CN112137567A - Endoscopic robot and using method thereof - Google Patents
Endoscopic robot and using method thereof Download PDFInfo
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- CN112137567A CN112137567A CN202011167753.3A CN202011167753A CN112137567A CN 112137567 A CN112137567 A CN 112137567A CN 202011167753 A CN202011167753 A CN 202011167753A CN 112137567 A CN112137567 A CN 112137567A
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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
- A61B1/04—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 combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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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
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
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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
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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
- A61B1/04—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 combined with photographic or television appliances
- A61B1/045—Control thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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Abstract
The invention discloses an endoscopic robot and a using method thereof, the endoscopic robot comprises: the device comprises a peristaltic bag, a support assembly, a peristaltic assembly and an imaging device. The use method of the endoscopic robot comprises the following steps: performing in-lane inspection by an in-lane mirror robot; the endoscope robot wriggles and advances, the inner wall is supported by the supporting component, and the imaging device shoots the image in the tract; repeating the above steps until reaching the focus position, and performing medical operation and operation by the operation arm. By the aid of the endoscope robot and the using method thereof, the defects of low examination accuracy and poor patient comfort caused by the fact that a common endoscope can only be operated by experience of medical staff are overcome, examination efficiency and effect of endoscope examination are improved, patient comfort is improved, and the endoscope robot has important significance for improving medical quality, medical experience and medical safety accidents.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an endoscopic robot and a using method thereof.
Background
With the improvement of living standard of people, the demand of people on medical services is higher and higher, and the application range of endoscopic examination such as intestinal examination, esophageal examination, vaginal examination and the like as a diagnosis mode for examining intra-tract diseases by doctors is very wide.
For example; the examination of the intestine is performed by entering the intestine through an enteroscope, so that a doctor can observe the actual condition of the intestine or obtain a test object, thereby diagnosing the intestine. The existing enteroscope is mainly operated by manual labor, has a plurality of defects, is very poor in comfort, brings painful experience to patients, and even possibly causes adverse reaction or serious consequences such as intestinal perforation, so that the automation degree of the endoscopy is improved, the comfort of the patients is improved, and the operability of the endoscopy is improved.
Disclosure of Invention
The main purposes of the invention are: the robot for the endoscope and the using method thereof are provided, the defects of low examination accuracy and poor comfort of a patient caused by the fact that a common endoscope can only be operated by the experience of medical staff are overcome, the examination efficiency and effect of the endoscope examination are improved, the comfort of the patient is improved, and the robot for the endoscope is of great significance for improving the medical quality, improving the medical experience and avoiding medical safety accidents.
To achieve the above object, the present invention provides an endoscopic robot, comprising: a peristaltic bag, a supporting component, a peristaltic component and an imaging device,
the support assembly is used for supporting the inner wall and fixing the endoscopic robot in the tract, and comprises a first support ring and a second support ring which are respectively positioned at the front part and the rear part of the peristaltic capsule and can be unfolded or folded;
the peristalsis assembly comprises a telescopic driving device and is used for driving the endoscopic robot to perish in the tract;
the imaging device is used for shooting images in the street.
According to the endoscope robot, the first support ring and the second support ring are inflatable rings or hydraulic rings, and the sizes of the first support ring and the second support ring can be adjusted according to the size of the inner wall.
According to the endoscope robot, the first support ring and the second support ring respectively comprise at least one adsorption device, and the adsorption devices are used for being adsorbed on the inner wall.
The telescopic driving device comprises a front end and a rear end, the front end is arranged in front of the peristaltic bag, the rear end is arranged at the rear of the peristaltic bag, and the front end and the rear end are connected through a telescopic shaft.
The telescopic driving device further comprises a steering device, so that the telescopic shaft can steer, and the endoscopic robot can easily pass through an in-tunnel turn.
According to the endoscopic robot, the peristaltic sac is made of elastic materials.
The endoscopic robot further comprises an operation arm used for performing medical operations and operations in the tract, wherein the operation arm comprises at least one of a knife, a pair of scissors, a needle, a pair of forceps, a clamp, an electric welding head, an electric cautery head, an illumination probe, a radioactive probe, an ultrasonic probe, an electromagnetic probe, a flushing device and a cleaning device.
The endoscopic robot further comprises a medicine feeding device, and the medicine feeding device is used for feeding medicine in the endoscope.
The endoscopic robot further comprises a processor, and the processor can automatically control the endoscopic robot to perform medical operations and operations according to actual intra-tract conditions according to intra-tract images shot by the imaging device.
The endoscopic robot further comprises a wired or wireless transmission module, the wired or wireless transmission module is used for transmitting back the shot intra-road images and/or receiving operation instructions, and the endoscopic robot operates according to the received operation instructions.
The endoscopic robot transmits the shot intra-road image to an external server, constructs an intra-road model of the patient, is used for showing the real situation in the patient road to medical staff, and performs symptom analysis, gives a diagnosis result, designs/recommends/determines an operation or an operation scheme, positions an operation site, and assists in executing the operation/operation.
The invention also provides a use method of the endoscopic robot, which comprises the following steps:
s1: the endoscopic robot enters the street;
s2: the endoscope robot wriggles and advances, the supporting component supports the inner wall, and the imaging device shoots the images in the tract;
s3: repeating S2 until the focus position is reached, and performing medical operation and operation by the operation arm.
The invention relates to an endoscopic robot and a using method thereof, the endoscopic robot comprises: the device comprises a peristaltic bag, a support assembly, a peristaltic assembly and an imaging device. The use method of the endoscopic robot comprises the following steps: performing in-lane inspection by an in-lane mirror robot; the endoscope robot wriggles and advances, the inner wall is supported by the supporting component, and the imaging device shoots the image in the tract; repeating the above steps until reaching the focus position, and performing medical operation and operation by the operation arm. By the aid of the endoscope robot and the using method thereof, the defects of low examination accuracy and poor patient comfort caused by the fact that a common endoscope can only be operated by experience of medical staff are overcome, examination efficiency and effect of endoscope examination are improved, patient comfort is improved, and the endoscope robot has important significance for improving medical quality, medical experience and medical safety accidents.
Drawings
Fig. 1 is a schematic view of an endoscopic robot of the present invention.
Fig. 2 is a schematic view of a support assembly of an endoscopic robot of the present invention.
FIG. 3 is a method flow diagram of a method of using an endoscopic robot of the present invention.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the intended purpose, the following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings and examples.
A first embodiment of the present invention is described with reference to fig. 1. Fig. 1 is a schematic view of an endoscopic robot of the present invention. As shown in the drawings, the endoscopic robot of the present invention comprises: a peristaltic bladder 11, a support assembly, a peristaltic assembly, and an imaging device. The endoscopic robot of the present invention can be used for intestinal examination/surgery, rectal examination/surgery, esophageal examination/surgery, vaginal examination/surgery, tracheal examination/surgery, and the like.
The support assembly is used for supporting the inner wall and fixing the endoscopic robot in the tract, and comprises a first support ring 121 and a second support ring 122 which are respectively positioned at the front part and the rear part of the peristaltic capsule 11, and the first support ring 121 and the second support ring 122 can be unfolded or folded. In the present invention, the first support ring 121 and the second support ring 122 may be an inflatable ring or a hydraulic ring, or may be a telescopic support ring or another type of support ring. The first support ring 121 and the second support ring 122 may be a single support ring or a support ring group consisting of a plurality of support rings, which may increase the stability of support and fixation. The first support ring 121 and the second support ring 122 can be located on the outer surface of the peristaltic bladder 11, or in the interlayer of the peristaltic bladder 11, or inside the peristaltic bladder 11, and extend out of the peristaltic bladder 11 through the opening when expanded.
Fig. 2 is a schematic diagram of a robot support assembly for an endoscope of the present invention. As shown in fig. 2, a front view of the first support ring 121 of the endoscopic robot when supported, the first support ring 121 includes a ring 1211 and a plurality of support columns 1210. Ring 1211 is used to support the inner wall while securing itself in this position. Support posts 1210 support ring 1211. When the first support ring 121 is expanded, the support post 1210 extends out of the peristaltic bladder 11 to push the ring 1211 against the inner wall, and when the first support ring 121 is retracted, the support post 1210 is retracted into the peristaltic bladder 11 and the ring 1211 is also pulled back outside the peristaltic bladder 11. The endoscopic robot may further include a retraction device for retracting the support post 1210 into the peristaltic bladder 11 or pushing out of the peristaltic bladder 11.
When the first support ring 121 and the second support ring 122 are inflatable support rings, the ring body 1211 is inflatable, and the support column 1210 may be inflatable, mechanical, or hybrid, for example, the support column 1210 has a mechanical support column at the center and a circle of inflatable bags are wrapped outside the support column 1210. The inflatable support ring can be used for inflating air before the endoscope robot enters the channel, or can be inflated by arranging an air generating device in the endoscope robot, or can be inflated by externally connecting an inflation tube to the endoscope robot. Meanwhile, the inflation tube can inflate the air into the passage when the air is needed to inflate the passage, so that the requirement of the endoscopy of the inner passage is met.
In the present invention, the first support ring 121 and the second support ring 122 are preferably elastic inflatable rings, the sizes of the first support ring 121 and the second support ring 122 can be adjusted according to the size of the inner wall, and the sizes of the first support ring 121 and the second support ring 122 can be controlled by controlling the inflation amount, so that the first support ring 121 and the second support ring 122 can be expanded inside the duct without excessive expansion. Can also set up pressure sensor through at first support ring 121 and second support ring 122, monitor first support ring 121 and second support ring 122 to the pressure of inner wall to the setting is fit for a threshold value, when reaching or being close to the threshold value to the pressure of inner wall, restricts first support ring 121 and second support ring 122 and continues to support big inner wall, prevents to cause the injury to the patient.
In the present invention, the first support ring 121 and the second support ring 122 may play a role of fixing in addition to a supporting role. In order to increase the stability of the fixation, the first support ring 121 and the second support ring 122 may further include at least one adsorption means for adsorbing on the inner wall, respectively. In the present invention, the suction device is preferably a negative pressure suction device, and may be another type of suction device. The ring bodies of the first support ring 121 and the second support ring 122 may also be made of a material having a certain friction coefficient, and when the first support ring 121 and the second support ring 122 are expanded, the friction force of the ring bodies may also play a role in preventing sliding.
The peristalsis assembly comprises a telescopic driving device used for driving the intra-tract mirror robot to perish in the tract. The retractable driving means comprises a front end 131 and a rear end 132, the front end 131 being arranged in front of the peristaltic bladder 11, the rear end 132 being arranged behind the peristaltic bladder 11, the front end 131 and the rear end 132 being connected by a retractable shaft 133.
The creeping process of the endoscopic robot in the tract is as follows:
the first support ring 121 is retracted, and the second support ring 122 is spread and fixed; the telescopic shaft 133 is extended, and because the second support ring 122 is expanded and fixed, the rear part of the peristaltic bag 11 is fixed relative to the inside of the track, and the rear end 132 is also fixed relative to the track, at this time, the extension of the telescopic shaft 133 can push the front end 131 forwards, and the front end 131 forwards enables the front part of the peristaltic bag 11 to creep forwards; then the first support ring 121 is unfolded and fixed, the second support ring 122 is folded, the telescopic shaft 133 is contracted, and as the first support ring 121 is unfolded and fixed, the front part of the peristaltic bag 11 is fixed relative to the inside of the track, and the front end 131 is also fixed relative to the track, at this time, the telescopic shaft 133 is contracted to pull the rear end 132 forward, and the rear end 132 forwards enables the rear part of the peristaltic bag 11 to creep forwards; the inner-tract mirror robot can continuously creep forwards by repeating the process. If the endoscope robot needs to creep backwards, the reverse process can be adopted, and the description is omitted.
In the present invention, the telescopic driving apparatus of the borescope robot may further include a steering apparatus 134 to enable the telescopic shaft 133 to be steered so that the borescope robot can easily pass through a turning point in the tunnel. At the in-tunnel turn, the direction of the telescopic shaft 133 can be adjusted along with the direction of the in-tunnel bend through the steering device 134, so that the creeping direction of the endoscope robot follows the direction of the in-tunnel bend, and the endoscope robot can easily pass through the in-tunnel turn.
The imaging device 14 is used to take images in the street. The imaging device 14 may be a camera, an infrared imaging device, an ultrasonic imaging device, etc., and the present invention is not limited thereto. The endoscopic robot of the present invention may include one imaging device 14, or may include a plurality of imaging devices 14. The imaging device 14 may be located in front of, behind, or to the side of the peristaltic bladder 11 and may also include a corresponding light source to coordinate imaging. The imaging device 14 may be located inside the peristaltic bladder 11 or may be mounted on a robotic arm that extends outside the peristaltic bladder 11 to obtain intra-track images. The imaging device 14 may further include a rotating device, which may rotate the imaging device 14, so that the imaging device 14 may be combined with the mechanical arm to take the images in the street at more angles and more positions, so that the intra-street microscopic examination may obtain the images in the street at more suitable positions and angles. When the imaging device 14 shoots, shooting when the inner wall is supported is preferred, so that the situation that the effect of the shot medical image is poor due to the fact that the inner wall is folded or incompletely supported when a common endoscope shoots is avoided, and the result obtained by checking through the endoscope robot is more accurate. The intra-tract mirror robot of the invention can also establish an intra-tract model through intra-tract images at different positions and different angles shot by the image acquisition device 13, and can also comprise a holographic model for examination and subsequent diagnosis and treatment.
In the endoscopic robot of the present invention, the peristaltic bladder 11 is preferably made of an elastic material. The peristalsis bag 11 is made of elastic materials, so that when the endoscopic robot peristalsis in the tract, the peristalsis bag 11 is not broken by being supported when the telescopic shaft 133 extends. The peristaltic bag 11 can also be made of transparent materials, the peristaltic bag 11 made of the transparent materials and the imaging device 14 can be used for conveniently shooting inside the bag body, and therefore the inspection complexity is reduced.
The endoscopic robot further comprises an operation arm 15 used for performing medical operations and operations in the tract, wherein the operation arm comprises at least one of a knife, a pair of scissors, a needle, a pair of forceps, a clamp, an electric welding head, an electric cautery head, an illumination probe, a radioactive probe, an ultrasonic probe, an electromagnetic probe, a flushing device and a cleaning device. The surgical arm may be used to perform operations such as cutting, shearing, puncturing, suturing, grasping, welding, irrigating, sampling, probing, electrocoagulation, hemostasis, tissue separation and dissection, dredging, radiotherapy, phototherapy, hyperthermia, magnetotherapy, waste or wastewater cleanup, and the like. In the present invention, the cleaning device is preferably a vacuum cleaner-like device. In the present invention, the radioactive probe is preferably a gamma knife. The examination may be performed by taking an examination or the like, or an appropriate operation may be performed after the examination has been completed. The surgical arm 15 can also be extended, retracted and rotated to facilitate the movement of the surgical arm to the proper position. The operation arm can also set up pressure sensor, and the monitoring is to the pressure of inner wall to the setting is fit for the threshold value, when reaching or being close to the threshold value to the pressure of inner wall, restricts the operation of operation arm, prevents to cause the injury to the patient. The operation arm can be arranged in the peristalsis capsule/interlayer and can extend out of the capsule during operation. The operation arm can also be arranged outside the peristaltic capsule, and the operation is carried out near the target position.
The endoscopic robot of the present invention may also be used to remove stubborn stool, which is flushed from the intestinal wall by the flushing device of the surgical arm, and then the stubborn stool and/or flushing water is removed from the intestine by the cleaning device. The endoscopic robot of the present invention can also be used for removing fat, cutting fat which is not good for health in the intestine by the scalpel of the surgical arm, and then removing the cut fat from the intestine by the cleaning device.
The endoscopic robot may further comprise a medicine application device for applying medicine in the tract. The medicine feeding device can be a spraying device and is used for spraying liquid medicine to a position needing medicine feeding; the medicine applying device can also be used for applying the medicine to the position needing medicine application; or an injection device for injecting the medicament to a specified location; or an implant device for implanting a drug at a specific location. The drug delivery device may be located in the peristaltic bladder 11 or in the surgical arm 15, or the drug delivery device may have a retractable and rotatable robotic arm to facilitate movement of the drug delivery device to the appropriate location for delivery of the drug.
According to the endoscopic robot, the intrameatal contact components of the endoscopic robot, such as the supporting component and the operation arm, can contain local anesthetic, so that the local irritation and sensitivity are reduced, and the comfort of a patient is improved.
The endoscopic robot further comprises a processor, and the processor can automatically control the endoscopic robot to perform medical operations and operations according to actual intra-tract conditions according to intra-tract images shot by the imaging device 14. In the invention, the borescope robot may further include a wired or wireless transmission module for returning the photographed intra-road image and/or receiving an operation instruction, and the borescope robot operates according to the received operation instruction. The in-tunnel image is transmitted to an external server, the server provides an actual operation scheme according to the in-tunnel image and sends a corresponding operation instruction to the in-tunnel mirror robot, and after a wired or wireless transmission module of the in-tunnel mirror robot receives the operation instruction, the processor controls the in-tunnel mirror robot to operate according to the operation instruction. The operating instruction can also be given by medical staff according to the intra-tract image. The endoscopic robot of the present invention can also be operated by combining its own processor with an external medical staff or server to give an operation scheme. In the invention, when the intra-track mirror robot performs operations such as creeping in the track, the operation instruction sent from the outside can be received through the wired or wireless transmission module, and then corresponding operation is performed according to the operation instruction, or the corresponding operation can be automatically performed according to the actual situation of the intra-track image.
The method of giving the operation scheme based on the intra-track image may be; the method comprises the steps of identifying focuses based on intra-tract images to give examination results, and giving a proper operation scheme according to the results and an operation template, wherein the operation template can be obtained according to operation treatment specifications, or obtained by continuous accumulation and refinement of clinicians in the operation treatment process, or obtained by big data analysis, or obtained by artificial intelligence deep learning, and the operation template can be continuously adjusted and updated in the using process.
The robot for the endoscope can also determine the position of the robot for the endoscope in the tunnel through the positioning device. The positioning device may be a B-mode ultrasound device or an X-ray device, positioned by penetrating radiation.
The intra-tract endoscope robot can transmit the shot intra-tract images to an external server to construct an intra-tract model of a patient, is used for showing the real situation in the patient tract to medical staff, and carries out symptom analysis, gives out a diagnosis result, designs/recommends/determines an operation or an operation scheme, positions an operation site and assists the execution of the operation/operation.
The intra-road model can be constructed by using the shot intra-road images independently or combining the images in the human body road. The intra-tract image may be a general intra-tract image or an intra-tract image of the patient acquired by a B-mode ultrasound apparatus, an X-ray apparatus, or the like. The real situation in the patient channel can be conveniently shown to medical staff through the in-channel model, the medical staff can carry out symptom analysis, give diagnosis results and design/recommendation/determination of operation or operation schemes through the in-channel model, and can also position operation sites and assist the execution of operations/operations by combining the in-channel model.
The robot for the endoscope enters the street in a corresponding mode, for example: by oral administration into the esophagus, through the anus into the intestine, etc., or in other ways. The endoscope robot can be provided with a wire collecting pipe at the rear part, and the pipe can comprise an electric wire, a data wire, an inflation pipe, a transfusion pipe, a medicine conveying pipe, a waste discharge pipe and the like. The endoscopic robot of the invention can be a capsule-shaped robot without a pipeline. The line concentration pipe can also have a supporting function and is used for pushing the endoscope robot to a required position, the line concentration pipe can also be separated from the endoscope robot, the endoscope robot can be conveniently retracted and then discharged through an intestinal tract, or after the line concentration pipe is used, relevant devices such as a supporting component or an operation arm can be retracted or separated, and the endoscope robot can be conveniently discharged or pulled out of a human body. The waste cleaned by the cleaning device can also be discharged out of the body through a waste discharge pipe. The in-process that interior mirror robot got into the human body, supporting component, operation arm etc. are in the state of packing up, and corresponding ring of aerifing/hydraulic ring also are in the shrink state, and supporting component struts again when arriving suitable position or receiving corresponding instruction, and after the operation, relevant subassembly gets back to the state of packing up again, is convenient for get rid of or take out interior mirror robot.
A second embodiment of the present invention is seen in fig. 3. FIG. 3 is a method flow diagram of a method of using an endoscopic robot of the present invention. The use method of the endoscopic robot comprises the following steps:
s1: the endoscopic robot enters the street;
s2: the endoscope robot wriggles and advances, the supporting component supports the inner wall, and the imaging device shoots the images in the tract;
s3: repeating S2 until the focus position is reached, and performing medical operation and operation by the operation arm.
The use method of the endoscopic robot is based on the endoscopic robot of the invention, the technical characteristics of the endoscopic robot are in one-to-one correspondence, and the description of the endoscopic robot can be referred to, and the description is omitted here.
In summary, the endoscope robot and the method for using the same of the present invention includes: the device comprises a peristaltic bag, a support assembly, a peristaltic assembly and an imaging device. The use method of the endoscopic robot comprises the following steps: performing in-lane inspection by an in-lane mirror robot; the endoscope robot wriggles and advances, the inner wall is supported by the supporting component, and the imaging device shoots the image in the tract; repeating the above steps until reaching the focus position, and performing medical operation and operation by the operation arm. By the aid of the endoscope robot and the using method thereof, the defects of low examination accuracy and poor patient comfort caused by the fact that a common endoscope can only be operated by experience of medical staff are overcome, examination efficiency and effect of endoscope examination are improved, patient comfort is improved, and the endoscope robot has important significance for improving medical quality, medical experience and medical safety accidents.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (12)
1. An borescope robot, comprising: a peristaltic bag, a supporting component, a peristaltic component and an imaging device,
the support assembly is used for supporting the inner wall and fixing the endoscopic robot in the tract, and comprises a first support ring and a second support ring which are respectively positioned at the front part and the rear part of the peristaltic capsule and can be unfolded or folded;
the peristalsis assembly comprises a telescopic driving device and is used for driving the endoscopic robot to perish in the tract;
the imaging device is used for shooting images in the street.
2. An endoscopic robot as claimed in claim 1, wherein: the first support ring and the second support ring are inflatable rings or hydraulic rings, and the sizes of the first support ring and the second support ring can be adjusted according to the size of the inner wall.
3. An endoscopic robot as claimed in claim 1, wherein: the first support ring and the second support ring further respectively comprise at least one adsorption device, and the adsorption devices are used for being adsorbed on the inner wall.
4. An endoscopic robot as claimed in claim 1, wherein: the telescopic driving device comprises a front end and a rear end, the front end is arranged at the front part of the peristaltic bag, the rear end is arranged at the rear part of the peristaltic bag, and the front end and the rear end are connected through a telescopic shaft.
5. An endoscopic robot as claimed in claim 1, wherein: the telescopic driving device further comprises a steering device, so that the telescopic shaft can steer, and the endoscope robot can easily pass through a turning position in the tunnel.
6. An endoscopic robot as claimed in claim 1, wherein: the peristalsis bag is made of elastic materials.
7. An endoscopic robot as claimed in any one of claims 1 to 6, wherein: the endoscope robot further comprises an operation arm used for performing medical operations and operations in the tract, and the operation arm comprises at least one of a knife, a pair of scissors, a needle, a pair of pliers, a clamp, an electric welding head, an electric cautery head, an electric baking head, an illumination probe, a radioactive probe, an ultrasonic probe, an electromagnetic probe, a flushing device and a cleaning device.
8. An endoscopic robot as claimed in claim 7, wherein: the endoscopic robot further comprises a medicine feeding device, and the medicine feeding device is used for feeding medicine in the way.
9. An endoscopic robot as claimed in any one of claims 1 to 8, wherein: the endoscopic robot further comprises a processor, and the processor can automatically control the endoscopic robot to perform medical operations and operations according to the actual intra-tract situation according to the intra-tract images shot by the imaging device.
10. An endoscopic robot as claimed in claims 1 to 8, wherein: the endoscopic robot further comprises a wired or wireless transmission module used for returning the shot intra-road images and/or receiving operation instructions, and the endoscopic robot operates according to the received operation instructions.
11. An endoscopic robot as claimed in claims 1 to 8, wherein: the intra-tract endoscope robot transmits the shot intra-tract images to an external server to construct an intra-tract model of the patient, and is used for showing the real situation in the patient tract to medical staff, carrying out symptom analysis, giving a diagnosis result, designing/recommending/determining an operation or operation scheme, positioning an operation site and assisting the execution of the operation/operation.
12. A method of using the endoscopic robot as claimed in any one of claims 1 to 11, wherein the method comprises:
s1: the endoscopic robot enters the street;
s2: the endoscope robot wriggles and advances, the supporting component supports the inner wall, and the imaging device shoots the images in the tract;
s3: repeating S2 until the focus position is reached, and performing medical operation and operation by the operation arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022087915A1 (en) * | 2020-10-28 | 2022-05-05 | 曹庆恒 | Tract endoscope robot and method for using same |
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