CN112006647B - Spiral propulsion type intestinal endoscope device with contact force sensing capability - Google Patents
Spiral propulsion type intestinal endoscope device with contact force sensing capability Download PDFInfo
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- CN112006647B CN112006647B CN202010919562.1A CN202010919562A CN112006647B CN 112006647 B CN112006647 B CN 112006647B CN 202010919562 A CN202010919562 A CN 202010919562A CN 112006647 B CN112006647 B CN 112006647B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/31—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00156—Holding or positioning arrangements using self propulsion
Abstract
The invention discloses a spiral push type intestinal endoscope device with contact force sensing capability, which comprises a flexible skeleton (100) serving as a core, an endoscope camera module (1), six driving air bags (2), six lock wires (3), a contact force sensing module (4), a lock cavity structure (5) and a plurality of air supply pipes (6); the endoscope camera shooting module (1), the six driving air bags (2), the six lock wires (3), the contact force sensing module (4), the lock cavity structure (5) and the air supply pipe (6) are fused together through the flexible framework (100). The spiral push type intestinal endoscope device with the contact force sensing capability, disclosed by the invention, is scientific in structural design, can sense the contact force between the endoscope and the inner wall of an intestinal tract, and can provide a stable visual field, so that the safety, high efficiency and low invasiveness of endoscopy are ensured, and the spiral push type intestinal endoscope device has great production practice significance.
Description
Technical Field
The invention relates to the technical field of active propulsion endoscopes, in particular to a spiral propulsion type intestinal endoscope device with contact force sensing capability.
Background
The existing research shows that the early detection can find and treat related diseases in time and effectively reduce the death rate.
At present, an endoscope is a key medical device for conventional digestive tract disease diagnosis and treatment, but due to the defects of invisibility of doctors, complex operation places and the like, the traditional endoscope has the problems of coiling, difficult endoscope entering and the like in the manual propelling process, and causes pain and injury to patients. Therefore, research on actively propelled endoscopes that meet the technical requirements of "minimally invasive and non-invasive" in vivo diagnosis and treatment has been widely conducted at home and abroad.
Currently, the active push type endoscope devices can be roughly classified into four types according to the motion principle, namely a wheel type device, an insect-imitating peristaltic device, a multi-foot device and a screw-imitating motion device. Wherein, the wheel type device and the multi-foot type device are generally driven by a motor, and have complex structures and are inconvenient for disinfection. The screw-imitated exercise device usually needs an external magnetic field, and the device continuously rubs against the inner wall of the intestinal tract in the exercise process, so that discomfort is easily caused. The effective propulsion of the insect-imitating peristaltic device has great dependence on the friction force between the device and the inner wall of the intestinal tract, and generally has a slow propulsion speed.
With current active propulsion devices, there are problems with inability to sense contact with the intestinal environment and with inability to perform precise closed loop control, and it is difficult to provide a stable field of view during endoscopy because most devices are constructed entirely of flexible materials.
Therefore, there is a need for an actively propelled endoscope apparatus that senses the contact force between the endoscope and the inner wall of the intestinal tract and provides a stable field of view to ensure safety, efficiency and low invasiveness of the endoscopic examination.
Disclosure of Invention
The invention aims to provide a spiral propelling type intestinal endoscope device with contact force sensing capability aiming at the technical defects in the prior art.
Therefore, the invention provides a spiral propelling type intestinal endoscope device with contact force sensing capability, which comprises a flexible framework serving as a core, an endoscope camera module, six driving air bags, six lock wires, a contact force sensing module, a lock cavity structure and a plurality of air supply pipes, wherein the endoscope camera module is provided with a plurality of driving air bags;
the endoscope camera module, the six driving air bags, the six lock wires, the contact force sensing module, the lock cavity structure and the air supply pipe are fused together through the flexible framework;
the flexible skeleton comprises a plurality of bone sections which are mutually connected, and specifically comprises a head end bone section, twelve middle bone sections, a sensing bone section and a tail end bone section;
wherein, the head bone joint and the tail bone joint are respectively positioned at the head end and the tail end of the flexible framework;
the sensing bone joint is positioned in the middle of the flexible framework;
six middle bone segments are respectively arranged between the sensing bone segment and the head end bone segment and between the sensing bone segment and the tail end bone segment.
The first mounting limiting groove is used for mounting an endoscope camera module, six first quick connectors used for plugging a driving air bag and six locking wire fixing holes are arranged on the head end condyle;
the head end of the lock wire is fixed in the lock wire fixing hole on the head end condyle;
six air bag holes and six lock wire limiting holes are respectively arranged on the middle bone joint and the sensing bone joint;
the driving air bag and the locking wire are spirally distributed around the flexible framework through the air bag holes and the locking wire limiting holes on the middle bone joint and the sensing bone joint respectively;
the driving air bag and the air bag hole and the lock-shaped wire limiting hole can move relatively.
Wherein, the periphery of the sensing condyle is provided with a second mounting limit groove for mounting the contact force sensing module;
six lock wire limiting holes and six groups of second quick connectors are arranged on the tail end condyle;
the head end and the tail end of each group of second quick connectors are respectively connected with one end of the driving air bag and one end of one air supply pipe;
the second quick connector is internally provided with a channel;
the gas supply tube supplies gas to the driving airbag through the passage.
Wherein, the right end of the first end condyle is provided with a convex spherical surface;
the left ends of the middle condyle and the sensing condyle are both provided with concave spherical surfaces, and the right ends of the middle condyle and the sensing condyle are both provided with convex spherical surfaces;
the left end of the caudal condyle is provided with a concave spherical surface;
the head end bone joint, the middle bone joint, the sensing bone joint and the tail end bone joint are respectively fixed on the cable of the endoscope camera module through central through holes formed in the head end bone joint, the middle bone joint, the sensing bone joint and the tail end bone joint;
the head end of the endoscope camera module cable is connected with the endoscope camera module.
The contact force sensing module comprises a sensing packaging body and six pressure sensing units;
the six pressure sensing units are uniformly distributed in the sensing packaging body along the circumferential direction;
the contact force sensing module is arranged on the second mounting limit groove of the sensing condyle;
each pressure sensing unit is arranged corresponding to the driving air bag connected with one air bag hole on the sensing bone section.
The lock cavity structure comprises a lock cavity and a lock cavity cover;
a lock-shaped air bag, six locking blocks and six sliding blocks are arranged in the lock-shaped cavity;
wherein, the lock-shaped cavity is fixed on the tail end condyle of the flexible skeleton;
triangular teeth are arranged on the locking block and the sliding block;
the lock-shaped air bag is arranged in the center of the interior of the lock-shaped cavity;
the six locking blocks are distributed and fixed on the surface of the locking airbag along the circumferential direction;
each sliding block is fixedly connected with the tail end of one lock-shaped wire.
Six rectangular sliding grooves are respectively arranged on the inner end surface of the lock-shaped cavity and the end surface of the lock-shaped cavity cover along the radial direction;
six rectangular chutes on the inner end surface of the lock-shaped cavity and six rectangular chutes on the end surface of the lock-shaped cavity cover are distributed in bilateral symmetry;
the left end and the right end of each locking block are respectively arranged in a rectangular sliding chute;
when the lock-shaped air bag expands radially, the six locking blocks are driven to slide synchronously in the rectangular sliding groove;
six V-shaped sliding grooves are axially arranged on the inner circumferential surface of the lock-shaped cavity;
each sliding block is arranged in a V-shaped sliding groove;
the slide block can slide in the V-shaped sliding groove under the driving of the lock wire;
when the locking air bag is in a locking state after being radially expanded, the locking block is meshed with the triangular teeth of the corresponding sliding block, and the tail end of the locking wire is fixed along with the sliding block.
Each rectangular sliding groove on the inner end surface of the lock-shaped cavity or the end surface of the lock-shaped cavity cover corresponds to one V-shaped sliding groove, and the axes of the two sliding grooves are perpendicular to each other and are in the same plane.
Compared with the prior art, the spiral propelling type intestinal endoscope device with the contact force sensing capability has the advantages that the structural design is scientific, the contact force between the endoscope and the inner wall of the intestinal tract can be sensed, the stable visual field can be provided, the safety, the high efficiency and the low invasiveness of the endoscopy are guaranteed, and the spiral propelling type intestinal endoscope device with the contact force sensing capability has great production practice significance.
Drawings
FIG. 1 is a schematic view of the overall structure of a helical propelling type intestinal endoscope device with contact force sensing capability provided by the invention;
FIG. 2 is a schematic structural diagram of a flexible skeleton of a spiral-propelling type enteroendoscopic device with contact force sensing capability according to the present invention;
FIG. 3 is a cross-sectional view of the spherical connection between the bone segments of the flexible skeleton in the spiral push type intestinal endoscope apparatus with contact force sensing capability provided by the present invention;
FIG. 4 is an exploded view of a contact force sensing module in a helical propelling type endoscope apparatus with contact force sensing capability according to the present invention;
FIG. 5a is a schematic view showing an exploded view of the lock cavity structure and its internal components in the spiral-propelling type enteroendoscopic device with contact force sensing capability according to the present invention;
FIG. 5b is a schematic diagram illustrating a lock cavity structure and the layout of the internal components thereof in the spiral-propelling type endoscope apparatus for intestinal tract with contact force sensing capability according to the present invention;
FIG. 6a is a schematic structural view illustrating the position states of a locking block and a corresponding sliding block in an unlocked state in a screw-propelling type intestinal endoscope device with contact force sensing capability according to the present invention;
FIG. 6b is a schematic structural view of a position state of a locking block and a corresponding sliding block in a locking state in the spiral-propelling type intestinal endoscope device with contact force sensing capability according to the present invention;
FIG. 7a is a front view of the principle of screw propulsion of the present invention providing a screw propulsion type enteroscopy device with contact force sensing capability, when the first driving balloon is inflated;
FIG. 7b is a side view of the principle of helical advancement of the present invention as the first drive balloon is inflated in a contact force sensing capability of a helical advancing enteroscopy device;
FIG. 8a is a front view of the principle of screw propulsion of the helical push type enteroscope device with contact force sensing capability provided by the present invention when the sixth driving balloon is inflated;
FIG. 8b is a side view of the principle of helical propulsion of the present invention with a sixth driving balloon inflated, in a helical propulsion type enteroscopic apparatus with contact force sensing capability;
in the figure, 100-flexible skeleton; 1-endoscope camera module; 2-driving the air bag; 3-lock wire; 4-a contact force sensing module; 5-a lock cavity structure; 6-a gas supply pipe;
7-endoscope camera module cable; 8-locking air bag; 9-a locking block; 10-a slide block;
101-head end condyle; 102-the medial condyle; 103-sensing condyle; 104-caudal condyle;
1011-a first mounting limit groove; 1012-first quick coupling; 1013-locking wire fixing holes; 1014-balloon hole; 1015-lock wire limit holes; 1016-a second mounting limiting groove; 1017-second quick coupling;
21-a first actuation bladder; 22-a second drive airbag; 23-a third driver airbag; 24-a fourth actuation bladder; 25-a fifth drive airbag; 26-a sixth drive airbag;
41-a sensing package; 42-a pressure sensing unit;
51-a lock cavity; 52-lock chamber cover; 53-rectangular chute; 54-V type chute.
Detailed Description
In order to make the technical means for realizing the invention easier to understand, the following detailed description of the present application is made in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the present application are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that in the description of the present application, the terms of direction or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application.
In addition, it should be noted that, in the description of the present application, unless otherwise explicitly specified and limited, the term "mounted" and the like should be interpreted broadly, and may be, for example, either fixedly mounted or detachably mounted.
The specific meaning of the above terms in the present application can be understood by those skilled in the art as the case may be.
Referring to fig. 1 to 8b, the present invention provides a spiral-propelling intestinal endoscope apparatus with contact force sensing capability, which includes a flexible skeleton 100 as a core, an endoscope camera module 1, six driving balloons 2, six lock wires 3, a contact force sensing module 4, a lock cavity structure 5 and a plurality of air supply tubes 6;
the endoscope camera module 1, the six driving airbags 2, the six lock wires 3, the contact force perception module 4, the lock cavity structure 5 and the air supply pipe 6 are fused together through the flexible framework 100.
In the present invention, in a specific implementation, referring to fig. 2, the flexible skeleton 100 includes a plurality of condyles connected to each other, specifically, a head-end condyle 101, twelve middle condyles 102, a sensing condyle 103, and a tail-end condyle 104;
wherein, the head bone segment 101 and the tail bone segment 104 are respectively positioned at the head end and the tail end of the flexible framework 100;
a sensing condyle 103 located at the middle of the flexible skeleton 100;
six intermediate condyles 102 are disposed between the sensing condyle 103 and the head-end condyle 101, and between the sensing condyle 103 and the tail-end condyle 104, respectively.
In the concrete implementation, a first installation limiting groove 1011 for installing the endoscope camera module 1, six first quick connectors 1012 for plugging the driving air bag 2 and six locking wire fixing holes 1013 are arranged on the head-end condyle 101;
the head end of the locking wire 3 is fixed in the locking wire fixing hole 1013 on the head end bone section 101.
In particular, six air bag holes 1014 and six lock wire limiting holes 1015 are respectively arranged on the middle condyle 102 and the sensing condyle 103;
the driving air bag 2 and the locking wire 3 are spirally distributed around the flexible skeleton 100 through the air bag hole 1014 and the locking wire limiting hole 1015 on the middle bone joint 102 and the sensing bone joint 103 respectively;
the driving air bag 2 and the air bag hole 1014, and the shape locking wire 3 and the shape locking wire limiting hole 1015 can move relatively.
In specific implementation, a second installation limiting groove 1016 for installing the contact force sensing module 4 is arranged on the circumferential periphery of the sensing condyle 103.
In particular, six locking wire limiting holes 1015 and six groups of second quick connectors 1017 are arranged on the tail end condyle 104;
the head end and the tail end of each group of second quick connectors 1017 are respectively connected with one end of the driving air bag 2 and one end of one air supply pipe 6;
the second quick joint 1017 is internally provided with a channel;
through which the gas supply tube 6 supplies gas to the drive airbag 2.
In particular, the right end of the head end condyle 101 is provided with a convex spherical surface;
the left ends of the middle condyle 102 and the sensing condyle 103 are both provided with concave spherical surfaces, and the right ends of the middle condyle 102 and the sensing condyle 103 are both provided with convex spherical surfaces;
the left end of the caudal condyle 104 is provided with a concave spherical surface;
the head bone segment 101, the middle bone segment 102, the sensing bone segment 103 and the tail bone segment 104 are respectively fixed on the endoscope camera module cable 7 through a central through hole formed on the head bone segment, the middle bone segment and the sensing bone segment;
the head end of the endoscope camera module cable 7 is connected with the endoscope camera module 1;
the distal end of the endoscope camera module cable 7 is connected to an external existing camera shooting and collecting device.
The convex spherical surface and the concave spherical surface of any two adjacent bone segments are in close contact to form spherical connection. The cross-sectional view of fig. 3 illustrates the configuration of the spherical joint described above through which the condyles may rotate relative to one another in either direction.
It should be noted that the endoscope camera module 1 is a mature device in the prior art, and is not described herein again.
In the present invention, in terms of specific implementation, referring to fig. 4, the contact force sensing module 4 includes a sensing package 41 and six pressure sensing units 42;
the six pressure sensing units 42 are uniformly distributed inside the sensing package 41 along the circumferential direction;
the contact force sensing module 4 is arranged on the second mounting limit groove 1016 of the sensing condyle 103;
each pressure sensing unit 42 is positioned in correspondence with the actuation bladder 2 to which one of the bladder apertures 1014 of the sensing condyle 103 is connected.
In the present invention, in a specific implementation, referring to fig. 5a to 6b, the lock cavity structure 5 includes a lock cavity 51 and a lock cavity cover 52;
a lock-shaped air bag 8, six locking blocks 9 and six sliding blocks 10 are arranged in the lock-shaped cavity 51;
wherein, the lock-shaped cavity 51 is fixed on the tail end condyle 104 of the flexible skeleton 100;
triangular teeth are arranged on the locking block 9 and the sliding block 10;
the lock airbag is arranged at the inner central position of the lock cavity 51;
six locking blocks 9 are distributed and fixed on the surface of the locking airbag 8 along the circumferential direction;
each slider 10 is fixedly connected with the tail end of one lock wire 3.
In particular, six rectangular sliding grooves 53 are respectively arranged on the inner end surface (i.e. the end surface facing the direction of the endoscope camera module 1) of the lock-shaped cavity 51 and the end surface of the lock-shaped cavity cover 52 along the radial direction;
six rectangular sliding grooves 53 on the inner end surface of the lock-shaped cavity 51 and six rectangular sliding grooves 53 on the end surface of the lock-shaped cavity cover 52 are distributed in bilateral symmetry;
the left and right ends of each locking block 9 are respectively arranged in a rectangular sliding groove 53, as shown in fig. 6a and 6 b.
In the concrete implementation, when the lock-shaped air bag 8 is expanded radially, the six locking blocks 9 can be driven to slide synchronously in the rectangular sliding groove 53, and the lock-shaped state is switched, specifically: when the locking airbag 8 is radially expanded, the locking airbag is in a locked state.
In particular, six V-shaped sliding grooves 54 are axially arranged on the inner circumferential surface of the lock-shaped cavity 51;
each slide block 10 is arranged in a V-shaped sliding groove 54;
in an unlocked state, the slide block 10 can slide in the V-shaped chute 54 under the driving of the shape-locking wire 3;
in the locking state (i.e. when the shape-locking air bag 8 expands radially to enter the locking state), the locking block 9 is engaged with the triangular teeth of the corresponding slide block 10, and the tail end of the shape-locking wire 3 is fixed with the slide block 10. That is, when both the lock block 9 and the corresponding slider 10 are engaged, the lock wire 3 locks the state of the endoscope apparatus.
In the present invention, in a specific implementation, each rectangular sliding groove 53 on the inner end surface of the lock cavity 51 or the end surface of the lock cavity cover 52 corresponds to one V-shaped sliding groove 54, and the axes of the two are perpendicular to each other and in the same plane. The axes of the rectangular chutes 53 are radially distributed along the inner end surface of the lock-shaped cavity 51 or the end surface of the lock-shaped cavity cover 52, and the axes of the V-shaped chutes 54 are horizontally and transversely distributed.
The lock airbag 8 is connected to one end of one air supply tube 6, and the other end of the air supply tube 6 is connected to an existing air supply device. The air supply device is a mature air supply device in the prior art, and is not described in detail herein.
It should be noted that, for the present invention, the flexible framework includes a head condyle, a tail condyle, a sensing condyle and a plurality of middle condyles. The endoscope module of making a video recording is installed on the first end condyle, and other condyles pass through the through-hole at their middle part, fix in proper order on the cable of endoscope module of making a video recording. The bone segments are closely contacted to form spherical connection and can relatively rotate in any direction.
For the invention, the driving air bags are spirally distributed around the flexible framework through the air bag holes on the middle bone sections and the sensing bone sections, two ends of each air bag are respectively fixed on the quick connectors of the head end bone section and the tail end bone section, and the through holes for supplying air to the air bags are arranged in the quick connectors on the tail end bone sections. When a certain driving air bag is inflated and extended, the endoscope device can be changed into a spiral shape from a straight line shape, and the spiral propulsion of the endoscope device in the intestinal tract can be realized through the orderly extension and recovery of the six driving air bags.
For the invention, the lock wire is spirally distributed around the flexible framework through the lock wire limiting holes on the middle bone joints and the sensing bone joints, the front end of each lock wire is fixed with the head end bone joint, and the tail end of each lock wire is fixed with the sliding block. The shape locking wire can lock the endoscope device in a certain shape, and has small influence on deformation of the device in the spiral propelling process.
For the invention, the lock cavity structure is fixed with the caudal condyle, and six V-shaped chutes which are axially arranged and six groups of rectangular chutes which are radially arranged are arranged in the lock cavity structure. The sliding block is arranged in the V-shaped sliding groove and can slide in the V-shaped sliding groove under the driving of the shape locking wire. The lock-shaped air bag is arranged in the center of the lock-shaped cavity, and the locking blocks are circumferentially distributed around the lock-shaped air bag and fixed with the lock-shaped air bag. The locking block is arranged in the rectangular sliding groove and can slide in the rectangular sliding groove under the driving of the lock-shaped air bag. Triangular teeth are arranged on the sliding block and the locking block, and when the sliding block and the locking block are meshed, the locking wire locks the state of the endoscope device.
For the pressure sensing device, the pressure sensing units are piezoresistive sensitive units, and six pressure sensing units are circumferentially distributed in the sensing packaging body. The sensing packaging body is arranged on the periphery of the sensing condyle, the position of each sensing unit corresponds to the position of one driving air bag, when one driving air bag is inflated and extended, the outer side of the flexible skeleton corresponding to the air bag is in contact with the inner wall of the intestinal tract, and the corresponding pressure sensing unit can sense the contact pressure.
In order to more clearly understand the technical solution of the present invention, the following describes the working principle of the helical propelling type intestinal endoscope device with contact force sensing capability provided by the present invention.
Firstly, a spiral deformation principle: the center of the flexible framework 100 is an endoscope camera module cable 7, and the length of the endoscope camera module cable is unchanged under the stretching of external force; the driving airbag 2 is spirally arranged on the flexible skeleton 100; the head end of the lock wire 3 is fixed, and the tail end is a free end in an unlocked state. Thus, when one of the actuating bladders 2 is inflated to extend, the respective condyles of the flexible backbone 100 will rotate relative to each other, and the entire endoscopic device will change from a linear body to a helical body, with the extended actuating bladder 2 being outside the helical body.
II, shape locking principle: the locking wire 3 and the driving air bag 2 are arranged on the flexible framework 100 in a spiral mode, the head end of the locking wire 3 is fixed on the first-end bone section 101, and the tail end of the locking wire 3 is fixed along with the sliding block in a locking state. Therefore, each condyle of the flexible framework 100 is simultaneously restrained by the six locking wires 3, the driving force or restoring force of the driving air bag 2 can hardly drive each condyle to rotate relatively, and the endoscope device is locked in an original linear state or a certain set spiral state, so that stable examination can be performed through the endoscope camera module 1.
Thirdly, a contact force perception principle: when the sensing packaging body 41 is installed on the sensing bone section 103, each pressure sensing unit 42 is ensured to correspond to one driving air bag 2, so that when one driving air bag 2 is inflated and extended, the corresponding pressure sensing unit 42 is contacted with the inner wall of the intestinal tract. The pressure sensing unit 42 is a piezoresistive sensitive unit, and the magnitude of the contact force can be judged according to the change of the resistance value of the pressure sensing unit.
Fourthly, a spiral propulsion principle: the principle of the screw propulsion of the endoscopic device of the present invention is shown in fig. 7a to 8 b.
First, the first driving airbag 21 is inflated to extend, the first driving airbag 21 is located at the outer side of the spiral body, and the outer side of each condyle of the flexible framework 100 corresponding to the first driving airbag 21 is in contact with the inner wall of the intestinal tract. Then, the sixth driving airbag 26 is inflated and elongated, and then the first driving airbag 21 is recovered, the outer side of the spiral body is changed from the first driving airbag 21 to the sixth driving airbag 26, and each condyle of the flexible skeleton 100 and the outer side corresponding to the driving airbag 26 are in contact with the inner wall of the intestinal tract. Wherein the side view shows that during the process, the first-end condyle 101 rotates and rolls along the inner wall of the intestinal tract for a certain distance, and the contact point of the first-end condyle 101 and the inner wall of the intestinal tract is changed from the position of the solid arrow to the position of the hollow arrow. According to the helical deformation feature, all the condyles on the flexible skeleton 100 move synchronously, so that the whole helical body rolls along the inner wall of the intestinal tract. The front view shows that during this process the helix is advanced a distance d along the intestinal axis because: the rotation central axis of each condyle is at a certain angle relative to a generatrix of a contact point of the condyle and the inner wall of the intestinal tract, and the angle enables each condyle to roll along a corresponding spiral line on the inner wall of the intestinal tract. The above movement means: when the six driving air bags 2 are inflated and extended according to a certain time sequence, the whole spiral body can rotate around the central axis of the intestinal tract and simultaneously advance along the axial line of the intestinal tract.
In a concrete implementation, with the present invention, when the driving airbag 2 is inflated cyclically in the order of the first driving airbag 21, the sixth driving airbag 26, the fifth driving airbag 25, the fourth driving airbag 24, the third driving airbag 23, the second driving airbag 22, and the first driving airbag 21 to extend and restore the previous extended driving airbag 2, the endoscope apparatus may be advanced spirally; and when the order becomes the sixth driving balloon 26, the first driving balloon 21, the second driving balloon 22, the third driving balloon 23, the fourth driving balloon 24, the fifth driving balloon 25 and the sixth driving balloon 26, the endoscope apparatus can spirally retreat.
Compared with the prior art, the spiral propelling type intestinal endoscope device with the contact force sensing capability provided by the invention has the following beneficial effects:
1. the endoscope device provided by the invention adopts air pressure driving, and has the characteristics of simple structure, easiness in manufacturing, convenience in disinfection and high safety compared with an electromechanical driving device;
2. the endoscope device of the invention adopts a spiral propulsion mode to realize active propulsion, and the motion mode has small acting force on the intestinal tract and can not cause obvious discomfort of patients.
3. The endoscope device disclosed by the invention adopts a mode of combining the flexible framework and the driving air bag, realizes active propulsion, ensures the adaptability of the endoscope device to the complex shape of the intestinal tract, and simultaneously makes the integration of a contact force sensing function and a shape locking function possible.
4. The endoscope device is combined with the contact force sensing module to monitor the contact condition of the endoscope device and the inner wall of the intestinal tract in real time, so that the active propulsion efficiency of the endoscope device can be ensured, and discomfort and injury caused by excessive pressure of the endoscope device on the intestinal tract can be avoided.
In summary, compared with the prior art, the spiral-propelling type intestinal endoscope device with the contact force sensing capability provided by the invention has a scientific structural design, can sense the contact force between the endoscope and the inner wall of the intestinal tract, and can provide a stable visual field, so that the safety, high efficiency and low invasiveness of endoscopy are ensured, and the spiral-propelling type intestinal endoscope device has great production practice significance.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention.
Claims (3)
1. A spiral propulsion type intestinal endoscope device with contact force sensing capability is characterized by comprising a flexible skeleton (100) serving as a core, an endoscope camera module (1), six driving air bags (2), six lock wires (3), a contact force sensing module (4), a lock cavity structure (5) and a plurality of air supply pipes (6);
the endoscope camera module (1), the six driving air bags (2), the six lock wires (3), the contact force sensing module (4), the lock cavity structure (5) and the air supply pipe (6) are fused together through a flexible framework (100);
the flexible skeleton (100) comprises a plurality of bone sections which are connected with each other, and specifically comprises a head-end bone section (101), twelve middle bone sections (102), a sensing bone section (103) and a tail-end bone section (104);
wherein the head bone joint (101) and the tail bone joint (104) are respectively positioned at the head end and the tail end of the flexible framework (100);
a sensing condyle (103) located at the middle of the flexible skeleton (100);
six middle bone segments (102) are respectively arranged between the sensing bone segment (103) and the head end bone segment (101) and between the sensing bone segment (103) and the tail end bone segment (104);
a first mounting limiting groove (1011) for mounting the endoscope camera module (1), six first quick connectors (1012) for plugging the driving air bag (2) and six locking wire fixing holes (1013) are arranged on the head end bone section (101);
the head end of the lock wire (3) is fixed in a lock wire fixing hole (1013) on the head end condyle (101);
six air bag holes (1014) and six lock wire limiting holes (1015) are respectively arranged on the middle condyle (102) and the sensing condyle (103);
the driving air bag (2) and the locking wire (3) are spirally distributed around the flexible skeleton (100) through an air bag hole (1014) and a locking wire limiting hole (1015) on the middle bone joint (102) and the sensing bone joint (103) respectively;
the driving air bag (2) and the air bag hole (1014) and the shape locking wire (3) and the shape locking wire limiting hole (1015) can move relatively;
a second mounting limiting groove (1016) for mounting the contact force sensing module (4) is arranged on the periphery of the sensing condyle (103);
six lock wire limiting holes (1015) and six groups of second quick connectors (1017) are arranged on the tail end condyle (104);
the head end and the tail end of each group of second quick connectors (1017) are respectively connected with one end of the driving air bag (2) and one end of one air supply pipe (6);
the second quick joint (1017) is internally provided with a channel;
the air supply pipe (6) supplies air to the driving air bag (2) through the channel;
the lock cavity structure (5) comprises a lock cavity body (51) and a lock cavity cover (52);
a lock-shaped air bag (8), six locking blocks (9) and six sliding blocks (10) are arranged in the lock-shaped cavity (51);
wherein, the lock-shaped cavity (51) is fixed on the tail end condyle (104) of the flexible skeleton (100);
triangular teeth are arranged on the locking block (9) and the sliding block (10);
the lock-shaped air bag is arranged at the inner central position of the lock-shaped cavity (51);
six locking blocks (9) are distributed and fixed on the surface of the locking air bag (8) along the circumferential direction;
each sliding block (10) is fixedly connected with the tail end of one lock-shaped wire (3);
six rectangular sliding grooves (53) are respectively arranged on the inner end surface of the lock-shaped cavity (51) and the end surface of the lock-shaped cavity cover (52) along the radial direction;
the inner end surface of the lock-shaped cavity (51) is an end surface facing the direction of the endoscope camera module (1);
six rectangular sliding grooves (53) on the inner end surface of the lock-shaped cavity (51) and six rectangular sliding grooves (53) on the end surface of the lock-shaped cavity cover (52) are distributed in bilateral symmetry;
the left end and the right end of each locking block (9) are respectively arranged in a rectangular sliding groove (53);
when the lock-shaped air bag (8) expands radially, the six locking blocks (9) are driven to slide in the rectangular sliding groove (53) synchronously;
six V-shaped sliding grooves (54) are axially arranged on the inner circumferential surface of the lock-shaped cavity (51);
each slide block (10) is arranged in a V-shaped sliding groove (54);
the slide block (10) can slide in the V-shaped sliding groove (54) under the driving of the shape locking wire (3);
when the lock-shaped air bag (8) is expanded in the radial direction and then enters a locking state, the locking block (9) is meshed with the triangular teeth of the corresponding sliding block (10), and the tail end of the lock-shaped wire (3) is fixed along with the sliding block (10);
each rectangular sliding groove (53) on the inner end surface of the lock-shaped cavity (51) or the end surface of the lock-shaped cavity cover (52) corresponds to one V-shaped sliding groove (54);
the axial lines of the rectangular sliding grooves (53) are distributed along the inner end surface of the lock-shaped cavity (51) or the end surface of the lock-shaped cavity cover (52) in a radial mode, and the axial lines of the V-shaped sliding grooves (54) are distributed horizontally and transversely;
the axis of the rectangular chute (53) is vertical to the axis of the V-shaped chute (54) and is in the same plane.
2. The helical propelling type enteroendoscopic device with contact force sensing capability as claimed in claim 1, wherein the right end of the head end condyle (101) has a convex spherical surface;
the left ends of the middle condyle (102) and the sensing condyle (103) are both provided with concave spherical surfaces, and the right ends of the middle condyle (102) and the sensing condyle (103) are both provided with convex spherical surfaces;
the left end of the caudal condyle (104) is provided with a concave spherical surface;
the head end bone joint (101), the middle bone joint (102), the sensing bone joint (103) and the tail end bone joint (104) are respectively fixed on the endoscope camera module cable (7) through a central through hole formed in the head end bone joint, the middle bone joint and the sensing bone joint;
the head end of the endoscope camera shooting module cable (7) is connected with the endoscope camera shooting module (1).
3. The screw-propelling enteroendoscopic device with contact force sensing capability according to claim 1, wherein the contact force sensing module (4) comprises one sensing package (41) and six pressure sensing units (42);
the six pressure sensing units (42) are uniformly distributed in the sensing packaging body (41) along the circumferential direction;
the contact force sensing module (4) is arranged on a second mounting limit groove (1016) of the sensing bone joint (103);
each pressure sensing unit (42) is arranged corresponding to the driving air bag (2) connected with one air bag hole (1014) on the sensing bone joint (103).
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| CN202010919562.1A CN112006647B (en) | 2020-09-04 | 2020-09-04 | Spiral propulsion type intestinal endoscope device with contact force sensing capability |
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| CN113520274B (en) * | 2021-07-20 | 2023-06-06 | 中国科学院深圳先进技术研究院 | Two-degree-of-freedom compliant buffer endoscope based on lasso driving |
| CN113796821A (en) * | 2021-09-24 | 2021-12-17 | 南方科技大学 | Enteroscope system with autonomous bending function and autonomous bending method thereof |
| CN114176480A (en) * | 2021-11-26 | 2022-03-15 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Automatic propelling device of medical endoscope |
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| US7708687B2 (en) * | 2005-05-27 | 2010-05-04 | Bern M Jonathan | Endoscope propulsion system and method |
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| CN1933761A (en) * | 2004-03-15 | 2007-03-21 | 奥林巴斯株式会社 | Endoscope insertion auxiliary device |
| CN101632572A (en) * | 2009-08-26 | 2010-01-27 | 哈尔滨工业大学 | Multi-joint endoscope bending mechanism with force sensing function |
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