CN103006165A - Flexible endoscope robot with variable rigidity - Google Patents
Flexible endoscope robot with variable rigidity Download PDFInfo
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- CN103006165A CN103006165A CN2012105467444A CN201210546744A CN103006165A CN 103006165 A CN103006165 A CN 103006165A CN 2012105467444 A CN2012105467444 A CN 2012105467444A CN 201210546744 A CN201210546744 A CN 201210546744A CN 103006165 A CN103006165 A CN 103006165A
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Abstract
The invention discloses a flexible endoscope robot with the variable rigidity. One end of a conduit component is connected with a driving component; a ball bag component is arranged on the end part of the free end of the conduit component; a fluid supply component is connected with the ball bag component via a fluid pipe; the conduit component is made of soft silica gel; the inside of the conduit component is provided with a plurality of embedded rope yarns and a hard fixed knot; the first end of each embedded rope yarn is connected with the hard fixed knot; the second end of each embedded rope yarn is fixedly connected with the driving component; the dragging of the embedded rope yarns and the propelling movement of the conduit are controlled by the driving component; the ball bag component is detachably installed on the conduit component and can move along the peripheral surface of the conduit component within a large range; and the fluid supply component is used for discharging fluid to the ball bag component via the fluid conduit to control the expansion and the contraction of the ball bag component. According to the flexible endoscope robot with the variable rigidity, on one hand, the conduit rigidity can be controllably changed, action between the conduit and the human body tissue is reduced, and the discomfort of a patient is lowered. On the other hand, the tail end position of the conduit can be more precisely controlled, and the working intensity of an operator is lowered.
Description
Technical field
The present invention relates to a kind of endoscope robot system of medical endoscope technical field, specifically a kind of soft endoscope robot of variable rigidity.
Background technology
Usually, endoscope is made of operation part and insertion portion, and insertion portion is divided into again soft section and sweep.Wherein, the elongated flexible tube of soft section for extending out from operation part has flexible; Sweep is positioned at the soft section top, and is relatively short, can control its bending on one or two direction by operation part.
At present, the insertion portion of medical endoscope is comparatively hard with respect to tissue, and the main method of inserting body cavity is that the application of force advances outside patient body.In the progradation, when the conduit that inserts ran into the complex environment such as narrow and small, crooked in the body cavity depths, on the one hand because soft section can't be initiatively crooked, and effect was larger between tissue, and patient's sense of discomfort is stronger; On the other hand, because the pliability of tissue, in a single day external thrust is removed, and insertion section branch advances poor effect because organizing propulsive thrust to be pushed back.These have also caused the operator to be difficult to accurately control the catheter tip pose, may need repeatedly to adjust when the accurate operation of target area, and fatiguability works long hours.
In order to address the above problem, balloon endoscope and sacculus insert aid and in succession are suggested, and for example, the Japanese patent gazette JP proposes for 59-181121 number, insert the extremely leading portion of a balloon-system by the endoscopic instrument passage, and can be mobile in far and near direction.This balloon-system can reduce resistance in the propelling to a certain extent, but because sacculus must pass through instrument channel, actual spendable sacculus is less.In addition, such as 8-299261 number described endoscope of Japanese patent gazette Unexamined Patent, be mounted with an air bag in the insertion portion periphery, by the leading screw feeding structure in managing can be on far and near direction mobile air bag.Although the air bag volume increases to some extent in this device, its advance and retreat amount depends on the perforate size of screw structure, and actual removable amount is little, operates also more time-consuming.In addition, a kind of double-balloon endoscope device that also proposes for 2002-301019 number just like the Japanese patent gazette JP alternately expands, shrinks at intracavity by two air bags on insertion section and the trocar sheath thereof, has realized that replacing of the two is fixing, has advanced.
In above-mentioned endoscope and existing product example, sacculus accessory great majority all are fixed on the insertion catheter proximal end, or only can be mobile among a small circle at front end, and the zone of action is very limited, and the rigidity of uncontrollable soft section still.Friction is large, advance still in various degree the existence of the common problem of the endoscopies such as difficulty, complex operation.
Therefore, for further improving endoscope's performance, reduce operator's working strength, alleviate the patient suffering, autonomous type or half autonomous type endoscope become the emphasis that the biomedical devices industry is is competitively researched and developed gradually.Such as the development of China Shanghai Communications University, domestic number of patent application is 200410054206.9 active intestinal endoscope robot system, utilizes bionics principle, adopts the linear electromagnetic type of drive, and robot is wriggled in intestinal.And for example Harbin Institute of Technology develops, domestic number of patent application is 200910072751.3 continuous body type semi-autonomous endoscope robot, connect by a plurality of joints universal joint ring, adopt steel wire to cooperate driving with spring, can realize that the complex bend of ten degree of freedom moves to adapt to the intestinal complicated state.In addition, Japanese Tohoku university utilizes memorial alloy to drive, and is developed into the snakelike driving device that is suitable for intestinal or vascular environment; California Inst Tech USA develops air-driven type endoscope robot system, and the increase by gas pressure and reducing is controlled advancing of body and fallen back.
Above-mentioned several endoscope robot system with respect to conventional endoscope controllable degrees of freedom showed increased, but has almost all adopted traditional hard material in the existing example, and device rigidity is all immutable.And most of system all adopts marmem or air-flow to drive.On the one hand, the medical apparatus and instruments that carries out transluminal operation adopts hard material can have certain potential safety hazard, also can bring certain sense of discomfort to the patient; On the other hand, the mode of memorial alloy or air stream drives all is difficult to accurate control, and practicality is relatively poor.
Summary of the invention
The present invention is directed to above shortcomings in the prior art, a kind of soft endoscope robot of variable rigidity is provided.
The present invention is achieved by the following technical solutions.
A kind of soft endoscope robot of variable rigidity, comprise parts of vessels, driver part, fluid supply part and balloon member, wherein, one end of described parts of vessels is connected with driver part, described balloon member is arranged on the free-ended end of parts of vessels, and described fluid supply part is connected with balloon member with pipe by fluid; Described parts of vessels is made by soft silica gel, and its inside is provided with some embedded rope yarns and hard fixed knot, and the first end of described embedded rope yarn is connected with the hard fixed knot, and the second end of described embedded rope yarn is fixedly connected with driver part.
Described parts of vessels inside also is provided with service aisle and turns to passage, and wherein, described service aisle is positioned at the centre, and axially runs through whole parts of vessels; Described some passages that turns to are distributed in the service aisle outside radially, are used for placing embedded rope yarn, and described hard fixed knot is several, and one of them is embedded in position, parts of vessels top, and all the other are arranged on the diverse location of parts of vessels inside as required flexibly; The quantity of the quantity of described embedded rope yarn and hard fixed knot is suitable.
The described passage equal angles circle distribution that turns to is in the service aisle outside radially.
Described service aisle comprises instrument channel and optical-fibre channel, and wherein, described instrument channel is used for planting all kinds of instrument tool, the embedded minisize pick-up head of described optical-fibre channel, and its top is provided with illuminace component, and its end is connected with image collecting device; Described some hard fixed knots are ring-type, and described instrument channel and optical-fibre channel are passed from the central through hole of hard fixed knot; The described passage that turns to comprises that the top turns to passage and middle part to turn to passage, and described top turns to passage and middle part to turn to passage equal angles circle distribution inner in parts of vessels.
Described balloon member is hollow structure, and it is removably mounted on the parts of vessels, and can move along the parts of vessels outer peripheral face; Described balloon member comprises swell-shrink parts, the two ends of described swell-shrink parts are provided with fixed part, the sucker fluid passage that is provided with the sacculus fluid passage of axial setting in the described balloon member sidewall and radially arranges, the embedded shaping mechanism of the front end of described balloon member, described balloon member is being embedded with Acetabula device with the parts of vessels touching position.
Described driver part comprises leading screw base, screw slider, micromachine, coiling wheel disc, advances base and conduit fixture, and wherein, described micromachine is fixed on and advances on the base, and described propelling base is relative with screw slider fixing; Described conduit fixture contacts with advancing base, and its contact portion is provided with the aperture of passing with pipe for embedded rope yarn and fluid; Described leading screw base is by the driven by motor screw rod control screw slider rectilinear motion of its positioned inside; The second end of described embedded rope yarn is fixedly connected with the coiling plate wheel, and described micromachine is finished folding and unfolding to embedded rope yarn by driving the coiling wheel disc.
Described fluid supply part comprises sacculus supply structure and sucker supply structure, and described sacculus supply structure all is connected with balloon member with pipe by fluid with the sucker supply structure, is used for the expansion of control balloon member and contraction.
Be provided with between described parts of vessels end and the balloon member be used to preventing that balloon member breaks away from the position limiting structure of parts of vessels.
Described arbitrary embedded rope yarn outer surface is provided with one deck for the protection of the soft silica gel tubule of parts of vessels.
The present invention has reduced conduit hardness, so that the soft easily deformation of conduit insertion portion; Simultaneously, by at the embedded rope yarn of its different parts, parts of vessels can come flexible self rigidity by pulling certain one or more rope yarn, and produces multivariant Bending Deformation.Therefore, the present invention has reduced insertion portion and tissue interphase interaction, to alleviate patient's sense of discomfort; In addition, balloon member and parts of vessels are relatively independent, and the movable scope of sacculus is large, no longer only limit to front end, have strengthened its sphere of action in progradation; Is fixed in intracavity after balloon member expands as pedestal as, a part of conduit that is positioned at before the balloon member still can be crooked, so that accurately controlled during the catheter tip bending.
Description of drawings
Fig. 1 is the overall structure skeleton diagram of apparatus of the present invention;
Fig. 2 is the partial enlarged drawing of regional A among Fig. 1;
Fig. 3 is the longitudinal section view of parts of vessels among Fig. 1;
Fig. 4 is the top view of parts of vessels among Fig. 1;
Fig. 5 is the left view of parts of vessels among Fig. 1;
Fig. 6 is the A--A cutaway view of Fig. 3;
Fig. 7 is the C--C cutaway view of Fig. 3;
Fig. 8 is the D--D cutaway view of Fig. 3;
Fig. 9 is the E--E cutaway view of Fig. 3;
Figure 10 is the partial enlarged drawing of regional B among Fig. 3;
Figure 11 is the partial enlarged drawing of regional F among Fig. 3;
Figure 12 is the axonometric chart of balloon member among Fig. 1;
Sketch map when Figure 13 is the contraction of Figure 12 sacculus;
Sketch map when Figure 14 is Figure 12 inflation;
Figure 15 is the left view of Figure 12 sacculus;
Figure 16 is the partial enlarged drawing of regional C among Figure 15;
Figure 17 is the A--A cutaway view of Figure 15;
Figure 18 is the B--B cutaway view of Figure 15;
Figure 19 is the partial enlarged drawing of regional F among Figure 18;
Figure 20 is the internal structure skeleton diagram of driver part among Fig. 1;
Figure 21 is the sketch map that endoscope has just entered intracavity in the embodiment of the invention;
Figure 22 is the sketch map when endoscope runs into narrow environment in the embodiment of the invention;
Figure 23 is the sketch map when endoscope runs into the turning in the embodiment of the invention;
Figure 24 is the sketch map when endoscope successively runs into two turnings in the embodiment of the invention;
Figure 25 be in the embodiment of the invention endoscope at the sketch map of target area accurate operation;
Among the figure, 1 is balloon member; 2 is parts of vessels; 3 is driver part; 4 is instrument channel; 5 is optical-fibre channel; 6 is the top fixed knot; 7 turn to passage for the top; 8 is the middle part fixed knot; 9 turn to passage for the middle part; 10 is the swell-shrink parts of sacculus; 11 is the sacculus fluid passage; 12 is miniature sucker; 13 is sacculus fixed part a; 14 is sacculus fixed part b; 15 is the sucker fluid passage; 16 is light spring; 17 is the fluid supply part; 18 are the fluid pipe; 19 is the leading screw base; 20 is screw slider; 21 is micromachine; 22 for advancing base; 23 are the coiling wheel disc; 24 is the conduit fixture.
The specific embodiment
The below elaborates to embodiments of the invention: present embodiment is implemented under take technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: parts of vessels 2, driver part 3, fluid supply part 17 and balloon member 1, wherein, one end of parts of vessels 2 is connected with driver part 3, balloon member 1 is arranged on parts of vessels 2 free-ended ends, and fluid supply part 17 is connected with balloon member with pipe 18 by fluid; Parts of vessels 2 is made by soft silica gel, and its inside is provided with more embedded rope yarn and hard fixed knot, and the first end of embedded rope yarn is connected with the hard fixed knot,
The second end is fixedly connected with driver part 3.In the present embodiment, embedded rope yarn adopts finer wire, below is called to turn to steel wire.
Parts of vessels 2, it is equivalent to the insertion portion of conventional endoscope, is used for inserting in the body cavity carrying out splanchnoscopy; Balloon member 1, it releasably is installed on the parts of vessels 2, is used for the insertion of subsidiary conduit parts with fixing; Driver part 3 is equivalent to the operation part of conventional endoscope, be used for providing thrust power, and control subject conduit 2 is finished relevant action; Fluid supply part 17 can be given the row that balloon member 1 is carried out fluid, with expansion, the contraction of control sacculus.
Parts of vessels 2 is formed by the comparatively soft medical silica-gel demoulding, and the silica gel hardness that adopts in the present embodiment is about 30A.Medical silica-gel reacts without allergy tissue, and rejection is few; Quite stable simultaneously, with body fluid and organize and can keep its original elasticity and pliability in the contact process, high temperature resistant, can sterilize.
Also be provided with service aisle in the conduit 2 and turn to passage.
As shown in Figures 2 and 3, service aisle is positioned at the centre, axially runs through whole parts of vessels 2, comprises instrument channel 4, optical-fibre channel 5.Can insert and change various sight glass aids in the instrument channel 4; Optical-fibre channel 5 embedded minisize pick-up heads, its top contain the LED lamp so that illumination to be provided, and the terminal image collecting device that directly connects is with image in the Real-time Obtaining cavity.Two kinds of passages can have different size as required dimensionally.
Turn to passage to be positioned at the service aisle outside radially, the built-in steel wire that turns to, the one end is connected with hard fixed knot in the conduit, and the other end is fixed on the driver part 3 interior coiling wheel discs 23.In the accompanying drawing, except Figure 23,24,25, turn to steel wire all not mark in other figure.
The hard fixed knot is several, and one of them is embedded in position, parts of vessels top, hereinafter referred to as top hard fixed knot; All the other can be arranged on the diverse location at parts of vessels middle part as required flexibly, hereinafter referred to as middle part hard fixed knot.Turn to the quantity of the quantity of steel wire and hard fixed knot suitable, arbitrary first end of steel wire that turns to is connected with a certain specific hard fixed knot.
Correspondingly, turning to passage to be divided into the top turns to passage and middle part to turn to passage, wherein, being arranged on the top turns to the steel wire that turns in the passage to be connected with top hard fixed knot, being arranged on the middle part turns to the steel wire that turns to of passage to be connected with middle part hard fixed knot, be specially, as shown in Figure 3, the hard fixed knot adopts two in the present embodiment: top hard fixed knot 6 is embedded in the catheter tip position, turn to steel wire to turn to passage 7 to be fixedly connected with it by the top, middle part hard fixed knot 8 is embedded in the conduit middle part, turns to steel wire to turn to passage 9 to be fixedly connected with it by the middle part.Two hard fixed knots are ring-type, and the position is fixed in conduit, and instrument channel 4, optical-fibre channel 5 run through from both inside, such as Fig. 6 and shown in Figure 8.In the present embodiment, the top turns to passage 7 and middle part to turn to passage 9 respectively to be 4, and the equal angles circle distribution is in parts of vessels 2, and such as Fig. 7, shown in Figure 8, concrete specification also can suitably be adjusted as required.Turn to the steel wire outside all tightly to overlap the soft silica gel tubule of one deck, prevent that steel wire cutting tube wall from damaging passage.
Shown in Figure 13,14, the swell-shrink parts 10 of sacculus are that hollow is bag-shaped, adopt good material such as the latex of retractility to make, and are filled with or the fluid such as air-out by sacculus fluid passage 11.As shown in figure 17, swell-shrink parts 10 are fixed by former and later two fixed parts 13,14, and its material adopts has flexible hard material, such as fluorine resin pipe or polyacrylic fibres etc., also can use bonding agent further to seal in the contact position.
As shown in figure 17, sacculus fluid passage 11 1 ends pass to swell-shrink parts 10, and the other end connects fluid with managing 19 (not shown).Fluid is relatively independent with pipe 19 and parts of vessels 2, adopts the hard flexible material, as making than the plastic tube of hard or the silica gel hose etc. that is embedded with rigid plastics.Fluid is with managing 19 on the one hand for delivery of fluid, the balloon member 1 that can link to each other by its push-and-pull being driven the top on the other hand.Relatively independent between balloon member and the parts of vessels, can be mobile at whole conduit, as shown in Figure 2, parts of vessels 1 leading portion also is provided with position limiting structure, prevents that sacculus from too being pushed and break away from conduit.
Such as Figure 17, shown in Figure 180, balloon member 1 one ends are embedded with fixed mechanism, adopt miniature sucker 12 in the present embodiment.Sucker fluid passage 15 and fluid link to each other with pipe 18, and conduit is adsorbed or loosen by fluid supply part 17 control suckers.Sacculus fluid passage 11, miniature sucker 12 respectively are provided with two with sucker fluid passage 15 in the present embodiment, and symmetrical is distributed on the balloon member 1, as shown in figure 15.
Fixed mechanism only controllably fixes sacculus with conduit, be not limited to Acetabula device and specification thereof in the present embodiment, also can adopt the parts such as memorial alloy, flexible macromolecular material to replace.
For making balloon member 1 leading portion in the propelling movement process, remain cylindric, to avoid front end upset or have foreign body to enter slit between itself and conduit, the sacculus leading portion is provided with stereotyped structure.Adopt a bit of flexible light spring 16 that has in the present embodiment, such as Figure 17, shown in Figure 180.This spring only be used for to keep profile, parts as an alternative, the toughness parts that also can use fluorine resin or other macromolecular materials to make.
As shown in figure 20, driver part 3 and 2 terminal linking to each other of parts of vessels mainly comprise: leading screw base 19, and screw slider 20, micromachine 21, coiling wheel disc 23 advances base 22 and conduit fixture 24.
Leading screw base 19 is by the driven by motor screw rod of its positioned inside, with control screw slider 20 rectilinear motions.Micromachine 21 is finished turning to the folding and unfolding of steel wire by driving coiling wheel disc 23, and micromachine all is fixed on and advances on the base 22, advances base 22 relative fixing with screw slider 20.Conduit fixture 24 is mainly used in parts of vessels 2 and fluid are connected and fixed with advancing base 22 with pipe 18, and it leaves relevant aperture with advancing base 22 contact portions, turns to steel wire and fluid therefrom to run through with pipe 18.
As shown in Figure 1, fluid links to each other with fluid supply part 17 after running through driver part 3 with pipe 18.The fluid supply part is divided into sacculus and supplies with to supply with pump and sucker and use pump in the present embodiment, and both can control separately.In addition, can use the device replacement fluid supply pumps such as syringe, directly manually control.
Below, in conjunction with said apparatus, describe for carrying out endoscopic situation in the insertion body cavity.
Before carrying out splanchnoscopy, as shown in Figure 1, balloon member 1 is placed in conduit 2 front ends, subsequently conduit 2 and fluid is fixed on the propelling movement base 22, such as Figure 20 by conduit fixture 24 with pipe 18.At last fluid is linked to each other with fluid supply part 17 with pipe 18, and the steel wire that turns in the conduit links to each other with coiling wheel disc 23 in the driver part 3, optical-fibre channel 5 interior minisize pick-up heads link to each other with image collecting device.
When beginning to carry out splanchnoscopy, as shown in Figure 2, sacculus is in the state of contraction, and is fixed on the conduit leading portion by miniature sucker 12.Then, by the Minimally Invasive Surgery otch parts of vessels 2 is inserted in the patient body.After this endoscope will may run into different situations in body cavity, such as Figure 21 to Figure 24, the operational approach of present embodiment under the different situations will be elaborated.
As shown in figure 21, when endoscope has just entered intracavity, environment of living in is very narrowless, crowded, and resistance is less.This moment still remain retracted state and be fixed on the conduit 2 by sucker 12 of balloon member 1, operator's major control driver part 3 endoscopes advance.
If the friction of endoscope and certain contact site of intracavity is larger in this case, add upper conduit self softness, certain Bending Deformation may occur during propelling movement, cause advancing poor effect.All micromachines 21 that can control in the driver part 3 this moment all turn over same smaller angle, so that turn to steel wire all to strain the fixed knot that it links to each other.Conduit self will shrink to a certain extent like this, and rigidity increases to some extent, become on the whole not flexible, to be conducive to propelling.
Along with deepening continuously of endoscope, it is narrow, crowded that the intracavity environment can become, and resistance also can increase gradually, pushes the beginning difficult this moment.
As shown in figure 22, when the operator passes through embedded minisize pick-up head, observe when conduit leading portion space is comparatively narrow to be difficult to advance, at first controllable flow body supply part 17 supplies fluid to balloon member 1, make its expansion and be fixed on intracavity, the body cavity space of catheter proximal end is also with corresponding increase.Subsequently, control fluid supply part 17 is converted to relaxation state with miniature sucker 12, and then, keeping on the one hand the relative fixing of sacculus and cavity, one side can continue to push parts of vessels 2.After the conduit first half passes through sacculus, stop to push and the contraction of control sacculus, manually push again fluid with managing 18, the balloon member 1 that its top is linked to each other pushes back to the conduit leading portion.At last, control miniature sucker 12 and return to adsorbed state, again sacculus is fixed in catheter proximal end.
As shown in figure 23, when the operator finds that turning or branch road appear in endoscope the place ahead, can carry out bending by ACTIVE CONTROL conduit 2, reduce endoscope and tissue effect.
Concrete grammar is, when conduit need to be towards one party to bending, what pull that respective side is connected to the top turns to steel wire (among the figure shown in the dotted line, hereinafter to be referred as the top steel wire) get final product, the pulling of steel wire drives coiling wheel disc 23 by micromachine 21 and finishes, and pulling rear tube rigidity also will increase to some extent.Subsequently, after the conduit first half was by turning or branch road, control motor 21 loosened the top steel wire, and conduit stiffness is restored.Because material is soft, after the top steel wire was relaxed to initial position, parts of vessels 2 still can be kept case of bending passively under the cavity effect.
Same, what pull that certain root is connected to the middle part turns to steel wire (hereinafter to be referred as the middle part steel wire), and the conduit second half section also can be crooked.But because the restriction of first half section, the second half section degree of crook is limited, and its effect mainly is auxiliary shaping, below to be described in detail to reduce propelling resistance.
More complicated than situation shown in Figure 23, after endoscope is just by certain corner or branch road, new turning or branch road are continued to occur again in the place ahead, if directly pull in this case the top steel wire, the deformation meeting of conduit integral body increases the interaction of itself and tissue, particularly when turning, two places, front and back or opposite, the whole travel path of branch direction were S-shaped, propelling can obviously be obstructed, as shown in figure 24.Just need to utilize the high characteristics of this device controllable degrees of freedom this moment, certain part of independent control conduit is crooked, and concrete operation method is as follows:
At first, after conduit was by a turning or branch road, certain roots and tops steel wire of having strained still kept tight, and rigidity is constant.Simultaneously, the control micromachine 21 an amount of middle part steel wires that pull same side also tighten it, as shown in phantom in Figure 24.Subsequently, loosen the top steel wire tightened to initial position, and pull the top steel wire that next needs the curved side, shown in dotted line among Figure 24.Because the setting effect of middle part steel wire, conduit is latter half of still can to keep previous warp tendency, and first half is then can be under the effect of top steel wire crooked towards a new direction, whole conduit initiatively be bent into S shape and rigidity larger, tissue resistance reduces relatively during propelling, and it is more easy to carry out.Then, after conduit 2 forward part are by second turning or branch road, control coiling wheel disc 23 and in succession loosen middle part steel wire and top steel wire, make conduit 2 recover soft, advance with continuation.
As shown in figure 25, after endoscope distal end arrives the target area (dashed region among the figure), the operator may be in certain area further accurate operation, only pull this moment and turn to steel wire can't satisfy the requirement of accurate control.
For improving control accuracy, miniature sucker 12 in the balloon member 1 can be loosened, manually pull again fluid with pipe 18, the balloon member 1 that its top links to each other is moved a bit of distance behind conduit.Subsequently, control fluid supply part 17 makes respectively balloon member expansion, the absorption of miniature sucker.Will be relative with cavity fixing after the inflation, sucker adsorbs so that conduit is relative with sacculus fixing.At this moment, if pulling be fixed in the top turn to steel wire (shown in dotted line among Figure 25), only be positioned at the flexible deformation of fraction conduit before the sacculus, be equivalent to the sweep on traditional sight glass top.In addition, because balloon member 1 is equivalent to be fixed in intracavity as the pedestal, sacculus bendable front end conduit is compared the conventional endoscope sweep, self is difficult for moving and reversing, and the easier control of pose is so that control accuracy is improved.
More than specific embodiments of the invention are described.It will be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. the soft endoscope robot of a variable rigidity, comprise parts of vessels, driver part, fluid supply part and balloon member, wherein, one end of described parts of vessels is connected with driver part, described balloon member is arranged on the free-ended end of parts of vessels, and described fluid supply part is connected with balloon member with pipe by fluid; It is characterized in that described parts of vessels is made by soft silica gel, its inside is provided with embedded rope yarn and hard fixed knot, and the first end of described embedded rope yarn is connected with the hard fixed knot, and the second end of described embedded rope yarn is fixedly connected with driver part.
2. the soft endoscope robot of variable rigidity according to claim 1 is characterized in that, described parts of vessels inside is provided with service aisle and turns to passage, and wherein, described service aisle is positioned at the centre, and axially runs through whole parts of vessels; Described some passages that turns to are distributed in the service aisle outside radially, are used for placing embedded rope yarn, and described hard fixed knot is several, and one of them is embedded in position, parts of vessels top, and all the other then are arranged on arbitrarily the diverse location of parts of vessels inside; The quantity of the quantity of described embedded rope yarn and hard fixed knot is suitable.
3. the soft endoscope robot of variable rigidity according to claim 2 is characterized in that, the described passage equal angles circle distribution that turns to is in the service aisle outside radially.
4. the soft endoscope robot of variable rigidity according to claim 2, it is characterized in that, described service aisle comprises instrument channel and optical-fibre channel, wherein, described instrument channel is used for planting all kinds of instrument tool, the embedded minisize pick-up head of described optical-fibre channel, its top is provided with illuminace component, and its end is connected with image collecting device; Described some hard fixed knots are ring-type, and described instrument channel and optical-fibre channel are passed from the central through hole of hard fixed knot; The described passage that turns to comprises that the top turns to passage and middle part to turn to passage, and described top turns to passage and middle part to turn to passage equal angles circle distribution inner in parts of vessels.
5. the soft endoscope robot of variable rigidity according to claim 1 is characterized in that, described balloon member is hollow structure, and it is removably mounted on the parts of vessels, and can move along the parts of vessels outer peripheral face; Described balloon member comprises swell-shrink parts, the two ends of described swell-shrink parts are provided with fixed part, the sucker fluid passage that is provided with the sacculus fluid passage of axial setting in the described balloon member sidewall and radially arranges, the embedded shaping mechanism of the front end of described balloon member, described balloon member is being embedded with Acetabula device with the parts of vessels touching position.
6. the soft endoscope robot of variable rigidity according to claim 1, it is characterized in that, described driver part comprises leading screw base, screw slider, micromachine, coiling wheel disc, advances base and conduit fixture, wherein, described micromachine is fixed on and advances on the base, and described propelling base is relative with screw slider fixing; Described conduit fixture contacts with advancing base, and its contact portion is provided with the aperture of passing with pipe for embedded rope yarn and fluid; Described leading screw base is by the driven by motor screw rod control screw slider rectilinear motion of its positioned inside; The second end of described embedded rope yarn is fixedly connected with the coiling plate wheel, and described micromachine is finished folding and unfolding to embedded rope yarn by driving the coiling wheel disc.
7. the soft endoscope robot of variable rigidity according to claim 1, it is characterized in that, described fluid supply part comprises sacculus supply structure and sucker supply structure, described sacculus supply structure all is connected with balloon member with pipe by fluid with the sucker supply structure, is used for the control balloon member and expands and contraction.
8. the soft endoscope robot of each described variable rigidity in 7 according to claim 1 is characterized in that, is provided with between described parts of vessels end and the balloon member be used to preventing that balloon member breaks away from the position limiting structure of parts of vessels.
9. the soft endoscope robot of each described variable rigidity in 7 according to claim 1 is characterized in that described arbitrary embedded rope yarn outer surface is provided with one deck for the protection of the soft silica gel tubule of parts of vessels.
10. the soft endoscope robot of variable rigidity according to claim 8 is characterized in that, described arbitrary embedded rope yarn outer surface is provided with one deck for the protection of the soft silica gel tubule of parts of vessels.
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| CN105013071A (en) * | 2015-07-10 | 2015-11-04 | 沈涛 | Medical manual pump for esophagoscopy cuff |
| CN105902313A (en) * | 2016-04-07 | 2016-08-31 | 上海交通大学 | Balloon type separable dobby soft robot |
| CN105945930A (en) * | 2016-05-20 | 2016-09-21 | 哈尔滨工业大学 | Liner-driven type software robot with changeable rigidity |
| CN106308932A (en) * | 2016-08-31 | 2017-01-11 | 上海交通大学 | Rigid-soft coupling design of single-hole surgical robot designed for emergent operation |
| CN107072491A (en) * | 2015-03-19 | 2017-08-18 | 奥林巴斯株式会社 | The insertion section for inserting equipment is installed by utensil, insertion system |
| CN107263452A (en) * | 2017-08-04 | 2017-10-20 | 哈尔滨工业大学 | A kind of parallel line driving soft robot flexion torsion deformation module |
| CN107374575A (en) * | 2017-07-21 | 2017-11-24 | 泗洪县正心医疗技术有限公司 | Camera can outward turning fujinon electronic video endoscope |
| CN109732581A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of soft robot based on two side guys |
| CN109758104A (en) * | 2019-03-27 | 2019-05-17 | 浙江理工大学 | Soft controllable endoscope |
| CN111911745A (en) * | 2020-08-27 | 2020-11-10 | 中国十七冶集团有限公司 | Peristaltic pipeline robot |
| CN111920366A (en) * | 2020-06-24 | 2020-11-13 | 海南大学 | Confocal endoscope with fixing device |
| CN112518731A (en) * | 2020-11-30 | 2021-03-19 | 成都普崔克机电有限公司 | Software driver and software device |
| CN112617716A (en) * | 2020-12-04 | 2021-04-09 | 珠海普生医疗科技有限公司 | Controllable bending endoscope and using method thereof |
| CN112976052A (en) * | 2021-02-26 | 2021-06-18 | 天津大学 | Mirror image control mechanical arm unit |
| WO2023000589A1 (en) * | 2021-07-20 | 2023-01-26 | 中国科学院深圳先进技术研究院 | Lasso-drive-based two-degree-of-freedom flexible buffering endoscope |
| US11950763B2 (en) | 2018-05-18 | 2024-04-09 | Tsinghua University | Self-propelled soft robot body |
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| CN107072491B (en) * | 2015-03-19 | 2019-08-13 | 奥林巴斯株式会社 | The insertion section for being inserted into equipment is installed by utensil, insertion system |
| CN107072491A (en) * | 2015-03-19 | 2017-08-18 | 奥林巴斯株式会社 | The insertion section for inserting equipment is installed by utensil, insertion system |
| CN105013071A (en) * | 2015-07-10 | 2015-11-04 | 沈涛 | Medical manual pump for esophagoscopy cuff |
| CN105013071B (en) * | 2015-07-10 | 2017-11-24 | 浙江师范大学 | A kind of medical manual pump for oesophagoscope cuff |
| CN105902313A (en) * | 2016-04-07 | 2016-08-31 | 上海交通大学 | Balloon type separable dobby soft robot |
| CN105945930A (en) * | 2016-05-20 | 2016-09-21 | 哈尔滨工业大学 | Liner-driven type software robot with changeable rigidity |
| CN106308932A (en) * | 2016-08-31 | 2017-01-11 | 上海交通大学 | Rigid-soft coupling design of single-hole surgical robot designed for emergent operation |
| CN107374575A (en) * | 2017-07-21 | 2017-11-24 | 泗洪县正心医疗技术有限公司 | Camera can outward turning fujinon electronic video endoscope |
| CN107374575B (en) * | 2017-07-21 | 2024-01-12 | 泗洪县正心医疗技术有限公司 | Electronic endoscope with outward-rotatable camera |
| CN107263452A (en) * | 2017-08-04 | 2017-10-20 | 哈尔滨工业大学 | A kind of parallel line driving soft robot flexion torsion deformation module |
| US11950763B2 (en) | 2018-05-18 | 2024-04-09 | Tsinghua University | Self-propelled soft robot body |
| CN109732581A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of soft robot based on two side guys |
| CN109758104A (en) * | 2019-03-27 | 2019-05-17 | 浙江理工大学 | Soft controllable endoscope |
| CN109758104B (en) * | 2019-03-27 | 2021-08-10 | 杭州华移技术有限公司 | Flexible controllable endoscope |
| CN111920366A (en) * | 2020-06-24 | 2020-11-13 | 海南大学 | Confocal endoscope with fixing device |
| CN111920366B (en) * | 2020-06-24 | 2021-10-08 | 海南大学 | Confocal endoscope with fixing device |
| CN111911745A (en) * | 2020-08-27 | 2020-11-10 | 中国十七冶集团有限公司 | Peristaltic pipeline robot |
| CN112518731A (en) * | 2020-11-30 | 2021-03-19 | 成都普崔克机电有限公司 | Software driver and software device |
| CN112518731B (en) * | 2020-11-30 | 2022-11-25 | 成都普崔克机电有限公司 | Software driver and software device |
| CN112617716A (en) * | 2020-12-04 | 2021-04-09 | 珠海普生医疗科技有限公司 | Controllable bending endoscope and using method thereof |
| CN112976052A (en) * | 2021-02-26 | 2021-06-18 | 天津大学 | Mirror image control mechanical arm unit |
| WO2023000589A1 (en) * | 2021-07-20 | 2023-01-26 | 中国科学院深圳先进技术研究院 | Lasso-drive-based two-degree-of-freedom flexible buffering endoscope |
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