RU2595058C1 - Endoscope for movement inside body cavities - Google Patents

Abstract

FIELD: medicine.

SUBSTANCE: invention relates to medicine. Endoscope for movement inside body cavities comprises: flexible housing with elements of its movement, arranged in front part of housing head with located in it a video camera. Housing is made in form of a chain movably interconnected elements, each of which is equipped with a linear motor. Each element of movement of flexible housing is made in form of flexible plates from elastic material, uniformly located along perimeter on surface of housing of linear motor, and ends of each plate are fixed on opposite end surfaces of linear motor. In head of front part of housing there is a manipulator with a tool for required treatment procedures, and in tail part of flexible housing there is a conductor for electric connection with video camera, manipulator and linear motors.

EFFECT: use of present invention increases efficiency of movement of endoscope and reduces traumatic effect on vascular wall and body cavity.

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Description

The invention relates to medicine, in particular surgical endoscopy, and can be used for positioning, moving surgical instruments and examining cavities and hollow organs of the body.

Known technical solution containing a device for the treatment of intestinal obstruction of the small and large intestines, containing an endoscope with a drive for its movement, equipped with cylinders and hydraulic or pneumatic mechanisms (RF patent No. 2502482 according to class A61B 17/00 from 12/27/2013).

The disadvantage of this solution is that its scope is limited only to the study and treatment of the intestine. Its use in other organs, in particular in vessels, is excluded, because the used movement mechanism completely covers the lumen of the investigated organ. In addition, this decision does not exclude the traumatic effect on the hollow organs studied and subjected to treatment procedures.

A known design of a flexible endoscope for moving inside the body cavity, made in the form of a flexible sleeve located in a cylindrical body and equipped with a unit with bellows, while the bellows are made with the possibility of inflating gas or liquid (RF patent No. 2246891 according to class A61B 1/00 dated 20.02 .2003).

The disadvantage of this endoscope is its limited capabilities, due to the fact that its dimensions do not allow it to be used when moving in small cavities, in particular in vessels, and thus do not provide the possibility of total movement of the endoscope in cavities and vessels of the body. In addition, the elements of the endoscope during operation completely overlap the lumen of the test organ, which also excludes its use in vessels, and does not provide sufficient contact pressure of the inflated elements on the tissue tissue without traumatic effects on the walls of the cavities, which makes it ineffective when moving the device around cavity channel.

The problem to which the claimed invention is directed is to provide the possibility of total movement of the endoscope, reducing its size, increasing the efficiency of advancement and reducing the traumatic effect on the walls of the investigated and treated hollow organs.

The problem is solved due to the fact that in the endoscope for advancing inside the body cavities, containing a flexible body with its moving elements, a head placed in front of the body with a video camera located in it, the body is made in the form of a chain of elements movably interconnected, each of which equipped with a linear motor, each element of movement of the flexible body is made in the form of flexible plates of elastic material, evenly spaced along the perimeter of the surface of the body of the linear motor, and the end Each plate is mounted on opposite end surfaces of the linear motor, while a manipulator with a tool is placed in the head of the front of the housing for carrying out the necessary treatment procedures, and a conductor is inserted into the tail of the flexible housing for electrical communication with the video camera, manipulator and linear motors.

In FIG. 1 shows a general view of an endoscope for advancing within the body cavities.

In FIG. Figure 2 presents an illustration of the movement of the endoscope, taking into account the natural bends of the organ under investigation.

In FIG. 3 shows a housing element in the folded position of the elastic plates.

In FIG. 4 is an illustration of a housing element in the deployed position of the elastic plates.

In FIG. 5 - head with a video camera and a manipulator with a tool in the working position for the necessary treatment procedures.

In FIG. 6 - head with a video camera and a manipulator with a tool in the folded (transport) position.

In FIG. 7 is an illustration of a motion diagram of an endoscope.

An endoscope for advancing within the body’s cavities consists of a delivery mechanism “A” (FIG. 1) and a visual observation and manipulation mechanism “B” (FIG. 1).

The delivery mechanism "A" consists of working units combined in three groups: I-IV, II-V and III-VI (Fig. 1).

The endoscope is made in the form of a flexible housing with elements 1 that provide a movable connection of the individual circuits of the housing. The housing contains displacement elements, each of which is made in the form of flexible plates 2 of elastic material, evenly spaced along the perimeter of the surface of the linear motor housing 3. The ends of the plate are fixed on opposite end surfaces of the linear motor, and fixing platforms 4 are made in the central part of the elastic plates, providing fixing the plates to the walls of the investigated area of the body cavity in the deployed position of the plates. A video camera 6 and a manipulator 7 with a tool for carrying out the necessary treatment procedures are placed in the head 5 of the front of the housing, and a conductor 8 is inserted into the tail of the flexible housing for electrical communication with the video camera, the manipulator and linear motors.

An endoscope for advancing within the body cavities works as follows.

In the process, one of the groups is in the unfolded state, providing fixation of the device relative to the walls of the cavities, the second goes from the unfolded state to the folded state, and the third - from the folded to unfolded state. The full cycle of the device is divided into three stages. In the illustration, these steps correspond to FIG. 7b, c, d, respectively

At the first stage, group I-IV of the units is in the unfolded state, group II-V passes from the unfolded state to the folded state, and III-VI - from folded to unfolded. At the second stage, group III-VI is in the unfolded state, I-IV passes from the decomposed state to the folded state, and II-V passes from the folded state to the unfolded state. At the third stage, group II-V remains in the unfolded state, III-VI passes from the unfolded state to the folded state, and I-IV - from the folded state to the unfolded state. Next, the cycle repeats. Thus, the link groups work synchronously and cyclically with a phase shift of 1/3 of the cycle, realizing the peristaltic principle of movement. In addition to the described, other control algorithms are possible in compliance with the same principle. In the process of moving the centerline of the device repeats the natural bends of the body, minimizing the traumatic effect on it.

After the device is moved to the organ site requiring medical procedures, the delivery mechanism suspends operation, ensuring fixation at the required point due to the unfolded links, and the manipulator 7 of the visual observation and manipulation device with the corresponding tool is removed from the device body and put into working position.

This device provides the possibility of total movement of the endoscope, reducing its size, increasing the efficiency of advancing the endoscope and reducing traumatic effects on the walls of blood vessels and body cavities.

Claims (1)

An endoscope for advancing within the body’s cavities, comprising a flexible body with its moving elements, a head placed in front of the body with a video camera located in it, characterized in that the body is made in the form of a chain of elements movably interconnected, each equipped with a linear motor, each the movement element of the flexible body is made in the form of flexible plates of elastic material, evenly spaced around the perimeter on the surface of the linear motor housing, and the ends of each plate are fixed enes on opposite end surfaces of the linear motor, with a front head part of the housing is placed with the manipulator for the necessary treatment procedures tool, and the tail portion of the elastic body inserted conductor for electrical communication with a video camera, a manipulator, and linear motors.

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