65 results about "Flexible ureteroscopy" patented technology

The negative pressure flexible ureteroscope sheath with the front end actively bent and telescopic comprises a sheath tube body, an operation channel is formed in the sheath tube body, an operation channel connector is fixed to the rear end of the sheath tube body, and a negative pressure suction connector communicated with the operation channel is fixed to one side of the rear end of the sheath tube body; the sheathing canal body is integrally formed by a telescopic bending section and a straight pipe section, pneumatic telescopic bending adjusting mechanisms are arranged on the upper side, the lower side, the left side and the right side of the telescopic bending section, and a pneumatic telescopic bending control mechanism is arranged at the rear end of the sheathing canal body. The front end of the flexible ureteroscope sheath can be telescopically adjusted and can be bent in multiple directions, the sheath tube can be telescopically adjusted at the rear end and is extremely easy and convenient to operate and adjust, and the sheath tube can increase the trafficability of calculi at the upper section of the ureter and prevent the ureter from being damaged.

The invention relates to the technical field of medical instruments, in particular to a flexible ureteroscope used in cooperation with a diameter-variable ureteroscope sheath, which comprises a ureteroscope sheath body and a flexible ureteroscope body, the ureteroscope sheath body comprises a deformation section and a support section, the deformation section has a first form and a second form, and the flexible ureteroscope body comprises a handle section and a ureteroscope tube section. The endoscope tube section comprises a first tube body part and a second tube body part, a fixing groove is formed in the first tube body part, and the outer diameter of the deformation section in the first form is smaller than or equal to the outer diameter of the first tube body part; the inner diameter of the deformation section in the second form is greater than the outer diameter of the first pipe body part; a first liquid injection channel is further arranged in the endoscope tube section, and a first liquid outlet hole is formed in the fixing groove. Compared with the prior art, in the operation of expanding the human body ureterostenosis section by the deformation section, a stenosis ring in the human body ureterostenosis section does not need to be broken by supporting, so that the injury to the human body ureter in the ureteroscope lithotripsy is effectively reduced, and the postoperative pain of a patient is reduced.

The present invention seeks to protect a renal pelvic pressure monitoring device, which includes a ureteroscope, an operation channel is provided in the ureteroscope, the ureteroscope is used to enter the renal pelvis from the ureter, a pressure detection ring is arranged around the outer wall of the ureteroscope, a pressure measuring channel is provided on the pressure detection ring, a pressure measuring pipe is arranged in the pressure measuring channel, one end of the pressure measuring pipe is flush with the pressure measuring channel, and the other end extends outside the body and is connected to the pressure detector, and a fixing bag is arranged around the outer wall of the pressure detection ring, and the fixing bag is used to fix the position of the ureter. In summary, the above technical scheme has the following beneficial effects: the ureteroscope is consistent with the existing surgical soft mirror, and has functions such as lighting, lithotripsy and liquid injection. The pressure detection ring on the ureteroscope can detect the pressure after the liquid is injected into the renal pelvis, and then the pressure in the renal pelvis can be further adjusted by adjusting the injection speed and injection amount through the ureteroscope.

The invention discloses a prediction method for kidney stone prognosis based on CT imaging omics, and relates to the field of medicine. Comprising the following steps that CT images and clinical data are collected, retrieval is conducted through a hospital medical record system, clinical information is collected, and the CT images are scanned through a scanner; cT image processing and feature extraction are carried out, calculus areas are sketched layer by layer on all cross sections of the CT image, information is recorded, and then feature extraction is carried out; and image omics feature screening and model construction: extracting image omics features from each original CT image. According to the method, CT image features and clinical prediction factors are combined, a clinical-image omics model is developed and verified, a repeatable, non-invasive, non-invasive and safe preoperative prediction method is provided, the calculus removal success rate of a kidney stone patient after flexible ureteroscope lithotripsy can be accurately evaluated, and the calculus removal success rate of the kidney stone patient after flexible ureteroscope lithotripsy is improved. And a clinician can be assisted to make a clinical decision and implement precise medical treatment.

The invention provides a flexible ureteroscope surgical robot and a supporting mechanism thereof. The supporting mechanism comprises a telescopic device which comprises a fixing part connected with a cantilever mechanism of the flexible ureteroscope surgical robot; the sliding piece is arranged on the fixed piece in a sliding and penetrating mode, and a plurality of positioning holes are formed in the sliding piece; the locking part is connected with the fixed part and arranged on the sliding part in a sleeving mode, the locking part comprises a locking column, and the locking column is inserted into the positioning hole through operation so that the sliding part can be prevented from sliding in the fixed part or the locking column can be separated from the positioning hole so that the sliding part can slide in the fixed part; one end of the clamping device is connected with the sliding part, and the other end of the clamping device is connected with a sheath of the flexible ureteroscope.

The flexible ureteroscope device comprises a flexible ureteroscope body and a sheathing canal body used for supporting the urethra to form a passage for the flexible ureteroscope body to enter, the flexible ureteroscope body comprises a miniature camera used for imaging and a holmium laser optical fiber used for cutting stones, a guide groove and a positioning groove are formed in the outer wall of the flexible ureteroscope body, and the guide groove and the positioning groove are communicated with each other. A balloon is connected into the sheath tube body and used for being matched with the flexible lens body to expand a narrow urethra area, a cross air pipe is fixedly connected to the outer side of the sheath tube body and used for injecting air into the balloon, a bearing seat is axially connected to the outer side of the sheath tube body in a sliding mode, and an adjusting assembly is connected into the bearing seat and used for driving the sheath tube body to move automatically. The adjusting assembly comprises a pressure sensor used for detecting the pressure in the ureter. According to the technical scheme, the operation cost is reduced, the operation period is shortened, and the stability of the operation process is improved.

The invention provides a flexible ureteroscope surgical robot and a bending device thereof. The bending device comprises a supporting frame, one end of the supporting frame is connected with a cantilever mechanism of the flexible ureteroscope surgical robot, and the other end of the supporting frame is connected with the flexible ureteroscope; the deflection driving part comprises a driving assembly connected with the supporting frame; one end of the transition piece is connected with the driving assembly, the other end of the transition piece is connected with a bending knob of the flexible ureteroscope, and the driving assembly drives the transition piece to drive the bending knob to rotate, so that the tip end of the flexible ureteroscope is bent.

The invention provides a flexible ureteroscope surgical robot and an optical fiber delivery device thereof. The optical fiber delivery device comprises a delivery base connected with a cantilever mechanism of the flexible ureteroscope surgical robot; a driving wheel; a driven wheel; the optical fiber driving part penetrates through the delivery base to be connected with the driving wheel so as to drive the driving wheel to rotate; and the control assembly is connected with the driven wheel and is configured to enable the driven wheel to be far away from or close to the driving wheel by operating the control assembly, so that the optical fiber is allowed to freely penetrate through the flexible ureteroscope between the driving wheel and the driven wheel, or the optical fiber is driven to move in the flexible ureteroscope based on the friction force between the driven wheel and the driving wheel.

The present invention relates to the technical field of medical surgical instruments, and particularly relates to a flexible ureteroscope, which includes an operating handle. A toggling member for controlling the bending direction and angle of the flexible ureteroscope is provided on the operating handle. The toggling member is rotatably connected to the operating handle. An angle indicating device is provided on the operating handle, and the angle indicating device is located on one side of the toggling member. By providing an angle indicating device on the operating handle and adjusting the toggling member to make the pointer correspond to different values on the angle indicating device, the bending state of the flexible ureteroscope inside the body can be obtained based on the data of the flexible ureteroscope outside the body. This enables the operation and learning of the flexible ureteroscope to be based on data and have a quantifiable standard to execute, increases the convenience during the surgical process, reduces the surgical difficulty, and shortens the learning curve of the flexible ureteroscope surgery.

The utility model belongs to the technical field of medical instruments, and particularly relates to a flexible ureteroscope guide sheath with an adjustable bending angle, which comprises a bendable sheath tube, a channel for a flexible ureteroscope to go in and out is arranged in the sheath tube, a guide sheath joint is arranged at the rear end of the sheath tube, and an adjusting structure for adjusting the bending angle of the sheath tube is arranged on the guide sheath joint. The adjusting structure comprises a first pull wire, a second pull wire and an adjusting rotating block, one end of the first pull wire and one end of the second pull wire are symmetrically connected to the inner wall, close to the front end, of the sheathing canal, and the adjusting rotating block is rotationally connected with the guiding sheath connector. The other ends of the first pull wire and the second pull wire extend into an inner cavity of the guide sheath connector and are connected with the part, extending into the guide sheath connector, of the adjusting rotating block, the bending angle of the sheath tube can be adjusted by rotating the rotating part leftwards and rightwards, the operation direction of the guide sheath is consistent with the specific adjustment direction, operation is visual, and operation is convenient. The probability that the sheathing canal is reversely adjusted can be reduced to a certain extent, so that the operation safety is improved.

The utility model relates to a negative pressure suction sheath kit for a ureter. The negative pressure suction sheath kit comprises an outer sheath, a first inner core and a second inner core, the outer sheath is provided with a sheath tube and a connector tube connected to the rear end of the sheath tube, the sheath tube comprises a base tube section and a flexible tube section connected to the front end of the base tube section, a joint part is formed at the rear end of the connector tube, a negative pressure tube communicated with the operation channel is formed on the side portion of the connector tube, and a negative pressure adjusting structure is arranged on the negative pressure tube. The first inner core is provided with a first core tube made of a hard material, a rotary buckle joint used for fixing the flexible ureteroscope and a first involution buckle joint used for being buckled and fixed with the joint part of the outer sheath, and when the first inner core is inserted and fixed in the outer sheath, the front end of the flat head of the first core tube is flush with the front end of the flexible tube section. And the second inner core is provided with a second core tube and a second involution buckle joint used for being buckled and fixed with the joint part of the outer sheath, and when the second inner core is inserted and fixed in the outer sheath, the conical front end of the second core tube extends out of the front end of the flexible tube section. The external member is more convenient to operate, and the outer sheath can be placed in place.

The invention provides a sorbitol and mannitol flushing fluid for urinary surgery. The invention relates to a freeze-dried powder injection, which comprises 20 to 50 grams of sorbitol, 10 to 30 grams of mannitol, 5 to 10 grams of sodium bicarbonate and 0.5 to 2 grams of sodium citrate in every 1000 milliliters of the freeze-dried powder injection, and the pH value of the freeze-dried powder injection is adjusted to 7.2 to 7.4. The preparation method comprises the following steps: heating distilled water to 80 DEG C, sequentially adding the components, continuously stirring until the components are completely dissolved, cooling to room temperature, fixing the volume to 1000ml, adjusting the pH value by using a 5mol / L sodium hydroxide solution, finally sterilizing by using a 0.22-micron microporous filter membrane, and packaging in a sterilized glass bottle. The flushing fluid can effectively dissolve blood clots, stones and necrotic tissues in an operation field by utilizing the high osmotic pressure characteristics of the sorbitol and the mannitol, so that the operation field is kept clear. The flushing fluid disclosed by the invention shows an excellent flushing effect and good safety in urinary surgery operations such as transurethral bladder tumor electrocision, flexible ureteroscope calculus removal and the like.

The utility model belongs to the technical field of medical auxiliary instruments, and particularly relates to a flexible ureteroscope sheath fixing device which comprises a first clamp, a vertical frame, a supporting cantilever, a second clamp and a detachable fixator, the first clamp is used for being clamped with an operating bed, the vertical frame is fixedly connected with the first clamp through the detachable fixator, and the supporting cantilever is fixedly connected with the second clamp through the detachable fixator. The supporting cantilever is fixedly connected to the upper end of the vertical frame through the detachable fixator, the second clamp is fixed to the tail end of the supporting cantilever through the detachable fixator, the second clamp is used for clamping the flexible ureteroscope sheath, and the flexible ureteroscope sheath fixing device can be clamped with an operating bed to support the flexible ureteroscope sheath. The flexible ureteroscope sheath is used for replacing a doctor to hold the flexible ureteroscope sheath, so that the operation difficulty of an operation can be reduced, the probability of misoperation is reduced, and the operation quality is improved.

The invention provides a flexible ureteroscope surgical robot and a feeding mechanism thereof. The feeding mechanism comprises a feeding driving device which is arranged in a cantilever mechanism of the flexible ureteroscope surgical robot; the feeding driving device is connected with the first end of the driving rod so as to drive the driving rod to rotate relative to the cantilever mechanism; the first end of the driven rod is rotationally connected with the second end of the driving rod, and the second end of the driven rod is connected with a flexible ureteroscope; wherein the included angle between the driving rod and the driven rod is two times of the included angle between the driving rod and the vertical direction, and the included angle between the driving rod and the vertical direction is equal to the included angle between the driven rod and the vertical direction, so that the flexible ureteroscope is driven to move in the horizontal direction.

The application relates to the technical field of surgical intelligent assistance, and relates to an auxiliary analysis system for ureteroscopy and a storage medium. A computer readable storage medium stores a computer program, the computer program comprises program instructions, and the program instructions enable a processor to execute the following steps when the program instructions are executed by the processor: using a medical detection device to perform preoperative examination on a patient for ureteroscopy to obtain preoperative detection information; obtaining a multi-feature fusion image according to the preoperative detection information; introducing a light emission mechanism and a model rendering method to combine the preoperative detection information and the fusion image to construct a three-dimensional model and obtain a three-dimensional simulation model of the patient; and formulating a ureteroscopy scheme based on the preoperative detection information, the multi-feature fusion image and the three-dimensional simulation model to realize surgical auxiliary analysis and guarantee surgical safety. The application forms a closed loop of preoperative examination, information analysis, model construction and scheme formulation, realizes intelligent surgical assistance, and improves surgical safety and success rate.

The utility model belongs to the technical field of urinary endoscopes, and particularly relates to a wireless flexible ureteroscope convenient to operate, which comprises a handle shell, one end of the handle shell is connected with a spherical handle shell, one end of the handle shell is connected with a fixed rubber sleeve, one end of the fixed rubber sleeve is provided with a flexible insertion tube, and the other end of the fixed rubber sleeve is provided with a threaded rod. A flexible insertion tube is arranged in the handle shell, a lens is arranged at one end of the flexible insertion tube, the outer wall of the handle shell is connected with a mounting seat, a spring is arranged in the mounting seat, and the end part of the spring is connected with a movable block. When a user places the wireless flexible ureteroscope, the wireless flexible ureteroscope can be hung at a high position through the C-shaped hanging frame, so that the insertion end is prevented from making contact with a table top, and the user can operate the wireless flexible ureteroscope more conveniently.

This invention relates to the field of ureteroscopic surgery technology, providing a disposable flexible cystoscopic, pyelonephric, and ureteroscopic system with intelligent temperature and pressure control functions. The system includes a disposable flexible endoscope body and an intelligent temperature and pressure control unit. The disposable flexible endoscope body includes a mid-section flexible insertion tube, a distal sensing lens tip, and a proximal operating handle. The distal sensing lens tip integrates an in-situ temperature and pressure measurement sensor, a miniature imaging module, an illumination fiber optic bundle, an instrument operating channel outlet, an irrigation channel outlet, and a suction channel outlet. Precise real-time monitoring is achieved through the in-situ temperature and pressure sensor at the tip, combined with dual-channel closed-loop control, keeping renal pelvic pressure fluctuations and temperature errors within a safe range, thus reducing the risk of infection and thermal damage at the source. The integrated structure eliminates the need for a pressure measuring sheath, resulting in less trauma and lower cost. Furthermore, the fully automated control significantly shortens the learning curve, greatly improving safety and practicality.

The utility model discloses a ureteral flexible mirror belongs to medical instrument technical field, including handle shell, one end of handle shell is rotatively connected with joint, the outside fixed connection of joint has mirror body sleeve, the other end fixed connection of handle shell has first channel pipe, the end of first channel pipe is communicated with first sheath pipe channel, first sheath pipe channel sets up inside handle shell, the inside fixed connection of handle shell has connecting block, and one end of first sheath pipe channel is inserted in the inside of connecting block, the utility model discloses a first channel pipe and second channel pipe are set up, better satisfy clinical treatment demand, when perfusion physiological saline maintains clear vision and operation space, another channel carries out operation, guarantees operation visual field clear, avoids the tissue damage because of visual field fuzzy, improves the operation convenience, solved the single problem of existing ureteral flexible mirror working channel.

The utility model relates to the field of flexible ureteroscope sheaths, in particular to a flexible ureteroscope sheath capable of being contracted and adjusted. The flexible ureteroscope sheath is inconvenient to contract and adjust in the use process, the length of the flexible ureteroscope sheath cannot be adjusted according to different lengths of the urethra and the ureter of a patient in the use process, the flexible ureteroscope sheath cannot adapt to physiological structure changes of different patients, and the use convenience of the flexible ureteroscope sheath is reduced; the sheath of the flexible ureteroscope is too long and is not beneficial to surgical operation control, if the sheath is too short, the flexible ureteroscope cannot smoothly reach the joint of the pelvis and the ureter, and the flexible ureteroscope cannot reach the target calculus position of the pelvis and the renal calyx along the sheath, so that the surgical operation fails; meanwhile, due to the fact that the flexible ureteroscope sheath is not matched with the urethra and the ureter in length, potential operative complications such as damage to ureter mucosa by the edge of the far end of the sheath exist; and meanwhile, the flexible ureteroscope sheath cannot be detached after being used, is inconvenient to store, transport and disinfect and is easy to damage, so that the clinical use cost is increased.

The utility model discloses an anti-injury flexible ureteroscope leading-in sheath, which belongs to the technical field of medical instruments and comprises an outer sheath, an inner core is movably connected to the inner wall of the outer sheath, the outer wall of the outer sheath is connected with the inner wall of a connecting piece, the bottom of the inner wall of the connecting piece is connected with the bottom end of a spring, and the spring is connected with the inner core. The top end of the spring is connected with the bottom of the inner core, a wire guide hole is formed in the inner wall of the inner core, and a first funnel hole is formed in the bottom of the inner wall of the inner core. According to the anti-damage flexible ureteroscope leading-in sheath, by arranging the outer sheath, the inner core, the connecting piece and the spring, when the anti-damage flexible ureteroscope leading-in sheath is used and placed into a ureter, if resistance is encountered, the spring can be compressed, the inner core can retract relative to the outer sheath, when the resistance is increased to a certain degree, the tip end of the inner core can retract into the outer sheath, and the leading-in sheath can be used for guiding the flexible ureteroscope into the ureter in a retractable mode. And when the ureter is placed, the condition of injury caused by overexertion can be avoided, so that the ureter and the pelvis mucosa are protected.

The utility model discloses a novel urinary catheter, which belongs to the technical field of urinary catheters and comprises a urinary catheter used for draining urine of a patient and facilitating calculus crushing of the patient and a flexible ureteroscope holmium laser device used for crushing and removing the calculus of the patient. The front end of the catheter is provided with a urine hole position used for discharging urine of a patient, the front end of the catheter is further symmetrically provided with two drainage holes, the device further comprises a guide wire, and the guide wire can be placed into the position where stones need to be broken through the catheter. The guide wire stretches out of the corresponding drainage hole through the water injection opening and is finally placed in the lithotripsy position, then the guide wire enters the position needing lithotripsy from the guide wire path through the flexible ureteroscope holmium laser equipment to be crushed and taken out, and the effect that the catheter can assist the flexible ureteroscope holmium laser equipment in guiding is achieved. And the situation that the flexible ureteroscope holmium laser equipment is in large contact with the patient to cause injury is avoided.

The invention relates to a calculus removal basket mechanism with a transparent film, and solves the technical problems of frequent instrument blockage and low calculus removal efficiency in a flexible ureteroscope and negative pressure sheath lithotripsy. The mechanism comprises a framework composed of a plurality of metal wires, a high-transparency film wrapping the periphery of the framework, an outer sleeve, a central guide pipe and a push-pull control device. The framework is automatically opened to form an umbrella-shaped or cup-shaped structure when being pushed out of the outer sleeve, and can be contained in a gap between the outer sleeve and the central guide pipe when being folded. In an operation, small stones are sucked out through the meshes under negative pressure, and large stones are taken out along with a lens after being intercepted by the film, so that synchronous operation of stone crushing and stone removing is realized. The high transparency of the film ensures that the surgical field is clear, the intrarenal pressure is stabilized in a safe range, and the risk of postoperative complications is remarkably reduced. The calculus removing device is simple in structure, convenient to operate, suitable for calculus of different parts such as renal pelvis and renal calyx, and high in efficiency and safety.

The invention discloses a multi-cavity ureter sheathing canal system integrating flushing and pressure monitoring functions, and relates to the technical field of medical instruments, the multi-cavity ureter sheathing canal system is characterized by comprising a sheathing canal main body and a micro-catheter channel, the micro-catheter channel is integrated in the wall of the sheathing canal main body, and the micro-catheter channel is communicated with the sheathing canal main body. The sheathing canal main body is provided with a main working channel penetrating through the sheathing canal main body, and the micro-catheter channel and the main working channel extend in parallel; a flexible ureteroscope is arranged in the main working channel in a penetrating mode, and a lateral suction connector is arranged at the near end of the main working channel and used for being connected with a negative pressure suction device. The near end of the sheath tube body is connected with a ureter sheath base, and a water sealing cap is connected to an opening in the near end of the ureter sheath base. The system can continuously supplement perfusate to the pelvis during negative pressure suction, maintain the shape of the pelvis, avoid mucosal injury and realize real-time and accurate pressure monitoring in an operation, so that the broken stone removal efficiency and the operation safety are remarkably improved.

The utility model discloses a flexible ureteroscope para-pelvic cyst positioning puncture device which comprises a bendable outer sheath, a catheter is installed in the bendable outer sheath in a sliding mode, and a hollow needle which penetrates through the front end of the bendable outer sheath to puncture para-pelvic cyst is installed at the front end of the catheter. The tail end of the catheter is respectively communicated with the first injection assembly and the second injection assembly through a three-way valve; the catheter with the hollow needle is mounted in an operation channel of the flexible ureteroscope through the bendable outer sheath, and meanwhile, the first injection component and the second injection component are matched to complete puncture of the wall of the cyst beside the pelvis and final positioning marks for injecting a developing agent into the cyst beside the pelvis; the device is convenient for the follow-up accurate internal incision and drainage of the marked para-pelvic cyst by holmium laser under a flexible ureteroscope, and solves the problem that the para-pelvic cyst is inaccurate in positioning and the surgical operation is influenced due to the thick cyst wall or the complex and difficult observation of the integrated system structure in the operation.

The utility model provides an optical fiber propelling device and a flexible ureteroscope, the optical fiber propelling device comprises a device body, the device body is provided with a sliding groove and a through first through hole, the extending direction of the sliding groove is the same as the extending direction of the first through hole, one end of the first through hole is provided with a connecting part, and the device body is fixed on the flexible ureteroscope through the connecting part; a connecting shaft is arranged on the outer side wall of the device body; one end of the handle is movably connected to the connecting shaft; the pushing block is slidably connected into the sliding groove, a second through hole penetrating through the two ends of the pushing block is formed in the pushing block, the axis of the first through hole is the same as the axis of the second through hole, a clamping piece is arranged in the pushing block and used for clamping an optical fiber, a pushing rod is movably connected to the handle, and the end, away from the handle, of the pushing rod is movably connected with a connecting rod; the connecting rod is used for connecting the pushing rod and the pushing block, and an acute angle is formed between the connecting rod and the pushing rod. When the handle is pulled, the handle drives the connecting rod to abut against the clamping piece, and meanwhile the pushing rod drives the pushing block to move in the direction of the connecting part.

The utility model belongs to the field of medical instruments, and particularly relates to a negative pressure suction conversion device. The device comprises a storage barrel with a sealing cover, the bottom of the storage barrel is of a funnel-shaped structure, a storage pipe communicated with a lower funnel opening is vertically fixed to the bottom of the storage barrel, the inner diameter of the storage pipe is larger than that of the lower funnel opening, a switch valve is arranged on the storage pipe, and a first connecting pipe communicated with the storage barrel is connected to the storage barrel; a first connecting sleeve used for being connected with a negative pressure system connector is sleeved on the first connecting pipe, an adjusting valve is arranged on the first connecting pipe, a filtering piece is fixed on the inner wall of the storage barrel, a second connecting pipe communicated with the storage barrel is connected to the storage barrel, and a second connecting sleeve used for being connected with a flexible ureteroscope sheath or a percutaneous nephroscope sheath is sleeved on the second connecting pipe. A one-way valve is arranged on the second connecting pipe. A common flexible ureteroscope sheath or a percutaneous nephroscope sheath can be connected to a negative pressure system of an operating room to form a simple negative pressure suction device which is used for discharging urinary calculus fragments.

The utility model discloses a disposable flexible ureteroscope snake bone and coarse adjustment section which comprises a plurality of coarse adjustment snake bone joints, the coarse adjustment snake bone joints are sequentially hinged with one another, and one end of the coarse adjustment section is a snake bone tail end. One end of the fine adjustment section is a snake bone end, the snake bone end is connected with an endoscope imaging component, the other end of the fine adjustment section is connected with the other end of the coarse adjustment section, the fine adjustment section comprises a plurality of fine adjustment snake bone joints, the fine adjustment snake bone joints are sequentially hinged to one another, and the length of each fine adjustment snake bone joint is smaller than that of each coarse adjustment snake bone joint; the bending radian of the fine adjustment section is larger than that of the coarse adjustment section. The flexible snake bone has the advantages that the flexibility of the snake bone can be ensured, the lateral bending strength is good, the axial rotation error is small, the processing is convenient, the cost is low, the snake bone can be effectively prevented from falling off and being fractured due to multiple times of bending or overlarge tensile force on the snake bone, and the safety risk in an operation is reduced.

The flexible ureteroscope flusher comprises a first box body, a second barrel body and a cover body, the first box body is used for containing cleaning liquid; the upper end of the first box body is open, and a first hole is formed in the side wall of the first box body; the first hole is sealed by a first rubber film; a first round hole is formed in the first rubber film; the first round hole is formed in the lower part of the first box body; the lower end of the second barrel is closed through a bottom plate; the upper end of the second barrel is open; a supporting table protruding upwards is arranged in the center of the bottom plate. The supporting table is used for horizontally placing a handle of the flexible ureteroscope; a second hole is formed in the peripheral wall of the second cylinder body; the second hole is sealed by a second rubber film; a second round hole is formed in the second rubber film; the cover body is in threaded combination with the upper end of the second barrel body; an air pump is mounted at the upper part of the cover; an air inlet channel of the air pump penetrates through the cover body and is communicated with the lower portion of the cover body.

The application discloses a kidney stone automatic tracking system and method of a ureter flexible mirror surgery robot based on optimal visual servoing, and the system comprises a target identification module, a feature extraction module, a pose solving module and a pose adjusting module; the target identification module is used for acquiring image data of a ureter cavity and a kidney stone, and processing the image data to obtain a stone target region; the feature extraction module is used for performing feature extraction on the stone target region to obtain actual image features and an actual interaction matrix of an actual image pose, and is also used for calculating expected image features and an expected interaction matrix of an expected image pose; the pose solving module is used for calculating an optimal solution of a motion pose of each joint of the robot based on the actual image features, the actual interaction matrix, the expected image features and the expected interaction matrix by using an optimal control algorithm and a control barrier function; and the pose adjusting module is used for controlling the pose of the robot based on the optimal solution of the motion pose.

The utility model discloses a flexible ureteroscope, which relates to the technical field of medical instruments and comprises an operating end, a flexible ureteroscope sheath and a flexible ureteroscope body which are communicated with one another, the operating end is used for adjusting and controlling the bending angle of the flexible ureteroscope body, the flexible ureteroscope sheath is used for connecting the operating end and the flexible ureteroscope body, and the flexible ureteroscope body is used for observing the condition inside the kidney; one side of the operation end is provided with an instrument operation channel communicated with the flexible endoscope sheath, the flexible endoscope body comprises a primary bending part and a secondary bending part, and the end part of the primary bending part is connected with a micro camera; the operation end is provided with a first-stage bending part adjusting device and a second-stage bending part adjusting device which can adjust and control the bending angle of the first-stage bending part and the bending angle of the second-stage bending part respectively. By arranging the first-stage bending part and the second-stage bending part, second-stage bending of the flexible ureteroscope is achieved, the observation range of the flexible ureteroscope is enlarged, and the flexible ureteroscope is more suitable for cases with heavy kidney hydrops or large kidney gathering system space.