CN1917802A - Endoscope assembly - Google Patents

Endoscope assembly Download PDF

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Publication number
CN1917802A
CN1917802A CN 200580004311 CN200580004311A CN1917802A CN 1917802 A CN1917802 A CN 1917802A CN 200580004311 CN200580004311 CN 200580004311 CN 200580004311 A CN200580004311 A CN 200580004311A CN 1917802 A CN1917802 A CN 1917802A
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endoscope
selectively
head
assembly according
portion
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CN 200580004311
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Chinese (zh)
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CN100431477C (en )
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加德·特柳克
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智能医疗系统有限公司
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments 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
    • A61B1/00064Constructional details of the endoscope body
    • A61B1/00071Insertion part of the endoscope body
    • A61B1/0008Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00082Balloons

Abstract

一种机动式内窥镜组件,包括:机动式的内窥镜头,其包括沿纵向轴线延伸的主体部分,且该内窥镜头上具有与之相关的可选择性膨胀的第一气囊和可选择定位的部分,可选择定位部分可沿着所述主体部分进行定位,内窥镜头上还具有与之相关的可选择性膨胀的第二气囊;以及机动式内窥镜头控制器,其对机动式内窥镜头的工作进行控制,其可操作地用于控制可选择定位部分相对于主体部分的定位、以及第一和第二可选择膨胀气囊的充胀。 A motor assembly endoscope comprising: a locomotive endoscope head, which extends along the longitudinal axis including a body portion, and the endoscope head having selectively expandable balloon associated therewith a first and optionally positioning portion, the positioning portion may alternatively be positioned along the body portion, the endoscope head further having a second selectively inflatable balloon associated therewith; and a locomotive endoscope head controller for propelled work endoscope head is controlled, which is operable to selectively control the positioning portion positioned with respect to the body portion, and first and second alternatively inflatable balloon inflated.

Description

内窥镜组件 Endoscope assembly

与相关申请的交叉引用本申请参照如下的专利申请:于2004年2月9日提交的第60/542680号美国临时专利申请,其名称为“用于内窥镜检查及管内移动的微型机器人及附件”;以及于2004年4月6日提交的第60/559461号美国临时专利申请,其名称为“用于内窥镜检查及管内传输的装置、附件、以及方法”,这些申请所公开的内容被结合到文中作为参考,并按照37 CFR 1.78(a)(4)和(5)(i),要求享受上述申请的优先权。 Cross-Reference to Related Applications and patent applications refer to this application as follows: No. 60/542680 US provisional patent application in 2004, filed February 9, entitled "used in endoscopy and mobile micro-robots and pipe Annex "; and U.S. provisional Patent No. 60/559461 filed on April 6, 2004, filed, entitled" for endoscopic tube and the inner transmission means, accessories and methods ", which disclosed herein the contents of which are incorporated herein by reference, and in accordance with 37 CFR 1.78 (a) (4) and (5) (i), the above application claims the benefit of priority.

技术领域 FIELD

本发明总体上涉及内窥镜检查术,更特定而言,本发明涉及机动式内窥镜。 The present invention relates generally to endoscopy, and more particularly, the present invention relates to a motor endoscope.

背景技术 Background technique

认为下列的美国专利文件代表了本领域的现有状况:第4040413、4176662、5662587号美国专利;以及第2002/0156347号美国专利申请文件。 Consider the following US patent documents represent the current state of the art: US Patent No. 4040413,4176662,5662587; and US Patent Application No. 2002/0156347 file.

发明内容 SUMMARY

本发明致力于提供一种改进的机动式内窥镜。 The present invention seeks to provide an improved self-propelled endoscope.

文中所用“内窥镜”和“内窥镜检查术”的含义要略宽于它们通常的含义,它们指代在体腔、体内通道等场所中工作的设备和方法,其中的体腔和通道例如是小肠、大肠、动脉和静脉。 Herein as "endoscope" and "endoscopy" with the meaning slightly wider than their usual meanings, and refer to apparatus and method for generation of working at a place a body cavity, body passageway and the like, wherein the body cavity and the channel, for example, the small intestine , large intestine, arteries and veins. 尽管这些术语通常涉及的是目视检查,但在本文的语境中,它们并不限于采用目视检查的应用情形,同样还涉及那些不一定包括目视检查的设备、系统和方法。 Although these terms are generally relates to visual inspection, but in the context of this document, they are not limited to the case of applications using visual inspection, visual inspection likewise further relates to those devices, systems and methods are not necessarily included.

因而,根据本发明一优选实施方式,本申请提供了一种机动式内窥镜组件,其包括:机动式的内窥镜头,其包括沿纵向轴线延伸的主体部分,且该内窥镜头具有与之相关的可选择性膨胀的第一气囊和可选择定位的部分,可选择定位部分可沿着所述主体部分进行定位,内窥镜头上还具有与之相关的可选择性膨胀的第二气囊;以及机动式内窥镜头控制器,其对机动式内窥镜头的工作进行控制,其作用在于控制可选择定位部分相对于主体部分的定位、以及第一和第二可选择膨胀气囊的充胀。 Thus, according to a preferred embodiment of the present invention, the present application provides a locomotive endoscope assembly, comprising: a locomotive endoscope head, which extends along the longitudinal axis including a body portion, and having the endoscope head the first correlation airbag and selectively inflatable selectable positioning portion, the positioning portion may be selectively positioned along the body portion, the endoscope further includes a selectively expandable head associated with a second balloon ; and locomotive endoscope head controller, which controls the operation of the locomotive endoscope head, its role is to control selectively positioning portion positioned with respect to the inflatable main body portion, and first and second alternatively inflatable balloon .

根据本发明一优选实施方式,第一、第二可选择膨胀气囊中的至少之一包括可伸张的气囊。 According to a preferred embodiment of the present invention, first, the at least one second selectably inflatable balloon includes a stretchable balloon. 优选地是,机动式内窥镜组件还包括与机动式内窥镜头相连的内窥镜体。 Preferably, the locomotive endoscope assembly also includes an endoscope body and a motor connected to the endoscope head. 作为可选方案或优选方案,仪器通道至少部分地延伸穿过机动式内窥镜头和内窥镜体。 As an alternative or preferred embodiment, an instrument channel extending through at least partially locomotive endoscope head and an endoscope body.

根据本发明另一优选实施方式,机动式内窥镜头具有固定的长度。 According to another preferred embodiment of the present invention, the locomotive endoscope head has a fixed length. 优选地是,内窥镜体包括多腔管。 Preferably, the endoscope body includes a multi-lumen tube. 作为备选或补充方案,内窥镜体与机动式内窥镜头控制器实现接口连接。 Alternatively or additionally, the endoscope body achieves interface with locomotive endoscope head controller.

根据本发明再一优选实施方式,机动式内窥镜组件还包括内窥镜检查系统,其可与机动式内窥镜头控制器相连接。 A further preferred embodiment, the assembly further comprises a motorized endoscope endoscopy system, which may be connected with the locomotive endoscope head controller according to the present invention.

根据本发明的又一优选实施方式,多腔管包括至少一个腔管,其作用至少在于如下一项功能:对气囊进行充胀;对机动式内窥镜头的可选择定位部分进行定位;使光纤和导电线束的至少之一由此穿过;以及实现流体连通。 According to a further preferred embodiment of the present invention, the multi-lumen tube includes at least one lumen, wherein at least one of the following action which features: inflating the airbag; selectable locomotive endoscope head positioning portion for positioning; optical fiber and at least one electrical conductor bundle therethrough; and fluid communication. 优选地是,多腔管包括至少一个腔管,其作用在于实现如下的各个功能:对气囊进行充胀;对机动式内窥镜头的可选择定位部分进行定位;以及使光纤和导电线束的至少之一由此穿过。 Preferably, the multi-lumen tube includes at least one lumen, its role is to achieve the following various functions: inflating the balloon; selectable locomotive endoscope positioning portions for positioning the head; and at least an optical fiber and an electrical conductor bundle one therethrough. 一般情况且优选地是,该至少一个腔管包括至少一个第一腔管,其作用在于对第一可选择膨胀气囊进行充胀,并包括至少一个第二腔管,其作用在于对第二可选择膨胀气囊进行充胀。 Generally and preferably, the at least one lumen comprises at least one first lumen, its role is to choose the first inflatable balloon inflating, and comprises at least a second lumen, wherein the effect of the second select inflated airbag inflation.

根据本发明另一优选实施方式,可选择定位部分可相对于主体部分进行滑动定位。 According to another preferred embodiment of the present invention, the positioning portion may be selected with respect to the body portion for positioning slides. 优选地是,机动式内窥镜头包括至少一个光源和至少一个成像传感器,作为补充或备选方案,第一可选择膨胀气囊包括至少两个可独立膨胀的气囊部分。 Preferably, the locomotive endoscope head comprising at least one light source and at least one imaging sensor, as a supplement or an alternative, the first selectably inflatable balloon comprises at least two independently inflatable balloon portions. 作为另一备选方案,第二可选择膨胀气囊包括至少两个可独立膨胀的气囊部分。 As another alternative, the second selectably inflatable balloon comprises at least two independently inflatable balloon portions. 优选地是,第二可选择膨胀气囊的至少两个可独立膨胀气囊部分相对于第一可选择膨胀气囊的至少两个可独立膨胀气囊部分成方位角偏置关系。 Preferably, at least two independently selectable second inflatable balloon portion relative to the first inflatable balloon is selectively inflatable balloon at least two independently inflatable balloon portions are azimuthally offset relationship.

根据本发明的又一优选实施方式,机动式内窥镜头控制器提供了机动功能,该功能适于使机动式内窥镜头逐步地移动从而穿过基本为管状的管体部分。 According to a further preferred embodiment of the present invention, the locomotive endoscope head controller provides a motor function, which is adapted to the locomotive endoscope head is moved stepwise to pass through the tube substantially tubular body portion. 优选地是,该机动功能包括能实现如下依次操作的功能:对第一可选择膨胀气囊进行充胀,由此将第一可选择膨胀气囊锚固到基本管状体部分的内表面上;将可选择定位部分和第二可选择膨胀气囊相对于第一可选择膨胀气囊在轴向上重新进行定位;对第二可选择膨胀气囊进行充胀,由此将第二可选择膨胀气囊锚固到基本管状体部分的内表面上;对第一可选择膨胀气囊进行放气,由此解除第一可选择膨胀气囊与基本管状体部分内表面的锚固;以及将第一可选择膨胀气囊相对于可选择定位部分和第二可选择膨胀气囊在轴向上重新进行定位。 Preferably, the motor includes a function to achieve the following functions sequentially to: select a first inflatable balloon inflating, to thereby select the first inflatable balloon is anchored to the inner surface of the substantially tubular body portion; selectable and a second positioning portion relative to the first inflatable balloon optionally selectively reorient the inflatable balloon in the axial direction; a second selectably inflatable balloon inflating, whereby the second selectively inflatable balloon anchored to the base of the tubular body the inner surface of the upper portion; first selectably inflatable balloon deflated, thereby releasing the first anchor selectably inflatable balloon and the tubular body portion of the surface of the base; and optionally a first inflatable balloon portion positioned relative to the selectable and a second selectably inflatable balloon re-positioned in the axial direction. 可选地是,第一可选择膨胀气囊被设置成相对于基本管状体部分位于第二可选择膨胀气囊的前方。 Optionally, the first inflatable balloon is arranged to be selected with respect to the generally tubular body portion is located in front of the second selectably inflatable balloon. 备选地是,第二可选择膨胀气囊被设置成相对于基本管状体部分位于第一可选择膨胀气囊的前方。 Alternatively, the second selectably inflatable balloon is disposed with respect to the generally tubular body portion is located in front of the first selectably inflatable balloon.

根据本发明的另一优选实施方式,本申请还提供了一种机动式内窥镜组件,其包括:机动式的内窥镜头,其包括沿纵向轴线延伸的主体部分,且内窥镜头具有与之相关的可在径向上选择性扩张的第一元件,并具有可选择定位的部分,可选择定位部分可沿着所述主体部分进行定位,且内窥镜头具有与之相关的可在径向上选择性扩张的第二元件;以及机动式内窥镜头控制器,其对机动式内窥镜头的工作进行控制,其作用在于控制可选择定位部分相对于主体部分的定位、以及第一和第二可选择径向扩张元件的选择性扩张。 According to another preferred embodiment of the present invention, the present application also provides a motor assembly endoscope comprising: a locomotive endoscope head, which extends along the longitudinal axis including a body portion, and having an endoscope head the first member may be associated selectively radially expandable and having a portion selectable positioning, the positioning portion may be selectively positioned along the body portion, and having an endoscope head can be associated therewith in the radial direction selective vasodilating second element; and a locomotive endoscope head controller, which controls the operation of the locomotive endoscope head, its role is to control selectively positioning portion positioned with respect to the body portion, and first and second Alternatively selective radial expansion of the expansion element.

根据本发明一优选实施方式,第一、第二可选择径向扩张元件中的至少之一包括可选择膨胀的气囊。 According to a preferred embodiment of the present invention, the first and second select at least one radially expandable element comprises a selectably inflatable balloon. 优选地是,可选择膨胀的气囊包括可伸张的气囊。 Preferably, the selectively inflatable balloon comprises a stretchable balloon.

根据本发明的另一优选实施方式,机动式内窥镜组件还包括与机动式内窥镜头相连的内窥镜体。 According to another preferred embodiment of the present invention, the motor assembly further endoscope includes an endoscope body and a motor connected to the endoscope head. 优选地是,仪器通道至少部分地延伸穿过机动式内窥镜头和内窥镜体。 Preferably, the instrument channel extending at least partially through the locomotive endoscope head and an endoscope body. 更为优选地是,机动式内窥镜头具有固定的长度。 More preferably, the locomotive endoscope head has a fixed length.

根据本发明的再一优选实施方式,内窥镜体包括多腔管。 According to a further preferred embodiment, the endoscope of the present invention comprises a multi-lumen tube. 优选地是,内窥镜体与机动式内窥镜头控制器实现接口连接。 Preferably, the endoscope body and the endoscope head motor controllers interfacing. 作为补充或优选方案,机动式内窥镜组件还包括内窥镜检查系统,其可与机动式内窥镜头控制器相连接。 Additionally or preferred embodiment, the motor assembly further comprises endoscope endoscopy system, which may be connected with the locomotive endoscope head controller.

根据本发明的又一优选实施方式,多腔管包括至少一个腔管,其作用至少在于如下一项功能:使径向扩张元件实现扩张;对机动式内窥镜头的可选择定位部分进行定位;使光纤和导电线束的至少之一由此穿过;以及实现流体连通。 According to a further preferred embodiment of the present invention, the multi-lumen tube includes at least one lumen, wherein at least one of the following action which features: radial expandable expansion member implemented; selectable locomotive endoscope head positioning portion for positioning; optical fiber and at least one of the conductive strands therethrough; and fluid communication. 优选地是,多腔管包括至少一个腔管,其作用在于实现如下各个功能:使径向扩张元件实现扩张;对机动式内窥镜头的可选择定位部分进行定位;以及使光纤和导电线束的至少之一由此穿过。 Preferably, the multi-lumen tube includes at least one lumen, each of which functions to achieve the following functions: the expansion member to achieve radial expansion; selectable locomotive endoscope head positioning portion for positioning; and the conductive fibers and strands at least one passage therethrough. 一般情况且优选地是,该至少一个腔管包括至少一个第一腔管,其作用在于对第一可选择径向扩张元件进行扩张,并包括至少一个第二腔管,其作用在于对第二可选择径向扩张元件进行扩张。 Generally and preferably, the at least one lumen comprises at least one first lumen, its role is to choose the first expandable member to expand radially, and comprising at least a second lumen, wherein the effect of the second Alternatively radially expandable member to expand.

根据本发明又一优选实施方式,可选择定位部分可相对于主体部分进行滑动定位。 According to a further preferred embodiment of the present invention, the positioning portion may be selected with respect to the body portion for positioning slides. 优选地是,机动式内窥镜头包括至少一个光源和至少一个成像传感器。 Preferably, the locomotive endoscope head comprising at least one light source and at least one imaging sensor.

根据本发明的另一优选实施方式,第一可选择径向扩张元件包括至少两个可独立扩张的元件部分。 According to another preferred embodiment of the present invention, a radially expandable member comprises a first selectable element portion at least two independently expandable. 作为备选或补充方案,第二可选择径向扩张元件包括至少两个可独立扩张的元件部分。 Alternatively or additionally, the second selectable element comprises a radially expandable portion at least two elements independently expandable. 优选地是,第二可选择径向扩张元件的至少两个可独立扩张元件部分相对于第一可选择径向扩张元件的至少两个可独立扩张元件部分成方位角偏置关系。 Preferably, at least two independently selectable second expandable member radially expandable member with respect to the portion of the at least two azimuthally offset relationship independently selectable first expandable member radially expandable element.

根据本发明的另一优选实施方式,机动式内窥镜头控制器提供了机动功能,该功能适于使机动式内窥镜头逐步地移动从而穿过基本为管状的管体部分。 According to another preferred embodiment of the present invention, the locomotive endoscope head controller provides a motor function, which is adapted to the locomotive endoscope head is moved stepwise through the tube so that a substantially tubular body portion. 优选地是,该机动功能包括能实现如下依次操作的功能:使第一可选择径向扩张元件发生扩张,由此将第一可选择径向扩张元件锚固到基本管状体部分的内表面上;将可选择定位部分和第二可选择径向扩张元件相对于第一可选择径向扩张元件在轴向上重新进行定位;使第二可选择径向扩张元件发生扩张,由此将第二可选择径向扩张元件锚固到基本管状体部分的内表面上;使第一可选择径向扩张元件发生收缩,由此解除第一可选择径向扩张元件与基本管状体部分内表面的锚固;以及将第一可选择径向扩张元件相对于可选择定位部分和第二可选择径向扩张元件在轴向上重新进行定位。 Preferably, the motor includes a function to achieve the following functions sequentially to: select a first radially expandable member so that expansion occurs, whereby the first selectively radially expandable element is anchored to the inner surface of the substantially tubular body portion; and a second portion selectably positionable selectively relative to the first radially expandable member radially expandable member selectively re-positioned in the axial direction; the second expandable member occurs selectively radially expandable, whereby the second select radially expandable anchoring member to the inner surface of the substantially tubular body portion; the first selectively radially expandable member shrinks, thereby releasing the anchor member and a first selectively radially expand the inner surface of the substantially tubular body portion; and Alternatively the first member with respect to radially expandable selectively positioning portion and a second radially expandable member selectively re-positioned in the axial direction. 可选地是,第一可选择径向扩张元件被设置成相对于基本管状体部分位于第二可选择径向扩张元件的前方。 Alternatively, the first selectively radially expandable member is disposed with respect to the generally tubular body portion is located in front of a second selectively radially expandable member. 备选地是,第二可选择径向扩张元件被设置成相对于基本管状体部分位于第一可选择径向扩张元件的前方。 Alternatively, the second selectively radially expandable member is disposed with respect to the generally tubular body portion is located in front of the first radial expansion elements selectively.

根据本发明的另一优选实施方式,本申请提供了一种内窥镜组件,其包括:沿纵向轴线延伸的内窥镜头,其具有与之相关的多个可选择膨胀的第一气囊,这些气囊位于沿内窥镜头的至少一个第一轴向位置处,且该内窥镜头具有与之相关的多个可选择膨胀的第二气囊,这些气囊位于沿内窥镜头的至少一个第二轴向位置处;以及内窥镜头控制器,其作用在于对多个第一、多个第二可选择膨胀气囊的选择性膨胀进行扩张,以便于选择性地定位内窥镜头。 According to another preferred embodiment of the present invention, the present application provides an endoscope assembly, comprising: along a longitudinal axis of the endoscope head, having a plurality of selectable associated therewith a first inflatable balloon, these at least one second axial position of at least a first axial direction of the endoscope balloon located at the head, and the head having a plurality of selectable endoscope balloon associated therewith a second expanded, these balloon positioned along the endoscope head position; and an endoscope head controller, wherein the effect of the first plurality, a second plurality of selectable selectively expandable inflatable balloon is expanded, so as to be selectively positioned endoscope head.

根据本发明的一种优选实施方式,内窥镜头控制器的作用在于:控制多个第一、多个第二可选择膨胀气囊的选择性膨胀,以便于使内窥镜头可选择地偏离中心平行定向。 According to a preferred embodiment of the present invention, the endoscope head controller is to: control a first plurality, a second plurality of selectable selectively expandable inflatable balloon, the head of the endoscope so as to selectively offset parallel to the central orientation. 优选地是,内窥镜头控制器的作用在于控制多个第一、多个第二可选择膨胀气囊的选择性膨胀,以使内窥镜头可选择地偏斜定向。 Preferably, the endoscope head controller is to control a first plurality, a second plurality of selectable selectively inflatable balloon inflated, the head of the endoscope to deflect selectively oriented. 作为可选且优选的方案,多个第一、多个第二可选择膨胀气囊中的至少之一包括多个气囊,这些气囊围绕着内窥镜头基本上按照方位角分布。 As an alternative and preferred embodiment, a first plurality, a second plurality of the at least one selectively inflatable balloon comprises a plurality of airbags, these airbags are substantially azimuthally distributed around the endoscope head. 更为优选地是,多个第一、多个第二可选择膨胀气囊中的至少之一包括可伸张的气囊。 More preferably, the first plurality, a second plurality of the at least one selectively inflatable balloon comprises a stretchable balloon.

根据本发明的另一优选实施方式,所述内窥镜头包括机动式的内窥镜头。 According to another preferred embodiment of the present invention, the endoscope head comprising a locomotive endoscope head. 优选地是,机动式内窥镜头包括沿纵向轴线延伸的主体部分,该主体部分具有与之相关的多个第一可选择膨胀气囊,并包括可沿着主体部分选择性地轴向定位的可选择定位部分,且可选择定位部分与多个第二可选择膨胀气囊相连接。 Preferably, the locomotive endoscope head comprising a body portion extending along a longitudinal axis, the body portion having associated therewith a plurality of selectable first inflatable balloon and comprising a body portion positionable along the axial direction can be selectively select positioning portion, and selectively positioning a second portion of the plurality of selectively inflatable balloon connected.

根据本发明的再一优选实施方式,内窥镜组件还包括与机动式内窥镜头相连的内窥镜体。 According to a further preferred embodiment, the present invention is the endoscope assembly further includes an endoscope body and a motor connected to the endoscope head. 优选地是,仪器通道至少部分地延伸穿过机动式内窥镜头和内窥镜体。 Preferably, the instrument channel extending at least partially through the locomotive endoscope head and an endoscope body. 可选且优选地是,内窥镜头具有固定的长度。 Alternatively and preferably, the endoscope head has a fixed length.

根据本发明的另一优选实施方式,内窥镜体包括多腔管。 According to another preferred embodiment, the endoscope of the present invention comprises a multi-lumen tube. 作为补充或优选方案,内窥镜体与机动式内窥镜头控制器实现接口连接。 Additionally or preferred embodiment, the endoscope body achieves interface with locomotive endoscope head controller. 优选地是,该内窥镜组件还包括内窥镜检查系统,其可与机动式内窥镜头控制器相连接。 Preferably, the endoscope assembly further comprises an endoscopy system, which may be connected with the locomotive endoscope head controller.

根据本发明的又一优选实施方式,多腔管包括至少一个腔管,其作用至少在于如下一项功能:对气囊进行充胀;对内窥镜头的可选择定位部分进行定位;使光纤和导电线束的至少之一由此穿过;以及实现流体连通。 According to a further preferred embodiment of the present invention, the multi-lumen tube includes at least one lumen, wherein at least one of the following action which features: inflating the airbag; selectable positioning portions for positioning the head of the endoscope; and a conductive optical fiber at least one of the wire harness therethrough; and fluid communication. 优选地是,多腔管包括至少一个腔管,其作用在于实现如下各个功能:对气囊进行充胀;对内窥镜头的可选择定位部分进行定位;以及使光纤和导电线束的至少之一由此穿过。 Preferably, the multi-lumen tube includes at least one lumen, its role is to achieve the following respective functions: inflating the balloon; selectable positioning portions for positioning the head of the endoscope; and a conductive fiber and at least one of the strands this through.

根据本发明的再一优选实施方式,可选择定位部分可相对于主体部分进行滑动定位。 According to a further preferred embodiment of the present invention, the positioning portion may be selected with respect to the body portion for positioning slides. 优选地是,内窥镜头包括至少一个光源和至少一个成像传感器,作为补充或备选方案,多个第一可选择膨胀气囊包括至少两个可独立膨胀的气囊部分。 Preferably, the endoscope head comprising at least one light source and at least one imaging sensor, as a supplement or an alternative, the first plurality of alternatively inflatable balloon comprises at least two independently inflatable balloon portions. 作为另一备选方案,多个第二可选择膨胀气囊包括至少两个可独立膨胀的气囊部分。 As another alternative, a plurality of second selectably inflatable balloon comprises at least two independently inflatable balloon portions. 优选地是,多个第二可选择膨胀气囊的至少两个可独立膨胀气囊部分相对于多个第一可选择膨胀气囊的至少两个可独立膨胀气囊部分成方位角偏置关系。 Preferably, at least two independently inflatable balloon portion of the plurality of second selectably inflatable balloon with respect to the first plurality of selectably inflatable balloon at least two independently inflatable balloon portions are azimuthally offset relationship.

根据本发明的另一优选实施方式,内窥镜头控制器提供了机动功能,该功能适于使内窥镜头逐步地移动而穿过基本为管状的管体部分。 According to another preferred embodiment of the present invention, the endoscope head controller provides a motor function, which is adapted to gradually move the endoscope head through a substantially tubular portion of the tubular body. 优选地是,该机动功能包括能实现如下依次操作的功能:对多个第一可选择膨胀气囊中的至少一部分进行充胀,由此将多个第一可选择膨胀气囊锚固到基本管状体部分的内表面上;将可选择定位部分和多个第二可选择膨胀气囊相对于多个第一可选择膨胀气囊在轴向上重新进行定位;对多个第二可选择膨胀气囊的至少一部分进行充胀,由此将多个第二可选择膨胀气囊锚固到基本管状体部分的内表面上;对多个第一可选择膨胀气囊进行放气,由此解除多个第一可选择膨胀气囊与基本管状体部分内表面的锚固;以及将多个第一可选择膨胀气囊相对于可选择定位部分和多个第二可选择膨胀气囊在轴向上重新进行定位。 Preferably, the motor includes a function to achieve the following functions sequentially to: at least a portion of the first plurality of selectably inflatable balloon is inflated, whereby a plurality of selectable first inflatable balloon anchored to the generally tubular body portion on the inner surface; and a plurality of selectable positioning portion with respect to a second plurality of selectively inflatable balloon selectable first inflatable balloon positioned in the axial re; at least a portion of the plurality of second selectable inflatable balloon carried inflated, whereby a plurality of second selectably inflatable balloon is anchored to the inner surface of the substantially tubular body portion; a first plurality of selectively inflatable balloon deflated, thereby releasing a first plurality of selectively inflatable balloon and anchoring portion of the inner surface of the substantially tubular body; and a plurality of selectable first inflatable balloon is positioned relative to the selectable portion and a plurality of second selectably inflatable balloon re-positioned in the axial direction. 可选地是,多个第一可选择膨胀气囊被设置成相对于基本管状体部分位于多个第二可选择膨胀气囊的前方。 Alternatively, the first plurality of selectably inflatable balloon is disposed with respect to the generally tubular body portion positioned in front of the plurality of second selectably inflatable balloon. 备选地是,多个第二可选择膨胀气囊被设置成相对于基本管状体部分位于多个第一可选择膨胀气囊的前方。 Alternatively, the plurality of second selectably inflatable balloon is disposed with respect to the generally tubular body portion is located in front of the first plurality of selectable inflatable balloon.

根据本发明的又一优选实施方式,本申请还提供了一种内窥镜组件,其包括:沿纵向轴线延伸的内窥镜头,该内窥镜头具有与之相关的多个可在径向上选择性扩张的第一元件,这些元件位于沿内窥镜头的至少一个第一轴向位置处,且内窥镜头具有与之相关的多个可在径向上选择性扩张的第二元件,这些元件位于沿内窥镜头的至少一个第二轴向位置处;以及内窥镜头控制器,其作用在于控制多个第一、多个第二可选择径向扩张元件的选择性扩张进行控制,以实现内窥镜头的选择定位。 According to a further preferred embodiment of the present invention, the present application also provides an endoscope assembly, comprising: an endoscope head along a longitudinal axis of the endoscope head having a plurality of associated therewith may be selected in the radial direction the first member of the expandable, at least a first axial position along the component located in the head of the endoscope, and the endoscope head having a second plurality of elements associated therewith may be selectively expandable in the radial direction, these elements are located at least one of the endoscope head along a second axial position; and an endoscope head controller, its role is to control a first plurality, a second plurality of selectively radially expanded expansion element selectively controlled to achieve the select glimpse of the positioning of the lens.

根据本发明的一种优选实施方式,内窥镜头控制器的作用在于:控制多个第一、多个第二可选择径向扩张元件的选择性扩张,以便于使内窥镜头可选择地偏离中心平行定向。 According to a preferred embodiment of the present invention, the endoscope head controller is to: control a first plurality, a second plurality of selectively radially expandable selective expansion element, so as to selectively deviate the endoscope head parallel orientation center. 优选地是,内窥镜头控制器的作用在于控制多个第一、多个第二可选择径向扩张元件的选择性扩张,以使内窥镜头可选择地偏斜定向。 Preferably, the endoscope head controller is to control a first plurality, a second plurality of selectable selectively expandable radially expandable element to selectively deflect the endoscope head orientation. 作为补充且备选的方案,多个第一、多个第二可选择径向扩张元件中的至少之一包括多个可径向扩张的元件,这些气囊围绕着内窥镜头基本上按照方位角分布。 And complement alternative embodiment, a plurality of first, at least one radially expandable element comprises a plurality of selectable second plurality of radially expandable element, which endoscope head around the bladder substantially azimuthally distributed.

根据本发明的另一优选实施方式,所述内窥镜头包括机动式的内窥镜头。 According to another preferred embodiment of the present invention, the endoscope head comprising a locomotive endoscope head. 优选地是,机动式内窥镜头包括沿纵向轴线延伸的主体部分,该主体部分与多个第一可选择径向扩张元件相关,并包括可沿着主体部分选择性地轴向定位的可选择定位部分,且可选择定位部分与多个第二可选择径向扩张元件相关。 Preferably, the locomotive endoscope head comprising a body portion extending along a longitudinal axis, the body portion is associated with a first plurality of selectable radially expandable element, and comprising a body portion positionable along a selective axial selectable positioning portion, and selectively positioning a second portion associated with the plurality of selectively radially expandable member.

根据本发明的再一优选实施方式,多个第一、多个第二可选择径向扩张元件中的至少之一包括多个可选择膨胀的气囊。 According to a further preferred embodiment of the present invention, a first plurality, a second plurality of selectively radially expandable at least one element comprises a plurality of selectively inflatable balloon. 一般情况且优选地是,多个可选择膨胀气囊中的至少之一包括可伸张的气囊。 Generally and preferably, at least one of the plurality of selectively inflatable balloon comprises a stretchable balloon.

根据本发明的另一优选实施方式,内窥镜组件还包括与内窥镜头相关的内窥镜体。 According to another preferred embodiment of the present invention, the endoscope assembly further comprises a head associated with the endoscope endoscope body. 优选地是,仪器通道至少部分地延伸穿过机动式内窥镜头和内窥镜体。 Preferably, the instrument channel extending at least partially through the locomotive endoscope head and an endoscope body. 作为补充或备选方案,内窥镜头具有固定的长度。 Additionally or alternative, endoscope head has a fixed length.

根据本发明的再一优选实施方式,内窥镜体包括多腔管。 According to a further preferred embodiment, the endoscope of the present invention comprises a multi-lumen tube. 优选地是,内窥镜体与内窥镜头控制器实现接口连接。 Preferably, the endoscope body and the endoscope head interface controllers. 作为补充或优选方案,内窥镜组件还包括内窥镜检查系统,其可与内窥镜头控制器相连接。 Additionally or preferred embodiment, the endoscope assembly further comprises an endoscopy system, which can be connected to the endoscope head controller.

根据本发明的又一优选实施方式,多腔管包括至少一个腔管,其作用至少在于如下的一项功能:使径向扩张元件实现扩张;对内窥镜头的可选择定位部分进行定位;使光纤和导电线束的至少之一由此穿过;以及实现流体连通。 According to a further preferred embodiment of the present invention, the multi-lumen tube includes at least one lumen, wherein the effect of at least one of the following functions: radial expandable expansion member implemented; selectable positioning portions for positioning the endoscope head; so fibers and at least one of the conductive strands therethrough; and fluid communication. 优选地是,多腔管包括至少一个腔管,其作用在于实现如下的各个功能:使径向扩张元件实现扩张;对内窥镜头的可选择定位部分进行定位;以及使光纤和导电线束的至少之一由此穿过。 Preferably, the multi-lumen tube includes at least one lumen, its role is to implement various functions as follows: The radial expansion of the expansion element implemented; selectable positioning portions for positioning the endoscope head; and at least an optical fiber and an electrical conductor bundle one therethrough.

根据本发明又一优选实施方式,可选择定位部分可相对于主体部分进行滑动定位。 According to a further preferred embodiment of the present invention, the positioning portion may be selected with respect to the body portion for positioning slides. 优选地是,内窥镜头包括至少一个光源和至少一个成像传感器。 Preferably, the endoscope head comprising at least one light source and at least one imaging sensor. 作为补充或备选方案,多个第一可选择径向扩张元件包括至少两个可独立径向扩张的元件。 As an alternative or supplement, a first plurality of selectively radially expandable member comprises at least two separate radially expandable member. 作为另一种备选方案,多个第二可选择径向扩张元件包括至少两个可独立径向扩张的元件。 As a further alternative, a plurality of radially expandable second selectable element comprises at least two separate radially expandable member. 优选地是,多个第二可选择径向扩张元件的至少两个可独立径向扩张元件相对于多个第一可选择径向扩张元件的至少两个可独立径向扩张元件成方位角偏置关系。 Preferably, a second plurality of selectively radially expandable member radially expandable at least two separate elements at least two independently selectable radially with respect to the first plurality of radially expandable expansion member biasing member azimuthally positional relationship.

根据本发明的另一优选实施方式,内窥镜头控制器提供了机动功能,该功能适于使内窥镜头逐步地移动从而穿过基本为管状的管体部分。 According to another preferred embodiment of the present invention, the endoscope head controller provides a motor function, which the endoscope is adapted to pass through the head is moved stepwise substantially tubular portion of the tubular body. 优选地是,该机动功能包括能实现如下依次操作的功能:使多个第一可选择径向扩张元件的至少一部分发生扩张,由此将多个第一可选择径向扩张元件锚固到基本管状体部分的内表面上;将可选择定位部分和多个第二可选择径向扩张元件相对于多个第一可选择径向扩张元件在轴向上重新进行定位;使多个第二可选择径向扩张元件的至少一部分发生扩张,由此将多个第二可选择径向扩张元件锚固到基本管状体部分的内表面上;使多个第一可选择径向扩张元件发生收缩,由此解除多个第一可选择径向扩张元件与基本管状体部分内表面的锚固;以及将多个第一可选择径向扩张元件相对于可选择定位部分和多个第二可选择径向扩张元件在轴向上重新进行定位。 Preferably, the motor includes a function to achieve the following functions sequentially to: select a first plurality of radially expandable member at least a portion of the expansion occurs, whereby the first plurality of selectable radially expandable tubular member anchored to the base on the inner surface of the body portion; selectable positioning portion and a second plurality of selectively radially expandable member relative to the first plurality of radially expandable member selectively re-positioned in the axial direction; a second plurality of selectable radial expansion occurs at least a portion of the expansion member, whereby a plurality of selectable second radially expandable anchoring member to the inner surface of the substantially tubular body portion; a first plurality of selectively radially expandable member is contracted, whereby anchoring a first plurality of selectively releasing the inner member radial expansion of the tubular body portion and the base surface; and a first plurality of selectively radially expandable member selectively positioning a second portion and a plurality of selectively radially expandable member with respect to re-positioned in the axial direction. 可选地是,多个第一可选择径向扩张元件被设置成相对于基本管状体部分基本上位于多个第二可选择径向扩张元件的前方。 Alternatively, the first plurality of selectable radially expandable member is disposed with respect to the generally tubular body portion substantially in front of a second plurality of radially expandable elements selectable. 备选地是,多个第二可选择径向扩张元件被设置成相对于基本管状体部分基本上位于多个第一可选择径向扩张元件的前方。 Alternatively, the plurality of second selectable radially expandable member is disposed relative to the generally tubular body portion substantially in front of the first plurality of radially expandable elements selectable.

根据本发明的另一优选实施方式,本申请提供了一种用于输送流体的设备,其用于向管状体部分的内部输送流体,其包括:沿纵向轴线延伸的元件,其具有与之相关的至少一个可选择膨胀的第一管状体部分密封元件,该密封元件位于沿管状体的第一轴向位置处,纵向延伸元件上还具有与之相关的至少一个可选择膨胀的第二管状体部分密封元件,其位于沿管状体的第二轴向位置处;以及控制器,其用于使第一、第二管状体部分密封元件中的至少之一在管状体部分中选择性地扩张,从而在其间形成密封的区域,并实现了向密封区域输送流体的流体输送功能。 According to another preferred embodiment of the present invention, the present application provides an apparatus for transporting fluid, for delivering a fluid to the interior of the tubular body portion, comprising: a longitudinal axis extending along a member which has associated therewith at least a first selectively inflatable tubular body portion of the sealing element, the sealing element is located at a first axial location along the tubular body, further comprising a second longitudinally extending tubular body associated with the at least one selectively inflatable element portion of the sealing member, which is located at a second axial location along the tubular body; and a controller for causing the first, at least one second tubular body portion of the sealing element selectively expandable tubular body portion, region to form a seal therebetween, and to achieve the fluid transport function of transporting fluid to the sealing region.

根据本发明的一种优选实施方式,第一、第二管状体部分密封元件的至少之一包括可选择膨胀的气囊。 According to a preferred embodiment of the present invention, first, the at least one second tubular body portion of the sealing element comprises a selectively inflatable balloon. 优选地是,可选择膨胀的气囊包括可伸张的气囊。 Preferably, the selectively inflatable balloon comprises a stretchable balloon. 更为优选地是,可选择膨胀气囊包括多个可选择膨胀的气囊部分。 More preferably, the selectably inflatable balloon comprises a plurality of selectably inflatable balloon portions.

根据本发明的另一优选实施方式,设备包括机动式的内窥镜头。 According to another preferred embodiment, the apparatus of the present invention includes a locomotive endoscope head. 优选地是,用于输送流体的设备还包括至少一个流体输送储器,其作用在于向密封区域输送流体。 Preferably, the device for delivering fluid further comprises at least one fluid reservoir, its role is to deliver fluid to the sealed region. 更为优选地是,用于输送流体的设备还具有用于从密封区域抽吸流体的流体抽吸功能。 More preferably, the apparatus for delivering a fluid having a fluid suction function also for drawing fluid from the sealing area.

根据本发明的另一优选实施方式,本申请提供了用于向管状体部分的内部输送流体的设备,其包括:多腔管,其包括贯通延伸的至少第一腔管、第二腔管、以及第三腔管;位于前方的、可选择膨胀的气囊,其与第一腔管相连通,可选择膨胀的前气囊具有在膨胀时将管状体部分密封起来的作用;位于后方的、可选择膨胀的气囊,其与第二腔管连通,可选择膨胀的后气囊具有在膨胀时对管状体部分进行密封的作用;流体输送出口,其位于前、后可选择膨胀气囊的中间位置,该出口与第三腔管连通;以及控制器,其用于使第一、第二可选择膨胀气囊在管状体部分中选择性地膨胀,从而在其间形成密封区域,并用于向密封区域输送流体。 According to another preferred embodiment of the present invention, the present application provides an apparatus for delivering a fluid to the interior of the tubular body portion, comprising: a multi-lumen tube, which extends through at least comprising a first lumen, a second lumen, and a third lumen; positioned forward selectably inflatable balloon, which is in communication with the first lumen, having a selectably inflatable balloon when inflated, before the sealed portion of the tubular body effect; located rearward, optionally inflated airbag, which communicates with the second lumen, the balloon having a selectably inflatable sealing effect during expansion of the tubular body portion; fluid outlet, which is located before the intermediate position selectively inflatable balloon, the outlet communication with the third lumen; and a controller for causing the first and second selectably inflatable balloon is selectively inflated tubular body portion, thereby forming a sealing region therebetween, and for delivering fluid to the sealed region.

根据本发明的再一优选实施方式,本申请还提供了一种内窥镜组件,其包括:内窥镜管,其具有仪器通道,内窥镜工具被设置成沿仪器通道移动到位于内窥镜管前方的应用位置处,内窥镜工具被可滑动且密封地设置在仪器通道内;以及内窥镜工具流体定位器,其用于选择性地对仪器通道进行加压,以提供沿仪器通道对内窥镜工具进行定位所需的驱动流体。 According to a further preferred embodiment of the present invention, the present application also provides an endoscope assembly, comprising: an endoscope tube having an instrument channel, the endoscope tool is arranged to move along the instrument channel located endoscopic application of the tube at a position in front of the mirror, the endoscope tool is slidably and sealingly disposed in the instrument channel; and a fluid endoscope tool locator for selectively pressurizing the instrument channel, along the instrument to provide channel of an endoscope tool positioning required to drive the fluid.

根据本发明一种优选实施方式,内窥镜工具包括形成活塞的部分,其可滑动地、密封地接合着仪器通道。 According to a preferred embodiment of the present invention, forming part of an endoscope tool comprises a piston which slidably, sealingly engages the instrument channel.

根据本发明一种优选实施方式,本申请提供了一种内窥镜组件,其包括:管,其具有至少一个腔管;以及内窥镜工具,其被设置成行经所述至少一个腔管移动,内窥镜工具包括可伸张的、可选择膨胀的锚固气囊。 According to a preferred embodiment of the present invention, the present application provides an endoscope assembly, comprising: a tube having at least one lumen; and an endoscope tool, which is disposed in rows through said at least one mobile lumen endoscope tool comprising stretchable selectably inflatable anchoring balloon.

根据本发明另一优选实施方式,本申请还提供了一种内窥镜组件,其包括:管,其具有至少一个腔管;以及内窥镜工具,其被设置成沿所述的至少一个腔管移动到管体前方的应用位置处,内窥镜工具可在管的前方选择性地弯曲。 According to another preferred embodiment of the present invention, the present application also provides an endoscope assembly, comprising: a tube having at least one lumen; and an endoscope tool, which is arranged along said at least one cavity the tube body is moved to a position in front of the application tube, endoscope tool can be selectively bent in front of the tube.

根据本发明再一优选实施方式,本申请还提供了一种内窥镜组件,其包括:管,其具有至少一个腔管;以及内窥镜工具,其被设置成沿所述的至少一个腔管移动,内窥镜工具包括工具头和与工具头相连的多腔管。 According to yet a preferred embodiment, the present application also provides an endoscope assembly, comprising: a tube having at least one lumen; and an endoscope tool, which is arranged along said at least one cavity mobile tube, endoscope tool comprising a tool head and a multi-lumen tube connected to the tool head.

根据本发明一种优选实施方式,管包括内窥镜管。 According to a preferred embodiment of the present invention, the tube includes an endoscope tube. 优选地是,至少一个腔管包括仪器通道。 Preferably, the lumen comprises at least one instrument channel. 作为补充或备选方案,多腔管至少包括用于对可伸张、可选择膨胀锚固气囊执行充胀和放气的第一腔管以及第二腔管。 Additionally or alternative, multi-lumen tube includes at least a pair of stretchable selectably inflatable anchoring balloon inflation and deflation performing a first lumen and a second lumen.

根据本发明另一优选实施方式,内窥镜组件还包括张紧线,其延伸穿过第二腔管,该张紧线的作用在于选择性地弯曲位于管前方的内窥镜工具。 According to another preferred embodiment of the present invention, the endoscope assembly further comprises a tensioning cable which extends through the second lumen, the effect that the tension lines are selectively positioned in front of the bending tube of an endoscope tool. 优选地是,内窥镜工具的柔性基本上大于管的柔性。 Preferably, the tool is substantially greater than the flexible endoscope flexible tube. 作为备选方案或补充方案,内窥镜组件还包括内窥镜检查系统,内窥镜管可与该系统相连接。 As an alternative or in addition, the endoscope assembly further comprises a endoscopy system, the endoscope tube can be connected to the system. 作为另一种备选方案,内窥镜组件还包括内窥镜工具定位控制装置和气囊充胀/放气控制件。 As a further alternative, the endoscope assembly further comprises a control means and the endoscope tool positioning balloon inflation / deflation control member.

根据本发明的再一优选实施方式,内窥镜组件还包括与管相关的工具端口,其作用在于插入和取出内窥镜工具。 According to a further preferred embodiment of the present invention embodiment, the endoscope assembly further comprises a port means associated with the pipe, which functions to insertion and removal of the endoscope tool.

根据本发明另一优选实施方式,本申请还提供了一种内窥镜组件,其包括:内窥镜管,内窥镜管的前端附近具有可伸张、可选择膨胀的第一锚固气囊;以及内窥镜工具,其被设置成相对于内窥镜管移动到位于内窥镜管前方的应用位置处,内窥镜工具的前端附近具有可伸张的、可选择膨胀的锚固气囊。 According to another preferred embodiment of the present invention, the present application also provides an endoscope assembly, comprising: an endoscope tube, near the distal end of the endoscope tube having a stretchable, a first selectively inflatable anchoring balloon; and endoscope tool, which is arranged to move with respect to the endoscope tube of the endoscope tube located at a position in front of the application, the vicinity of the distal end of the endoscope tool with extendable selectably inflatable anchoring balloon.

根据本发明的一种优选实施方式,内窥镜工具可在内窥镜管的前方选择性地弯曲。 According to a preferred embodiment of the present invention, the endoscopic tools can be selectively bent in front of the endoscope tube. 作为可选和优选的方案,内窥镜工具包括工具头和与工具头相连的多腔管。 As an alternative and preferred embodiment, the endoscopic tool includes a tool head and the tool head and the multi-lumen tube is connected. 作为补充或备选方案,多腔管至少包括用于对第二可伸张、可选择膨胀锚固气囊执行充胀和放气的第一腔管以及第二腔管。 As an alternative or supplement, a multi-lumen tube includes at least a pair of second stretchable selectably inflatable anchoring balloon inflation and deflation performing a first lumen and a second lumen.

根据本发明的另一优选实施方式,内窥镜组件还包括张紧线,其延伸穿过第二腔管,该张紧线的作用在于选择性地弯曲位于内窥镜管前方的内窥镜工具。 According to another preferred embodiment of the present invention, the endoscope assembly further comprises a tensioning cable which extends through the second lumen, the role of the tensioner is that the curved selectively positioned in front of the endoscopic tube tool. 优选地是,内窥镜工具的柔性基本上大于内窥镜管的柔性。 Preferably, the tool is substantially greater than the flexible endoscope flexible endoscope tube. 作为备选方案或补充方案,内窥镜组件还包括内窥镜检查系统,内窥镜管可与该系统相连接。 As an alternative or in addition, the endoscope assembly further comprises a endoscopy system, the endoscope tube can be connected to the system. 作为补充或备选方案,内窥镜组件还包括内窥镜工具定位控制装置和至少一个气囊充胀/放气控制件。 Additionally or alternative, the endoscope assembly further comprises a control means and the endoscope tool positioning at least one balloon inflation / deflation control member. 作为另一种备选方案,内窥镜组件还包括与内窥镜管相关的工具端口,其作用在于插入和取出内窥镜工具。 As a further alternative, the endoscope assembly further comprises a tube means associated with the endoscope port, its role is removed and the endoscope insertion tool.

根据本发明的再一优选实施方式,本申请还提供了一种内窥镜组件,其包括:机动式内窥镜,其包括机动式的内窥镜头和内窥镜体,其中的内窥镜体适于经管状体部分执行机动,且适于锚固在管状体部分中的理想位置处;以及内窥镜检查工具,其适于沿内窥镜体移动到所需的工具操作位置处。 According to a further preferred embodiment of the present invention, the present application also provides an endoscope assembly, comprising: a self-propelled endoscope including the endoscope head locomotive body and the endoscope, wherein the endoscope a motor body portion adapted to execute through the tubular body and adapted to anchor at a desired position in the tubular body portion; and endoscopy tool body adapted to move along an endoscope to a desired operating position of the tool.

根据本发明一优选实施方式,内窥镜组件还包括至少一个可选择径向扩张的元件,其与机动式内窥镜头相关,并适于将机动式内窥镜头锚固在管状体部分中的所需位置处。 According to a preferred embodiment of the present invention, the endoscope assembly further comprises at least one radially expandable element Alternatively, a motor which is associated with the endoscope head and adapted to be anchored in the locomotive endoscope head portion of the tubular body to be at the location. 优选地是,该至少一个可选择径向扩张元件包括可选择膨胀的锚固气囊。 Preferably, the at least one selectable element includes a radially expandable selectively inflatable anchoring balloon. 作为备选或补充方案,机动式内窥镜头包括至少一个光源和至少一个成像传感器。 Alternatively or additionally, the locomotive endoscope head comprising at least one light source and at least one imaging sensor.

根据本发明的另一优选实施方式,内窥镜组件还包括可沿内窥镜体滑动的套接管。 According to another preferred embodiment of the present invention, the endoscope assembly further comprises a ferrule slidable along the endoscope body. 优选地是,套接管与内窥镜检查工具相关。 Preferably, the ferrule associated with the endoscopic tool. 作为备选或补充方案,内窥镜体适于作为套接管的引导线。 Alternatively or additionally, the endoscope is adapted as a ferrule guide wire.

根据本发明的又一优选实施方式,内窥镜检查工具包括治疗工具。 According to a further preferred embodiment of the present invention, the endoscopic tool includes a therapeutic tool. 备选地是,内窥镜检查工具包括诊断工具。 Alternatively, the endoscopic tool includes a diagnostic tool. 作为另一种备选方案,内窥镜检查工具包括外科工具。 As a further alternative, the endoscopic tool includes a surgical tool.

根据本发明的另一优选实施方式,本申请提供了一种机动的内窥镜检查方法,其包括步骤:提供一种机动式内窥镜头,其包括沿纵向轴线延伸的主体部分,并具有与之相关的可选择性地径向扩张的第一元件,并具有可沿主体部分在轴向上定位的可选择定位部分,且具有与之相关的可选择性地径向扩张的第二元件;以及通过相对于主体部分选择性地定位可滑动部分、以及选择性地扩张和收缩第一和第二可选择径向扩张元件,来使机动式内窥镜头实现机动。 According to another preferred embodiment of the present invention, the present application provides a motorized endoscopic examination method comprising the steps of: providing a motor endoscope head, which extends along a longitudinal axis comprising a body portion, and having the first element of the associated selectively radially expandable and having a positioning portion may be selectively positioned along the body portion in the axial direction, and having a second element associated therewith selectively radially expandable; with respect to the body portion and by selectively positioning the slidable portion, and selectively expand and contract the first and second selectively radially expandable member to move the motor endoscope head maneuverability.

根据本发明的一种优选实施方式,第一、第二可选择径向扩张元件中的至少之一包括可选择膨胀的气囊。 According to a preferred embodiment of the present invention, the first, second selectively radially expandable member comprises at least one selectively inflatable balloon. 优选地是,机动的内窥镜检查方法还包括操作:通过选择性地、有差异地扩张第一可选择径向扩张元件的至少两个可独立径向扩张的元件部分、以及第二可选择径向扩张元件的至少两个可独立径向扩张的元件部分,将机动式内窥镜头相对于管状体部分定位在可选的非平行定向上。 Preferably, the motorized endoscopy method further includes an operation: By selectively differentially expandable member at least two portions radially expanded independently of the first radial expansion elements Alternatively, a second and optionally at least two element portions independently radially expanded radially expandable element, the locomotive endoscope head relative to the tubular body portion is positioned on an alternative non-parallel orientation. 作为补充方案或备选方案,机动的内窥镜检查方法还包括操作:通过选择性地、有差异地扩张第一可选择径向扩张元件的至少两个可独立径向扩张的元件部分、以及第二可选择径向扩张元件的至少两个可独立径向扩张的元件部分,将机动式内窥镜头相对于管状体部分定位在可选择的、偏离中心的平行定向上。 As a supplement or alternative embodiment, the motorized operation endoscopy method further comprising: selectively by, the difference may be expanded at least two elements of the independent radial expansion of radial expansion of the first selectable element, and at least two element portions independently selectable second radially expandable radially expandable element, the locomotive endoscope head relative to the tubular body portion is positioned in parallel orientation Alternatively, off-center.

根据本发明的另一优选实施方式,实现了机动运动,其包括:逐步移动机动式内窥镜头,使其经过基本为管状的管状体部分。 According to another preferred embodiment of the present invention, to achieve a motorized movement, which comprises: stepwise movement locomotive endoscope head, passed through a substantially tubular portion of the tubular body. 优选地是,实现机动运动包括操作:使内窥镜头依次移动而经过大肠、小肠、动脉以及静脉的至少之一。 Preferably, the motion includes maneuverability operation: the endoscope and the head is moved over at least one large intestine, small intestine, arteries and veins. 更为优选地是,依次移动包括下列的依次操作:使第一可选择径向扩张元件发生扩张,由此将第一可选择径向扩张元件锚固到基本管状体部分的内表面上;将可选择定位部分和第二可选择径向扩张元件相对于第一可选择径向扩张元件在轴向上重新进行定位;充胀第二可选择径向扩张元件,由此将第二可选择径向扩张元件锚固到基本管状体部分的内表面上;对第一可选择径向扩张元件进行放气,由此解除第一可选择径向扩张元件与基本管状体部分内表面的锚固;以及将第一可选择径向扩张元件相对于可选择定位部分和第二可选择径向扩张元件在轴向上进行重新定位。 More preferably, the sequence comprises the following sequence moving operation: selectively radially expand the first expandable member occurs, whereby the first radially expandable member selectively anchored to the inner surface of the substantially tubular body portion; will be and selecting a second selectable positioning portion relative to the first radially expandable member radially expandable member selectively re-positioned in the axial direction; a second selectively radially expandable inflatable member, whereby the second selectively radially the expansion element is anchored to the inner surface of the substantially tubular body portion; a first pair of radially expandable member selectively deflated, thereby releasing a first selectively radially expand the anchoring member inner surface of the substantially tubular body portion; and the first Alternatively a radially expandable member selectively positioned relative to a second portion and a radially expandable member selectively repositioning in the axial direction.

根据本发明的再一优选实施方式,本申请提供了一种内窥镜定位方法,其包括操作:提供内窥镜头,其沿纵向轴线延伸,并提供具有与之相关的多个第一可选择径向扩张元件,这些元件位于沿内窥镜头的至少第一轴向位置处,并具有与之相关的多个第二可选择径向扩张元件,这些元件位于沿内窥镜头的至少第二轴向位置处;以及通过对多个第一、多个第二可选择径向扩张元件进行选择性的扩张,实现内窥镜头的选择性定位。 According to a further preferred embodiment of the present invention, the present application provides a method for positioning an endoscope which includes an operation of: providing an endoscope head, which extends along a longitudinal axis and having associated therewith provide a first plurality of selectable a radially expandable elements which are located at least at a first axial position along the endoscope head and having associated therewith a second plurality of selectively radially expandable elements which are located at least along the second axis of the endoscope head selective expansion of the first plurality, a second plurality of selectable elements and by radial expansion, to achieve selective positioning of the endoscope head; the position.

根据本发明一优选实施方式,多个第一、多个第二可选择径向元件的至少之一包括多个可径向扩张的元件,这些元件围绕着内窥镜头成方位角地分布,且定位内窥镜头的步骤包括操作:选择性地扩张多个径向扩张元件中的各个元件。 According to a preferred embodiment of the present invention, a first plurality of at least one of the plurality of second radial element comprising a plurality of selectively radially expandable elements, these elements around the endoscope head azimuthally distributed and positioned the step of operating the endoscope head comprising: a plurality of selectively expanded radially expandable elements each element. 优选地是,多个第一、多个第二可选择径向扩张元件中的至少一个可选择径向扩张元件包括可膨胀的气囊。 Preferably, the first plurality, a second plurality of selectively radially expandable member at least one selectable element includes a radially expandable inflatable bladder.

根据本发明的又一优选实施方式,本申请提供了一种用于向管状体部分的内部输送流体的方法,其包括步骤:提供沿纵向轴线延伸的元件,该元件具有与之相关的至少一个第一可选择扩张管状体部分密封元件,该密封元件位于沿纵向延伸元件的第一轴向位置处,且具有与之相关的至少一个第二可选择扩张管状体部分密封元件,其位于沿纵向延伸元件的第二轴向位置处;使第一、第二管状体部分密封元件中的至少之一在管状体部分中扩张,以在它们之间形成密封区域,并向密封区域输送流体。 According to a further preferred embodiment of the present invention, the present application provides a method for delivering a fluid to the interior of the tubular body portion, comprising the steps of: providing a member extending along a longitudinal axis, the element having associated therewith at least one Alternatively the first expandable tubular body portion of the sealing element, the sealing element is located at a first axial position of the longitudinally extending member, and having at least one selectively expandable tubular second body portion of the sealing element associated therewith, which is located along the longitudinal extending at a second axial position of the element; the first, at least one portion of the sealing member of the second expandable tubular member in the tubular body portion to form a sealing region therebetween, and supply the fluid seal area.

根据本发明一优选实施方式,输送流体的步骤包括操作:输送一种治疗性的流体。 According to a preferred embodiment of the present invention, the step of transporting a fluid comprising operations: delivery of a therapeutic fluid. 作为备选方案,输送流体的操作包括:输送一种比照增强流体。 As an alternative, the operation of the fluid delivery comprising: delivery of one fluid cf. enhanced. 作为另一种备选方案,输送流体的操作包括:输送一种抗菌流体。 As a further alternative, the operation of transporting a fluid comprising: an antimicrobial fluid delivery.

根据本发明另一优选实施方式,输送流体的步骤包括操作:输送一种酸性溶液。 According to another preferred embodiment of the present invention, the step of transporting a fluid comprising operations: conveying an acidic solution. 作为备选方案,输送流体的步骤包括操作:输送一种碱性溶液。 As an alternative, the step of transporting a fluid comprising operations: conveying an alkaline solution.

根据本发明另一优选实施方式,本申请提供了一种内窥镜检查方法,其包括步骤:提供内窥镜管,其具有仪器通道,和提供被设置成沿仪器通道移动到内窥镜管前方应用位置处的内窥镜工具,内窥镜工具被滑动而密封地设置在仪器通道内;以及选择性地对仪器通道加压,以提供将内窥镜工具沿仪器通道进行定位所需的驱动流体。 According to another preferred embodiment of the present invention, the present application provides a method for endoscopy, comprising the steps of: providing an endoscope tube having an instrument channel, and is arranged to provide a direction to move the instrument channel of the endoscope tube endoscope tool at a position in front of the application, the endoscope tool is slidably and sealingly disposed in the instrument channel; and selectively pressurizing the instrument channel, to provide a desired positioning of the tool along the endoscope instrument channel driving fluid.

根据本发明的再一优选实施方式,本申请还提供了一种内窥镜检查方法,其包括步骤:提供管,其具有至少一个腔管,和提供内窥镜工具,其中的内窥镜工具被设置成经至少一个腔管移动,内窥镜工具包括可伸张的、可选择膨胀的锚固气囊;以及,通过充胀气囊、使其与管状体部分内壁面锚固接合,而将位于管前方的内窥镜工具锚固到管状体部分中。 According to a further preferred embodiment of the present invention, the present application further provides a method for endoscopy, comprising the steps of: providing a tube having at least one lumen, and providing endoscope tool, wherein the tool for an endoscope is arranged to move with at least one lumen, the endoscopic tool includes a stretchable selectably inflatable anchoring balloon; and, by inflating the balloon, so that the inner wall surface of the tubular body and the anchor portion engaged, and the front of the tube the endoscope tool is anchored to the tubular body portion.

根据本发明另一优选实施方式,本申请还提供了一种内窥镜检查方法,其包括步骤:提供管,其具有至少一个腔管,和提供内窥镜工具,其中的内窥镜工具被设置成经至少一个腔管移动,且内窥镜工具可在管的前方选择性地弯曲;以及,使内窥镜工具在管的前方选择性地弯曲。 According to another preferred embodiment of the present invention, the present application further provides a method for endoscopy, comprising the steps of: providing a tube having at least one lumen, and providing endoscope tool, wherein the tool is an endoscope arranged to move via at least one lumen, the endoscope and the tool can be selectively bent in front of the tube; and, the endoscope is bent in front of the tool for selectively tube.

根据本发明一优选实施方式,内窥镜工具包括可伸张的、可选择膨胀的锚固气囊,且所述方法还包括步骤:通过充胀锚固气囊,使其与管状体部分的内壁实现锚固接合,将管前方的内窥镜工具锚固到管状体部分中。 According to a preferred embodiment of the present invention, an endoscopic tool comprising a stretchable selectably inflatable anchoring balloon, and the method further comprises the step of: by inflating the anchoring balloon, to attain it with an inner wall of the tubular body portion of the anchor engages, the tube of the endoscope tool is anchored to the front of the tubular body portion. 优选地是,内窥镜检查方法还包括操作:使管沿内窥镜工具向前滑动,由此将内窥镜工具作为了引导件。 Preferably, the endoscopy method further comprising: Make the endoscope tool slides forward along the tube, whereby the endoscope tool as a guide.

根据本发明的再一优选实施方式,内窥镜检查方法还包括步骤:在将管向前滑动之前,将内窥镜工具张紧。 According to a further preferred embodiment of the present invention embodiment, endoscopy method further comprising the step of: prior to the tube slides forward, the endoscope tool tension. 优选地是,内窥镜检查方法还包括步骤:依次重复执行锚固、张紧、以及滑动步骤中的至少两步骤。 Preferably, the endoscopy method further comprises the step of: sequentially repeating execution anchor, tensioned, and the sliding step is at least two steps.

根据本发明再一优选实施方式,管包括内窥镜管。 According to yet a preferred embodiment, the tube includes an endoscope tube. 优选地是,至少一个腔管包括仪器通道。 Preferably, the lumen comprises at least one instrument channel.

根据本发明又一优选实施方式,本申请提供了一种内窥镜检查方法,其包括步骤:提供内窥镜管,其前端附近具有可伸张的、可选择膨胀的第一锚固气囊,并提供内窥镜工具,其前端附近具有可伸张的、可选择膨胀的第二锚固气囊;以及将内窥镜工具定位在内窥镜管前方的应用位置处。 According to a further preferred embodiment of the present invention, the present application provides a method for endoscopy, comprising the steps of: providing an endoscope tube having a stretchable first selectively inflatable anchoring balloon near its distal end, and providing endoscope tool, near the distal end thereof having a stretchable, second selectably inflatable anchoring balloon; and the endoscope tool is positioned at a forward application position of the endoscope tube.

根据本发明一优选实施方式,内窥镜检查方法还包括步骤:在进行定位之前,将内窥镜管上的第一可选择膨胀锚固气囊在管状体部分中执行充胀,以便于将内窥镜管锚固到管状体部分的内壁上;在定位之后,在管状体部分中将工具上位于内窥镜管前方的第二可选择膨胀锚固气囊充胀,从而将内窥镜工具锚固到管状体部分的内壁上;而后,对第一可选择膨胀锚固气囊进行放气,并通过将内窥镜工具用作引导件,使内窥镜管在内窥镜工具上前进。 According to a preferred embodiment of the present invention, the method further comprising the step of endoscopy: prior to performing the positioning, the first selectably inflatable anchoring balloon performed on the endoscopic tube inflated tubular body portion, to facilitate endoscopic mirror tube anchored to the inner wall of the tubular body portion; after positioning on the tool in the tubular body portion is located in front of the second endoscope tube selectably inflatable anchoring balloon inflated, so that the endoscope tool anchored to the tubular body on an inner wall portion; then, the first selectably inflatable anchoring balloon deflated and an endoscope is used as a guide by the tool, advance the endoscope tube in the endoscope tool.

根据本发明的另一优选实施方式,内窥镜检查方法还包括步骤:当内窥镜工具位于内窥镜管的前方时、且在对第二可选择膨胀锚固气囊执行充胀之前,将内窥镜工具弯曲。 According to another preferred embodiment of the present invention, endoscopy method further comprising the step of: when the tool is located in front of the endoscope when the endoscope tube, and before performing a second selectively inflatable anchoring balloon inflated, the inner endoscope bending tool. 优选地是,内窥镜检查方法还包括步骤:依次重复执行充胀、定位、放气、以及前进步骤中的至少两步骤。 Preferably, the endoscopy method further comprises the step of: sequentially repeating execution inflated, positioning, deflation, and the step of advancing at least two steps.

根据本发明再一优选实施方式,内窥镜检查方法还包括步骤:依次重复执行充胀、定位、弯曲、放气、以及前进步骤中的至少两步骤。 According to yet a preferred embodiment, the method further comprising the step of endoscopy: repeatedly performed sequentially inflated, positioning, bending, deflated, and the step of advancing at least two steps. 优选地是,对内窥镜工具的定位步骤包括操作:使内窥镜工具穿过内窥镜管的仪器通道。 Preferably, the endoscope includes an operation step of positioning the tool: tool through the endoscope instrument channel of the endoscope tube.

根据本发明另一优选实施方式,本申请提供了一种内窥镜检查方法,其包括步骤:提供一种机动式内窥镜,其包括机动式内窥镜头和内窥镜体;使机动式内窥镜头经管状体部分进行机动;将机动式内窥镜头锚固到管状体部分中的所需位置处;以及将内窥镜检查工具沿内窥镜体移动到所需的工具操作位置处。 According to another preferred embodiment of the present invention, the present application provides a method for endoscopy, comprising the steps of: providing a motor endoscope, which comprises a motorized endoscope head and an endoscope body; so-propelled the tubular body portion through the endoscope head maneuver; locomotive endoscope head will be anchored to the tubular body portion at a desired location; and the tool is moved along the endoscope endoscopy of the tool body into a desired operating position.

根据本发明一优选实施方式,内窥镜检查方法还包括操作:在锚固机动式内窥镜头之后,并在移动内窥镜检查工具之前,将内窥镜体张紧。 According to a preferred embodiment, the present invention endoscopy method further comprises the operation: After anchoring locomotive endoscope head, and the tool before moving the endoscopy, the endoscope body stretching. 优选地是,内窥镜检查方法还包括步骤:在执行锚固之前,借助于与机动式内窥镜头相连的至少一个光源和至少一个成像传感器来检测管状体部分中的所需位置。 Preferably, the endoscopy method further comprises the step of: prior to performing the anchoring means of at least one light source connected to the locomotive endoscope head and at least one imaging sensor to detect the desired position of the tubular body portion.

根据本发明另一优选实施方式,内窥镜检查方法还包括步骤:在移动内窥镜检查工具之前,借助于与机动式内窥镜头相连的至少一个光源和至少一个成像传感器来检测管状体部分中所需的工具操作位置。 According to another preferred embodiment of the present invention, the method further comprising the step of endoscopy: endoscopy before moving the tool, by at least one light source and the endoscope head connected to a motor and at least one imaging sensor to detect the tubular body portion tools required operating position. 优选地是,移动内窥镜检查工具的步骤包括操作:使与内窥镜检查工具相连的套接管在内窥镜体上滑动。 Preferably, the moving step comprises operating endoscopy tools: that the sleeve is connected to the endoscope inspection tool takeover slid on the endoscope body.

附图说明 BRIEF DESCRIPTION

从下文结合附图所作的详细描述,可更加全面地理解和领会本发明,其中,在附图中:图1是一个简化的绘画图,其表示了根据本发明一优选实施方式制造并工作的内窥镜检查系统;图2和图3分别是简化的分解图和组装图,它们表示了根据本发明一优选实施方式制造并工作的机动式内窥镜头;图4A、4B、4C分别是沿图3中的IVA-IVA、IVB-IVB、IVC-IVC线作出的剖视图;图5A、5B、5C、5D、5E、5F、5G是沿图3中的IVB-IVB线对图2-4C所示机动式内窥镜头所作的简化剖视图,表示了内窥镜头经肠管向前运动的各个阶段;图6A、6B、6C、6D、6E、6F、6G是沿图3中的IVB-IVB线对图2-4C所示机动式内窥镜头所作的简化剖视图,表示了内窥镜头经肠管向后运动的各个阶段;图7A、7B、7C中的侧视图表示了图1-6G所示机动式内窥镜头在体内通道中可选的偏斜定向;图8A、8B、8C是与图7A、7B、7C相对 From the following detailed description taken in conjunction with the accompanying drawings, may be more fully understood and appreciated that the present invention, wherein, in the accompanying drawings in which: Figure 1 is a simplified drawing FIG., Which represents the manufacture and operate according to a preferred embodiment of the present invention. endoscopy system; Figures 2 and 3 are simplified exploded and assembled view, which shows a locomotive endoscope head manufacturing and operating in accordance with a preferred embodiment of the present invention; FIGS. 4A, 4B, 4C, respectively, along IVA-IVA in FIG. 3, IVB-IVB, cross-sectional view taken line IVC-IVC; FIGS. 5A, 5B, 5C, 5D, 5E, 5F, 5G is a line IVB-IVB in FIG. 3 as in FIG 2-4C illustrates a simplified cross-sectional view taken locomotive endoscope head, showing various stages endoscope head by forward movement of the bowel; FIG. 6A, 6B, 6C, 6D, 6E, 6F, 6G are along the line of 3 IVB-IVB 2-4C shown a simplified cross-sectional view taken locomotive endoscope head, showing the various stages of the intestine by endoscope head backward movement; FIG. 7A, 7B, 7C represents a side view of the motor of FIG formula 1-6G optional endoscope head skew orientation in the body passageway; FIG. 8A, 8B, 8C are opposed to FIG. 7A, 7B, 7C 的简化的后向视图,这些视图分别是沿图7A、7B、7C中的平面VIIIA-VIIIA、VIIIB-VIIIB、VHIC-VIIIC作出的;图9A、9B、9C是与图7A、7B、7C相对应的简化的前向视图,这些视图分别是沿图7A、7B、7C中的平面IXA-IXA、IXB-IXB、IXC-IXC作出的;图10A、10B中的侧视图表示了图1-6G所示机动式内窥镜头在体内通道中可选的平行定向;图11A和11B是与图10A和图10B对应的简化的后向视图,这些视图分布是沿图10A和图10B中的平面XIA-XIA、XIB-XIB作出的;图12A和12B是与图10A和图10B对应的简化的前向视图,这些视图分布是沿图10A和图10B中的平面XIIA-XIIA、XIIB-XIIB作出的;图13中简化的绘画图表示了一种附件,其适于行经图1-12B任一所示的机动式内窥镜头中的仪器通道;图14中的简化图局部为结构框图、局部为示意图,其表示了图1-13所述内窥镜检查系统的一部分,该系统是根据本发明一优选实施 Simplified backward views that are taken along 7A, 7B, plane VIIIA-VIIIA 7C is, VIIIB-VIIIB, VHIC-VIIIC made; FIG. 9A, 9B, 9C with FIG. 7A, 7B, 7C phase simplified front corresponding to views that are taken along 7A, 7B, the plane IXA-IXA 7C, IXB-IXB, IXC-IXC made; FIGS. 10A, 10B represents a side view of FIG 1-6G optionally locomotive endoscope head in the parallel orientation shown in vivo passage; 11A and 11B and 10A and 10B are simplified rear corresponding to FIG views that are distributed along a plane XIA 10A and 10B in FIG. -XIA, XIB-XIB made; FIG. 12A and FIG 10A and 12B are simplified front view corresponding to 10B, the distribution of these views are in the plane XIIA-XIIA in FIG. 10A and FIG. 10B, XIIB-XIIB made ; FIG. 13 is a simplified view showing a drawing attachment, which is adapted for passing the instrument channel of FIG locomotive endoscope head shown in any one of 1-12B; simplified diagram in FIG. 14 is a partial block diagram, partially in a schematic view which shows a portion of the endoscopic system of FIG. 1-13, the system according to a preferred embodiment of the present invention, 式制造并工作的;图15中简化的绘画图表示了图1-12B所示机动式内窥镜头在处于肠液处理工作模式时的情形;图16A、16B、16C中的简化绘画图表示了图1-12B所述机动式内窥镜头在处于引导线工作模式时的情形;图17中的简化绘画图表示了根据本发明另一优选实施方式制造并工作的内窥镜检查系统;图18、19A、19B分别是简化的绘画图和剖视图,表示了根据本发明一优选实施方式设计并工作的附件;图20A、20B、20C、20D、20E、20F、20G、20H、以及20I中的简化图表示了由图17所示系统所实现的各种功能;图21中的简化绘画图表示了一种根据本发明另一优选实施方式设计并工作的内窥镜检查系统;图22、23A和23B分别是简化的绘画图和剖视图,它们表示了一种根据本发明一优选实施方式设计并工作的附件;以及图24A、24B、24C、24D、24E、24F、24G、24H、24I、24J、24K、以及24L Manufacturing and work; FIG. 15 is a simplified drawing showing the case shown in FIG. 1-12B FIG locomotive endoscope head when in the intestinal juice processing mode; FIG. 16A, 16B, 16C in FIG simplified drawing shows FIG. 1-12B case the locomotive endoscope head when in the operating mode of the guidewire; a simplified drawing of FIG. 17 shows an endoscopic system for manufacturing and operating according to another preferred embodiment of the present invention; FIG. 18, 19A, 19B are simplified view and a cross-sectional view drawing showing the design and operating according to the present invention, a preferred embodiment of an attachment; FIG. 20A, 20B, 20C, 20D, 20E, 20F, 20G, 20H, and simplified in FIG. 20I in show various functions performed by the system shown in FIG. 17 implemented; simplified drawing of FIG. 21 shows a design and operating according to another preferred embodiment of the present invention endoscopy system; FIGS. 22,23A and 23B are simplified view and a sectional view of the drawing, there is shown one design and operating according to a preferred embodiment of the present invention, accessory; and FIGS. 24A, 24B, 24C, 24D, 24E, 24F, 24G, 24H, 24I, 24J, 24K and 24L 的简化图表示了由图21所示系统所实现的各种功能。 Simplified view showing the various functions performed by the system 21 shown in FIG implemented.

具体实施方式 detailed description

下面参见图1,该简化绘画图表示了根据本发明一优选实施方式设计并工作的内窥镜检查系统。 Referring now to Figure 1, which shows a simplified drawing FIG constructed and operative in accordance with a preferred embodiment of the present invention endoscopy system.

在全文中,词语“内窥镜”和“内窥镜检查术”的含义都略宽于通常的含义,它们指代在体腔、体内通道等场所中工作的设备和方法,其中的体腔和通道例如是小肠、大肠、动脉和静脉。 Throughout, the term "endoscope" and "endoscopy" meaning are slightly wider than the ordinary meaning and refer to apparatus and method for generation of the body cavity at a place of work, body passageway and the like, wherein the body cavities and channels for example, small intestine, large intestine, arteries and veins. 尽管这些术语通常涉及的是目视检查,但在本文的语境中,它们并不限于采用目视检查的应用情形,同样还涉及那些不一定包括目视检查的设备、系统和方法。 Although these terms are generally relates to visual inspection, but in the context of this document, they are not limited to the case of applications using visual inspection, visual inspection likewise further relates to those devices, systems and methods are not necessarily included.

如图1所示,采用了一台普通的内窥镜检查系统100,其例如是一控制台,该系统包括CV-160视频系统中心、CLC-160光源、OEV-203视频监控器、以及OFP冲洗泵,所有这些部件都可从位于美国NY11747 Melville的2 Corporate Center Drive的Olympus美国有限公司来购得。 1, using a conventional endoscopic system 100, which is for example a console, the system includes a video system center CV-160, CLC-160 source, OEV-203 video monitor, and OFP flush pump, all of which may be available from, Ltd. in the United States 2 Corporate Center Drive NY11747 Melville of Olympus America. 根据本发明一优选实施方式设计并工作的机动式内窥镜头102被布置到患者的大肠中,且通过多腔管104与系统100相联,其中的多腔管104也是根据本发明一优选实施方式设计并工作的,且与机动式内窥镜头控制器106和操作者控制件108实现接口连接,控制器和控制件也是根据本发明一优选实施方式设计并工作的。 Constructed and operative in accordance with a preferred embodiment of the present invention, a motor head 102 is disposed endoscope into the large intestine of a patient, and through the multi-lumen tube 100 associated with the system 104, the multi-lumen tube 104 which is in accordance with a preferred embodiment of the present invention, design and mode of operation, and with the locomotive endoscope head controller 106 and control member 108 implement operator interface, the controller and the control member is constructed and operative in accordance with a preferred embodiment of the present invention.

下面参见图2和图3,它们分别是简化的分解图和组装图,表示了根据本发明一优选实施方式制造并工作的机动式内窥镜头,并参见图4A、4B以及4C,这些简化的剖视图是沿图3中的IVA-IVA、IVB-IVB、以及IVC-IVC线作出的。 These simplified Referring to Figures 2 and 3, which are simplified exploded and assembled view, showing an endoscope head manufacturing and motor operating in accordance with a preferred embodiment of the present invention, and referring to FIG. 4A, 4B and 4C, the It is a sectional view taken along IVA-IVA in FIG. 3, IVB-IVB, and the line IVC-IVC made.

如图2-4C所示,多腔管104被座放到壳体部分208中制出的一个合适的结构凹陷206中,其中的多腔管104包括一中心通道202和多个(通常为十个)环周通道204,中心通道202形成了仪器通道,除了其它作用之外,该仪器通道用于插入工具、吹入作业(inssuflation)、以及抽吸作业。 FIG 2-4C a suitable structure, the multi-lumen tube 104 is placed in the housing base portion 208 made out of the recess 206, wherein the multi-lumen tube 104 includes a central passageway 202 and a plurality (typically ten a) circumferential channels 204, 202 form a central channel instrument channel, in addition to the other actions, tools for insertion of the instrument channel, the blowing operation (inssuflation), and a suction operation. 壳体部分208围绕着纵向轴线210基本上是对称的,其包括一相对较粗的后部212和一相对较细的主体部分214,其中的后部212形成了凹陷206。 Housing portion 208 about the longitudinal axis 210 is substantially symmetrical, comprising a relatively thick rear part 212 and a relatively thin body portion 214, wherein the rear portion 212 of the recess 206 is formed.

后部212上制有三对轴向狭缝220,它们延伸向后部212的后方,并沿着后部212的环周相互分开120度。 System has three axial slits 220 on the rear portion 212, rearwardly extending rearward portion 212 and 120 degrees apart from each other along the circumference of the rear portion 212. 在各对轴向狭缝220之间设置了充胀通道222,每个充胀通道222都与制在多腔管202中的对应充胀通道224连通,而通道224反过来则与三个后气囊充胀腔管226中的对应腔管连通,腔管226被包括在九的倍数个外周腔管204之中。 Between each pair of slits 220 are provided axially inflation channel 222, each inflation passage 222 are prepared corresponding to the inflation passage 224 communicates the multi-lumen tube 202, and in turn, the passage 224 and the three filling the cavity corresponding to the balloon inflation lumen 226 communicating tube, lumen 226 is included in a multiple of nine outer circumference 204 into the lumen. 在充胀通道224的前方,后气囊充胀腔管226被密封件228所密封。 In front of the inflation channel 224, after the balloon inflation lumen 226 is sealed by seal 228.

主体部分214上制有三个轴向狭缝230,它们延伸向后部212的后方,且这些狭缝沿着后部212的环周相互分离开。 It is formed with three axial slits 230 on the body portion 214 extending rearwardly a rear portion 212, and the slits are separated from each other along the circumference of the rear portion 212.

可滑动的前气囊支撑件238被滑动地安装到壳体部分208的主体部分214上。 Slidable forward balloon support member 238 is slidably mounted to the body portion 214 of the housing portion 208. 前气囊支撑件238上制有三对轴向狭缝240,它们延伸向前气囊支撑件238的后部,且沿着前气囊支撑件238的环周相互分开120度。 Forward balloon support member 238 is formed with three pairs of axial slits 240, which extend the rear portion of the forward balloon support member 238, and are separated from each other by 120 degrees along the circumference of the forward balloon support member 238. 在各对轴向狭缝的中间设置了充胀通道242,每个充胀通道242都与对应的充胀通道244连通,充胀通道244向后延伸,与三个前气囊充胀腔管246中对应的腔管实现可滑动的、密封的接合,其中的腔管246被包括在九个外周腔管204中。 Each pair of axially intermediate slit inflation passage 242 is provided, each inflation passage 242 are in communication with the inflation channel 244 corresponding to the inflation passage 244 extending rearwardly, and three front airbag inflation lumen 246 to achieve a corresponding lumen slidable, sealing engagement, wherein the lumen 246 is included in an outer periphery of nine lumen 204. 可以理解,充胀通道244的刚性通常较大,其在具有合适构造的低摩擦衬套248内密封地滑动,在多腔管104的前端处,衬套被插入到前气囊充胀腔管246中。 It will be appreciated, the rigid inflatable channel 244 is usually large, sealingly sliding in the low friction liner 248 of suitable configuration, at the front end of the multi-lumen tube 104, a bushing is inserted into the airbag before the inflation lumen 246 in.

一对活塞杆250被固定到前气囊支撑件238上,或与支撑件238制成一体,这对活塞杆250向内、向后延伸,与两前气囊支撑件轴向定位腔管252中的对应腔管实现可滑动的密封接合,其中的腔管252被包括在十个外周腔管204中。 One pair of the piston rod 250 is secured to the forward balloon support member 238, or integrally formed with the support member 238, which extends inwardly rearwardly of the piston rod 250, the forward balloon support with two axially positioned in the lumen 252 corresponding to achieve lumen slidable sealing engagement, wherein the lumen 252 is included in an outer periphery of ten lumen 204. 可以理解,活塞杆250的刚性通常较大,其在具有合适构造的低摩擦衬套254中密封地滑动接合,在多腔管104的前端处,活塞杆插入到前气囊支撑件轴向定位腔管252中。 It will be appreciated, the piston rod 250 is generally greater rigidity, which slidably sealingly engaged in a low friction bush 254 has a suitable configuration, at the front end of the multi-lumen tube 104, a piston rod inserted into the axial positioning of the forward balloon support chamber tube 252.

优选地是,刚性相对较大的充胀通道244和活塞杆250被布置在轴向狭缝230中。 Preferably, the relatively rigid rod 244 and inflation passage 250 are disposed in the axial slot 230.

前壳体部分260被固定地安装到壳体部分208的主体部分214的前端262上。 The front housing portion 260 is fixedly mounted to the body portion 214 of the front end 262 of the housing portion 208. 前壳体部分包括一端帽部分264,其被固定到筒体部分266上,或与筒体部分制成一体,筒体部分延伸穿过可滑动的前气囊支撑件238的中心孔腔268。 The front housing portion includes an end cap portion 264, which is fixed to the cylindrical portion 266, or integrally formed with the cylindrical portion, the cylindrical portion extends through the forward balloon support member 238 is slidable central bore 268. 筒形部分266的后端被座压到凹陷270中,并抵接在多腔管104中心通道202中形成的一个凸肩272上。 The rear end of the cylindrical portion 266 is press-seat into the recess 270 and abuts against the multi-lumen tube 104 is formed in central channel 202 in a shoulder 272 on. 筒体部分266的内部孔腔274构成了中心通道202所形成仪器通道的连续段。 The internal bore of the cylindrical portion 266 of the segment 274 constitutes a continuous central passageway 202 formed in the instrument channel.

优选地是,在端帽部分264的前端,设置了发光二极管280和一个或多个成像传感器282。 Preferably, the front end portion of the end cap 264, 280 is provided a light emitting diode and the one or more imaging sensors 282. 向发光二极管280供送电流,并通过光纤和导电线束284从传感器282接收成像数据,光纤和导电线束284从端帽部分264的前端延伸出,穿过多腔管104中的外周腔管286而到达机动式内窥镜头控制器106(见图1)处。 280 feeding current to the light emitting diode, and 284,284 extending from the distal end of the cap portion 264 from the sensor 282 receives the image data, an optical fiber and an electrical conductor bundle by an optical fiber and a conductive wiring harness, passes through the multi-lumen tube 104 in the outer circumference of lumen 286 reaches the locomotive endoscope head controller 106 (see FIG. 1).

在多腔管104中设置了另外一个外周腔管290,其用于通过壳体部分208上的狭缝230与肠管的内部实现流体连通。 It provided another lumen 290 in the outer periphery of multi-lumen tube 104 for fluid communication via an internal slot 230 on the portion 208 of the intestine housing. 液体或压力气体可通过该腔管被送入或排出。 Liquid or gas pressure through the lumen is fed or discharged.

在壳体部分208的后部212上安装有一个可膨胀的气囊筒体300。 On the rear portion 208 of the housing 212 is attached to an inflatable balloon cylinder 300. 从图2可清楚地看出,可膨胀的气囊筒体300具有均匀一致的横截面构造,其横截面包括三对轴向壁320,这些轴向壁沿其纵长长度方向延伸,并与延伸向后部212后方的对应轴向狭缝220相接合。 As is apparent from FIG. 2, the balloon expandable cylindrical body 300 having a uniform cross-sectional configuration, its cross-section comprises three pairs of axial walls 320, these walls extending axially along its longitudinal length direction, and extending a rear portion 212 corresponding to an axial slot 220 rearwardly engages. 每对轴向壁320都被环周壁部分322结合起来。 Each pair of axial wall 320 are circular wall portion 322 together. 在可膨胀气囊筒体300的环周方向上,各对轴向壁320之间相互分开120度。 In the circumferential direction of the inflatable balloon cylinders 300, each of the axial wall 320 spaced from each other 120 degrees.

在各对轴向壁320之间,形成了三个可膨胀的气囊部分324,每个气囊部分都与一个单独的充胀通道222独立地连通着。 Between each pair of axial wall 320, form three inflatable balloon section 324, each part of the airbag are inflated with a separate passage 222 communicated with independently. 利用粘接剂或任何其它合适的方式,使气囊部分324的前端和后端以及狭缝220处相对于后部212成为密封的,从而形成了三个分开且膨胀和放气可独立受控的气囊部分,这些气囊部分围绕着后部212的环周进行分布。 An adhesive or any other suitable manner, the balloon portion 324 of the front and rear ends and a slit 220 becomes relative to the rear seal 212, thereby forming three separate and can be inflated and deflated independently controlled balloon portion, these portions of the balloon around the circumference of the rear portion 212 of the distributed. 可以理解,尽管优选地是,设置至少三个这种分开的、且可独立受控地膨胀和放气的气囊部分,但作为备选方案,也可采用任何合适数目的较少或较多个分开且可独立受控膨胀和放气的气囊部分。 It will be appreciated, although preferably, this at least three separate, independently controlled and can be inflated and deflated balloon portion, but as an alternative, any suitable number may also be fewer or more of a separately and independently controlled expansion and deflation of the balloon portion.

可膨胀的气囊筒体350被安装在前气囊支撑件238上。 Inflatable balloon 350 is mounted on the front cylinder on the balloon support member 238. 从图2可清楚地看出,可膨胀的气囊筒体350具有均匀一致的横截面结构,其横截面包括三对轴向壁370,这些轴向壁沿其纵长长度方向延伸,并与延伸向前气囊支撑件238后方的对应轴向狭缝240相接合。 As is apparent from FIG. 2, the balloon expandable cylindrical body 350 having a uniform cross-sectional configuration, the cross section comprises three pairs of axial walls 370, these walls extending axially along its longitudinal length direction, and extending forward balloon support member 238 behind the slit 240 corresponding to an axial engagement. 每对轴向壁370都被环周壁部分372结合起来。 Each pair of axial wall 370 are circular wall portion 372 together. 在可膨胀气囊筒体350的环周方向上,各对轴向壁370之间相互分开120度。 In the circumferential direction of the inflatable balloon cylinders 350, 120 degrees apart from each other between each pair of axial wall 370.

在各对轴向壁370之间,形成了三个可膨胀的气囊部分374,每个气囊部分都与一个单独的充胀通道242独立地连通着。 Between each pair of axial wall 370, form three inflatable bladder portion 374, each portion of the airbag are inflated with a separate passage 242 communicated with independently. 利用粘接剂或任何其它合适的方式,使气囊部分374的前端和后端以及狭缝240处相对于前气囊支撑件238成为密封的,从而形成了三个分开且膨胀和放气可独立受控的气囊部分,这些气囊部分围绕着前气囊支撑件238的环周进行分布。 An adhesive or any other suitable manner, the balloon portion 374 of the front and rear ends and a slit 240 with respect to the forward balloon support member 238 to become sealed, thereby forming three separate and may be independently expanded and deflated by control the balloon portion, these portions of the balloon around the circumference of the forward balloon support member 238 is distributed. 可以理解,尽管优选地是:与后部212上的气囊部分成60度相位差地设置至少三个这种分开的、且可独立受控地膨胀和放气的气囊部分,但作为备选方案,也可采用任何合适数目的较少或较多个分开且可独立受控膨胀和放气的气囊部分。 It will be appreciated, though preferably are: a portion of the airbag 60 into the rear portion 212 are provided at least three such phase separate, and may be controllably expandable and deflatable balloon portions independently, but as an alternative It may also be employed in any suitable number of fewer or more separate and independently controlled expansion and deflation of the balloon portion.

不难理解:根据本发明一优选实施方式,气囊筒体300和350基本上是可伸张的,且其伸张程度可适应半径扩张到很大的情况,其中的半径可达到比放气时的筒体300、350半径大约5-20倍的程度。 It will be appreciated: According to a preferred embodiment, the cylindrical body 300 and the balloon is substantially stretchable and the degree of elongation 350 of the present invention may be expanded to accommodate a large radius, the radius where the cartridge can be achieved than when deflated the extent of about 5-20 times the radius of the body 300, 350. 优选地是,采用相对较低的压力—例如在10-50毫巴的范围内就能完成气囊筒体300、350的充胀。 Preferably, the use of relatively low pressure - can be done, for example, inflatable balloon cylinders 300, 350 in the range of 10-50 mbar.

可以理解,根据本发明一优选实施方式,为了对基本为管状的、横截面直径变化的管状体部分执行体内检查,气囊筒体300、350的扩张直径范围大于基本管状体部分的最大横截面直径,由此可确保扩张开的气囊筒体300、350与基本管状体部分的内表面相接合,并能将机动式内窥镜头102锚固到内表面上。 It will be appreciated, in accordance with a preferred embodiment of the present invention, to the maximum cross-sectional pair of the tubular body portion performs vivo examination of a cross-sectional diameter changes, dilation balloon cylinders 300, 350 is greater than a diameter in the range substantially tubular body portion of a diameter substantially tubular , thereby ensuring apart expandable balloon cylinders 300 and 350 and the inner surface of the generally tubular body portion engages, and locomotive endoscope head 102 can be anchored to the inner surface. 优选地是,气囊筒体300和350是相对较柔软、高顺从性的气囊,其作用在于:当其与内表面接合时,至少部分地服从于基本管状体部分内表面的形状。 Preferably, the cylindrical body 300 and the balloon 350 is a relatively soft, highly compliant balloon, its role is: when it is engaged with the inner surface, at least partially subject to the shape of the inner surface of the substantially tubular body portion.

可以理解:气囊筒体300、350可用公知的可伸张材料制成,这些材料例如是乳胶、柔性硅胶、或高柔性的尼龙。 It will be appreciated: balloon cylinders 300 and 350 be made available known stretchable materials, these materials are for example latex, flexible silicone, or highly flexible nylon. 作为备选方案,气囊筒体300、350可用伸张性和顺从性弱于乳胶、柔性硅胶、或高柔性尼龙的聚氨脂材料制成。 As an alternative, the available stretch balloon cylinders 300 and 350 and compliant weaker than latex, made of flexible silicone, or highly flexible nylon polyurethane material. 优选地是,气囊筒体300、350的直径足以确保紧固地锚固到基本管状体部分的任何部位上。 Preferably, the diameter of the cylindrical body 300, 350 is sufficient to ensure that the airbag is fastened to the anchoring portion of any of the generally tubular body portion.

下面参见图5A、5B、5C、5D、5E、5F、以及5G,这些简化的剖视图是沿图3中的IVB-IVB线对图2-4C的机动式内窥镜头作出的,表示了内窥镜头经肠管向前运动的各个阶段。 Referring to FIG 5A, 5B, 5C, 5D, 5E, 5F, and. 5G, a simplified cross-sectional view taken along the line IVB-IVB in FIG. 3 to FIG. 2-4C for a locomotive endoscope head, showing the endoscopic shot through the various stages of bowel movement forward. 从图5A-5G可看出,通过将各个气囊依次的充胀和放气操作以及前气囊支撑件238相对于壳体部分208的轴向移动组合起来,就能实现图2-4C所示内窥镜头的机动动作,其中,安装在壳体部分208和前气囊支撑件238上的气囊在图中分别由标号500、502指代。 As can be seen from FIGS. 5A-5G, by each successive balloon inflation and deflation operations and forward balloon support member 238 to move axially relative to the inner housing portion 208 in combination can be achieved 2-4C shown in FIG. maneuver endoscopic lens, wherein the airbag is mounted on housing portion 208 and a forward balloon support member 238, respectively by the reference numerals 500, 502 in FIG means substitutes. 可以理解的是,优选地是,如上文描述的那样,各个气囊500、502都包括多个分开的、且充胀和放气独立受控的气囊部分。 It will be appreciated that, preferably, as above described, each balloon 500, 502 includes a plurality of separate and independent inflation and deflation of the balloon portion controlled.

转向图5A,可以看到气囊500被充胀,从而与肠管的内壁相接合,并相对于内壁而固定了壳体部分208的位置。 Turning to Figure 5A, according to see the airbag 500 is inflated, thereby engaging the inner wall of the intestine, and is fixed with respect to the inner wall of the housing portion 208 of the position. 在此定向状态下,前气囊支撑件238处于轴向靠后的定向位置,从而靠近后部212。 In this orientation state, forward balloon support member 238 is in the axial position on orientation, so that the rear portion 212 close. 参见图5B,可以看到前气囊支撑件238已相对于壳体部分208在轴向上向前移动了,而壳体部分208则相对于肠管在轴向上保持固定。 5B, the forward balloon support member may be seen relative to the housing 238 has a forward portion 208 moves in the axial direction, and the housing portion 208 remains fixed relative to the intestine in the axial direction.

转向图5C,可以看到前气囊支撑件238处于图5B所示的轴向定向位置,且气囊502被充胀,从而与肠管的内壁相接合,并固定了前气囊支撑件238相对于肠管的位置。 Steering 5C, the air bag can be seen that the front support member 238 is in the position shown in axial orientation 5B, the airbag 502 is inflated and thereby in contact with the inner wall of the intestine and fixed together the forward balloon support member 238 with respect to the intestine position. 而后,如图5D所示,气囊500被放气。 Then, as shown in FIG 5D, the balloon 500 is deflated.

参见图5E,可以看出:在将气囊500放气之后,前气囊支撑件238相对于壳体部分208在轴向上向后移动,同时,前气囊支撑件238相对于肠管在轴向上保持固定。 Referring to 5E, the can be seen that: after the balloon 500 deflated, forward balloon support member 238 relative to the housing portion 208 moves backward in the axial direction, at the same time, forward balloon support member 238 with respect to the holder in the axial direction intestine fixed. 这将导致壳体部分208在轴向上向前运动,进而使机动式内窥镜头102运动。 This will result in forward movement of the housing portion 208 in the axial direction, thereby enabling motor 102 motion endoscope head.

参见图5F,可以看出:前气囊支撑件238处于图5E所示的轴向定向位置,使气囊500充胀,由此接合了肠管的内壁,并将壳体部分208相对于内壁进行了固定。 Referring to FIG 5F, it can be seen: in the position shown oriented axially forward balloon support member 238 is 5E, the balloon 500 is inflated, thereby engaging the inner wall of the intestine, and the housing portion 208 relative to the fixed inner wall . 而后,如图5G所示,气囊502被放气。 Then, as shown in FIG. 5G, the balloon 502 is deflated.

从而,不难理解,按照这种方式,可以实现机动式内窥镜头102的向前移位。 Thus, difficult to understand, in this manner, maneuverability of the endoscope head 102 is displaced forward.

下面参见图6A、6B、6C、6D、6E、6F、以及6G,这些简化的剖视图是沿图3中的IVB-IVB线对图2-4C所示的机动式内窥镜头作出的,它们表示了内窥镜头经肠管向后运动的各个阶段。 Referring to FIG 6A, 6B, 6C, 6D, 6E, 6F sectional views, as well. 6G, which are simplified sectional views taken along line IVB-IVB in FIG. 3 maneuvering endoscope head shown in FIG 2-4C made, they represent the endoscope head through various stages of bowel movements rearwardly. 如图6A-6G所示,通过将各个气囊依次的充胀和放气操作以及前气囊支撑件238相对于壳体部分208的轴向移动组合起来,就能使图2-4C所示内窥镜头102实现向后的机动动作,其中,安装在壳体部分208和前气囊支撑件238上的气囊在图中也分别由标号500、502指代。 As shown in FIG. 6A-6G, the airbag by the respective sequential inflation and deflation operations and forward balloon support member 238 to move axially relative to the housing portion 208 in combination, can make endoscopic shown in FIG 2-4C inner lens 102 backward maneuver, which is mounted on housing portion 208 and the balloon 238 forward balloon support member 500, 502 respectively by the reference numerals in the figures refer. 可以理解的是,优选地是,如上文描述的那样,各个气囊500、502都包括多个分开的、且充胀和放气操作独立受控的气囊部分。 It will be appreciated that, preferably, as above described, each balloon 500, 502 includes a plurality of separate and independently controlled inflation and discharge operation of the gas portion of the airbag.

转向图6A,可以看到气囊500被充胀,从而与肠管的内壁相接合,并相对于内壁固定了壳体部分208的位置。 Steering 6A, the airbag 500 can be seen to be inflated so as to engage the inner wall of the intestine, and is fixed to the inner wall of the housing portion 208 of the position. 在此定向状态下,前气囊支撑件238处于轴向靠后的定向位置,从而靠近后部212。 In this orientation state, forward balloon support member 238 is in the axial position on orientation, so that the rear portion 212 close. 参见图6B,可以看到前气囊支撑件238处于图6A所示的轴向定向位置,且气囊502被充胀,从而与肠管的内壁相接合,并固定了前气囊支撑件238相对于肠管的位置。 6B, a forward balloon support member may be seen in the axially oriented position 238 shown in FIGS. 6A, and the balloon 502 is inflated, so that contact with the inner wall of the intestine and fixed together the forward balloon support member 238 with respect to the intestine position. 而后,如图6C所示,气囊500被放气。 Then, as shown in FIG. 6C, the balloon 500 is deflated.

参见图6D,可以看出:前气囊支撑件238已相对于壳体部分208在轴向上向前移动,同时,壳体部分208相对于肠管在轴向上保持固定。 Referring to 6D, the can be seen: forward balloon support member 238 relative to the housing portion 208 has been moved forward in the axial direction, at the same time, the housing portion 208 remains fixed relative to the axial direction of the intestine.

参见图6E,可以看出:前气囊支撑件238处于图6D所示的轴向定向位置,且气囊500被充胀,由此接合了肠管的内壁,并将壳体部分208相对于内壁进行了固定。 Referring to 6E, the can be seen: in the position shown oriented axially forward balloon support member 238 is 6D, the airbag 500 is inflated and thereby engage the inner walls of the intestine, and the housing portion 208 relative to the inner wall fixed. 而后,如图6F所示,气囊502被放气。 Then, as shown in FIG. 6F, the balloon 502 is deflated.

参见图6G,可以看出:前气囊支撑件238已相对于壳体部分208在轴向上向后移动,同时,前气囊支撑件238相对于肠管在轴向上保持固定。 Referring to FIG. 6G, it can be seen: forward balloon support member 238 relative to the housing portion 208 has been moved backward in the axial direction, at the same time, forward balloon support member 238 remains fixed with respect to the axial direction of the intestine.

从而,不难理解,按照这种方式,可以实现机动式内窥镜头102的向后移位。 Thus, difficult to understand, in this manner, maneuverability of the endoscope head 102 is displaced rearward. 作为备选方案,两气囊500和502均可被放气,从而通过拉拔多腔管104就可将机动式内窥镜头102从肠管中拉出。 As an alternative, two 500 and 502 may airbag is deflated, so that by pulling the multi-lumen tube 104 can locomotive endoscope head 102 is pulled out from the intestine.

下面参见图7A-9C,这些视图表示了图2-4C所示机动式内窥镜头各种不同的定向姿态,通过合适地选择气囊500、502上各个气囊凸角部分的充胀状况,就可实现这样的定向。 Referring now to FIGS. 7A-9C, the views showing various locomotive endoscope head oriented posture shown in FIG. 2-4C, by suitably selecting the conditions inflatable lobe portion of the balloon on the balloon 500, 502 each, can achieve this orientation. 这些视图表示出了几种示例情况:通过考虑到气囊500和502的气囊凸角在转动定向方面的相位差,使气囊500各个气囊凸角部分实现任意合适的差异化充胀、以及使气囊502的凸角以相反的方式实现对应的差异化充胀,就可实现非平行的、偏斜的定向姿态。 The view shows several exemplary case: by taking into consideration the retardation and the balloon lobes 502 of the airbag 500 in terms of the rotational orientation of the balloon lobes 500 each implement any suitable portion of the airbag inflation differences, and the balloon 502 lobes in opposite manner corresponding to the difference of inflation, can be achieved non-parallel, skewed orientation of posture.

参见图7A、8A、以及9A,图中表示了图1-6G所示的机动式内窥镜头在体内通道中的第一种面向下方的可选倾斜定向姿态。 Referring to FIG. 7A, 8A, and. 9A, shows in FIG locomotive endoscope head shown 1-6G in vivo passage of a first alternative oriented downward obliquely oriented posture. 通过使气囊500的一个气囊凸角部分(此处标为510)具有较低的充胀程度,并使气囊500的两个气囊凸角部分(标为512和514)具有较高的充胀程度,同时,使气囊502的一个气囊凸角部分(此处标为520)的充胀程度较低,并使气囊502的两个气囊凸角(标为522和524)的充胀程度较高,就能实现上述的定向姿态。 By a lobe portion of the balloon 500 of the balloon (here denoted 510) having a lower level of inflation, the balloon lobes and two portions of the airbag 500 (labeled 512 and 514) have a higher degree of inflation while causing a portion of the balloon lobes 502 of the lower airbag (here denoted 520) of the degree of inflation, the airbag 502 and the airbag two high lobes (labeled 522 and 524) of the degree of inflation, You will be able to achieve the above directional stance. 应当指出的是,在图7A-7C所示的定向姿态中,气囊凸角510和520在图7A-7C的图面中分别位于机动式内窥镜头102的上部和下部。 It should be noted that the orientation of the posture shown in FIG. 7A-7C, the balloon lobes 510 and 520 are located in the locomotive endoscope head in view of FIG. 7A-7C of upper and lower portions 102.

参见图7B、8B、9B,这些视图表示了图1-6G所示机动式内窥镜头在体内通道中平行的第二种定向姿态。 Referring to FIG. 7B, 8B, 9B, the views showing the orientation of a second locomotive endoscope head posture parallel to the body passageway shown in FIG. 1-6G. 通过基本上同等地充胀气囊500的各个气囊凸角510、512、514,并同等地充胀气囊502的气囊凸角520、522、以及524,就能实现这样的定向姿态。 By substantially the same inflated balloon lobes 500 of each balloon 510, 512, and 502 equally inflated balloon of the balloon lobes 520, 522, and 524, will be able to achieve such orientation posture.

转向图7C、8C、9C,图中表示了图1-6G所示机动式内窥镜头在体内通道中面向上方的、可选倾斜的第三种定向姿态。 Turning to FIG. 7C, 8C, 9C, there is shown a third oriented posture shown in FIG. 1-6G locomotive endoscope head facing upward in a body passageway, optionally inclined. 通过使气囊500的气囊凸角部分510具有较高的充胀程度,并使气囊500的两个气囊凸角部分512和514具有较低的充胀程度,同时,使气囊502的气囊凸角部分520的充胀程度较高,并使气囊502的两个气囊凸角522和524的充胀程度较低,就能实现上述的定向姿态。 Lobe portion of the balloon 500 through the balloon portion of the balloon lobes 510 having a higher degree of inflation, the airbag and the airbag two lobes 500 and 514 has a portion 512 a lower level of inflation while the balloon 502 520 a higher degree of inflation, the balloon lobes and two lower degree of airbag inflation 502 522 and 524 can be oriented to achieve the above posture.

下面参见图10A和10B,这些侧视图表示了图1-6G所示机动式内窥镜头在体内通道中偏离中心的可选的平行定向姿态,图11A和图11B分别是沿图10A和10B中的平面XIA-XIA和XIB-XIB作出的后向视图,它们与图10A和图10B相对应,图12A和12B分别是沿图10A和10B中的平面XIIA-XIIA和XIIB-XIIB作出的前向视图,它们与图10A和图10B相对应。 Referring now to Figure 10A and 10B, which shows a side view of the locomotive endoscope head in the orientation shown in FIG. 1-6G vivo passage optional off-center parallel posture, 11A and 11B are taken along 10A and 10B after the plane XIA-XIA and XIB-XIB made to view, they 10B correspond to FIG 10A and FIG 12A and 12B are respectively a forward direction 10A and 10B in the plane XIIA-XIIA and XIIB-XIIB made view, respectively, of FIGS. 10A and 10B, respectively. 这些视图表示了这样的示例:考虑到气囊500和502的气囊凸角在转动定向方面的相位差,通过任意合适地设置气囊500上气囊凸角510、512、以及514的差异化充胀,并使气囊502的气囊凸角520、522、524发生对应的差异化充胀,就能实现这种平行的定向姿态。 These views showing an example in: considering a phase lobes airbag 502 and the airbag 500 in terms of rotational orientation, suitably arranged on the airbag 500 by any balloon lobes 510, 512, 514 and difference inflated, and an airbag of the airbag 502 corresponding to the occurrence of lobes 520,522,524 differentiation inflated, can achieve such parallel orientation posture.

转向图10A、11A、12A,图中表示了图1-6G所示机动式内窥镜头在体内通道中偏离中心的第一种平行定向姿态。 Turning to FIG. 10A, 11A, 12A, there is shown a first parallel locomotive endoscope head is off-center in the body passageway is oriented posture shown in FIG. 1-6G. 考虑到气囊500和502的气囊凸角在转动定向方面的相位差,通过使气囊500的气囊凸角510的充胀程度较低,并使气囊凸角512、514的充胀程度较高,同时,对应地使气囊502的气囊凸角520的充胀程度较高,并使气囊凸角522和524的充胀程度较低,就能实现这种定向姿态。 Taking into account the phase difference lobes airbag 502 and the airbag 500 in terms of rotational orientation, the balloon 500 through the balloon lobes 510 of the lower degree of inflation, and a higher degree of inflation balloon lobes 512, 514, while correspondingly higher degree of the balloon 502 inflated balloon lobes 520, and a lower level of inflation balloon lobes 522 and 524, this orientation can be achieved posture.

参见图10B、11B、12B,图中表示图1-6G所示机动式内窥镜头在体内通道中偏离中心的第二种平行定向姿态。 Referring to FIG 10B, 11B, 12B, as shown in FIG indicated in FIG locomotive endoscope head offset from the second orientation parallel to the central passage in the body posture 1-6G. 通过使气囊500的气囊凸角510的充胀程度较高,并使气囊凸角512、514的充胀程度较低,同时,对应地使气囊502的气囊凸角520的充胀程度较低,并使气囊凸角522和524的充胀程度较高,就能实现这种定向姿态。 The higher the balloon 500 by an airbag inflated lobes 510 degrees, and the lower level of inflatable balloon lobes 512, 514, while the balloon lobes corresponding to a lower inflation of the airbag 502 of the extent 520, and a higher degree of airbag inflation lobes 522 and 524, this orientation can be achieved posture.

从上文对图7A-12B的介绍可领会到:在实际情况下,如果在两气囊500、502上设置至少三个气囊凸角,则机动式内窥镜头102能实现几何学上允许的任何所需的定向姿态。 From the description of FIGS. 7A-12B above can be appreciated that: in any situation, if at least three balloon lobes 500, 502 on both the balloon, the locomotive endoscope head 102 allows to achieve the geometrically desired orientation attitude. 这些定向姿态例如包括:上下倾斜、左右倾斜、以及两种倾斜的组合倾斜,并包括所需的上下偏心平行定向、左右偏心平行定向、以及两种偏心平行定向的组合形式。 These include, for example oriented posture: tilt up and down, right and left slope, and two inclined obliquely combination, and including upper and lower eccentric desired parallel orientation, parallel orientation about the eccentric, the eccentric and the parallel combination of two kinds of orientation.

可以理解:如果在各个气囊500、502上设置了至少两个气囊凸角—尤其是,如果气囊500、502的至少两个气囊凸角以方位角关系偏置,则机动式内窥镜头102可实现几何上所允许的、各种所需的定向姿态。 It will be appreciated: If at least two bladders on each balloon lobes 500, 502 - especially if the air bag 500, 502 at least two azimuth lobes airbag offset relationship, the motor 102 may endoscope head geometrically allowed to achieve various desired orientation posture.

本发明一个特别的特征在于:由于机动式内窥镜的运动并非是由推送机理实现的,所以多腔管104的柔性可显著强于其它内窥镜管的柔性。 A particular feature of the invention comprising: a motor due to movement of the endoscope is not achieved by a push mechanism, so that the flexible multi-lumen tube 104 may be significantly stronger than the other of the flexible tube of the endoscope.

下面参见图13,图中的简化绘画图表示了一种附件600,其适于经多腔管104的中心通道202中所形成的仪器通道而进入到机动式内窥镜头102筒体部分266的内部孔腔274中。 Referring now to Figure 13, a simplified drawing of FIG showing an attachment 600, which is adapted to the central channel 202 through the instrument channel of the multi-lumen tube 104 formed in the endoscope and into the motorized head portion 266 of the barrel 102 internal bore 274. 该附件600可从任何合适的附件中选出,例如可以是活检镊子、息肉切除勒除器、异物取出装置、热探针、以及针头,其中的一些附件是本领域公知的。 The accessory 600 may be selected from any suitable attachment, for example, biopsy forceps, polypectomy snares, foreign body removal means, thermal probe, and a needle, wherein the number of attachments are known in the art. 根据本发明一优选实施方式,一活塞602沿附件的本体604与其相连,且位于附件头部606的上游。 According to a preferred embodiment of the present invention, a main body 604 of the piston 602 along the attachment is connected thereto, and is located upstream of the head 606 of attachment. 活塞602被设计成可响应于上下游之间的压力差沿仪器通道密封地滑动,其中的压力差例如是由仪器通道中合适的正压或负压提供的。 The piston 602 is designed to be responsive to the pressure differential between the downstream along the instrument channel slidably sealingly, wherein the pressure differential provided by the instrument channel, for example, the appropriate positive or negative pressure. 例如可利用普通内窥镜系统所具备的吹入作业(inssuflation)和抽吸功能而实现正压或负压。 For example, using an ordinary endoscope system provided in the blowing operation (inssuflation) and the suction pressure or suction functions implemented.

下面参见图14,图中的简化图局部为框图、局部为示意图,其表示了图1-13所示的、根据本发明一优选实施方式设计并工作的内窥镜检查系统的一部分。 Referring now to Figure 14, a simplified diagram of a partial block diagram of FIG, partially in schematic, which shows a portion shown in FIG. 1-13, constructed and operative in accordance with a preferred embodiment of the present invention is an endoscopic examination system.

如图14所示,采用了普通的内窥镜检查系统100,其例如是一控制台,该系统包括CV-160视频系统中心、CLC-160光源、OEV-203视频监控器、以及OFP冲洗泵,所有这些部件都可从位于美国NY 11747Melville的2 Corporate Center Drive的Olympus美国有限公司购得。 14, using a conventional endoscopic system 100, which is for example a console, the system includes a video system center CV-160, CLC-160 source, OEV-203 video monitor, and the irrigation pump OFP , Ltd. All of these components may be available from the US-NY 11747Melville 2 Corporate Center Drive an Olympus America. 该普通的内窥镜检查系统100包括吹入(inssuflation)/抽吸发生器700和液体供应器702,它们通过流动控制阀704与仪器通道连通,其中,仪器通道是由多腔管104的中心通道202和机动式内窥镜头102的筒体部分266的内部孔腔274形成的。 The conventional system 100 includes an endoscopic insufflation (inssuflation) / suction generator 700 and the liquid supply 702, which communicates through the flow control valve 704 and the instrument channel, wherein the instrument channel is the center of the multi-lumen tube 104 channel 202 and the cylinder 102 of the locomotive endoscope head portion 266 of the inner bore 274 is formed. 优选地是,该普通内窥镜检查系统100还包括成像系统710和LED控制器712,它们通过数据线和供电线进行通讯,优选地是,线路被设计为光纤及导电线束284的形式,其延伸穿过多腔管104中的腔管286。 Preferably, the normal endoscopy system 100 further includes an imaging system 710 and the LED controller 712, a data line through which power line communication and, preferably, the line is designed to form the optical fiber 284 and the conductive wire harness, which is multi-lumen tube 104 extends through the lumen 286.

操作者控制件108对机动式内窥镜头控制器106的工作进行监管,控制件108优选地包括操纵杆722、倾翘/非倾翘式的功能选择开关724、以及用于控制运动方向(向前或向后)和速度的按钮725。 The operator controls the motor 108 to the work of the endoscope head controller 106 to regulate, control member 108 preferably includes a lever 722, a pour Alice / Alice non-tilting type function selection switch 724, and for controlling the direction of movement (to button 725 before or backward) and speed. 如图所示,在本发明一优选实施方式中,操作者控制件108向机动式内窥镜头的控制电路726发送控制输入信息,该控制电路对气压发生器728、真空发生器730、以及液力正压/负压供应器732进行操作。 As shown, in a preferred embodiment of the present invention, the operator controls the control member 108 transmits the input information to the control circuit 726 of the locomotive endoscope head, the control circuit 728 of the pressure generator, the vacuum generator 730, and the liquid force positive / negative supply 732 to operate.

气压发生器728和真空发生器730通过合适的歧管734和736、以及为各个腔管设置的各个流动阀与腔管226和246相联,以便于选择性地充胀各个气囊凸角510、512、514、520、522、以及524,其中的流动阀被标为740、742、744、746、748、以及750。 Pressure generator 728 and vacuum generator 730 through a suitable manifold 734 and 736, and 226 and 246 associated with the respective flow valves for each lumen and the lumen is provided so as to selectively inflating each balloon lobes 510, 512,514,520,522, and 524, wherein the flow valve is labeled 740,742,744,746,748, and 750. 液力正压/负压供应器732通过流动阀752与腔管252相连,以便于驱动活塞杆250。 Hydraulic positive / negative supply 732 via flow valve 752 is connected with the lumen 252 so as to drive the piston rod 250. 另外,流动阀754对处理流体从处理流体储器756向腔管290的供应进行控制。 In addition, 754 pairs of process fluid flow valve controlled from the process fluid reservoir 756 is supplied to the chamber 290. 另一个流体阀758对处理流体从肠管排出到废流体地点(图中未示出)的流动进行控制,其中的废流体地点被置于真空之下。 Another process fluid valve 758 pairs of fluid from the intestine into the waste fluid location (not shown) for controlling a flow, wherein the waste fluid sites were placed under vacuum.

流动阀704、740、742、746、748、750、752、754、以及758由操作者控制件108通过机动式内窥镜头电路726进行控制,以便于对各个气囊凸角510、512、514、520、522、以及524合适地进行充胀和放气,以使机动式内窥镜头102在肠管内具有选定的定位和/或倾斜;以使前气囊支撑件238合适地向前移动,从而使机动式内窥镜头102实现机动运动,并将处理流体合适地输送到肠管中,下文将参照图15对此进行描述。 Flow valve 704,740,742,746,748,750,752,754, and 758 by an operator controlled element 108 is controlled by the locomotive endoscope head circuit 726, 510, 512 in each corner for airbag projections, 520, 522, and 524 be suitably inflated and deflated, so that the locomotive endoscope head 102 with the selected positioning and / or tilt in the intestine; so that forward balloon support member 238 is suitably moved forward so locomotive endoscope head 102 so that maneuverability motion, and the treatment fluid is suitably conveyed to the intestine, as will be described with reference to FIG. 15.

下面参见图15,图中简化的绘画图表示了图1-12B所示机动式内窥镜头在处于肠液处理工作模式时的情形。 Referring now to Figure 15, the figure shows a simplified drawing FIG case shown in FIG. 1-12B locomotive endoscope head when in the intestinal juice processing mode. 从图15可看出,优选地是,管状体部分密封元件被完全充胀起来,其中的密封元件例如是气囊500的气囊凸角510、512、以及514和气囊502的气囊凸角520、522、和524,从而密封了位于气囊凸角510、512、514与气囊凸角520、522、524之间的肠管容积,使这部分容积与肠管的其余内部空间隔开。 As can be seen from FIG. 15, preferably, the tubular body portion of the sealing element is fully inflated together, wherein the sealing element is a balloon, for example, the balloon lobes 500, 510, 512, and 514 and the balloon lobes 520, 522 of the balloon 502 , and 524, thereby sealing the intestine volume between lobes 510, 512 of the airbag and airbag lobes 520,522,524, so that the remaining part of the interior volume of space and spaced apart from the intestine.

一旦实现了密封之后,处理流体760被从处理流体储器756经阀754、腔管290、以及狭缝230输送到肠管的密封部分中。 Once the seal is achieved, the treatment fluid 756 through valve 760 from the process fluid reservoir 754, lumen 290, and conveyed to the slit 230 in the seal part of the intestine. 在完成了处理之后,处理流体760可被从肠管的密封部分中经狭缝230、腔管290、以及阀758抽吸到废流体地点(图中未示出)。 After completion of the treatment, the treatment fluid 760 may be a slit through the sealing portion 230 from the intestine, the lumen 290, and a valve 758 to a waste fluid suction location (not shown). 作为可选和优选方案,处理流体760包括如下流体中的至少一种:治疗流体、比照增强流体、抗菌流体、酸性溶液、碱性溶液、或任何合适的其它流体。 As an alternative and preferred embodiment, at least one treatment fluid 760 in the fluid comprising: a fluid treatment, the fluid to enhance contrast, antibacterial fluid, acidic solution, basic solution, or any other suitable fluid.

下面参见图16A-16C,这些简化的绘画图表示了图1-12B所示机动式内窥镜头处于引导线工作模式时的情形。 Referring now to Figure 16A-16C, the simplified representation of FIG painting the case when the motor shown in FIG. 1-12B endoscope head in the guidewire mode. 如图16A所示,优选地是,气囊500的气囊凸角510、512、514以及气囊502的气囊凸角520、522、524都被充胀起来,从而将机动式内窥镜头102锚固到肠管上。 16A, preferably, the balloon lobes 510, 512 of the airbag 500 and the airbag 502 of the airbag 520,522,524 lobes are inflated together, so that the locomotive endoscope head 102 is anchored to the intestine on. 如图16B所示,一旦完成了在所需地点的锚固之后,就将多腔管104张紧。 As shown in FIG. 16B, once the anchor is completed at a desired location, multi-lumen tube 104 will be tensioned.

可以理解,气囊500、502各自的直径可确保牢固地锚固到肠管的任何部分上。 It will be appreciated, the diameter of each balloon 500, 502 can be firmly anchored to ensure that any portion of the intestine.

如图16C所示,一套接管800以多腔管104为引导线,并在其上滑动。 16C, taken over a multi-lumen tube 800 to guide wire 104, and slides thereon. 优选地是,套接管800的前部802包括内窥镜检查工具804。 Preferably, the ferrule 800 includes a front portion 802 endoscopy tool 804. 优选地是,内窥镜检查工具804可以是治疗工具、诊断工具、或外科工具,其可被沿多腔管104选择性地定位。 Preferably, the endoscopic treatment tool 804 may be a tool, a diagnostic tool, or a surgical tool, which may be in the multi-lumen tube 104 is selectively positioned. 在本发明一优选实施方式中,内窥镜检查工具804是超声波变送器。 In a preferred embodiment of the present invention, an endoscopic tool 804 is an ultrasonic transmitter. 在本发明另一优选实施方式中,内窥镜检查工具804是X射线辐射源或发生器。 In another preferred embodiment of the present invention, the tool 804 is endoscopy or X-ray radiation generator.

下面参见图17-19B,它们分别是简化的绘画图和剖视图,表示了根据本发明另一优选实施方式设计并工作的内窥镜检查系统、以及根据本发明一优选实施方式制造并工作的附件。 Referring to FIG 17-19B, which are simplified cross-sectional view and FIG drawing showing the design and operating according to another preferred embodiment of the present invention endoscopy system, and accessories for manufacturing and operating in accordance with a preferred embodiment of the present invention .

从图17-19B可看出,采用了普通的内窥镜检查系统1000,其例如是一控制台,该系统包括CV-160视频系统中心、CLC-160光源、OEV-203视频监控器、以及OFP冲洗泵,所有这些部件都可从位于美国NY 11747 Melville的2 Corporate Center Drive的Olympus美国有限公司购得。 As can be seen from FIG. 17-19B, using conventional endoscopy system 1000, for example, a console, the system includes a video system center CV-160, CLC-160 source, OEV-203 video monitor, and OFP flush pump, all of which are available in the United States from the Drive NY 2 Corporate 11747 Melville Center Olympus America Inc. is available. 采用了一种普通的内窥镜1002,其作为内窥镜检查系统1000的一个组成部件,该内窥镜例如是CF-Q160AL型视频结肠窥镜,其可从位于美国NY 11747 Melville的2 Corporate Center Drive的Olympus美国有限公司购得。 It uses a conventional endoscope 1002 as an integral component of the endoscopy system 1000, for example, the endoscope CF-Q160AL colon type video endoscope which can be positioned from the U.S. NY 11747 Melville 2 Corporate Center Drive of Olympus America Inc. purchased.

一个根据本发明一优选实施方式设计并工作的内窥镜工具1010延伸穿过普通内窥镜1002的仪器通道。 A design and operating according to a preferred embodiment of the present invention is an endoscopic instrument 1010 extends through the instrument channel of the endoscope 1002 in general. 内窥镜工具1010的特征在于:其包括一多腔管1012,该多腔管包括至少一个第一腔管1014,其用于经充胀孔眼1017对气囊1016执行充胀和放气,且该多腔管包括一第二腔管1018。 An endoscopic tool 1010 in that: it comprises a multi-lumen tube 1012, the multi-lumen tube comprises at least a first lumen 1014 for inflation through aperture 1016 1017 pairs airbag inflation and deflation performed, and multi-lumen tube includes a second lumen 1018. 优选地是,第二腔管1018可容纳一张紧线或压缩线1020。 Preferably, the second lumen 1018 may receive a tension or compression lines 1020 lines. 作为备选或补充方案,第二腔管1018可具有其它的功能。 Alternatively or additionally, the second lumen 1018 may have other functions. 作为另一种备选方案,作为内窥镜工具1010组成部件的多腔管1012可包括多于两个的腔管。 As a further alternative, the multi-lumen tube 1012 as an endoscope tool components 1010 may include more than two lumen. 优选地是,多腔管1012的横截面面积远小于仪器通道1011的面积,从而能输送流体,以便于经此执行对流体的吹入(inssuflation)和排泄。 Preferably, the cross-sectional area of ​​the multi-lumen tube 1012 is much smaller than the area of ​​the instrument channel 1011, which can transport fluid, in order to perform this by blowing a fluid (inssuflation) and excretion.

可以理解的是,根据本发明一优选实施方式,内窥镜工具1010和多腔管1012的柔性总体上远大于普通内窥镜1002及其内窥镜管的柔性。 It will be appreciated that, in accordance with a preferred embodiment of the present invention, is much larger than the ordinary endoscope flexible tube of the endoscope 1002 and the overall flexible endoscope tool 1010 and 1012 of the multi-lumen tube.

不难理解:根据本发明一优选实施方式,气囊1016基本上是可伸张的,且可被伸张到比其未充胀时直径大5-20倍的直径。 It will be appreciated: in accordance with a preferred embodiment of the present invention, the balloon 1016 is substantially stretchable and can be stretched to a diameter of 5-20 times larger than its diameter when not inflated. 在一种特定的实施方式中,为了用于小肠的内窥镜检查,气囊在完全伸张时的直径为4cm。 In one particular embodiment, for use in the small intestine endoscopy, the diameter of the balloon when fully stretched to 4cm. 优选地是,采用较低的压力—例如10-50毫巴的压力,可将气囊1016到小于4cm的直径。 Preferably, a lower pressure - for example, 10-50 mbar pressure, the balloon may be less than the diameter of 4cm to 1016. 在另一种特定的实施方式中,为了用于大肠的内窥镜检查,气囊在完全伸张时的直径为7cm。 In another particular embodiment, in order for the large intestine endoscopy, the diameter of the balloon when fully stretched to 7cm. 优选地是,可采用较低的压力—例如10-50毫巴的压力,将气囊1016充胀到小于7cm的直径。 Preferably, the lower pressures can be employed - e.g. 10-50 mbar pressure, the balloon 1016 is inflated to a diameter of less than 7cm.

可以理解:根据本发明一优选实施方式,为了用于对横截面直径可变的基本为管状的管体部分执行体内检查,气囊1016的扩张直径范围要大于基本管状体部分的最大横截面直径,从而可确保扩张开的气囊1016与基本管状体部分的内表面相接合,并将内窥镜工具1010锚固到内表面上。 It will be appreciated: According to a preferred embodiment of the present invention, in order for a variable cross-sectional diameter substantially tubular portion of the tubular body performs vivo examination, the expansion diameter range of balloon 1016 is greater than the maximum cross-sectional diameter of the generally tubular body portion, thereby securing the inner surface of the expandable balloon 1016 apart from the generally tubular body portion is engaged, and the endoscope tool 1010 is anchored to the inner surface. 优选地是,气囊1016是较为柔软的、高顺从性的气囊,其作用在于:当与基本管状体部分的内表面相接合时,至少部分地顺贴于管状体部分的内表面。 Preferably, the balloon 1016 is relatively soft, highly compliant balloon, its role is: when in contact with the inner surface of the tubular body portion is substantially engaged, at least partially affixed to the inner surface of the forward portion of the tubular body.

可以领会到:气囊1016可用公知的可伸张材料制成,这些材料例如是乳胶、柔性硅胶、或高柔性的尼龙。 Be appreciated that: the balloon 1016 is made available known stretchable materials, these materials are for example latex, flexible silicone, or highly flexible nylon. 作为备选方案,气囊1016可用伸张性和顺从性弱于乳胶、柔性硅胶、或高柔性尼龙的聚氨脂材料制成。 As an alternative, the available stretch of the balloon 1016 and compliance weaker than latex, made of flexible silicone, or highly flexible nylon polyurethane material. 优选地是,气囊1016的直径足以确保紧固地锚固到基本管状体部分的任何部位上。 Preferably, the diameter of balloon 1016 is sufficient to ensure securely anchored to any part of the generally tubular body portion.

如图17-19B所示,内窥镜工具1010优选地包括工具定位控制装置1024和气囊充胀/放气控制接口装置1026。 As shown in FIG 17-19B, the endoscope tool 1010 preferably includes a tool position control means 1024 and the balloon inflation / deflation control interface device 1026. 可以理解:多腔管1012和整个内窥镜工具1010可被从普通操作者控制件1032上的普通工具端口1030插入和撤出,其中的控制件1032作为普通内窥镜1002的组成部件。 It will be appreciated: the entire multi-lumen tube 1012 and the endoscope tool 1010 may be an operator control element from the ordinary common tool 1032 is inserted into and withdrawal port 1030 in which the control member 1032 as a common component part of the endoscope 1002.

下面参见图20A、20B、20C、20D、20E、20F、20G、20H、以及20I,这些简化图表示了图17-19B所示的内窥镜工具1010在处于各种工作定向时的情形。 Referring now to Figure 20A, 20B, 20C, 20D, 20E, 20F, 20G, 20H, and 20I, the simplified diagram showing the case endoscope tool 1010 shown in FIG. 17-19B at work in various orientations. 在图示的实施方式中,通过使工具穿过内窥镜1002的仪器通道1011合适地轴向移位,并辅以将张紧线1020适当地张紧,并将内窥镜工具1010相对于肠管作适当的转动定向,就能使内窥镜工具1010的前端具有所需的方向定向。 In the illustrated embodiment, by making the tool through the endoscope instrument channel 1002 1011 suitably axially displaced, and the tension cable 1020 supplemented appropriately tensioned, and with respect to the endoscope tool 1010 intestine for an appropriate rotational orientation, the tool distal end of the endoscope 1010 can have a desired orientation direction.

如图20A所示,内窥镜工具1010主要是位于内窥镜1002的仪器通道1011中,且气囊1016从其上突出,此时,气囊处于放气状态。 20A, the endoscope tool 1010 of the endoscope 1002 is mainly located in the instrument channel 1011 and the balloon 1016 protruding therefrom, at this time, the balloon in a deflated state.

图20B表示了内窥镜工具1010从仪器通道1011中进一步延伸出时的情形,而图20C则表示了内窥镜工具1010已相对于图20B所示的定向转过180度时的情形,其中,通过合适地拧扭多腔管1012(如箭头1022所示),就能实现内窥镜工具的转动定向。 FIG 20B shows a case when the endoscope tool 1010 further extends from the instrument channel 1011, while FIG. 20C shows the case when the endoscope tool 1010 has been rotated 180 degrees with respect to the orientation shown in FIG. 20B, wherein , by suitably twisting the multi-lumen tube 1012 (as shown by arrow 1022), you can achieve rotational orientation of the endoscope instrument.

图20D表示了由于将张紧线1020张紧而使内窥镜工具1010前端弯曲时的情形,在图示的情况下,工具处于图20C所示的定向位置,已被按照普通的方式推前。 20D shows a case where since 1020 when the tension wire tensioning tool 1010 so that the distal end of the endoscope is bent, in the illustrated case, the tool orientation in the position shown in FIG. 20C, has been pushed forward in accordance with a conventional manner .

图20E表示了使内窥镜工具1010穿过肠管的进一步过程,此过程来自于如下的操作:通过对工具定位控制装置1024进行操作,将所联的工具向前推送,同时释放引导线1020的张紧力。 FIG 20E shows a tool for the endoscope 1010 through the further course of the intestine, the process operation from the following: device 1024 by operating the position control means, the tool joint push forward while releasing the guidewire 1020 tension.

图20F表示了通过操作气囊充胀/放气控制接口装置1026而对气囊1016进行充胀的情形。 FIG 20F shows the operation by the balloon inflation / deflation control interface device 1026 and the case of inflating the balloon 1016. 根据本发明一优选实施方式,在气囊1016的位置处,该充胀作业可将内窥镜工具1010的前端锚固到肠管上。 According to a preferred embodiment of the present invention, at the position of the balloon 1016, the job may be inflation tool distal end of the endoscope 1010 is anchored to the intestine.

图20G表示了通过牵拉多腔管1012而将包含多腔管1012的内窥镜工具1010张紧的操作。 FIG 20G shows a tensioning operation of the endoscope 1010 through the tool lumen 1012 Colorado retractor comprising a multi-lumen tube 1012.

图20H表示了沿多腔管1012将内窥镜1002推前时的情形,此操作将多腔管用作一种引导线。 FIG. 20H shows the case where the endoscope 1002 when pushed forward along the multi-lumen tube 1012, this operation will be used as a multi-lumen tube guide wire. 可按照普通的方式将内窥镜1002推前。 The endoscope 1002 can be pushed forward in accordance with a conventional manner. 而后,如图19I所示,可将气囊1016放气。 Then, as shown in FIG. 19I, balloon 1016 can be deflated.

将内窥镜经肠管进一步向前移动,优选地是要达到这样的位置:仪器通道1011的前端刚好位于气囊1016的后方,从而类似于图20A所示的定向状态,按照所遇到的几何状况的要求,可通过重复上文参照图20A-20I所描述的全部或部分步骤而实现进一步的移动。 Further moving the endoscope forward through the intestine, preferably to achieve this position: the distal end of the instrument channel 1011 is located just behind the balloon 1016, thus the orientation state shown in FIG. 20A is similar, according to the geometries encountered the request can be repeated with reference to all or part of the above steps described in FIGS. 20A-20I is achieved by further movement.

下面参见图21-23B,它们分别是简化的绘画图和剖视图,表示了根据本发明另一优选实施方式设计并工作的内窥镜检查系统、以及根据本发明一优选实施方式制造并工作的附件。 Referring to FIG 21-23B, which are simplified cross-sectional view and FIG drawing showing the design and operating according to another preferred embodiment of the present invention endoscopy system, and accessories for manufacturing and operating in accordance with a preferred embodiment of the present invention .

从图21-23B可看出,采用了普通的内窥镜检查系统1300,其例如是一控制台,该系统包括CV-160视频系统中心、CLC-160光源、OEV-203视频监控器、以及OFP冲洗泵,所有这些部件都可从位于美国NY 11747 Melville的2 Corporate Center Drive的Olympus美国有限公司购得。 As can be seen from FIG. 21-23B, using conventional endoscopy system 1300, for example, a console, the system includes a video system center CV-160, CLC-160 source, OEV-203 video monitor, and OFP flush pump, all of which are available in the United States from the Drive NY 2 Corporate 11747 Melville Center Olympus America Inc. is available. 可采用一种普通的内窥镜1302,其作为内窥镜检查系统1300的一个组成部件,该内窥镜例如是CF-Q160AL型视频结肠窥镜,其可从位于美国NY 11747 Melville的2 Corporate Center Drive的Olympus美国有限公司购得。 1302 can be a conventional endoscope, as a component part of an endoscopic system 1300, for example, the endoscope CF-Q160AL colon type video endoscope which can be positioned from the U.S. NY 11747 Melville 2 Corporate Center Drive of Olympus America Inc. purchased. 根据本发明一优选实施方式,可如图示那样在内窥镜1302上安装一个环周的气囊1304。 According to a preferred embodiment of the present invention, as illustrated is mounted a circumferential ring 1304 of the endoscope 1302 airbag. 优选地是,可利用与气囊内部连通的管体1306来对环周气囊1304执行充胀和放气操作。 Preferably, 1306 to inflation and deflation operations may be utilized with the tubular body communicating the interior of the airbag peripheral balloon 1304.

根据本发明一优选实施方式设计并工作的内窥镜工具1310延伸穿过普通内窥镜1302的仪器通道1311。 Constructed and operative in accordance with a preferred embodiment of the present invention is an endoscopic instrument 1310 extends through the instrument channel of the endoscope normal to 13,111,302. 内窥镜工具1310的特征在于:其包括多腔管1312,该多腔管包括至少一个第一腔管1314,其用于经充胀孔眼1317对气囊1316执行充胀和放气,且该多腔管包括一第二腔管1318。 Characterized in that endoscope tool 1310: 1312 which includes a multi-lumen tube, the multi-lumen tube includes at least one first lumen 1314 which is used by the inflatable bladder 1316 performs aperture 1317 pairs of inflation and deflation, and the multi- lumen 1318 includes a second lumen. 优选地是,第二腔管1318可容纳一张紧线或压缩线1320。 Preferably, the second lumen 1318 may receive a tension or compression lines 1320 lines. 作为备选或补充方案,第二腔管1318可具有其它的功能。 Alternatively or additionally, the second lumen 1318 may have other functions. 作为另一种备选方案,作为内窥镜工具1310组成部件的多腔管1312可包括多于两个的腔管。 As a further alternative, the multi-lumen tube 1312 as an endoscope tool components 1310 may include more than two lumen. 优选地是,多腔管1312的横截面面积远小于仪器通道1311的面积,从而能输送流体,以便于经此执行对流体的吹入(inssuflation)和排泄。 Preferably, the cross-sectional area of ​​the multi-lumen tube 1312 is much smaller than the area of ​​the instrument channel 1311, which can transport fluid, in order to perform this by blowing a fluid (inssuflation) and excretion.

可以理解的是,根据本发明一优选实施方式,内窥镜工具1310和多腔管1312的柔性总体上远大于普通内窥镜1302及其内窥镜管的柔性。 It will be appreciated that, in accordance with a preferred embodiment of the present invention, is much larger than the ordinary endoscope flexible tube of the endoscope 1302 and the overall flexible endoscope tool 1310 and 1312 of the multi-lumen tube.

不难理解:根据本发明一优选实施方式,气囊1316基本上是可伸张的,且可被伸张到比其未充胀时直径大5-20倍的直径。 It will be appreciated: in accordance with a preferred embodiment of the present invention, the balloon 1316 is substantially stretchable and can be stretched to a diameter of 5-20 times larger than its diameter when not inflated. 在一种特定的实施方式中,为了用于小肠的内窥镜检查,气囊在完全伸张时的直径为4cm。 In one particular embodiment, for use in the small intestine endoscopy, the diameter of the balloon when fully stretched to 4cm. 优选地是,采用较低的压力—例如10-50毫巴的压力,可将气囊1316到小于4cm的直径。 Preferably, a lower pressure - for example, 10-50 mbar pressure, the balloon may be less than the diameter of 4cm to 1316. 在另一种特定的实施方式中,为了用于大肠的内窥镜检查,气囊在完全伸张时的直径为7cm。 In another particular embodiment, in order for the large intestine endoscopy, the diameter of the balloon when fully stretched to 7cm. 优选地是,可采用较低的压力—例如10-50毫巴的压力,将气囊1316充胀到小于7cm的直径。 Preferably, the lower pressures can be employed - e.g. 10-50 mbar pressure, the balloon 1316 is inflated to a diameter of less than 7cm.

可以理解:根据本发明一优选实施方式,为了用于对横截面直径可变的基本为管状的管体部分执行体内检查,气囊1316的扩张直径范围要大于基本管状体部分的最大横截面直径,从而可确保扩张开的气囊1316与基本管状体部分的内表面相接合,并将内窥镜工具1310锚固到内表面上。 It will be appreciated: According to a preferred embodiment of the present invention, in order for a variable cross-sectional diameter substantially tubular portion of the tubular body performs vivo examination, the expansion diameter range of balloon 1316 is greater than the maximum cross-sectional diameter of the generally tubular body portion, thereby securing the inner surface of the expandable balloon 1316 apart from the generally tubular body portion is engaged, and the endoscope tool 1310 is anchored to the inner surface. 优选地是,气囊1316是较为柔软的、高顺从性的气囊,其作用在于:当与基本管状体部分的内表面相接合时,至少部分地顺贴着管状体部分的内表面。 Preferably, the balloon 1316 is relatively soft, highly compliant balloon, its role is: when in contact with the inner surface of the tubular body portion is substantially engaged, at least partially against the inner surface of the forward portion of the tubular body.

可以领会到:气囊1316可用公知的可伸张材料制成,这些材料例如是乳胶、柔性硅胶、或高柔性的尼龙。 Be appreciated that: the balloon 1316 is made available known stretchable materials, these materials are for example latex, flexible silicone, or highly flexible nylon. 作为备选方案,气囊1316可用伸张性和顺从性弱于乳胶、柔性硅胶、或高柔性尼龙的聚氨脂材料制成。 As an alternative, the available stretch of the balloon 1316 and compliance weaker than latex, made of flexible silicone, or highly flexible nylon polyurethane material. 优选地是,气囊1316的直径足以确保紧固地锚固到基本管状体部分的任何部位上。 Preferably, the diameter of balloon 1316 is sufficient to ensure securely anchored to any part of the generally tubular body portion.

如图21-23B所示,内窥镜工具1310优选地包括工具定位控制装置1324和气囊充胀/放气控制接口装置1326。 As shown in FIG 21-23B, the endoscope tool 1310 preferably includes a tool position control means 1324 and the balloon inflation / deflation control interface device 1326. 另外,优选地是,设置一个环周气囊充胀/放气控制接口装置1328,其与管体1306连通,并控制环周气囊1304的充胀和放气。 Further, preferably, it is provided a peripheral balloon inflation / deflation control interface device 1328, which communicates with the tube 1306, and controls the peripheral balloon inflation and deflation of 1304. 可以理解:多腔管1312和整个内窥镜工具1310可被从普通操作者控制件1332上的普通工具端口1330插入和撤出,其中的控制件1 332作为普通内窥镜1 302的组成部件。 It will be appreciated: the entire multi-lumen tube 1312 and the endoscope tool 1310 can be controlled on a common tool member 1332 is inserted into and withdrawn from ports 1330's normal operation, wherein the control member 1332 as an integral part of the ordinary endoscope 1302 .

下面参见图24A、24B、24C、24D、24E、24F、24G、24H、24I、24J、24K、以及24L,这些简化图表示了图21-23B所示的内窥镜工具1310在处于各种工作定向时的情形。 Referring now to Figure 24A, 24B, 24C, 24D, 24E, 24F, 24G, 24H, 24I, 24J, 24K, and 24L, which shows a simplified view of the endoscope shown in FIG. 21-23B in various work tool 1310 the case when directed. 在图示的实施方式中,通过使工具穿过内窥镜1302的仪器通道1311合适地轴向移位,并辅以将张紧线1320适当地张紧,并将内窥镜工具1310相对于肠管作适当的转动定向,就能使内窥镜工具1310的前端具有所需的方向定向。 In the illustrated embodiment, by making the tool through the endoscope instrument channel 1302 1311 suitably axially displaced, and the tension cable 1320 supplemented appropriately tensioned, and with respect to the endoscope tool 1310 intestine for an appropriate rotational orientation, the tool distal end of the endoscope 1310 can have a desired orientation direction.

如图24A所示,内窥镜工具1310主要是位于内窥镜1302的仪器通道1311中,且气囊1316从其上突出,此时,气囊处于放气状态。 24A, the endoscope tool 1310 of the endoscope 1302 is mainly located in the instrument channel 1311 and the balloon 1316 protruding therefrom, at this time, the balloon in a deflated state. 如图所示,环周气囊1304处于放气状态。 As shown, the peripheral balloon 1304 in a deflated state.

图24B表示了内窥镜工具1310主要处于内窥镜1302的仪器通道1311中时的情形,且处于放气状态的气囊1316从其上突伸出。 24B shows a balloon endoscope tool 1310 is primarily the case when the instrument channel 1311 of the endoscope 1302, and 1316 in a deflated state projecting therefrom. 如图所示,环周气囊1304处于膨胀状态,从而与肠管的内壁相接合,从而将内窥镜1302锚固在此。 As shown, the peripheral balloon 1304 in an inflated state, whereby engagement with the inner wall of the intestine, thereby anchoring the endoscope 1302 here.

图24C表示了内窥镜工具1310从仪器通道1311中进一步延伸出时的情形,而图24D则表示了内窥镜工具1310已相对于图24C所示的定向转过180度时的情形,其中,通过合适地拧扭多腔管1312(如箭头1340所示),就能实现内窥镜工具的转动定向。 FIG 24C shows a case when 1310 is further instrument channel 1311 extending from the endoscope tool, and FIG. 24D shows the endoscope tool 1310 is shown in FIG. 24C with respect to the orientation of the case when rotated 180 degrees, wherein , by suitably twisting the multi-lumen tube 1312 (as shown by arrow 1340), you can achieve rotational orientation of the endoscope instrument.

图24E表示了由于将张紧线1320张紧而使内窥镜工具1310前端弯曲时的情形,在图示的情况下,工具处于图24D所示的定向位置,且已被按照普通的方式推前。 FIG 24E shows a tensioning since 1320 when the case 1310 is bent wire tensioning tool distal end of the endoscope, in the illustrated case, the tool orientation in the position shown in FIG. 24D, and has been pushed in accordance with a conventional manner before.

图24F表示了使内窥镜工具1310穿过肠管的进一步过程,此过程来自于如下的操作:利用工具定位控制装置1324的操作,将所联的工具向前推送,同时释放引导线1320的张紧力。 FIG 24F shows a tool for the endoscope 1310 through the further course of the intestine, the process from the following operations: positioning operation using the tool control apparatus 1324, with the push tool forward while releasing the guidewire 1320 sheets clamping force.

图24G表示了通过操作气囊充胀/放气控制接口装置1326而对气囊1316进行充胀的情形。 FIG. 24G shows the operation by the balloon inflation / deflation control interface device 1326 and 1316 for inflating the airbag case. 根据本发明一优选实施方式,在气囊1316的位置处,该充胀作业可将内窥镜工具1310的前端锚固到肠管上。 According to a preferred embodiment of the present invention, at the position of the balloon 1316, the job may be inflation tool distal end of the endoscope 1310 is anchored to the intestine.

图24H表示了通过牵拉多腔管1312而将包含多腔管1312的内窥镜工具1310张紧的操作。 FIG. 24H shows the operation of the endoscope tensioning tool 1310 through lumen 1312 Colorado retractor comprising a multi-lumen tube 1312.

图24I表示了对环周气囊1304进行放气的情形。 FIG. 24I shows the situation of peripheral balloon 1304 is deflated.

图24J表示了沿多腔管1312将内窥镜1302推前时的情形,此操作将多腔管用作一种引导线。 FIG. 24J shows the case where the endoscope 1302 when pushed forward along the multi-lumen tube 1312, this operation will be used as a multi-lumen tube guide wire. 可按照普通的方式将内窥镜1302推前。 The endoscope 1302 can be pushed forward in accordance with a conventional manner.

图24K表示了对环周气囊1304进行充胀,使其与肠管的内壁相接合,从而将内窥镜1302锚固在此。 FIG. 24K shows a pair of peripheral balloon 1304 is inflated, it engages the inner wall of the intestine, thereby anchoring the endoscope 1302 here.

而后,如图24L所示,可将气囊1316放气。 Then, as shown in Figure 24L, the balloon 1316 can be deflated.

优选地是,将内窥镜经肠管进一步向前移动,以到达这样的位置:仪器通道1311的前端刚好位于气囊1316的后方,从而类似于图24B所示的定向状态,按照所遇到的几何状况的要求,可通过重复上文参照图24B-24L所描述的全部或部分步骤而实现进一步的移动。 Preferably, the further forward movement of the endoscope through the intestine, to reach this position: the distal end of the instrument channel 1311 is located just behind the balloon 1316, thus the orientation is similar to the state shown in FIG. 24B, in accordance with the geometry encountered the required conditions can be achieved by repeating the above further moving all or part of the steps with reference to FIGS. 24B-24L described.

本领域技术人员可以领会到:本发明并不限于上文具体表示和描述的内容。 Those skilled in the art can appreciate that: the present invention is not limited to what has been particularly shown and described hereinabove. 本发明的范围包括上述各个特征的组合形式和部分组合形式以及那些本领域技术人员在阅读了上文的详述能认识到的、且不属于现有技术的改型。 Combination of the above-described scope of the present invention includes various features and sub-combinations forms as well as those skilled in the art upon reading the foregoing detailed description can be appreciated, modifications does not belong to the prior art.

Claims (169)

  1. 1.一种机动式内窥镜组件,包括:机动式内窥镜头,包括沿纵向轴线延伸的主体部分,且该内窥镜头上具有与之相关的可选择性膨胀的第一气囊和可选择定位的部分,可选择定位部分可沿着所述主体部分进行定位,内窥镜头还具有与之相关的可选择性膨胀的第二气囊;以及机动式内窥镜头控制器,对机动式内窥镜头的工作进行控制并且其可操作地用于控制所述可选择定位部分相对于主体部分的定位、以及所述第一和第二可选择膨胀气囊的充胀。 A self-propelled endoscope assembly, comprising: a locomotive endoscope head comprising a body portion extending along a longitudinal axis, the head having an endoscope and which is selectively expandable balloon associated therewith a first and optionally the positioning portion, the positioning portion may alternatively be positioned along the body portion, the endoscope head further having a second selectively inflatable balloon associated therewith; and a locomotive endoscope head controller for motorized endoscopic lens work is controlled and which is selectively operable for controlling the positioning portion positioned with respect to the body portion, and the first and second selectably inflatable balloon inflated.
  2. 2.根据权利要求1所述的机动式内窥镜组件,其特征在于:所述第一、第二可选择膨胀气囊中的至少之一包括可伸张的气囊。 The locomotive endoscope assembly according to claim 1, wherein: said first, second at least one selectively inflatable balloon comprises a stretchable balloon.
  3. 3.根据权利要求1或2所述的机动式内窥镜组件,其特征在于:机动式内窥镜组件还包括与所述机动式内窥镜头相关的内窥镜体。 The locomotive endoscope assembly according to claim 1, wherein: the locomotive endoscope assembly further comprises a motor associated with the endoscope head endoscope body.
  4. 4.根据权利要求3所述的机动式内窥镜组件,其特征在于:仪器通道至少部分地延伸穿过所述机动式内窥镜头和所述内窥镜体。 4. The locomotive endoscope assembly according to claim 3, wherein: the instrument channel extending at least partially through the motor endoscope head and body of the endoscope.
  5. 5.根据上述权利要求之一所述的机动式内窥镜组件,其特征在于:所述机动式内窥镜头具有固定的长度。 5. The motor according to claim endoscope assembly according to formula, characterized in that: the locomotive endoscope head has a fixed length.
  6. 6.根据权利要求3到5之一所述的机动式内窥镜组件,其特征在于:所述内窥镜体包括多腔管。 6. The motor 3 to the endoscope assembly according to one of claim 5, wherein: said body comprises a multi-lumen tube of the endoscope.
  7. 7.根据权利要求3到6之一所述的机动式内窥镜组件,其特征在于:所述内窥镜体与所示机动式内窥镜头控制器实现接口连接。 7. The motor 3 to the endoscope assembly according to one of claim 6, wherein: the motor controller shown endoscope head of the endoscope body realizes interface.
  8. 8.根据上述权利要求之一所述的机动式内窥镜组件,其特征在于:机动式内窥镜组件还包括内窥镜检查系统,所述机动式内窥镜头控制器可与该系统相连接。 8. The motor according to claim endoscope assembly according to formula, characterized in that: the motor assembly further comprises endoscope endoscopy system, the locomotive endoscope head relative to the system controller connection.
  9. 9.根据权利要求6-8之一所述的机动式内窥镜组件,其特征在于:所述多腔管包括至少一个腔管,其作用至少在于如下一项功能:对气囊进行充胀;对所述机动式内窥镜头的可选择定位部分进行定位;使光纤和导电线束的至少之一由此穿过;以及实现流体连通。 9. The endoscope according to claim motor assembly of one of 6-8, wherein: the multi-lumen tube includes at least one lumen, wherein at least one of the following action which features: inflating the airbag; for selectable positioning portion of the endoscope head positioning motor; optical fiber and at least one of the conductive strands therethrough; and fluid communication.
  10. 10.根据权利要求6-9之一所述的机动式内窥镜组件,其特征在于:所述多腔管包括至少一个腔管,其作用在于实现如下的各个功能:对气囊进行充胀;对所述机动式内窥镜头的所述可选择定位部分进行定位;以及使光纤和导电线束的至少之一由此穿过。 10. The endoscope according to claim motor assembly of one of 6-9, wherein: the multi-lumen tube includes at least one lumen, the effect is to realize the respective functions of: inflating the balloon; of the locomotive endoscope head selectively positioning portion for positioning; and the optical fiber and at least one of the conductive strands therethrough.
  11. 11.根据权利要求9或10所述的机动式内窥镜组件,其特征在于:所述至少一个腔管包括至少一个第一腔管,其作用在于对所述第一可选择膨胀气囊进行充胀,并包括至少一个第二腔管,其作用在于对所述第二可选择膨胀气囊进行充胀。 11. The self-propelled endoscope assembly of claim 9 or claim 10, wherein: said at least one lumen comprises at least one first lumen, wherein the effect of the first charge selectably inflatable balloon expansion, and comprising at least a second lumen, wherein the effect of the second selectably inflatable balloon inflating.
  12. 12.根据上述权利要求之一所述的机动式内窥镜组件,其特征在于:所述可选择定位部分可相对于所述主体部分进行滑动定位。 12. A motor according to claim endoscope assembly according to formula, characterized in that: said portion may be selectively positioned relative to said body portion for positioning slides.
  13. 13.根据上述权利要求之一所述的机动式内窥镜组件,其特征在于:所述机动式内窥镜头包括至少一个光源和至少一个成像传感器。 13. A motor according to claim endoscope assembly according to formula, characterized in that: the motorized endoscope head includes at least one light source and at least one imaging sensor.
  14. 14.根据上述权利要求之一所述的机动式内窥镜组件,其特征在于:所述第一可选择膨胀气囊包括至少两个可独立膨胀的气囊部分。 14. A motor according to claim endoscope assembly according to formula, characterized in that: said first selectively inflatable balloon comprises at least two independently inflatable balloon portions.
  15. 15.根据上述权利要求之一所述的机动式内窥镜组件,其特征在于:所述第二可选择膨胀气囊包括至少两个可独立膨胀的气囊部分。 15. A motor according to claim endoscope assembly according to formula, characterized in that: said second selectably inflatable balloon comprises at least two independently inflatable balloon portions.
  16. 16.根据权利要求14或15所述的机动式内窥镜组件,其特征在于:所述第二可选择膨胀气囊的所述至少两个可独立膨胀气囊部分相对于所述第一可选择膨胀气囊的所述至少两个可独立膨胀气囊部分成方位角偏置关系。 16. The motor assembly 14 or the endoscope of claim 15, wherein: said second selectively inflatable balloon at least two independently inflatable balloon portion relative to the first selectable expansion the airbag at least two independently inflatable balloon portion azimuthally offset relationship.
  17. 17.根据上述权利要求之一所述的机动式内窥镜组件,其特征在于:所述机动式内窥镜头控制器提供了机动功能,该功能适于使所述机动式内窥镜头逐步地移动从而穿过基本为管状的管体部分。 17. According to the motor of one of claims endoscope assembly, wherein: the locomotive endoscope head controller provides a motor function, which is adapted to cause the motor stepwise endoscope head thereby substantially move through the tubular portion of the tubular body.
  18. 18.根据权利要求17所述的机动式内窥镜组件,其特征在于:所述机动功能包括能实现如下依次操作的功能:对所述第一可选择膨胀气囊进行充胀,由此将第一可选择膨胀气囊锚固到所述基本管状体部分的内表面上;将所述可选择定位部分和所述第二可选择膨胀气囊相对于所述第一可选择膨胀气囊在轴向上重新进行定位;对所述第二可选择膨胀气囊进行充胀,由此将所述第二可选择膨胀气囊锚固到基本管状体部分的内表面上;对所述第一可选择膨胀气囊进行放气,由此解除所述第一可选择膨胀气囊与所述基本管状体部分内表面的锚固;以及将所述第一可选择膨胀气囊相对于所述可选择定位部分和所述第二可选择膨胀气囊在轴向上重新进行定位。 18. The motor as claimed in claim endoscope assembly of claim 17, wherein: said motor comprises a functional sequence can achieve the following functions to: select the first inflatable balloon inflating, whereby the first a selectably inflatable balloon anchored to the inner surface of the substantially tubular body portion; and the second portion selectably positionable selectively relative to the first inflatable balloon selectably inflatable balloon in the axial direction to re positioned; the second selectably inflatable balloon inflating, whereby the second selectively inflatable balloon anchored to the inner surface of the substantially tubular body portion; the first selectably inflatable balloon deflation, thereby selectively releasing said first anchoring balloon expandable inner portion of the surface of the substantially tubular body; and the first inflatable balloon selectable selectable positioning relative to said second portion and said selectably inflatable balloon re-positioned in the axial direction.
  19. 19.根据权利要求18所述的机动式内窥镜组件,其特征在于:所述第一可选择膨胀气囊被设置成相对于所述基本管状体部分位于所述第二可选择膨胀气囊的前方。 19. A locomotive endoscope assembly according to claim 18, wherein: said first inflatable balloon is selectively disposed relative to said generally tubular body portion of said inflatable balloon positioned in front of a second selectable .
  20. 20.根据权利要求18所述的机动式内窥镜组件,其特征在于:所述第二可选择膨胀气囊被设置成相对于所述基本管状体部分位于所述第一可选择膨胀气囊的前方。 20. The self-propelled endoscope assembly according to claim 18, wherein: said second inflatable balloon being selectively disposed relative to said tubular body portion substantially in front of said first optional inflatable balloon .
  21. 21.一种机动式内窥镜组件,包括:机动式内窥镜头,其包括沿纵向轴线延伸的主体部分,且内窥镜头具有与之相关的可在径向上选择性扩张的第一元件,并具有可选择定位的部分,可选择定位部分可沿着所述主体部分进行定位,且内窥镜头具有与之相关的可在径向上选择性扩张的第二元件;以及机动式内窥镜头控制器,其对机动式内窥镜头的工作进行控制,其可操作地用于控制所述可选择定位部分相对于所述主体部分的定位、以及所述第一和第二可选择径向扩张元件的选择性扩张。 21. A self-propelled endoscope assembly, comprising: a locomotive endoscope head comprising a body portion extending along a longitudinal axis, a first member having a head and an endoscope can be selectively expandable in the radial direction associated therewith, and having a portion selectable positioning, the positioning portion may be selectively positioned along the body portion, and a second element having an endoscope head associated therewith is selectively expandable in the radial direction; and a controlling locomotive endoscope head device, which controls the operation of the locomotive endoscope head, which is operable for selectively controlling the positioning portion positioning the body portion, and the first and second selectively radially expandable member with respect to selective expansion.
  22. 22.根据权利要求21所述的机动式内窥镜组件,其特征在于:所述第一、第二可选择径向扩张元件中的至少之一包括可选择膨胀的气囊。 22. The motor as claimed in claim endoscope assembly of claim 21, wherein: said first, at least one radially expandable second selectable element comprises a selectively inflatable balloon.
  23. 23.根据权利要求22所述的机动式内窥镜组件,其特征在于:所述可选择膨胀的气囊包括可伸张的气囊。 23. A locomotive endoscope assembly according to claim 22, wherein: said inflatable balloon comprises a selectively stretchable balloon.
  24. 24.根据权利要求21-23之一所述的机动式内窥镜组件,其特征在于:所述机动式内窥镜组件还包括与所述机动式内窥镜头相关的内窥镜体。 24. The motor as claimed in claim endoscope assembly according to one of 21-23, wherein: the endoscope assembly further comprises a motor associated with the locomotive endoscope head of the endoscope body.
  25. 25.根据权利要求24所述的机动式内窥镜组件,其特征在于:仪器通道至少部分地延伸穿过所述机动式内窥镜头和所述内窥镜体。 25. The motor as claimed in claim endoscope assembly of claim 24, wherein: the instrument channel extending at least partially through the motor endoscope head and body of the endoscope.
  26. 26.根据权利要求21-25之一所述的机动式内窥镜组件,其特征在于:所述机动式内窥镜头具有固定的长度。 26. The motor as claimed in claim endoscope assembly according to one of 21-25, wherein: the locomotive endoscope head has a fixed length.
  27. 27.根据权利要求24-26之一所述的机动式内窥镜组件,其特征在于:所述内窥镜体包括多腔管。 27. The motor as claimed in claim endoscope assembly according to one of 24-26, wherein: said body comprises a multi-lumen tube of the endoscope.
  28. 28.根据权利要求24-27之一所述的机动式内窥镜组件,其特征在于:所述内窥镜体与所述机动式内窥镜头控制器实现接口连接。 28. The motor as claimed in claim endoscope assembly according to one of 24-27, wherein: said endoscope body and the endoscope head controller motorized implement interfaces.
  29. 29.根据权利要求21-28之一所述的机动式内窥镜组件,其特征在于:所述机动式内窥镜组件还包括内窥镜检查系统,其可与所述机动式内窥镜头控制器相连接。 29. The motor as claimed in claim endoscope assembly according to one of 21-28, wherein: said assembly further comprises a motorized endoscope endoscopy system which can maneuver the endoscope head connected to the controller.
  30. 30.根据权利要求27-29之一所述的机动式内窥镜组件,其特征在于:所述多腔管包括至少一个腔管,其作用至少在于如下一项功能:使径向扩张元件实现扩张;对所述机动式内窥镜头的所述可选择定位部分进行定位;使光纤和导电线束的至少之一由此穿过;以及实现流体连通。 30. The locomotive endoscope assembly according to one of claims 27-29, wherein: the multi-lumen tube includes at least one lumen, wherein at least one of the following action which features: a radially expandable member so implemented expansion; selectable positioning portion for positioning the endoscope head in the motor; optical fiber and at least one of the conductive strands therethrough; and fluid communication.
  31. 31.根据权利要求27-30之一所述的机动式内窥镜组件,其特征在于:所述多腔管包括至少一个腔管,其作用在于实现如下各个功能:使径向扩张元件实现扩张;对所述机动式内窥镜头的所述可选择定位部分进行定位;以及使光纤和导电线束的至少之一由此穿过。 31. The motor as claimed in claim endoscope assembly according to one of 27-30, wherein: the multi-lumen tube includes at least one lumen, its role is to achieve the following respective functions: radial expandable expansion member implemented ; of the locomotive endoscope head selectively positioning portion for positioning; and the optical fiber and at least one of the conductive strands therethrough.
  32. 32.根据权利要求30或31所述的机动式内窥镜组件,其特征在于:所述至少一个腔管包括至少一个第一腔管,其作用在于对所述第一可选择径向扩张元件进行扩张,并包括至少一个第二腔管,其作用在于对所述第二可选择径向扩张元件进行扩张。 32. The self-propelled endoscope assembly of claim 30 or claim 31, wherein: said at least one lumen comprises at least one first lumen, wherein the effect of radial expansion of said first selectable element for expansion, and comprising at least a second lumen, wherein the effect of said second selectively radially expandable member to expand.
  33. 33.根据权利要求21-32之一所述的机动式内窥镜组件,其特征在于:所述可选择定位部分可相对于所述主体部分进行滑动定位。 33. The motor as claimed in claim endoscope assembly according to one of 21-32, wherein: said portion may be selectively positioned relative to said body portion for positioning slides.
  34. 34.根据权利要求21-33之一所述的机动式内窥镜组件,其特征在于:所述机动式内窥镜头包括至少一个光源和至少一个成像传感器。 34. The motor as claimed in claim endoscope assembly according to one of 21-33, wherein: the locomotive endoscope head comprising at least one light source and at least one imaging sensor.
  35. 35.根据权利要求21-34之一所述的机动式内窥镜组件,其特征在于:所述第一可选择径向扩张元件包括至少两个可独立扩张的元件部分。 35. The motor as claimed in claim endoscope assembly according to one of 21-34, wherein: the radially expandable member comprises a first selectable element portion at least two independently expandable.
  36. 36.根据权利要求21-35之一所述的机动式内窥镜组件,其特征在于:所述第二可选择径向扩张元件包括至少两个可独立扩张的元件部分。 36. The motor as claimed in claim endoscope assembly according to one of 21-35, wherein: said second selectable element comprises a radially expandable portion at least two elements independently expandable.
  37. 37.根据权利要求35或36所述的机动式内窥镜组件,其特征在于:所述第二可选择径向扩张元件的所述至少两个可独立扩张元件部分相对于所述第一可选择径向扩张元件的所述至少两个可独立扩张元件部分成方位角偏置关系。 37. The self-propelled endoscope assembly of claim 35 or claim 36, wherein: said radial expansion of said second selectable element of the at least two independently expandable portion relative to the first member may be select two radial expansion of the element may at least partially separate expandable member are azimuthally offset relationship.
  38. 38.根据权利要求21-37之一所述的机动式内窥镜组件,其特征在于:所述机动式内窥镜头控制器提供了机动功能,该功能适于使所述机动式内窥镜头逐步地移动从而穿过基本为管状的管体部分。 38. The motor as claimed in claim endoscope assembly according to one of 21-37, wherein: the locomotive endoscope head controller provides a motor function, which is adapted to the locomotive endoscope head stepwise moved to pass through the tube substantially tubular body portion.
  39. 39.根据权利要求38所述的机动式内窥镜组件,其特征在于:所述机动功能包括能实现如下依次操作的功能:使所述第一可选择径向扩张元件发生扩张,由此将所述第一可选择径向扩张元件锚固到所述基本管状体部分的内表面上;将所述可选择定位部分和所述第二可选择径向扩张元件相对于所述第一可选择径向扩张元件在轴向上重新进行定位;使所述第二可选择径向扩张元件发生扩张,由此将第二可选择径向扩张元件锚固到所述基本管状体部分的内表面上;使所述第一可选择径向扩张元件发生收缩,由此解除所述第一可选择径向扩张元件与所述基本管状体部分内表面的锚固;以及将所述第一可选择径向扩张元件相对于所述可选择定位部分和所述第二可选择径向扩张元件在轴向上重新进行定位。 39. The self-propelled endoscope assembly according to claim 38, wherein: said motor comprises a functional sequence can achieve the following functions for: selectively radially expand the first expandable member occurs, thereby radially expanding said first optional element is anchored to the inner surface of the substantially tubular body portion; selectively positioning the selectable portion and said second radially expandable member relative to the first selectable path to re-expansion element is positioned in the axial direction; the second selectable element radially expandable expansion occurs, whereby the second selectively radially expandable element is anchored to the inner surface of the substantially tubular body portion; make Alternatively the first expandable member is contracted radially, whereby a radially expandable selectively releasing said first anchoring portion of the inner surface of the tubular element and the base body; and the first selectable element radially expandable selectably positionable relative to said second portion and said radially expandable member selectively re-positioned in the axial direction.
  40. 40.根据权利要求39所述的机动式内窥镜组件,其特征在于:所述第一可选择径向扩张元件被设置成相对于所述基本管状体部分位于所述第二可选择径向扩张元件的前方。 40. The self-propelled endoscope assembly according to claim 39, wherein: said first selectively radially expandable member is disposed relative to the base of the second tubular body portion is located radially selectable front expansion element.
  41. 41.根据权利要求39所述的机动式内窥镜组件,其特征在于:所述第二可选择径向扩张元件被设置成相对于所述基本管状体部分位于所述第一可选择径向扩张元件的前方。 41. The self-propelled endoscope assembly according to claim 39, wherein: said second selectively radially expandable member is disposed relative to the base portion in the first tubular body radially selectable front expansion element.
  42. 42.一种内窥镜组件,包括:沿纵向轴线延伸的内窥镜头,其具有与之相关的多个可选择膨胀的第一气囊,这些气囊位于沿内窥镜头的至少一个第一轴向位置处,且该内窥镜头具有与之相关的多个可选择膨胀的第二气囊,这些气囊位于沿内窥镜头的至少一个第二轴向位置处;以及内窥镜头控制器,其可操作地用于对多个所述第一、第二可选择膨胀气囊的选择性膨胀进行扩张,以便于选择性地定位所述内窥镜头。 42. An endoscope assembly, comprising: along a longitudinal axis of the endoscope head, having a first plurality of selectable associated airbag inflated, the balloon of the endoscope is located along at least a first axial head position and the endoscope head having a second plurality of selectable associated airbag inflated, these airbags located at the endoscope head along the at least one second axial position; and an endoscope head controller operable used to expand the first plurality of selectively expanding the second selectively inflatable balloon, positioning the endoscope head in order to selectively.
  43. 43.根据权利要求42所述的内窥镜组件,其特征在于:所述内窥镜头控制器可操作地用于:控制多个所述第一、第二可选择膨胀气囊的选择性膨胀,以便于使所述内窥镜头可选择地偏离中心平行定向。 43. The endoscope assembly according to claim 42, wherein: the endoscope head controller is operable to: controlling a plurality of the first and second selectively alternatively inflatable balloon inflated, the endoscope head in order to selectively off-center parallel orientation.
  44. 44.根据权利要求42或43所述的内窥镜组件,其特征在于:所述内窥镜头控制器的可操作地用于控制所述多个第一、多个第二可选择膨胀气囊的选择性膨胀,以使所述内窥镜头可选择地偏斜定向。 44. The endoscope assembly of claim 42 or claim 43, wherein: the endoscope head controller operable to control said first plurality, a second plurality of selectively inflatable balloon selective expansion, so that the orientation of the endoscope head selectively deflect.
  45. 45.根据权利要求42-44之一所述的内窥镜组件,其特征在于:所述多个第一、多个第二可选择膨胀气囊中的至少之一包括多个气囊,这些气囊围绕着所述内窥镜头基本上按照方位角分布。 45. The endoscope assembly according to claim one of claims 42-44, wherein: said first plurality, a second plurality of the at least one selectively inflatable balloon comprises a plurality of airbags, these airbags around the head of the endoscope is substantially azimuthally distributed.
  46. 46.根据权利要求42-45之一所述的内窥镜组件,其特征在于:所述多个第一、多个第二可选择膨胀气囊中的至少之一包括可伸张的气囊。 46. ​​The endoscope assembly according to claim one of claims 42-45, wherein: said first plurality, a second plurality of the at least one selectively inflatable balloon comprises a stretchable balloon.
  47. 47.根据权利要求42-46之一所述的内窥镜组件,其特征在于:所述内窥镜头包括机动式内窥镜头。 47. The endoscope assembly according to claim one of claims 42-46, wherein: the endoscope head comprising a locomotive endoscope head.
  48. 48.根据权利要求47所述的内窥镜组件,其特征在于:所述机动式内窥镜头包括沿纵向轴线延伸的主体部分,该主体部分与所述多个第一可选择膨胀气囊相关,以及内窥镜头包括可沿着所述主体部分选择性地轴向定位的可选择定位部分,且可选择定位部分与所述多个第二可选择膨胀气囊相关。 48. The endoscope assembly according to claim 47, wherein: the locomotive endoscope head comprising a body portion extending along a longitudinal axis, a first portion associated with said plurality of selectively inflatable balloon of the main body, and an endoscope head comprising a selectively positioned along a portion of said body portion is selectively axially positioned, and selectively positioning portion associated with said second plurality of selectively inflatable balloon.
  49. 49.根据权利要求42-48之一所述的内窥镜组件,其特征在于:所述内窥镜组件还包括与所述机动式内窥镜头相关的内窥镜体。 49. The endoscope assembly according to claim one of claims 42-48, wherein: said assembly further comprises an endoscope associated with the locomotive endoscope head endoscope body.
  50. 50.根据权利要求49所述的内窥镜组件,其特征在于:仪器通道至少部分地延伸穿过所述机动式内窥镜头和所述内窥镜体。 50. The endoscope assembly according to claim 49, wherein: the instrument channel extending at least partially through the motor endoscope head and body of the endoscope.
  51. 51.根据权利要求42-50之一所述的内窥镜组件,其特征在于:所述内窥镜头具有固定的长度。 51. The endoscope assembly according to claim one of claims 42-50, wherein: the endoscope head has a fixed length.
  52. 52.根据权利要求49-51之一所述的内窥镜组件,其特征在于:所述内窥镜体包括多腔管。 52. The endoscope assembly according to claim one of claims 49-51, wherein: said body comprises a multi-lumen tube of the endoscope.
  53. 53.根据权利要求49-52之一所述的内窥镜组件,其特征在于:所述内窥镜体与所述机动式内窥镜头控制器实现接口连接。 53. The endoscope assembly according to claim one of claims 49-52, wherein: said endoscope body and the endoscope head controller motorized implement interfaces.
  54. 54.根据权利要求42-53之一所述的内窥镜组件,其特征在于:内窥镜组件还包括内窥镜检查系统,其可与所述机动式内窥镜头控制器相连接。 54. The endoscope assembly according to claim one of claims 42-53, wherein: the endoscope assembly further comprises an endoscopy system, which may be connected to the motor controller endoscope head.
  55. 55.根据权利要求52-54之一所述的内窥镜组件,其特征在于:所述多腔管包括至少一个腔管,其作用至少在于如下一项功能:对气囊进行充胀;对所述内窥镜头的所述可选择定位部分进行定位;使光纤和导电线束的至少之一由此穿过;以及实现流体连通。 55. The endoscope assembly according to claim one of claims 52-54, wherein: the multi-lumen tube includes at least one lumen, wherein at least one of the following action which features: inflating the airbag; of their the endoscope head of said selectable positioning portion for positioning; optical fiber and at least one of the conductive strands therethrough; and fluid communication.
  56. 56.根据权利要求52-55之一所述的内窥镜组件,其特征在于:所述多腔管包括至少一个腔管,其作用在于实现如下各个功能:对气囊进行充胀;对所述内窥镜头的所述可选择定位部分进行定位;以及使光纤和导电线束的至少之一由此穿过。 56. The endoscope assembly according to claim one of claims 52-55, wherein: the multi-lumen tube includes at least one lumen, its role is to achieve the following respective functions: inflating the balloon; the selectively positioning the endoscope head positioning portion; and an optical fiber and at least one of the conductive strands therethrough.
  57. 57.根据权利要求48-56之一所述的内窥镜组件,其特征在于:所述可选择定位部分可相对于所述主体部分进行滑动定位。 57. The endoscope assembly according to claim one of claims 48-56, wherein: said selectable positioning portion can be slidably positioned relative to the body portion.
  58. 58.根据权利要求42-57之一所述的内窥镜组件,其特征在于:所述内窥镜头包括至少一个光源和至少一个成像传感器。 58. The endoscope assembly according to claim one of claims 42-57, wherein: the endoscope head comprising at least one light source and at least one imaging sensor.
  59. 59.根据权利要求42-58之一所述的内窥镜组件,其特征在于:所述多个第一可选择膨胀气囊包括至少两个可独立膨胀的气囊部分。 59. The endoscope assembly according to claim one of claims 42-58, wherein: said first plurality of selectively inflatable balloon comprises at least two independently inflatable balloon portions.
  60. 60.根据权利要求42-59之一所述的内窥镜组件,其特征在于:所述多个第二可选择膨胀气囊包括至少两个可独立膨胀的气囊部分。 60. The endoscope assembly according to claim one of 42-59, wherein: said second plurality of selectively inflatable balloon comprises at least two independently inflatable balloon portions.
  61. 61.根据权利要求59或60所述的内窥镜组件,其特征在于:所述多个第二可选择膨胀气囊的所述至少两个可独立膨胀气囊部分相对于所述多个第一可选择膨胀气囊的所述至少两个可独立膨胀气囊部分成方位角偏置关系。 59 or 61. The endoscope assembly according to claim 60, wherein: said second plurality of selectively inflatable balloon at least two independently inflatable balloon portion relative to the first plurality selecting at least two of said inflatable balloon expandable balloon portions independently are azimuthally offset relationship.
  62. 62.根据权利要求42-61之一所述的内窥镜组件,其特征在于:所述内窥镜头控制器提供了机动功能,该功能适于使所述内窥镜头逐步地移动而穿过基本为管状的管体部分。 The endoscope head through the motor controller provides a function that is adapted to the endoscope head is moved stepwise: 62. The endoscope assembly according to claim one of claims 42-61, wherein a substantially tubular portion of the tubular body.
  63. 63.根据权利要求62所述的内窥镜组件,其特征在于:所述机动功能包括能实现如下依次操作的功能:对所述多个第一可选择膨胀气囊中的至少一部分进行充胀,由此将多个第一可选择膨胀气囊锚固到所述基本管状体部分的内表面上;将所述可选择定位部分和所述多个第二可选择膨胀气囊相对于所述多个第一可选择膨胀气囊在轴向上重新进行定位;对所述多个第二可选择膨胀气囊的至少一部分进行充胀,由此将所述多个第二可选择膨胀气囊锚固到所述基本管状体部分的内表面上;对所述多个第一可选择膨胀气囊进行放气,由此解除所述多个第一可选择膨胀气囊与所述基本管状体部分内表面的锚固;以及将所述多个第一可选择膨胀气囊相对于所述可选择定位部分和所述多个第二可选择膨胀气囊在轴向上重新进行定位。 63. The endoscope assembly according to claim 62, wherein: said motor comprises a functional sequence can achieve the following functions for: at least a portion of said first plurality selectably inflatable balloon is inflated, whereby a plurality of selectable first inflatable balloon anchored to the inner surface of the substantially tubular body portion; and said selectable positioning portion and said second plurality of selectively inflatable balloon with respect to said first plurality Alternatively inflatable balloon positioned in the axial re; at least a portion of the plurality of second selectable inflating inflatable balloon, whereby the second plurality of selectively inflatable balloon anchored to the base of the tubular body the inner surface portion; said first plurality of selectively inflatable balloon deflated, thereby releasing the first plurality of selectable portions of the inner surface of the anchoring balloon and expansion of the substantially tubular body; and the a first plurality of selectively inflatable balloon is positioned relative to the selectable portion and the plurality of second selectable re-positioned inflatable balloon in the axial direction.
  64. 64.根据权利要求63所述的内窥镜组件,其特征在于:所述多个第一可选择膨胀气囊被设置成相对于所述基本管状体部分位于所述多个第二可选择膨胀气囊的前方。 64. The endoscope assembly according to claim 63, wherein: said first plurality of selectively inflatable balloon is disposed substantially tubular body portion of said second plurality of selectively positioned with respect to the inflatable balloon front.
  65. 65.根据权利要求63所述的内窥镜组件,其特征在于:所述多个第二可选择膨胀气囊被设置成相对于所述基本管状体部分位于所述多个第一可选择膨胀气囊的前方。 65. The endoscope assembly according to claim 63, wherein: said second plurality of selectively inflatable balloon is disposed relative to the base of the tubular body portion is located a first plurality of selectable inflatable balloon front.
  66. 66.一种内窥镜组件,其包括:沿纵向轴线延伸的内窥镜头,该内窥镜头具有与之相关的多个可在径向上选择性扩张的第一元件,这些元件位于沿内窥镜头的至少一个第一轴向位置处,且内窥镜头具有与之相关的多个可在径向上选择性扩张的第二元件,这些元件位于沿内窥镜头的至少一个第二轴向位置处;以及内窥镜头控制器,其可操作地用于控制所述多个第一、多个第二可选择径向扩张元件的选择性扩张进行控制,以实现所述内窥镜头的选择定位。 66. An endoscope assembly, comprising: an endoscope head along a longitudinal axis of the endoscope head having a first plurality of elements associated therewith may be selectively expandable in the radial direction, these are located along the Endoscope at least one first axial lens position and the endoscope head having a second element associated therewith a plurality of selectively radially expandable, at least a second axial position of these elements is positioned along the endoscope head ; and select a positioning an endoscope head controller operable for controlling said first plurality, a second plurality of selectively radially expanded expandable member selectively controlled to achieve the endoscope head.
  67. 67.根据权利要求66所述的内窥镜组件,其特征在于:所述内窥镜头控制器可操作地用于:控制所述多个第一、多个第二可选择径向扩张元件的选择性扩张,以便于使所述内窥镜头可选择地偏离中心平行定向。 67. The endoscope assembly according to claim 66, wherein: said endoscope head controller operable to: control said first plurality, a second plurality of selectively radially expandable element selective vasodilating, the endoscope head in order to selectively off-center parallel orientation.
  68. 68.根据权利要求66或67所述的内窥镜组件,其特征在于:所述内窥镜头控制器可操作地用于控制所述多个第一、多个第二可选择径向扩张元件的选择性扩张,以使所述内窥镜头可选择地偏斜定向。 66 or 68. The endoscope assembly according to claim 67, wherein: the endoscope head controller is operable to control said first plurality, a second plurality of selectively radially expandable member selective expansion, so that the orientation of the endoscope head selectively deflect.
  69. 69.根据权利要求66-68之一所述的内窥镜组件,其特征在于:所述多个第一、多个第二可选择径向扩张元件中的至少之一包括多个可径向扩张的元件,这些元件围绕着所述内窥镜头基本上按照方位角分布。 69. The endoscope assembly according to claim one of claims 66-68, wherein: said first plurality, a second plurality of selectively radially expandable at least one element comprises a plurality of radially expansion elements which are substantially azimuthally distributed around the endoscope head.
  70. 70.根据权利要求66-69之一所述的内窥镜组件,其特征在于:所述内窥镜头包括机动式内窥镜头。 70. The endoscope assembly according to claim one of claims 66-69, wherein: the endoscope head comprising a locomotive endoscope head.
  71. 71.根据权利要求70所述的内窥镜组件,其特征在于:所述机动式内窥镜头包括沿纵向轴线延伸的主体部分,该主体部分与所述多个第一可选择径向扩张元件相关,并包括可沿着所述主体部分选择性地轴向定位的可选择定位部分,且可选择定位部分与所述多个第二可选择径向扩张元件相关。 71. The endoscope assembly according to claim 70, wherein: the locomotive endoscope head comprising a body portion extending along a longitudinal axis, the body portion and the first plurality of selectable radially expandable member related, and including selectively positioned along a portion of said body portion is selectively axially positioned, and selectively positioning a second portion of the plurality of radially expandable elements associated selectable.
  72. 72.根据权利要求66-71之一所述的内窥镜组件,其特征在于:所述多个第一、多个第二可选择径向扩张元件中的至少之一包括多个可选择膨胀的气囊。 72. The endoscope assembly according to claim one of claims 66-71, wherein: said first plurality, a second plurality of selectively radially expandable at least one element comprises a plurality of selectable expansion balloon.
  73. 73.根据权利要求72所述的内窥镜组件,其特征在于:所述多个可选择膨胀气囊中的至少之一包括可伸张的气囊。 73. The endoscope assembly according to claim 72, wherein: at least one of said plurality of selectively inflatable balloon comprises a stretchable balloon.
  74. 74.根据权利要求66-73所述的内窥镜组件,其特征在于:内窥镜组件还包括与所述内窥镜头相关的内窥镜体。 74. The endoscope assembly according to claim 66-73, characterized in that: an endoscope assembly also includes an endoscope body associated with the head of the endoscope.
  75. 75.根据权利要求74所述的内窥镜组件,其特征在于:仪器通道至少部分地延伸穿过所述机动式内窥镜头和所述内窥镜体。 75. The endoscope assembly according to claim 74, wherein: the instrument channel extending at least partially through the motor endoscope head and body of the endoscope.
  76. 76.根据权利要求66-75之一所述的内窥镜组件,其特征在于:所述内窥镜头具有固定的长度。 76. The endoscope assembly according to claim one of claims 66-75, wherein: the endoscope head has a fixed length.
  77. 77.根据权利要求74-76之一所述的内窥镜组件,其特征在于:所述内窥镜体包括多腔管。 77. The endoscope assembly according to claim one of claims 74-76, wherein: said body comprises a multi-lumen tube of the endoscope.
  78. 78.根据权利要求74-77之一所述的内窥镜组件,其特征在于:所述内窥镜体与所述内窥镜头控制器实现接口连接。 78. The endoscope assembly according to claim one of claims 74-77, wherein: said endoscope body and the endoscope head interface controller implements.
  79. 79.根据权利要求66-78之一所述的内窥镜组件,其特征在于:内窥镜组件还包括内窥镜检查系统,其可与所述内窥镜头控制器相连接。 79. The endoscope assembly according to claim one of claims 66-78, wherein: the endoscope assembly further comprises an endoscopy system, which may be connected to the endoscope head controller.
  80. 80.根据权利要求77-79之一所述的内窥镜组件,其特征在于:所述多腔管包括至少一个腔管,其作用至少在于如下一项功能::使径向扩张元件实现扩张;对所述内窥镜头的所述可选择定位部分进行定位;使光纤和导电线束的至少之一由此穿过;以及实现流体连通。 80. The endoscope assembly according to claim one of claims 77-79, wherein: the multi-lumen tube includes at least one lumen, wherein the effect of at least one of the following functions :: radial expandable expansion member implemented ; selectively positioning portion for positioning the head of the endoscope; optical fiber and at least one of the conductive strands therethrough; and fluid communication.
  81. 81.根据权利要求77-80之一所述的内窥镜组件,其特征在于:所述多腔管包括至少一个腔管,其作用在于实现如下的各个功能:使径向扩张元件实现扩张;对所述内窥镜头的所述可选择定位部分进行定位;以及使光纤和导电线束的至少之一由此穿过。 81. The endoscope assembly according to claim one of claims 77-80, wherein: the multi-lumen tube includes at least one lumen, its role is to implement various functions as follows: The radial expansion of the expansion element implemented; Alternatively the head of the endoscope positioning portion for positioning; and the optical fiber and at least one of the conductive strands therethrough.
  82. 82.根据权利要求71-81之一所述的内窥镜组件,其特征在于:所述可选择定位部分可相对于所述主体部分进行滑动定位。 82. The endoscope assembly according to claim one of claims 71-81, wherein: said selectable positioning portion can be slidably positioned relative to the body portion.
  83. 83.根据权利要求66-82之一所述的内窥镜组件,其特征在于:所述内窥镜头包括至少一个光源和至少一个成像传感器。 83. The endoscope assembly according to claim one of claims 66-82, wherein: the endoscope head comprising at least one light source and at least one imaging sensor.
  84. 84.根据权利要求66-83之一所述的内窥镜组件,其特征在于:所述多个第一可选择径向扩张元件包括至少两个可独立径向扩张的元件。 84. The endoscope assembly according to claim one of claims 66-83, wherein: said first plurality of selectively radially expandable member comprises at least two separate radially expandable member.
  85. 85.根据权利要求66-84之一所述的内窥镜组件,其特征在于:所述多个第二可选择径向扩张元件包括至少两个可独立径向扩张的元件。 85. The endoscope assembly according to claim one of claims 66-84, wherein: said plurality of radially expandable second selectable element comprises at least two separate radially expandable member.
  86. 86.根据权利要求84或85所述的内窥镜组件,其特征在于:所述多个第二可选择径向扩张元件的所述至少两个可独立径向扩张元件相对于所述多个第一可选择径向扩张元件的所述至少两个可独立径向扩张元件成方位角偏置关系。 84 or 86. The endoscope assembly according to claim 85, wherein: said plurality of said second selectively radially expandable member at least two independently radially expandable element relative to the plurality radially expanding a first selectable element of the at least two separate radially expandable elements are azimuthally offset relationship.
  87. 87.根据权利要求66-86之一所述的内窥镜组件,其特征在于:所述内窥镜头控制器提供了机动功能,该功能适于使内窥镜头逐步地移动从而穿过基本为管状的管体部分。 87. The endoscope assembly according to claim one of claims 66-86, wherein: the endoscope head controller provides a motor function, which is adapted to the endoscope head is moved stepwise so as to pass through substantially the tubular portion of the tubular body.
  88. 88.根据权利要求87所述的内窥镜组件,其特征在于:所述机动功能包括能实现如下依次操作的功能:使所述多个第一可选择径向扩张元件的至少一部分发生扩张,由此将所述多个第一可选择径向扩张元件锚固到所述基本管状体部分的内表面上;将所述可选择定位部分和所述多个第二可选择径向扩张元件相对于所述多个第一可选择径向扩张元件在轴向上重新进行定位;使所述多个第二可选择径向扩张元件的至少一部分发生扩张,由此将所述多个第二可选择径向扩张元件锚固到所述基本管状体部分的内表面上;使所述多个第一可选择径向扩张元件发生收缩,由此解除所述多个第一可选择径向扩张元件与所述基本管状体部分内表面的锚固;以及将所述多个第一可选择径向扩张元件相对于所述可选择定位部分和所述多个第二可选择径向扩张元件在轴向上重 88. The endoscope assembly according to claim 87, wherein: said motor comprises a functional sequence can achieve the following functions for: the first plurality of selectable at least a portion of the radially expandable member expansion occurs, whereby said first plurality of selectively radially expandable anchoring member to the inner surface of the substantially tubular body portion; and said positioning portion of said selectable plurality of radially expandable second selectable element with respect the first plurality of radially expandable member re selectively axially positioned; the second plurality of selectively radially expandable member at least part of the expansion occurs, whereby the plurality of second selectable a radially expandable anchoring member to the inner surface of the substantially tubular body portion; said first plurality of selectively radially expandable member shrinks, thereby releasing the first plurality of selectable elements of the radially expandable said anchoring portion of the inner surface of the substantially tubular body; and the first plurality of selectable radially expandable element relative to the plurality of selectable positioning portion and said second radially expandable member selectively axially weight 进行定位。 Positioning.
  89. 89.根据权利要求88所述的内窥镜组件,其特征在于:所述多个第一可选择径向扩张元件被设置成相对于所述基本管状体部分基本上位于所述多个第二可选择径向扩张元件的前方。 89. The endoscope assembly according to claim 88, wherein: said first plurality of selectively radially expandable member is disposed relative to said generally tubular body portion in said second plurality of substantially Alternatively radial expansion of the front element.
  90. 90.根据权利要求88所述的内窥镜组件,其特征在于:所述多个第二可选择径向扩张元件被设置成相对于所述基本管状体部分基本上位于所述多个第一可选择径向扩张元件的前方。 90. The endoscope assembly according to claim 88, wherein: said second plurality of selectively radially expandable member is disposed substantially tubular body portion of said substantially positioned with respect to said first plurality Alternatively radial expansion of the front element.
  91. 91.一种用于输送流体的设备,用于向管状体部分的内部输送流体,包括:沿纵向轴线延伸的元件,具有与之相关的至少一个可选择膨胀的第一管状体部分密封元件,该密封元件位于沿管状体的第一轴向位置处,纵向延伸元件上还具有与之相关的至少一个可选择膨胀的第二管状体部分密封元件,其位于沿管状体的第二轴向位置处;控制器,用于使所述第一、第二管状体部分密封元件中的至少之一在管状体部分中选择性地扩张,从而在其间形成密封的区域;以及向所述密封区域输送流体的流体输送功能。 91. An apparatus for delivering a fluid, for delivering a fluid to the interior of the tubular body portion, comprising: a longitudinal axis extending along a member having a first tubular body portion of the sealing element associated therewith at least one selectable expanded, the sealing element is located at a first axial location along the tubular body, the tubular body further having a second portion of the sealing element associated therewith at least one selectively inflatable longitudinal extension member, which is located along a second axial position of the tubular body at; a controller for causing the first, at least one second tubular body portion of the sealing element selectively expandable tubular body portion, thereby forming a sealing region therebetween; and delivery to the sealing region the fluid delivery function.
  92. 92.根据权利要求91所述的用于输送流体的设备,其特征在于:所述第一、第二管状体部分密封元件的至少之一包括可选择膨胀的气囊。 92. The apparatus as claimed in claim conveying fluids according to claim 91, wherein: said first and at least one second tubular body portion of the sealing element comprises a selectively inflatable balloon.
  93. 93.根据权利要求92所述的用于输送流体的设备,其特征在于:所述可选择膨胀的气囊包括可伸张的气囊。 93. The apparatus as claimed in claim conveying fluids according to claim 92, wherein: said inflatable balloon comprises a selectively stretchable balloon.
  94. 94.根据权利要求92或93所述的用于输送流体的设备,其特征在于:所述可选择膨胀气囊包括多个可选择膨胀的气囊部分。 94. The apparatus as claimed in claim 92 for delivering a fluid or claim 93, wherein: said inflatable balloon comprises a selectable plurality of selectably inflatable balloon portions.
  95. 95.根据权利要求91-94之一所述的用于输送流体的设备,其特征在于:所述设备包括机动式内窥镜头。 95. The apparatus as claimed in claim conveying fluids according to one of claim 91-94, characterized in that: said apparatus comprises a motorized endoscope head.
  96. 96.根据权利要求91-95之一所述的用于输送流体的设备,其特征在于:用于输送流体的设备还包括至少一个流体输送储器,其可操作地用于向密封区域输送流体。 96. The apparatus as claimed in claim conveying fluids according to one of claim 91-95, wherein: a device for delivering fluid further comprises at least one fluid reservoir, which is operable to deliver fluid into the sealing region .
  97. 97.根据权利要求91-96之一所述的用于输送流体的设备,其特征在于:还包括用于从密封区域抽吸流体的流体抽吸功能。 97. The apparatus as claimed in claim conveying fluids according to one of claim 91-96, characterized by: further comprising means for pumping fluid from the region of the sealing fluid pumping function.
  98. 98.一种用于向管状体部分的内部输送流体的设备,包括:多腔管,其包括贯通延伸的至少第一腔管、第二腔管以及第三腔管;位于前方的、可选择膨胀的气囊,其与所述第一腔管相连通,所述可选择膨胀的前气囊在膨胀时可操作地将所述管状体部分密封起来;位于后方的、可选择膨胀的气囊,其与所述第二腔管连通,所述可选择膨胀的后气囊在膨胀时可操作地对所述管状体部分进行密封;流体输送出口,位于所述前、后可选择膨胀气囊的中间位置,所述出口与所述第三腔管连通;以及控制器,用于使所述第一、第二可选择膨胀气囊在所述管状体部分中选择性地膨胀,从而在其间形成密封区域,并用于向所述密封区域输送流体。 98. A device for delivering fluid to the interior of the tubular body portion, comprising: a multi-lumen tube, which extends through at least comprising a first lumen, a second lumen and a third lumen; located in front, optionally inflatable balloon, with the first lumen communicating said selectably inflatable balloon when inflated before the tubular body is operatively sealed portion; a rear selectably inflatable balloon, with after the tube communicating the second chamber, the selectable inflatable balloon in operable upon inflation of the tubular body portion of the seal; the fluid delivery outlet, in said front and rear intermediate position selectively inflatable balloon, the said outlet communicating with said third lumen; and a controller for causing the first and second selectably inflatable balloon is selectively inflated in the tubular body portion, thereby forming a sealing region therebetween, and for transporting fluid to the sealed region.
  99. 99.一种内窥镜组件,包括:内窥镜管,具有仪器通道;内窥镜工具,被设置成沿所述仪器通道移动到位于所述内窥镜管前方的应用位置处,所述内窥镜工具被可滑动且密封地设置在所述仪器通道内;以及内窥镜工具流体定位器,用于选择性地对所述仪器通道进行加压,以提供沿所述仪器通道对所述内窥镜工具进行定位所需的驱动流体。 99. An endoscope assembly, comprising: an endoscope tube having an instrument channel; endoscope tool, the instrument channel is arranged to move along the endoscope tube located at a position in front of the application of the said the endoscope tool is slidably and sealingly disposed within the instrument channel; and an endoscope locator tool fluid for selectively pressurizing the instrument channel, to provide along the instrument channel of their said endoscope tool positioning required for driving the fluid.
  100. 100.根据权利要求99所述的内窥镜组件,其特征在于:所述内窥镜工具包括活塞限定部分,其可滑动地、密封地接合着所述仪器通道。 100. The endoscope assembly according to claim 99, characterized in that: said endoscopic portion defining means includes a piston which slidably, sealingly engages the instrument channel.
  101. 101.一种内窥镜组件,包括:管,其具有至少一个腔管;内窥镜工具,被设置成行经所述至少一个腔管移动,所述内窥镜工具包括可伸张的、可选择膨胀的锚固气囊。 101. An endoscope assembly, comprising: a tube having at least one lumen; endoscope tool, disposed in rows through said at least one lumen to move the endoscope tool comprises a stretchable, optionally anchoring balloon inflated.
  102. 102.一种内窥镜组件,包括:管,其具有至少一个腔管;内窥镜工具,被设置成沿所述的至少一个腔管移动到所述管前方的应用位置处,所述内窥镜工具可在所述管的前方选择性地弯曲。 102. An endoscope assembly, comprising: a tube having at least one lumen; endoscope tool, is arranged along said at least one lumen to move the tube at a position in front of the application, the inner endoscopic tool to selectively bend in front of the tube.
  103. 103.一种内窥镜组件,其包括:管,其具有至少一个腔管;内窥镜工具,其被设置成沿所述的至少一个腔管移动,所述内窥镜工具包括工具头和与所述工具头相连的多腔管。 103. An endoscope assembly, comprising: a tube having at least one lumen; endoscope tool, which is arranged along said at least one lumen to move the endoscope tool including a tool head and multi-chamber and the tool head is connected to the tube.
  104. 104.根据权利要求102或103所述的内窥镜组件,其特征在于:所述内窥镜工具包括可伸张的、可选择膨胀的锚固气囊。 104. The endoscope assembly according to claim 102 or claim 103, wherein: said endoscopic tool comprising a stretchable selectably inflatable anchoring balloon.
  105. 105.根据权利要求103所述的内窥镜组件,其特征在于:所述内窥镜工具可在所述管的前方选择性地弯曲。 105. The endoscope assembly according to claim 103, wherein: the endoscopic tool can be selectively bent in front of the tube.
  106. 106.根据权利要求105所述的内窥镜组件,其特征在于:所述内窥镜工具包括可伸张的、可选择膨胀的锚固气囊。 106. The endoscope assembly according to claim 105, wherein: said endoscopic tool comprising a stretchable selectably inflatable anchoring balloon.
  107. 107.根据权利要求101-106之一所述的内窥镜组件,其特征在于:所述管包括内窥镜管。 107. The endoscope assembly according to claim one of claims 101-106, characterized in that: said tube includes an endoscope tube.
  108. 108.根据权利要求101-108之一所述的内窥镜组件,其特征在于:所述至少一个腔管包括仪器通道。 108. The endoscope assembly according to claim one of claims 101-108, wherein: said lumen comprises at least one instrument channel.
  109. 109.根据权利要求104、106-108之一所述的内窥镜组件,其特征在于:所述多腔管至少包括用于对所述可伸张、可选择膨胀锚固气囊执行充胀和放气的第一腔管以及第二腔管。 109. The endoscope assembly according to claim one of 104,106-108, wherein: the multi-lumen tube at least comprises means for selectably inflatable anchoring balloon inflation and deflation perform the stretchable a first lumen and a second lumen.
  110. 110.根据权利要求109所述的内窥镜组件,其特征在于:内窥镜组件还包括张紧线,其延伸穿过第二腔管,所述张紧线可操作地用于选择性地弯曲位于所述管前方的内窥镜工具。 110. The endoscope assembly according to claim 109, wherein: the endoscope assembly further comprises a tensioning cable which extends through the second lumen, the tensioner operable to selectively the endoscope bending tool is located in front of the tube.
  111. 111.根据权利要求101-110之一所述的内窥镜组件,其特征在于:所述内窥镜工具的柔性基本上大于所述管的柔性。 111. The endoscope assembly according to claim one of claims 101-110, characterized in that: a flexible endoscope tool is substantially greater than the flexibility of the tube.
  112. 112.根据权利要求107-111所述的内窥镜组件,其特征在于:内窥镜组件还包括内窥镜检查系统,所述内窥镜管可与该系统相连接。 112. The endoscope assembly according to claim 107-111, wherein: the endoscope assembly further comprises a endoscopy system, the endoscope tube can be connected to the system.
  113. 113.根据权利要求101-112所述的内窥镜组件,其特征在于:内窥镜组件还包括内窥镜工具定位控制装置和气囊充胀/放气控制件。 113. The endoscope assembly according to claim 101-112, wherein: the endoscope assembly further comprises a control means and the endoscope tool positioning balloon inflation / deflation control member.
  114. 114.根据权利要求101-113之一所述的内窥镜组件,其特征在于:内窥镜组件还包括与所述管相关的工具端口,其可操作地用于插入和取出所述内窥镜工具。 114. The endoscope assembly according to claim one of claim 101-113, wherein: the endoscope assembly further comprises a port means associated with said tube, which is operable for insertion and removal of the endoscopic mirror tool.
  115. 115.一种内窥镜组件,包括:内窥镜管,内窥镜管的前端附近具有可伸张、可选择膨胀的第一锚固气囊;以及内窥镜工具,其被设置成相对于所述内窥镜管移动到位于内窥镜管前方的应用位置处,所述内窥镜工具的前端附近具有可伸张的、可选择膨胀的第二锚固气囊。 115. An endoscope assembly, comprising: an endoscope tube, near the distal end of the endoscope tube having a stretchable, a first selectively inflatable anchoring balloon; and an endoscope tool is arranged with respect to the having extendable tube near the distal end of the endoscope is moved to the application position located at the front of the tube of the endoscope, the endoscope tool, a second selectably inflatable anchoring balloon.
  116. 116.根据权利要求115所述的内窥镜组件,其特征在于:所述内窥镜工具可在所述内窥镜管的前方选择性地弯曲。 116. The endoscope assembly according to claim 115, wherein: the endoscopic tool can be selectively bent in front of the endoscope tube.
  117. 117.根据权利要求115或116所述的内窥镜组件,其特征在于:所述内窥镜工具包括工具头和与所述工具头相连的多腔管。 117. The endoscope assembly according to claim 115 or claim 116, wherein: said endoscopic tool comprising a tool head and a multi-lumen tube connected to the tool head.
  118. 118.根据权利要求117所述的内窥镜组件,其特征在于:所述多腔管至少包括用于对所述可伸张、可选择膨胀的第二锚固气囊执行充胀和放气的第一腔管以及第二腔管。 Said at least a first multi-lumen tube includes a selectively inflatable anchoring balloon perform a second inflation and deflation of the extendable: 118. The endoscope assembly according to claim 117, wherein lumen and a second lumen.
  119. 119.根据权利要求118所述的内窥镜组件,其特征在于:内窥镜组件还包括张紧线,其延伸穿过所述第二腔管,该张紧线可操作地用于选择性地弯曲位于所述内窥镜管前方的所述内窥镜工具。 119. The endoscope assembly according to claim 118, wherein: the endoscope assembly further comprises a tensioning cable which extends through the second lumen, the tensioner operable to selectively bending the endoscope tool is located in front of the endoscope tube.
  120. 120.根据权利要求115-119之一所述的内窥镜组件,其特征在于:所述内窥镜工具的柔性基本上大于所述内窥镜管的柔性。 120. The endoscope assembly according to claim one of claim 115-119, wherein: a flexible endoscope tool is substantially greater than the flexible tube of the endoscope.
  121. 121.根据权利要求115-120之一所述的内窥镜组件,其特征在于:内窥镜组件还包括内窥镜检查系统,所述内窥镜管可与该系统相连接。 121. The endoscope assembly according to claim one of claims 115-120, wherein: the endoscope assembly further comprises a endoscopy system, the endoscope tube can be connected to the system.
  122. 122.根据权利要求115-121所述的内窥镜组件,其特征在于:所述内窥镜组件还包括内窥镜工具定位控制装置和至少一个气囊充胀/放气控制件。 122. The endoscope assembly according to claim 115-121, wherein: said endoscope further comprises an endoscopic tool positioning assembly control means and at least one balloon inflation / deflation control member.
  123. 123.根据权利要求115-122之一所述的内窥镜组件,其特征在于:内窥镜组件还包括与所述内窥镜管相关的工具端口,其可操作地用于插入和取出所述内窥镜工具。 123. The endoscope assembly according to claim one of claims 115-122, wherein: the endoscope assembly further comprises a tube associated with the instrument port of the endoscope, which is operable for insertion and removal of the said endoscope tool.
  124. 124.一种内窥镜组件,包括:机动式内窥镜,包括机动式内窥镜头和内窥镜体,其中的内窥镜体适于经管状体部分执行机动,且适于锚固在所述管状体部分中的理想位置处;以及内窥镜检查工具,适于沿所述内窥镜体移动到所需的工具操作位置处。 124. An endoscope assembly, comprising: a self-propelled endoscope including locomotive endoscope head and an endoscope, wherein the endoscope is adapted to perform the maneuver section through the tubular body and adapted to be anchored in the at a desired position of said tubular body portion; and endoscopy tools, adapted at the endoscope body is moved along the tool to a desired operating position.
  125. 125.根据权利要求124所述的内窥镜组件,其特征在于:内窥镜组件还包括至少一个可选择径向扩张的元件,其与所述机动式内窥镜头相关,并适于将所述机动式内窥镜头锚固在管状体部分中的所需位置处。 125. The endoscope assembly according to claim 124, wherein: the endoscope assembly further comprises at least one selectable element radially expanded, which is associated with the locomotive endoscope head and adapted to the He said self-propelled endoscope head at a desired location in the tubular body of the anchor portion.
  126. 126.根据权利要求125所述的内窥镜组件,其特征在于:所述至少一个可选择径向扩张元件包括可选择膨胀的锚固气囊。 126. The endoscope assembly according to claim 125, wherein: said at least one selectable element includes a radially expandable selectively inflatable anchoring balloon.
  127. 127.根据权利要求124-126之一所述的内窥镜组件,其特征在于:所述机动式内窥镜头包括至少一个光源和至少一个成像传感器。 127. The endoscope assembly according to claim one of claims 124-126, wherein: the locomotive endoscope head comprising at least one light source and at least one imaging sensor.
  128. 128.根据权利要求124-127之一所述的内窥镜组件,其特征在于:内窥镜组件还包括可沿所述内窥镜体滑动的套接管。 128. The endoscope assembly according to claim one of claims 124-127, wherein: the endoscope assembly further comprises an endoscope to slide along the ferrule.
  129. 129.根据权利要求128所述的内窥镜组件,其特征在于:所述套接管与所述内窥镜检查工具相关。 129. The endoscope assembly according to claim 128, wherein: said ferrule associated with the endoscopic tool.
  130. 130.根据权利要求128或129所述的内窥镜组件,其特征在于:所述内窥镜体适于作为所述套接管的引导线。 130. The endoscope assembly according to claim 128 or claim 129, wherein: said endoscopic body of the ferrule is adapted as a guidewire.
  131. 131.根据权利要求124-130之一所述的内窥镜组件,其特征在于:所述内窥镜检查工具包括治疗工具。 131. The endoscope assembly according to claim one of claims 124-130, characterized in that: said endoscopic tool comprises a therapeutic tool.
  132. 132.根据权利要求124-131之一所述的内窥镜组件,其特征在于:所述内窥镜检查工具包括诊断工具。 132. The endoscope assembly according to claim one of claims 124-131, characterized in that: said endoscopic tool includes a diagnostic tool.
  133. 133.根据权利要求124-132之一所述的内窥镜组件,其特征在于:所述内窥镜检查工具包括外科工具。 133. The endoscope assembly according to claim one of claims 124-132, characterized in that: said endoscopic tool comprises a surgical tool.
  134. 134.一种机动的内窥镜检查方法,包括:提供一种机动式内窥镜头,包括沿纵向轴线延伸的主体部分,并具有与之相关的可选择性地径向扩张的第一元件,且具有可沿所述主体部分在轴向上定位的可选择定位部分,还具有与之相关的可选择性地径向扩张的第二元件;以及通过相对于所述主体部分选择性地定位所述可滑动部分、以及选择性地扩张和收缩所述第一和第二可选择径向扩张元件,来使所述机动式内窥镜头实现机动。 134. A motorized endoscopic method, comprising: providing a motor endoscope head comprising a body portion extending along a longitudinal axis and having a first radially expandable member selectively associated, and selectively positioning portion having a body portion positioned axially along said further second element having associated therewith selectively radially expandable; and relative to the body portion by selective positioning of the said slidable portion, and selectively expand and contract the first and second selectively radially expandable element, to cause the locomotive endoscope head maneuverability.
  135. 135.根据权利要求134所述的机动的内窥镜检查方法,其特征在于:所述第一、第二可选择径向扩张元件中的至少之一包括可选择膨胀的气囊。 135. Maneuver endoscopy method according to claim 134, wherein: the first, at least one radially expandable second selectable element comprises a selectively inflatable balloon.
  136. 136.根据权利要求134或135所述的机动的内窥镜检查方法,其特征在于:还包括:通过选择性地、有差异地扩张所述第一可选择径向扩张元件的至少两个可独立径向扩张的元件部分、以及所述第二可选择径向扩张元件的至少两个可独立径向扩张的元件部分,将所述机动式内窥镜头相对于管状体部分定位在可选的非平行定向上。 136. The motorized endoscopy method of claim 134 or claim 135, characterized in that: further comprising: selectively, the first differentially expanding the at least two selectable elements may be radially expanded independent radial expansion of the element portion, and the second element can be selected at least two of the independent radial expansion of radially expandable member, the locomotive endoscope head portion is positioned relative to the tubular body in an alternative the non-parallel orientation.
  137. 137.根据权利要求134-136之一所述的机动的内窥镜检查方法,其特征在于:还包括:通过选择性地、有差异地扩张所述第一可选择径向扩张元件的至少两个可独立径向扩张的元件部分、以及所述第二可选择径向扩张元件的至少两个可独立径向扩张的元件部分,将所述机动式内窥镜头相对于所述管状体部分定位在可选择的、偏离中心的平行定向上。 137. Maneuver endoscopy method according to one of claims 134-136, characterized by: further comprising: by selectively expanding said differentially selectable at least two first radial expansion elements may be a separate element radially expanded portion, and said at least two independently selectable second radially expandable member radially expandable element, the locomotive endoscope head with respect to the tubular body portion is positioned Alternatively in the parallel orientation, off-center.
  138. 138.根据权利要求134-137之一所述的机动的内窥镜检查方法,其特征在于:实现的机动运动包括:逐步移动所述机动式内窥镜头,使其经过基本为管状的管状体部分。 138. Maneuver endoscopy method according to one of claims 134-137, wherein: Maneuvering implemented comprises: progressively moving the locomotive endoscope head, passed through a tubular substantially tubular body section.
  139. 139.根据权利要求134-138之一所述的机动的内窥镜检查方法,其特征在于:实现的机动运动包括:使所述内窥镜头依次移动而经过大肠、小肠、动脉以及静脉的至少之一。 At least the endoscope head is moved through the large intestine, small intestine, arteries and veins: 139. motorized endoscopy method according to one of claims 134-138, wherein: the motion comprising a motor to achieve one.
  140. 140.根据权利要求138或139所述的机动的内窥镜检查方法,其特征在于:所述依次移动包括下列的依次操作:使所述第一可选择径向扩张元件发生扩张,由此将所述第一可选择径向扩张元件锚固到所述基本管状体部分的内表面上;将所述可选择定位部分和所述第二可选择径向扩张元件相对于所述第一可选择径向扩张元件在轴向上重新进行定位;充胀所述第二可选择径向扩张元件,由此将所述第二可选择径向扩张元件锚固到所述基本管状体部分的内表面上;对所述第一可选择径向扩张元件进行放气,由此解除所述第一可选择径向扩张元件与所述基本管状体部分内表面的锚固;以及将所述第一可选择径向扩张元件相对于所述可选择定位部分和所述第二可选择径向扩张元件在轴向上进行重新定位。 140. Maneuver endoscopy method of claim 138 or claim 139, wherein: said movement in turn comprises the following operations in sequence: the first selectable element radially expandable expansion occurs, whereby radially expanding said first optional element is anchored to the inner surface of the substantially tubular body portion; selectively positioning the selectable portion and said second radially expandable member relative to the first selectable path to re-expansion element is positioned in the axial direction; selectively inflating said second radially expandable member, whereby the second selectively radially expandable anchoring member to the inner surface of the substantially tubular body portion; the first radially expandable member selectively deflated, thereby releasing the first selectable anchoring portion radially inner surface of the expandable member and said substantially tubular body; and the first radial selectable selectively expandable member relative to the positioning portion and said second radially expandable member selectively repositioning in the axial direction.
  141. 141.一种内窥镜定位方法,包括:提供内窥镜头,其沿纵向轴线延伸,并具有与之相关的多个第一可选择径向扩张元件,这些元件位于沿所述内窥镜头的至少第一轴向位置处,并具有与之相关的多个第二可选择径向扩张元件,这些元件位于沿所述内窥镜头的至少第二轴向位置处;以及通过对所述多个第一、多个第二可选择径向扩张元件进行选择性的扩张,实现所述内窥镜头的选择性定位。 141. A method of positioning an endoscope, comprising: providing an endoscope head, which extends along a longitudinal axis and having associated therewith a first selectable plurality of radially expandable elements which are positioned along the endoscope head at least a first axial position and having associated therewith a plurality of radially expandable second selectable element, at least a second axial position of these elements positioned along the endoscope head; and by the plurality of a first, a second plurality of selectively radially expandable selective localization selective expansion element, to achieve the endoscope head.
  142. 142.根据权利要求141所述的内窥镜定位方法,其特征在于:所述多个第一、多个第二二可选择径向元件的至少之一包括多个可径向扩张的元件,这些元件围绕着所述内窥镜头成方位角地分布,且定位内窥镜头的步骤包括:选择性地扩张所述多个径向扩张元件中的各个元件。 142. The endoscope positioning method according to claim 141, wherein: said first plurality, at least one of the plurality of second radial element comprising a plurality of selectable two radially expandable element, these elements around the endoscope head azimuthally distributed, and the step of positioning the endoscope head comprising: a plurality of selectively expanding said radially expandable elements each element.
  143. 143.根据权利要求141或142所述的内窥镜定位方法,其特征在于:所述多个第一、多个第二可选择径向扩张元件中的至少一个可选择径向扩张元件包括可膨胀的气囊。 The endoscope 141 or 143. The positioning method according to claim 142, wherein: at least a plurality of selectively radially expanding the first and second plurality of selectively radially expandable member comprises elements inflated balloon.
  144. 144.一种用于向管状体部分的内部输送流体的方法,包括:提供沿纵向轴线延伸的元件,该元件具有与之相关的至少一个第一可选择扩张管状体部分密封元件,该密封元件位于沿纵向延伸元件的第一轴向位置处,且具有与之相关的至少一个第二可选择扩张管状体部分密封元件,其位于沿纵向延伸元件的第二轴向位置处;使所述第一、第二管状体部分密封元件中的至少之一在所述管状体部分中扩张,以在它们之间形成密封区域;以及向所述密封区域输送流体。 144. A method of delivering a fluid to the interior of the tubular body portion, comprising: providing a member extending along a longitudinal axis, the first member having at least one selectively expandable tubular body portion of the sealing element associated therewith, the sealing element extends longitudinally located at a first axial position of the element, and having at least one selectively expandable tubular second body portion of the sealing element associated therewith, which is located at a second axial position of the longitudinally extending member; the first a, at least one second tubular body portion of the sealing member in the expanded portion of the tubular body to form a sealing region therebetween; and a conveying fluid to the sealed region.
  145. 145.根据权利要求144所述的流体输送方法,其特征在于:输送流体的所述步骤包括:输送一种治疗性的流体。 145. The fluid delivery method of claim 144, wherein: said step of transporting a fluid comprising: a fluid delivery of a therapeutic.
  146. 146.根据权利要求144所述的流体输送方法,其特征在于:输送流体的所述步骤包括:输送一种比照增强流体。 146. The fluid delivery method of claim 144, wherein: said step of transporting a fluid comprising: a fluid deliver one cf. enhanced.
  147. 147.根据权利要求144所述的流体输送方法,其特征在于:输送流体的所述步骤包括:输送一种抗菌流体。 147. The fluid delivery method of claim 144, wherein: said step of transporting a fluid comprising: an antimicrobial fluid delivery.
  148. 148.根据权利要求144所述的流体输送方法,其特征在于:输送流体的所述步骤包括:输送一种酸性溶液。 148. The fluid delivery method of claim 144, wherein: said step of transporting a fluid comprising: conveying an acidic solution.
  149. 149.根据权利要求144所述的流体输送方法,其特征在于:输送流体的所述步骤包括:输送一种碱性溶液。 149. The fluid delivery method of claim 144, wherein: said step of transporting a fluid comprising: transporting a basic solution.
  150. 150.一种内窥镜检查方法,包括:提供内窥镜管,所述内窥镜管具有仪器通道,和提供被设置成沿所述仪器通道移动到内窥镜管前方应用位置处的内窥镜工具,所述内窥镜工具被可滑动而密封地设置在所述仪器通道内;以及选择性地对所述仪器通道加压,以提供沿所述仪器通道对所述内窥镜工具进行定位所需的驱动流体。 150. A method for endoscopy, comprising: providing an endoscope tube, the tube having an instrument channel of the endoscope, and providing a channel disposed along the instrument moves into the endoscope tube at a position in front of the application endoscopic tool, the endoscope tool is slidably sealingly disposed within the instrument channel; and selectively pressurizing the instrument channel, to provide along the instrument channel of the endoscope tool driving fluid required to locate.
  151. 151.一种内窥镜检查方法,包括:提供管,所述管具有至少一个腔管,和提供内窥镜工具,其中的内窥镜工具被设置成经所述至少一个腔管移动,所述内窥镜工具包括可伸张的、可选择膨胀的锚固气囊;以及通过充胀所述锚固气囊、使其与所述管状体部分内壁面锚固接合,将位于所述管前方的所述内窥镜工具锚固到管状体部分中。 151. A method for endoscopy, comprising: providing a tube having at least one lumen, and providing endoscope tool, wherein the tool is arranged to the endoscope via the at least one lumen to move the said endoscope tool comprising stretchable selectably inflatable anchoring balloon; and by inflating the anchoring balloon, so that the anchoring engagement with the inner wall surface of the tubular body portion, the endoscope located in front of the inner tube mirror means anchored to the tubular body portion.
  152. 152.一种内窥镜检查方法,包括:提供管,所述管具有至少一个腔管,和提供内窥镜工具,其中的内窥镜工具被设置成经所述至少一个腔管移动,且所述内窥镜工具可在所述管的前方选择性地弯曲;以及使所述内窥镜工具在所述管的前方选择性地弯曲。 152. A method for endoscopy, comprising: providing a tube having at least one lumen, and providing endoscope tool, wherein the tool is arranged to the endoscope through the lumen of at least one mobile, and the endoscope tool can selectively bend in front of the tube; and the endoscope tool is selectively bend in front of the tube.
  153. 153.根据权利要求152所述的内窥镜检查方法,其特征在于:所述内窥镜工具包括可伸张的、可选择膨胀的锚固气囊,且所述方法还包括:通过充胀所述锚固气囊,使其与所述管状体部分的内壁实现锚固接合,将所述管前方的所述内窥镜工具锚固到所述管状体部分中。 153. endoscopy method according to claim 152, wherein: said endoscopic tool comprising a stretchable selectably inflatable anchoring balloon, and the method further comprising: inflating the anchoring airbag, so anchorage engagement with the inner wall of the tubular body portion of the tube in front of the endoscope tool is anchored to the tubular body portion.
  154. 154.根据权利要求151-153之一所述的内窥镜检查方法,其特征在于:还包括:使所述管沿所述内窥镜工具向前滑动,由此将所述内窥镜工具作为了引导件。 154. endoscopy method according to one claims 151-153, characterized by: further comprising: the tube to slide forward along the endoscope tool, whereby the tool of the endoscope as the guide member.
  155. 155.根据权利要求154所述的内窥镜检查方法,其特征在于:还包括步骤:在将所述管向前滑动之前,将所述内窥镜工具张紧。 155. endoscopy method according to claim 154, characterized in that: further comprising the step of: prior to said tube slides forward, the endoscope tool tension.
  156. 156.根据权利要求151-155之一所述的内窥镜检查方法,其特征在于:还包括步骤:依次重复执行所述锚固、张紧、以及滑动步骤中的至少两步骤。 156. endoscopy method according to one claims 151-155, characterized by: further comprising the step of: sequentially repeating the performing anchoring, tensioning, and the step of sliding at least two steps.
  157. 157.根据权利要求151-156之一所述的内窥镜检查方法,其特征在于:所述管包括内窥镜管。 157. endoscopy method according to one of claim 151-156, wherein: said tube includes an endoscope tube.
  158. 158.根据权利要求157所述的内窥镜检查方法,其特征在于:所述至少一个腔管包括仪器通道。 158. endoscopy method according to claim 157, wherein: said lumen comprises at least one instrument channel.
  159. 159.一种内窥镜检查方法,包括:提供内窥镜管,其前端附近具有可伸张的、可选择膨胀的第一锚固气囊,并提供内窥镜工具,其前端附近具有可伸张的、可选择膨胀的第二锚固气囊;以及将所述内窥镜工具定位在所述内窥镜管前方的应用位置处。 159. An endoscopic examination method comprising: providing an endoscope tube having a stretchable first selectively inflatable anchoring balloon near its distal end, and to provide an endoscope tool, having near its distal end extendable, a second selectably inflatable anchoring balloon; and the endoscope tool is positioned at a position of use in front of the endoscope tube.
  160. 160.根据权利要求159所述的内窥镜检查方法,其特征在于:还包括:在进行所述定位之前,将所述内窥镜管上的所述第一可选择膨胀锚固气囊在所述管状体部分中执行充胀,以便于将所述内窥镜管锚固到所述管状体部分的内壁上;在所述定位之后,在所述管状体部分中将所述工具上位于所述内窥镜管前方的所述第二可选择膨胀锚固气囊充胀,从而将所述内窥镜工具锚固到所述管状体部分的所述内壁上;而后,对所述第一可选择膨胀锚固气囊进行放气;以及通过将所述内窥镜工具用作引导件,使所述内窥镜管在所述内窥镜工具上前进。 160. endoscopy method according to claim 159, characterized in that: further comprising: prior to performing the positioning, on the first tube of the endoscope in the selectably inflatable anchoring balloon the tubular body portion is performed inflated so as to anchor the endoscope tube to the inner wall of the tubular body portion; and after the positioning, located within said tubular body portion of the tool in the the endoscope tube in front of the second selectably inflatable anchoring balloon is inflated so as to anchor the endoscope to the tool inner wall of the tubular body portion; then, the first selectably inflatable anchoring balloon deflation; and by the endoscope tool is used as the guide member, advancing the endoscope tube on the endoscope tool.
  161. 161.根据权利要求160所述的内窥镜检查方法,其特征在于:还包括步骤:当所述内窥镜工具位于所述内窥镜管的前方时、且在对所述第二可选择膨胀锚固气囊执行充胀之前,将所述内窥镜工具弯曲。 161. The method of claim 160 endoscopy claim, characterized in that: further comprising the step of: when the tool is located forward of the endoscope tube of the endoscope, and in the second selectable performed prior to expansion anchoring balloon is inflated to bend the endoscope tool.
  162. 162.根据权利要求160所述的内窥镜检查方法,其特征在于:还包括步骤:依次重复执行所述充胀、定位、放气、以及前进步骤中的至少两步骤。 162. The method of claim 160 endoscopy claim, characterized in that: further comprising the step of: sequentially repeating the inflating performed, positioning, deflation, and the step of advancing at least two steps.
  163. 163.根据权利要求161所述的内窥镜检查方法,其特征在于:还包括步骤:依次重复执行所述充胀、定位、弯曲、放气、以及前进步骤中的至少两步骤。 163. endoscopy method according to claim 161, characterized in that: further comprising the step of: sequentially repeating the inflating performed, positioning, bending, deflated, and the step of advancing at least two steps.
  164. 164.根据权利要求159-163之一所述的内窥镜检查方法,其特征在于:所述内窥镜工具的所述定位步骤包括:使所述内窥镜工具穿过所述内窥镜管的仪器通道。 164. endoscopy method according to one of claim 159-163, wherein: said step of positioning said endoscopic tool comprising: a tool through the endoscope of the endoscope instrument channel tube.
  165. 165.一种内窥镜检查方法,包括:提供一种机动式内窥镜,所述内窥镜包括机动式内窥镜头和内窥镜体;使所述机动式内窥镜头经管状体部分进行机动;将所述机动式内窥镜头锚固到所述管状体部分中的所需位置处;以及将内窥镜检查工具沿所述内窥镜体移动到所需的工具操作位置处。 165. A method for endoscopy, comprising: providing a motor endoscope, said endoscope comprising a locomotive endoscope head and an endoscope body; the locomotive endoscope head through the tubular body portion maneuver; the locomotive endoscope head is anchored to the desired position in the tubular body portion; and endoscopy endoscope body is moved along the tool to operate the tool at the desired position.
  166. 166.根据权利要求165所述的内窥镜检查方法,其特征在于:还包括步骤:在锚固所述机动式内窥镜头之后,并在移动所述内窥镜检查工具之前,将所述内窥镜体张紧。 166. The endoscopy method according to claim 165, characterized in that: further comprising the step of: after anchoring the locomotive endoscope head, and prior to movement of the endoscopic tool, the inner endoscope body tension.
  167. 167.根据权利要求165或166所述的内窥镜检查方法,其特征在于:还包括步骤:在执行所述锚固之前,借助于与所述机动式内窥镜头相关的至少一个光源和至少一个成像传感器来检测所述管状体部分中的所需位置。 167. endoscopy method of claim 165 or claim 166, characterized in that: further comprising the step of: prior to performing the anchoring means of at least one light source associated with the locomotive endoscope head and at least one an imaging sensor to detect the desired position of the tubular body portion.
  168. 168.根据权利要求165-167之一所述的内窥镜检查方法,其特征在于:还包括步骤:在移动所述内窥镜检查工具之前,借助于与机动式内窥镜头相关的至少一个光源和至少一个成像传感器来检测所述管状体部分中所需的工具操作位置。 168. endoscopy method according to one claims 165-167, characterized by: further comprising the step of: prior to moving the endoscopic tool, by means of at least one locomotive endoscope head related at least one light source and the imaging sensor to detect the required tubular body portion of the tool operating position.
  169. 169.根据权利要求165-168之一所述的内窥镜检查方法,其特征在于:移动所述内窥镜检查工具的步骤包括:使与所述内窥镜检查工具相关的套接管在所述内窥镜体上滑动。 169. endoscopy method according to one of claim 165-168, wherein: the step of moving the endoscopic tool comprising: sleeve associated with said endoscopic tool in the takeover slides on said endoscope body.
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US8926649B2 (en) 2009-02-18 2015-01-06 Hotspur Technologies, Inc. Apparatus and methods for treating obstructions within body lumens
US9101382B2 (en) 2009-02-18 2015-08-11 Hotspur Technologies, Inc. Apparatus and methods for treating obstructions within body lumens
US9731099B2 (en) 2009-02-18 2017-08-15 Hotspur Technologies, Inc. Apparatus and methods for treating obstructions within body lumens
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CN102791180A (en) * 2010-03-09 2012-11-21 智能医疗系统有限公司 Balloon endoscope and methods of manufacture and use thereof
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