WO2023045772A1 - Ureteroscope system for medical use - Google Patents

Abstract

A ureteroscope system (1) for medical use, The ureteroscope system comprises a ureteroscope body (10) and a visualization system (20). The ureteroscope body (10) comprises a ureteroscope tube (11) and a working component (12), wherein the working component (12) is mounted on the ureteroscope tube (11) and protrudes forward from a leading end (110) of the ureteroscope tube (11); the leading end (110) of the ureteroscope tube (11) has a photographing end face (1101) and a suction end face (1102) located in front of the photographing end face (1101); and the ureteroscope body (10) comprises a suction channel axially extending in the ureteroscope tube (11) to form a suction opening (1010) at the suction end face (1102) of the leading end (110). The visualization system (20) comprises a camera (21) and a display device (22) in communication connection with the camera (21), wherein the camera (21) is mounted on the photographing end face (1101) of the leading end (110) for photographing the suction opening (1010) and the working component (12), which protrudes from the leading end (110), so as to display an image of the suction opening (1010) and an image of the working component (12) by means of the display device (22).

Description

Medical Ureteroscopy System technical field

The invention relates to the technical field of medical instruments, in particular to a medical ureteroscope system.

Background technique

Urinary calculus is a common disease. According to statistics, the prevalence of urolithiasis in adults is as high as 6.5%, and its 5-year recurrence rate is as high as 50%, and it is increasing year by year, seriously threatening people's health. In recent years, with the development of minimally invasive treatment techniques, flexible ureteroscopy has become an important treatment for such diseases. However, if there are large stones that are crushed to about 2 mm, it is difficult to pulverize them with the existing holmium laser technology, and there is a lack of effective stone clearing equipment, so about 60%-90% of the stones will remain in the renal pelvis internal, can only be excreted by natural means. However, this method not only has a lower excretion rate, but also forms a stone street in the ureter to block the ureter, which is also the main reason for the high recurrence rate of stones. In addition, the entire treatment process takes a long time, and the existing flexible ureteroscope cannot accurately control the pressure in the renal pelvis, which may cause irreversible damage to the renal pelvis.

In order to solve this problem, some clinical experts have proposed to use the principle of negative pressure suction to attract the pulverized stones out of the body in time. For example, as shown in Figure 1, a self-draining ureteroscope 1P has been applied for in the Chinese utility model patent CN212574841U. The diameter of the insertion part is increased to replace the guide sheath of the ureter. The advantage of this is that the head of the ureteroscope is designed with a perfusion hole 10P and a suction hole 20P to flush the gravel with the perfusion water flow to achieve short-distance low negative pressure suction , to improve the efficiency of stone cleaning. However, in the actual test process, problems such as the tip work of the entire ureteroscope cannot be fully visualized, the camera and optical fiber are blocked by the inner wall of the renal pelvis, fragmented stones escape from impact, or the self-irrigation and drainage circulatory system is uncontrollable, etc. For example, as shown in Figure 2, since the camera 30P is in front of the suction hole 20P, causing the suction hole 20P to be outside the field of view of the camera 30P, whether the crushed gravel enters the suction hole 20P, or the suction hole 20P Whether the hole 20P is blocked or not cannot be observed, which brings a considerable safety risk to the operation.

technical problem technical solution

An advantage of the present invention is to provide a medical ureteroscope system, which can visualize the tip work of the ureteroscope main body, so as to guide the doctor's operation accurately.

Another advantage of the present invention is to provide a medical ureteroscope system, wherein, in an embodiment of the present invention, the medical ureteroscope system can make stones, suction holes And the optical fiber head is within the field of view of the camera, so as to collect images of the working state of the tip of the ureteroscope in the renal pelvis for observation and judgment by doctors.

Another advantage of the present invention is to provide a medical ureteroscope system, wherein, in an embodiment of the present invention, the medical ureteroscope system can synchronize the optical fiber hitting aiming point with the image without occlusion, so as to improve System reliability and security.

Another advantage of the present invention is to provide a medical ureteroscope system, wherein, in an embodiment of the present invention, the medical ureteroscope system can use the suction force of the suction port to absorb stone fragments to offset the impact of laser energy , prevent stones from escaping, and help improve the efficiency of stone crushing.

Another advantage of the present invention is to provide a medical ureteroscope system, wherein, in an embodiment of the present invention, the medical ureteroscope system can make the perfusate form an approximately semi-circular continuous loop between the perfusion opening and the suction opening. The cyclic motion trajectory (ie, vortex) is used to drive the gravel into the suction opening and be discharged from the body.

Another advantage of the present invention is to provide a medical ureteroscope system, wherein, in an embodiment of the present invention, the medical ureteroscope system can control the trajectory of the perfusate by adjusting the perfusion flow rate and the magnitude of the suction force , so as to achieve targeted and controllable suction of gravel, which helps to greatly improve the efficiency of stone cleaning.

Another advantage of the present invention is to provide a medical ureteroscope system, wherein, in an embodiment of the present invention, the medical ureteroscope system can improve the overall reliability, safety and operation accuracy of the system.

Another advantage of the present invention is to provide a medical ureteroscope system, wherein, in order to achieve the above-mentioned advantages, no complicated structures or designs need to be adopted in the present invention. Therefore, the present invention successfully and effectively provides a solution that not only provides a simple medical ureteroscope system, but also increases the practicality and reliability of said medical ureteroscope system.

In order to achieve at least one of the above advantages or other advantages and objectives, the present invention provides a medical ureteroscope system, including:

A ureteroscope main body, wherein the ureteroscope main body includes a mirror tube and a working member, wherein the working member is mounted on the mirror tube so as to protrude forward from a tip portion of the mirror tube, wherein the mirror The tip portion of the tube has an imaging end surface and a suction end surface located in front of the imaging end surface, and the ureteroscope main body includes a suction channel extending axially in the tube for the scope, so that the the suction end face forms a suction opening; and

A visual system, wherein the visual system includes a camera and a display device communicatively connected to the camera, wherein the camera is installed on the camera end surface of the tip part for photographing the suction opening and The working member protrudes from the tip portion to display the image of the suction opening and the image of the working member through the display device.

According to an embodiment of the present application, the visualization system further includes at least one light source, wherein the light source and the camera are adjacently installed on the camera end surface of the tip portion.

According to an embodiment of the present application, the visualization system further includes an image processing unit, wherein the image processing unit includes an image acquisition module, an image processing module, a pose calculation module, and a data transmission module that are sequentially communicatively connected, wherein The image acquisition module is communicably connected with the camera, and is used to acquire the original image information captured by the camera, wherein the original image information includes the image of the suction opening, the head image of the working part and the stone image, wherein the image processing module is used to denoise and filter the original image information to obtain preprocessed image information, wherein the pose calculation module is used to perform target positioning on the preprocessed image information , to calculate the pose transformation data between the head of the working part and the calculus; wherein the data transmission module is communicably connected to the display device, and is used to transmit the pose transformation data to the a display device for displaying through the display device.

According to an embodiment of the present application, the working component is an optical fiber for emitting laser light for lithotripsy.

According to an embodiment of the present application, the suction end surface of the tip portion extends obliquely forward from the imaging end surface of the tip portion.

According to an embodiment of the present application, the main body of the ureteroscope further includes a working channel for passing through the working part, wherein the working channel runs through the tube for the scope, and the working channel is in the tube for the scope. The tip end portion extends obliquely, so that the working component obliquely protrudes forward from the tip portion under the guidance of the working channel.

According to an embodiment of the present application, the working part protruding from the working channel extends forward to the meridional image plane of the camera.

According to an embodiment of the present application, the working part protruding from the working channel extends within the meridian image plane of the camera.

According to an embodiment of the present application, the working opening of the working channel faces the suction opening of the suction channel.

According to an embodiment of the present application, the working channel extends obliquely forward and inward to the inner wall of the suction channel in the tip portion, so as to form the working opening on the inner wall of the suction channel .

According to an embodiment of the present application, the medical ureteroscope system further includes a negative pressure suction system, wherein the negative pressure suction system includes a negative pressure generating device communicated with the suction channel for A negative pressure area is formed at the suction opening of the channel.

According to an embodiment of the present application, the negative pressure suction system further includes a stone collection device and a negative pressure regulator, wherein the stone collection device is set in the passage between the suction channel and the negative pressure generating device, for To collect gravel discharged through the suction channel; wherein the negative pressure regulator is used to adjust the negative pressure in the suction channel, so as to adjust the suction force at the suction opening as required.

According to an embodiment of the present application, the main body of the ureteroscope further includes a perfusion channel that runs through the tube for the scope, and the perfusion channel radially extends from the inside of the tip to the outer peripheral side of the tip, so that One or more perfusion openings are formed on the outer peripheral side of the tip portion.

According to an embodiment of the present application, the medical ureteroscope system further includes a perfusion system, wherein the perfusion system includes a perfusion device communicated with the perfusion channel, for continuously delivering perfusate to the perfusion channel , so as to perfuse the perfusate from the peripheral side of the tip portion through the perfusion opening.

According to an embodiment of the present application, the scope tube of the ureteroscope main body includes the tip end, a bendable portion extending backward from the tip end, and an insertion portion extending backward from the bendable portion , wherein the bendable portion of the mirror tube is bent or straightened relative to the insertion portion.

According to an embodiment of the present application, the main body of the ureteroscope further includes an operating part provided at the rear end of the mirror tube, and the bendable part of the mirror tube is controlled by the operating part to bend or extend. straight.

Further objects and advantages of the invention will fully appear from an understanding of the ensuing description and accompanying drawings.

These and other objects, features and advantages of the present invention are fully realized by the following detailed description, drawings and claims.

Beneficial effect Description of drawings

Fig. 1 shows a schematic diagram of a partial structure of a self-draining ureteroscope in the prior art.

Fig. 2 shows a schematic diagram of the application of the above self-draining ureteroscope.

Fig. 3 is a schematic block diagram of a medical ureteroscope system according to an embodiment of the present invention.

Fig. 4 shows a schematic view of the state of the medical ureteroscope system according to the above embodiment of the present invention.

Fig. 5 shows a partially enlarged schematic diagram of the medical ureteroscope system according to the above-mentioned embodiment of the present invention.

Fig. 6 shows a partial longitudinal cross-sectional schematic view of the medical ureteroscope system according to the above-mentioned embodiment of the present invention.

Fig. 7 shows a schematic diagram of the application of the medical ureteroscope system according to the above-mentioned embodiment of the present invention.

Fig. 8 shows a schematic block diagram of an image processing unit of the visualization system in the medical ureteroscope system according to the above-mentioned embodiment of the present invention.

Fig. 9 shows a system diagram of the visualization system according to the above-mentioned embodiment of the present invention.

Fig. 10 shows a schematic partial top view of the medical ureteroscope system according to the above embodiment of the present invention.

Fig. 11 shows a partial cross-sectional schematic diagram of the medical ureteroscope system according to the above-mentioned embodiment of the present invention.

Fig. 12 shows a schematic diagram of lithotripsy operation of the medical ureteroscope system according to the above-mentioned embodiment of the present invention.

Embodiments of the present invention

The following description serves to disclose the present invention to enable those skilled in the art to carry out the present invention. The preferred embodiments described below are only examples, and those skilled in the art can devise other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents and other technical solutions without departing from the spirit and scope of the present invention.

Those skilled in the art should understand that in the disclosure of the present invention, the terms "vertical", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present invention and The above terms should not be construed as limiting the present invention because the description is simplified rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation.

In the present invention, the term "a" in the claims and the specification should be understood as "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element Can be multiple. Unless it is clearly indicated in the disclosure of the present invention that there is only one element, the term "a" cannot be understood as unique or single, and the term "a" cannot be understood as a limitation on the number.

In the description of the present invention, it should be understood that belonging to "first", "second" and so on are only for descriptive purposes, and should not be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise specified and limited, "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection or an integral connection ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through a medium. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Application overview

As mentioned in the background technology, in the actual test process of the existing self-draining ureteroscope, compared with the existing flexible ureteroscope, although the suction function is added, the diameter of the insertion part of the ureteroscope is increased to replace the ureter. The introduction sheath is designed so that the head of the ureteroscope is designed with perfusion holes and suction holes to flush the broken stones through the perfusion water flow, so as to achieve close-range low negative pressure suction and improve the efficiency of stone removal. However, in the actual test process, problems such as the front end of the entire ureteroscope cannot be fully visualized are prone to occur. For example, whether crushed rubble enters the suction hole or whether the suction hole is blocked cannot be observed, which brings a lot of safety risks to the operation.

Specifically, the technical idea of this application is to creatively design the tip of the ureteroscope in full consideration of the characteristics of lithotripsy surgery and the actual application scenarios of the ureteroscope, so as to achieve the minimally invasive surgical requirements while attracting the opening The images of the ureteroscope and the optical fiber are all within the field of view of the camera, so that the tip work of the main body of the ureteroscope can be visualized so as to accurately guide the doctor's operation.

Based on this, the present application provides a medical ureteroscope system, including: a ureteroscope main body, wherein the ureteroscope main body includes a mirror tube and a working part, wherein the working part is installed on the mirror tube to The tip portion of the tube for the mirror protrudes forward, wherein the tip portion of the tube for the tube has an imaging end surface and a suction end surface located in front of the imaging end surface, and the ureteroscope main body is included in the end surface for the scope. a suction channel extending axially in the tube to form a suction opening at the suction end surface of the tip; and a visual system, wherein the visual system includes a camera and a display device communicably connected with the camera, wherein The camera is installed on the camera end surface of the tip, and is used to photograph the suction opening and the working part protruding from the tip, so as to display the image of the suction opening through the display device and an image of the working part.

illustrative embodiment

Referring to Fig. 3 to Fig. 12 of the accompanying drawings of the present invention, an embodiment of the present invention provides a medical ureteroscope system 1, which can be applied to treating diseases such as urinary stones. For example, when using the medical ureteroscope system 1 of the present application to perform lithotripsy, in addition to observing the position and state of stones in the body through the medical ureteroscope system 1, it is usually necessary to pass through the medical ureter The mirror system 1 carries out operations such as crushing stones. Those skilled in the art should understand that, for the convenience of description, the present application defines the direction of entering the body of the medical ureteroscope system 1 as the front, and the direction outside the body as the rear.

Specifically, as shown in FIGS. 3 to 9 , the medical ureteroscope system 1 may include a ureteroscope main body 10 and a visualization system 20 . The ureteroscope main body 10 may include a mirror tube 11 and a working part 12, wherein the working part 12 is mounted on the mirror tube 11 so as to protrude forward from the tip end 110 of the mirror tube 11, wherein The tip portion 110 of the mirror tube 11 has an imaging end face 1101 and a suction end face 1102 located in front of the imaging end face 1101, and the ureteroscope main body 10 includes a suction end face extending axially inside the mirror tube 11. channel 101 to form a suction opening 1010 on the suction end surface 1102 of the tip portion 110 . The visual system 20 includes a camera 21 and a display device 22 communicatively connected with the camera 21, and the camera 21 is installed on the camera end surface 1101 of the tip part 110 for photographing the attraction. The opening 1010 and the working part 12 extending from the tip part 110 are used to display the image of the suction opening 1010 and the image of the working part 12 through the display device 22 .

It can be understood that the imaging end surface 1101 and the suction end surface 1102 of the tip portion 110 of the present application jointly form the front end surface of the mirror tube 11, so that when the medical ureteroscope system 1 When the mirror tube 11 is inserted into a human organ, liquid or gravel in the human organ can enter the suction channel 101 from the front end surface of the tip portion 110 through the suction opening 1010 to be discharged out of the body.

It is worth noting that since the camera head 21 and the suction opening 1010 are respectively located on the imaging end surface 1101 and the suction end surface 1102 of the tip portion 110, and the suction end surface 1102 is located in front of the imaging end surface 1101 , so the suction opening 1010 will be in front of the camera 21, so as to achieve the technical effect of suction in front and photography behind, so as to ensure that the suction opening 1010 is partially or completely within the field of view of the camera 21 . At the same time, the working part 12 mounted on the mirror tube 11 protrudes forward from the tip end 110 and is also within the field of view of the camera 21, so that the image of the suction opening 1010 and the image of the working part 12 can be displayed by the display device 22, so as to observe the working status of the suction opening 1010 and the working part 12 in real time, such as whether gravel enters the suction opening 1010, or the Whether the suction opening 1010 is blocked, or whether the working part 12 is working normally, etc., help the doctor to make a timely and accurate judgment on the operation status.

More specifically, as shown in FIG. 5 and FIG. 6 , the working component 12 can be implemented as an optical fiber 121 , so that laser light can be emitted through the optical fiber 121 for lithotripsy. Those skilled in the art can understand that, with the different application scenarios of the medical ureteroscope system 1 , the types of the working parts 12 can also be different, and the operator can choose according to the needs. Certainly, in other examples of the present application, the working part 12 may also be implemented as a guide wire, but not limited thereto, wherein the guide wire can guide the mirror tube 11 to a target position.

In addition, when the medical ureteroscope system 1 is used for diagnosis and treatment operations, the tip end 110 of the endoscope tube 11 will be inserted into the human body, that is, the camera head 21 installed on the tip end 110 will be in a dark environment, therefore, as shown in Figure 5 and Figure 7, in order to ensure that the camera 21 can collect image information, the visual system 20 generally needs to further include at least one light source 23, wherein the light source 23 is used to emit light to illuminate the object to be photographed, such as the renal pelvis cavity or the suction opening 1010, etc., and the camera 21 is used to receive the light reflected back by the object to be photographed, so as to capture an image of the object to be photographed, so that the captured image The data is transmitted outside the body to be displayed on a monitor, which is convenient for doctors and other personnel to observe the internal situation.

Exemplarily, as shown in FIG. 5 and FIG. 10 , both the camera 21 and the light source 23 are installed on the camera end surface 1101 of the tip portion 110 , and the light source 23 is located near the camera 21 That is to say, the camera 21 and the light source 23 are adjacently installed on the camera end surface 1101 of the tip end 110, which helps to ensure that the light emitted by the light source 23 is reflected by the object to be photographed After that, it can be better received by the camera 21 to obtain image information.

In detail, the light source 23 can be but not limited to be implemented as an LED or a cold light source, and the number of the light source 23 can be one or more than one, and the light source 23 can be located on one or both sides of the camera 21. Specifically, it can be configured according to needs and space, which will not be described in detail in this application. It can be understood that the camera 21 can be implemented as, but not limited to, a camera module composed of a lens group and a CMOS image sensor, and can also be implemented as other types of camera modules, as long as it can collect image information.

It should be noted that, as shown in FIG. 7 , the display device 22 of the visual system 20 can be implemented as a display screen 221 without limitation, for displaying the image of the suction opening 1010 captured by the camera 21. The image and the image of the working part 12 are used for the doctor to observe the working state of the tip portion 110 of the mirror tube 11 to guide him to perform the corresponding operation. It can be understood that the display device 22 can also be implemented as other electronic devices with display functions, such as computers, notebooks, smart watches, AR/VR, etc., as long as the corresponding images can be displayed for doctors to observe. The application will not repeat this.

In addition, the display device 22 of the visualization system 20 can be fixedly installed on the ureteroscope main body 10, or can be independent from the ureteroscope main body 10, as long as the display device 22 can be connected with the ureteroscope main body 10. The camera 21 may be connected so as to be communicable. Of course, the display device 22 can be connected through wired or wireless communication.

In particular, since the picture displayed by the display device 22 is usually a plane image frame, not only the distance information will be lost, but also the visual deviation is prone to occur, so it is difficult for the doctor to accurately estimate the distance between the head of the optical fiber 121 and the calculus. distance and orientation. And once the distance between the head of the optical fiber 121 and the stone is too large, or the direction of the head of the optical fiber 121 is misaligned with the stone, the laser emitted through the optical fiber 121 will not be able to crush the stone. , and even accidentally injure the tissues of human organs, causing unnecessary harm to patients.

In order to solve this problem, as shown in FIG. 3 , FIG. 8 and FIG. 9 , the visualization system 20 of the present application may further include an image processing unit 24, wherein the image processing unit 24 includes sequentially communicatively connected image An acquisition module 241, an image processing module 242, a pose calculation module 243, and a data transmission module 244, wherein the image acquisition module 241 is communicably connected to the camera 21, and is used to acquire raw image information captured by the camera 21 , wherein the original image information includes the image of the suction opening 1010, the head image of the working part 12 and the image of the stone; wherein the image processing module 242 is used to denoise and filter the original image information processing to obtain pre-processed image information; wherein the pose calculation module 243 is used to perform target positioning on the pre-processed image information to calculate the pose between the head of the working part 12 and the stone transformation data; wherein the data transmission module 244 is communicably connected with the display device 22, and is used to transmit the pose transformation data to the display device 22 for display by the display device 22 for doctors Accurately grasp the distance and orientation between the head of the working part 12 and the calculus, so as to make a reasonable medical operation in time.

It should be noted that, in the process of denoising and filtering the original image information by the image processing module 242, Gaussian filtering can be used to scan each pixel in the image with a template, and use the template to The weighted average gray value of the pixels in the determined area is used to replace the value of the central pixel of the template to ensure the high-definition and accuracy of the image, thereby ensuring the accuracy of subsequent data calculations.

According to the above embodiment of the present application, as shown in FIG. 5 and FIG. 6 , the suction end surface 1102 of the tip end 110 of the mirror tube 11 is inclined toward The front extension makes the camera head 21 installed on the camera end surface 1101 behind, and the suction opening 1010 formed on the suction end surface 1102 is in front, and the suction opening 1010 is an oblique cut, so as to ensure the The suction opening 1010 is partly or completely within the field of view of the camera 21 .

In addition, as shown in FIG. 6, the ureteroscope main body 10 may further include a working channel 102 for passing through the working part 12, wherein the working channel 102 runs through the scope tube 11, and the working channel 102 extends obliquely at the tip end 110 of the mirror tube 11 , so that the working part 12 protrudes obliquely forward from the tip end of the mirror tube 11 under the guidance of the working channel 102 Section 110.

Preferably, the working part 12 protruding from the working channel 102 can extend forward to the meridian image plane 211 of the camera 21, so that the head image of the working part 12 is in the visual field of the camera 21 axis 210 . In other words, in the picture taken by the camera 21, the head image of the working part 12 will be on the visual central axis 210 of the camera 21. At this time, it is only necessary to make the head of the working part 12 When the image is close to the stone image along the central visual axis 210 of the camera 21, the stone can be placed directly in front of the working part 12, so as to control the aiming point of the working part 12, which helps to improve the stone breaking efficiency , to reduce the risk of accidentally injuring human organs. It can be understood that the meridian image plane 211 of the camera 21 is perpendicular to the sagittal image plane of the camera 21, that is, the horizontal image plane of the camera 21, and the meridian image plane 211 of the camera 21 The visual central axis 210 of the camera 21 is formed in the picture captured by the camera 21 .

More preferably, as shown in FIG. 5 and FIG. 6 , the working part 12 protruding from the working channel 102 can extend in the meridian image plane 211 of the camera 21 , at this time, the working part 12 The image coincides with the visual central axis 210 of the camera 21 , that is, the head image of the working component 12 must be located on the visual central axis 210 of the camera 21 .

It can be understood that the medical ureteroscope system 1 of the present application can be divided into up and down, left and right in addition to the front and rear. For example, in an example of the present application, as shown in FIGS. 5 and 6, the The camera 21 may be located above the working part 12 protruding from the working channel 102, so that the camera 21 is placed on the top and the working channel 102 is placed on the bottom. The image of the working part 12 is in the lower part of the display screen. It can be understood that the up, down, left, and right mentioned in this application are defined according to the shooting pictures of the camera 21 that is placed upright, that is, the up, down, left, and right mentioned in this application correspond to the camera 21 respectively. Above, below, left and right when placed upright.

In addition, as shown in FIG. 6 , the optical axis 212 of the camera 21 may deviate from the central axis 1011 of the suction channel 101 , and the optical axis 212 of the camera 21 intersects the center of the suction channel 101 Axis 1011, that is to say, the shooting direction of the camera 21 is different from the axial direction of the suction channel 101, so that the medical ureteroscope system 1 of the present application does not increase the field angle of the camera 21 In some cases, the tip of the ureteroscope main body 10 can be visualized, which helps to observe whether the suction opening 1010 of the tip portion 110 is blocked, or whether debris enters the suction opening 1010 .

It is worth mentioning that, in a modified implementation of the embodiment of the present application, the optical axis 212 of the camera 21 may be parallel to the central axis 1011 of the suction channel 101, which is not limited by the present application.

Exemplarily, the field of view of the camera 21 can be implemented as 120°, but not limited to, according to the above arrangement of the present application, of course, in other examples of the present application, the field of view of the camera 21 can also be Implemented as other angles.

Preferably, as shown in FIGS. 4 to 6 , the working opening 1020 of the working channel 102 faces the suction opening 1010 of the suction channel 101 , so that the optical fiber 121 passing through the working channel 102 can pass through the The protrusion of the suction opening 1010 is helpful to ensure that the protruding part of the optical fiber 121 can be within the field of view of the camera 21, so as to facilitate observing the position and state of the protruding part of the optical fiber 121.

More preferably, as shown in FIG. 6 , the working channel 102 obliquely extends forward and inward to the inner wall of the suction channel 101 in the tip portion 110 to form a The working opening 1020, that is to say, with respect to the suction channel 101, the part of the working channel 102 in the tip portion 110 is implemented as an inclined hole, so that the optical fiber passing through the working channel 102 121 can protrude from the inner wall of the suction channel 101 , so as to prevent the optical fiber 121 from hindering the flow of debris or fluid in the suction channel 101 to be discharged smoothly.

It can be understood that since the working channel 102 extends obliquely forward at the tip portion 110 and the working opening 1020 corresponds to the suction opening 1010, the optical fiber passing through the working channel 102 121 can protrude obliquely forward from the suction opening 1010 . In this way, when the optical fiber 121 is operated to protrude from the suction opening 1010 of the suction channel 101, the laser emitted through the optical fiber 121 can strike stones in human organs for lithotripsy; When the optical fiber 121 is operated to retract the suction opening 1010 of the suction channel 101, the laser emitted through the optical fiber 121 is released at the suction opening 1010. At this time, if the suction opening 1010 appears If the rubble is blocked, the released holmium laser will hit the blocked rubble to achieve the effect of dredging the suction opening 1010 .

Exemplarily, in the above-mentioned embodiments of the present application, as shown in FIGS. The optical fiber 121 of 102 protrudes from the suction opening 1010 obliquely downward from the upper side of the suction channel 101 , so that the optical fiber 121 protruding from the suction opening 1010 is in the meridian of the camera 21 Extending in the image plane 211, so that the image of the optical fiber 121 basically extends along the visual central axis 210 of the camera 21, that is to say, the center line of the image of the optical fiber 121 is in line with all the axes of the camera 21. The central axis of vision 210 is substantially coincident, so that such as the turning of the renal pelvis will not be blocked by tissue, not only can observe the stone, but also can see the impact position of the optical fiber 121.

In particular, the optical fiber 121 protruding from the working channel 102 can extend to the optical axis 212 of the camera 21 , so that the laser emitted through the optical fiber 121 can follow the optical axis 212 of the camera 21 . The shaft 212 is launched so as to crush the stones located within the field of view of the camera 21 .

It is worth noting that when the medical ureteroscope system 1 is used to treat urinary stones, the laser emitted through the optical fiber 121 will exert laser energy impact force on the stones when the stones are crushed, so that the stones or broken stones will be far away. The head of the optical fiber 121 is further away from the suction opening 1010 of the suction channel 101 , so stones cannot be crushed and discharged smoothly. In order to solve this problem, as shown in Fig. 3 and Fig. 4, the medical ureteroscope system 1 of the present application may further include a negative pressure suction system 30, wherein the negative pressure suction system 30 includes The negative pressure generating device 31 communicated with 101 is used to form a negative pressure area at the suction opening 1010 of the suction channel 101, so as to generate adsorption force on the stones or broken stones near the suction opening 1010 to offset the laser energy The impact force keeps the stone relatively fixed at the suction opening 1010 and prevents it from escaping, so that the high-frequency energy of the holmium laser can effectively act on the stone and pulverize it. At the same time, the gravel enters the suction channel 101 under the negative pressure suction of the suction opening 1010 to be discharged from the body, which not only improves the efficiency of crushing stones, but also greatly improves the efficiency of stone discharge.

Preferably, as shown in FIG. 4 , the negative pressure suction system 30 may further include a stone collection device 32, wherein the stone collection device 32 is arranged between the suction channel 101 and the negative pressure generating device 31 The channel is used to collect gravel discharged through the suction channel 101 to prevent the gravel from entering the negative pressure generating device 31 and affecting the normal operation of the negative pressure generating device 31 . It can be understood that, the negative pressure generating device 31 can be implemented as a vacuum pump, but not limited; the stone collecting device 32 can be implemented as a filter container, but not limited.

More preferably, the negative pressure suction system 30 further includes a negative pressure regulator 33, wherein the negative pressure regulator 33 is used to adjust the negative pressure in the suction channel 101, so as to adjust the suction opening 1010 as required The size of the adsorption force. It can be understood that the negative pressure regulator 33 can be implemented as, but not limited to, a regulating valve communicated with the suction passage 101, so as to adjust the negative pressure in the suction passage 101 by adjusting the opening of the regulating valve. Compression size. Of course, in other examples of the present application, the negative pressure regulator 33 can also be implemented as a switch communicatively connected with the negative pressure generating device 31, so as to directly control the negative pressure generated by the negative pressure generating device 31. The effect of adjusting the magnitude of the negative pressure in the suction channel 101 can still be achieved.

According to the above-mentioned embodiment of the present application, as shown in FIG. 5 and FIG. 11 , the ureteroscope main body 10 of the medical ureteroscope system 1 may further include a perfusion channel 103 passing through the mirror tube 11 for The perfusate delivered through the perfusion channel 103 is discharged from the tip portion 110 to perfuse into human organs. In this way, when the medical ureteroscope system 1 is operated, after the medical ureteroscope system 1 is inserted into the kidney, perfusion fluid such as water flows through the perfusion channel 103 to the tip part 110 to perfuse the kidney. The perfusion operation is realized in the kidney; and the working parts 12 such as the optical fiber 121 extend out of the suction opening 1010 through the working channel 102 to carry out the lithotripsy operation; 1010 enters the suction channel 101 to be expelled from the body.

Preferably, as shown in FIG. 11 and FIG. 12 , the perfusion channel 103 radially extends to the outer peripheral side 1103 of the tip end 110 in the tip portion 110 , so that forming one or more perfusion openings 1030, so that the perfusion fluid flows outward from the peripheral side 1103 of the tip portion 110 through the perfusion openings 1030, so as to form a controllable and orderly flow in front of the tip portion 110 Circulation helps to drive gravel to the suction opening 1010 in all directions for efficient suction.

It is understandable that, according to the law of conservation of momentum and the principle of negative pressure attraction in fluid mechanics, the kinetic energy possessed by the perfusate during high-speed flow is used to promote the generation of fragmented stones (detrital stones) deposited at the bottom of the renal pelvis with relatively heavy mass. Displacement, change direction after encountering obstacles from the inner surface of the renal pelvis, and then move upward along the inner wall of the renal pelvis, when reaching the front of the suction opening 1010, the pressure near the suction opening 1010 is low, and the perfusate is forced to flow to The suction opening 1010 can drive gravel into the suction channel 101 until it is excreted from the body.

It should be noted that, according to the above-mentioned embodiments of the present application, as shown in FIGS. The perfusion device 41 is used to continuously deliver the perfusion solution to the perfusion channel 103, so as to perfuse the perfusion fluid into the human body organ from the outer peripheral side 1103 of the tip part 110 through the perfusion opening 1030 of the perfusion channel 103. perfusate. It can be understood that the continuous liquid perfusion and suction during this process can make the perfusate form a continuous circular motion track (vortex) approximately semi-circular between the perfusion opening 1030 and the suction opening 1010, by adjusting the flow rate And the size of the attraction, the diameter or trajectory of the semicircle can be controlled to achieve targeted and controllable attraction of gravel, greatly improving the efficiency of stone cleaning.

In addition, due to the large area of the outer peripheral side 1103 of the tip portion 110, the number and size of the perfusion openings 1030 need not be limited by the smaller end surface of the tip portion 110, so that the perfusion openings 1030 The effective area of the suction channel 101 is greatly increased, which helps to form a large perfusion flow rate under a relatively low perfusion pressure, and a large suction flow rate in the suction channel 101 under the same negative pressure, so as to achieve the best The perfusion suction ratio enhances the efficiency of stone removal.

It is worth noting that the perfusion device 41 of the perfusion system 40 can be implemented as, but not limited to, a fluid pump communicated with a container containing perfusion fluid, so as to deliver perfusion fluid at a predetermined pressure to the perfusion channel 103, Meet the demand for perfusion flow.

According to the above-mentioned embodiment of the present application, as shown in FIG. 4 , the tube 11 for the scope of the ureteroscope main body 10 of the medical ureteroscope system 1 may include the tip portion 110 , from the tip portion 110 a bendable portion 111 extending backward and an insertion portion 112 extending backward from the bendable portion 111 , wherein the bendable portion 111 of the mirror tube 11 can be bent or stretched relative to the insertion portion 112 Straight, so that the tip portion 110 is close to the target position, such as the position of stones in the renal pelvis, so as to perform corresponding medical operations.

In particular, as shown in FIG. 4 , the ureteroscope main body 10 may further include an operating portion 13 disposed at the rear end of the mirror tube 11, and the bendable portion 111 of the mirror tube 11 can be The operation part 13 is controlled to bend or straighten. It can be understood that, the suction channel 101 , the working channel 102 and the perfusion channel 103 of the ureteroscope main body 10 of the present application can all extend from the operating part 13 to all parts of the scope tube 11 . The above-mentioned tip portion 110 is used to realize communication between the inside and outside of the human body through the main body 10 of the ureteroscope, such as perfusion, lithotripsy, suction, and stone expulsion.

Preferably, the perfusion channel 103 has a special-shaped structure, and the perfusion channel 103 is wrapped around the suction channel 101 so as to increase the diameter of the mirror tube 11 without increasing the outer diameter. The effective diameter of the perfusion channel 103 helps to increase the perfusion flow rate. Exemplarily, the perfusion channel 103 may have an annular cross-sectional structure, so that the perfusion channel 103 surrounds the suction channel 101 . It is worth noting that the ring in the circular cross-sectional structure may also refer to a gap ring, that is, the suction channel 101 is partially surrounded by the perfusion channel 103; of course, in other examples of the application, the ring The ring in the cross-sectional structure may refer to a complete ring, that is, the suction channel 101 is completely surrounded by the perfusion channel 103 .

Optionally, the perfusion channel 103 and the working channel 102 jointly surround the suction channel 101, so as to maximize the increase of the suction channel without increasing the outer diameter of the mirror tube 11 101 to reduce the risk of the suction passage 101 being clogged by gravel. In other words, the suction channel 101 may have a circular cross-section or an oval cross-section, and the perfusion channel 103 may have a notched circular cross-section, so as to partially wrap around the suction channel 101, and in the suction channel 101 A gap is formed around the working channel 102 so that the perfusion channel 103 and the working channel 102 surround the suction channel 101 together.

It should be noted that the working channel 102 and the perfusion channel 103 may be independent of each other; or, the working channel 102 and the perfusion channel 103 may also be connected to each other, that is, the working channel 102 and the perfusion channel 103 may be mutually connected. The perfusion channels 103 communicate with each other to form a complete annular channel around the suction channel 101 , which helps to simplify the structure of the scope tube 11 and reduce the manufacturing cost of the medical ureteroscope system 1 .

It should be understood by those skilled in the art that the embodiments of the present invention shown in the foregoing description and drawings are only examples and do not limit the present invention. The objects of the present invention have been fully and effectively accomplished. The functions and structural principles of the present invention have been shown and described in the embodiments, and the embodiments of the present invention may have any deformation or modification without departing from the principles.

Claims (16)

1. A medical ureteroscope system, characterized in that it comprises:

   A ureteroscope main body, wherein the ureteroscope main body includes a mirror tube and a working member, wherein the working member is mounted on the mirror tube so as to protrude forward from a tip portion of the mirror tube, wherein the mirror The tip portion of the tube has an imaging end surface and a suction end surface located in front of the imaging end surface, and the ureteroscope main body includes a suction channel extending axially in the tube for the scope, so that the the suction end face forms a suction opening; and

   A visual system, wherein the visual system includes a camera and a display device communicatively connected to the camera, wherein the camera is installed on the camera end surface of the tip part for photographing the suction opening and The working member protrudes from the tip portion to display the image of the suction opening and the image of the working member through the display device.
2. The medical ureteroscope system according to claim 1, wherein the visualization system further comprises at least one light source, wherein the light source and the camera are adjacently installed on the camera end surface of the tip.
3. The medical ureteroscope system according to claim 2, wherein the visualization system further includes an image processing unit, wherein the image processing unit includes an image acquisition module, an image processing module, and a pose calculation module that are communicably connected in sequence. module and a data transmission module, wherein the image acquisition module is communicably connected with the camera, and is used to acquire the original image information captured by the camera, wherein the original image information includes the image of the suction opening, the working The head image of the component and the image of the stone, wherein the image processing module is used to denoise and filter the original image information to obtain pre-processed image information, wherein the pose calculation module is used to process the Preprocessing the image information for target positioning to calculate the pose transformation data between the head of the working part and the calculus; wherein the data transmission module is communicably connected to the display device for positioning the position The posture transformation data is transmitted to the display device for display by the display device.
4. The medical ureteroscope system according to claim 1, wherein the working part is an optical fiber for emitting laser light for lithotripsy.
5. The medical ureteroscope system according to any one of claims 1 to 4, wherein the suction end surface of the tip portion extends obliquely forward from the imaging end surface of the tip portion.
6. The medical ureteroscope system according to claim 5, wherein the ureteroscope main body further comprises a working channel for passing through the working part, wherein the working channel runs through the scope tube, and the working The channel extends obliquely at the tip end of the mirror tube, so that the working component protrudes obliquely forward from the tip end under the guidance of the working channel.
7. The medical ureteroscope system as claimed in claim 6, wherein the working part protruding from the working channel extends forward to the meridional image plane of the camera.
8. 7. The medical ureteroscope system according to claim 7, wherein said working member protruding from said working channel extends in said meridional image plane of said camera head.
9. The medical ureteroscope system according to claim 6, wherein the working opening of the working channel faces the suction opening of the suction channel.
10. The medical ureteroscope system according to claim 9, wherein the working channel extends forward and inwardly to the inner wall of the suction channel in the tip portion, so that The inner wall surface forms the working opening.
11. The medical ureteroscope system according to any one of claims 1 to 4, further comprising a negative pressure suction system, wherein the negative pressure suction system includes a negative pressure generating device communicated with the suction channel for A negative pressure area is formed at the suction opening of the suction channel.
12. The medical ureteroscope system according to claim 11, wherein the negative pressure suction system further comprises a stone collection device and a negative pressure regulator, wherein the stone collection device is arranged on the suction channel and the negative pressure generating device The passage between them is used to collect the gravel discharged through the suction channel; wherein the negative pressure regulator is used to adjust the negative pressure in the suction channel to adjust the suction force at the suction opening as required size.
13. The medical ureteroscope system according to claim 11, wherein the ureteroscope main body further includes a perfusion channel penetrating through the scope tube, and the perfusion channel extends radially inside the tip end to the tip end to form one or more perfusion openings on the peripheral side of the tip.
14. The medical ureteroscope system according to claim 13, further comprising a perfusion system, wherein the perfusion system comprises a perfusion device communicated with the perfusion channel, for continuously delivering perfusion fluid to the perfusion channel to pass through the perfusion channel. The perfusion opening is perfused with the perfusate from the peripheral side of the tip portion.
15. The medical ureteroscope system according to any one of claims 1 to 4, wherein the scope tube of the ureteroscope main body includes the tip portion, a bendable portion extending backward from the tip portion, and An insertion portion extending backward from the bendable portion, wherein the bendable portion of the mirror tube is bent or straightened relative to the insertion portion.
16. The medical ureteroscope system according to claim 15, wherein the ureteroscope main body further includes an operation part provided at the rear end of the mirror tube, and the bendable part of the mirror tube is controlled by the Manipulator controls to bend or straighten.