Electromagnetic drive type rigid-flexible coupling endoscope

Abstract

The invention belongs to the field of endoscopes, and particularly discloses an electromagnetic drive type rigid-flexible coupling endoscope. The endoscope comprises a front-end flexible unit and a tail-end flexible execution unit, wherein front wire groups of the front-end flexible unit are distributed in a staggered manner along the circumference; electromagnet sets of the tail-end flexible execution unit are distributed in a staggered mode along the circumference, and the front wire group, the rear wire group and the electromagnet group of a same set form a closed loop. During work, voltageis applied to two ends of the closed loop to endow the electromagnets in the electromagnet group with magnetism, then adjacent electromagnets in the electromagnet group attract each other, and bending of the tail-end flexible execution unit in a certain direction is achieved. According to the invention, the damage of the endoscope to human tissues can be greatly reduced, meanwhile electromagneticdriving is adopted in the tail-end flexible execution unit, the endoscope has the advantages of high response speed, good stability, high working precision and the like, and large-curvature flexiblebending can be carried out in the whole space.

Description

technical field [0001] The invention belongs to the field of endoscopes, and more specifically relates to an electromagnetically driven rigid-flexible coupling endoscope. Background technique [0002] As a medical testing instrument, the endoscope can enter the body through natural channels and see lesions that cannot be displayed by X-rays, which is beneficial for doctors to make accurate diagnoses. However, most of the existing endoscopes are rigid structures, which have the disadvantages of single bending angle, limited curvature, high cost, and poor compliance. [0003] Due to its good flexibility, the soft mirror robot has received extensive attention in minimally invasive diagnosis and treatment. CN201720642113.0 discloses an endoscope, the mirror pin of which is composed of a hard tube part and a flexible tube part, wherein the flexible tube part can use a rotating guide wire adjustment device to adjust the bending angle. CN200820153290.3 discloses a ureteral endosc...

AI Technical Summary

Problems solved by technology

The endoscopes provided by the above patents all have good flexibility, but most of them are driven by pull wires, and the control end is controlled by winding knobs, which have defects such as large operating force, high labor intensity, and remote amplification of errors.

Images