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Multi-joint endoscope bending mechanism with force sensing function

A technology of sensing function and bending mechanism, applied in the field of medical endoscopy, can solve the problems of inability to sense the contact pressure between the mirror body and the intestinal wall, low safety factor, and damage to the intestinal wall, etc., to achieve flexible space composite bending ability, High safety factor and pain relief effect

Active Publication Date: 2010-01-27
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a multi-articular endoscope bending mechanism with force sensing function to solve the problem that only the bending of the head end of the existing medical endoscope is controllable, and other mirror body parts are not controllable. The bending function can only be bent passively through the contact force between the mirror body and the inner wall of the intestinal tract. This contact pressure will cause pain to the patient during the inspection of intestinal diseases; in addition, because the surface of the existing endoscope mirror body is not integrated with The pressure sensor cannot perceive the contact pressure between the lens body and the intestinal wall, and the safety factor is not high. Excessive contact pressure may cause damage to the intestinal wall

Method used

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  • Multi-joint endoscope bending mechanism with force sensing function
  • Multi-joint endoscope bending mechanism with force sensing function
  • Multi-joint endoscope bending mechanism with force sensing function

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specific Embodiment approach 1

[0008] Specific implementation mode one: combine Figure 1 ~ Figure 3 To illustrate this embodiment, the bending mechanism of this embodiment is composed of five curved single-joint segments, thirty sensors 1, steel wire braided mesh 2 and rubber covering film 3; each curved single-joint segment consists of multiple joint universal rings, A plurality of rivets 4, four spring tubes 5, four multi-strand steel wires 6 and a plurality of guide seats 7; each joint universal ring is formed by stamping stainless steel, and each joint universal ring is composed of a ring 8, two second A connecting ear 9 and two second connecting ears 10 are formed, and two first arc-shaped grooves 11 are opened on one end surface of the ring 8, and the two first arc-shaped grooves 11 are opposite to The central axis of the ring 8 is arranged symmetrically, and the other side end surface of the ring 8 is provided with two second arc-shaped grooves 12, and the two second arc-shaped grooves 12 are opposi...

specific Embodiment approach 2

[0009] Embodiment 2: The length of each curved single-joint segment in this embodiment is 120 mm. Such arrangement has better bending flexibility. Others are the same as in the first embodiment.

specific Embodiment approach 3

[0010] Specific implementation mode three: combination image 3 To describe this embodiment, the center-to-center distance between the first riveting hole 13 of the first connecting ear 9 and the second riveting hole 15 of the second connecting ear 10 on each joint universal ring of this embodiment is 4.5 mm. Such setting is convenient for installation and has better bending flexibility. Others are the same as in the first or second embodiment.

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Abstract

A multi-joint endoscope bending mechanism with a force sensing function relates to an endoscope bending mechanism. In an existing medical endoscope, only one section at a head end of the endoscope is provided with bending controllability, the other parts of the endoscope do not have the function, and the surface of the endoscope is not integrated with a pressure sensor so that the contact pressure between a scope body and the intestinal canal wall can not be sensed. In the multi-joint endoscope bending mechanism, a first and a second connecting ear of a universal ring of two adjacent joints are matched and riveted with rivet clearances; a guide through hole of a guide seat on a universal ring of a start end joint of each bending uni-joint section is fixedly connected with a spring tube; four multi-strand steel wires in the bending uni-joint section pass through each spring tube and each guide through hole and are fixedly connected with a rear end circular ring; five bending uni-joint sections are wrapped by steel wire woven nets and rubber covering films from the inside to the outside; and pressure sensors are embedded in the rubber covering films. The multi-joint endoscope bending mechanism has a flexible spatial complexing bending capability and also a full-direction force sensing function. When used for examining an intestine problem of a patient, the multi-joint endoscope bending mechanism can relieve the pain suffered by the patient and is highly safe.

Description

technical field [0001] The invention relates to an endoscope bending mechanism, which belongs to the technical field of medical endoscopes. Background technique [0002] Endoscopy is a common and reliable medical tool for direct examination, tissue sampling, and tumor resection of human gastrointestinal disorders. Since the bending condition of the human intestinal tract is very complicated, there is an urgent need for a multi-joint, force-sensing, and flexible endoscope bending mechanism. [0003] After searching the existing domestic and foreign literature, it is found that only the bending of the head end of the current endoscope is controllable. Forced and passively bent, this contact pressure will cause pain to the patient during the examination of intestinal diseases. At the same time, the surface of the existing endoscope mirror body does not have an integrated pressure sensor, so it cannot sense the contact pressure between the mirror body and the intestinal wall, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B1/005A61B10/04A61B17/94
Inventor 王鹏飞胡海燕李伟达李满天孙立宁
Owner HARBIN INST OF TECH
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