end face of the boss 331 at the far end port of the via 33 mentioned above.

[0455] Figure 60 is a schematic diagram showing the engagement of the pull wire 61 and the first sleeve 71 according to some embodiments of this specification.

[0456] In some embodiments, the auxiliary device applied to the endoscope includes a first sleeve 71 for the passage of a pull wire 61. The tip cap 10 includes a first connecting portion 11, one end of the first sleeve 71 is connected to the first connecting portion 11, and the other end is connected to the rotation drive portion 50. For example, the first connecting portion 11 includes a connecting slot that mates with a through hole 33 of the stabilizing mechanism 30, and one end of the first sleeve 71 is engaged with the connecting slot. In other examples, the first connecting portion 11 may also be a socket, a latch, or other structure; this specification does not limit this. By providing the first sleeve 71, the pull wire 61 can be protected and guided, preventing it from becoming entangled or interfering with other components.

[0457] In some embodiments, the first sleeve 71 includes a single cavity, within which at least two operating sections 612 of the pull wire 61 are disposed. The single-cavity first sleeve 71 is simple to manufacture and has a low cost.

[0458] In some embodiments, the first sleeve 71 includes at least two cavities, each cavity having at least one operating segment 612 of the pull wire 61. For example, the first sleeve 71 includes two cavities, the pull wire 61 includes two operating segments 612, and the two operating segments 612 are respectively arranged in the two cavities; or, the first sleeve 71 includes three, four, or more cavities, the pull wire 61 includes multiple pull wires 61, and each cavity has one or more operating segments 612 arranged therein. By providing a multi-cavity first sleeve 71, the loss of driving force transmission caused by frictional entanglement between the pull wires 61 is avoided, thereby improving the driving transmission efficiency.

[0459] Figure 61A is a schematic diagram of an auxiliary device for use with an endoscope according to some embodiments of this specification. Figure 61B is a cross-sectional view of the auxiliary device for use with an endoscope according to some embodiments of Figure 61A.

[0460] As shown in Figures 61A and 61B, in some embodiments, the auxiliary device applied to the endoscope further includes a second sleeve 72 for the passage of the surgical instrument 80. The rotating ring 20-2 includes a second connecting portion 23, one end of the second sleeve 72 is connected to the second connecting portion 23, and the other end is used to connect the surgical instrument 80. For example, the second connecting portion 23 includes a socket channel, one end of the second sleeve 72 is inserted into the socket channel, the surgical instrument 80 is connected to the second sleeve 72 and extends from the front end of the socket channel. By providing the second sleeve 72, the surgical instrument 80 can be protected and guided. By providing the second connecting portion 23 on the rotating ring 20-2, when the rotating ring 20-2 rotates relative to the tip cap 10, it can drive the surgical instrument 80 to rotate relative to the tip cap 10, allowing the tip of the surgical instrument 80 to approach the target object 5000 or be positioned at the target location, facilitating operation by the operator.

[0461] In some embodiments, surgical instruments 80 include, but are not limited to, gripping devices such as forceps, cutting knives, and syringes.

[0462] Referring to Figure 58B, in some embodiments, a second positioning structure 73 is provided between the second sleeve 72 and the surgical instrument 80. The second positioning structure 73 is configured to restrict the rotation of the surgical instrument 80 about the axis of the second sleeve 72, facilitating the determination of the operating orientation of the actuator 81 of the surgical instrument 80, such as the clamping direction of the surgical forceps. More exemplary embodiments of the second positioning structure 73 can be found in Embodiment 4 and its related description.

[0463] It should be noted that in other embodiments of this specification, the rotating ring 20-2 includes a sliding hole 25 that allows the sliding segment 613 to pass through. A first positioning structure 28 is provided within the sliding hole 25, and the first positioning structure 28 is configured to restrict the sliding segment 613 from shifting within the sliding hole 25. The first positioning structure 28 in this embodiment and the second positioning structure 73 in this embodiment refer to different structures.

[0464] In some embodiments, the auxiliary device applied to the endoscope further includes a positioning control unit 90, which is connected to the second sleeve 72. The positioning control unit 90 includes a constrained mode and a free mode, wherein: in the constrained mode, the positioning control unit 90 cooperates with the surgical instrument 80 to constrain the axial movement of the surgical instrument 80 relative to the tip cap 10 and / or the rotational movement about the axis of the surgical instrument 80 itself; in the free mode, the positioning control unit 90 is disengaged from the surgical instrument 80, and the surgical instrument 80 can be movably engaged with the tip cap 10. Further exemplary embodiments of the positioning control unit 90 can be found in Embodiment Nine and its related description.

[0465] Figures 62 to 65 are schematic diagrams illustrating the operation of an auxiliary device applied to an endoscope according to some embodiments of this specification.

[0466] As shown in Figure 62, in the initial state, the tip cap 10 is assembled with the endoscope body 40, the surgical instrument 80 is inserted through the second sleeve 72 and the tip of the surgical instrument 80 is slightly exposed in the endoscopic field of view. The surgical instrument 80 is adjusted to the ready state. For example, taking the grasping forceps as an example, the grasping forceps includes a clamping part 811 at the front end. At least part of the clamping part 811 is slightly exposed in the endoscopic field of view, and the clamping part 811 is in the open state, ready to clamp the target object 5000 (such as diseased mucosa).

[0467] As shown in Figure 63, the rotary drive unit 50 controls the rotating ring 20-2 to rotate relative to the tip cap 10 by pulling the pull wire 61 inside the first sleeve 71, based on the position of the target object 5000 and the target pulling direction. Then the surgical instrument 80 follows the rotating ring 20-2 to adjust to the required position.

[0468] As shown in Figure 64, the rear end of the surgical instrument 80 includes an operating handle 85. The operator controls the surgical instrument 80 to advance axially relative to the second sleeve 72 and the tip cap 10 via the operating handle 85, causing the front end of the surgical instrument 80 to contact the target object 5000. Then, the surgical instrument 80 performs surgical operations on the target object 5000. For example, using a grasping forceps, the operator controls the grasping forceps to advance axially relative to the tip cap 10, causing the clamping part 811 to contact the target object 5000. Then, the operator controls the clamping part 811 to close, thereby clamping the target object 5000.

[0469] As shown in Figure 65, the operator controls the surgical instrument 80 to retract axially relative to the second sleeve 72 and the tip cap 10 via the operating handle 85, thereby moving the target object 5000 to the target position. For example, taking the grasping forceps as an example, by keeping the clamping part 811 closed and controlling the grasping forceps to retract axially relative to the tip cap 10, the target object 5000 is pulled to the target position, for example, separating the diseased mucosa and submucosal tissue and creating a sufficient surgical field between them.

[0470] Embodiment Nine of this specification also provides an auxiliary device for use in an endoscope. This auxiliary device for use in an endoscope can be improved based on the auxiliary devices for use in an endoscope in Embodiments One to Eight, or it can be improved based on other existing types of auxiliary devices for use in an endoscope. The structures and design concepts in Embodiments One to Eight can be referenced and borrowed from each other.

[0471] Figure 66 is a schematic block diagram of an auxiliary device for use with an endoscope according to some embodiments of this specification.

[0472] Embodiment 9 of this specification provides an auxiliary device for use with an endoscope, which includes a tip cap 10, a surgical instrument 80, and a positioning control unit 90.

[0473] In some embodiments, the tip cap 10 is configured on the tip of the endoscope 40 to assist clinical procedures, provide a clear surgical field, and protect the tip of the endoscope 40 when observing an object (such as the digestive tract wall) endoscopically.

[0474] In some embodiments, the surgical instrument 80 is disposed on the tip cap 10. For example, the surgical instrument 80 is disposed on the tip cap 10 via a rotating ring 20-2, which is rotatable about the tip cap 10. As another example, the surgical instrument 80 is detachably fixed to the tip cap 10.

[0475] In some embodiments, the positioning control unit 90 includes a constrained mode and a free mode, wherein: in the constrained mode, the positioning control unit 90 cooperates with the surgical instrument 80 to constrain the axial movement of the surgical instrument 80 relative to the tip cap 10 and / or the rotational movement about the axis of the surgical instrument 80 itself; in the free mode, the positioning control unit 90 is disengaged from the surgical instrument 80, and the surgical instrument 80 is movably engaged with the tip cap 10.

[0476] For example, the positioning control unit 90 can selectively restrict the movement of the surgical instrument 80. For instance, during the preparation of the surgical instrument 80, the positioning control unit 90 switches to a free mode, allowing the surgical instrument 80 to move axially relative to the tip cap 10 or rotate about its own axis, thereby enabling the surgical instrument 80 to move to a position convenient for operating the target object 5000. Alternatively, during the operation of the surgical instrument 80 on the target object 5000, the positioning control unit 90 switches to a constrained mode, constraining the axial movement and / or rotational movement of the surgical instrument 80 about its own axis, keeping the operating range of the surgical instrument 80 around the target object 5000. By setting the positioning control unit 90, the operating accuracy of the surgical instrument 80 can be improved, and accidental displacement of the surgical instrument 80 during operation can be avoided.

[0477] Figure 67 is a structural schematic diagram of an auxiliary device applied to an endoscope according to some embodiments of this specification. Figure 68A is a structural schematic diagram of a positioning control unit 90 according to some embodiments of this specification (first). Figure 68B is a structural schematic diagram of a positioning control unit 90 according to some embodiments of this specification (second).

[0478] In some embodiments, the auxiliary device for use with an endoscope includes a rotating ring 20-2, with a surgical instrument 80 cooperating with the rotating ring 20-2. The rotating ring 20-2 is configured to drive the surgical instrument 80 to rotate about the tip cap 10. Further examples of the rotating ring 20-2 can be found in Embodiments 1 to 8 and their related descriptions, which will not be repeated here.

[0479] In some embodiments, the auxiliary device for use with an endoscope includes a second cannula 72 for passage of a surgical instrument 80. One end of the second cannula 72 is connected to a tip cap 10 (including a direct or indirect connection, such as an indirect connection via a rotating ring 20-2), and the other end is used to access the surgical instrument 80. A positioning control unit 90 is connected to the second cannula 72. In a constrained mode, the positioning control unit 90 is configured to restrict relative movement between the surgical instrument 80 and the second cannula 72. In a free mode, the positioning control unit 90 is configured to allow the surgical instrument 80 to advance and / or retract axially relative to the second cannula 72.

[0480] In some embodiments, the positioning control unit 90 includes, but is not limited to, a trigger-type locking device, a clamping force adjustable clamping structure, a spring loading mechanism selectively connected to the surgical instrument 80, an electromagnetic control device, and a contact mechanism that increases friction. As an example of this specification, as shown in FIG68A, the positioning control unit 90 includes an elastic element 91, a limiting element 92, and a receiving groove 93. The elastic element 91 is connected to the second sleeve 72, the limiting element 92 is hinged to the second sleeve 72, and the receiving groove 93 is provided on the surgical instrument 80. The limiting element 92 includes a pressing part 921 and a locking part 922. The pressing part 921 is connected to the second sleeve 72 through the elastic element 91. Its operating principle includes: when the elastic element 91 is in the initial state, the locking part 922 is inserted into the receiving groove 93, thereby restricting the relative movement between the surgical instrument 80 and the second sleeve 72; when the pressing part 921 is subjected to external force, the limiting member 92 rotates around the hinge point, thereby causing the locking part 922 to disengage from the receiving groove 93, releasing the restriction between the surgical instrument 80 and the second sleeve 72, allowing the surgical instrument 80 to move forward and / or backward relative to the second sleeve 72 axially; when the pressing part 921 is subjected to external force, the elastic element 91 undergoes elastic deformation; when the external force is released, the elastic element 91 pushes the limiting member 92 to rotate back around the hinge point under the action of elastic restoring force, causing the locking part 922 to re-insert into the receiving groove 93, thus forming a restriction between the surgical instrument 80 and the second sleeve 72. As another example of this specification, as shown in FIG68B, the positioning control unit 90 includes an elastic element 91, a limiting member 92, a receiving tooth 96, and a mounting base 94. At least a portion of the surgical instrument 80 protrudes from the second sleeve 72. A mounting base 94 is mounted on the second sleeve 72 and the protruding portion of the surgical instrument 80. The mounting base 94 includes a cavity encapsulating the protruding portion of the surgical instrument 80, thus limiting the displacement range of the surgical instrument 80. An elastic member 91 is provided on the outer surface of the mounting base 94. The mounting base 94 includes a through hole 95 allowing a limiting member 92 to pass through. The limiting member 92 is hinged to the mounting base 94. A receiving tooth 96 is provided on the surgical instrument 80. The limiting member 92 includes a pressing part 921 and a locking part 922. The pressing part 921 is connected to the mounting base 94 via the elastic member 91. The operating principle of this positioning control unit is the same as or similar to that in the aforementioned embodiments, and will not be described again in this specification.

[0481] Figure 69 is a structural schematic diagram of a surgical instrument 80 according to some embodiments of this specification.

[0482] As shown in Figure 69, in some embodiments, a second positioning structure 73 is provided between the second sleeve 72 and the surgical instrument 80. The second positioning structure 73 is configured to restrict the rotation of the surgical instrument 80 around the axis of the second sleeve 72. By restricting the rotation of the surgical instrument 80 around the axis of the second sleeve 72, the stability of the surgical instrument 80 in the operating direction can be ensured, the operation positioning accuracy can be improved, and the risk of damage to the target object can be reduced. At the same time, it is easier to determine the direction and position of the surgical instrument 80, saving the operator time to adjust the orientation of the surgical instrument 80 and improving surgical efficiency.

[0483] As shown in Figures 58B and 69, in some embodiments, the second positioning structure 73 includes a recess 731 and a protrusion 732. The recess 731 extends axially and is disposed on one of the second sleeve 72 and the surgical instrument 80, while the protrusion 732 is disposed on the other of the second sleeve 72 and the surgical instrument 80. The protrusion 732 slidably engages with the recess 731. For example, the protrusion 732 includes a lug, and the recess 731 includes a limiting groove. The lug is disposed on the surgical instrument 80, and the limiting groove is disposed on the inner wall of the second sleeve 72 and extends axially along the second sleeve 72. The lug slidably engages with the limiting groove. In other examples, the protrusion 732 includes a raised portion, and the recess 731 is a groove. The raised portion is disposed on the inner wall of the second sleeve 72, and the groove is disposed on the outer surface of the surgical instrument 80 and extends axially along the surgical instrument 80. The raised portion and the groove slidably engage.

[0484] In some embodiments, the surgical instrument 80 includes an actuator 81, a deflection mechanism 82, a connector 83, a delivery unit 84, and an operating handle 85.

[0485] In some embodiments, the actuator 81 is used to perform specific surgical operations, including but not limited to gripping devices such as forceps, incision knives, and syringes.

[0486] In some embodiments, one end of the deflection mechanism 82 is connected to the actuator 81, and the other end is connected to the conveying section 84 via a connector 83. For example, the deflection mechanism 82 includes, but is not limited to, a serpentine tube or a flexible tube, which can be deflected relative to the axis of the conveying section 84 by a control wire. For example, the connector 83 includes, but is not limited to, a connecting pipe, a quick-connect fitting, a clamp, a flange, etc. In some embodiments, the deflection mechanism 82 is configured to control the deflection of the actuator 81 relative to the axis of the conveying section 84 in response to an operating handle 85. For example, the operating handle 85 includes an operating handle and a control wire, one end of which is connected to the operating handle, and the other end of which is connected to the deflection mechanism 82. An operator can control the deflection and reset of the deflection mechanism 82 by pulling the control wire axially. For example, the control wire may include multiple wires, each with one end connected to different positions of the deflection mechanism 82 in the circumferential direction, thereby allowing the deflection mechanism 82 to deflect in at least two directions. By setting the deflection mechanism 82, the surgical instrument 80 can pull the target object 5000 in multiple directions, which has a good pulling effect on various lesion locations, so as to clearly expose the dissection field and provide sufficient tension for the target object 5000.

[0487] In some embodiments, the surgical instrument 80 includes a clamping portion 811, and the deflection direction of the deflection mechanism 82 is perpendicular or substantially perpendicular to the opening and closing direction of the clamping portion 811. The substantially perpendicularity can be defined as an angle between the deflection direction of the deflection mechanism 82 and the opening and closing direction of the clamping portion 811 within the range of 0 to 15°. This allows the operator to quickly determine the other direction based on either the deflection direction or the opening and closing direction, reducing the need for repeated adjustments to the orientation of the surgical instrument 80 and improving surgical efficiency.

[0488] Figures 70 to 75 are schematic diagrams illustrating the operation of an auxiliary device applied to an endoscope according to some embodiments of this specification.

[0489] As shown in Figure 70, in the initial state, the tip cap 10 is assembled with the endoscope body 40, the surgical instrument 80 is inserted through the second sleeve 72 and the actuator 81 of the surgical instrument 80 is slightly exposed in the endoscopic field of view. The surgical instrument 80 is adjusted to the ready state. For example, taking the grasping forceps as an example, the grasping forceps includes a clamping part 811 at the front end. At least part of the clamping part 811 is slightly exposed in the endoscopic field of view and the clamping part 811 is in the open state, ready to clamp the target object 5000 (such as diseased mucosa).

[0490] As shown in Figure 71, the rotary drive unit 50 controls the rotating ring 20-2 to rotate relative to the tip cap 10 by pulling the pull wire 61 inside the first sleeve 71, based on the position of the target object 5000 and the target pulling direction. Then the surgical instrument 80 follows the rotating ring 20-2 to adjust to the required position.

[0491] As shown in Figure 72, the positioning control unit 90 switches to free mode. The operator controls the surgical instrument 80 to move axially relative to the second sleeve 72 and the tip cap 10 via the operating handle 85, so that the actuator 81 of the surgical instrument 80 approaches the target object 5000. For example, taking the gripper forceps as an example, controlling the gripper forceps to move axially relative to the tip cap 10, so that the clamping part 811 approaches the target object 5000.

[0492] As shown in Figure 73, the positioning control unit 90 switches to constraint mode. The operator controls the deflection mechanism 82 to deflect towards the target object 5000 via the operating handle 85, causing the actuator 81 to come into contact with the target object 5000. At this time, the operator continues to control the actuator 81 to perform corresponding operations via the operating handle 85. For example, taking a gripper as an example, after the deflection mechanism 82 deflects towards the target object 5000, the clamping part 811 comes into contact with the target object 5000. At this time, the operating handle 85 controls the clamping part 811 to close, so that the clamping part 811 clamps the target object 5000.

[0493] As shown in Figure 74, the operator controls the deflection mechanism 82 to deflect in another direction via the operating handle 85, pulling the target object 5000 to the target position. For example, this creates a sufficient surgical field between the two objects, facilitating surgical procedures to separate the diseased mucosa and submucosal tissue.

[0494] As shown in Figure 75, after the surgical procedure is completed, the operator controls the deflection mechanism 82 to deflect to a position parallel to the axis of the tip cap 10 via the operating handle 85. Then, the positioning control unit 90 switches to free mode, and the operator controls the surgical instrument 80 to move axially backward relative to the second sleeve 72 and the tip cap 10 via the operating handle 85, causing the dissected target object 5000 to move with the surgical instrument 80. For example, using a grasping forceps, after the dissection procedure is completed, the clamping part 811 is kept closed, and the grasping forceps are controlled to move axially backward relative to the tip cap 10. The dissected target object 5000 moves with the surgical instrument 80 to the front end of the endoscope 40, and finally exits the body together.

[0495] Figure 76 is a schematic flowchart illustrating the operation method of an auxiliary device applied to an endoscope according to some embodiments of this specification.

[0496] Some embodiments of this specification also provide an operating method for an auxiliary device applied to an endoscope. This operating method is applied to the auxiliary device for an endoscope as described in any of the above embodiments. The operating method includes process 2400, which includes, but is not limited to, the following steps:

[0497] Step 2410: Control the axial movement of the surgical instrument 80 relative to the tip cap 10, and adjust the actuator 81 of the surgical instrument 80 to be in a ready state.

[0498] In some embodiments, in the initial state, the tip cap 10 is assembled with the endoscope body 40, and the surgical instrument 80 is inserted through the second sleeve 72. The positioning control unit 90 switches to free mode, and the operator controls the axial movement of the surgical instrument 80 relative to the tip cap 10 through the operating handle 85, so that the actuator 81 of the surgical instrument 80 is slightly exposed in the endoscopic field of view.

[0499] Next, the operator adjusts the surgical instrument 80 to the ready state by operating the handle 85. For example, taking the grasping forceps, the actuator 81 of the grasping forceps includes a clamping part 811. The operating handle 85 controls the clamping part 811 to be in the open state, preparing to clamp the target object 5000 (such as diseased mucosa).

[0500] Step 2420: Control the rotating ring 20 to rotate relative to the tip cap 10, so that the actuator 81 is positioned in the initial position.

[0501] In some embodiments, before positioning the actuator 81 to its initial position, the positioning control unit 90 is controlled to enter a free mode to adjust the actuator 81 to its initial position. The initial position of the actuator 81 can be a position at a preset distance from the target object 5000. For example, the positioning control unit 90 switches to free mode, and the operating handle 85 controls the axial movement of the surgical instrument 80 relative to the tip cap 10, bringing it closer to the target object 5000, thus adjusting the actuator 81 to its initial position.

[0502] Step 2430: Control actuator 81 to perform an operation on target object 5000.

[0503] In some embodiments, the control actuator 81 performs operations on the target object 5000 including the following methods:

[0504] First, the operator controls the surgical instrument 80 to move axially relative to the tip cap 10 by operating the handle 85, so that the actuator 81 comes into contact with the target object 5000.

[0505] Next, the operator controls the actuator 81 to grasp the target object 5000 via the operating handle 85. For example, when the surgical instrument 80 is a forceps, the actuator 81 of the forceps includes a clamping part 811, and the operator controls the clamping part 811 to close via the operating handle 85, thereby grasping the target object 5000.

[0506] Finally, the operator controls the surgical instrument 80 to retract axially relative to the tip cap 10 via the operating handle 85, and / or controls the rotating ring 20 to rotate relative to the tip cap 10, so that the target object 5000 moves to the target position. For example, the lesion mucosa is pulled to the target position by the grasping forceps, thereby facilitating the dissection blade on the scope 40 to peel or remove the lesion mucosa or submucosal tissue.

[0507] In other embodiments, the surgical instrument 80 includes a deflection mechanism 82; the actuator 81 performs operations on the target object 5000 including the following methods:

[0508] First, the operator controls the surgical instrument 80 to move axially relative to the tip cap 10 by operating the handle 85, and / or controls the surgical instrument 80 to deflect in a first direction, so that the actuator 81 comes into contact with the target object 5000; wherein, the first direction is the direction toward the target object 5000.

[0509] Specifically, after the operation of controlling the surgical instrument 80 to move axially relative to the tip cap 10 and / or before the operation of controlling the surgical instrument 80 to deflect in the first direction, the operator controls the positioning control unit 90 to switch to constraint mode, so that the positioning control unit 90 constrains the axial movement of the surgical instrument 80 relative to the tip cap 10 and / or the rotational movement about the axis of the surgical instrument 80 itself.

[0510] Then, the operator controls the actuator 81 to grasp the target object 5000 via the operating handle 85. Taking the gripping part 811 of the gripper as an example, the operator controls the gripping part 811 to close, so that the gripping part 811 grasps the target object 5000.

[0511] Finally, the operator controls the surgical instrument 80 to deflect in the second direction via the operating handle 85, moving the target object 5000 to the target position; wherein the second direction is different from the first direction. For example, the second direction can be opposite to the first direction, or it can form a preset angle with the first direction, which is greater than 0 and less than 180°. For instance, in the application scenario of endoscopic mucosal dissection, after the operator grasps the diseased mucosa (i.e., the target object 5000) and deflects it in the second direction, a sufficient surgical field is formed between the diseased mucosa and the submucosal tissue, facilitating surgical operations such as the removal of the diseased mucosa, to separate the diseased mucosa and the submucosal tissue.

[0512] After the surgical procedure is completed, the operator controls the deflection mechanism 82 to deflect to a position parallel to the axis of the tip cap 10 using the operating handle 85. Then, the positioning control unit 90 switches to free mode, and the operator controls the surgical instrument 80 to retract axially relative to the second sleeve 72 and the tip cap 10 using the operating handle 85, causing the dissected target object 5000 to move with the surgical instrument 80. For example, using a grasping forceps, after the dissection procedure is completed, the clamping part 811 is kept closed, and the grasping forceps are controlled to retract axially relative to the tip cap 10. The dissected target object 5000 moves with the surgical instrument 80 to the front end of the endoscope 40, and finally exits the body together.

[0513] During the above operations, the operator can adjust the mode of the positioning control unit according to actual needs to improve operational accuracy. For example, the operator can control the positioning control unit to switch to free mode. In free mode, the positional relationship between the surgical instrument and the tip cap can be adjusted, such as adjusting the axial forward or backward movement of the surgical instrument relative to the tip cap, or adjusting the operating orientation of the surgical instrument. As another example, the operator can control the positioning control unit to switch to constraint mode. In constraint mode, the positioning control unit constrains the axial movement of the surgical instrument relative to the tip cap and / or its rotational movement around the instrument's own axis.

[0514] Embodiment 10 of this specification also provides a surgical instrument. The surgical instrument includes an end effector, which refers to a tip-shaped actuator that interacts with the target tissue, i.e., equivalent to the end effector 1400 mentioned in the above embodiments. For ease of description, a spatial rectangular coordinate system XYZ is established, where the X-axis direction can be the axial direction of the end effector, i.e., the direction parallel to the distal and proximal ends.

[0515] As shown in Figure 77, the end effector 100 includes a first shaft 1, a second shaft 2, and a clamping component 3. The clamping component 3 may include at least two clamping components. For example, the clamping component 3 includes a first clamping component 310 and a second clamping component 320. The end effector 100 may be configured as a biopsy forceps, grasping forceps, hemostatic clamp, or other device with different functions. The end effector 100 may be disposed in the tip cap assembly. In some embodiments, the clamping component 3 may cooperate with other components to achieve the clamping function. For example, the end effector 100 may complete the clamping action by cooperating with at least two clamping components.

[0516] In some embodiments, the clamping member 3 is connected to the first shaft 1 and is rotatable about a rotation axis, wherein the rotation axis is parallel to the central axis of the first shaft; the clamping member 3 has a groove that engages with the second shaft 2, so that the clamping member 3 can rotate based on the change in distance between the second shaft 2 and the rotation axis along a first direction. Through the cooperation of the first shaft 1 and the second shaft 2, the opening or closing of at least two clamping members can be controlled by the change in distance between the second shaft 2 and the rotation axis along the first direction, resulting in a simple structure and effortless operation.

[0517] As shown in Figure 78, the first axis 1 defines a rotation axis T, which may be parallel to the Z-axis direction. In some embodiments, the first axis 1 may be parallel to the second axis 2. In some embodiments, the first axis 1 and the second axis 2 may be located in the same plane. In some embodiments, the axial directions of the second axis 2 and the first axis 1 are both first directions. For example, the first direction may be perpendicular to the rotation axis T. For example, the first direction may be parallel to the X-axis direction, and the second direction may be parallel to the Y-axis direction.

[0518] In some embodiments, the distance between the second axis 2 and the first axis 1 along a first direction can be controlled to vary. In some embodiments, the first axis 1 is connected to the cup holder 4, and the second axis 2 is connected to the traction member 5 for the appliance. When the end appliance 100 is in use, the position of the first axis 1 can be kept stationary, and then the second axis 2 can be moved to achieve controllable adjustment of the distance along the first direction.

[0519] In some embodiments, the first clamping member 310 is mechanically connected to the first shaft 1. The first clamping member 310 is rotatable about the rotation axis T. For example, the first clamping member 310 is fixed to the first shaft 1, and the first shaft 1 is rotatably connected to the cup holder 4. For example, the first clamping member 310 is rotatably connected to the first shaft 1, and the first shaft 1 is fixed to the cup holder 4. For example, the first clamping member 310 is rotatably connected to the first shaft 1, and the first shaft 1 is rotatably connected to the cup holder 4.

[0520] In some embodiments, the first clamping member 310 has a pin hole 32, which is rotatably connected to the first shaft 1. The second shaft 2 can be fixed to the appliance traction member 5, or it can be rotatably connected to the appliance traction member 5.

[0521] As shown in Figures 77 and 79, the first clamping member 310 has a groove 31 that mates with the second shaft 2, allowing the first clamping member 310 to rotate according to the change in distance between the second shaft 2 and the rotation axis T along a first direction. For example, the distance between the groove 31 and the pin hole 32 varies continuously at different locations. In some embodiments, the groove 31 of the first clamping member 310 includes at least two groove segments 301, with adjacent groove segments 301 offset from each other, and at least one groove segment 301 is a straight groove. For example, both the first groove segment 311 and the second groove segment 312 are straight grooves.

[0522] In the XY plane shown in Figure 77, the first clamping member 310 opens clockwise around the rotation axis T; therefore, the clockwise direction in Figure 77 can be referred to as the positive circumferential direction of the first clamping member 310. When the starting point 3101 of the slide groove 31 is at the second axis 2, the clamping member 3 is in the open state. As shown in Figure 80, when the ending point 3102 of the slide groove 31 is at the second axis 2, the clamping member 3 is in the clamping state. In some embodiments, the distance between the starting point 3101 and the rotation axis T is less than the distance between the ending point 3102 and the rotation axis T to achieve the opening and closing action. The starting point 3101 is located within the first groove segment 311, and the ending point 3102 is located within the second groove segment 312. The first groove segment 311 includes a first sidewall 3103 and a second sidewall 3104 that are arranged opposite to each other and parallel. The distance between the first sidewall 3103 and the second sidewall 3104 can be the same as the groove width of the first groove segment 311 and greater than the shaft diameter of the second axis 2. For example, the distance between the first sidewall 3103 and the second sidewall 3104 is 0.2 mm larger than the shaft diameter of the second shaft 2 to meet assembly requirements. The second groove segment 312 may include a third sidewall 3105 and a fourth sidewall 3106 that are arranged opposite to each other and parallel. The distance between the third sidewall 3105 and the fourth sidewall 3106 may be the same as the groove width of the second groove segment 312 and approximately equal to the shaft diameter of the second shaft 2. For example, the distance between the third sidewall 3105 and the fourth sidewall 3106 is 0.2 mm larger than the shaft diameter of the second shaft 2 to meet assembly requirements.

[0523] In some embodiments, in response to the second shaft 2 leaving the first shaft 1, the first clamping member 310 performs a clamping action, and the second shaft 2 may abut against the first sidewall 3103 or the third sidewall 3105; in response to the second shaft 2 approaching the first shaft 1, the first clamping member 310 performs an opening action, and the second shaft 2 may abut against the fourth sidewall 3106 or the second sidewall 3104. As the slide 31 smoothly passes through the second shaft 2 from the starting point 3101 to the ending point 3102, the distance between the second shaft 2 and the first shaft 1 in the first direction gradually increases, so that the clamping member 3 changes from an open state to a clamping state, and facilitates the applicability of the end effector 100 to the endoscope system.

[0524] As shown in FIG77, the end effector 100 may include a second clamping member 320, which may also rotate about a rotation axis T and includes a groove 31. In some embodiments, the first clamping member 310 and the second clamping member 320 may be connected at different positions on the same first axis 1. In some embodiments, the first clamping member 310 and the second clamping member 320 may be respectively connected to two coaxially arranged first axes. In some embodiments, the groove 31 of the second clamping member 320 is mirrored with the groove 31 of the first clamping member 310. For example, the mirror plane may be defined by a first direction and the rotation axis T. The mirror arrangement can keep the two clamping arms 33 of the end effector symmetrical and maintain a centered clamping state during clamping. In some embodiments, the first clamping member 310 may include a clamping tail 34 and a clamping arm 33 connected to the distal end of the clamping tail 34. The clamping tail 34 is used to connect the first axis 1 and cooperate with the second axis 2, and the clamping arm 33 is used to achieve clamping. The second clamping member 320 may include clamping arms and a clamping tail similar to those in the first clamping member 310.

[0525] As shown in Figures 77, 78, 80, and 81, the second clamping member 320 can cooperate with the first clamping member 310 to achieve clamping. As shown in Figure 78, the jaws 34 of the first clamping member 310 and the jaws 34 of the second clamping member 320 are in contact along the rotation axis T and can slide. The jaws 34 may include a jaw end face 341 configured as a plane. The contact of the two jaws 34 is beneficial to closing the receiving space 101.

[0526] As shown in Figure 80, the clamp arms 33 of the first clamping component 310 and the clamp tails 34 of the second clamping component 320 are used together to define the accommodating space 101. The two clamp tails restrict each other but can slide, making the movement of the two clamping components 3 stable and precise, avoiding shaking when the clamping components 3 rotate and avoiding misoperation.

[0527] As shown in Figure 81, the traction member 5 for the appliance includes a connecting end 51 and a pivot portion 52 disposed at the distal end of the connecting end 51. At least two sides of the connecting end 51 may form clearance grooves 53 along the Z-axis direction. The clearance grooves 53 are configured to provide movement space for the jaws 34 of the clamping member 3, that is, the proximal ends of each of the at least two clamping portions 3 are respectively accommodated in the corresponding clearance grooves 53. In some embodiments, the structural dimensions of the traction member 5 for the appliance can be configured as needed. The jaws 34 of the first clamping member 310 can be connected to the pivot portion 52 via a second shaft 2, and the clamping arm 33 protrudes from the pivot portion 52. The jaws 34 are disposed between the clamping arm 33 and the connecting end 51. The clamping arm 33 moves at its distal end, and the jaws 34 can move synchronously within the space of the clearance groove 53. In some embodiments, there is a gap between the jaws 34 and the clearance groove 53 so that the jaws 34 will not collide with or interfere with the connecting end 51 or the traction member 5 for the appliance during movement. In some embodiments, when the clamp tail 34 moves to its limit position, it can just contact the traction member 5 of the appliance, that is, contact the near end wall of the clearance groove 53.

[0528] In some embodiments, at least one of the at least two clamping portions has a groove configured as a zigzag groove. For example, the groove 31 of the first clamping member 310 includes at least two groove segments 301, which are offset between adjacent groove segments 301 and at least one groove segment 301 is a straight groove.

[0529] As shown in Figures 77 and 82, when the starting point 3101 is located at the second axis 2, the first groove segment 311 in the slide 31 corresponding to the second axis 2 forms a first angle θ1 with the second direction. In some embodiments, the auxiliary line L2 can be set along this second direction. For example, the auxiliary line L2 can be perpendicular to the first direction and perpendicular to the second axis 2, and can be parallel to the Y-axis direction.

[0530] As shown in Figure 83, the first groove segment 311 transforms into the second groove segment 312 to engage with the second shaft 2. As shown in Figures 80 and 84, when the endpoint 3102 is at the second shaft 2, the second groove segment 312 in the slide 31 corresponding to the second shaft 2 forms a second included angle θ2 with the second direction. The process of reaching the state shown in Figure 83 from the state shown in Figure 82, and then reaching the state shown in Figure 84, constitutes the clamping process of the end device; the process of transitioning from the state shown in Figure 84 to the state shown in Figure 83, and then back to the state shown in Figure 82, constitutes the opening process of the end device. In some embodiments, both the first included angle θ1 and the second included angle θ2 can be greater than 0°, which helps to avoid dead points in the movement.

[0531] In some embodiments, the second groove segment 312 is deflected relative to the first groove segment 311, enabling the second shaft 2 to achieve different control effects at the starting point 3101 and the ending point 3102, thereby allowing the clamping member 3 to perform different clamping actions during state changes and at different stages of the movement process. As shown in FIG83, the first groove segment 311 and the second groove segment 312 in the slide 31 are directly connected, and the deflection angle between the first groove segment 311 and the second groove segment 312 is directed towards the rotation axis T. The first shaft 1 is located between the second shaft 2 and the clamp arm 33. The first slope of the first groove segment 311 relative to the second direction is greater than the second slope of the second groove segment 312 relative to the second direction. In some embodiments of this specification, by configuring the first groove segment 311 of the straight groove of the end tool with a larger slope, after the second shaft 2 moves downward at a constant speed through the entire first groove segment 311, the circumferential rotation angle of the first clamping member 310 relative to the first shaft 1 is smaller, that is, the swing amplitude of the clamp arm 33 is smaller, so as to avoid the situation where the clamping member 3 suddenly closes when using the end tool.

[0532] The clamping state when the end effector 100 actually clamps an object may differ from the clamping state during idle movement (i.e., without clamping an object). For example, after the end effector 100 clamps an object, the second shaft 2 may not reach the theoretical endpoint 3102 of the groove 31. For example, when the endpoint 3102 reaches the second shaft 2, the two clamping arms 33 engage and cannot continue to rotate. As an example, the groove 31 may include an end section 313, which may have a tendency to continue rotating under the drive of the second shaft 2 to ensure that the clamping arms 33 engage tightly and avoid poor engagement due to dimensional deviations or wear. As an example, the end section 313 may be formed by the second groove section 312 extending away from the first groove section 311.

[0533] In some embodiments, the first included angle θ1 may satisfy: 10°≤θ1≤70°. For example, the first included angle θ1 may be 20°, 30°, 40°, 50°, or 60°, etc. The second included angle θ2 may satisfy: 10°≤θ2≤70°. For example, the second included angle θ2 may be 20°, 30°, 40°, 50°, or 60°, etc. In some embodiments of this specification, the first included angle or the second included angle is avoided to be set too small (e.g., θ1≥10°), which helps to provide sufficient force to ensure timely state transition of the clamping component 3. Furthermore, the first included angle or the second included angle is avoided to be set too large (e.g., θ1≤70°), which avoids excessively long control strokes to effectively achieve state transition of the clamping component 3. In some embodiments, the first included angle θ1 may satisfy: 35°≤θ1≤55°, and the second included angle θ2 may satisfy: 35°≤θ2≤55°.

[0534] For example, the first included angle θ1 is 45°, and the second included angle θ2 can also be 45°. At the starting point 3101 or the ending point 3102, the clamping component 3 experiences a large rotational force, and pulling the second shaft 2 along the Z-axis can effectively operate the clamping component 3, and the clamping component 3 can ensure sufficient clamping force when the second shaft 2 is pulled. As shown in Figure 84, the first clamping component 310 is narrower in the second direction, and combined with the included angles of the slot segments 301, the layout of the slide 31 can be more compact. When the first included angle θ1 is 45° and the second included angle θ2 is 45°, the end device 100 is easy to operate and has a better clamping effect.

[0535] As shown in Figures 82, 84, and 85, in the first clamping component 310, the circumferential rotation angle γ of the starting point 3101 and the ending point 3102 relative to the rotation axis T, the deflection angle β between the first groove segment 311 and the second groove segment 312, the first included angle θ1, and the second included angle θ2 can satisfy: θ1 + 90° + 90° - θ2 + γ + β = 360°, that is, θ1 - θ2 + γ + β = 180°. For example, the circumferential rotation angle γ of the starting point 3101 and the ending point 3102 relative to the rotation axis T can satisfy: γ ≥ 45°. The clamping component 3 has a large circumferential rotation angle; for example, the opening angle achieved by the first clamping component 310 and the second clamping component 320 is greater than 90°, allowing the end device 100 to clamp larger objects. When γ, θ1, and θ2 are all 45°, the starting force is large during the process of the end device 100 changing from the open state to the clamping state, and the clamping process remains relatively slow and stable. For example, the deflection angle β between any two adjacent groove segments 301 in the slide 31 can satisfy: 140° < β < 180°. When the second shaft 2 switches between two adjacent groove segments 301, the direction change of the component force used to control the rotation of the clamping component 3 is small, so as to ensure that the clamping component 3 maintains a smooth state when rotating, and to reduce the sense of jamming during the entire opening or clamping process of the end device 100. For example, when the deflection angle is greater than 140°, only one of the first angle and the second angle can be set to 45°, for example, only the second angle is set to 45°, to ensure sufficient clamping force.

[0536] As shown in Figures 86 and 87, the end effector 100 includes two clamping components 3 and two sliding grooves 31 that can be mirror-arranged. For example, the mirror plane can be defined by a first direction and a rotation axis T. In the end effector 100, a second shaft 2 is connected to an instrument traction member 5, and a first shaft 1 is connected to a cup holder 4. In use, the cup holder 4 and the first shaft 1 can remain stationary along the X-axis, while the instrument traction member 5 can move the second shaft 2 away from or towards the first shaft 1. The clamping components 3 are rotatably connected to the cup holder 4, and the first shaft 1 can be positioned in the jaws 34 near the jaw arms 33.

[0537] In some embodiments, the distance between the starting point 3101 and the rotation axis T defined by the first shaft 1 can be less than the distance between the ending point 3102 and the rotation axis T. The first groove segment 311 and the second groove segment 312 in the slide 31 can be directly connected, and the deflection angle between the first groove segment 311 and the second groove segment 312 faces away from the rotation axis T. As shown in Figure 87, the circumferential rotation angle γ of the starting point 3101 and the ending point 3102 relative to the rotation axis T, the deflection angle β between the first groove segment 311 and the second groove segment 312, the first angle θ1, and the second angle θ2 can satisfy: θ1 + 90° + 90° - θ2 + γ + 360° - β = 360°, that is, θ1 - θ2 + γ + 180° = β. In some embodiments, the value of the first angle can be smaller, and the value of the second angle can be larger. Since the deflection angle is less than 180°, then θ1 + γ < θ2. For example, if the circumferential rotation angle is configured to be greater than 45° and the first included angle is greater than 10°, then the second included angle θ2 will be greater than 55°.

[0538] In some embodiments, the first slope of the first groove segment 311 relative to the second direction is less than the second slope of the second groove segment 312 relative to the second direction. During the process of the end device 100 changing from the open state to the clamping state, the initiation process of the first groove segment 311 section is longer to ensure that the clamping force of the second groove segment 312 section is greater, and to keep the second shaft 2 fixed at the end point 3102.

[0539] As shown in Figures 88 and 89, when the end-effector 100 is in use, the cup holder 4 and the second shaft 2 can be fixed along the X-axis, and the traction member 5 can move the first shaft 1 away from or towards the second shaft 2. The clamping member 3 is rotatably connected to the traction member 5, and the first shaft 1 in the clamp tail 34 can be configured to be away from the clamp arm 33. In some embodiments, the distance between the starting point 3101 and the rotation axis T defined by the first shaft 1 is less than the distance between the ending point 3102 and the rotation axis T. The first groove segment 311 and the second groove segment 312 in the slide 31 can be directly connected, and the deflection angle between the first groove segment 311 and the second groove segment 312 is opposite to the rotation axis T.

[0540] As shown in Figure 89, the circumferential rotation angle γ, the deflection angle β, the first included angle θ1, and the second included angle θ2 can satisfy: θ1 - θ2 + γ + 180° = β. Since the deflection angle is less than 180°, then θ1 + γ < θ2. For example, the circumferential rotation angle is configured to be greater than 45° and the first included angle is greater than 10°.

[0541] As shown in Figures 90 and 91, in an exemplary embodiment, the end effector 100 includes two clamping members 3, and two grooves respectively disposed on the two clamping members 3 can be mirrored. For example, the mirror plane can be defined by a first direction and a rotation axis T. In the end effector 100, a second shaft 2 is connected to a cup holder 4, and a first shaft 1 is connected to an instrument traction member 5. When the end effector 100 is in use, the distance between the cup holder 4 and the second shaft 2 along the X-axis can remain constant, and the instrument traction member 5 can move the first shaft 1 away from or towards the second shaft 2. The clamping members 3 are rotatably connected to the instrument traction member 5, and the first shaft 1 can be configured in the jaws 34 at a position relatively far from the jaw arms 33.

[0542] In some embodiments, for the first clamping member 310, the distance between the starting point 3101 and the rotation axis T defined by the first shaft 1 is less than the distance between the ending point 3102 and the rotation axis T. The first groove segment 311 and the second groove segment 312 in the slide 31 can be directly connected, and the deflection angle of the first groove segment 311 and the second groove segment 312 is oriented towards the rotation axis T. The circumferential rotation angle γ, the deflection angle β, the first angle θ1, and the second angle θ2 satisfy: θ1-θ2+γ+β=180°. For example, the circumferential rotation angle γ satisfies: 45°≤γ. At least one of the first angle and the second angle can be set to 45°. When the first groove segment 311 corresponds to the second shaft 2, it can be ensured that the end device 100 can achieve effective clamping operation and has a large clamping force. When the second angle is 45°, the first clamping member 310 can easily switch from the clamping state to the open state, making the end device 100 more flexible.

[0543] As shown in Figure 92, the end effector 100 may include two cooperating clamping components 3, and the two slides may be mirror-image arranged. For example, the mirror image may be defined by a first direction and a rotation axis T. For the first clamping component 310, the jaw 34 may be connected to a first shaft 1 and be able to rotate about the rotation axis T; the slide 31 is cooperating with a second shaft 2, with its starting point 3101 being closer to the first shaft 1; the deflection angle between the first slide segment 311 and the second slide segment 312 is towards the first shaft 1; the length of the first slide segment 311 is greater than the length of the second slide segment 312. The control path of the first slide segment 311 is longer, and the second shaft 2 can provide a larger clamping force to the first clamping component 310. In some embodiments, the starting phase of the first clamping component 310 transitioning from an open state to a clamping state is longer, enabling continuous control during the control process, and thus allowing the second slide segment 312 to be used for finishing control, ensuring the control effect during the clamping phase.

[0544] For example, the groove 31 of the second clamping member 320 is configured with the groove 31 of the first clamping member 310. For example, the mirror surface may be defined by a first direction and a rotation axis T. For example, the groove 31 of the second clamping member 320 and the groove 31 of the first clamping member 310 may have different shapes. For example, the groove 31 of the second clamping member 320 and the groove 31 of the first clamping member 310 may have different circumferential positions relative to the clamping arm 33. In some embodiments, the two rotation axes corresponding to the two clamping members 3 may be coaxial.

[0545] As shown in Figure 93, the end device 100 may include two cooperating clamping components 3, and the two grooves may be non-mirror image arranged. The first clamping component 310 is rotatably connected to the cup holder 4 via a first shaft 1, while the second shaft 2 is disposed on the device traction member 5. The groove 31 of the first clamping component 310 includes a first groove segment 311 and a second groove segment 312 that are offset from each other, with the starting point 3101 being closer to the first shaft 1, and the circumferential rotation angle γ being 90°. The groove 31 of the second clamping component 320 is a straight groove that cooperates with the second shaft 2. The end device 100 in the open state shown in Figure 93 can clamp an object that is offset to the left relative to the first direction. When the second shaft 2 moves away from the first shaft 1, the first clamping component 310 closes to the second clamping component 320 to achieve the clamping operation.

[0546] For example, the first groove segment 311 and the second groove segment 312 in the slide 31 are directly connected, and the deflection angle of the first groove segment 311 and the second groove segment 312 is directed toward the rotation axis T. In some embodiments, the shape of the slide 31 of the second clamping member 320 may be different from that of the slide 31 of the first clamping member 310 to achieve different clamping methods and ensure that the end device 100 can adapt to different clamping requirements.

[0547] As shown in Figure 94, some embodiments of this specification provide an apparatus 1000, which includes an end device 100, a delivery sheath 300, and an operating handle. In some embodiments, the end device 100 may be disposed at the distal end of the delivery sheath 300, and the operating handle may be disposed at the proximal end of the delivery sheath 300. The operating handle is used to control the opening and clamping of the end device 100.

[0548] For example, a traction wire 400 is disposed within the delivery sheath 300. The operating handle may include a fixed handle 210 and a sliding handle 220; the fixed handle 210 may be connected to the delivery sheath 300, and the sliding handle 220 may be connected to the traction wire 400. By controlling the sliding handle 220, the traction wire 400 can be pushed distally or pulled proximally.

[0549] In the device 1000, the cup holder 4 can be connected to the distal end of the delivery sheath 300, and the device traction member 5 can be connected to the traction wire 400. Depending on the clamping action of the clamping member 3, the clamping member 3 can be rotatably connected to the cup holder 4 or the device traction member 5, and its groove 31 engages with the shaft provided on the device traction member 5 or the cup holder 4. For example, one of the first shaft 1 and the second shaft 2 is connected to the cup holder 4, and the other is connected to the device traction member 5.

[0550] In some embodiments of this specification, the instrument 1000 has good operability and is suitable for endoscopic operation requirements. The clamping action of the clamping component 3 may be responsive to the pulling of the sliding handle 220 and the traction wire 400. In some embodiments, the instrument 1000 and the end effector 100 may also achieve at least one of the following beneficial effects: a relatively slow opening and closing speed when transitioning from the clamping state to the open state, and a larger initial force when transitioning from the open state to the clamping state, which can meet the clamping requirements of different scenarios; and a larger clamping force when in the clamping state, preventing loosening.

[0551] It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects may be any one or a combination of the above, or any other possible beneficial effects.

[0552] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this specification are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0553] If there is any inconsistency or conflict between the descriptions, definitions, and / or terms used in the materials referenced in this specification and the content described in this specification, the descriptions, definitions, and / or terms used in this specification shall prevail.

Claims

A surgical instrument, characterized in that, The device includes a sheath and an end fitting located at the distal end of the sheath. The sheath includes a body and a deflection portion. The proximal end of the deflection portion and the distal end of the body form a limit at least in the axial direction. The deflection portion includes a bending mechanism, which includes a bendable structure. The deflection portion bends through the bending mechanism, and the end fitting follows the bending of the deflection portion toward a target direction. The surgical instrument as described in claim 1, characterized in that, The bendable structure includes multiple bending units, and at least two adjacent bending units constitute a first minimum bending group; the adjacent bending units are rotatably connected by a bending connection, and the adjacent bending units have a bending space; when the adjacent bending units bend, the bending connection and the bending space are linked together; the bending mechanism includes at least one deflection traction member that drives the bendable structure to rotate and / or bend. The surgical instrument as described in claim 2, characterized in that, The bent connection portion is located on at least two sides of the axial direction of the plurality of bent units, and the bent space is located on at least two other sides of the axial direction of the plurality of bent units. The side with the bent connection portion is adjacent to the side with the bent space. The surgical instrument as described in claim 2, characterized in that, The first minimum bending group is rotatably connected to at least one bending unit through the bending connection, and three bending units constitute the second minimum bending group. Multiple bending connections and multiple bending spaces are alternately arranged on the same side located in the axial direction of multiple bending units. Multiple bending units are composed of at least one second minimum bending group. The surgical instrument as described in claim 1, characterized in that, A connecting structure is provided between the main body and the deflection part. The connecting structure is configured to at least limit the axial relative displacement between the main body and the deflection part. The connecting structure includes a first connecting pipe and a second connecting pipe. A first limiting flange is formed at the distal end of the first connecting pipe, and a second limiting flange is formed at the proximal end of the second connecting pipe. The second connecting pipe is sleeved on the outer peripheral surface of the first connecting pipe. The proximal end of the first connecting pipe forms at least an axial limit with the main body. The first limiting flange forms at least an axial limit with the distal end surface of the second connecting pipe. The distal end of the second connecting pipe forms at least an axial limit with the deflection part. The second limiting flange forms at least an axial limit with the proximal end surface of the deflection part. The surgical instrument as described in claim 1, characterized in that, The deflecting part and the main body are rotatably connected by a rotating mechanism, and the end device rotates with the deflecting part; the rotating mechanism includes a first rotating part and a second rotating part that are rotatably connected; the first rotating part is located on one of the deflecting part and the main body, and the second rotating part is located on the other. The surgical instrument as described in claim 1, characterized in that, The surgical instrument includes an operating handle, which includes an operating body and a deflection control unit disposed on the operating body. The deflection control unit includes a deflection bending control portion. The deflection bending control portion includes a deflection movable part, which is connected to a deflection traction member. The deflection traction member is at least partially connected to the flexible structure. The deflection movable part and the deflection traction member are relatively limited in at least the direction of movement. The deflection movable part drives the deflection traction member to move, and the displacement of the deflection traction member causes the flexible structure to bend or return to its original position. The surgical instrument as described in claim 7, characterized in that, A control part is provided between the deflection movable part and the operating body to enable relative movement or relative limitation between the two. The control part includes an adjustment control and a deflection transmission structure disposed between the adjustment control and the deflection movable part. The deflection transmission structure is a threaded transmission structure, and the rotation of the adjustment control causes the deflection movable part to move. or, The deflection transmission structure is a switching transmission structure, which includes a first switching part and a second switching part. The adjustment control switches the engagement and disengagement states of the first switching part and the second switching part. The first switching part is disposed on one of the deflection movable part and the operating body, and the second switching part is disposed on the other. Alternatively... The deflection transmission structure includes a deflection transmission part, and the deflection traction member includes a connecting section and transmission sections located on both sides of the connecting section. The deflection traction member is connected to the deflection transmission part through the connecting section, and the transmission sections on both sides pass through the deflection movable part and are connected to the flexible structure. The surgical instrument as described in claim 7, characterized in that, The deflection control unit includes a deflection rotation control section, which includes a deflection rotation part. The deflection rotation part is connected to a deflection traction member, which is at least partially connected to the flexible structure. The deflection rotation part and the deflection traction member are relatively limited at least in the circumferential direction of the rotation direction. The rotation of the deflection rotation part sequentially drives the deflection traction member and the flexible structure to rotate. The deflection rotating part and the deflection movable part are each connected to a deflection traction member, or the deflection rotating part and the deflection movable part are connected to the same deflection traction member. An auxiliary device for use in endoscopy, characterized in that, The device includes a cap assembly and a surgical instrument as described in any one of claims 1 to 9, wherein the cap assembly includes an instrument connection and a cap, the instrument connection being used to mount the surgical instrument; and a deflection portion of the surgical instrument located at least outside the cap assembly is bendable and / or rotatable. The auxiliary device for use with an endoscope as described in claim 10 is characterized in that, The instrument connection includes a guide member, which is slidably connected to the surgical instrument, and / or slidably connected to the tip cap, and / or slidably connected to the endoscope body. The auxiliary device for use with an endoscope as described in claim 10 is characterized in that, The auxiliary device applied to the endoscope includes an operating handle, the operating handle including a forward and backward control unit placed on the operating body, the forward and backward control unit controlling the displacement of the surgical instrument relative to the endoscope body; The advance and retreat control unit includes an advance and retreat displacement part, which is relatively limited relative to the sheath of the surgical instrument at least in the displacement direction, and the operating body is relatively limited relative to the tip cap assembly or the endoscope body at least in the displacement direction; The forward / backward displacement section and the operating body are provided with an adjustment section that allows the relative displacement of the two. The adjustment section includes an adjustment member and a forward / backward transmission structure disposed between the adjustment member and the forward / backward displacement section. The auxiliary device for use with an endoscope as described in claim 10 is characterized in that, The surgical instrument is configured as a first electrode, and the second instrument connected to the endoscope body can be configured as a second electrode, thus forming a bipolar structure with the surgical instrument and the second instrument. The end part of the surgical instrument is connected to the power source via an instrument traction device and a first electrode holder, and the distal part of the second instrument is connected to the power source via a treatment traction device and a second electrode holder. An auxiliary device for use in endoscopy, characterized in that, The auxiliary device applied to the endoscope includes a tip cap assembly, the tip cap assembly comprising: Tip cap; A rotating ring is configured to rotate about the tip cap; A rotation control unit is slidably engaged with the rotating ring and configured to drive the rotating ring to move. The auxiliary device for use with an endoscope as described in claim 14 is characterized in that, The driving force of the rotation control unit is less than the effective force on the rotating ring. The auxiliary device for use with an endoscope as described in claim 14 is characterized in that, The rotation control unit further includes at least one rotation traction member, which includes a fixed section, a sliding section, and an operating section. The fixed section is fixed to the tip cap. The rotating ring includes a sliding hole, and the sliding section passes through the sliding hole. The sliding section is slidably engaged with the rotating ring, and the operating section is slidably engaged with the tip cap. The auxiliary device for use with an endoscope as described in claim 16 is characterized in that, The rotation control unit further includes a rotation drive unit. The rotation traction member is connected to the rotation drive unit in a ring-shaped manner. The rotation drive unit drives the operating segment to move proximally by rotation. The operating segment is configured to drive the sliding segment to slide relative to the rotating ring and drive the rotating ring to rotate around the tip cap. The auxiliary device for use with an endoscope as described in claim 16 is characterized in that, Each of the rotating traction members causes the rotating ring to have a rotatable state and a non-rotatable state; when the rotating ring is in the rotatable state, the sliding position of the sliding segment is outside the virtual connection between the fixed position of the fixed segment and the fulcrum position of the operating segment; when the rotating ring is in the non-rotatable state, the sliding position of the sliding segment is above the virtual connection between the fixed position of the fixed segment and the fulcrum position of the operating segment. The auxiliary device for use with an endoscope as described in claim 16 is characterized in that, The fixed section is located on the distal end of the rotating ring, and the operating section is located on the proximal end of the rotating ring; or, The fixed section is located on the proximal side of the rotating ring, and the operating section is located on the distal side of the rotating ring; or, Both the fixed section and the operating section are located on the distal end of the rotating ring; or, Both the fixed section and the operating section are located on the proximal side of the rotating ring. The auxiliary device for use with an endoscope as described in claim 16 is characterized in that, The fixed section is located on the tip cap and on the far side of the rotating ring, the sliding section is located at the position of the sliding hole, and the fulcrum of the operating section is located on the tip cap and on the near side of the rotating ring. The auxiliary device for use with an endoscope as described in claim 16 is characterized in that, In the circumferential direction of the tip cap, the angle between the fixed position and the fulcrum position of the operating segment is in the range of 0° to 20°. The auxiliary device for use with an endoscope as described in claim 16 is characterized in that, The rotating traction component includes a first rotating traction component and a second rotating traction component. The first rotating traction component is used to control the rotating ring to rotate in the forward direction, and the second rotating traction component is used to control the rotating ring to rotate in the reverse direction. The auxiliary device for use with an endoscope as described in claim 16 is characterized in that, The tip cap includes a first annular guide groove configured to limit the axial displacement of the rotating ring. The first annular guide groove includes a first sidewall and a second sidewall. The first sidewall is provided with a fixing portion for fixing the fixing segment. The first annular guide groove also includes a second sidewall, which includes a through hole that allows the operating segment to pass through. The through hole protrudes radially outward from the outer circumferential surface of the rotating ring. The auxiliary device for use with an endoscope as described in claim 23 is characterized in that, The first sidewall is detachably disposed on the tip cap, and a positioning member is disposed between the first sidewall and the tip cap, the positioning member being configured such that the fixing part is collinear with the through hole. The auxiliary device for use with an endoscope as described in claim 16 is characterized in that, The tip cap includes a through hole that allows the operating segment to pass through, and a positioning structure is provided in the through hole and / or the sliding hole. The positioning structure is configured to restrict the offset of the operating segment in the through hole and / or restrict the offset of the sliding segment in the sliding hole. The positioning structure includes a semi-partition sidewall or a full-partition sidewall provided on the inner wall of the through hole and / or the inner wall of the sliding hole. The auxiliary device for use with an endoscope as described in claim 16 is characterized in that, It also includes a first cannula accommodating the operating section and a second cannula for the passage of surgical instruments. The tip cap includes a first connecting portion connected to the first cannula. The rotating ring includes a second connecting portion, one end of the second cannula being connected to the second connecting portion, and the other end being used to connect to the surgical instruments. A docking structure is provided between the second connecting portion and the second cannula, the docking structure being configured to restrict the relative axial displacement between the second connecting portion and the second cannula, and to allow the second cannula to rotate about the axis of the second connecting portion. The endoscope includes a non-flexible section, and the axial length of the second connecting portion is less than or equal to the axial length of the non-flexible section. The auxiliary device for use with an endoscope includes a stabilizing mechanism disposed on the tip cap and / or the rotating ring, and configured to control the ratio of the effective force value to the driving force value of the rotating ring within a preset force value range. The auxiliary device for use with an endoscope as described in claim 26 is characterized in that, The drag-reducing element is configured to reduce the contact area between the rotating ring and the stabilizing mechanism and / or the tip cap. It includes a plurality of protrusion structures and a sliding surface that mates with the protrusion structures. One of the protrusion structures and the sliding surface is located on the rotating ring, and the other is located on the stabilizing mechanism and / or the tip cap. The auxiliary device for use with an endoscope as described in claim 27 is characterized in that, The stabilizing mechanism includes a limiting element configured to constrain the radial and axial relative displacements between the rotating ring and the tip cap; the limiting element includes a guide structure configured to guide the rotating ring to move along the circumferential direction of the tip cap; the guide structure includes a second annular guide groove, at least a portion of the rotating ring being embedded within the second annular guide groove, the second annular guide groove being configured to constrain the radial and axial relative displacements between the rotating ring and the tip cap. The auxiliary device for use with an endoscope as described in claim 28 is characterized in that, The rotating ring includes a fixed part, and the rotating control unit includes a rotating drive part and at least one rotating traction member. The rotating traction member includes a fixed section and an operating section. The fixed section is fixed to the fixed part on the rotating ring, and the operating section is connected to the rotating drive part. The rotating drive part is configured to control the rotating ring to rotate forward and / or reverse by pulling the operating section. The auxiliary device for use with an endoscope as described in claim 29 is characterized in that, The rotating ring includes an annular groove, the fixing part is disposed in the annular groove, and the rotation traction member is arranged along the annular groove; the annular groove is disposed in the stabilizing mechanism, and the stabilizing mechanism is configured to block the opening of the annular groove. The auxiliary device for use with an endoscope as described in claim 29 is characterized in that, The stabilizing mechanism includes a through hole, through which the rotational traction member extends to the rotational drive unit. The end face of the through hole and the fixing unit are both located on a preset cross-section, which is perpendicular to the rotation axis of the rotating ring. A surgical instrument, characterized in that, Includes an end-effector, the end-effector comprising: The first axis defines the axis of rotation; The second axis, along with the first axis, is located in a first direction, which is perpendicular to the rotation axis; and At least two clamping components are provided, the clamping components are connected to the first shaft and are rotatable about the rotation axis, and the clamping components are provided with a sliding groove that matches the second shaft, so that the clamping components can rotate according to the change of distance between the second shaft and the rotation axis along the first direction; When the starting point of the slide is at the second axis, the clamping component is in the open state; when the ending point of the slide is at the second axis, the clamping component is in the clamping state. The surgical instrument as described in claim 32 is characterized in that, The distance between the starting point and the axis of rotation is less than the distance between the ending point and the axis of rotation. The surgical instrument as described in claim 32 is characterized in that, Of the at least two clamping components, at least one clamping component has a groove comprising at least two groove segments, with adjacent groove segments deflected and at least one groove segment being a straight groove. Wherein, when the starting point is located at the second axis, the first groove segment in the slide corresponding to the second axis has a first included angle θ1 with the second direction, and the first included angle θ1 satisfies: 10°≤θ1≤70°; or / and, When the endpoint is at the second axis, the second groove segment in the slide corresponding to the second axis has a second included angle θ2 with the second direction. The second direction is perpendicular to the first direction and perpendicular to the second axis. The second included angle θ2 satisfies: 10°≤θ2≤70°. The surgical instrument according to claim 32 is characterized in that, The circumferential rotation angle γ between the starting point and the ending point relative to the rotation axis satisfies: 45° ≤ γ; or / and, The deflection angle β between any two adjacent groove segments in the groove satisfies: 140° < β < 180°. The surgical instrument according to claim 32 is characterized in that, The chute includes a first chute segment and a second chute segment, wherein the length of the first chute segment is greater than the length of the second chute segment. The surgical instrument according to claim 32 is characterized in that, The surgical instrument includes an operating handle, and a cup holder is provided at the distal end of the sheath. The operating handle includes an instrument control unit, and the instrument control unit includes an instrument traction member. One of the first shaft and the second shaft is connected to the cup holder, and the other is connected to the instrument traction member.

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