CN115844319A - Soft driver system for uterine cavity diagnosis and treatment - Google Patents
Soft driver system for uterine cavity diagnosis and treatment Download PDFInfo
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- CN115844319A CN115844319A CN202211607825.0A CN202211607825A CN115844319A CN 115844319 A CN115844319 A CN 115844319A CN 202211607825 A CN202211607825 A CN 202211607825A CN 115844319 A CN115844319 A CN 115844319A
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Abstract
The invention discloses a soft driver system for uterine cavity diagnosis and treatment. The system comprises: software driver body and supporting component, the supporting component is used for supporting and fixing the software driver body, the software driver body contains software non-working section, connector and the software working section that connects gradually, the connector is used for connecting software non-working section, surgical instruments and software working section, the software driver body is set up to adopt fluid or gaseous drive mode to control its bending deformation motion. The system has the advantages of flexibility of infinite degree of freedom and small integration of the system, and improves the range and efficiency of clinical application.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a soft driver system for uterine cavity diagnosis and treatment.
Background
The hysteroscope technique is a minimally invasive gynecological diagnosis and treatment technique which enters into the uterine cavity through the vagina, intuitively diagnoses uterine cavity diseases under the mediation of an endoscope instrument and is feasible for intrauterine disease detection and operation. The uterine cavity endoscope is the most common uterine cavity diagnosis and treatment device, which is an optical device for observing uterine abnormality or lesion in a uterine distention state by utilizing an illumination, perfusion and imaging system, and generally comprises a mirror body and a built-in functional mechanism. The scope body can be roughly divided into an operation portion, an insertion portion, and a distal end portion. The operation part integrates terminal connectors and operation components of various accessories. The insertion part is of a tubular structure, is provided with one or more functional channels, and can be divided into hard lenses and soft lenses according to the shapes of the lens bodies. The built-in functional mechanisms are distributed in each functional channel and comprise an image transmission unit, a perfusion device, a soft lens bending drive control system and the like. The front end part carries a miniature camera module to illuminate the uterine cavity and collect images to be transmitted to an external imaging body, and auxiliary instruments can be inserted into an instrument channel (such as an integrated type) of the endoscope body or an accessory channel (such as a split type) used in a matched manner to perform corresponding intrauterine operation.
In the prior art, hysteroscopes are mainly classified into a hard type and a soft type. The hard hysteroscope has stable structure, is usually matched with a plurality of surgical instruments for treating uterine cavity, has an integrated structure and a split structure, the outer diameter of the hard hysteroscope is fixed, the hard hysteroscope consists of a scope body and an adaptive sheath, and the sheath can provide an inlet and an outlet channel for the instruments and uterine expansion medium. The front end of the endoscope body is usually designed into an inclined plane with an angle (the uterine cavity is diagnosed and treated mostly by 30 degrees), the front end of the integrated endoscope body is designed into a section of 22-degree bent pipe, the angle is preformed on the endoscope body, or a wide-angle camera is used, so that the visual angle of the hard endoscope is enlarged.
The existing soft hysteroscope is small in size, the scope body is a flexible hose wrapped by medical rubber, the front end part can be bent in multiple directions, the flexible hysteroscope is usually used for uterine cavity examination, and an insertion channel can pass in and out small-size instruments or expand the uterus through one-way perfusion, so that a small amount of diagnosis and treatment operations are completed. The insertion part is provided with components such as a metal cable, a snake bone bracket and the like, the front end part comprises a controllable annular part, and the controllable annular part and a hand wheel knob of the operation part form a soft lens bending drive control system together. The angle knob is used for pulling the soft lens to do up-and-down bending movement, and the angle is fixed by the clamping and locking knob after the soft lens is close to a target part for diagnosis and treatment.
At present, although the precise integration technology and the development of electronic components can optimize the size and the performance of the hysteroscope, the hysteroscope technical instruments have not substantially evolved from the aspects of structural design and working mechanism. The hard hysteroscope always has the defects of form solidification and single degree of freedom, but the problems that the uterus flexibility is difficult to match in the using process and the visual direction of the hard hysteroscope is limited because the uterus anatomical form has individual difference are not really solved. The soft hysteroscope can make up for the above deficiencies, but the existing bending relies on the wire drive control system, the structure is complicated, the space occupation is large, the size of the working channel is limited, the feasible operation is few, and the hard scope cannot be replaced to finish the treatment. In addition, the cervix uteri is inevitably extruded during diagnosis and treatment, and rigid materials and components such as metal and the like are easy to cause damage to patients. The problems all restrict the universality and operability of the hysteroscope instrument.
In summary, the existing hysteroscope apparatus has the problems of large outer diameter and operation limitation, and is difficult to meet the clinical application requirements.
Disclosure of Invention
The present invention aims to overcome the defects of the prior art and provide a soft driver system for uterine cavity diagnosis and treatment. The system comprises: software driver body and supporting component, the supporting component is used for supporting and fixing the software driver body, the software driver body contains software non-working section, connector and the software working section that connects gradually, the connector is used for connecting software non-working section, surgical instruments and software working section, the software driver body is set up to adopt fluid or gaseous drive mode to control its bending deformation motion.
In one embodiment, the soft body driver is an elongated tubular multi-lumen structure made of a super-elastic soft material, and a working channel, a driving channel and an image transmission channel are arranged inside the soft body driver, wherein the image transmission channel and the working channel penetrate through the soft body driver along the long axis direction, the image transmission channel is provided with a camera for optical observation, and the deformation motion of the soft body driver is controlled by inputting a fluid driving source into the driving channel.
In one embodiment, one end of the connector is provided with a first hole and a second hole, the first hole is used for inserting surgical instruments, the second hole is used for connecting the soft non-working section, the diameter of the second hole is larger than that of the first hole, the other end of the connector is provided with a third hole used for connecting the soft working section, and the soft working section is used for carrying an image transmission cable and is provided with a driving pipeline.
In one embodiment, the support member is a rigid structure that serves to support the fixture.
In one embodiment, the soft driver body material is a super elastic material such as silica gel.
In one embodiment, the drive conduit carries a drive cable for connection to a fluid drive control system, and the image transmission channel carries a camera carrying a light source and an image transmission cable.
In one embodiment, the soft body working segment comprises a soft body no-drive chamber segment, a soft body drive chamber segment, and a camera segment, wherein:
the soft body driving-free chamber section comprises a working channel, a driving pipeline and an image transmission channel, the working channel penetrates through the soft body driving chamber section and the camera head section, and the driving pipeline penetrates through the soft body driving-free chamber section and the soft body driving chamber section;
the soft body driving chamber section comprises the working channel, a driving pipeline and an image transmission channel, the driving pipeline in the section is in a half-through state, and a closed driving chamber can be formed after the driving pipeline is connected with an external driving system;
the camera section comprises the working channel and a camera channel, and the camera channel is used for placing a camera carrying a light source.
In one embodiment, the working channel is configured to change diameter size by active or passive actuation.
In one embodiment, the soft body driver is prepared by using a 3D printing molding technology or a soft demolding technology.
In one embodiment, the drive conduits are provided in one or more numbers.
Compared with the prior art, the soft driver system for the uterine cavity diagnosis and treatment has the advantages that the soft driver system for the uterine cavity diagnosis and treatment is provided, soft robot technology and endoscope technology are combined, and a soft driving and soft material processing mode is adopted, so that the hysteroscope technical instrument has the flexibility of infinite freedom degree and small integration (small size and compact structure) of the system, and the clinical application range and the clinical application efficiency are improved.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic diagram of a soft body driver system for uterine cavity diagnosis and treatment according to one embodiment of the present invention;
FIG. 2 is an enlarged schematic view of portion A of FIG. 1 according to one embodiment of the present invention;
figure 3 is a cross-sectional view of different working segments of a soft body actuator according to one embodiment of the present invention;
FIG. 4 is a schematic illustration of working channel contraction and expansion according to one embodiment of the present invention;
in the drawings: 1-a support member; 2-soft non-working section; 3-a software working section; 4 a duct for inserting surgical instruments; 5-a pore channel for connecting the soft body non-working section; 6-a pore channel for connecting the soft body working section; 7-a channel for carrying an image transmission cable (power supply line of the endoscope) and a drive channel (drive source input/output pipeline); 8-a working channel for carrying surgical instruments; 9-image transmission cable channel for carrying power line of camera; 10-a driving source input and output channel for carrying a rear end input and output pipeline of the driving chamber; 11-a driving cavity (or called a driving cavity and a driving pipeline); 12-camera channel for carrying camera.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be discussed further in subsequent figures.
The invention provides a soft uterine cavity diagnosis and treatment system which comprises a soft driver body and a rigid structure for supporting and fixing. The soft body driver body consists of a soft non-working section and a soft working section which are connected in sequence. For example, the soft body driver is a long strip tubular structure made of super elastic soft material, and a plurality of cavities are arranged in the soft body driver, including a driving unit cavity, an image transmission channel, a working channel and the like, wherein the image transmission channel and the working channel penetrate through the soft body driver along the long axis direction. The image transmission channel is provided with a camera for optical observation, and the deformation motion of the soft driver body is controlled by inputting a fluid driving source into the driving cavity. The diameter of the working channel is variable, according to the treatment requirement, a uterine distention medium is injected, or different types of surgical instruments are inserted for treatment, and turbid liquid can flow out through the working channel after the treatment is finished.
Specifically, referring to fig. 1, the provided soft body driver system for uterine cavity diagnosis and treatment mainly comprises a supporting member 1 and a soft body driver body, wherein the soft body driver body comprises a soft body non-working section 2 and a soft body working section 3. The supporting component 1 is used for supporting and fixing the soft driver body, the supporting component 1 can adopt a rigid structure, and the soft driver body can be made of super-elastic soft materials such as silica gel and the like. Part a in fig. 1 is used to connect the soft body non-working segment 2 and the soft body working segment 3, or called as a connector.
Fig. 2 is an enlarged schematic view of the connector illustrated in part a of fig. 1. The connector is used for connecting the soft non-working section 2, the surgical instrument and the soft working section 3. The small hole 4 is used for inserting surgical instruments, the large hole 5 is used for connecting the soft non-working section 2, and the hole 6 arranged at the other end of the connector is used for connecting the soft working section 3. The soft non-working section 2 is mainly used for carrying image transmission cables and driving pipelines, and the soft working section 3 needs to enter the body to carry out diagnosis and treatment operation.
Figure 3 is a cross-sectional cut-away view of the different working segments of the soft body driver. The section B-B shows the soft non-working section 2, which only contains one channel 7, mainly for carrying image cables and drive pipes. The software working section 3 is mainly divided into three parts, and a software non-driving cavity section (sectional view C-C), a software driving cavity section (sectional view D-D) and a camera section (sectional view E-E) are sequentially arranged from left to right in the figure 3.
The soft body non-driving chamber section (section C-C) contains three channels, the uppermost channel in FIG. 3 is the working channel 8 in the contracted state, if the working channel 8 needs to be expanded during the operation, and the expanded configuration is shown on the right side of FIG. 4. The central right channel 10 in fig. 3 is a drive conduit. The lower channel 9 in fig. 3 is for passing the image cable.
The section of the soft body driving chamber (section D-D) is similar to the section of the soft body non-driving chamber (section C-C), the only difference is that the through channel 10 which is arranged at the right side of the center in the original section C-C and is used for passing through the driving pipeline becomes a closed driving chamber 11, and the closed driving chamber is used as a main bending driving unit for deformation in soft body diagnosis and treatment operation.
The camera section (section E-E) contains two channels, the upper channel 8 in fig. 3 is still the working channel in the contracted state, and is identical to the soft driverless chamber section (section C-C) and the soft driverless chamber section (section D-D). The lower channel 12 in fig. 3 is the housing for the camera carrying the light source.
Fig. 4 is a schematic view of the working channel 8 in a contracted and expanded state, and the working channel is provided in the soft body working segment, and thus is specifically shown by taking the camera segment (sectional views E-E) as an example, the working channel is in a contracted state in the left drawing, and the working channel is in an expanded state in the right drawing.
It should be noted that those skilled in the art can appropriately change or modify the above-described embodiments without departing from the spirit and scope of the present invention. For example, the number of drive cavities extending through the soft body driver in the longitudinal direction can be one or more. The drive cavity topography can be cylindrical or a particular shape calculated by morphology. The driving cavity, the image transmission channel and the working channel can be distributed in various radial space distribution modes. The fluid driving source may be a gas or a liquid. The preparation method of the soft driver body can adopt a 3D printing forming technology or a soft demoulding technology. For another example, the driving mode of the variable-diameter working channel can be active driving or passive driving, can be compatible with gynecological auxiliary instruments with different outer diameters, and can be used for the entry and exit of uterine distention media and turbid tissue fluid.
In summary, in order to solve the problems that the existing hysteroscope technology has limited instrument freedom and cannot combine small size and multiple functions, the invention provides a soft body driver system for uterine cavity diagnosis and treatment, which is a novel integrated soft body instrument structure, can effectively reduce the instrument size, has diagnosis and treatment integrated performance, and can expand clinical application.
Compared with the prior art, the invention has the following advantages:
1) Different from the existing rigid material hysteroscope, the soft driver for uterine cavity diagnosis and treatment provided by the invention adopts super-elastic soft materials, has natural biological tissue contact safety, and can further reduce the size of the instrument along with the development of soft material processing and preparation technology.
2) Different from the existing hard hysteroscope, the soft driver provided by the invention can be bent and deformed, is flexible to operate, and realizes the full coverage of the uterine cavity operation field.
3) Different from the existing soft hysteroscope, the invention adopts a fluid soft driving mode, improves the utilization rate of the internal space of the apparatus, greatly simplifies the structure of the apparatus, can effectively expand the diameter of a working channel, and is convenient for the operation apparatus with larger size to enter and carry out the treatment of intrauterine diseases.
4) Experiments prove that the soft driver provided by the invention has the functions of diagnosis and treatment of the hysteroscope.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.
Claims (10)
1. A soft body driver system for uterine cavity diagnosis, comprising: software driver body and supporting component, the supporting component is used for supporting and fixing the software driver body, the software driver body contains software non-working section, connector and the software working section that connects gradually, the connector is used for connecting software non-working section, surgical instruments and software working section, the software driver body is set up to adopt fluid or gaseous drive mode to control its bending deformation motion.
2. The system according to claim 1, wherein the soft body driver is an elongated tubular multi-lumen structure made of super elastic soft material, and a working channel, a driving channel and an image transmission channel are arranged inside the soft body driver, wherein the image transmission channel and the working channel penetrate through the soft body driver along the long axis direction, the image transmission channel is provided with a camera for optical observation, and the deformation motion of the soft body driver is controlled by inputting a fluid driving source into the driving channel.
3. The system of claim 1, wherein one end of the connector is provided with a first hole for inserting a surgical instrument and a second hole for connecting the soft non-working section, the diameter of the second hole is larger than that of the second hole, the other end of the connector is provided with a third hole for connecting the soft working section, and the soft non-working section is used for carrying an image transmission cable and is provided with a driving pipeline.
4. The system of claim 1, wherein the support member is a rigid structure that functions as a support fixture.
5. The system of claim 1, wherein the soft actuator body material is a superelastic material.
6. The system of claim 2, wherein the drive conduit carries a drive cable for connection to a fluid drive control system, and the image transmission channel carries a camera carrying a light source and an image transmission cable.
7. The system of claim 1, wherein the soft working segment comprises a soft no-drive chamber segment, a soft drive chamber segment, and a camera segment, wherein:
the soft body non-driving chamber section comprises a working channel, a driving pipeline and an image transmission channel, the working channel simultaneously penetrates through the soft body driving chamber section and the camera head section, and the driving pipeline penetrates through the soft body non-driving chamber section and the soft body driving chamber section;
the soft body driving chamber section comprises the working channel, a driving pipeline and an image transmission channel, and the driving pipeline in the soft body driving chamber section is in a half-through state and forms a closed driving chamber after being connected with an external driving system;
the camera section comprises the working channel and a camera channel, and the camera channel is used for placing a camera carrying a light source.
8. The system of claim 7, wherein the working channel is configured to change diameter size by active or passive actuation.
9. The system of claim 1, wherein the soft body driver is fabricated using 3D printing molding techniques or soft demolding techniques.
10. The system of claim 7, wherein the drive conduit is disposable in one or more.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211607825.0A CN115844319A (en) | 2022-12-14 | 2022-12-14 | Soft driver system for uterine cavity diagnosis and treatment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211607825.0A CN115844319A (en) | 2022-12-14 | 2022-12-14 | Soft driver system for uterine cavity diagnosis and treatment |
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| CN115844319A true CN115844319A (en) | 2023-03-28 |
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| CN202211607825.0A Pending CN115844319A (en) | 2022-12-14 | 2022-12-14 | Soft driver system for uterine cavity diagnosis and treatment |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101292856A (en) * | 2007-04-26 | 2008-10-29 | 奥林巴斯医疗株式会社 | Medical apparatus |
| CN102058376A (en) * | 2011-01-31 | 2011-05-18 | 广州宝胆医疗器械科技有限公司 | Novel three-dimensional electronic hysteroscopy system and use method thereof |
| CN107349014A (en) * | 2017-06-02 | 2017-11-17 | 北京邮电大学 | Hard and soft changeable endoscope type micro-wound operation robot |
| CN108784837A (en) * | 2017-04-28 | 2018-11-13 | 新加坡国立大学 | Soft robot and its manufacturing method and control system |
| CN112869689A (en) * | 2021-03-23 | 2021-06-01 | 华中科技大学 | Soft endoscope |
| CN214632084U (en) * | 2020-12-08 | 2021-11-09 | 南宋医疗(深圳)有限公司 | Combined endoscope, sheath tube and endoscope |
| CN217792989U (en) * | 2022-06-16 | 2022-11-15 | 深圳柏德医疗科技有限公司 | Mounting structure of palace chamber endoscope point end |
-
2022
- 2022-12-14 CN CN202211607825.0A patent/CN115844319A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101292856A (en) * | 2007-04-26 | 2008-10-29 | 奥林巴斯医疗株式会社 | Medical apparatus |
| CN102058376A (en) * | 2011-01-31 | 2011-05-18 | 广州宝胆医疗器械科技有限公司 | Novel three-dimensional electronic hysteroscopy system and use method thereof |
| CN108784837A (en) * | 2017-04-28 | 2018-11-13 | 新加坡国立大学 | Soft robot and its manufacturing method and control system |
| CN107349014A (en) * | 2017-06-02 | 2017-11-17 | 北京邮电大学 | Hard and soft changeable endoscope type micro-wound operation robot |
| CN214632084U (en) * | 2020-12-08 | 2021-11-09 | 南宋医疗(深圳)有限公司 | Combined endoscope, sheath tube and endoscope |
| CN112869689A (en) * | 2021-03-23 | 2021-06-01 | 华中科技大学 | Soft endoscope |
| CN217792989U (en) * | 2022-06-16 | 2022-11-15 | 深圳柏德医疗科技有限公司 | Mounting structure of palace chamber endoscope point end |
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