Multi-joint endoscope bending mechanism with force sensing function

Abstract

A multi-joint endoscope bending mechanism with a force sensing function relates to an endoscope bending mechanism. In an existing medical endoscope, only one section at a head end of the endoscope is provided with bending controllability, the other parts of the endoscope do not have the function, and the surface of the endoscope is not integrated with a pressure sensor so that the contact pressure between a scope body and the intestinal canal wall can not be sensed. In the multi-joint endoscope bending mechanism, a first and a second connecting ear of a universal ring of two adjacent joints are matched and riveted with rivet clearances; a guide through hole of a guide seat on a universal ring of a start end joint of each bending uni-joint section is fixedly connected with a spring tube; four multi-strand steel wires in the bending uni-joint section pass through each spring tube and each guide through hole and are fixedly connected with a rear end circular ring; five bending uni-joint sections are wrapped by steel wire woven nets and rubber covering films from the inside to the outside; and pressure sensors are embedded in the rubber covering films. The multi-joint endoscope bending mechanism has a flexible spatial complexing bending capability and also a full-direction force sensing function. When used for examining an intestine problem of a patient, the multi-joint endoscope bending mechanism can relieve the pain suffered by the patient and is highly safe.

Description

Multi-arthroscope Bending Mechanism with Force Sensing Function technical field The invention relates to an endoscope bending mechanism, which belongs to the technical field of medical endoscopes. Background technique Endoscopy is a common and reliable medical tool for direct examination, tissue sampling, and tumor resection of human gastrointestinal disorders. Since the bending condition of the human intestinal tract is very complicated, there is an urgent need for a multi-joint, force-sensing, and flexible endoscope bending mechanism. After searching the existing domestic and foreign literature, it is found that only the bending of the head end of the current endoscope is controllable. Forced and passively bent, this contact pressure will cause pain to the patient during the examination of intestinal diseases. At the same time, the surface of the existing endoscope mirror body does not have an integrated pressure sensor, so it cannot sense the contact pressure between...

AI Technical Summary

Problems solved by technology

The purpose of the present invention is to provide a multi-articular endoscope bending mechanism with force sensing function to solve the problem that only the bending of the head end of the existing medical endoscope is controllable, and other mirror body parts are not controllable. The bending function can only be bent passively through the contact force between the mirror body and the inner wall of the intestinal tract. This contact pressure will cause pain to the patient during the inspection of intestinal diseases; in addition, because the surface of the existing endoscope mirror body is not integrated with The pressure sensor cannot perceive the contact pressure between the lens body and the intestinal wall, and the safety factor is not high. Excessive contact pressure may cause damage to the intestinal wall

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