KR100618119B1 - Endoscopic device for locomotion through the gastro-intestinal tract - Google Patents

Abstract

An endoscope apparatus for moving the intraluminal cavity along a variable length intermediate prefix direction (A) comprising at least one variable length intermediate portion (1a, 21a) connected between the front end (1b, 21b) and the rear end (1c, 21c). The first and second clamping means 7, 12, 27, 32 are formed integrally at the front and rear ends, respectively, in order to clamp the surrounding portions of the human body inner wall P alternately. When the first and second clamping means are in an open state, the suction means 13, 14, 37, 38 are provided with the first and second clamping means to create a low pressure enough to allow the wall of the human cavity to be incorporated into the clamping. Connected to the means. With the wall portion P surrounding the first clamping means firmly fixed between the clamping means, causing the forward movement of the rear end due to the contraction of the intermediate portion, the wall portion P surrounding the second clamping means is connected to the Means for inducing extension and contraction of the intermediate portion and for activating the first and second clamping means for a synchronized operation in which the extension of the intermediate portion causes the forward movement of the front end due to the extension of the intermediate portion securely fixed between them (6, 11, 26, 31) are provided.

Endoscope device, micro robot, capsule

Description

Endoscopic device for moving the gastro-intestinal tract {ENDOSCOPIC DEVICE FOR LOCOMOTION THROUGH THE GASTRO-INTESTINAL TRACT}

TECHNICAL FIELD The present invention relates to an endoscope device passing through a cavity of a tubular body, and in particular, although not limited thereto, to an endoscope device that can move in a prefix direction, such as a so-called insectworm, through the trajectory of the gastrointestinal tract.

Endoscopic devices for surgery or diagnosis are already known. These devices are operated by the surgeon to move forward through the patient's body directly. Surgical and / or diagnostic devices, such as microarms, microcameras, and / or laser emitters, required to perform each particular incision, are generally related to these devices.

In order to make the surgeon's job easier, endoscopy devices of the type mentioned above have been proposed which allow semi-autonomous movement by making the shape as similar as possible to the shape of the surrounding steel in the patient's human cavity. In this case, the walls of the human cavity serve as a support for driving the movement of the device. For example, US Pat. No. 5,398,670 discloses an endoscopic tool formed mainly of bellows-like bodies capable of elongation and contraction, and both ends each comprising inflatable balloon members. The balloon member engages the front and rear ends by contraction with the walls of the human cavity in which the tool is to be moved in turn. A control system is provided that expands and contracts the two balloon members and expands and contracts the tube in order to advance the device in the prefix direction.

US patent US 5906591 shows an endoscope device of the same type. However, in US Pat. No. 5906591, a vacuum pressure is formed sequentially around the front and rear ends, under which induced suction conditions, the front and rear ends can be sufficiently fixed to the steel wall.

The human body's cavity is soft, slippery and wet, so that when the endoscope device of the type described in the aforementioned patents travels the path of the gastro-intestinal tract, the endoscope device is not reliably fixed to the walls of the human cavity. When using balloon-type endoscope devices according to US Pat. No. 52,670, it is impossible to generate sufficient traction forces due to the extremely low coefficient of friction of the path of the gastrointestinal tract, even if the intestinal wall is extended. In addition, excessive elongation of the balloon causes great pain for the patient. In the case of the endoscope device according to US patent US 5906591, even if the degree of vacuum is increased to some extent, similar results occur by increasing suction, with the disadvantage that undesirable damages may occur.

In order to stably fix the endoscope devices of this type, it has been proposed to have various types of auxiliary fastening means, but the structure of the device is complicated, the length is long, and the patient discomfort and related tissues can be damaged. Increased risk.

An object of the present invention is to provide a semi-autonomous mobile endoscopy device in a human cavity, such as a gastro-intestinal pathway, which can be properly fixed in the human cavity without causing problems with previously known devices and allowing advancement in the human cavity. To provide.

It is still another object of the present invention to provide an endoscope apparatus of the above type which can secure a proper fixing to a steel wall by using a simple structure that can keep the size of the apparatus small.

In order to achieve the object of the present invention, the endoscope device comprises a front end and a rear end; At least one intermediate part extending in a prefix advancing direction (A) between the front end part and the rear end part and having a variable length; First and second clamping means associated with the front end and the rear end, respectively, for alternately grasping the respective enclosing portions of the wall P of the human body; In combination with the first and second clamping means, it comprises suction means for forming a low pressure such that in an open state the human steel walls are pushed into the first and second clamping means.
In addition, the means for actuating the intermediate parts to elongate and retract alternately and the means for actuating the first and second clamping means are adapted when the respective parts of the enclosing wall are firmly fixed to the first clamping means. The rear end device is operated forward in the prefix direction according to the contraction of the part, and when the respective enclosing walls are firmly fixed with the second clamping means, the front end part is operated simultaneously with the extension of the intermediate part. .

Moreover, the present invention provides a method for the endoscopy device to move through the human cavity along a prefix defining the front and rear ends of the device by successive stretching and contraction of at least one variable length intermetidate section. do.
The device comprises first and second clamping means selectively operable externally in synchronization with the continuous stretching and contraction of the intermediate portion. The method forms a pneumatic contraction in the open state corresponding to the first and second clamping means, wherein the pneumatic contraction causes the portion of the human steel wall to be attracted to the clamping means and to hold the enclosing wall portion. Closing the clamping means and selectively inducing a firm fixation of the other end such that one end freely moves in the prefix direction.

The main advantage of the endoscope device of the present invention is that it can move in the tubular human cavity in almost all conditions, regardless of the possible frictional forces and the conditions of the human cavity.

Further features and advantages of the endoscope device according to the present invention will become more apparent from the following description of the embodiment, which is not limited to the accompanying drawings.                 

1 is a longitudinal sectional view of the first embodiment of the present invention.

2A-2K illustrate the forward cycle of the apparatus of FIG. 1.

3 is a longitudinal sectional view of an apparatus according to a second embodiment of the invention.

4 is a cross-sectional view in the direction of the IV-IV arrow of the endoscope device of FIG.

5 is a longitudinal cross-sectional view in the V-V direction of the endoscope device of FIG. 3.

6A, 6B and 6C are schematic views showing the operation of the clamping means integral with the rear end of the endoscope device of FIG.

7a and 7b schematically show the operation of the clamping means integral with the front end of the endoscope device of FIG.

8A-8G illustrate the forward cycle of the endoscope device of FIG. 3.

According to Figure 1, the endoscope device according to the invention is shown as (1) as a whole. The endoscope device comprises a tubular intermediate part la extending between two ends, called the front end lb and the rear end lc. Here, "before" and "after" are determined by the direction of the arrow labeled A. The endoscope device is clearly movable forward and backward in the human cavity. The tubular intermediate part la is made of a bellows-like shape, is made of an elastic and flexible member, and is formed by a wall 2 forming a cavity 3 for containing a fluid such as air. At the end of the middle portion, a front flange 2a and a rear flange 2b are respectively connected to the front end lb and the rear end lc.

The front end lb of the device is formed by a stem 4 in which the flange end 4a is fixed to the front flange 2a and the other end is fixed to the front head 5 of the device. The bellows member 6 is fixed to the flange end 4a of the stem 4 on the opposite side of the flange 2a, which is mounted slidably on the stem 4, It is integral with the jaw 7a of the first clamp 7 (also referred to as the front clamp) fixed to the free end. The other jaw 7b of the first clamp 7 is made by the face of the front head 5 perpendicular to the axis of the stem 4 and facing the first jaw 7a.

The rear end lc is formed by a rear head 8 in which the tubular connector 9 extends and connects with the flange end 10a of the stem 10. A bellows member 11 is fixed to the opposite side of the rear head 8 of the flange end 10a, which is mounted coaxially and slidably on the stem 10. It is integrated with the jaw 12a of the rear clamp). The other jaw 12b of the second clamp 12 is formed by a plate on which one side is fixed to one end of the stem 10 and the other side is fixed to the rear flange 2b of the intermediate portion 1a.

The tubular connector 9 comprises an external control system comprising a source 50 to be described below which selectively provides the device with positive or negative pressure at various parts of the device, such as, for example, Figure 3 of US Pat. Enables communication with conventional external control systems. More precisely, the connector 9 receives pneumatic tubes, which are formed in the clamps 7, 12, the stems 4, 10, respectively, and the angles required in the connector 9. To the surface of the stem 4, 10 between the jaws 7a, 7b, 12a, 12b via diameter tubes 13, 14 extending from the respective shaft tubes 15, 16 in communication with the pneumatic tubes / And of course the operation of the chamber 3 of the bellows-shaped intermediate part la (tube 40), the clamps 7, 12 (tubes 41, 42) extending substantially axially within the apparatus 1. It is possible to supply compressed air to the bellows members 6, 11 for control and to take in the air (as shown schematically in FIG. 1). A pneumatic pipe 43 is further formed which exits the front head 5 to form an air jet useful for the forward movement of the device. In particular, the pneumatic tubes through the intermediate part la are arranged helically in the chamber 3 as schematically indicated by 44 in FIG. 1.

The operating cycle of the endoscope device is described with reference to FIGS. 2A-2K (alternatively pressurized parts are shown by hatching). By forming suction conditions in the rear clamp 12, the substantially annular portion P of the enclosing wall of the human cavity is firmly in close proximity to each other by the adduction of the compressed air in the bellows 11 (Fig. 2a) is pushed in between the jaws 12a, b. Air is discharged with respect to the steel wall P via the radial tube 14 of the stem 4 so that a displacement occurs from the front end lb of the device (FIG. 2B). The compressed air is then fed to the bellows 2 which extends while pushing forward the front lb of the device (FIG. 2C). At this time, a contraction occurs between the jaws 7a and 7b of the front clamp 7 which allows the substantially annular portion of the surrounding steel wall P to be pushed in. By civilizing the compressed air, the bellows 6 is stretched and the clamp 7 is close to hold the steel wall firmly (FIG. 2E). And the bellows 11 is retracted by shrinking to open the clamp 12 (FIG. 2F), and is retracted from the rear end lc of the device by an air jet through the radial tube 14 of the stem 10. Lay out the caught river wall. (Figure 2g). The rear end lc is then pushed forward by the bellows 2, which contracts by the contraction induced therein (FIG. 2H). At this time, while the front clamp 7 releases the annular wall held by the open clamp, the rear clamp 12 forms a low pressure between the jaws 12a and 12b (Fig. 2i) and the closing of the rear clamp 12 (Fig. 2j). The new annular portion of the rigid wall (P) surrounded by the () is caught.

The cycle then repeats for a new advance step.

In order to improve the grips 7a, 7b, 12a, 12b of the front clamp 7 and the rear clamp 12 so that they can be held better, a circular groove 17 is formed on one of the opposite faces, A corresponding step 18 is formed on the other side to be engaged with the groove 17. All edges of the surfaces to be gripped should be inclined to avoid tissue damage.

An endoscope apparatus according to a second embodiment of the present invention is shown in FIGS. 3, 4, 5, 6a-c and 7a, b. As shown, 21a refers to the intermediate tubular portion of the device formed by the bellows wall 22, which is made of an elastic and flexible material and forms the chamber 23, where 21b represents the intermediate portion through the front flange 22a. The front end connected to 21a is indicated, and 21c refers to the rear end connected to the middle 21a through the rear flange 22b.

The front part 21b is connected to the front flange 22a and extends axially through the middle part 21a and the rear end 21c and is integral with the stem 24 connected to the tubular connector 29. 25). The first clamp 27 is mounted at the end of the stem 24 on the opposite side to which the head 25 is fixed. Each clamp is formed by a jaw 27b fixedly connected to a jaw 27a slidable axially on the stem 24. The jaws 27a and 27b are each formed by a pair of jaws arranged to have a diameter on the stem 24. The two parts of the jaw 27a are interconnected by a bracket 28 passing through a slot 30 formed diametrically in the stem 24. The actuation line 26 passes through two points of the bracket 28, which is fixed to the bracket at one point and slidably fixed at the other point. The actuation line 26 extends slidably by forming a loop through the entire length of the stem 24, and the free ends are transmitted to the outside by the connecting body 29. Clearly, by pulling one of the two free ends from the outside, the opening and closing of the clamp 27 can be controlled as shown in Figs. 7A and 7B.

As shown in FIGS. 6 a, b, c, the rear end 21c of the device comprises a first sleeve 33 coaxially and slidably mounted on the stem 24. The sleeve 33 has a flange end, one end of which is fixed to the rear flange 22b of the middle portion 21a and the other end of which is fixed to the bellows 31 coaxial. The pair of arms 33a, 33b are opposed to form a diameter and parallel to the stem 24 and extend from the sleeve 33. The arms 33a and 33b are arranged on a plane rotated at an angle of 90 degrees with respect to the two jaws of the first clamp 27 and support the jaws 32a and 32b of the second clamp 32. Similar to the first clamp 27, the second clamp 32 is formed by two radially opposing clamp portions and the clamps 27 and 32 are arranged on the longitudinal axis of the device, as shown in FIG. The arrangement substantially crosses.

In particular, the pair of portions of the jaw 32a are fixed to the free ends of the arms 33a and 33b. The pair of portions of the movable jaw 32b extend outside the arms 33a and 33b and are second It is formed at the end of two additional arms 34a, 34b which are parallel from the sleeve 34 and integral with the bellows 31 and slidable axially on the sleeve 33.

Sliding of the arms 34a, b relative to the arms 33a, b is achieved by contact with fixed jaws 32a on one side and between shoulders 35, 36 formed on the respective sliding surfaces on the other side. Is limited to mutual contact.

The tubular connector 29 houses a plurality of pneumatic tubes in communication with a series of tubes formed in the stem 24. In particular, referring to FIG. 3, the jaw of the first clamp 27 and the jaws 27a and b of the first clamp 27 and the jaws of the second clamp 32 form a low pressure to help fix and release the surrounding wall portion P of the human cavity. Tubes 37, 38 are provided for supplying compressed air between 32a, b), and tubes are provided which draw or feed air to and from the bellows 31, 22 to expand and contract. Pipes 45 and 46 are also provided for supplying air to the head 25 for blowing air against the steel wall during the forward movement. These tubes are shown briefly in FIG. 3. The tubes 38, 45 are arranged spirally in the chamber 23.

The operating cycle of the endoscope device according to the second embodiment of the present invention is shown in Figs. 8A-8G. First, a vacuum is generated corresponding to the jaws of the second clamp 32 so that the surrounding wall portion P of the human cavity is pushed in between (FIG. 8A). The compressed air then enters the bellows 31 and extends to catch the wall P while closing the second clamp 32 (FIG. 8B). Compressed air enters the chamber 23 of the bellows 22 which expands to push the front head 25 forward. In view of the connection through the stem 24, the front head 25 pushes the first clamp 27 forward (FIG. 8C).

After generating low pressure between the jaws of the first clamp 27 so that the surrounding wall portion P is pushed in between, the first clamp 27 is pulled by the actuation line 26 to hold the wall portion P and closed. (FIG. 8D). At this time, the second clamp 32 can be opened by sucking air from the bellows 31 in order to place the wall portion P caught therebetween (FIG. 8E). When the second clamp 32 is open, the device advances relative to the first clamp 27 by drawing air in and out of the bellows 22 (FIG. 8F). Under these conditions, after the second clamp 32 is again secured to the human steel wall, the first clamp 27 is opened to repeat the cycle for the next advance step.

Opposite sides of the grip surfaces of the jaws of the first and second clamps 27, 32 are formed with annular grooves and corresponding steps that engage with the annular grooves so that the wall portions of the human cavity can be held more efficiently.

It is preferred that the clamps 27, 32 of the second embodiment of the present invention alternately catch up in each advancement step of the device and clamp, one holding in the distal position and the other freely pushing forward. This prevents the human steel wall from being folded and retracted with the device in the contracting step by its flexible nature, and prevents stretching without substantial forward movement of the device in the next stretching step.

As described above, the endoscope device according to the present invention can move the tubular human body by the friction obtained by the fixation with the walls and the fixing because the steel wall can be caught before pushing to push. The device according to the invention allows the patient to be more comfortable and reduces manual manipulation, thereby enabling mass screening of gastrointestinal nutrients, in particular performing colonoscopy and lectoshimoidospores, which are about 70 of colorectal cancers. % Is a particularly important examination, as shown in the first section of the large intestine. In combination with testing and diagnosis, future integrated miniaturized endoscope tools mounted on the mobile device will enable more effective treatment.

The endoscope device as described above is capable of various modifications. The front end and the rear end are interchangeably connected with the intermediate part in case of damage, for example to be blocked by contaminants or to be replaced more easily for repair. The wall of the middle part may be composed of a soft tube that is elastically stretchable instead of the bellows.

The device may be made of disposable plastic material and may be suitably provided for insertion into the human cavity. Although embodiments of the present invention provide a bellows means actuated by pneumatically to control the expansion and contraction of the intermediate part and to open and close the clamping means, it is replaced by other equivalent linear actuation means such as elastic means or small motors. It can be used. Similarly, compressed air distribution can be achieved in a manner different from that described above, for example, by other means, such as microvalvees in the apparatus, controlled with shape memory alloy actuators.

The endoscope device according to the present invention is capable of further changes and / or modifications without departing from the scope of the invention as set forth in the claims.

As described above, the endoscope device according to the present invention can move the tubular human body by the friction obtained by the fixation with the walls and the fixing because the steel wall can be caught before pushing to push. The device according to the invention allows the patient to be more comfortable and reduces manual manipulation, thereby enabling mass screening of gastrointestinal nutrients, in particular performing colonoscopy and lectoshimoidospores, which are about 70 of colorectal cancers. % Is a particularly important examination, as shown in the first section of the large intestine. In combination with testing and diagnosis, future integrated miniaturized endoscope tools mounted on the mobile device will enable more effective treatment.

Claims (23)

Front end (lb, 21b) and rear end (1c, 21c); One or more intermediate portions (la, 21a) extending in a prefix advancing direction (A) between the front end portion and the rear end portion, the length being variable; First and second clamping means (7, 12, 27, 32), coupled with the front end and the rear end, respectively, to alternately grasp each of the surrounding portions of the wall (P) of the human cavity; Suction means (13,14,37,38) associated with the first and second clamping means for creating a low pressure such that in an open state the human steel walls are pushed into the first and second clamping means; Means for operating said intermediate portion to alternately elongate and retract; While the wall portion P surrounding the first clamping means is caught in between, the rear end portion is moved forward in the prefix direction by the contraction of the intermediate portion, and the wall portion P surrounding the second clamping means is caught in between. An endoscope apparatus comprising actuating means (6,11,26,31) of said first and second clamping means arranged for synchronized actuation of said front end portion moving forward in the same direction by elongation of said intermediate portion. The method of claim 1, The first (7) and second (12) clamping means are arranged on both end sides of the intermediate portion (la) of variable length. The method of claim 1, The first (27) and second (32) clamping means are arranged together at one end side of the intermediate portion (21) of the variable length. The method of claim 3, wherein The first (27) and the (32) clamping means are disposed corresponding to the rear end (21c). Article 3 To The first (27) and second (32) clamping means are arranged on two vertical planes, each of which has a pair of jaws (27a, b and 32a, b) formed by a pair of diameter jaws. Endoscope device comprising. The method of claim 2, The front / rear end lb / lc is integral with the front / rear head 5/8 and the stem on which the jaws 7b and 12b of the first and second clamping means 7 and 12 are fixed. 4,10), The other jaw (7a, 12a) of the first / second clamping means (7,12) is slidably mounted on the respective stems (4,10) toward the jaw (7b, 12b). The method of claim 6, The operating means of the first clamping means (7) comprises an bellows (6) which is integral with the slidable jaw (7a) and the intermediate part (la) and is extensible and retractable by pneumatic pressure. The method of claim 6, The fixed jaw 12b is integral with the intermediate portion 1a, and the actuating means of the second clamping means 12 are extensible and retractable by pneumatic and the slidable jaw 12a and the rear Endoscopic device comprising a bellows (11) integral with the head (8). The method according to any one of claims 1, 3, 4, or 5, The front end portion 21b is integrally formed with the front head 25 and the front head, and extends through the variable length intermediate portion 21a and the rear end portion 21c in the axial direction. It consists of An endoscope apparatus, in which the jaw 27b of the first clamping means 27 is fixed to the free end of the stem, and the other jaw 27a coupled to the jaw 27b is slidably fixed to the stem 24. . The method of claim 9, The operating means of the first clamping means (27) comprises an operating line (26) fixed to the slidable jaw (27a) and operable from outside. The method of claim 10, The actuation line (26) is fixed to the bracket (28) slidable in the axial direction with respect to the stem (24), the endoscope device integral with the slidable jaw (27a). The method of claim 3, wherein The rear end 21c includes a first sleeve 33 which is integral with the intermediate portion 21c of variable length, The jaw 32a of the second clamping means 32 is fixed to the free end, and the other jaw 32b is formed at the end of the second sleeve 34 to be slidable on the first sleeve 33. Endoscope device placed. The method of claim 12, The actuating means of said second clamping means (32) comprises a bellows (31) for connecting said first and second sleeves (33,34). The method of claim 12, The first and second sleeves 33, 34 are opposed to and extend from the tube part coaxially with the stem 24 to form a diameter in the same plane to support the fixed jaw 32a, respectively. Endoscope device comprising a pair of arms (33a, b; 34a, b) and said slidable jaw (32b). The method of claim 5, The suction means is connected to an external vacuum and a compressed air source 50 and a pneumatic tube formed in the stem 8, 10, 24 which releases air between the jaws of the clamping means 7, 12, 27, 32. Fields 13, 14, 37, 38, And the external source selectively actuates the jaws to supply compressed air when opened. The method of claim 15, Said intermediate part la, 21a is formed by the flexible and elastic bellows body 2,22 forming the chamber 3,23, Means for actuating the intermediate portions la, 21a to alternately elongate and retract are in communication with the external vacuum and compressed air source 50 and the chambers 3,23, respectively, and within the stems 10,24. Endoscopic apparatus comprising a pneumatic tube (40,46) formed. The method according to claim 7 or 8, The bellows (6, 11) is connected to the external vacuum and compressed air source (50) through respective pneumatic pipes (41, 42, 38) to selectively supply compressed air or to form a low pressure for expansion or contraction. Connected endoscope device. The method according to any one of claims 1 to 8, The front end (lb, 21b) is connected to the external source (50) via pneumatic pipes (43, 47), providing a means for blowing compressed air into the human cavity to disperse the surrounding wall during forward movement. Endoscopic apparatus further provided. delete delete delete delete delete

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