CN100431477C - Endoscope assembly - Google Patents

Endoscope assembly Download PDF

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Publication number
CN100431477C
CN100431477C CNB2005800043114A CN200580004311A CN100431477C CN 100431477 C CN100431477 C CN 100431477C CN B2005800043114 A CNB2005800043114 A CN B2005800043114A CN 200580004311 A CN200580004311 A CN 200580004311A CN 100431477 C CN100431477 C CN 100431477C
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CN
China
Prior art keywords
motor driven
air bag
driven endoscope
select
selectively
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Expired - Fee Related
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CNB2005800043114A
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Chinese (zh)
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CN1917802A (en
Inventor
加德·特柳克
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Smart Medical Systems Ltd
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Smart Medical Systems Ltd
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Application filed by Smart Medical Systems Ltd filed Critical Smart Medical Systems Ltd
Priority to CN201210539164.2A priority Critical patent/CN103142199B/en
Priority to CN201610702295.6A priority patent/CN106235993B/en
Publication of CN1917802A publication Critical patent/CN1917802A/en
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Publication of CN100431477C publication Critical patent/CN100431477C/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00082—Balloons

Abstract

A locomotive endoscope assembly includes a locomotive endoscope head, including a main portion extending along a longitudinal axis and having a first selectably inflatable balloon associated therewith and a selectably positionable portion, selectably axially positionable along the main portion and having a second selectably inflatable balloon associated therewith and a locomotive endoscope head controller controlling the operation of the locomotive endoscope head and being operative for controlling positioning of the selectably positionable portion relative to the main portion and selectable inflation of the first and second selectably inflatable balloons.

Description

Endoscope assembly
Cross reference with related application
The patent application that the application's reference is following: No. 60/542680 U.S. Provisional Patent Application of submitting on February 9th, 2004, its name are called " being used for mobile microrobot and adnexa in splanchnoscopy and the pipe "; And No. 60/559461 U.S. Provisional Patent Application of submitting on April 6th, 2004, its name is called " device, adnexa and the method that are used for transmission in splanchnoscopy and the pipe ", these apply for that disclosed content is incorporated in the literary composition as a reference, and according to 37CFR 1.78 (a) (4) and (5) (i), require to enjoy the priority of above-mentioned application.
Technical field
Present invention relates in general to endoscopy, more particularly, the present invention relates to motor driven endoscope.
Background technology
Think that following U.S. patent documents represented the existing situation of this area:
4040413rd, 4176662, No. 5662587 United States Patent (USP)s; And
No. 2002/0156347 U.S. Patent application file.
Summary of the invention
The present invention is devoted to provide a kind of improved motor driven endoscope.
The implication outline of used in the literary composition " endoscope " and " endoscopy " is wider than their common implications, they refer to the equipment and the method for working in places such as body cavity, body internal channel, body cavity wherein and passage for example are small intestinal, large intestine, tremulous pulse and vein.Although what these terms were usually directed to is visual examination, in the linguistic context of this paper, they are not limited to adopt the application scenarios of visual examination, equally also relate to those equipment that not necessarily comprise visual examination, system and method.
Thereby, one preferred implementation according to the present invention, the application provides a kind of motor driven endoscope assembly, it comprises: self-propelled endoscope head, it comprises the main part of axis extension longitudinally, and this endoscope head has associated alternative expansible first air bag and can select localized part, can select localization part to position along described main part, also has associated alternative expansible second air bag on the endoscope head; And motor driven endoscope head controller, its work to the motor driven endoscope head is controlled, and its role is to control to select localization part with respect to the location of main part and the inflation of the first and second selectively-expandable air bags.
One preferred implementation according to the present invention comprises one of at least the air bag that can uphold in first, second selectively-expandable air bag.Preferably, the motor driven endoscope assembly also comprises the endoscope body that links to each other with the motor driven endoscope head.As possibility or preferred version, instrument channel extends through motor driven endoscope head and endoscope body at least in part.
Another preferred implementation according to the present invention, the motor driven endoscope head has fixed length.Preferably, endoscope body comprises multi-lumen tube.As alternative or additional project, endoscope body realizes that with motor driven endoscope head controller interface is connected.
The preferred implementation again according to the present invention, the motor driven endoscope assembly also comprises endoscopy system, it can be connected with motor driven endoscope head controller.
According to another preferred implementation of the present invention, multi-lumen tube comprises at least one lumen, and its effect is at least as the next item down function: air bag is carried out inflation; The localization part selected to the motor driven endoscope head positions; Make passing thus one of at least of optical fiber and conduction wire harness; And realize that fluid is communicated with.Preferably, multi-lumen tube comprises at least one lumen, each function that its role is to be achieved as follows: air bag is carried out inflation; The localization part selected to the motor driven endoscope head positions; And make passing thus one of at least of optical fiber and conduction wire harness.Ordinary circumstance and preferably, this at least one lumen comprises at least one first lumen its role is to the first selectively-expandable air bag is carried out inflation, and comprises at least one second lumen, its role is to the second selectively-expandable air bag is carried out inflation.
Another preferred implementation according to the present invention can select the localization part can be with respect to the main part location of sliding.Preferably, the motor driven endoscope head comprises at least one light source and at least one imaging sensor, and as a supplement or alternative, but the first selectively-expandable air bag comprises the air bag part of at least two independently-inflatable.As another alternative, but the second selectively-expandable air bag comprises the air bag part of at least two independently-inflatable.Preferably, but but at least two independently-inflatable air bags of second selectively-expandable air bag part partly becomes the azimuth bias relation with respect at least two independently-inflatable air bags of the first selectively-expandable air bag.
According to another preferred implementation of the present invention, motor driven endoscope head controller provides motor-driven function, passes the basic piped body portion that is thereby this function is suitable for making the motor driven endoscope head to move step by step.Preferably, this motor-driven function comprises the function that can be achieved as follows successively operation: the first selectively-expandable air bag is carried out inflation, thus the first selectively-expandable air bag is anchored on the inner surface of basic tubular body portion; Can select the localization part and the second selectively-expandable air bag to position again in the axial direction with respect to the first selectively-expandable air bag; The second selectively-expandable air bag is carried out inflation, thus the second selectively-expandable air bag is anchored on the inner surface of basic tubular body portion; The first selectively-expandable air bag is exitted, remove the first selectively-expandable air bag and the anchoring of tubular body portion inner surface substantially thus; And with the first selectively-expandable air bag with respect to selecting the localization part and the second selectively-expandable air bag to position again in the axial direction.Be that the first selectively-expandable air bag is configured to be positioned at respect to basic tubular body portion the place ahead of the second selectively-expandable air bag alternatively.Alternatively, the second selectively-expandable air bag is configured to be positioned at respect to basic tubular body portion the place ahead of the first selectively-expandable air bag.
According to another preferred implementation of the present invention, the application also provides a kind of motor driven endoscope assembly, it comprises: self-propelled endoscope head, it comprises the main part of axis extension longitudinally, and endoscope head has first element of the associated expansion of selectivity diametrically, and have and can select localized part, can select localization part to position, and endoscope head have second element of the associated expansion of selectivity diametrically along described main part; And motor driven endoscope head controller, its work to the motor driven endoscope head is controlled, and its role is to control to select localization part can select the expansion of radial dilatation selection of components with respect to the location and first and second of main part.
One preferred implementation according to the present invention, first, second can select the air bag that comprises one of at least selectively-expandable in the radial dilatation element.Preferably, the air bag of selectively-expandable comprises the air bag that can uphold.
According to another preferred implementation of the present invention, the motor driven endoscope assembly also comprises the endoscope body that links to each other with the motor driven endoscope head.Preferably, instrument channel extends through motor driven endoscope head and endoscope body at least in part.More preferably, the motor driven endoscope head has fixed length.
According to a preferred implementation more of the present invention, endoscope body comprises multi-lumen tube.Preferably, endoscope body realizes that with motor driven endoscope head controller interface is connected.As a supplement or preferred version, the motor driven endoscope assembly also comprises endoscopy system, and it can be connected with motor driven endoscope head controller.
According to another preferred implementation of the present invention, multi-lumen tube comprises at least one lumen, and its effect is at least as the next item down function: make the radial dilatation element realize expansion; The localization part selected to the motor driven endoscope head positions; Make passing thus one of at least of optical fiber and conduction wire harness; And realize that fluid is communicated with.Preferably, multi-lumen tube comprises at least one lumen, its role is to be achieved as follows each function: make the radial dilatation element realize expansion; The localization part selected to the motor driven endoscope head positions; And make passing thus one of at least of optical fiber and conduction wire harness.Ordinary circumstance and preferably, this at least one lumen comprises at least one first lumen, its role is to select the radial dilatation element to expand to first, and comprise at least one second lumen, its role is to select the radial dilatation element to expand second.
The another preferred implementation according to the present invention can select the localization part can be with respect to the main part location of sliding.Preferably, the motor driven endoscope head comprises at least one light source and at least one imaging sensor.
According to another preferred implementation of the present invention, first can select the radial dilatation element to comprise at least two componentries that can independently expand.As alternative or additional project, second can select the radial dilatation element to comprise at least two componentries that can independently expand.Preferably, second can select at least two of the radial dilatation element can independent expansion member part can select at least two of the radial dilatation element can independent expansion member partly become the azimuth bias relation with respect to first.
According to another preferred implementation of the present invention, motor driven endoscope head controller provides motor-driven function, passes the basic piped body portion that is thereby this function is suitable for making the motor driven endoscope head to move step by step.Preferably, this motor-driven function comprises the function that can be achieved as follows successively operation: make first can select the radial dilatation element to expand, can select the radial dilatation element to anchor on the inner surface of basic tubular body portion with first thus; Can select localization part and second can select the radial dilatation element can select the radial dilatation element to position again in the axial direction with respect to first; Make second can select the radial dilatation element to expand, can select the radial dilatation element to anchor on the inner surface of basic tubular body portion with second thus; Make first can select the radial dilatation element to shrink, remove first thus and can select radial dilatation element and the anchoring of tubular body portion inner surface substantially; And can select the radial dilatation element with respect to selecting localization part and second can selecting the radial dilatation element to position again in the axial direction with first.Be that first can select the radial dilatation element to be configured to be positioned at second the place ahead that can select the radial dilatation element with respect to basic tubular body portion alternatively.Alternatively, second can select the radial dilatation element to be configured to be positioned at first the place ahead that can select the radial dilatation element with respect to basic tubular body portion.
According to another preferred implementation of the present invention, the application provides a kind of endoscope assembly, it comprises: the endoscope head of axis extension longitudinally, it has first air bag of associated a plurality of selectively-expandables, these air bags are positioned at least one first axial positions along endoscope head, and this endoscope head has second air bag of associated a plurality of selectively-expandables, and these air bags are positioned at least one second axial positions along endoscope head; And the endoscope head controller, its role is to selectivitys a plurality of first, a plurality of second selectively-expandable air bags are expanded and expand, so that optionally locate endoscope head.
A preferred embodiment of the invention, the effect of endoscope head controller is: control selectivitys a plurality of first, a plurality of second selectively-expandable air bags and expand, so that make selectively off-center parallel orientation of endoscope head.Preferably, the effect of endoscope head controller is to control, and selectivitys a plurality of first, a plurality of second selectively-expandable air bags expand, so that endoscope head skewed orientation selectively.As optional and preferred scheme, comprise one of at least a plurality of air bags in a plurality of first, a plurality of second selectively-expandable air bag, these air bags round endoscope head basically according to azimuthal distribution.More preferably, comprise one of at least the air bag that can uphold in a plurality of first, a plurality of second selectively-expandable air bag.
According to another preferred implementation of the present invention, described endoscope head comprises self-propelled endoscope head.Preferably, the motor driven endoscope head comprises the main part of axis extension longitudinally, this main part has associated a plurality of first selectively-expandable air bags, and comprise can be along the main part localization part selected of axial location optionally, and can select localization part to be connected with a plurality of second selectively-expandable air bags.
According to a preferred implementation more of the present invention, endoscope assembly also comprises the endoscope body that links to each other with the motor driven endoscope head.Preferably, instrument channel extends through motor driven endoscope head and endoscope body at least in part.Optional and preferably, endoscope head has fixed length.
According to another preferred implementation of the present invention, endoscope body comprises multi-lumen tube.As a supplement or preferred version, endoscope body realizes that with motor driven endoscope head controller interface is connected.Preferably, this endoscope assembly also comprises endoscopy system, and it can be connected with motor driven endoscope head controller.
According to another preferred implementation of the present invention, multi-lumen tube comprises at least one lumen, and its effect is at least as the next item down function: air bag is carried out inflation; The localization part selected to endoscope head positions; Make passing thus one of at least of optical fiber and conduction wire harness; And realize that fluid is communicated with.Preferably, multi-lumen tube comprises at least one lumen, its role is to be achieved as follows each function: air bag is carried out inflation; The localization part selected to endoscope head positions; And make passing thus one of at least of optical fiber and conduction wire harness.
According to a preferred implementation more of the present invention, can select the localization part can be with respect to the main part location of sliding.Preferably, endoscope head comprises at least one light source and at least one imaging sensor, and as a supplement or alternative, but a plurality of first selectively-expandable air bag comprises the air bag part of at least two independently-inflatable.As another alternative, but a plurality of second selectively-expandable air bag comprises the air bag part of at least two independently-inflatable.Preferably, but but at least two independently-inflatable air bags of a plurality of second selectively-expandable air bags part partly becomes the azimuth bias relation with respect at least two independently-inflatable air bags of a plurality of first selectively-expandable air bags.
According to another preferred implementation of the present invention, the endoscope head controller provides motor-driven function, and this function is suitable for making endoscope head to move step by step and passes the basic piped body portion that is.Preferably, this motor-driven function comprises the function that can be achieved as follows successively operation: at least a portion in a plurality of first selectively-expandable air bags is carried out inflation, thus a plurality of first selectively-expandable air bags are anchored on the inner surface of basic tubular body portion; Can select localization part and a plurality of second selectively-expandable air bag to position again in the axial direction with respect to a plurality of first selectively-expandable air bags; At least a portion to a plurality of second selectively-expandable air bags is carried out inflation, thus a plurality of second selectively-expandable air bags is anchored on the inner surface of basic tubular body portion; A plurality of first selectively-expandable air bags are exitted, remove a plurality of first selectively-expandable air bags and the anchoring of tubular body portion inner surface substantially thus; And with a plurality of first selectively-expandable air bags with respect to selecting localization part and a plurality of second selectively-expandable air bag to position again in the axial direction.Be that a plurality of first selectively-expandable air bags are configured to be positioned at respect to basic tubular body portion the place ahead of a plurality of second selectively-expandable air bags alternatively.Alternatively, a plurality of second selectively-expandable air bags are configured to be positioned at respect to basic tubular body portion the place ahead of a plurality of first selectively-expandable air bags.
According to another preferred implementation of the present invention, the application also provides a kind of endoscope assembly, it comprises: the endoscope head of axis extension longitudinally, this endoscope head has first element of associated a plurality of expansions of selectivity diametrically, these elements are positioned at least one first axial positions along endoscope head, and endoscope head has second element of associated a plurality of expansions of selectivity diametrically, and these elements are positioned at least one second axial positions along endoscope head; And the endoscope head controller, its role is to control a plurality of first, a plurality of second and can select the expansion of radial dilatation selection of components to control, to realize the selection location of endoscope head.
A preferred embodiment of the invention, the effect of endoscope head controller is: control a plurality of first, a plurality of second and can select the expansion of radial dilatation selection of components, so that make selectively off-center parallel orientation of endoscope head.Preferably, the effect of endoscope head controller is to control a plurality of first, a plurality of second can select the expansion of radial dilatation selection of components, so that endoscope head skewed orientation selectively.As a supplement and alternative scheme, but a plurality of first, a plurality of second can select the element that comprises one of at least a plurality of radial dilatation in the radial dilatation element, these air bags round endoscope head basically according to azimuthal distribution.
According to another preferred implementation of the present invention, described endoscope head comprises self-propelled endoscope head.Preferably, the motor driven endoscope head comprises the main part of axis extension longitudinally, this main part and a plurality of first can select the radial dilatation element relevant, and comprise can be along the main part localization part selected of axial location optionally, and can select localization part and a plurality of second can select the radial dilatation element relevant.
According to a preferred implementation more of the present invention, a plurality of first, a plurality of second can select the air bag that comprises one of at least a plurality of selectively-expandables in the radial dilatation element.Ordinary circumstance and preferably comprises one of at least the air bag that can uphold in a plurality of selectively-expandable air bags.
According to another preferred implementation of the present invention, endoscope assembly also comprises the endoscope body relevant with endoscope head.Preferably, instrument channel extends through motor driven endoscope head and endoscope body at least in part.As a supplement or alternative, endoscope head has fixed length.
According to a preferred implementation more of the present invention, endoscope body comprises multi-lumen tube.Preferably, endoscope body realizes that with the endoscope head controller interface is connected.As a supplement or preferred version, endoscope assembly also comprises endoscopy system, and it can be connected with the endoscope head controller.
According to another preferred implementation of the present invention, multi-lumen tube comprises at least one lumen, and its effect is a following function at least: make the radial dilatation element realize expansion; The localization part selected to endoscope head positions; Make passing thus one of at least of optical fiber and conduction wire harness; And realize that fluid is communicated with.Preferably, multi-lumen tube comprises at least one lumen, each function that its role is to be achieved as follows: make the radial dilatation element realize expansion; The localization part selected to endoscope head positions; And make passing thus one of at least of optical fiber and conduction wire harness.
The another preferred implementation according to the present invention can select the localization part can be with respect to the main part location of sliding.Preferably, endoscope head comprises at least one light source and at least one imaging sensor.As a supplement or alternative, a plurality of first can select the radial dilatation element comprise at least two can independent radial dilatation element.As another kind of alternative, a plurality of second can select the radial dilatation element comprise at least two can independent radial dilatation element.Preferably, a plurality of second can select at least two of the radial dilatation element can select at least two of the radial dilatation element can become the azimuth bias relation by independent radial dilatation element with respect to a plurality of first by independent radial dilatation element.
According to another preferred implementation of the present invention, the endoscope head controller provides motor-driven function, passes the basic piped body portion that is thereby this function is suitable for making endoscope head to move step by step.Preferably, this motor-driven function comprises can be achieved as follows the function of operation successively: make a plurality of first can select at least a portion of radial dilatation element to expand, can select the radial dilatation element to anchor on the inner surface of basic tubular body portion with a plurality of first thus; Can select localization part and a plurality of second can select the radial dilatation element can select the radial dilatation element to position again in the axial direction with respect to a plurality of first; Make a plurality of second can select at least a portion of radial dilatation element to expand, can select the radial dilatation element to anchor on the inner surface of basic tubular body portion with a plurality of second thus; Make a plurality of first can select the radial dilatation element to shrink, remove a plurality of first thus and can select radial dilatation element and the anchoring of tubular body portion inner surface substantially; And can select the radial dilatation element with respect to selecting localization part and a plurality of second can selecting the radial dilatation element to position again in the axial direction with a plurality of first.Be that a plurality of first can select the radial dilatation element to be configured to be located substantially on a plurality of second the place ahead that can select the radial dilatation element with respect to basic tubular body portion alternatively.Alternatively, a plurality of second can select the radial dilatation element to be configured to be located substantially on a plurality of first the place ahead that can select the radial dilatation element with respect to basic tubular body portion.
According to another preferred implementation of the present invention, the application provides a kind of equipment that is used for conveyance fluid, it is used for the delivered inside fluid to tubular body portion, it comprises: the element of axis extension longitudinally, it has the first tubular body portion potted component of at least one associated selectively-expandable, the sealing element is positioned at first axial positions along tubular body, also have the second tubular body portion potted component of at least one associated selectively-expandable on the longitudinal extension element, it is positioned at second axial positions along tubular body; And controller, it is used for making one of at least optionally expansion in tubular body portion of first, second tubular body portion potted component, thereby forms the zone of sealing betwixt, and has realized the FLUID TRANSPORTATION function to the sealing area conveyance fluid.
A preferred embodiment of the invention, the air bag that comprises one of at least selectively-expandable of first, second tubular body portion potted component.Preferably, the air bag of selectively-expandable comprises the air bag that can uphold.More preferably, the selectively-expandable air bag comprises the air bag part of a plurality of selectively-expandables.
According to another preferred implementation of the present invention, equipment comprises self-propelled endoscope head.Preferably, the equipment that is used for conveyance fluid also comprises at least one FLUID TRANSPORTATION reservoir, its role is to the sealing area conveyance fluid.More preferably, the equipment that is used for conveyance fluid also has and is used for aspirating fluidic fluid pumping function from sealing area.
According to another preferred implementation of the present invention, the application provides and has been used for to the fluidic equipment of the delivered inside of tubular body portion, and it comprises: multi-lumen tube, and it comprises at least the first lumen, second lumen and the 3rd lumen that connects extension; Be positioned at air bag the place ahead, selectively-expandable, it is connected with first lumen, and the preceding air bag of selectively-expandable has the effect that when expanding tubular body portion is sealed; Be positioned at the air bag rear, selectively-expandable, it is communicated with second lumen, and the rear gasbag of selectively-expandable has the effect that when expanding tubular body portion is sealed; The FLUID TRANSPORTATION outlet, it is positioned at the centre position of forward and backward selectively-expandable air bag, and this outlet is communicated with the 3rd lumen; And controller, it is used for making first, second selectively-expandable air bag optionally to expand at tubular body portion, thereby forms sealing area betwixt, and is used for to the sealing area conveyance fluid.
According to a preferred implementation more of the present invention, the application also provides a kind of endoscope assembly, it comprises: endoscope tube, it has instrument channel, endoscopic tools is configured to move into place application site place in endoscope tube the place ahead along instrument channel, and endoscopic tools slidably and hermetically is arranged in the instrument channel; And endoscopic tools fluid localizer, it is used for optionally instrument channel being pressurizeed, and to provide along instrument channel endoscopic tools is positioned required drive fluid.
A kind of preferred implementation according to the present invention, endoscopic tools comprises the part that forms piston, it is engaging instrument channel slidably, hermetically.
A kind of preferred implementation according to the present invention, the application provides a kind of endoscope assembly, and it comprises: pipe, it has at least one lumen; And endoscopic tools, its described at least one lumen that is configured to pass through moves, and endoscopic tools comprises anchoring air bag that can uphold, selectively-expandable.
Another preferred implementation according to the present invention, the application also provides a kind of endoscope assembly, and it comprises: pipe, it has at least one lumen; And endoscopic tools, it is configured to move to along described at least one lumen the application site place in body the place ahead, and endoscopic tools can be optionally crooked in the place ahead of pipe.
The preferred implementation again according to the present invention, the application also provides a kind of endoscope assembly, and it comprises: pipe, it has at least one lumen; And endoscopic tools, it is configured to move along described at least one lumen, and endoscopic tools comprises tool heads and the multi-lumen tube that links to each other with tool heads.
A kind of preferred implementation according to the present invention, pipe comprises endoscope tube.Preferably, at least one lumen comprises instrument channel.As a supplement or alternative, multi-lumen tube comprises at least and being used for first lumen and second lumen that can uphold, selectively-expandable anchoring air bag is carried out inflation and venting.
Another preferred implementation according to the present invention, endoscope assembly also comprises tensioned thread, and it extends through second lumen, and the effect of this tensioned thread is the optionally crooked endoscopic tools that is positioned at pipe the place ahead.Preferably, the flexibility of endoscopic tools is basically greater than the flexibility of pipe.As alternative or additional project, endoscope assembly also comprises endoscopy system, and endoscope tube can be connected with this system.As another kind of alternative, endoscope assembly also comprises endoscopic tools position control device and air bag inflation/venting control piece.
According to a preferred implementation more of the present invention, endoscope assembly also comprises the tool port relevant with pipe, its role is to insert and take out endoscopic tools.
Another preferred implementation according to the present invention, the application also provides a kind of endoscope assembly, it comprises: endoscope tube, have near the front end of endoscope tube can uphold, the first anchoring air bag of selectively-expandable; And endoscopic tools, it is configured to move into place application site place in endoscope tube the place ahead with respect to endoscope tube, has anchoring air bag that can uphold, selectively-expandable near the front end of endoscopic tools.
A preferred embodiment of the invention, endoscopic tools can be optionally crooked in the place ahead of endoscope tube.As optional and preferred scheme, endoscopic tools comprises tool heads and the multi-lumen tube that links to each other with tool heads.As a supplement or alternative, multi-lumen tube comprises at least and being used for first lumen and second lumen that second can uphold, selectively-expandable anchoring air bag is carried out inflation and venting.
According to another preferred implementation of the present invention, endoscope assembly also comprises tensioned thread, and it extends through second lumen, and the effect of this tensioned thread is the optionally crooked endoscopic tools that is positioned at endoscope tube the place ahead.Preferably, the flexibility of endoscopic tools is basically greater than the flexibility of endoscope tube.As alternative or additional project, endoscope assembly also comprises endoscopy system, and endoscope tube can be connected with this system.As a supplement or alternative, endoscope assembly also comprises endoscopic tools position control device and at least one air bag inflation/venting control piece.As another kind of alternative, endoscope assembly also comprises the tool port relevant with endoscope tube, its role is to insert and take out endoscopic tools.
According to a preferred implementation more of the present invention, the application also provides a kind of endoscope assembly, it comprises: motor driven endoscope, it comprises self-propelled endoscope head and endoscope body, endoscope body wherein is suitable for carrying out through tubular body portion motor-driven, and is suitable for being anchored at the ideal position place in the tubular body portion; And the splanchnoscopy instrument, it is suitable for moving to required tool operation position along endoscope body.
One preferred implementation according to the present invention, endoscope assembly also comprises the element that at least one can select radial dilatation, it is relevant with the motor driven endoscope head, and is suitable for the motor driven endoscope head is anchored at desired location place in the tubular body portion.Preferably, this at least one can select the radial dilatation element to comprise the anchoring air bag of selectively-expandable.As alternative or additional project, the motor driven endoscope head comprises at least one light source and at least one imaging sensor.
According to another preferred implementation of the present invention, endoscope assembly also comprises can be along the socket pipe of endoscope body slip.Preferably, socket pipe is relevant with the splanchnoscopy instrument.As alternative or additional project, endoscope body is suitable for the guide line as socket pipe.
According to another preferred implementation of the present invention, the splanchnoscopy instrument comprises treatment tool.Alternatively, the splanchnoscopy instrument comprises diagnostic tool.As another kind of alternative, the splanchnoscopy instrument comprises surgical technique and tools.
According to another preferred implementation of the present invention, the application provides a kind of mobile endoscope inspection method, it comprises step: a kind of motor driven endoscope head is provided, it comprises the main part of axis extension longitudinally, and first element with associated optionally radial dilatation, and have and to select localization part along main part is localized in the axial direction, and has second element of associated optionally radial dilatation; And by optionally locating slidably part with respect to main part and optionally expanding and shrink first and second and can select the radial dilatation element, it is motor-driven that the motor driven endoscope head is realized.
A preferred embodiment of the invention, first, second can select the air bag that comprises one of at least selectively-expandable in the radial dilatation element.Preferably, mobile endoscope inspection method also comprises operation: by optionally, variantly expand first can select at least two of the radial dilatation element can independent radial dilatation componentry and second can select at least two of the radial dilatation element can independent radial dilatation componentry, the motor driven endoscope head is positioned on the optional non-parallel orientation with respect to tubular body portion.Scheme or alternative as a supplement, mobile endoscope inspection method also comprises operation: by optionally, variantly expand first can select at least two of the radial dilatation element can independent radial dilatation componentry and second can select at least two of the radial dilatation element can independent radial dilatation componentry, the motor driven endoscope head is positioned on selectable, the off-centered parallel orientation with respect to tubular body portion.
According to another preferred implementation of the present invention, realized the motion of automobile, it comprises: progressively mobile motor driven endoscope head makes it through being piped tubular body portion substantially.Preferably, realize that the motion of automobile comprises operation: endoscope head is moved successively and one of at least through large intestine, small intestinal, tremulous pulse and venous.More preferably, move successively and comprise following operation successively: make first can select the radial dilatation element to expand, can select the radial dilatation element to anchor on the inner surface of basic tubular body portion with first thus; Can select localization part and second can select the radial dilatation element can select the radial dilatation element to position again in the axial direction with respect to first; Inflation second can be selected the radial dilatation element, can select the radial dilatation element to anchor on the inner surface of basic tubular body portion with second thus; Can select the radial dilatation element to exit to first, remove first anchoring that can select radial dilatation element and basic tubular body portion inner surface thus; And can select the radial dilatation element with respect to selecting localization part and second can selecting the radial dilatation element to reorientate in the axial direction with first.
According to a preferred implementation more of the present invention, the application provides a kind of endoscope localization method, it comprises operation: endoscope head is provided, its axis extension longitudinally, and provide and have associated a plurality of first and can select the radial dilatation element, these elements are positioned at least the first axial positions along endoscope head, and have associated a plurality of second and can select the radial dilatation element, and these elements are positioned at least the second axial positions along endoscope head; And, realize the selectivity location of endoscope head by selecting the radial dilatation element optionally to expand to a plurality of first, a plurality of second.
One preferred implementation according to the present invention, but a plurality of first, a plurality of second can select the element that comprises one of at least a plurality of radial dilatation of radial members, these elements become ground, azimuth to distribute round endoscope head, and the step of location endoscope head comprises operation: optionally expand each element in a plurality of radial dilatation elements.Preferably, a plurality of first, a plurality of second can select at least one radial dilatation selected element in the radial dilatation element to comprise expandable air bag.
According to another preferred implementation of the present invention, the application provides a kind of and has been used for to the fluidic method of the delivered inside of tubular body portion, it comprises step: the element that axis extension longitudinally is provided, this element has associated at least one first can select convergent divergent channel shape body portion potted component, the sealing element is positioned at first axial positions that extends longitudinally element, and have associated at least one second and can select convergent divergent channel shape body portion potted component, it is positioned at second axial positions that extends longitudinally element; Make in tubular body portion, expanding one of at least in first, second tubular body portion potted component, between them, forming sealing area, and to the sealing area conveyance fluid.
One preferred implementation according to the present invention, the step of conveyance fluid comprises operation: carry a kind of curative fluid.As alternative, the operation of conveyance fluid comprises: carry a kind of according to enhance fluid.As another kind of alternative, the operation of conveyance fluid comprises: carry a kind of anti-bacterial fluid.
Another preferred implementation according to the present invention, the step of conveyance fluid comprises operation: carry a kind of acid solution.As alternative, the step of conveyance fluid comprises operation: carry a kind of alkaline solution.
Another preferred implementation according to the present invention, the application provides a kind of endoscope inspection method, it comprises step: endoscope tube is provided, it has instrument channel, with the endoscopic tools that is configured to move to along instrument channel application site place, endoscope tube the place ahead is provided, endoscopic tools is arranged in the instrument channel by slip hermetically; And, endoscopic tools is positioned required drive fluid along instrument channel to provide optionally to the instrument channel pressurization.
According to a preferred implementation more of the present invention, the application also provides a kind of endoscope inspection method, it comprises step: pipe is provided, it has at least one lumen, with endoscopic tools is provided, endoscopic tools wherein is configured to move through at least one lumen, and endoscopic tools comprises anchoring air bag that can uphold, selectively-expandable; And by the inflation air bag, it is engaged with the anchoring of tubular body portion internal face, and the endoscopic tools that will be arranged in pipe the place ahead anchors to tubular body portion.
Another preferred implementation according to the present invention, the application also provides a kind of endoscope inspection method, it comprises step: pipe is provided, it has at least one lumen, with endoscopic tools is provided, endoscopic tools wherein is configured to move through at least one lumen, and endoscopic tools can be optionally crooked in the place ahead of pipe; And, make endoscopic tools optionally crooked in the place ahead of pipe.
One preferred implementation according to the present invention, endoscopic tools comprises anchoring air bag that can uphold, selectively-expandable, and described method also comprises step: by inflation anchoring air bag, make it realize that with the inwall of tubular body portion anchoring engages, the endoscopic tools of managing the place ahead is anchored in the tubular body portion.Preferably, endoscope inspection method also comprises operation: make pipe along endoscopic tools to front slide, thus with endoscopic tools as guiding piece.
According to a preferred implementation more of the present invention, endoscope inspection method also comprises step: with pipe before front slide, with the endoscopic tools tensioning.Preferably, endoscope inspection method also comprises step: repeat at least two steps in anchoring, tensioning and the slip step successively.
The preferred implementation again according to the present invention, pipe comprises endoscope tube.Preferably, at least one lumen comprises instrument channel.
The another preferred implementation according to the present invention, the application provides a kind of endoscope inspection method, it comprises step: endoscope tube is provided, has the first anchoring air bag that can uphold, selectively-expandable near its front end, and endoscopic tools is provided, have the second anchoring air bag that can uphold, selectively-expandable near its front end; And the application site place that endoscopic tools is positioned at endoscope tube the place ahead.
One preferred implementation according to the present invention, endoscope inspection method also comprises step: before positioning, the first selectively-expandable anchoring air bag on the endoscope tube is carried out inflation in tubular body portion, so that endoscope tube is anchored on the inwall of tubular body portion; After the location, in tubular body portion, will be positioned at the second selectively-expandable anchoring air bag inflation in endoscope tube the place ahead on the instrument, thereby endoscopic tools is anchored on the inwall of tubular body portion; Then, the first selectively-expandable anchoring air bag is exitted, and, endoscope tube is advanced on endoscopic tools by endoscopic tools is used as guiding piece.
According to another preferred implementation of the present invention, endoscope inspection method also comprises step: when endoscopic tools is positioned at the place ahead of endoscope tube and before the second selectively-expandable anchoring air bag is carried out inflation, with the endoscopic tools bending.Preferably, endoscope inspection method also comprises step: repeat at least two steps in inflation, location, venting and the step of advancing successively.
The preferred implementation again according to the present invention, endoscope inspection method also comprises step: repeat at least two steps in inflation, location, bending, venting and the step of advancing successively.Preferably, the positioning step to endoscopic tools comprises operation: make endoscopic tools pass the instrument channel of endoscope tube.
Another preferred implementation according to the present invention, the application provides a kind of endoscope inspection method, and it comprises step: a kind of motor driven endoscope is provided, and it comprises motor driven endoscope head and endoscope body; Make the motor driven endoscope head carry out motor-driven through tubular body portion; The motor driven endoscope head is anchored to desired location place in the tubular body portion; And the splanchnoscopy instrument moved to required tool operation position along endoscope body.
One preferred implementation according to the present invention, endoscope inspection method also comprises operation: after anchoring motor driven endoscope head, and before mobile splanchnoscopy instrument, with the endoscope body tensioning.Preferably, endoscope inspection method also comprises step: before carrying out anchoring, detect desired location in the tubular body portion by means of at least one light source that links to each other with the motor driven endoscope head and at least one imaging sensor.
Another preferred implementation according to the present invention, endoscope inspection method also comprises step: before mobile splanchnoscopy instrument, detect tool operation position required in the tubular body portion by means of at least one light source that links to each other with the motor driven endoscope head and at least one imaging sensor.Preferably, the step of mobile splanchnoscopy instrument comprises operation: the socket pipe that links to each other with the splanchnoscopy instrument is slided on endoscope body.
Description of drawings
From detailed description considered in conjunction with the accompanying drawings hereinafter, can understand and understand the present invention more all sidedly, wherein, in the accompanying drawings:
Fig. 1 is the drawing design of a simplification, and it has represented the endoscopy system of according to the present invention one preferred implementation manufacturing and work;
Fig. 2 and Fig. 3 be respectively exploded view and the assembly drawing of simplifying, and they have represented the motor driven endoscope head of according to the present invention one preferred implementation manufacturing and work;
Fig. 4 A, 4B, 4C are respectively the cutaway views of making along the IVA-IVA among Fig. 3, IVB-IVB, IVC-IVC line;
Fig. 5 A, 5B, 5C, 5D, 5E, 5F, 5G are the simplified cross-sectional view of the endoscope head of motor driven shown in Fig. 2-4C being done along the IVB-IVB line among Fig. 3, have represented that endoscope head is through proal each stage of intestinal tube;
Fig. 6 A, 6B, 6C, 6D, 6E, 6F, 6G are the simplified cross-sectional view of the endoscope head of motor driven shown in Fig. 2-4C being done along the IVB-IVB line among Fig. 3, have represented that endoscope head is through each stage that intestinal tube moves backward;
Side view among Fig. 7 A, 7B, the 7C has been represented the endoscope head of motor driven shown in Fig. 1-6G optional skewed orientation in the passage in vivo;
Fig. 8 A, 8B, 8C are back to view with Fig. 7 A, 7B, the corresponding simplification of 7C, and these views are respectively to make along plane VIIIA-VIIIA, VIIIB-VIIIB, VIIIC-VIIIC among Fig. 7 A, 7B, the 7C;
Fig. 9 A, 9B, 9C are and the frontal view of Fig. 7 A, 7B, the corresponding simplification of 7C that these views are respectively to make along the planar I XA-IXA among Fig. 7 A, 7B, the 7C, IXB-IXB, IXC-IXC;
Side view among Figure 10 A, the 10B has been represented the endoscope head of motor driven shown in Fig. 1-6G optional parallel orientation in the passage in vivo;
Figure 11 A and 11B are the back to view of the simplification corresponding with Figure 10 A and Figure 10 B, and it is to make along plane X IA-XIA, XIB-XIB among Figure 10 A and Figure 10 B that these views distribute;
Figure 12 A and 12B are the frontal view of the simplification corresponding with Figure 10 A and Figure 10 B, and it is to make along plane X IIA-XIIA, XIIB-XIIB among Figure 10 A and Figure 10 B that these views distribute;
The drawing design of simplifying among Figure 13 has been represented a kind of adnexa, the instrument channel in the motor driven endoscope head shown in its Fig. 1-12B that is suitable for passing through is arbitrary;
Reduced graph part among Figure 14 is that structured flowchart, part are sketch map, and it has represented the part of the described endoscopy system of Fig. 1-13, one preferred implementation manufacturing and the work according to the present invention of this system;
The drawing design of simplifying among Figure 15 has been represented the situation of motor driven endoscope head shown in Fig. 1-12B when being in intestinal juice work of treatment pattern;
Simplification drawing design among Figure 16 A, 16B, the 16C has been represented the situation of the described motor driven endoscope head of Fig. 1-12B when being in the guide line mode of operation;
Simplification drawing design among Figure 17 has been represented the endoscopy system that another preferred implementation is made and worked according to the present invention;
Figure 18,19A, 19B are respectively drawing design and the cutaway views of simplifying, and have represented the adnexa that one preferred implementation designs and works according to the present invention;
Reduced graph among Figure 20 A, 20B, 20C, 20D, 20E, 20F, 20G, 20H and the 20I has been represented the various functions that realized by system shown in Figure 17;
Simplification drawing design among Figure 21 has been represented a kind of endoscopy system that another preferred implementation designs and works according to the present invention;
Figure 22,23A and 23B are respectively drawing design and the cutaway views of simplifying, and they have represented a kind of adnexa that one preferred implementation designs and works according to the present invention; And
Reduced graph among Figure 24 A, 24B, 24C, 24D, 24E, 24F, 24G, 24H, 24I, 24J, 24K and the 24L has been represented the various functions that realized by system shown in Figure 21.
The specific embodiment
Referring to Fig. 1, this simplification drawing design has been represented the endoscopy system that one preferred implementation designs and works according to the present invention.
In the text, the implication of word " endoscope " and " endoscopy " all slightly is wider than common implication, they refer to the equipment and the method for working in places such as body cavity, body internal channel, body cavity wherein and passage for example are small intestinal, large intestine, tremulous pulse and vein.Although what these terms were usually directed to is visual examination, in the linguistic context of this paper, they are not limited to adopt the application scenarios of visual examination, equally also relate to those equipment that not necessarily comprise visual examination, system and method.
As shown in Figure 1, adopted the logical endoscopy system 100 of a Daepori, it for example is a control station, this system comprises CV-160 video system center, CLC-160 light source, OEV-203 video monitor and OFP flushing pump, and all these parts all can be buied from the Olympus U.S. company limited of the 2 Corporate Center Drive that are positioned at U.S. NY11747 Melville.The motor driven endoscope head 102 of design of one preferred implementation and work is arranged in patient's the large intestine according to the present invention, and link with system 100 by multi-lumen tube 104, also design of one preferred implementation and work of multi-lumen tube 104 wherein according to the present invention, and realize that with operator's control piece 108 interface is connected with motor driven endoscope head controller 106, also design of one preferred implementation and the work of controller and control piece according to the present invention.
Referring to Fig. 2 and Fig. 3, they are respectively exploded view and the assembly drawings of simplifying, the motor driven endoscope head of having represented according to the present invention one preferred implementation manufacturing and work, and referring to Fig. 4 A, 4B and 4C, the cutaway view of these simplification is to make along the IVA-IVA among Fig. 3, IVB-IVB and IVC-IVC line.
Shown in Fig. 2-4C, multi-lumen tube 104 is put in the suitable structure depression 206 of making in the housing parts 208 by seat, multi-lumen tube 104 wherein comprises a central passage 202 and a plurality of (being generally ten) ring Zhou Tongdao 204, central passage 202 has formed instrument channel, except other effect, this instrument channel is used for the insertion instrument, be blown into operation (inssuflation) and suction operation.Housing parts 208 is symmetric round longitudinal axis 210 basically, and it comprises a relative thicker relative thinner main part 214 with in rear portion 212, and rear portion 212 has wherein formed depression 206.
Be shaped on three pairs of axial slits 220 on the rear portion 212, they extend to the rear at rear portion 212, and along the rear portion 212 ring week 120 degree separately mutually.Between each is to axial slit 220, be provided with inflation passage 222, each inflation passage 222 all is communicated with corresponding inflation passage 224 in multi-lumen tube 202, passage 224 conversely then with three rear gasbag inflation lumens 226 in corresponding lumen be communicated with, lumen 226 is included among nine the multiple periphery lumen 204.In the place ahead of inflation passage 224,226 sealed 228 sealings of rear gasbag inflation lumen.
Be shaped on three axial slits 230 on the main part 214, they extend to the rear at rear portion 212, and these slits along the rear portion 212 separate mutually in ring week.
Slidably preceding bladder support member will 238 is slidably mounted on the main part 214 of housing parts 208.Be shaped on three pairs of axial slits 240 on the preceding bladder support member will 238, they extend the rear portion of bladder support member will 238 forward, and along the ring week of preceding bladder support member will 238 separating 120 degree mutually.Be provided with inflation passage 242 in each centre to axial slit, each inflation passage 242 all is communicated with corresponding inflation passage 244, inflation passage 244 extends back, with the joint that lumen corresponding in three preceding air bag inflation lumens 246 is realized slidably, sealed, lumen 246 wherein is included in nine periphery lumens 204.The rigidity that is appreciated that inflation passage 244 is bigger usually, and it slides sealedly in the low friction bushings 248 with suitable constructions, and at the front end place of multi-lumen tube 104, lining is inserted in the preceding air bag inflation lumen 246.
Pair of pistons bar 250 is fixed on the preceding bladder support member will 238, or make one with support member 238, this to piston rod 250 inwardly, extend back, realize slidably sealed engagement with the corresponding lumen in the two preceding bladder support member will axial location lumens 252, lumen 252 wherein is included in ten periphery lumens 204.The rigidity that is appreciated that piston rod 250 is bigger usually, and it is slidably engaged in having the low friction bushings 254 of suitable constructions hermetically, and at the front end place of multi-lumen tube 104, piston rod is inserted in the preceding bladder support member will axial location lumen 252.
Preferably, relatively large inflation passage 244 and the piston rod 250 of rigidity is disposed in the axial slits 230.
Procapsid part 260 is fixedly secured on the front end 262 of main part 214 of housing parts 208.Procapsid partly comprises a terminal cap moiety 264, and it is fixed on the shell portion 266, or makes one with shell portion, the center bore 268 of bladder support member will 238 before shell portion extends through slidably.The rear end of cylindrical portion 266 is pressed onto in the depression 270 by seat, and is connected on the convex shoulder 272 that forms in multi-lumen tube 104 central passages 202.The interior bore 274 of shell portion 266 has constituted the continuous segment of central passage 202 instrument channel that forms.
Preferably, at the front end of terminal cap moiety 264, be provided with light emitting diode 280 and one or more imaging sensor 282.To light emitting diode 280 feed electric currents, and receive imaging datas from pick off 282 by optical fiber and conduction wire harness 284, optical fiber and conduction wire harness 284 extend from the front end of terminal cap moiety 264, pass the periphery lumen 286 in the multi-lumen tube 104 and arrive motor driven endoscope head controller 106 (see figure 1) places.
Be provided with another one periphery lumen 290 in multi-lumen tube 104, it is used for realizing that with the inside of intestinal tube fluid is communicated with by the slit on the housing parts 208 230.Liquid or pressed gas can be admitted to or discharge by this lumen.
An expandable air bag cylindrical shell 300 is installed on the rear portion 212 of housing parts 208.Can be clear that from Fig. 2, expandable air bag cylindrical shell 300 has the cross-sectional configurations of uniformity, its cross section comprises three pairs of axial walls 320, and these axial walls are extended along its lengthwise length direction, and engages with the corresponding axial slits 220 of extending to 212 rears, rear portion.Every pair of axial walls 320 is all combined by peripheral wall part 322.On the ring Zhou Fangxiang of inflatable air bag cylindrical shell 300, each is to being separated from each other 120 degree between the axial walls 320.
Between each is to axial walls 320, formed three expandable air bag parts 324, each air bag part all is being communicated with independently with an independent inflation passage 222.Utilize bonding agent or any other suitable manner, make the front-end and back-end of air bag part 324 and slit 220 places become sealing with respect to rear portion 212, thereby three have been formed separately and expand and venting can independently controlled air bag part, 212 the ring Zhou Jinhang distribution of these air bags parts round the rear portion.Be appreciated that, although preferably, at least three this separate and air bag parts that can independently controllably expand and exit are set, but as alternative, also can adopt any suitable number less or more a plurality of separately and can independent controlled expansion and the air bag part of venting.
Expandable air bag cylindrical shell 350 is installed on the preceding bladder support member will 238.Can be clear that from Fig. 2, expandable air bag cylindrical shell 350 has the cross-sectional structure of uniformity, its cross section comprises three pairs of axial walls 370, and these axial walls are extended along its lengthwise length direction, and the corresponding axial slits 240 at bladder support member will 238 rears engages with extending forward.Every pair of axial walls 370 is all combined by peripheral wall part 372.On the ring Zhou Fangxiang of inflatable air bag cylindrical shell 350, each is to being separated from each other 120 degree between the axial walls 370.
Between each is to axial walls 370, formed three expandable air bag parts 374, each air bag part all is being communicated with independently with an independent inflation passage 242.Utilize bonding agent or any other suitable manner, make the front-end and back-end of air bag part 374 and slit 240 places become sealing with respect to preceding bladder support member will 238, thereby formed three separately and expand and venting can independently controlled air bag part, these air bags parts are round the ring Zhou Jinhang distribution of preceding bladder support member will 238.Be appreciated that, although preferably: partly become this separate and the air bag part that can independently controllably expand and exit of at least three of 60 degree phase contrast ground settings with air bag on the rear portion 212, but as alternative, also can adopt any suitable number less or more a plurality of separately and can independent controlled expansion and the air bag part of venting.
Be understood that: one preferred implementation according to the present invention, air bag cylindrical shell 300 and 350 can be upheld basically, and its extension degree can adapt to radius and be expanded to very big situation, the about 5-20 of cylindrical shell 300, the 350 radiuses degree doubly when radius wherein can reach than venting.Preferably, adopt relatively low pressure-for example in the scope of 10-50 millibar, just can the finish inflation of air bag cylindrical shell 300,350.
Be appreciated that, one preferred implementation according to the present invention, for basic the execution in the body for the tubular body portion piped, that cross-sectional diameter changes checked, the expansion diameter scope of air bag cylindrical shell 300,350 is greater than the maximum cross section diameter of basic tubular body portion, can guarantee that thus the air bag cylindrical shell 300,350 that expands engages with the inner surface of basic tubular body portion, and motor driven endoscope head 102 can be anchored on the inner surface.Preferably, air bag cylindrical shell 300 and 350 is relative air bags of softness, high compliance, its role is to: when it engages with inner surface, submit to the shape of basic tubular body portion inner surface at least in part.
Be understood that air bag cylindrical shell 300,350 can make with the known material of upholding, these materials for example are the nylon of latex, flexible silica gel or high flexibility.As alternative, air bag cylindrical shell 300,350 can be made with the polyurethane material that property upheld and compliance are weaker than latex, flexible silica gel or high flexibility nylon.Preferably, the diameter sufficient to guarantee of air bag cylindrical shell 300,350 securely anchors on any position of basic tubular body portion.
Referring to Fig. 5 A, 5B, 5C, 5D, 5E, 5F and 5G, the cutaway view of these simplification is along the IVB-IVB line among Fig. 3 the motor driven endoscope head of Fig. 2-4C to be made, and has represented that endoscope head is through proal each stage of intestinal tube.Can find out from Fig. 5 A-5G, by each air bag inflation and bleed air operation and preceding bladder support member will 238 successively combined with respect to moving axially of housing parts 208, just can realize the maneuver of endoscope head shown in Fig. 2-4C, wherein, the air bag that is installed on housing parts 208 and the preceding bladder support member will 238 is referred to by label 500,502 respectively in the drawings.Be understandable that preferably described above such, each air bag 500,502 all comprises a plurality of that separate and inflation and the independent controlled air bag parts of venting.
Turn to Fig. 5 A, can see air bag 500, thereby engage, and fixed the position of housing parts 208 with respect to inwall with the inwall of intestinal tube by inflation.Under this directed state, preceding bladder support member will 238 is in the orienting station after axially leaning on, thereby near rear portion 212.Referring to Fig. 5 B, bladder support member will 238 has moved forward in the axial direction with respect to housing parts 208 before can seeing, housing parts 208 then is maintained fixed in the axial direction with respect to intestinal tube.
Turn to Fig. 5 C, bladder support member will 238 is in the axial orientation position shown in Fig. 5 B before can seeing, and air bag 502 is by inflation, thereby engages with the inwall of intestinal tube, and has fixed the position of preceding bladder support member will 238 with respect to intestinal tube.Then, shown in Fig. 5 D, air bag 500 is deflated.
Referring to Fig. 5 E, as can be seen: after with air bag 500 venting, preceding bladder support member will 238 moves in the axial direction backward with respect to housing parts 208, and simultaneously, preceding bladder support member will 238 is maintained fixed in the axial direction with respect to intestinal tube.This will cause housing parts 208 to travel forward in the axial direction, and then make 102 motions of motor driven endoscope head.
Referring to Fig. 5 F, as can be seen: preceding bladder support member will 238 is in the axial orientation position shown in Fig. 5 E, makes air bag 500 inflations, has engaged the inwall of intestinal tube thus, and housing parts 208 is fixed with respect to inwall.Then, shown in Fig. 5 G, air bag 502 is deflated.
Thereby, be understood that, in this manner, can realize shifting forward of motor driven endoscope head 102.
Referring to Fig. 6 A, 6B, 6C, 6D, 6E, 6F and 6G, the cutaway view of these simplification is along the IVB-IVB line among Fig. 3 the motor driven endoscope head shown in Fig. 2-4C to be made, and they have represented that endoscope head is through each stage that intestinal tube moves backward.Shown in Fig. 6 A-6G, by each air bag inflation and bleed air operation and preceding bladder support member will 238 successively combined with respect to moving axially of housing parts 208, the maneuver that endoscope head shown in Fig. 2-4C 102 is realized backward, wherein, the air bag that is installed on housing parts 208 and the preceding bladder support member will 238 is also referred to by label 500,502 respectively in the drawings.Be understandable that preferably described above such, each air bag 500,502 all comprises a plurality of that separate and inflation and the independent controlled air bag parts of bleed air operation.
Turn to Fig. 6 A, can see air bag 500, thereby engage, and fixed the position of housing parts 208 with respect to inwall with the inwall of intestinal tube by inflation.Under this directed state, preceding bladder support member will 238 is in the orienting station after axially leaning on, thereby near rear portion 212.Referring to Fig. 6 B, bladder support member will 238 is in the axial orientation position shown in Fig. 6 A before can seeing, and air bag 502 is by inflation, thereby engages with the inwall of intestinal tube, and has fixed the position of preceding bladder support member will 238 with respect to intestinal tube.Then, shown in Fig. 6 C, air bag 500 is deflated.
Referring to Fig. 6 D, as can be seen: preceding bladder support member will 238 moves forward in the axial direction with respect to housing parts 208, and simultaneously, housing parts 208 is maintained fixed in the axial direction with respect to intestinal tube.
Referring to Fig. 6 E, as can be seen: preceding bladder support member will 238 is in the axial orientation position shown in Fig. 6 D, and air bag 500 engaged the inwall of intestinal tube thus by inflation, and housing parts 208 is fixed with respect to inwall.Then, shown in Fig. 6 F, air bag 502 is deflated.
Referring to Fig. 6 G, as can be seen: preceding bladder support member will 238 moves in the axial direction backward with respect to housing parts 208, and simultaneously, preceding bladder support member will 238 is maintained fixed in the axial direction with respect to intestinal tube.
Thereby, be understood that, in this manner, can realize motor driven endoscope head 102 to retrodisplacement.As alternative, two air bags 500 and 502 all can be deflated, thereby just motor driven endoscope head 102 can be pulled out from intestinal tube by drawing multi-lumen tube 104.
Referring to Fig. 7 A-9C, these views have been represented the various directed attitude of the endoscope head of motor driven shown in Fig. 2-4C, by selecting the inflation situation of each air bag salient angle part on the air bag 500,502 suitably, just can realize such orientation.These view tables show several sample situations: the air bag salient angle by considering air bag 500 and 502 is at the phase contrast aspect the rotational orientation, the salient angle that makes air bag 500 each air bag salient angles partly realize the differentiation inflation of any appropriate and make air bag 502 realizes corresponding differentiation inflation in opposite mode, just can realize directed attitude nonparallel, deflection.
Referring to Fig. 7 A, 8A and 9A, represented first kind of the optional inclined orientation attitude in the passage in vivo of the motor driven endoscope head shown in Fig. 1-6G among the figure towards the below.Has lower inflation degree by an air bag salient angle part (being designated as 510 herein) that makes air bag 500, and make two air bag salient angle parts (being designated as 512 and 514) of air bag 500 have higher inflation degree, simultaneously, make the inflation degree of air bag salient angle part (being designated as 520 herein) of air bag 502 lower, and make the inflation degree of two air bag salient angles (being designated as 522 and 524) of air bag 502 higher, just can realize above-mentioned directed attitude.Should be pointed out that in the directed attitude shown in Fig. 7 A-7C, air bag salient angle 510 and 520 lays respectively at the upper and lower of motor driven endoscope head 102 in the drawing of Fig. 7 A-7C.
Referring to Fig. 7 B, 8B, 9B, these views have been represented the second kind of parallel directed attitude in the passage in vivo of motor driven endoscope head shown in Fig. 1-6G.By each air bag salient angle 510,512,514 of inflation air bag 500 comparably basically, and the air bag salient angle 520,522 and 524 of inflation air bag 502 comparably, just can realize so directed attitude.
Turn to Fig. 7 C, 8C, 9C, represented among the figure motor driven endoscope head shown in Fig. 1-6G in vivo in the passage towards the third the directed attitude top, optional inclination.Has higher inflation degree by the air bag salient angle part 510 that makes air bag 500, and make two air bag salient angle parts 512 and 514 of air bag 500 have lower inflation degree, simultaneously, make the inflation degree of air bag salient angle part 520 of air bag 502 higher, and make two air bag salient angles 522 of air bag 502 and 524 inflation degree lower, just can realize above-mentioned directed attitude.
Referring to Figure 10 A and 10B, these side views have been represented the endoscope head of motor driven shown in Fig. 1-6G off-centered optional parallel orientation attitude in the passage in vivo, Figure 11 A and Figure 11 B be respectively along the plane X IA-XIA among Figure 10 A and the 10B and XIB-XIB make back to view, they are corresponding with Figure 10 A and Figure 10 B, Figure 12 A and 12B are respectively the frontal view of making along the plane X IIA-XIIA among Figure 10 A and the 10B and XIIB-XIIB, and they are corresponding with Figure 10 A and Figure 10 B.These views have been represented such example: the phase contrast of air bag salient angle aspect rotational orientation of considering air bag 500 and 502, by any appropriate the differentiation inflation of air bag 500 upper gasbag salient angles 510,512 and 514 is set, and make the air bag salient angle 520,522,524 of air bag 502 that corresponding differentiation inflation take place, just can realize this parallel directed attitude.
Turn to Figure 10 A, 11A, 12A, represented the endoscope head of motor driven shown in Fig. 1-6G off-centered first kind of parallel orientation attitude in the passage in vivo among the figure.Consider the phase contrast of air bag salient angle aspect rotational orientation of air bag 500 and 502, the inflation degree of the air bag salient angle 510 by making air bag 500 is lower, and make the inflation degree of air bag salient angle 512,514 higher, simultaneously, make the inflation degree of air bag salient angle 520 of air bag 502 higher accordingly, and make the inflation degree of air bag salient angle 522 and 524 lower, just can realize this directed attitude.
Referring to Figure 10 B, 11B, 12B, the off-centered second kind of parallel orientation attitude in the passage in vivo of motor driven endoscope head shown in the presentation graphs 1-6G among the figure.The inflation degree of the air bag salient angle 510 by making air bag 500 is higher, and make the inflation degree of air bag salient angle 512,514 lower, simultaneously, make the inflation degree of air bag salient angle 520 of air bag 502 lower accordingly, and make the inflation degree of air bag salient angle 522 and 524 higher, just can realize this directed attitude.
Can figure out from the introduction to Fig. 7 A-12B above: under practical situation, if at least three air bag salient angles are set on two air bags 500,502, then motor driven endoscope head 102 can realize any required directed attitude of permission geometrically.These directed attitudes for example comprise: on have a down dip, tilt and the combination of two kinds of inclinations is tilted, and comprise required eccentric up and down parallel orientation, about the combining form of eccentric parallel orientation and two kinds of eccentric parallel orientations.
Be understood that if on each air bag 500,502, be provided with at least two air bag salient angles-especially, if at least two air bag salient angles of air bag 500,502 are with azimuth relation biasing, then motor driven endoscope head 102 can realize that allowed, various required directed attitudes on how much.
One of the present invention is characterised in that especially: because the motion of motor driven endoscope is not to realize by pushing mechanism, so the flexibility of multi-lumen tube 104 can significantly be better than the flexibility of other endoscope tube.
Referring to Figure 13, the simplification drawing design among the figure has been represented a kind of adnexa 600, and it is suitable for formed instrument channel in the central passage 202 of multi-lumen tube 104 and enters into the interior bore 274 of motor driven endoscope head 102 shell portions 266.This adnexa 600 can be selected from any suitable adnexa, for example can be biopsy tweezers, polypectomy snare, foreign body withdrawing device, thermal probe and syringe needle, and some adnexaes wherein are well known in the art.One preferred implementation according to the present invention, a piston 602 is coupled along the body 604 of adnexa, and is positioned at the upstream of adnexa head 606.Piston 602 is designed to and can slides hermetically along instrument channel in response to the pressure differential between the upstream and downstream, and pressure differential wherein for example is to be provided by malleation suitable in the instrument channel or negative pressure.That for example can utilize the conventional endoscope system and possessed is blown into operation (inssuflation) and pumping function and realizes malleation or negative pressure.
Referring to Figure 14, the reduced graph part among the figure is block diagram, local is sketch map, its represented shown in Fig. 1-13, according to the present invention the part of the endoscopy system of the design of one preferred implementation and work.
As shown in figure 14, adopted common endoscopy system 100, it for example is a control station, this system comprises CV-160 video system center, CLC-160 light source, OEV-203 video monitor and OFP flushing pump, and all these parts all can be buied from the Olympus U.S. company limited of the 2 Corporate Center Drive that are positioned at U.S. NY 11747Melville.This common endoscopy system 100 comprises and is blown into (inssuflation)/suction generator 700 and liquid supply 702, they are communicated with instrument channel by flow control valve 704, wherein, instrument channel is that interior bore 274 by the shell portion 266 of the central passage 202 of multi-lumen tube 104 and motor driven endoscope head 102 forms.Preferably, this conventional endoscope check system 100 also comprises imaging system 710 and led controller 712, and they carry out communication by data wire and supply lines, preferably, circuit is designed to the form of optical fiber and conduction wire harness 284, and it extends through the lumen 286 in the multi-lumen tube 104.
The work of 108 pairs of motor driven endoscope head of operator's control piece controller 106 is supervised, and control piece 108 preferably includes stick 722, inclines and stick up/non-incline functional select switch 724 that sticks up formula and the button 725 that is used for controlled motion direction (forward or backward) and speed.As shown in the figure, in the present invention's one preferred implementation, operator's control piece 108 sends the control input information to the control circuit 726 of motor driven endoscope head, and this control circuit is operated air pressure generator 728, vacuum generator 730 and fluid power malleation/negative voltage supply device 732.
Air pressure generator 728 and vacuum generator 730 are by suitable manifold 734 and 736 and link for each flow valve of each lumen setting and lumen 226 and 246, so that each air bag salient angle 510,512,514,520,522 and 524 of inflation optionally, flow valve wherein is denoted as 740,742,744,746,748 and 750.Fluid power malleation/negative voltage supply device 732 links to each other with lumen 252 by flow valve 752, so that piston rod 250.In addition, 754 pairs of processing of flow valve fluid is controlled to the supply of lumen 290 from handling fluid reservoir 756.758 pairs of another fluid valves are handled fluid and are discharged to mobile control of waste fluid place (not shown) from intestinal tube, and waste fluid place wherein is placed under the vacuum.
Flow valve 704,740,742,746,748,750,752,754 and 758 is controlled by motor driven endoscope head circuit 726 by operator's control piece 108, so that each air bag salient angle 510,512,514,520,522 and 524 is carried out inflation and venting suitably, so that motor driven endoscope head 102 has selected location and/or inclination in intestinal tube; So that preceding bladder support member will 238 moves forward suitably, thereby make motor driven endoscope head 102 realize the motions of automobile, and will handle fluid and be transported to suitably in the intestinal tube, hereinafter this is described with reference to Figure 15.
Referring to Figure 15, the drawing design of simplifying among the figure has been represented the situation of motor driven endoscope head shown in Fig. 1-12B when being in intestinal juice work of treatment pattern.As can be seen from Figure 15, preferably, the tubular body portion potted component is got up by complete inflation, potted component wherein for example is the air bag salient angle 510,512 and 514 and the air bag salient angle 520,522 and 524 of air bag 502 of air bag 500, thereby sealed the intestinal tube volume between air bag salient angle 510,512,514 and air bag salient angle 520,522,524, all the other inner spaces of this part volume and intestinal tube are separated.
In case realized after the sealing, handled fluid 760 and be transported to the hermetic unit of intestinal tube through valve 754, lumen 290 and slit 230 from handling fluid reservoir 756.After having finished processing, handle fluid 760 and can from the hermetic unit of intestinal tube, be drawn into waste fluid place (not shown) through slit 230, lumen 290 and valve 758.As optional and preferred version, handle fluid 760 and comprise at least a in the following fluid: treatment fluid, according to enhance fluid, anti-bacterial fluid, acid solution, alkaline solution or any other suitable fluid.
Referring to Figure 16 A-16C, the situation the when drawing design of these simplification has represented that the motor driven endoscope head is in the guide line mode of operation shown in Fig. 1-12B.Shown in Figure 16 A, preferably, the air bag salient angle 510,512,514 of air bag 500 and the air bag salient angle 520,522,524 of air bag 502 are all got up by inflation, thereby motor driven endoscope head 102 is anchored on the intestinal tube.Shown in Figure 16 B, in case finished after the anchoring in required place, just with multi-lumen tube 104 tensionings.
Be appreciated that air bag 500,502 diameter separately can guarantee to anchor to securely on any part of intestinal tube.
Shown in Figure 16 C, a socket pipe 800 is a guide line with multi-lumen tube 104, and slides thereon.Preferably, the front portion 802 of socket pipe 800 comprises splanchnoscopy instrument 804.Preferably, splanchnoscopy instrument 804 can be treatment tool, diagnostic tool or surgical technique and tools, and it can optionally be located along multi-lumen tube 104.In the present invention's one preferred implementation, splanchnoscopy instrument 804 is ultrasonic transducers.In another preferred implementation of the present invention, splanchnoscopy instrument 804 is x-ray radiation source or generator.
Referring to Figure 17-19B, they are respectively drawing design and the cutaway views of simplifying, and have represented the endoscopy system of according to the present invention another preferred implementation design and work and the adnexa of one preferred implementation manufacturing and work according to the present invention.
Can find out from Figure 17-19B, adopted common endoscopy system 1000, it for example is a control station, this system comprises CV-160 video system center, CLC-160 light source, OEV-203 video monitor and OFP flushing pump, and all these parts all can be buied from the Olympus U.S. company limited of the 2 Corporate Center Drive that are positioned at U.S. NY 11747Melville.Adopted a kind of common endoscope 1002, it is as a building block of endoscopy system 1000, this endoscope for example is a CF-Q160AL type video colonoscope, and it can be buied from the Olympus U.S. company limited of the 2 Corporate Center Drive that are positioned at U.S. NY 11747Melville.
The endoscopic tools 1010 of one preferred implementation design and a job according to the present invention extends through the instrument channel of conventional endoscope 1002.Endoscopic tools 1010 is characterised in that: it comprises a multi-lumen tube 1012, and this multi-lumen tube comprises at least one first lumen 1014, and it is used for carrying out inflation and venting through 1017 pairs of air bags of inflation eyelet 1016, and this multi-lumen tube comprises one second lumen 1018.Preferably, second lumen 1018 can hold a tensioned thread or compressed lines 1020.As alternative or additional project, second lumen 1018 can have other function.As another kind of alternative, can comprise lumen more than two as the multi-lumen tube 1012 of endoscopic tools 1010 building blocks.Preferably, the cross-sectional area of multi-lumen tube 1012 is much smaller than the area of instrument channel 1011, thereby can conveyance fluid, so that carry out being blown into (inssuflation) and draining of convection cell through this.
Be understandable that one preferred implementation according to the present invention, the flexibility of endoscopic tools 1010 and multi-lumen tube 1012 are generally much larger than the flexibility of conventional endoscope 1002 and endoscope tube thereof.
Be understood that: one preferred implementation according to the present invention, air bag 1016 can be upheld basically, and can be upheld than its big 5-20 of diameter diameter doubly during inflation not.In a kind of specific embodiment, in order to be used for the splanchnoscopy of small intestinal, the diameter of air bag when upholding fully is 4cm.Preferably, adopt the pressure of 10-50 millibar of lower pressure-for example, can be with air bag 1016 to diameter less than 4cm.In the specific embodiment of another kind, in order to be used for the splanchnoscopy of large intestine, the diameter of air bag when upholding fully is 7cm.Preferably, can adopt the pressure of 10-50 millibar of lower pressure-for example, air bag 1016 is inflated to diameter less than 7cm.
Be understood that one preferred implementation according to the present invention, in order to be used for that variable basic the execution in the body for piped body portion of cross-sectional diameter checked, the expansion diameter scope of air bag 1016 is greater than the maximum cross section diameter of basic tubular body portion, thereby can guarantee that the air bag 1016 that expands engages with the inner surface of basic tubular body portion, and endoscopic tools 1010 is anchored on the inner surface.Preferably, air bag 1016 is air bags comparatively softish, high compliance, its role is to: when engaging with the inner surface of basic tubular body portion, at least in part along the inner surface that is affixed on tubular body portion.
Can figure out: air bag 1016 can be made with the known material of upholding, and these materials for example are the nylon of latex, flexible silica gel or high flexibility.As alternative, air bag 1016 can be made with the polyurethane material that property upheld and compliance are weaker than latex, flexible silica gel or high flexibility nylon.Preferably, the diameter sufficient to guarantee of air bag 1016 securely anchors on any position of basic tubular body portion.
Shown in Figure 17-19B, endoscopic tools 1010 preferably includes tool positioned control device 1024 and air bag inflation/venting control interface device 1026.Be understood that multi-lumen tube 1012 and whole endoscopic tools 1010 can be inserted and withdraw from by the general tool port one from common operator control piece 1032 030, control piece 1032 wherein is as the building block of conventional endoscope 1002.
Referring to Figure 20 A, 20B, 20C, 20D, 20E, 20F, 20G, 20H and 20I, these reduced graphs have been represented the situation of endoscopic tools 1010 when being in various task set shown in Figure 17-19B.In the illustrated embodiment, axially displaced suitably by making instrument pass the instrument channel 1011 of endoscope 1002, and be aided with suitably tensioning of tensioned thread 1020, and endoscopic tools 1010 made suitable rotational orientation with respect to intestinal tube, just can make the front end of endoscopic tools 1010 have required direction orientation.
Shown in Figure 20 A, endoscopic tools 1010 mainly is the instrument channel 1011 that is arranged in endoscope 1002, and air bag 1016 is outstanding from it, and at this moment, air bag is in deflated state.
Situation when Figure 20 B has represented that endoscopic tools 1010 is further extended from instrument channel 1011, Figure 20 C has represented that then endoscopic tools 1010 turns over 180 situations when spending with respect to orientation shown in Figure 20 B, wherein, turn round multi-lumen tube 1012 (shown in arrow 1022) by twisting suitably, just can realize the rotational orientation of endoscopic tools.
Figure 20 D has represented the situation owing to tensioned thread 1020 tensionings being made endoscopic tools 1010 front ends crooked, and in the illustrated case, instrument is in the orienting station shown in Figure 20 C, before having been pushed away according to common mode.
Figure 20 E has represented to make endoscopic tools 1010 to pass the further process of intestinal tube, and this process comes from following operation: by tool positioned control device 1024 is operated, the instrument that is joined is pushed forward, discharge the tensile force of guide line 1020 simultaneously.
Figure 20 F has represented the situation of air bag 1016 being carried out inflation by manipulation balloon inflation/venting control interface device 1026.One preferred implementation according to the present invention, in the position of air bag 1016, this inflation operation can anchor to the front end of endoscopic tools 1010 on the intestinal tube.
Figure 20 G has represented will comprise by tractive multi-lumen tube 1012 operation of endoscopic tools 1010 tensionings of multi-lumen tube 1012.
Situation when Figure 20 H has represented before multi-lumen tube 1012 pushes away endoscope 1002, this operation is used as a kind of guide line with multi-lumen tube.Before can endoscope 1002 being pushed away according to common mode.Then, shown in Figure 19 I, can be with air bag 1016 venting.
Endoscope is further moved forward through intestinal tube, preferably will reach such position: the front end of instrument channel 1011 just is positioned at the rear of air bag 1016, thereby be similar to the directed state shown in Figure 20 A, according to the requirement of the geometry situation that is run into, can be by repeating to realize further moving above with reference to the described all or part of step of Figure 20 A-20I.
Referring to Figure 21-23B, they are respectively drawing design and the cutaway views of simplifying, and have represented the endoscopy system of according to the present invention another preferred implementation design and work and the adnexa of one preferred implementation manufacturing and work according to the present invention.
Can find out from Figure 21-23B, adopted common endoscopy system 1300, it for example is a control station, this system comprises CV-160 video system center, CLC-160 light source, OEV-203 video monitor and OFP flushing pump, and all these parts all can be buied from the Olympus U.S. company limited of the 2 Corporate Center Drive that are positioned at U.S. NY 11747Melville.Can adopt a kind of common endoscope 1302, it is as a building block of endoscopy system 1300, this endoscope for example is a CF-Q160AL type video colonoscope, and it can be buied from the Olympus U.S. company limited of the 2 Corporate Center Drive that are positioned at U.S. NY 11747 Melville.One preferred implementation according to the present invention can be installed the air bag 1304 in a ring week as shown like that in endoscope 1302.Preferably, can utilize with the body 1306 of air bag internal communication and carry out inflation and bleed air operations encircling all air bags 1304.
The endoscopic tools 1310 of design of one preferred implementation and work extends through the instrument channel 1311 of conventional endoscope 1302 according to the present invention.Endoscopic tools 1310 is characterised in that: it comprises multi-lumen tube 1312, and this multi-lumen tube comprises at least one first lumen 1314, and it is used for carrying out inflation and venting through 1317 pairs of air bags of inflation eyelet 1316, and this multi-lumen tube comprises one second lumen 1318.Preferably, second lumen 1318 can hold a tensioned thread or compressed lines 1320.As alternative or additional project, second lumen 1318 can have other function.As another kind of alternative, can comprise lumen more than two as the multi-lumen tube 1312 of endoscopic tools 1310 building blocks.Preferably, the cross-sectional area of multi-lumen tube 1312 is much smaller than the area of instrument channel 1311, thereby can conveyance fluid, so that carry out being blown into (inssuflation) and draining of convection cell through this.
Be understandable that one preferred implementation according to the present invention, the flexibility of endoscopic tools 1310 and multi-lumen tube 1312 are generally much larger than the flexibility of conventional endoscope 1302 and endoscope tube thereof.
Be understood that: one preferred implementation according to the present invention, air bag 1316 can be upheld basically, and can be upheld than its big 5-20 of diameter diameter doubly during inflation not.In a kind of specific embodiment, in order to be used for the splanchnoscopy of small intestinal, the diameter of air bag when upholding fully is 4cm.Preferably, adopt the pressure of 10-50 millibar of lower pressure-for example, can be with air bag 1316 to diameter less than 4cm.In the specific embodiment of another kind, in order to be used for the splanchnoscopy of large intestine, the diameter of air bag when upholding fully is 7cm.Preferably, can adopt the pressure of 10-50 millibar of lower pressure-for example, air bag 1316 is inflated to diameter less than 7cm.
Be understood that one preferred implementation according to the present invention, in order to be used for that variable basic the execution in the body for piped body portion of cross-sectional diameter checked, the expansion diameter scope of air bag 1316 is greater than the maximum cross section diameter of basic tubular body portion, thereby can guarantee that the air bag 1316 that expands engages with the inner surface of basic tubular body portion, and endoscopic tools 1310 is anchored on the inner surface.Preferably, air bag 1316 is air bags comparatively softish, high compliance, its role is to: when engaging with the inner surface of basic tubular body portion, at least in part along the inner surface that is pasting tubular body portion.
Can figure out: air bag 1316 can be made with the known material of upholding, and these materials for example are the nylon of latex, flexible silica gel or high flexibility.As alternative, air bag 1316 can be made with the polyurethane material that property upheld and compliance are weaker than latex, flexible silica gel or high flexibility nylon.Preferably, the diameter sufficient to guarantee of air bag 1316 securely anchors on any position of basic tubular body portion.
Shown in Figure 21-23B, endoscopic tools 1310 preferably includes tool positioned control device 1324 and air bag inflation/venting control interface device 1326.In addition, preferably, a ring all air bag inflations/venting control interface device 1328 is set, it is communicated with body 1306, and the inflation and the venting of all air bags 1304 of control loop.Be understood that multi-lumen tube 1312 and whole endoscopic tools 1310 can be inserted and withdraw from by the general tool port one from common operator control piece 1332 330, control piece 1332 wherein is as the building block of conventional endoscope 1302.
Referring to Figure 24 A, 24B, 24C, 24D, 24E, 24F, 24G, 24H, 24I, 24J, 24K and 24L, these reduced graphs have been represented the situation of endoscopic tools 1310 when being in various task set shown in Figure 21-23B.In the illustrated embodiment, axially displaced suitably by making instrument pass the instrument channel 1311 of endoscope 1302, and be aided with suitably tensioning of tensioned thread 1320, and endoscopic tools 1310 made suitable rotational orientation with respect to intestinal tube, just can make the front end of endoscopic tools 1310 have required direction orientation.
Shown in Figure 24 A, endoscopic tools 1310 mainly is the instrument channel 1311 that is arranged in endoscope 1302, and air bag 1316 is outstanding from it, and at this moment, air bag is in deflated state.As shown in the figure, encircle all air bags 1304 and be in deflated state.
Situation when Figure 24 B has represented that endoscopic tools 1310 mainly is in the instrument channel 1311 of endoscope 1302, and the air bag 1316 that is in deflated state stretches out from it.As shown in the figure, encircle all air bags 1304 and be in swelling state, thereby engage, thereby endoscope 1302 is anchored at this with the inwall of intestinal tube.
Situation when Figure 24 C has represented that endoscopic tools 1310 is further extended from instrument channel 1311, Figure 24 D has represented that then endoscopic tools 1310 turns over 180 situations when spending with respect to orientation shown in Figure 24 C, wherein, turn round multi-lumen tube 1312 (shown in arrow 1340) by twisting suitably, just can realize the rotational orientation of endoscopic tools.
Figure 24 E has represented the situation owing to tensioned thread 1320 tensionings being made endoscopic tools 1310 front ends crooked, and in the illustrated case, instrument is in the orienting station shown in Figure 24 D, and before having been pushed away according to common mode.
Figure 24 F has represented to make endoscopic tools 1310 to pass the further process of intestinal tube, and this process comes from following operation: utilize the operation of tool positioned control device 1324, the instrument that is joined is pushed forward, discharge the tensile force of guide line 1320 simultaneously.
Figure 24 G has represented the situation of air bag 1316 being carried out inflation by manipulation balloon inflation/venting control interface device 1326.One preferred implementation according to the present invention, in the position of air bag 1316, this inflation operation can anchor to the front end of endoscopic tools 1310 on the intestinal tube.
Figure 24 H has represented will comprise by tractive multi-lumen tube 1312 operation of endoscopic tools 1310 tensionings of multi-lumen tube 1312.
Figure 24 I has represented encircling the situation that all air bags 1304 are exitted.
Situation when Figure 24 J has represented before multi-lumen tube 1312 pushes away endoscope 1302, this operation is used as a kind of guide line with multi-lumen tube.Before can endoscope 1302 being pushed away according to common mode.
Figure 24 K has represented to carry out inflation to encircling all air bags 1304, it is engaged with the inwall of intestinal tube, thereby endoscope 1302 is anchored at this.
Then, shown in Figure 24 L, can be with air bag 1316 venting.
Preferably, endoscope is further moved forward through intestinal tube, to arrive such position: the front end of instrument channel 1311 just is positioned at the rear of air bag 1316, thereby be similar to the directed state shown in Figure 24 B, according to the requirement of the geometry situation that is run into, can be by repeating to realize further moving above with reference to the described all or part of step of Figure 24 B-24L.
Those skilled in the art can figure out: the content that the present invention is not limited to above concrete expression and describes.Scope of the present invention comprises that above-mentioned each combination of features form and part combining form and those skilled in the art reading can recognize and the remodeling that do not belong to prior art of detailed description above.

Claims (41)

1, a kind of motor driven endoscope assembly comprises:
The motor driven endoscope head, the main part that comprises axis extension longitudinally, and have associated alternative expansible first air bag on this motor driven endoscope head and can select localized part, can select localization part to position along described main part, the motor driven endoscope head also has associated alternative expansible second air bag; And
Motor driven endoscope head controller is controlled the work of motor driven endoscope head, and it operationally is used to control the described localization part of selecting with respect to the location of main part and the inflation of the described first and second selectively-expandable air bags,
Wherein said motor driven endoscope head has fixed length.
2, motor driven endoscope assembly according to claim 1 is characterized in that: comprise one of at least the air bag that can uphold in described first, second selectively-expandable air bag.
3, motor driven endoscope assembly according to claim 1 and 2 is characterized in that: the motor driven endoscope assembly also comprises and the relevant endoscope body of described motor driven endoscope head.
4, motor driven endoscope assembly according to claim 3 is characterized in that: instrument channel extends through described motor driven endoscope head and described endoscope body at least in part.
5, motor driven endoscope assembly according to claim 3, it is characterized in that: described endoscope body comprises multi-lumen tube.
6, motor driven endoscope assembly according to claim 3 is characterized in that: described endoscope body realizes that with described motor driven endoscope head controller interface is connected.
7, motor driven endoscope assembly according to claim 1, it is characterized in that: the motor driven endoscope assembly also comprises endoscopy system, described motor driven endoscope head controller can be connected with this system.
8, motor driven endoscope assembly according to claim 5, it is characterized in that: described multi-lumen tube comprises at least one lumen, its effect is at least as the next item down function:
Air bag is carried out inflation;
The localization part selected to described motor driven endoscope head positions;
Make passing thus one of at least of optical fiber and conduction wire harness; And
The realization fluid is communicated with.
9, motor driven endoscope assembly according to claim 5, it is characterized in that: described multi-lumen tube comprises at least one lumen, each function that its role is to be achieved as follows:
Air bag is carried out inflation;
The described localization part of selecting to described motor driven endoscope head positions; And
Make passing thus one of at least of optical fiber and conduction wire harness.
10, according to Claim 8 or 9 described motor driven endoscope assemblies, it is characterized in that: described at least one lumen comprises at least one first lumen, its role is to the described first selectively-expandable air bag is carried out inflation, and comprise at least one second lumen, its role is to the described second selectively-expandable air bag is carried out inflation.
11, motor driven endoscope assembly according to claim 1 is characterized in that: the described localization part of selecting can be with respect to the described main part location of sliding.
12, motor driven endoscope assembly according to claim 1 is characterized in that: described motor driven endoscope head comprises at least one light source and at least one imaging sensor.
13, motor driven endoscope assembly according to claim 1 is characterized in that: but the described first selectively-expandable air bag comprises the air bag part of at least two independently-inflatable.
14, motor driven endoscope assembly according to claim 1 is characterized in that: but the described second selectively-expandable air bag comprises the air bag part of at least two independently-inflatable.
15, motor driven endoscope assembly according to claim 1, it is characterized in that: but the described first selectively-expandable air bag comprises the air bag part of at least two independently-inflatable, but and the described second selectively-expandable air bag comprise the air bag part of at least two independently-inflatable.
16, motor driven endoscope assembly according to claim 15 is characterized in that: but but described at least two independently-inflatable air bags of the described second selectively-expandable air bag partly partly become the azimuth bias relation with respect to described at least two independently-inflatable air bags of the described first selectively-expandable air bag.
17, motor driven endoscope assembly according to claim 1, it is characterized in that: described motor driven endoscope head controller provides motor-driven function, passes the basic piped body portion that is thereby this function is suitable for making described motor driven endoscope head to move step by step.
18, motor driven endoscope assembly according to claim 17 is characterized in that: described motor-driven function comprises can be achieved as follows the function of operation successively:
The described first selectively-expandable air bag is carried out inflation, thus the first selectively-expandable air bag is anchored on the inner surface of described basic tubular body portion;
Described localization part and the described second selectively-expandable air bag selected positioned in the axial direction again with respect to the described first selectively-expandable air bag;
The described second selectively-expandable air bag is carried out inflation, thus the described second selectively-expandable air bag is anchored on the inner surface of basic tubular body portion;
The described first selectively-expandable air bag is exitted, remove the anchoring of described first selectively-expandable air bag and described basic tubular body portion inner surface thus; And
The described first selectively-expandable air bag is positioned in the axial direction again with respect to described localization part and the described second selectively-expandable air bag selected.
19, motor driven endoscope assembly according to claim 18 is characterized in that: the described first selectively-expandable air bag is configured to be positioned at respect to described basic tubular body portion the place ahead of the described second selectively-expandable air bag.
20, motor driven endoscope assembly according to claim 18 is characterized in that: the described second selectively-expandable air bag is configured to be positioned at respect to described basic tubular body portion the place ahead of the described first selectively-expandable air bag.
21, a kind of motor driven endoscope assembly comprises:
The motor driven endoscope head, it comprises the main part of axis extension longitudinally, and the motor driven endoscope head has first element of the associated expansion of selectivity diametrically, and have and to select localized part, can select localization part to position, and the motor driven endoscope head have second element of the associated expansion of selectivity diametrically along described main part; And
Motor driven endoscope head controller, its work to the motor driven endoscope head is controlled, it operationally is used to control the described localization part of selecting can select the expansion of radial dilatation selection of components with respect to the location and described first and second of described main part
Wherein said motor driven endoscope head has fixed length.
22, motor driven endoscope assembly according to claim 21 is characterized in that: described first, second can be selected the air bag that comprises one of at least selectively-expandable in the radial dilatation element.
23, motor driven endoscope assembly according to claim 22, it is characterized in that: the air bag of described selectively-expandable comprises the air bag that can uphold.
24, according to the described motor driven endoscope assembly of one of claim 21-23, it is characterized in that: described motor driven endoscope assembly also comprises and the relevant endoscope body of described motor driven endoscope head.
25, motor driven endoscope assembly according to claim 24 is characterized in that: instrument channel extends through described motor driven endoscope head and described endoscope body at least in part.
26, motor driven endoscope assembly according to claim 24, it is characterized in that: described endoscope body comprises multi-lumen tube.
27, motor driven endoscope assembly according to claim 24 is characterized in that: described endoscope body realizes that with described motor driven endoscope head controller interface is connected.
28, motor driven endoscope assembly according to claim 22 is characterized in that: described motor driven endoscope assembly also comprises endoscopy system, and it can be connected with described motor driven endoscope head controller.
29, motor driven endoscope assembly according to claim 26, it is characterized in that: described multi-lumen tube comprises at least one lumen, its effect is at least as the next item down function:
Make the radial dilatation element realize expansion;
The described localization part of selecting to described motor driven endoscope head positions;
Make passing thus one of at least of optical fiber and conduction wire harness; And
The realization fluid is communicated with.
30, motor driven endoscope assembly according to claim 26, it is characterized in that: described multi-lumen tube comprises at least one lumen, its role is to be achieved as follows each function:
Make the radial dilatation element realize expansion;
The described localization part of selecting to described motor driven endoscope head positions; And
Make passing thus one of at least of optical fiber and conduction wire harness.
31, according to claim 29 or 30 described motor driven endoscope assemblies, it is characterized in that: described at least one lumen comprises at least one first lumen, its role is to select the radial dilatation element to expand to described first, and comprise at least one second lumen, its role is to can select the radial dilatation element to expand to described second.
32, motor driven endoscope assembly according to claim 21 is characterized in that: the described localization part of selecting can be with respect to the described main part location of sliding.
33, motor driven endoscope assembly according to claim 21 is characterized in that: described motor driven endoscope head comprises at least one light source and at least one imaging sensor.
34, motor driven endoscope assembly according to claim 21 is characterized in that: described first can select the radial dilatation element to comprise at least two componentries that can independently expand.
35, motor driven endoscope assembly according to claim 21 is characterized in that: described second can select the radial dilatation element to comprise at least two componentries that can independently expand.
36, motor driven endoscope assembly according to claim 21, it is characterized in that: described first can select the radial dilatation element to comprise at least two componentries that can independently expand, and described second can select the radial dilatation element to comprise at least two componentries that can independently expand.
37, motor driven endoscope assembly according to claim 36 is characterized in that: described second can select described at least two of the radial dilatation element can independent expansion member part can select described at least two of the radial dilatation element can independent expansion member partly become the azimuth bias relation with respect to described first.
38, motor driven endoscope assembly according to claim 21, it is characterized in that: described motor driven endoscope head controller provides motor-driven function, passes the basic piped body portion that is thereby this function is suitable for making described motor driven endoscope head to move step by step.
39, according to the described motor driven endoscope assembly of claim 38, it is characterized in that: described motor-driven function comprises can be achieved as follows the function of operation successively:
Make described first can select the radial dilatation element to expand, can select the radial dilatation element to anchor on the inner surface of described basic tubular body portion with described first thus;
Can select the radial dilatation element can select the radial dilatation element to position again in the axial direction the described localization part and described second of selecting with respect to described first;
Make described second can select the radial dilatation element to expand, can select the radial dilatation element to anchor on the inner surface of described basic tubular body portion with second thus;
Make described first can select the radial dilatation element to shrink, remove described first anchoring that can select radial dilatation element and described basic tubular body portion inner surface thus; And
Can select the radial dilatation element can select the radial dilatation element to position again in the axial direction with described first with respect to the described localization part and described second of selecting.
40, according to the described motor driven endoscope assembly of claim 39, it is characterized in that: described first can select the radial dilatation element to be configured to be positioned at described second the place ahead that can select the radial dilatation element with respect to described basic tubular body portion.
41, according to the described motor driven endoscope assembly of claim 39, it is characterized in that: described second can select the radial dilatation element to be configured to be positioned at described first the place ahead that can select the radial dilatation element with respect to described basic tubular body portion.
CNB2005800043114A 2004-02-09 2005-02-07 Endoscope assembly Expired - Fee Related CN100431477C (en)

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