32 results about "Flexible ureteroscopy" patented technology

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 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.

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 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 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.

The invention discloses a probe lens angle calibration method suitable for the tail end of a flexible ureteroscope, and relates to the technical field of probe lens angle calibration, and the method comprises the following steps: presetting an initial adjustment time as the basic duration of each angle adjustment before the flexible ureteroscope is subjected to ureteral examination; in the angle adjusting process, ureter image data in a target detection area are collected in real time through an imaging unit arranged in the flexible lens. According to the method, an intelligent structural complexity evaluation mechanism based on the convolutional neural network is introduced, so that the system can dynamically identify the anatomical complexity of a target area, and adaptively adjust the angle adjustment duration according to an evaluation result, thereby overcoming the technical bottleneck that a target cannot be accurately aligned in a high-tortuosity area in the conventional fixed adjustment time, and improving the accuracy of the target anatomy. It is ensured that the probe of the soft lens can be adjusted more carefully and stably in a complex area, the problems of image blurring, distortion or target deviation and the like are reduced, and therefore the risks of missed diagnosis and misdiagnosis are greatly reduced.

The invention discloses a flexible ureteroscope sheath suite which is used for a flexible ureteroscope, and the flexible ureteroscope sheath suite is used for inserting a hard ureteroscope tube into an equipment channel, and fixing a sheath core connecting piece and an outer sheath connecting piece; the flexible endoscope body is inserted into the endoscope body channel, and the sheath core fixing piece is fixed to the front end of a handle of the flexible ureteroscope; placing the flexible ureteroscope sheath kit and a hard ureteroscope assembled by the flexible ureteroscope into the ureter; and the sheath core connecting piece and the outer sheath connecting piece are disconnected, and the sheath core and the flexible ureteroscope are withdrawn. The one-step sheath placement can be realized, the operation efficiency is greatly improved, the function of actively expanding the ureter is achieved, the sheath placement resistance is reduced, the sheath placement success rate is further improved, the soft and hard combined sheath is utilized, the tube cavity cannot deform after being extruded, the soft lens can coaxially rotate in the sheath tube cavity, and the target position can be more easily and accurately found.

The invention discloses a flexible ureteroscope for urinary surgery, and aims to provide the flexible ureteroscope for urinary surgery, which does not need manual operation and can automatically bend the front end of the flexible ureteroscope to observe a diseased part. The device comprises a control handle, a hose and snake bones, a control cavity is formed in the control handle, one end of the hose is connected with the control handle, the other end of the hose is connected with the snake bones, the multiple snake bones are sequentially connected, rotating mechanisms are arranged on the snake bones, control ropes are arranged on the rotating mechanisms, and the rotating mechanisms correspond to the snake bones one to one. One end of the control rope is connected with the rotating mechanism, the other end of the control rope is arranged in the control cavity, a control mechanism is arranged in the control cavity, and the control mechanism is connected with the control rope. The flexible endoscope has the advantages that manual operation is not needed, the front end of the flexible endoscope can be automatically bent to observe the diseased part, the flexibility of the hose is improved, the treated part can be cleaned, the bending angle can be conveniently observed, and the temperature of an instrument can be observed.

The invention relates to the technical field of medical instruments, and discloses a flexible ureteroscope sheath with a pressure relief function, which comprises a joint tube seat, a sheath tube, a pressure relief module, a flexible ureteroscope perfusion joint and a negative pressure joint, the joint tube seat is sleeved with the sheath tube, the interior of the joint tube seat is communicated with the sheath tube, the flexible ureteroscope perfusion joint is sleeved with the joint tube seat, and the negative pressure joint is communicated with the flexible ureteroscope perfusion joint. The interior of the connector tube seat is communicated with the flexible lens perfusion connector, the flexible lens perfusion connector is used for connecting a flexible lens and a perfusion system, the connector tube seat is sleeved with the negative pressure connector, the interior of the connector tube seat is communicated with the negative pressure connector, the negative pressure connector is used for being connected with a negative pressure suction system, the connector tube seat is sleeved with the pressure relief module, and the interior of the connector tube seat is communicated with the pressure relief module. The pressure relief module comprises a control module and a pressure relief module, the control module is electrically connected with the perfusion system and the negative pressure suction system, the pressure relief module comprises a pressure relief body and a valve body, and the valve body is rotationally connected with the pressure relief body. The pressure stability of the flexible ureteroscope sheath is ensured.

A multi-instrument cooperative flexible ureteroscope surgical robot is provided, which relates to the field of medical surgical robots. The system specifically includes a flexible ureteroscope driving device, a ureteral guide sheath driving device, a flexible ureteroscope rapid assembly device, a sheath rapid assembly device, a guide wire feeding device, a control box and other components. Firstly, the ureteral guide sheath driving device accurately positions a ureteral guide sheath into the urethra and ureter of the patient. Then, the flexible ureteroscope driving device drives a disposable flexible ureteroscope to enter into the body through the positioned ureteral guide sheath, and the guide wire feeding device controls the introduction of the laser guide wire along the flexible ureteroscope. In addition, a lifter provides necessary height adjustment according to the patient's physical condition. The control box provides an intuitive operation interface for surgeons.

The application belongs to the technical field of medical devices, and discloses a ureter flexible mirror robot, which comprises a mounting plate, a screw nut pair, a guide assembly, a horizontal delivery plate, a rotating assembly, a bending assembly, a first stepping motor, a first transmission rod and a second transmission rod; one side of the horizontal delivery plate is fixed to the nut, and the other side of the horizontal delivery plate is connected to the guide assembly; the rotating assembly is connected to the horizontal delivery plate, and the ureter flexible mirror is connected to the rotating assembly; a first power transmission assembly is connected between one end of the rotating assembly and the guide assembly, and is used for transmitting the rotating power of the guide assembly to the rotating assembly; one end of the bending assembly is connected to the rotating assembly, and the other end of the bending assembly is connected to the ureter flexible mirror; the first stepping motor is fixed to the mounting plate; one end of the first transmission rod is coaxially fixed to the output end of the first stepping motor. The ureter flexible mirror robot can reduce the number of stepping motors under the premise of realizing the pushing, rotating and bending of the ureter flexible mirror.

The present application relates to a kind of multi-degree-of-freedom fixed support device for ureter flexible mirror, belong to medical instrument technical field.The device includes adjusting support and support unit.Adjusting support is used to be fixed to operating bed and provide multi-degree-of-freedom pose adjustment.Support unit includes parallelogram support and the guiding clamping cylinder connected at its two ends.Core improvement is that: the inner wall of guiding clamping cylinder is equipped with sealed elastic thin liquid bag, bag is filled with viscous liquid, bag inner wall is equipped with long nose and short nose of internal cavity communication, form continuous fluid chamber, realize the adaptive, low damage distributed support and dynamic damping of mirror body.Viscous liquid is preferably electrorheological fluid, by control circuit adjustment electric field intensity, can realize the stepless switching from flexible damping to rigid lock of clamping state.The present application effectively solves the technical problems, such as the clamping stability and mirror protection of existing support device difficult to consider, unable to effectively inhibit micro-motion and feeding operation inconvenience.

Provided is an occluder for a flexible ureteroscope, which relates to the technical field of medical devices. The occluder comprises a guide wire (1), a catheter, and a water delivery tube (4). The catheter is sleeved on the guide wire (1), and the catheter comprises a sleeving segment and an expansion segment. The sleeving segment comprises a guiding segment (21) and a connecting segment (22). The expansion segment is located between the guiding segment (21) and the connecting segment (22), and the expansion segment is an expansion water balloon (2). The water delivery tube (4) is configured to deliver a liquid medium, and one end of the water delivery tube is sleeved on and connected to an outer side of the connecting segment (22), such that the connecting segment (22) is located between the guide wire (1) and the water delivery tube (4). The liquid medium enters or flows out of the expansion water balloon (2) through a gap between the water delivery tube (4) and the connecting segment (22), causing the expansion water balloon (2) to expand or contract. The occluder allows the diameter of the guide wire (1) to be set thinner, such that the overall tube diameter of the occluder can be smaller, enabling the occluder for the flexible ureteroscope to be applicable in flexible ureteroscopy procedures.

The invention relates to the technical field of medical instruments, and provides a hydraulic control system for a child sheath-free flexible ureteroscope, the system comprises a flexible ureteroscope body and an in-vitro hydraulic control unit, the in-vitro hydraulic control unit comprises a water injection pump, a water return pump, a connecting pipe, a first one-way valve, a second one-way valve and a switching valve, the common end is communicated with a working cavity of the flexible ureteroscope body, the first branch end is connected with a water injection pump through a first one-way valve, and the second branch end is connected with a water return pump through a second one-way valve; the switching valve is used for selectively communicating the common end with the first branch end or the second branch end, and automatic alternation of water injection and pumpback is achieved. A passage is selected through the switching valve, and automatic alternation of water injection and pumpback is achieved; the first one-way valve and the second one-way valve prevent backflow and ensure that liquid sources are clean; through transient flushing of the system, clear view is ensured; the pressure of the pelvis is accurately controlled through in-vitro pressure monitoring, the infection risk is reduced, and the operation safety and efficiency are remarkably improved.

1. The name of the design product: ureter flexible mirror handle. 2. The use of the design product: used as accessories of ureter flexible mirror. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view 1.

A fURS haptic feedback mechanism includes a sensing unit configured to be retrofitted to an existing controlled section of a robotic-assisted retrograde intra renal surgical (RA-RIRS) system that manipulates an existing fURS shaft. The sensing unit includes a fURS tension detection mechanism configured to detect tension at the existing fURS shaft during a RA-RIRS surgical procedure, and a fURS tension interpretation mechanism configured to receive, evaluate, and quantify the detected tension. The fURS tension interpretation mechanism is further configured to visually display a quantified intensity level of the detected tension at the existing fURS shaft, and emit mechanical feedback, at an existing control handle of the existing RA-RIRS system, the quantified intensity level of the detected tension at the existing fURS shaft.

The present invention relates to the field of medical surgical robots. Disclosed is a flexible ureteroscope surgical robot with multi-instrument cooperative operation. The system specifically comprises components such as a flexible ureteroscope drive module, a ureteral access sheath drive module, a flexible ureteroscope quick-installation module, a sheath quick-installation module, a guidewire feed module, and a control box. First, the ureteral access sheath drive module accurately positions a ureteral access sheath into a patient's urethra and ureter, creating conditions for unobstructed entry of a disposable flexible ureteroscope. Subsequently, the flexible ureteroscope drive module drives the disposable flexible ureteroscope through the positioned ureteral access sheath into the body, while the guidewire feed module controls a laser guidewire to be introduced along the flexible ureteroscope to perform precise laser lithotripsy at the stone location. Additionally, a lifting module provides necessary height adjustments on the basis of the patient's physical condition, enhancing surgical adaptability. The control box serves as an operational center of the system, offering surgeons an intuitive operation interface.

The application discloses a mechanical arm auxiliary device for ureter flexible mirror surgery and relates to the technical field of medical devices.The mechanical arm auxiliary device for ureter flexible mirror surgery is provided with a clamping mechanism in a straight cylinder, the clamping mechanism comprises a mounting seat slidingly arranged in the straight cylinder, and a pulley is arranged on the mounting seat.When the hose is arranged in the straight cylinder, the pulley clamps the hose and limits the hose on the central position in the straight cylinder.Through clamping of the hose by the pulley and sliding of the mounting seat, the hose can be guaranteed to be always on the central position in the straight cylinder, so that the situation that the end of the straight cylinder cannot be aligned with the hole is avoided.The pulley arranged on the mounting seat can reduce the resistance generated when the hose cooperates with the clamping mechanism, and the pulley is rotationally arranged on the mounting seat, so that the surface of the pulley has an arc.The pulley can protect the hose, avoid hard friction between the hose and the clamping mechanism, and further avoid abrasion, so as to affect the use of the surgery.

The utility model provides a ureteroscope with a cold resection device, belongs to the technical field of ureters, and aims to solve the problem that in the prior art, a flexible ureteroscope generally only has an observation function and does not have a focus cutting function. Comprising an operation handle, a ureter, a pushing device and a traction device, the ureter is communicated with the operation handle, the ureter comprises a soft lens end located at the end of the ureter, a mounting groove is formed in the soft lens end, a sliding block is slidably embedded in the mounting groove, and a cold cutter is hinged to the end of the sliding block; the pushing device is arranged on the operating handle and used for pushing the sliding block to move in the mounting groove in the axial direction of the ureter; the traction device is arranged on the operation handle and used for driving the cold cutter to rotate. According to the utility model, after the ureter extends into a proper position, the pushing device and the pushing sliding block on the operating handle can be pushed forwards, so that the cold cutter extends out of the mounting groove; afterwards, the cold cutter is pulled through the traction device, the blade swings downwards for cutting, and cutting of the focus is completed.

The invention discloses a flexible ureteroscope accessibility evaluation method and system based on a CTU image. The method comprises the following steps: respectively automatically detecting and positioning a coronal plane image and a synchronous sagittal plane image of a kidney on any cross section of a CTU three-dimensional image; automatically positioning the long axis direction of the kidney on the sagittal plane image through the upper polar vertex and the lower polar vertex of the kidney; automatically searching an optimal vertical projection plane of the kidney and the collection system on the coronal plane image; automatically positioning key anatomical points: a subrenal calyx calculus center point, a renal pelvis lower bound vertex and a subrenal calyx neck outer side vertex; creating a CCR1 calculation model, and calculating the radius of curvature CCR1 of the subrenal calyx; creating a CCR2 calculation model, and calculating the radius of curvature CCR2 of the subrenal calyx; the larger value in the CCR1 and the CCR2 is used as the maximum radius of curvature CCRmax of the subrenal calyx; if the minimum bending radius of the flexible ureteroscope is smaller than or equal to CCRmax, it is predicted that the flexible ureteroscope can enter the subrenal calyx, and otherwise it is predicted that the flexible ureteroscope cannot enter the subrenal calyx.

The invention discloses a guide wire adjusting device of a flexible ureteroscope, comprising: a connector configured to be assembled on the flexible ureteroscope; the installer is arranged on the connector in a sliding manner and is configured to install a guide wire; the adjuster is arranged on the connector and is connected with the installer; the adjuster is configured to adjust the installer to slide so as to drive the guide wire to move. The guide wire is installed by configuring the installer, the guide wire is adjusted to move in a short distance through the adjusting machine, and therefore micro-adjustment and control of the guide wire are achieved.

The invention discloses a flexible ureteroscope sheath with the adjustable inner diameter size, and relates to the technical field of medical instruments, and the flexible ureteroscope sheath is characterized by comprising an outer sheath tube, a first connector is arranged on the outer sheath tube, a tube diameter adjusting mechanism is arranged in the first connector, and the tube diameter adjusting mechanism is used for adjusting the tube diameter of the outer sheath tube; a first connector is arranged on the outer sheath tube, a side tube is arranged on the first connector, a pressure release valve is arranged on the side tube, an inner core is arranged in the outer sheath tube, and a conical expansion head is arranged at the bottom of the inner core. Flexible adjustment of the pipe diameter of the sheath pipe is achieved through the pipe diameter adjusting mechanism, the minimum inner diameter is adjusted during implantation, passing resistance is reduced, the pipe diameter is increased after the sheath pipe reaches a target position, the operation requirement is met, implantation convenience and operation practicability are both considered, the conical expansion head and the pressure release valve are matched, operation safety is improved, tissue damage and complication risks are reduced, and the operation efficiency is improved. And the medical silicone rubber material guarantees biocompatibility and durability, operation habits do not need to be changed, the popularization difficulty is reduced, and medical safety and economical efficiency are both achieved.

The utility model relates to the technical field of medical instruments, in particular to a ureter negative pressure calculus removal guide sheath which comprises a sheath body, an operation channel is arranged in the sheath body, a gap is reserved between the inner side wall of the sheath body and the operation channel, supporting strips are integrally formed on the inner side wall of the sheath body, and a drainage channel is formed between every two adjacent supporting strips. A tip part is fixed at the front end of the sheath tube body, a drainage hole is formed in the side wall of the tip part and communicated with the drainage channel, and the inner diameter of the drainage hole is smaller than the minimum size of the section of the drainage channel. The inner diameter of the drainage hole is smaller than the minimum size of the section of the drainage channel, so that the drainage hole can block large stones, the situation that the drainage channel is blocked by large broken stones can be reduced, meanwhile, the supporting strip can support the flexible ureteroscope sheath, broken stone powder can be smoothly discharged, and the service life of the flexible ureteroscope sheath is prolonged. And the discharging efficiency of the broken stone powder is improved.

This application provides a ureteroscopic robot, relating to the field of medical device technology, comprising: a base; a lifting mechanism fixedly connected to the base for driving the lifting and lowering movement of the ureteroscopic endoscope; a horizontal feeding mechanism connected to the lifting end of the lifting mechanism for driving the horizontal forward and backward movement of the ureteroscopic endoscope; a rotating mechanism connected to the horizontal feeding mechanism, wherein the ureteroscopic endoscope is mounted on the rotating mechanism, and the rotating mechanism drives the ureteroscopic endoscope to rotate; a bending mechanism connected to the rotating mechanism for driving the ureteroscopic endoscope to bend; and a fiber optic delivery mechanism connected to the robot body and positioned close to the ureteroscopic endoscope for delivering optical fibers into the fiber optic channel of the ureteroscopic endoscope. This application achieves precise lifting, forward and backward movement, rotation, and bending of the ureteroscopic endoscope, as well as stable delivery of optical fibers, improving control precision, reducing the difficulty of surgical operations, and enhancing the stability of the overall machine operation, thereby effectively ensuring clinical operational efficiency and reliability.

The flexible ureteroscope comprises a handle, a knob a and a knob b are arranged on the surface of the handle, a sheathing canal is arranged at the end of the handle, a steering mechanism is arranged at the end of the sheathing canal, a guide wire is arranged on the surface of the steering mechanism, and the other end of the guide wire is correspondingly wound on the knob a and the knob b. The flexible ureteroscope lithotripsy device has the advantages that the rotary knob a and the rotary knob b are used for controlling the stretching condition of the guide wire to control the steering mechanism, so that the steering mechanism turns in multiple directions, the lithotripsy device at the end of the flexible ureteroscope is conveyed to a designated position for lithotripsy, lithotripsy efficiency is improved, and the risk of septicopyemia of a patient is reduced.