Flexible endoscope robot with variable rigidity

Abstract

The invention discloses a flexible endoscope robot with the variable rigidity. One end of a conduit component is connected with a driving component; a ball bag component is arranged on the end part of the free end of the conduit component; a fluid supply component is connected with the ball bag component via a fluid pipe; the conduit component is made of soft silica gel; the inside of the conduit component is provided with a plurality of embedded rope yarns and a hard fixed knot; the first end of each embedded rope yarn is connected with the hard fixed knot; the second end of each embedded rope yarn is fixedly connected with the driving component; the dragging of the embedded rope yarns and the propelling movement of the conduit are controlled by the driving component; the ball bag component is detachably installed on the conduit component and can move along the peripheral surface of the conduit component within a large range; and the fluid supply component is used for discharging fluid to the ball bag component via the fluid conduit to control the expansion and the contraction of the ball bag component. According to the flexible endoscope robot with the variable rigidity, on one hand, the conduit rigidity can be controllably changed, action between the conduit and the human body tissue is reduced, and the discomfort of a patient is lowered. On the other hand, the tail end position of the conduit can be more precisely controlled, and the working intensity of an operator is lowered.

Description

technical field [0001] The invention relates to an endoscope robot system in the technical field of medical endoscopes, in particular to a flexible endoscope robot with variable stiffness. Background technique [0002] Generally, an endoscope is composed of an operation part and an insertion part, and the insertion part is further divided into a soft part and a bending part. Wherein, the soft part is a slender flexible hose extending from the operating part; the bending part is located at the top of the soft part and is relatively short, and can be controlled to bend in one or two directions through the operating part. [0003] At present, the insertion part of a medical endoscope is relatively hard compared to human tissue, and the main method of inserting it into a body cavity is to apply force outside the patient's body. During the advancement process, when the inserted catheter encounters a narrow and curved environment deep in the body cavity, on the one hand, because ...

AI Technical Summary

Problems solved by technology

On the one hand, the use of hard materials in medical devices for intracavitary operations will have certain safety hazards and will also bring some discomfort to patients; Difference

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