CN114027770B - Localized progressive medical detection arm and use method thereof - Google Patents
Localized progressive medical detection arm and use method thereof Download PDFInfo
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- CN114027770B CN114027770B CN202111303947.6A CN202111303947A CN114027770B CN 114027770 B CN114027770 B CN 114027770B CN 202111303947 A CN202111303947 A CN 202111303947A CN 114027770 B CN114027770 B CN 114027770B
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- supporting blocks
- adjusting mechanism
- expansion film
- film
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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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
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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
- A61B1/00064—Constructional details of the endoscope body
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00105—Constructional details of the endoscope body characterised by modular construction
-
- 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
-
- 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
- A61B1/005—Flexible endoscopes
-
- 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
- A61B1/012—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 characterised by internal passages or accessories therefor
Abstract
The invention discloses a localized progressive medical detection arm and a using method thereof, wherein the localized progressive medical detection arm comprises the following steps: the detection device comprises an endoscope head and a transmission circuit connected with the endoscope head, the endoscope head is embedded into one end of the adjusting mechanism, and the transmission circuit penetrates through the axial inner part of the adjusting mechanism; the adjusting mechanism comprises a plurality of supporting blocks and an expanding film, the expanding film is fixedly connected with the supporting blocks, two adjacent supporting blocks are connected through the expanding film, the expanding film is of a double-layer structure, the inner space of the expanding film is communicated with the inner parts of the supporting blocks in a one-to-one correspondence manner, and the adjusting mechanism further comprises an adjusting liquid pipe and a branch pipe which are communicated with the supporting blocks; the medical endoscopic probe arm is modularly arranged and locally advanced in the advancing process, so that the discomfort of a patient in the inserting process is reduced.
Description
Technical Field
The invention relates to the field of medical instruments or endoscopes, in particular to a localized progressive medical detection arm and a using method thereof.
Background
The endoscope is a detecting instrument integrating traditional optics, human engineering, precision machinery, modern electronics, mathematics and software into a whole, and has image sensor, optical lens, light source lighting and mechanical device, etc. it can be passed into the stomach by mouth or passed through other natural ducts, and can be used for seeing the pathological changes which can not be displayed by X-ray, so that it is very useful for doctor.
However, in the inserting process, the whole connecting pipeline can be turned and moved integrally along with the lens, the patient always suffers from the friction pain in the whole length range of the pipeline path, the patient is provided with a foreign body sensation in large-scale range movement, even if the lubricating liquid is taken before the insertion, local lubrication is uneven in the whole friction process, for example, in the gastroscopy, the endoscope lens reaches the inserting process before the detection position, the detection pipeline can continuously rub the esophagus, the throat and other parts in the whole process, and at present, no inserting device which can realize the whole moving forward through local progressive in the inserting process exists.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a localized progressive medical detection arm and a using method thereof.
In order to achieve the purpose, the invention adopts the technical scheme that: a localized progressive medical probe arm and method of use thereof, comprising: detection equipment and with adjustment mechanism that detection equipment is connected, its characterized in that: the detection device comprises an endoscopic lens and a transmission circuit connected with the lens, the endoscopic lens is embedded into one end of the adjusting mechanism, and the transmission circuit penetrates through the adjusting mechanism axially and internally; the adjusting mechanism comprises a plurality of supporting blocks and an expanding film, the expanding film is fixedly connected with the supporting blocks, two adjacent supporting blocks are connected through the expanding film, the expanding film is of a double-layer structure, the inner space of the expanding film is communicated with the inner parts of the supporting blocks in a one-to-one correspondence manner, and the adjusting mechanism further comprises an adjusting liquid pipe and a branch pipe which are communicated with the supporting blocks; and an elastic component is connected between the adjacent supporting blocks and can axially extend and retract in the adjusting mechanism.
In a preferred embodiment of the present invention, the swelling membrane is an axial bellows connecting the support blocks at both ends.
In a preferred embodiment of the invention, the elastic elements are uniformly distributed in an array near the center of the end face of the supporting block.
In a preferred embodiment of the invention, the regulating tube is arranged parallel to the transmission circuit and extends through the regulating mechanism axial inner passage.
In a preferred embodiment of the invention, the elastic member comprises a rubber strip and/or a spring.
In a preferred embodiment of the invention, when no regulating liquid is introduced into the regulating liquid tube, the length of the swelling membrane is contracted to 0.1-0.5 times of the maximum length thereof.
In a preferred embodiment of the present invention, the branch pipes and the supporting blocks are arranged in a one-to-one correspondence, and a controllable closing switch is arranged at the connection position of the branch pipes and the supporting blocks.
In a preferred embodiment of the present invention, the endoscope head is a circular CCD camera head.
In a preferred embodiment of the present invention, the surface of the swelling membrane is provided with permeable micropores.
The invention also provides a use method of the localized progressive medical detection arm, which is characterized by comprising the following steps:
A. extending a detection arm into a certain distance from the oral cavity according to the expansion film contraction ratio, continuously injecting regulating liquid into the regulating liquid pipe, sequentially filling a supporting block and a corresponding expansion film into the regulating liquid pipe according to a route from the outside of a human body to the endoscope head, and closing a branch pipe corresponding to the completely filled expansion film until the endoscope head reaches a preset detection position;
B. after the detection is finished, the liquid regulating tube pumps liquid outwards, and the branch tubes are sequentially opened from the endoscope head to the outside of the human body, so that the detection arm is partially retracted from the free end.
The invention solves the defects in the background technology, and has the following beneficial effects:
(1) The invention combines the detection arm which can be inserted into a human body in a length path through the modularized adjusting mechanisms spliced in series, transports the detection equipment to the position needing to be observed in the human body, changes the detection equipment into a whole through the local extension and contraction of the unit components, and realizes the integral forward movement of the detection arm through the local regular progressive movement; specifically, the expansion film is of a double-layer structure, and the expansion film can be filled with regulating liquid to expand in the width direction and the length direction, and is firstly directionally expanded in the width direction, and preferably, the expansion film adopts an expansion structure with an elliptical main body, so that the gas can be ensured to flow out, meanwhile, the upper end regulating mechanism can be fixed, the shaking influence on the upper mechanism in the extension process of the lower regulating mechanism is reduced, the dragged area in the body of a patient is reduced, and the discomfort is reduced; secondly, in the length direction, the expanding film layer gradually extends towards the direction of the free end, the closer to the detection position, the smaller the action range of the adjusting mechanism is, and the movement of the position with the fixed length at the upper part is reduced.
(2) According to the invention, the two ends of the length of the expansion film are respectively connected with the supporting blocks, and the inside of the supporting block on one side is communicated with the inside of the expansion film double-layer structure, so that the regulating liquid can enter the inside of the expansion film through the supporting blocks, it can be appreciated that the regulating liquid is likely to vibrate when the regulating liquid is flushed under high pressure, and the expansion film is taken as a flexible material.
(3) In the invention, the supporting blocks are connected through the elastic component, the elastic component can axially extend and retract in the adjusting mechanism, the elastic component can control the length extension speed of the expansion film while being matched with the length extension of the expansion film, so that the phenomenon that the expansion film is excessively fast in liquid filling speed and excessively fast in length direction, the material of the elastic component is possibly damaged and torn, or the elastic component collides with a human body excessively violently in the downward extension process to damage the human body is avoided.
(4) According to the invention, the regulating liquid pipe and the transmission circuit parallelly penetrate through the internal passage of the regulating mechanism, the regulating liquid pipe is communicated with the branch pipes which are in one-to-one correspondence with the supporting blocks, the branch pipes realize pressure control on the supporting blocks and the expanding membrane through the independently arranged and independently controlled closing switches, and the branch pipes can be closed in the detection process to realize pressure maintaining, so that stable support is provided.
(5) The permeable micropores are formed in the surface of the swelling membrane, so that in the process of inserting the endoscope, the regulating solution is uniformly and properly generated from the surface of the swelling membrane, the regulating solution comprises lubricating solution and anesthetic, the positions of the device body, the esophagus, the throat and the like can be lubricated and supplemented in time, the psychological discomfort of a patient who directly drinks the lubricating solution before inserting the endoscope is reduced, further, the liquid supplementing holes are gathered at the seams at the adjacent positions of the balloon body, the liquid supplementing holes are properly sunken relative to the surface of the balloon body, and the situation that the liquid supplementing holes are completely blocked when the positioning lugs press the balloon body can be avoided, so that the lubricating solution is not uniformly supplemented; it should be noted that most of the current lubricating liquid is drunk within ten minutes before the insertion of the endoscope, on one hand, the patient directly drinks the lubricating liquid with special taste and sticky mouthfeel to generate psychological and physiological discomfort, which is not beneficial to the subsequent insertion of the endoscope, on the other hand, the lubricating liquid and the anesthetic have limited efficacy due to the non-painless insertion of the endoscope, so that the anesthesia is gradually ineffective and the lubricating effect is obviously reduced when the insertion of the endoscope is not finished, and the subsequent examination and the final taking-out step cause more pain to the patient.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts;
FIG. 1 is a perspective block diagram of a preferred embodiment of the present invention;
FIG. 2 is an enlarged partial view of the adjustment mechanism of the preferred embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view of an adjustment mechanism of a preferred embodiment of the present invention;
in the figure: 11. a supporting block; 12. expanding the membrane; 21. a lens; 22. a regulating liquid pipe; 23. a branch pipe.
Detailed Description
Reference throughout this specification to "one embodiment," "an embodiment," or "other embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least some embodiments, but not necessarily all embodiments, of the embodiments. If the specification states a component, feature, structure, or characteristic "may", "might", or "could" be included, that particular component, feature, structure, or characteristic is not required to be included. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the present invention.
A localized progressive medical probe arm as shown in fig. 1 and 3, comprising: the detection device comprises an endoscope head 21 and a transmission circuit connected with the endoscope head 21, the endoscope head 21 is embedded into one end of the adjusting mechanism, and the transmission circuit penetrates through the adjusting mechanism axially and internally; the adjusting mechanism comprises a plurality of supporting blocks 11 and expanding films 12, the expanding films 12 are fixedly connected with the supporting blocks 11, two adjacent supporting blocks 11 are connected through the expanding films 12, the expanding films 12 are of a double-layer structure, the inner spaces of the expanding films 12 are correspondingly communicated with the insides of the supporting blocks 11 one by one, and the adjusting mechanism further comprises adjusting liquid pipes 22 and branch pipes 23 which are communicated with the supporting blocks 11; and an elastic component is connected between the adjacent supporting blocks 11 and can axially extend and retract in the adjusting mechanism.
As shown in fig. 2 and 3, the swelling membrane 12 is a supporting block 11 connected with two ends in an axial bellows shape, and the elastic components are uniformly distributed in an array manner near the center of the end surface of the supporting block 11, it should be appreciated that the step-by-step distribution can enable the regulating liquid pipe 22 to be parallel to the transmission circuit, to pass through the axial internal passage of the regulating mechanism, and to pass through the center of the elastic components, so that the overall center of gravity of the detecting arm is not easy to shift in the moving process, thereby improving the stability of the present invention.
In one embodiment, the elastic component comprises rubber strips which are distributed and arranged, and can provide a stable effect of limiting the displacement speed; in another embodiment, a single spring is provided at the center of the adjusting mechanism, the adjusting liquid tube 22 and the transmission circuit can pass through the inner space of the spring, and the arrangement of the single spring is not as stable in the lateral direction as the design of spreading a plurality of rubber strips, but the weight of the single spring is reduced, so that the difference between the lateral control of the spring and the lateral control of the liquid tube is almost the same in the practical application process.
In one embodiment, when no regulating liquid is introduced into the regulating liquid tube 22, the length of the inflatable membrane 12 is contracted to be 0.3 times of the maximum length of the inflatable membrane, namely, after the inflatable membrane 12 is filled with the regulating liquid, the length of the inflatable membrane can be expanded to be more than doubled, the original plan is advanced to the stomach by a path of 50cm, the inflatable membrane is actually inserted into the throat by 20cm and extends to the stomach from the lower layer step by step, and the friction of the subsequent 30cm to the throat and the esophagus is reduced.
In a preferred embodiment, the endoscopic lens 21 is a circular CCD camera lens, which can prevent the lens 21 from rubbing the human body, and it should be noted that the present device is provided with permeation micropores when the distending membrane 12 is opened, and the permeation micropores will become larger along with the stretching of the distending membrane 12, so that it is difficult to perform complete optical transmission on the length path and achieve the best detection effect.
The invention also provides a use method of the localized progressive medical detection arm, which comprises the following steps: A. extending the detection arm into a certain distance from the oral cavity according to the contraction ratio of the expansion film 12, continuously injecting regulating liquid into the regulating liquid pipe 22, sequentially filling the regulating liquid into the supporting block 11 and the corresponding expansion film 12 according to a route from the outside of the human body to the endoscope head 21, and closing the branch pipe 23 corresponding to the expansion film 12 which is completely filled until the endoscope head 21 reaches a preset detection position; B. after the detection is finished, the liquid regulating tube 22 draws liquid outwards, and the branch tubes 23 are opened in sequence from the endoscope head 21 to the outside of the human body, so that the detection arm is partially retracted from the free end.
The invention combines the detection arm which can be inserted into a human body in a length path through the modularized adjusting mechanisms spliced in series, transports the detection equipment to the position needing to be observed in the human body, changes the detection equipment into a whole through the local extension and contraction of the unit components, and realizes the integral forward movement of the detection arm through the local regular progressive movement; specifically, the expansion film 12 is of a double-layer structure, and the interior of the expansion film can be filled with regulating liquid, so that the expansion in the width direction and the length direction is performed; secondly, in the length direction, the expanding membrane 12 gradually extends towards the direction of the free end layer by layer, the closer to the detection position, the smaller the action range of the adjusting mechanism is, and the movement of the position with the fixed length at the upper part is reduced.
According to the invention, two ends of the length of the expansion membrane 12 are respectively connected with the supporting blocks 11, and the inside of the supporting block 11 on one side is communicated with the inside of the double-layer structure of the expansion membrane 12, so that the regulating liquid can enter the inside of the expansion membrane 12 through the supporting blocks 11, it can be appreciated that the regulating liquid will inevitably vibrate when being flushed under high pressure, and the expansion membrane 12 is used as a flexible material, after being impacted, on one hand, the expansion membrane 12 can be broken under the condition of local stress, so that the regulating liquid is in contact with a human body in a large quantity to generate serious results, and on the other hand, even if the expansion membrane 12 is not damaged, the regulating liquid can directly impact the human body due to the local leaning relation between the expansion membrane 12 and the human body, so that the regulating liquid is led into the supporting blocks 11 with higher material strength and toughness, good buffering effect is provided, and the integral extension speed of the device is ensured.
In the invention, the supporting blocks 11 are connected through the elastic component, the elastic component can axially extend and retract in the adjusting mechanism, the elastic component can be matched with the length extension of the expansion film 12, and simultaneously can control the length extension speed of the expansion film 12, so that the phenomenon that the expansion film 12 is excessively fast in the liquid filling speed and excessively fast in the length direction, the damage and tearing of the material of the elastic component can be caused, or the human body is damaged due to the fact that the elastic component collides with the human body excessively violently in the downward extension process is avoided.
According to the invention, the regulating liquid pipe 22 and the transmission circuit parallelly penetrate through the internal passage of the regulating mechanism, the regulating liquid pipe 22 is communicated with the branch pipes 23 which are in one-to-one correspondence with the supporting blocks 11, and the branch pipes 23 realize pressure control in the supporting blocks 11 and the swelling membrane 12 through independently arranged and independently controlled closing switches, and can be closed in the detection process to realize pressure maintaining, so that stable support is provided.
The surface of the expansion film 12 is provided with the permeation micropores, so that in the process of inserting the endoscope, the regulating solution is uniformly and properly generated from the surface of the expansion film 12, the regulating solution comprises lubricating solution and anesthetic, the positions of the device body, the esophagus, the throat and the like can be lubricated and supplemented in time, the psychological discomfort of a patient who directly drinks the lubricating solution before inserting the endoscope is reduced, further, the liquid supplementing holes are gathered at the seams at the adjacent positions of the balloon body, the liquid supplementing holes are properly sunken relative to the surface of the balloon body, and the situation that the liquid supplementing holes are completely blocked when the positioning lugs press the balloon body can be avoided, so that the lubricating solution is not uniformly supplemented; it should be noted that most of the current lubricating liquid is drunk within ten minutes before the insertion of the endoscope, on one hand, the patient directly drinks the lubricating liquid with special taste and sticky mouthfeel to generate psychological and physiological discomfort, which is not beneficial to the subsequent insertion of the endoscope, on the other hand, the lubricating liquid and the anesthetic have limited efficacy due to the non-painless insertion of the endoscope, so that the anesthesia is gradually ineffective and the lubricating effect is obviously reduced when the insertion of the endoscope is not finished, and the subsequent examination and the final taking-out step cause more pain to the patient.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (7)
1. A localized progressive medical probe arm comprising: detection equipment and with adjustment mechanism that detection equipment is connected, its characterized in that:
the detection device comprises an endoscopic lens and a transmission circuit connected with the lens, the endoscopic lens is embedded into one end of the adjusting mechanism, and the transmission circuit penetrates through the adjusting mechanism axially and internally;
the adjusting mechanism comprises a plurality of supporting blocks and an expansion film, the expansion film is a corrugated pipe which stretches along the axial direction of the detection arm, the expansion film is fixedly connected with the supporting blocks, two adjacent supporting blocks are connected through the expansion film, the expansion film is of a double-layer structure, the inner space of the expansion film is communicated with the inner parts of the supporting blocks in a one-to-one correspondence mode, the adjusting mechanism further comprises an adjusting liquid pipe communicated with the supporting blocks and a branch pipe, the branch pipe realizes pressure control on the supporting blocks and the expansion film through an independently-arranged and independently-controlled closed switch, the surface of the expansion film is provided with permeation micropores, adjusting liquid seeps out of the surface of the expansion film through the permeation micropores, and the adjusting liquid comprises: lubricating fluids and anesthetics;
and an elastic component is also connected between the adjacent supporting blocks, the elastic component can axially extend and retract in the adjusting mechanism, and the elastic component can control the length extension speed of the swelling film while being matched with the length extension of the swelling film.
2. The localized progressive medical probe arm of claim 1, wherein: the elastic components are uniformly distributed in an array manner near the center of the end face of the supporting block.
3. A localized progressive medical probe arm as in claim 1 wherein: the regulating liquid pipe is parallel to the transmission circuit and penetrates through the regulating mechanism axial inner passage.
4. The localized progressive medical probe arm of claim 1, wherein: the elastic component comprises a rubber strip and/or a spring.
5. The localized progressive medical probe arm of claim 4, wherein: when no regulating liquid is introduced into the regulating liquid pipe, the length of the expanding membrane is contracted to be 0.1-0.5 times of the maximum length of the expanding membrane.
6. The localized progressive medical probe arm of claim 1, wherein: the branch pipes are arranged in one-to-one correspondence with the supporting blocks, and controllable closing switches are arranged at the joints of the branch pipes and the supporting blocks.
7. A localized progressive medical probe arm as in claim 1 wherein: the endoscope head adopts a circular CCD camera head.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111303947.6A CN114027770B (en) | 2021-11-05 | 2021-11-05 | Localized progressive medical detection arm and use method thereof |
| PCT/CN2021/129323 WO2023077512A1 (en) | 2021-11-05 | 2021-11-08 | Localized progressive medical detection arm and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111303947.6A CN114027770B (en) | 2021-11-05 | 2021-11-05 | Localized progressive medical detection arm and use method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114027770A CN114027770A (en) | 2022-02-11 |
| CN114027770B true CN114027770B (en) | 2022-12-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111303947.6A Active CN114027770B (en) | 2021-11-05 | 2021-11-05 | Localized progressive medical detection arm and use method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114027770B (en) |
| WO (1) | WO2023077512A1 (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0889476A (en) * | 1994-09-21 | 1996-04-09 | Olympus Optical Co Ltd | Self-advancing endoscope device |
| JP2012075595A (en) * | 2010-09-30 | 2012-04-19 | Tottori Univ | Double balloon type endoscope apparatus having self-propellent function by fluid |
| JP2014200324A (en) * | 2013-04-01 | 2014-10-27 | 学校法人 中央大学 | Extendable unit, mobile body in pipe body, and exploratory device in pipe body |
| JP2014228658A (en) * | 2013-05-21 | 2014-12-08 | 学校法人 中央大学 | In-pipe investigating device |
| CN111493800A (en) * | 2020-04-21 | 2020-08-07 | 刘珊珊 | Painless medical image endoscopic device |
| CN112089383A (en) * | 2020-10-13 | 2020-12-18 | 四川大学华西医院 | Digestive tract endoscope bending and fixing device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0543114U (en) * | 1990-12-20 | 1993-06-11 | オリンパス光学工業株式会社 | Self-propelled device and self-propelled endoscope equipped with the same |
| US6764441B2 (en) * | 2001-09-17 | 2004-07-20 | Case Western Reserve University | Peristaltically self-propelled endoscopic device |
| US8430810B2 (en) * | 2007-02-12 | 2013-04-30 | Technion Research And Development Foundation, Ltd. | Inflatable balloon device and applications |
| EP2278908B1 (en) * | 2008-04-27 | 2021-06-02 | Loma Vista Medical, Inc. | Biological navigation device |
| JP5391006B2 (en) * | 2009-09-14 | 2014-01-15 | 富士フイルム株式会社 | Endoscope insertion aid |
| JP5571524B2 (en) * | 2010-10-13 | 2014-08-13 | 学校法人 中央大学 | Endoscopic propulsion device |
-
2021
- 2021-11-05 CN CN202111303947.6A patent/CN114027770B/en active Active
- 2021-11-08 WO PCT/CN2021/129323 patent/WO2023077512A1/en unknown
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0889476A (en) * | 1994-09-21 | 1996-04-09 | Olympus Optical Co Ltd | Self-advancing endoscope device |
| JP2012075595A (en) * | 2010-09-30 | 2012-04-19 | Tottori Univ | Double balloon type endoscope apparatus having self-propellent function by fluid |
| JP2014200324A (en) * | 2013-04-01 | 2014-10-27 | 学校法人 中央大学 | Extendable unit, mobile body in pipe body, and exploratory device in pipe body |
| JP2014228658A (en) * | 2013-05-21 | 2014-12-08 | 学校法人 中央大学 | In-pipe investigating device |
| CN111493800A (en) * | 2020-04-21 | 2020-08-07 | 刘珊珊 | Painless medical image endoscopic device |
| CN112089383A (en) * | 2020-10-13 | 2020-12-18 | 四川大学华西医院 | Digestive tract endoscope bending and fixing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114027770A (en) | 2022-02-11 |
| WO2023077512A1 (en) | 2023-05-11 |
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