CN115670537A - Multi-degree-of-freedom flexible biopsy forceps with tail end positioned - Google Patents

Abstract

The invention relates to a multi-degree-of-freedom flexible biopsy forceps with end positioning, which includes a head structure, a middle part structure, and an end part structure; the head structure includes a biopsy forceps body and a head shell; the end part structure includes an end shell, an end handheld parts and manual fixing parts; the middle part structure includes FBG pulling wire, the outer layer of the FBG pulling wire is sleeved with a lubricating tube, and the lubricating tube is sleeved with a magnetron spring tube and a spring tube; the magnetron spring tube is controlled by an externally loaded magnetic force. Bending, after the magnetron spring tube is bent, it will drive the FBG pulling wire to bend synchronously. The FBG pulling wire is an optical fiber sensor that can sense the deformation in the bending direction. The corresponding relationship between the magnetic force and the bending of the spring tube is obtained through the feedback of the FBG optical fiber sensor. Then the magnetic force is adjusted to control the bending angle of the magnetron spring tube. The invention enables the head of the biopsy forceps to accurately locate the abnormal tissue in the airway, and samples the deeper part of the airway.

Description

A multi-degree-of-freedom flexible biopsy forceps with terminal positioning

technical field

The invention relates to a multi-degree-of-freedom flexible biopsy forceps with end positioning.

Background technique

Biopsy is the abbreviation of "biological tissue examination", also known as surgical pathological examination, which refers to the technique of cutting, clamping or puncturing the diseased tissue from the patient's body for pathological examination in response to the needs of diagnosis and treatment.

Usually smaller lesions are deep in the airway. The positioning of the biopsy forceps requires the operation of the guide tube in the early stage. First, the guide tube is inserted deep into the trachea to form a fixed channel, and then the biopsy forceps enter the trachea along the fixed channel for sampling. The size of the guide tube is large, and it is difficult to go deep into the airway. Traditional biopsy forceps do not have the function of turning on their own, so deep diseased tissues cannot be obtained. And traditional biopsy forceps can only clamp the front tissue when sampling, which may easily cause normal tissue to be clamped, destroy normal cells in the airway, and be inefficient.

Contents of the invention

In order to overcome the problems existing in the above-mentioned prior art, the present invention proposes a multi-degree-of-freedom flexible biopsy forceps with end positioning, which can allow the head of the biopsy forceps to accurately locate the mutated tissue in the airway, and for deeper parts of the airway. Take a sample.

The technical solution of the present invention to solve the above problems is: a multi-degree-of-freedom flexible biopsy forceps with end positioning, which is special in that:

Including head structure, middle part structure and end part structure;

The head structure includes the body of the biopsy forceps and the head shell; the end part structure includes the end shell, the end hand piece and the manual fixing part;

The middle part structure includes a FBG pulling wire, the outer layer of the FBG pulling wire is sleeved with a lubricating tube, the front end of the lubricating tube is sleeved with a magnetron spring tube, and the rear end of the lubricating tube is sleeved with a spring tube;

One end of the magnetron spring tube is connected to the head shell, the other end is connected to one end of the spring tube, the other end of the spring tube is connected to the end shell, and the manual fixing part is connected to the end shell; one end of the FBG traction wire is connected to the body of the biopsy forceps , the other end passes through the hole in the middle of the terminal shell and is connected to the terminal handpiece, the terminal handpiece slides inside the terminal shell, and then drives the body of the biopsy forceps to move through the FBG traction wire;

The magnetron spring tube is bent under the control of the externally loaded magnetic force. After the magnetron spring tube is bent, it will drive the FBG pulling wire to bend synchronously. The FBG pulling wire is optical fiber sensing, which can sense the deformation in the bending direction. The corresponding relationship between the magnitude of the magnetic force and the bending of the spring tube is obtained through the feedback of the sense, and then the magnetic force is adjusted to control the bending angle of the magnetron spring tube.

Preferably, the body of the biopsy forceps includes two clips, two transmission connectors and a pull wire connector, the holes in the middle of the two clips are connected to the holes on the top of the head shell through the first connecting shaft, and the ends of the two clips are respectively One end of one transmission connecting piece is connected with the second connecting shaft, the ends of the two driving connecting pieces are connected with the pulling wire connecting piece through the third connecting shaft, and the pulling wire connecting piece is connected with the end of the FBG pulling wire.

Preferably, a through groove is opened on the above-mentioned end shell, and the FBG pulling wire extends into the through groove and is fixedly connected with the end hand piece.

Preferably, the above-mentioned terminal handpiece includes a cylindrical handle portion.

Preferably, ribs are provided on both sides of the cylindrical handle portion, and the connection between the ribs and the handle portion is provided with rounded connection surfaces.

Preferably, the above-mentioned manual fixing part is rotatable relative to the end shell.

Preferably, the above-mentioned head shell includes a tubular structure and two clips, the two clips are arranged oppositely, and one end of the two clips is fixed on the top of the tubular structure, and the two clips are located between the two clips.

Preferably, the above-mentioned pulling wire connecting piece is located in the tubular structure of the head shell, and the pulling wire connecting piece can slide along the channel in the tubular structure.

Preferably, the above-mentioned first connecting shaft is fixed on the two clips.

Preferably, the manual fixing part includes a ring structure.

Advantages of the present invention:

When the biopsy forceps proposed by the present invention go deep into the airway, firstly, the magnetron spring tube will be bent through the magnetic force control outside the body. After the magnetron spring tube is bent, it will drive the FBG pulling wire to bend synchronously. The FBG is an optical fiber transmission. Sensation, can sense the deformation of the bending direction, through the feedback function of the FBG fiber optic sensor can sense the influence of the magnetic force on the spring tube, and then adjust the magnetic force to achieve accurate sampling of deeper parts of the airway, allowing the biopsy forceps The head of the biopsy forceps can be accurately positioned to the mutated tissue in the airway, and finally the head of the biopsy forceps can be opened and closed by sliding the end handpiece to obtain the tissue.

Description of drawings

Fig. 1 is the structure diagram of the head of the multi-degree-of-freedom flexible biopsy forceps provided by the present invention;

Fig. 2 is a structural diagram of the middle part of the end-positioned multi-degree-of-freedom flexible biopsy forceps provided by the present invention;

Fig. 3 is a structural diagram of the end portion of the end-positioned multi-degree-of-freedom flexible biopsy forceps provided by the present invention.

Among them: 1-FBG pulling wire, 2-lubrication tube, 3-magnetron spring tube, 4-spring tube, 5-end shell, 6-manual fixing part, 7-end handpiece, 8-clip, 9-transmission connection 10-drawing wire connector, 11-first connecting shaft, 12-second connecting shaft, 13-third connecting shaft, 14-clip, 15-tubular structure.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is some embodiments of the present invention, but not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention.

Referring to Figs. 1-3, a multi-degree-of-freedom flexible biopsy forceps with end positioning includes a head structure, a middle part structure, and an end part structure.

The head structure includes the body of the biopsy forceps and the head shell; The structure of the middle part includes a FBG pulling wire 1, the outer layer of the FBG pulling wire 1 is sleeved with a lubricating tube 2, the front end of the lubricating tube 2 is sleeved with a magnetron spring tube 3, and the rear end of the lubricating tube 2 is sleeved with a spring tube 4.

One end of the magnetron spring tube 3 is connected to the head shell, the other end is connected to one end of the spring tube 4, the other end of the spring tube 4 is connected to the end shell 5, and the manual fixing part 6 is connected to the end shell 5; the FBG pulling wire One end of 1 is connected to the body of the biopsy forceps, and the other end is connected to the end hand piece 7 through the hole in the middle of the end shell 5, and the end hand piece 7 slides inside the end shell 5, and then the biopsy forceps are driven by the FBG traction wire 1 body movement;

The magnetron spring tube 3 is bent by the externally loaded magnetic control. After the magnetron spring tube 3 is bent, it will drive the FBG drawing wire 1 to bend synchronously. The FBG drawing wire 1 is an optical fiber sensor, which can sense the deformation in the bending direction. Feedback from the FBG optical fiber sensor obtains the corresponding relationship between the magnitude of the magnetic force and the bending of the spring tube 4 , and then adjusts the magnetic force to further control the bending angle of the magnetron spring tube 3 .

Specifically, the externally loaded magnetic force is realized by a magnetic force control part, and the magnetic force control part is controlled and implemented by a controllable multi-degree-of-freedom mechanical arm and a permanent magnet at its end.

Before the biopsy forceps work, there will be a micro-camera with the same structure to detect the path. When the screen shows that the inflection point is reached, the multi-degree-of-freedom mechanical arm and the permanent magnet at the end will apply magnetic force to the magnetron spring tube 3 to make it bend at the inflection point. Use the real-time images captured by the camera and the steering control of the robotic arm to feed back, so that the camera can reach the target location, and then the robotic arm will record the running process during the whole process, and then turn it into a path code, and then use the biopsy forceps to work repeatedly. The path and movement process recorded by the robotic arm once makes the biopsy forceps reach the target location.

The principle of FBG optical fiber sensing is: after the incoming light passes through the grating, the wavelength that meets the Bragg condition will be reflected, and the spectrum will be analyzed by the demodulator. The FBG pulling wire 1 is composed of two FBGs, and the tightness of the grating will change when it is bent. , the spectrum is analyzed by the demodulator after reflection from both sides, and then the bending direction and angle are judged according to the spectrum. Its main function is: Since there is no real-time screen monitoring when the biopsy forceps are working, it is impossible to judge whether to turn according to the path of the robotic arm, so the FBG is used for monitoring.

As a preferred embodiment of the present invention, referring to Fig. 1, the body of the biopsy forceps includes two clips 8, two transmission connectors 9 and a pull wire connector 10, the holes in the middle of the two clips 8 and the head shell The holes at the top are connected by the first connecting shaft 11, so that the two clips 8 are hinged. The ends of the two clips 8 are respectively connected to one end of a transmission connector 9 through the second connecting shaft 12, and the ends of the two transmission connectors 9 are connected to the drawing wire connector 10 through the third connecting shaft 13, and the drawing wire connector 10 is connected to the third connecting shaft 13. The ends of the FBG drawing wire 1 are connected, and when the FBG drawing wire 1 moves downward, it drives the drawing wire connecting piece 10 to move downward, and then the transmission connecting piece 9 drives the two clips 8 to rotate around the first connecting shaft 11 to realize Gripping action.

As a preferred embodiment of the present invention, referring to FIG. 3 , a through groove is opened on the end shell 5 , and the FBG pulling wire 1 extends into the through groove and is fixedly connected with the end hand piece 7 .

As a preferred embodiment of the present invention, referring to FIG. 3 , the terminal handpiece 7 includes a cylindrical handle portion, and ribs are provided on both sides of the cylindrical handle portion, and the ribs and the hand-held The connecting part of the part is provided with a rounded connecting surface. The cylindrical handle is easy for fingers to grasp, and the sidewall is easy for the operator to use force.

As a preferred embodiment of the present invention, referring to FIG. 3 , the manual fixing part 6 is rotatably connected to the terminal housing 5 , so that the manual fixing part 6 can rotate relative to the terminal housing 5 . The manual fixing part 6 includes a ring structure, which is convenient for the operator to grasp by hand. The operator can pass a finger through the ring structure to prevent the manual fixing part 6 from being separated from the operator's hand during operation.

As a preferred embodiment of the present invention, referring to Fig. 1 and Fig. 2, the head shell includes a tubular structure 15 and two clips 14, the two clips 14 are arranged oppositely, and a gap is formed between the two clips 14, The two clips 8 are located between the gaps of the two clips 14 , and one end of the two clips 14 is fixed on the top of the tubular structure 15 . The first connecting shaft 11 is fixed on two clips 14 .

As a preferred embodiment of the present invention, referring to FIG. 1 and FIG. 2 , the drawing wire connecting member 10 is located in the tubular structure 15 of the head shell, and the drawing wire connecting member 10 can slide along the channel in the tubular structure 15 .

The working principle of the multi-degree-of-freedom flexible biopsy forceps with terminal positioning proposed by the present invention is as follows:

The manual fixing part 6 needs to be fixed by hand, and then the end hand piece 7 can slide on the end shell 5, and is controlled manually. When the end hand piece 7 slides, it will drive the FBG pulling wire 1 to slide synchronously, and the FBG The head of the traction wire 1 is connected with the traction wire connector 10 of the biopsy forceps. When the FBG traction wire 1 slides, it will drive the movement of the body of the biopsy forceps to realize the opening and closing of the head clip 8 . When the biopsy forceps go deep into the airway, in order to accurately sample the deeper part of the airway, at the part that needs to be turned, the magnetic force is firstly controlled by the magnetic force loaded outside the body, and the magnetron spring tube is bent. After the spring tube is bent, it will drive the FBG pulling wire to bend synchronously. The FBG is an optical fiber sensor that can sense the deformation in the bending direction. Through the feedback function of the FBG optical fiber sensor, the influence of the magnetic force on the magnetron spring tube can be sensed, and then the magnetic force can be controlled. The adjustment allows the head of the biopsy forceps to accurately locate the mutated tissue in the airway, and finally the head of the biopsy forceps is opened and closed by sliding the end handpiece to obtain the tissue.

The above description is only an embodiment of the present invention, and is not intended to limit the protection scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related The system field is equally included in the scope of protection of the present invention.

Claims (10)

1. A multi-degree-of-freedom flexible biopsy forceps for terminal positioning, characterized in that: Including head structure, middle part structure and end part structure; The head structure includes a biopsy forceps body and a head shell; the end part structure includes an end shell (5), an end handpiece (7) and a manual fixing part (6); The middle part structure includes FBG pulling wire (1), the outer layer of the FBG pulling wire (1) is sleeved with a lubricating tube (2), the front end of the lubricating tube (2) is sleeved with a magnetron spring tube (3), and the lubricating tube ( 2) The rear end is sleeved with a spring tube (4); One end of the magnetron spring tube (3) is connected with the head shell, the other end is connected with one end of the spring tube (4), the other end of the spring tube (4) is connected with the end shell (5), and the manual fixing part (6) is connected with the The end shell (5) is connected; one end of the FBG pulling wire (1) is connected to the body of the biopsy forceps, and the other end passes through the hole in the middle of the end shell (5) to connect with the end hand piece (7), and the end hand piece (7) is in the The inside of the end shell (5) slides, and then the body of the biopsy forceps moves through the FBG traction wire (1); The magnetron spring tube (3) is bent under the control of externally loaded magnetic force. After the magnetron spring tube (3) is bent, it will drive the FBG pulling wire (1) to bend synchronously. The FBG pulling wire (1) is an optical fiber sensor , can sense the deformation in the bending direction, obtain the corresponding relationship between the magnitude of the magnetic force and the bending of the spring tube (4) through the feedback of the FBG optical fiber sensor, and then adjust the magnetic force to further control the bending angle of the magnetron spring tube (3). 2. A kind of multi-degree-of-freedom flexible biopsy forceps with terminal positioning according to claim 1, characterized in that: The body of the biopsy forceps includes two clips (8), two transmission connectors (9) and a pull wire connector (10). The hole in the middle of the two clips (8) and the hole on the top of the head shell pass through the first A connecting shaft (11) is connected, the ends of the two clips (8) are respectively connected with one end of a transmission connector (9) through the second connecting shaft (12), and the ends of the two transmission connectors (9) are connected with the pulling wire The part (10) is connected through the third connecting shaft (13), and the drawing wire connecting part (10) is connected with the end of the FBG drawing wire (1). 3. A kind of multi-degree-of-freedom flexible biopsy forceps with end positioning according to claim 2, characterized in that: A through groove is opened on the end shell (5), and the FBG pulling wire (1) extends into the through groove and is fixedly connected with the end handpiece (7). 4. A kind of multi-degree-of-freedom flexible biopsy forceps with terminal positioning according to claim 3, characterized in that: The end handpiece (7) comprises a cylindrical handle. 5. A kind of multi-degree-of-freedom flexible biopsy forceps with terminal positioning according to claim 4, characterized in that: Ribs are provided on both sides of the cylindrical handle, and the connection between the ribs and the handle is provided with rounded connection surfaces. 6. A multi-degree-of-freedom flexible biopsy forceps with terminal positioning according to claim 5, characterized in that: The manual fixing part (6) can rotate relative to the end shell (5). 7. A multi-degree-of-freedom flexible biopsy forceps with terminal positioning according to claim 6, characterized in that: The head shell includes a tubular structure (15) and two clips (14), the two clips (14) are arranged oppositely, and one end of the two clips (14) is fixed on the top of the tubular structure (15), Two clips (8) are located between the two clips (14). 8. A multi-degree-of-freedom flexible biopsy forceps with terminal positioning according to claim 7, characterized in that: The pulling wire connecting part (10) is located in the tubular structure (15) of the head shell, and the pulling wire connecting part (10) can slide along the channel in the tubular structure (15). 9. A multi-degree-of-freedom flexible biopsy forceps with terminal positioning according to claim 7, characterized in that: The first connecting shaft (11) is fixed on two clips (14). 10. A multi-degree-of-freedom flexible biopsy forceps with terminal positioning according to claim 1, characterized in that: The manual fixing part (6) includes a ring structure.

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