An Electromagnetically Driven Rigid-Flexible Coupling Endoscope

Abstract

The invention belongs to the field of endoscopes, and specifically discloses an electromagnetically driven rigid-flexible coupling endoscope. The endoscope includes a flexible front unit and a flexible execution unit at the end, wherein: the front wire group of the front flexible unit is distributed in a staggered manner along the circumference; The wire group and the electromagnet group form a closed loop; the electromagnet in the electromagnet group acquires magnetism by applying a voltage at both ends of the closed loop during operation, and then makes the adjacent electromagnets in the electromagnet group attract each other to achieve terminal flexibility Executes the bending of the unit in a certain direction. The invention can greatly reduce the damage caused by the endoscope to human tissue, and at the same time, the end flexible actuator unit adopts electromagnetic drive, which has the advantages of fast response speed, good stability and high working precision, and can flexibly bend with large curvature 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