WO2023000589A1 - Endoscope à tampon flexible à deux degrés de liberté basé sur le système lasso - Google Patents

Endoscope à tampon flexible à deux degrés de liberté basé sur le système lasso Download PDF

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Publication number
WO2023000589A1
WO2023000589A1 PCT/CN2021/137817 CN2021137817W WO2023000589A1 WO 2023000589 A1 WO2023000589 A1 WO 2023000589A1 CN 2021137817 W CN2021137817 W CN 2021137817W WO 2023000589 A1 WO2023000589 A1 WO 2023000589A1
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WO
WIPO (PCT)
Prior art keywords
endoscope
head
sleeve
driven wheel
lasso
Prior art date
Application number
PCT/CN2021/137817
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English (en)
Chinese (zh)
Inventor
尚万峰
吴新宇
尹猛
Original Assignee
中国科学院深圳先进技术研究院
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Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Publication of WO2023000589A1 publication Critical patent/WO2023000589A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/31—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0801—Prevention of accidental cutting or pricking
    • A61B2090/08021—Prevention of accidental cutting or pricking of the patient or his organs

Definitions

  • the invention belongs to the technical field of medical instruments, and relates to a lasso-driven two-degree-of-freedom flexible buffer endoscope.
  • Endoscope is a detection equipment integrating optics, ergonomics, precision machinery and other technologies. It can be used to observe some lesions of internal tissues. Examination and treatment of various diseases in Department of Otolaryngology, Otorhinolaryngology, Orthopedics and Urology. Endoscopes can be divided into rigid scopes and flexible flexible scopes according to whether the mirror body can change direction. Commonly used endoscopes such as colonoscopes, laryngoscopes and gastroscopes are generally flexible flexible scopes. The biggest feature is that the lens part can be adjusted by the user. Manipulate to change the direction, and the field of view is more flexible.
  • the existing design can realize the active adjustment of the front, rear, left, and right bending of the endoscope head, but there is no contact force monitoring function, and the contact between the endoscope head and the intestinal tract or stomach is mainly It is judged by the user's experience; the elasticity of the soft mirror can achieve a certain passive cushioning, but the endoscope head does not have an active soft cushioning function, and the ability to reduce the chance of poking in the intestinal tract and the patient's discomfort is limited.
  • Some intestinal lumen walls in the human intestine are very thin, and strong force will cause damage to the intestinal lumen wall and lead to internal bleeding.
  • the present invention proposes a two-degree-of-freedom compliant buffer endoscope driven by a lasso, which realizes the active adjustment of the complete decoupling of the two degrees of freedom of the endoscope head's pitch and yaw, and facilitates flexible observation. Intestinal conditions.
  • the technical solution of the present invention to solve the above problems is: a two-degree-of-freedom flexible buffer endoscope driven by a lasso, which is special in that,
  • It includes an endoscope head, a flexible connecting pipe and a drive integration box; the endoscope head is connected to the drive integration box through a flexible connection pipe;
  • the head of the endoscope includes the front member of the head of the endoscope, the cross shaft of the head of the endoscope, the rear member of the head of the endoscope,
  • the front member of the endoscope head is connected with the transverse axis of the cross axis of the endoscope head, and the rear member of the endoscope head is connected with the longitudinal axis of the front member of the endoscope head;
  • An endoscope driven wheel I is fixed on the longitudinal axis of the cross shaft of the endoscope head, and an endoscope driven wheel II is fixed on the front member of the endoscope head,
  • the drive integration box includes a first drive system and a second drive system with the same structure;
  • the first drive system includes the drive wheel of the integrated box, the drive mechanism, two endoscope flexible cables, and the endoscope casing baffle; the drive mechanism drives the drive wheel of the integrated box to rotate, and one end of the two endoscope flexible cables passes through the inner
  • the endoscope casing baffle is respectively wound clockwise and counterclockwise and fixed on the driving wheel of the integrated box; the other ends of the two endoscope flexible cables of the first drive system pass through the endoscope casing baffle After I, they are wound respectively counterclockwise and clockwise and fixed on the driven wheel I of the endoscope; Wrap it counterclockwise and clockwise and fix it on the endoscope driven wheel II;
  • the endoscopic cannula is threaded through the flexible connecting tube.
  • the front member of the endoscope head can rotate relative to the cross shaft of the endoscope head, and the cross shaft of the endoscope head can rotate relative to the rear member of the endoscope head.
  • the above drive integration box also includes a spring sleeve
  • the spring sleeve is connected with the endoscope sleeve baffle, and the spring sleeve is installed with the spring and the endoscope sleeve pressure head, and the endoscope flexible cable enters the endoscope sleeve after passing through the spring and the endoscope sleeve pressure head Tube.
  • the endoscope sleeve When the driving wheel of the integrated box does not move, and the contact force suddenly increases after the bionic collision of the endoscope head to make the endoscope driven wheel move, the endoscope sleeve will compress the spring and move to the right, thereby realizing the passive movement of the endoscope head buffer.
  • endoscopic potentiometer I and endoscopic potentiometer II are also included;
  • the endoscope potentiometer I is installed on the other side of the endoscope head cross shaft relative to the driven wheel I; the endoscope potentiometer II is installed on the other side of the endoscope head cross shaft relative to the endoscope driven wheel II .
  • the position signal of the driven wheel I can be collected and fed back by the endoscope potentiometer I, and the position signal of the driven wheel II of the endoscope can be collected and fed back by the endoscope potentiometer II.
  • the angle of view of the endoscope head can be changed, and the scene ahead can be flexibly observed.
  • the motor rotation signal and the signal collected by the endoscope potentiometer are changing at the same time, and the two signals show certain rules.
  • the motor rotation signal does not change or the two signals
  • the system can recognize the collision at this time, and control the rotation of the drive wheel of the integrated box to slow down the collision and realize active cushioning and compliance control.
  • the front part of the head of the endoscope is built with an electronic camera with LED and a sleeve with reserved functions; through the electronic camera, the scene in front of the head of the endoscope can be observed, and the sleeve with reserved functions is used for tools such as medical clamps to enter the endoscope. In front of the head of the lens.
  • Integrated wiring harnesses such as lasso, camera cable, and reserved functional casing are built into the flexible connecting tube.
  • the above-mentioned drive mechanism is an integrated box drive motor.
  • the above-mentioned endoscope cable can be made of steel wire rope or nylon rope or other materials.
  • the above-mentioned endoscope sleeve is a kind of force-bearing hose, which can be made of rectangular steel wire or other materials.
  • the above-mentioned endoscope driven wheel 1 is designed as one with the endoscope head cross shaft.
  • the above-mentioned driven wheel II of the endoscope is integrated with the front member of the endoscope head.
  • endoscope sleeve baffle plate I and the endoscope head cross shaft are designed as one.
  • the above-mentioned endoscope sleeve baffle plate II is designed as one body with the rear member of the endoscope head.
  • the present invention installs a spring at the driving end of the lasso, which can realize passive buffering when the head of the endoscope lens collides;
  • the invention installs a potentiometer on the driven wheel of the endoscopic lens, which can monitor the position signals of the motor and the driven wheel in real time;
  • Fig. 1 is a schematic structural diagram of an endoscope system
  • Fig. 2 is a schematic diagram of lasso driving principle
  • Figure 3 is the internal structure diagram of the drive integration box
  • Figure 4 is a passive buffer structure diagram of the drive integration box
  • Fig. 5 is a diagram of the internal structure of the endoscope after the elastic soft cover is removed;
  • Fig. 6 is a schematic diagram of the movement principle of the head of the endoscope
  • Fig. 7 is a structural diagram of the internal components of the endoscope.
  • Endoscope head 1. Flexible connecting pipe; 3. Drive integration box; 4. Driving wheel; 5. Flexible cable I; 6. Casing baffle I; 7. Casing I; 8. Casing II; 9. Casing baffle II; 10. Flexible cable II; 11. Driven wheel; 31. Integrated box drive wheel; 32. Driving mechanism; 33. Endoscope flexible cable; 34. Endoscope casing baffle ; 35, spring sleeve; 36, endoscope sleeve; 37, endoscope sleeve pressure head; 38, spring; 11, front member of endoscope head; 12, endoscope head cross shaft; 13, internal 14. Electronic camera with led; 15. Reserved function casing; 16. Internal integrated wiring harness; 17. Endoscope potentiometer I; 18. Endoscope driven wheel I; 19. Endoscope Driven wheel II; 110, endoscope potentiometer II; 111, endoscope casing baffle plate I; 112, endoscope casing baffle plate II.
  • the endoscope part is easy to puncture the large intestine or stomach during the inspection process, and it is easy to make patients feel uncomfortable.
  • a two-degree-of-freedom compliant buffer endoscope based on lasso drive and position signal feedback is provided.
  • a lasso-driven two-degree-of-freedom compliant buffer endoscope includes an endoscope head 1, a flexible connecting tube 2 and a drive integration box 3; the endoscope head is connected to the drive integration box through a flexible connection tube .
  • connecting lines such as lasso, camera connecting line and reserved functional sleeve between the endoscope head 1 and the drive integration box 3, and these connecting lines are bundled and built into the flexible connecting tube 2; the endoscope head 1 Wrapped with an elastic soft cover, it can adapt to the movement of the head under the premise of ensuring airtight and waterproof.
  • the endoscope head includes an endoscope head front member 11, an endoscope head cross shaft 12, and an endoscope head rear member 13.
  • the endoscope head front member 11 is connected to the horizontal axis of the endoscope head cross shaft 12
  • the endoscope head rear member 13 is connected to the longitudinal axis of the endoscope head front member 11 .
  • An endoscope driven wheel I18 is fixed on the longitudinal axis of the cross shaft 12 of the endoscope head
  • an endoscope driven wheel II19 is fixed on the front member 11 of the endoscope head.
  • the front member 11 of the endoscope head can rotate relative to the cross shaft 12 of the endoscope head, and the cross shaft 12 of the endoscope head can rotate relative to the rear member 13 of the endoscope head. Rotation of the ball joint.
  • the drive integration box includes a first drive system and a second drive system with the same structure;
  • the first drive system includes an integration box drive wheel 31, a drive mechanism 32, two endoscope cables 33, and an endoscope sleeve baffle 34;
  • the drive mechanism 32 drives the integrated box drive wheel 31 to rotate, and one end of the two endoscope cables 33 passes through the endoscope casing baffle plate 34, respectively winds clockwise and counterclockwise and fixes them on the integrated box drive On the wheel 31;
  • the other ends of the two endoscope flexible cables 33 of the first driving system pass through the endoscope sleeve baffle plate I111 and then wind respectively clockwise and counterclockwise and fix them on the endoscope driven wheel I18 Above;
  • the other ends of the two endoscope flexible cables 33 of the second drive system pass through the endoscope sleeve baffle plate II112 and then wind respectively clockwise and counterclockwise and fix them on the endoscope driven wheel II19;
  • the endoscopic sleeve 36 passes through the
  • the above-mentioned drive integration box also includes a spring sleeve 35;
  • the endoscope casing pressure head 37 and the endoscope flexible cable 33 enter the endoscope casing pipe 36 after passing through the spring 38 and the endoscope casing pressure head 37 .
  • the lasso driving principle schematic diagram of the present invention is as shown in Figure 2, mainly comprises driving wheel 4, soft cable I5, casing baffle plate I6, casing pipe I7, casing II8, casing baffle plate II9, flexible cable II10, driven wheel 11.
  • the driving wheel 4 is respectively wound and fixed with the flexible cable I5 and the flexible cable II10 in the clockwise and counterclockwise directions. Plate II9 is fixed on the driven wheel 11 behind.
  • the driving wheel 4 is installed at the output end of the motor. When the driving wheel 4 rotates, the driven wheel 11 will follow the movement. This transmission mode is applied to the endoscope in the present invention.
  • the working principle of the lasso transmission is: when the motor rotates counterclockwise and the reducer drives the drive wheel to rotate counterclockwise, the flexible rope I5 in the casing I7 follows to move to the left, thereby driving the driven wheel to rotate counterclockwise, and at the same time the casing II8
  • the driving wheel turns clockwise
  • the flexible cable II10 in the sleeve pipe II8 moves to the left, driving the driven wheel to rotate clockwise, while the flexible cable I5 in the sleeve pipe I7 moves to the right.
  • the tension of the flexible cable I5 in the casing I7 can offset the clockwise torque received by the driven wheel
  • the tension of the flexible cable II10 in the casing II8 can offset the counterclockwise torque received by the driven wheel.
  • endoscope head is provided with endoscope potentiometer I17, endoscope potentiometer II110;
  • the other side of the driven wheel I18; the endoscope potentiometer II110 is installed on the other side of the endoscope head cross shaft 12 relative to the endoscope driven wheel II19.
  • the rotation of the integrated box driving wheel 31 can respectively drive the endoscope driven wheel I18 and the endoscope driven wheel II19 to rotate through the lasso, and meanwhile, the position signal of the driven wheel I18 can be collected and fed back by the endoscope potentiometer I17, and the endoscope is driven
  • the position signal of the driving wheel II19 can be collected and fed back by the endoscope potentiometer II110.
  • the viewing angle of the head of the endoscope can be changed, and the scene ahead can be observed flexibly. law.
  • the above-mentioned endoscope head front component 11 is built-in with led electronic camera 14 and reserved function sleeve 15; the scene in front of the endoscope head can be observed through the electronic camera 14,
  • the reserved function sleeve 15 is used for tools such as medical clamps to enter the front of the endoscope head.
  • the integrated wiring harness 16 such as the lasso, the camera connection line and the reserved functional sleeve is built into the flexible connecting pipe.
  • the above-mentioned endoscope cable 33 can be made of steel wire rope or nylon rope or other materials.
  • the above-mentioned endoscope sleeve 36 is a load-bearing flexible tube, which can be made of rectangular steel wire or other materials.
  • the above-mentioned endoscope driven wheel I18 is integrally designed with the cross shaft 12 of the endoscope head.
  • the endoscope driven wheel II19 is designed as one with the front part 11 of the endoscope head.
  • the endoscope casing baffle plate I111 and the endoscope head cross shaft 12 are designed as one.
  • the endoscope sleeve baffle plate II112 is designed integrally with the endoscope head rear member 13 .
  • the lasso-driven two-degree-of-freedom compliant buffer endoscope proposed by the present invention realizes the active adjustment of the complete decoupling of the two degrees of freedom of the head of the endoscope, pitch and yaw, and facilitates flexible observation of intestinal conditions.
  • the contact force monitoring of the head of the endoscope based on the position signal feedback is convenient for the user to judge the contact between the head of the endoscope and the intestinal tract; in addition, based on the passive buffering of the spring and the active control of the motor, the active and passive compliant buffering of the head of the endoscope is realized. , reduce the chance of stab wounds in the intestine and the patient's discomfort.
  • the endoscope is a two-degree-of-freedom flexible cushioning endoscope driven by a lasso, as shown in Figure 1, which is mainly composed of an endoscope head 1, a flexible connecting tube 2 and a drive integration box 3.
  • connecting lines such as lasso, camera connecting line and reserved functional sleeve between the endoscope head 1 and the drive integration box 3, and these connecting lines are bundled and built into the flexible connecting tube 2; the endoscope head 1 Wrapped with an elastic soft cover, it can adapt to the movement of the head under the premise of ensuring airtight and waterproof.
  • the driving integrated box is mainly composed of an integrated box driving wheel 31, an integrated box driving motor 32, an endoscope cable 33, an endoscope casing baffle plate 34, and a spring sleeve 35.
  • Two integrated box drive motors 32 , four endoscope flexible cables 33 and four spring sleeves 35 are integrated inside the drive integrated box.
  • the drive wheel 31 of the integrated box is installed on the output shaft of the drive motor 32 of the integrated box.
  • 33 enters the endoscope sleeve 36 after passing through the endoscope sleeve baffle plate 34.
  • the integrated box driving motor 32 rotates, it drives the flexible cable 33 of the endoscope to move.
  • the passive buffer structure of the drive integration box mainly includes an endoscope casing 36, an endoscope casing pressure head 37, a spring 38, an endoscope cable 33, a spring casing 35, and an endoscope casing Baffle 34.
  • the spring sleeve 35 is installed on the endoscope sleeve baffle plate 34, and the spring sleeve 35 is equipped with a spring 38 and an endoscope sleeve pressure head 37, and the endoscope cable 33 is pressed by the spring 38 and the endoscope sleeve.
  • the head 37 enters the endoscopic cannula 36 behind.
  • the endoscope sleeve 36 will compress the spring 38 and move to the right, thereby realizing the endoscope lens. Partial passive buffering.
  • the present invention installs a spring at the drive end of the lasso, which can realize passive buffering when the head of the endoscope lens collides.
  • the endoscope head is mainly composed of the endoscope head front member 11, the endoscope head cross shaft 12, the endoscope head rear member 13, the electronic camera head with LED 14, the reserved function sleeve 15 and the internal integrated wiring harness 16 compositions.
  • the endoscope head cross shaft 12 is attached to the endoscope head rear member 13
  • the endoscope head front member 11 is attached to the endoscope head cross shaft 12 .
  • the front member 11 of the endoscope head is designed with a mounting hole, and the endoscope head is built with an electronic camera head 14 with LED and a sleeve tube 15 with reserved functions.
  • the scene in front of the head of the endoscope can be observed through the electronic camera 14, and the functional sleeve 15 is reserved for tools such as medical clamps to enter the front of the head of the endoscope.
  • the integrated wiring harness 16 such as the lasso, the camera connection line and the reserved functional sleeve is built into the flexible connecting pipe.
  • the head of the endoscope mainly includes endoscope potentiometer I17, endoscope driven wheel I18, endoscope driven wheel II19, endoscope potentiometer II110, endoscope casing baffle I111, inner Speculum casing baffle plate II112, endoscope cable 33.
  • the endoscope potentiometer II110 is installed on the other side of the cross shaft 12 of the endoscope head relative to the endoscope driven wheel II19.
  • the front member 11 of the endoscope head can rotate relative to the cross shaft 12 of the endoscope head, and the cross shaft 12 of the endoscope head can rotate relative to the rear member 13 of the endoscope head. Rotation of the ball joint.
  • the rotation of the integrated box driving wheel 31 can respectively drive the endoscope driven wheel I18 and the endoscope driven wheel II19 to rotate through the lasso, and meanwhile, the position signal of the driven wheel I18 can be collected and fed back by the endoscope potentiometer I17, and the endoscope is driven
  • the position signal of the driving wheel II19 can be collected and fed back by the endoscope potentiometer II110.
  • the viewing angle of the head of the endoscope can be changed, and the scene ahead can be observed flexibly. law.
  • the endoscope head mainly includes an endoscope head front member, an endoscope head cross shaft and an endoscope head rear member.
  • the endoscope driven wheel I18 is designed as one with the endoscope head cross shaft 12
  • the endoscope driven wheel II19 is designed as one with the endoscope head front member 11.
  • the endoscope sleeve baffle plate I111 is integrated with the cross shaft 12 of the endoscope head
  • the endoscope sleeve baffle II112 is designed with the rear member 13 of the endoscope head.
  • the present invention applies the lasso transmission to the design of the endoscope.
  • the endoscope system is mainly composed of the endoscope head, the flexible connecting pipe and the drive integration box, and realizes the two-degree-of-freedom decoupling of the endoscope head. Movement, the passive buffering of the head of the endoscope is realized by installing a spring at the driving end, and the active soft buffering control of the head of the endoscope is realized by installing a potentiometer on the driven wheel to feedback the position signal.
  • the driven wheel of the endoscope is designed as one with the head cross shaft of the endoscope
  • the driven wheel of the endoscope is designed as one with the front member of the head of the endoscope
  • the driving wheel of the integrated box can drive the driven wheel of the endoscope to rotate through the lasso.
  • the front member of the endoscope head can rotate relative to the cross shaft of the endoscope head
  • the cross shaft of the endoscope head can rotate relative to the rear member of the endoscope head. , to facilitate flexible observation of the front scene.
  • a spring is installed at the driving end of each lasso.
  • the endoscope sleeve When the contact force suddenly increases after the head of the endoscope collides and the driven wheel of the endoscope moves, the endoscope sleeve will compress the spring and move to the right. , so as to realize the passive cushioning of the head of the endoscope.
  • the driving wheel of the integrated box drives the driven wheel to rotate, and the position signal of the motor and the position signal of the driven wheel have a certain law, and the law will change when a collision occurs.
  • the system recognizes that the law changes, it can control the rotation of the drive wheel of the integrated box to slow down the collision and realize active cushioning and compliance control.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
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  • Physics & Mathematics (AREA)
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  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Gastroenterology & Hepatology (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)

Abstract

L'invention concerne un endoscope à tampon flexible à deux degrés de liberté basé sur le système lasso, comprenant une tête d'endoscope (1), un tube de raccordement flexible (2) et une boîte d'entraînement intégrée (3). La tête d'endoscope (1) est reliée à la boîte d'entraînement intégrée (3) au moyen du tube de raccordement flexible (2). La tête d'endoscope (1) comprend un élément avant de tête d'endoscope (11), une tige transversale de tête d'endoscope (12), et un élément arrière de tête d'endoscope (13). Une roue motrice d'endoscope I (18) est fixée sur la tige transversale de tête d'endoscope (12), et une roue motrice d'endoscope II (19) est fixée à l'élément avant de tête d'endoscope (11). La boîte d'entraînement intégrée (3) entraîne séparément la roue motrice d'endoscope I (18) et la roue motrice d'endoscope II (19) en rotation. Des défauts d'endoscopes classiques tels qu'une absence de capacité de détection de force et une capacité de mise en tampon flexible insuffisante, ainsi qu'une dépendance élevée à l'expérience lorsqu'ils sont utilisés, sont surmontés.
PCT/CN2021/137817 2021-07-20 2021-12-14 Endoscope à tampon flexible à deux degrés de liberté basé sur le système lasso WO2023000589A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110819319.7 2021-07-20
CN202110819319.7A CN113520274B (zh) 2021-07-20 2021-07-20 基于套索驱动的两自由度柔顺缓冲内窥镜

Publications (1)

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WO2023000589A1 true WO2023000589A1 (fr) 2023-01-26

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PCT/CN2021/137817 WO2023000589A1 (fr) 2021-07-20 2021-12-14 Endoscope à tampon flexible à deux degrés de liberté basé sur le système lasso

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