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A screw-propelled intestinal endoscopy device with contact force sensing capability

A technology of spiral propulsion and sensing ability, applied in the direction of endoscope, rectoscope, rectal electron microscope, etc., can solve the problems of inability to perceive the contact status of the intestinal environment, difficulty in providing vision, and inability to perform precise closed-loop control, etc., and achieve major production practice Significance, stable field of view, scientific effect of structural design

Active Publication Date: 2022-06-03
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] For the current active propulsion devices, there are problems that they cannot sense the contact with the intestinal environment and cannot perform precise closed-loop control, and because most of the devices are completely composed of flexible materials, it is difficult to provide a stable field of view during endoscopic examination

Method used

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  • A screw-propelled intestinal endoscopy device with contact force sensing capability
  • A screw-propelled intestinal endoscopy device with contact force sensing capability
  • A screw-propelled intestinal endoscopy device with contact force sensing capability

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Embodiment Construction

[0076] In the present invention, in terms of specific implementation, as shown in FIG. 2, the flexible skeleton 100 includes a plurality of joints connected to each other,

[0077] Wherein, the head end condyle 101 and the tail end condyle 104 are respectively located at the first and last ends of the flexible frame 100;

[0078] The sensory joint 103 is located in the middle of the flexible frame 100;

[0079] Between the sensing condyle 103 and the head end condyle 101, and between the sensing condyle 103 and the tail end condyle 104, respectively set

[0081] The head end of the lock wire 3 is fixed in the lock wire fixing hole 1013 on the head end condyle 101.

[0082] Specifically, on the middle condyle 102 and the sensor condyle 103, there are respectively six airbag holes 1014 and six

[0083] The airbag 2 and the lock wire 3 are driven to pass through the airbag hole 1014 on the middle condyle 102 and the sensor condyle 103 respectively.

[0084] The driving airbag 2 and th...

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Abstract

The invention discloses a screw-propelled intestinal endoscope device with contact force perception capability, which comprises a flexible skeleton (100) as the core, an endoscope camera module (1), six driving airbags (2), six Lock wire (3), contact force sensing module (4), lock cavity structure (5) and multiple air supply tubes (6); endoscope camera module (1), six driving airbags (2), six locks The shape wire (3), the contact force sensing module (4), the lock cavity structure (5) and the air supply tube (6) are fused together through the flexible skeleton (100). The invention discloses a screw propulsion type intestinal endoscope device with contact force sensing ability, which has a scientific structural design, can sense the contact force between the endoscope and the inner wall of the intestinal tract, and can provide a stable field of view, thereby ensuring the realization of endoscopy The safety, high efficiency and low invasiveness of microscopic inspection have great practical significance in production.

Description

A spiral-propelled enteroscopic device with contact force sensing capability technical field The present invention relates to the technical field of active propelling endoscopes, in particular to a Screw-propelled enteroscopic device. Background technique [0002] Existing research shows that, through early inspection, can timely find treatment-related diseases, effectively reduce mortality. At present, endoscope is a kind of key medical equipment used for routine diagnosis and treatment of digestive tract diseases, but because doctors cannot Due to the shortcomings of vision, complicated operation site, etc., the traditional endoscope will be coiled and difficult to enter the endoscope during the manual advancement process. pain and injury to patients. Therefore, the active advancement of endoscopes that reflect the technical requirements of "less invasive and non-invasive" in vivo diagnosis and treatment Research has been carried out extensively at home and abroad...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B1/31
CPCA61B1/31A61B1/00156A61B1/00131
Inventor 左思洋陈志伟刘建彬宋智斌
Owner TIANJIN UNIV
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