468 results about "Bronchoscopes" patented technology

The invention provides an airway navigation system and method based on a bronchoscope view, and the system comprises a reconstruction module which obtains a bronchial tree 3D mask through CT image reconstruction; the model building module is used for obtaining a three-dimensional virtual map model comprising a 3D bronchial tree according to the 3D mask of the bronchial tree; the path extraction module is used for extracting all possible navigation paths from the bronchus entrance to the target part based on the 3D bronchus tree; the path selection module is used for selecting one navigation path as a target navigation path; the navigation module is used for guiding the bronchoscope to move along a target navigation path in the three-dimensional virtual map model based on a visual guide path; and the navigation auxiliary module maps the identified real-time part corresponding to the bronchoscope to the 3D bronchial tree for matching so as to realize dynamic synchronization of the real-time part corresponding to the bronchoscope and the target navigation path. According to the invention, reliable and convenient navigation in a complex airway network can be realized, misoperation is effectively avoided, time is saved, and operation difficulty is reduced.

The invention discloses a method and system for assisting bronchus endoscope microscopic examination, electronic equipment and a storage medium. The method comprises the following steps: acquiring a bronchus endoscope examination image in real time; operating a first pre-trained classifier to classify the bronchus endoscopic examination image, wherein the bronchus endoscopic examination image comprises mark identification information used for identifying at least two inner cavities; in response to the classified bronchus endoscope examination image, obtaining an identification result of the bronchus endoscope examination image, and calling a state request for obtaining the microscopic examination condition of the bronchus endoscope; and feeding back the real-time microscopic examination condition of the bronchus endoscope according to the state request. According to the scheme, the current position of the bronchoscope can be intelligently identified by utilizing the bronchus tree model, so that a doctor is assisted in judging and updating the position of the bronchoscope, missing detection of a key position or wrong detection of other positions can be prevented, meanwhile, the microscopic examination operation level, the examination image quality and the like are evaluated in real time, and the operation efficiency is improved. Therefore, the reliability and the accuracy of bronchoscopy results are improved.

The utility model relates to a bronchoscope analog simulation device which comprises a lung mold and a throat mold, the throat mold comprises a shell and a glottis structure arranged in the shell, and the glottis structure is configured to simulate the glottis of a person and can be opened and closed according to a set program; an inlet allowing the insertion end of the bronchoscope to enter is formed in the top of the shell, an outlet allowing the insertion end of the bronchoscope to penetrate out is formed in the bottom of the shell, and the outlet in the bottom of the shell is communicated with a main air pipe of the lung mold. According to the invention, the insertion simulation operation process of the bronchoscope is realized and is closer to the actual operation environment.

Examples of such autonomous navigation, movement detection, and / or control include, but are not limited to, autonomous navigation of one or more portions of a continuum robot towards a particular target, movement detection of the continuum robot, Follow-The-Leader smoothing, and / or state change(s) for a continuum robot. Examples of applications include imaging, evaluating, and diagnosing biological objects, such as, but not limited to, for gastro-intestinal, cardio, bronchial, and / or ophthalmic applications, and being obtained via one or more optical instruments, such as, but not limited to, optical probes, catheters, endoscopes, and bronchoscopes. Techniques provided herein also improve processing and imaging efficiency while achieving images that are more precise, and also achieve devices, systems, methods, and storage mediums that reduce mental and physical burden and improve ease of use.

The invention discloses an image ranging system and method for a bronchus endoscope, and belongs to the field of image processing. The system mainly comprises an endoscope image acquisition module, an image preprocessing module, an image ranging module, a training module, a distance verification module and a data output module. The image preprocessing module performs size adjustment and distortion elimination on the acquired image data and integrates the image data into a data set; the image ranging module constructs a ranging model by using a convolutional neural network, inputs a data set into the stable ranging model trained by the training module to obtain a predicted value of a distance, and finally verifies and outputs a ranging result; the image ranging system adopts a small convolution kernel, a small number of convolution layers and image input of a specific size, is higher in fitting degree, lower in storage requirement and higher in calculation efficiency for a specified scene, can serve as a judgment condition for bending of the front end of a catheter, provides a research basis for a bronchoscope interventional operation path, and has a good application prospect. The accuracy of clinical diagnosis and treatment is improved.

This invention discloses a bronchoscope robot and its control method using a hybrid line / fluid drive system. The bronchoscope robot includes a feeding module, a driving module, and a bronchoscope module. The bronchoscope module is connected to the driving module, and the feeding module drives the driving module and the bronchoscope module to move. The driving module includes a fluid driving module and several line driving modules. The bronchoscope module includes a passive bending section, an active bending section, several lines, and a miniature camera. The fluid driving module controls the length of the active bending section by injecting or extracting fluid, while the line driving modules control the extension and retraction of the lines to control the bending angle of the active bending section. This invention controls the movement, extension, and bending of the bronchoscope through the feeding module and the driving module, improving the flexibility of the bronchoscope robot, meeting the needs of dealing with airways with different curvatures, ultimately successfully entering the distal airway, and ensuring safety during airway contact.

The invention provides a bronchoscope real-time auxiliary navigation method and device and electronic equipment, and relates to the technical field of medical instruments.The bronchoscope real-time auxiliary navigation method comprises the steps that bronchoscope historical motion data and bronchoscope real-time operation data are obtained; analyzing the historical motion data of the bronchoscope to obtain an airway key structure, and constructing an airway three-dimensional model; and comparing the real-time operation data of the bronchoscope with the three-dimensional model to generate a real-time virtual induction pipeline. According to the invention, real-time trajectory tracking and pipeline induction technologies are combined, and auxiliary navigation support is provided for bronchoscope operation.

The invention relates to the technical field of robot control and autonomous navigation, in particular to a bronchoscope robot autonomous control method based on deep reinforcement learning. Autonomous navigation of the bronchoscope robot is performed through a deep reinforcement learning training agent, pose data and picture data are acquired in real time by using an electromagnetic navigation technology and an endoscope camera, then data feature extraction and multi-modal data fusion are performed, the data are input to a reinforcement learning agent, and motion output is obtained through a deep network. And finally, three-degree-of-freedom control of the robot is realized. The method has a wide application prospect, and is particularly suitable for the fields of medical robot navigation, artificial intelligence operation assistance and the like. Position data are acquired through electromagnetic navigation, image data are acquired through an endoscope camera, and observation input of deep reinforcement learning is constructed by using a processing method of feature extraction and attention mechanism fusion.

The invention provides a visual bronchoscope device, and relates to the technical field of endoscope catheters. The visual bronchoscope device comprises a catheter body and a handle sleeve, an integrated imaging module is eccentrically arranged at the far end of the catheter body, the near end of the catheter body is connected with the handle sleeve, a sputum suction channel is formed in the catheter body, and a handle isolating membrane is further arranged on the imaging catheter; the integrated imaging module comprises a plurality of miniature LEDs and an ultra-miniature CMOS image sensor; the device further comprises a handle and a computer, and the computer comprises an image processing unit which is used for receiving original image data from the integrated imaging module, performing image processing on the original image data and displaying an image processing result on the display screen. The kit can be used for auxiliary diagnosis of lung diseases.

A two-stage method for guiding an endoscope and second device toward a target destination near the ROI includes navigation and localization. The endoscope is navigated near the vicinity of the ROI according to a pre-procedure plan. When the ROI location is reached, the second device's tip is pushed far enough through the endoscope so that its tip is outside the endoscope and in the endoscope's video view. Then a two-phase registration mechanism is used: i. Phase 1: Align the endoscope by registering the endoscope's video to a virtual bronchoscope's simulated video stream; ii. Phase 2: Align the second device by registering the second device's shape in the endoscope's video to a virtual second device model.

The invention discloses a disposable balloon catheter with an opening and closing function, which belongs to the technical field of medical instruments and comprises a balloon, a balloon cavity and a catheter. The balloon is arranged on the outer side of the balloon cavity, and a water inlet communicated with the balloon is formed in the side wall of the balloon cavity; one end of the catheter is detachably connected with the balloon cavity and is used for filling water into the balloon; a valve structure for controlling water feeding and discharging is arranged in the balloon cavity; the catheter is of a double-layer structure, and a piston mechanism is arranged at the upper end of the inner-layer catheter and used for abutting against the valve structure to be communicated with the normal saline channel of the balloon. And a fixed balloon body is arranged between the upper end of the outer-layer catheter and the upper end of the inner-layer catheter and is used for butt joint of the catheter and the balloon cavity and conveying normal saline into the balloon. The catheter and the balloon cavity which are detachably connected are arranged, so that the balloon catheter is rapidly placed in a bleeding bronchial lumen through the bronchoscope during treatment, compression or blocking hemostasis is achieved, and discomfort and injury caused by long-time retention of the bronchoscope and the catheter in the airway of a patient are reduced.

The invention discloses a winding control mechanism, a control method thereof and a bronchoscope surgical robotic.The winding control mechanism comprises an assembly base, a plurality of winding wheels, a plurality of driving parts, a catheter and a bending unit, and the winding wheels are arranged on the assembly base; a transmission shaft of the driving part is in butt joint with the reel, and the driving part is used for driving the reel to rotate; one end of the guide pipe is connected with the assembling base, and the bending unit is arranged at the other end of the guide pipe. A plurality of traction ropes arranged at intervals in the radial circumferential direction of the guide pipe are arranged in the guide pipe, one end of each traction rope is wound around the reel, and the other end of each traction rope is connected with the bending unit. The winding control mechanism is used for the surgical robot, the multiple driving parts drive the winding wheel to rotate so as to pull the traction rope, the bending action of the bending unit can be automatically completed, and the control precision can be improved.

The invention relates to the technical field of medical information processing, in particular to a path planning device of a bronchoscope. Firstly, multi-modal medical image data of a plurality of breathing phases of a patient are collected through a construction module, and a three-dimensional model containing a focus, a bronchus and an accompanying blood vessel is generated. Then, the three-dimensional model is loaded to AR display equipment, AR virtual dissection is carried out on the three-dimensional model through a virtual dissection module based on the target operation instruction until the transparency of the focus reaches the set transparency, and a dissection model corresponding to the three-dimensional model is obtained. An initial path is then generated in the anatomical model based on a preset security constraint. Finally, the initial path is dynamically updated through a dynamic planning module in combination with the real-time breathing phase, and a target path is obtained. According to the invention, a focus shielding blind area is broken through, the target fine bronchial segment shielded by the focus is visually presented, and the operation precision and safety of the bronchoscope are improved.

The invention discloses an intelligent bronchial endoscope focus detection method, computer equipment and a storage medium. The intelligent bronchial endoscope focus detection method comprises the steps that real, reliable and diversified bronchial endoscope examination images are collected; through data preprocessing, labeling and data division, a bronchial focus detection data set is constructed; an efficient bronchial focus detection network is constructed, and improvement is carried out through multiple attention mechanisms and a convolution module; designing a loss function and training the network to obtain an optimized bronchial focus detection model; and performing focus detection on the acquired image in the real-time bronchoscopy video, and displaying a result. Based on the deep learning technology, the deep neural network model is trained to carry out precise focus type detection on the bronchial endoscope image, real-time bronchial lesion prompt information is provided for endoscope operators, the lesion omission problem during bronchial lesion examination is effectively relieved, the bronchoscopy process is standardized, the endoscope examination quality is improved, and the bronchial lesion detection efficiency is improved. And the workload of operators is reduced.

A method for automatic registration of a robotic endoscopic instrument is provided. The method includes: (a) generating a first transformation between an orientation of the robotic endoscopic instrument and an orientation of the position sensor based at least in part on a first sensor data set acquired using the position sensor; (b) generating a second transformation between a coordinate system of the robotic endoscopic instrument and a coordinate system of the model representative of the anatomical lumen network based at least in part on the first transformation and the second set of sensor data; and (c) updating the second transformation using an update algorithm based at least in part on the third sensor data set.

The utility model relates to the technical field of throat ventilation medical treatment, in particular to an inflation extension type oropharynx airway which comprises an oropharynx ventilation part and a telescopic inflation extension part connected with the tail end of the oropharynx ventilation part, the inflation extension part is connected with an inflation catheter, and the inflation catheter is placed along the pipeline wall of the oropharynx ventilation part. The inflatable extension type oropharyngeal airway is used in cooperation with an existing fiber bronchoscope through the inflatable extension piece, the glottis direction of a patient can be accurately found, and the definite operation guiding effect on auxiliary ventilation, auxiliary medicine injection and suction of secretions around the glottis is achieved; the technical problem that secretions around the glottis and in the trachea cannot be effectively removed through an existing oropharyngeal airway is solved.

The invention relates to a double-channel lung lesion biopsy robot and a control method, and relates to the technical field of surgical instruments / minimally invasive surgery robots, the double-channel lung lesion biopsy robot comprises a first positioning mechanical arm, a second positioning mechanical arm, a first instrument driving mechanical arm, a second instrument driving mechanical arm, a bronchoscope and a puncture needle, the first positioning mechanical arm and the first instrument driving mechanical arm are used for automatically or manually positioning the bronchoscope to the focus position, and the second positioning mechanical arm and the second instrument driving mechanical arm are used for controlling the puncture needle to implement puncture biopsy through the chest wall. The problem that an existing surgical robot technology cannot be completely suitable for the whole lung when applied to lung lesion biopsy is solved, two biopsy channels are planned at the same time in a unified preoperative planning mode, and image data information obtained through a bronchial channel is used for focus position correction; and an integrated double-arm structure and a seamless switching control mode are designed, so that biopsy of the whole lung focus is completed more accurately in a one-stop mode.

The utility model relates to the technical field of bronchoscope examination covers, and discloses a bronchoscope examination cover with a sealing structure, which comprises an examination cover body, a sealing mechanism, a moisture absorption mechanism and a protective sleeve, the sealing mechanism comprises a first circular ring, an air bag, a first arc-shaped plate, a second arc-shaped plate, a fixing plate and a second hand pulling plate, a first reset spring is fixedly arranged in the middle of the end face of the rear side of the fixing plate, a first hand pulling plate is fixedly arranged on the end face of the rear side of the first reset spring, and a second reset spring is fixedly arranged between the second hand pulling plate and the first arc-shaped plate. According to the novel bronchoscope examination cover, the air bag is attached to the surface of a bronchoscope by inflating the air bag, the sealing performance of the examination cover is improved, dirt is prevented from flowing out of a gap, water in exhaled air can be absorbed by arranging activated carbon, water vapor is prevented from being attached to the surface of the examination cover body, and the examination cover is convenient to use. And the interior of the inspection cover body can be conveniently observed.

The invention relates to a navigation method and device of a bronchoscope and a storage medium. The navigation method relates to the technical field of medical information processing. The mapping library is constructed based on the dynamic tomographic image, and the target bifurcation point identifier corresponding to the target bifurcation point is determined based on matching of the multi-modal data of the target bifurcation point and the mapping library in the process that the bronchoscope advances along the initial path. And then, determining a target AR mark corresponding to the target bifurcation point identifier based on the mapping library, and superposing the target AR mark in the visual field of the bronchoscope through AR display equipment, so as to intuitively present the position mark, the feature mark, the risk mark, the path mark and other multi-modal parameters of the bifurcation point. And finally, on the basis of a position deviation value between the mark position of the target AR mark monitored in real time and the positioning data, updating the target multi-modal feature corresponding to the target bifurcation point identifier in the mapping library in real time. In conclusion, the accuracy and safety of bronchoscope navigation are improved.

The invention discloses an image registration method and system based on virtual bronchoscope navigation, and the method comprises the steps: generating a navigation path of a target nodule through lung segment segmentation according to the target nodule and a preset bronchus three-dimensional model; collecting a real-time image at a preset sampling point in the navigation path by moving a bronchoscope, and converting the real-time image into a depth map; and registering the depth map and the bronchus three-dimensional model through a rough matching method and a fine matching method to obtain a registration result. The position of the bronchoscope is adjusted through image matching, accurate navigation of the bronchoscope is achieved, and the operation cost is reduced.

The utility model discloses a rigid support bronchoscope capable of ventilation, belonging to the technical field of rigid bronchoscopes, comprising a tube body and an operating head, an operating channel is provided inside the tube body, an operating hole is provided in the middle of the operating head, a ventilation tube is provided inside the tube body on one side of the operating channel, an air guide tube is provided inside the operating head, an air bag is fixedly sleeved on the surface of the tube body, an inflation tube is provided inside the tube body on the other side of the operating channel, an air inlet tube is provided inside the operating head, an inflation ball is fixedly connected to the other end of the air inlet tube, a connecting head is provided at one end of the tube body, a connecting groove is provided at one end of the operating head, clamping grooves are provided on both sides of the connecting head, and clamping components are provided on both sides of the connecting groove; the tube body and the operating head can be disassembled through the cooperation of the connecting head, the connecting groove, the clamping groove and the clamping component, so that they can be cleaned and disinfected separately, and the use is convenient.

The utility model relates to the technical field of bronchoscopes, and particularly discloses a magnetic navigation bronchoscope which comprises a bronchoscope used for medical detection and a cleaning assembly arranged at one end of the bronchoscope. The bronchoscope comprises an operation part and a bending part, and a front end part is arranged at one end of the bending part and used for detecting a focus; a cleaning assembly is arranged at one end of the front end part and is used for cleaning the front end part; according to the utility model, the bent part and the front end part are matched with the operation part, so that the use of medical personnel can be facilitated, and the cleaning assembly arranged at the front end part is matched, so that the glass cover protecting the outer side of the lens can be cleaned under the condition that mucus and secreta are adhered to the lens in use, and the use is convenient. Meanwhile, the cleaning process is carried out in vivo, so that the detection effect can be improved, the problem of in-vivo use cannot be caused, and the use requirement is met.

The invention discloses a remote control visual fiberoptic bronchoscope device, and belongs to the technical field of medical instruments, the remote control visual fiberoptic bronchoscope device comprises a bedstead, and further comprises a supporting device, an adjusting device, a clamping driving device and a cleaning device, the supporting device is installed on the left side of the bedstead, and the adjusting device is installed on the right side of the supporting device; the clamping driving device is installed on the upper side of the adjusting device, the multiple cleaning devices are installed on the lower side of the adjusting device, the clamping driving device comprises a sliding rod, a guide wheel, a sliding support, a tension spring, an auxiliary wheel and a gear motor, the sliding rod is slidably connected to the right side of the adjusting device, and the guide wheel is rotatably connected to the right side of the sliding rod through a rotating shaft; the sliding support is slidably connected to the middle side of the sliding rod. By means of the mode, the visual fiber bronchoscope can be operated by a single person to conduct various complex operations, synchronism is improved through single-person operation, the treatment efficiency is improved, and pre-cleaning of an insertion tube can be assisted.

The invention discloses a bronchoscope cleaning and tracing intelligent management system and method based on the Internet of Things technology, and relates to the technical field of medical equipment. The invention discloses a bronchoscope cleaning and tracing intelligent management system based on the Internet of Things technology. The bronchoscope cleaning and tracing intelligent management system comprises a cleaning data collection module, a cleaning data reverse analysis module and a cleaning data backtracking module. By setting the cleaning equipment set and the cleaning operation model, comprehensive monitoring and data collection of the bronchoscope cleaning process are realized, the accuracy and efficiency of cleaning work are improved, and cleaning judgment is performed through dense connection of the model and a twin network; the analysis capability of the cleaned sample is enhanced, and a cleaning feedback result is obtained through multi-scale feature extraction; the traceability of the cleaning data is realized, the cleaning data and the feedback result are stored in the database, management and query are facilitated, and continuous monitoring and improvement of the cleaning quality are ensured.

The invention relates to the technical field of medical examination, and discloses a guiding device for a bronchoscope, which comprises two symmetrically arranged tooth sockets, a length-adjustable connecting rod connected to the close sides of the two tooth sockets, a separation blade rotatably connected to the inner side of the lower tooth socket, and a linkage rod arranged between the separation blade and the upper tooth socket, the angle of the separation blade is adjusted in real time through the linkage rod in the process of adjusting the distance between the two tooth sockets; a guide cylinder for the bronchoscope assembly to penetrate through is connected to the center of the upper surface of the separation blade, one end of the guide cylinder is hinged to the upper surface of the separation blade, and the other end of the guide cylinder is in sliding connection with the upper surface of the separation blade so as to adapt to movement of the bronchoscope assembly in the airway; a clamping piece for clamping a bronchoscope assembly is arranged at the center of an inner cavity of the guide cylinder, the clamping piece can clamp bronchoscope sets of different sizes, the oral cavity of a patient can be supported through the two symmetrically-arranged tooth sockets, occlusion of the bronchoscope assembly between the upper jaw and the lower jaw of the patient is avoided, and the bronchoscope assembly can be conveniently and rapidly supported. Meanwhile, the blocking piece can block the tongue of the patient, so that the airway of the patient is better exposed at the opening of the guide cylinder, and the whole bronchoscope assembly can be conveniently inserted.

The invention relates to the technical field of medical robots, in particular to a shape sensing type bronchoscope robot control method, which comprises the following steps of: acquiring a tail end shape coordinate of a bronchoscope in a current bending state, and constructing a current bending state model of the bronchoscope; robot joint angle vectors are obtained through deformation state data collected in real time; according to the robot structure model, constructing a robot model in the current bending form; respectively constructing a bending part spring model and a joint spring model based on the stress conditions of the tail end control point and the bending part control point; lateral pressure borne by the bending part and the tail end of the bronchoscope in the current bending posture is collected and processed; self-adaptive control is realized based on the target control quantity; the shape of the bronchoscope is sensed in real time through multiple sensors, mechanical analysis is carried out in combination with a spring model, multi-strategy self-adaptive control is achieved, the accuracy, safety and efficiency of bronchoscope operation are improved, and powerful technical support is provided for bronchoscope examination and minimally invasive surgery.

The invention discloses a special-shaped probe multi-point refrigerating system for bronchoscope cryopreservation, and relates to the technical field of medical instruments, the special-shaped probe multi-point refrigerating system mainly comprises a probe, an air pressure sensing execution sleeve and a wireless computer control system, the special-shaped probe on the probe is provided with four dome cylindrical protruding parts, the middle of the special-shaped probe is sunken, and five capillary tubes are arranged in the probe; the five point refrigeration areas correspond to the convex part and the concave part of the special-shaped probe respectively, so that the five point refrigeration areas are independent; an initial pressure value required by pressure reduction and heat absorption of high-pressure gas is calculated, a wireless signal is transmitted by a computer control system, and then the five air pressure sensing execution sleeves release corresponding pressure, so that the temperature of different point positions on the special-shaped probe is different. Meanwhile, the provided multi-point refrigeration system achieves independent adjustment of the temperatures of different point positions in the probe, prevents the probe from touching and frostbite surrounding healthy tissues by mistake, and has a good clinical application prospect.

The invention provides a quick replaceable bronchoscope interventional operation robot. The quick replaceable bronchoscope interventional operation robot comprises a base, a bronchoscope structure, a driving device, a first supporting part and a second supporting part, the driving device is fixed on the base, one end of the bronchoscope structure is connected with the driving device, the first supporting part is connected with the bronchoscope structure, one end of the second supporting part is connected with the base, and the other end of the second supporting part is connected with the first supporting part; the bronchoscope structure comprises a bronchoscope which is arranged in a first supporting part in a penetrating manner; the shell is used for opening or closing the bronchoscope structure; a through hole is formed in the shell, is communicated with the bronchoscope and is used for introducing external normal saline into the bronchoscope. The bronchoscope structure is stably supported through the base, the first supporting part and the second supporting part, external normal saline can be introduced into the bronchoscope through the through hole in the shell, the bronchoscope can be flushed in time, it is guaranteed that the visual field of the bronchoscope is clear, and the precision and safety of an operation are improved.

In some embodiments, there may be provided methods, systems, and articles of manufacture for a cuff device configured to be coupled to a rigid bronchoscope. The cuff device may include a first hollow tube comprising a proximal port and a distal port, the proximal port sized with an inner diameter that slides and couples to an exterior surface of a second hollow tube portion of the rigid bronchoscope; a balloon circumscribing at least a portion of the first hollow tube, wherein the balloon is configured to have at least two modes a deflated mode and an inflated mode; and a pilot apparatus comprising a pilot balloon and pilot tubing for inflating the balloon.

The invention discloses a universal soft endoscope system which comprises a reusable handle, and a threaded connector is arranged at the front end of the handle and used for being connected with a disposable soft endoscope consumable assembly. The threaded connector extends outwards to be provided with a flexible camera sleeve, and the end of the flexible camera sleeve is connected with a reusable camera assembly through a snake bone assembly. At least one group of traction assembly is arranged in the handle and is used for driving the camera assembly to steer; the camera assembly is electrically connected to the control device, and the control device is used for processing image signals collected by the camera assembly and / or controlling the traction assembly to achieve steering of the camera assembly. The disposable flexible lens consumable assembly is one of a disposable gastroscope consumable assembly, a cystoscope consumable assembly or a bronchoscope consumable assembly and a ureteroscope consumable assembly. The problems that an existing soft endoscope is high in cost, use convenience and safety are insufficient, and performance is difficult to guarantee are solved, cost is reduced, and meanwhile performance and use safety are improved.