Control device for controllable ultra-thin endoscope

Abstract

The present application relates to a control device for a controllable ultra-thin endoscope, which comprises: a frame, a magnet control arm, a magnet unit, a cable control arm, and a winding unit; the frame is used to place a display and an image processing unit; the magnet control arm and the cable control arm are respectively installed on the frame; the magnet unit is used to provide an external magnetic field to guide the controllable ultra-thin endoscope to move along a desired path; the magnet unit can be rotatably installed at the front end of the magnet control arm; the magnet control arm is a foldable hovering mechanical arm, so that the magnet unit can be adjusted in position on the horizontal plane and the vertical plane; the winding unit is used to retract and release the cable at the tail end of the controllable ultra-thin endoscope; the winding unit is installed at the front end of the cable control arm.

Description

Technical Field

[0001] The present application relates to a controllable ultra-thin endoscope, and in particular to a control device for the controllable ultra-thin endoscope. Background Art

[0002] Currently, there are several main types of endoscopic products for gastrointestinal examinations on the market. Traditional electronic endoscopes are painful for patients to examine due to their thick bodies. Mechanical operation is complex, and the mechanical structure is easily damaged. The cost is high, and repeated use carries the risk of cross-infection. Although magnetically controlled capsule endoscopes are easy to swallow, they have low image resolution and frame rate due to battery power limitations. The time they stay in the stomach is uncontrollable, making it impossible to fully examine the esophagus. The examination is not accurate enough, and there is a risk of capsule retention. The controllable ultra-thin endoscope combines the advantages of traditional endoscopes and capsule endoscopes. It takes the form of a capsule, which is supplied with power from the outside via a wire. Its movement within the human body is guided by a magnetic control device that generates an external magnetic field.

[0003] Existing magnetic control devices generally adopt a robotic approach, requiring a rotating mechanism including X, Y, and Z guide rails and magnets, all driven by motors. This structural approach prevents the magnet from being completely close to the human body for inspection, resulting in the need for a larger magnet to achieve the desired control effect. In addition, the operator controls the movement of the magnet by operating the motor through a control panel. This indirect control of the magnet is not only prone to motion errors, but also has a delayed response and poor real-time performance. In addition, this control is not intuitive for the operator, so precise control requires repeated training. In addition, the cable of the controllable ultra-fine endoscope is long, requiring a dedicated person to hold it in hand during operation, and it is very easy to come into contact with the surrounding environment and be contaminated. Summary of the Invention

[0004] In view of the above problems, this application aims to provide a control device for a controllable ultra-thin endoscope, which enables the operator to directly control the magnet, minimizing the delay and reduction in real-time performance caused by the movement of the magnet. This application aims to provide a control device for a controllable ultra-thin endoscope, whose cable can be automatically retracted and extended, eliminating the need for additional human operation.

[0005] The present application discloses a control device for a controllable ultra-thin endoscope, comprising: a frame, a magnet control arm, a magnet unit, a cable control arm, and a winding unit;

[0006] The rack is used to place the display and image processing unit;

[0007] The magnet control arm and the cable control arm are respectively mounted on the frame;

[0008] The magnet unit is used to provide an external magnetic field to guide the controllable ultra-thin endoscope along a desired path; the magnet unit is rotatably mounted on the front end of the magnet control arm; the magnet control arm is a foldable hovering mechanical arm, which enables the position of the magnet unit to be adjusted in the horizontal plane and the vertical plane;

[0009] The winding unit is used to retract and release the cable at the tail end of the controllable ultra-thin endoscope; the winding unit is installed at the front end of the cable control arm.

[0010] Preferably, the magnet control arms are arranged on a first side of the frame, and the cable control arms are respectively arranged on a second side of the frame.

[0011] Preferably, the magnet control arm comprises a horizontal arm and a vertical arm rotatably connected together;

[0012] The horizontal arm is capable of rotation in the horizontal plane; the vertical arm provides rotation in the vertical plane.

[0013] Preferably, the horizontal arm comprises a first horizontal sub-arm and a second horizontal sub-arm;

[0014] The rear end of the first horizontal sub-arm is rotatably mounted on the frame via a first pivot; the axis of the first pivot is vertical;

[0015] The first horizontal sub-arm and the second horizontal sub-arm are rotatably connected together via a second pivot; the axis of the second pivot is vertical.

[0016] Preferably, the second horizontal sub-arm and the vertical arm are connected together through a first connecting member; the first connecting member includes a third pivot and a fourth pivot; the axis of the third pivot is vertical, and the axis of the fourth pivot is horizontal; the front end of the second horizontal sub-arm is connected to the third pivot; and the rear end of the vertical arm is connected to the fourth pivot.

[0017] Preferably, the vertical arm and the magnet unit are connected together through a second connecting member and a third connecting member;

[0018] The second connecting member includes a fifth pivot and a sixth pivot; the axis of the fifth pivot is vertical; the axis of the sixth pivot is horizontal; the front end of the vertical arm is connected to the fifth pivot; the rear end of the third connecting member is connected to the sixth pivot; the front end of the third member forms a seventh pivot; the axis of the seventh pivot is perpendicular to the axes of the fifth pivot and the sixth pivot.

[0019] Preferably, the magnet unit comprises a U-shaped frame; the magnet body is rotatably mounted in the U-shaped frame.

[0020] Preferably, the rear end of the cable control arm is rotatably mounted on the frame via an eighth pivot;

[0021] The winding unit is mounted on the front end of the cable control arm via the tenth pivot; the axes of the eighth pivot and the tenth pivot are vertical.

[0022] Preferably, the cable control arm includes a third horizontal sub-arm and an obliquely extending sub-arm; the front end of the third horizontal sub-arm and the rear end of the obliquely extending sub-arm are rotatably connected together through a ninth pivot; the axis of the ninth pivot is vertical; the rear end of the third horizontal sub-arm is connected to the frame through an eighth pivot; the front end of the oblique sub-arm is connected to the winding unit through a tenth pivot.

[0023] Preferably, the winding unit includes a housing, a motor is installed in the housing, a turntable is connected to the output end of the motor, and a cable winding disk is detachably mounted on the turntable to wind the cable of the controllable ultra-thin endoscope thereon.

[0024] The control device for a controllable ultra-fine endoscope of the present application is provided with a magnet control arm, so that the operator can directly hold the magnet control arm to operate the magnet unit to move along the desired path, eliminating the delay and error caused by indirect control of the movement of the magnet unit; the control device for a controllable ultra-fine endoscope of the present application is provided with a winding unit, on which the cable is wound, and the operator controls the motor to rotate, tighten or release according to needs, thereby avoiding unnecessary contact between the cable and surrounding objects and requiring no additional manual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic structural diagram of a control device for a controllable ultra-thin endoscope according to the present application;

[0026] Figure 2 This is a schematic structural diagram of a magnet control arm of a control device for a controllable ultra-thin endoscope according to the present application;

[0027] Figure 3 This is a schematic structural diagram of a magnet unit of a magnet control arm of a control device for a controllable ultra-thin endoscope of the present application;

[0028] Figure 4 This is a schematic structural diagram of a cable control arm of a control device for a controllable ultra-thin endoscope of the present application;

[0029] Figure 5 This is a schematic structural diagram of a cable control arm of a control device for a controllable ultra-thin endoscope according to the present application;

[0030] Figure 6 for Figure 5 An exploded schematic diagram of the winding unit;

[0031] Figure 7 It is a structural diagram of the control handle;

[0032] Figure 8 It is a structural schematic diagram of a cable winding drum;

[0033] Figure 9 for Figure 5 Schematic diagram of the installation of the internal motor and turntable of the winding unit. DETAILED DESCRIPTION

[0034] The control device for a controllable ultra-thin endoscope of the present application will be described in detail below with reference to the accompanying drawings.

[0035] Figure 1 This is a schematic structural diagram of the control device for a controllable ultra-thin endoscope of the present application.

[0036] The control device for a controllable ultra-thin endoscope of the present application mainly includes: a frame 1, a magnet control arm 4, a magnet unit 6, a cable control arm 5, and a winding unit 7.

[0037] The rack 1 is formed into a multi-layer structure, the uppermost layer is used to place the display 3, and the middle layer is used to place the image processing unit 2. The display 3 and the image processing unit 2 are both existing technologies.

[0038] The main features of the control device for controllable ultra-thin endoscope of the present application are two mechanical arms: a magnet control arm 4 and a cable control arm 5, which are respectively mounted on the frame 1 and can be as follows: Figure 1 The components are shown as being located on different sides of the rack 1; they can also be installed on the same side of the rack 1 depending on the situation.

[0039] The main function of the magnet control arm 4 is to provide the magnet unit 6 with a degree of freedom of movement, so as to facilitate the operator to hold the magnet control arm 4 and operate the magnet unit 6 to move along a desired path.

[0040] The magnet control arm 4 is preferably formed into a foldable and hovering mechanical arm. The folding is achieved by dividing the entire magnet control arm 4 into multiple sections. The hovering main channel connecting the sections of the pivot or joint has a certain damping to achieve.

[0041] Figure 2 This is one embodiment of the magnet control arm 4. The control device for a controllable ultra-thin endoscope of the present application is not limited to this embodiment, and other embodiments are also possible.

[0042] The magnet control arm 4 includes a horizontal arm and a vertical arm 44 that are rotatably connected together. It should be noted that the vertical arm 44 is not always in a vertical position, but is usually tilted. Because the arm can be adjusted to a vertical position, it is referred to as a vertical arm.

[0043] The horizontal arm is capable of rotation in the horizontal plane; the vertical arm 44 provides rotation in the vertical plane.

[0044] The horizontal arm may comprise multiple sections, e.g. Figure 2 The figure shows two sections, namely a first horizontal sub-arm 41 and a second horizontal sub-arm 42. The rear end of the first horizontal sub-arm 41 is rotatably mounted on the frame via a first pivot 47. In a preferred embodiment, the first pivot 47 can be locked or have a certain damping; the axis of the first pivot 47 is vertical.

[0045] The first horizontal sub-arm 41 and the second horizontal sub-arm 42 are rotatably connected together via a second pivot 48. The axis of the second pivot 48 is vertical. Similarly, the second pivot can be locked or have a certain damping.

[0046] The second horizontal sub-arm 42 and the vertical arm 44 are connected by a first connecting member 43. The first connecting member 43 includes a third pivot 49 and a fourth pivot 4a. The axis of the third pivot 49 is vertical, and the axis of the fourth pivot 4a is horizontal. Similarly, the third and fourth pivots can be locked or have a certain degree of damping. The front end of the second horizontal sub-arm 42 is connected to the third pivot 49, and the rear end of the vertical arm 44 is connected to the fourth pivot 4a.

[0047] The vertical arm 44 and the magnet unit 6 are connected together through a second connecting member 45 and a third connecting member 46 .

[0048] The second connecting member 45 includes a fifth pivot 4b and a sixth pivot 4c. The axis of the fifth pivot 4b is vertical, while the axis of the sixth pivot 4c is horizontal. The front end of the vertical arm 44 is connected to the fifth pivot 4b. The rear end of the third connecting member 46 is connected to the sixth pivot 4c. The front end of the third connecting member 46 forms a seventh pivot 4d. The axis of the seventh pivot 4d is perpendicular to the axes of the fifth and sixth pivots 4b, 4c. Similarly, the fifth, sixth, and seventh pivots can be locked or have a certain degree of damping.

[0049] The magnet unit 6 is used to provide an external magnetic field to guide the steerable ultra-thin endoscope 9 along a desired path. The magnet unit 6 includes a U-shaped frame 61; a magnet body 64 is rotatably mounted within the U-shaped frame 61 via a magnet pivot 63. The magnet body 64 can be disc-shaped or spherical.

[0050] The magnet unit 6 is rotatably mounted on the front end of the magnet control arm 4 ; the magnet unit 6 is mounted on the seventh pivot 4 d via a connection portion 62 . Thus, the magnet body 64 can rotate about the seventh pivot 4 d and the magnet pivot 63 ; preferably, the seventh pivot 4 d and the magnet pivot 63 are perpendicular to each other.

[0051] The magnet control arm 4 is a foldable hovering mechanical arm, which enables the position of the magnet unit to be adjusted on the horizontal plane and the vertical plane.

[0052] The winding unit 7 is used to retract and release the cable at the tail end of the controllable ultra-thin endoscope 9; the winding unit 7 is installed at the front end of the cable control arm 5.

[0053] The rear end of the cable control arm 5 is rotatably mounted on the frame 1 via an eighth pivot 53. The winding unit 7 is mounted on the front end of the cable control arm 5 via a tenth pivot 55; the axes of the eighth pivot 53 and the tenth pivot 55 are vertical.

[0054] The cable control arm 5 can be a two-section structure, comprising a third horizontal sub-arm 51 and an obliquely extending sub-arm 52. The front end of the third horizontal sub-arm 51 and the rear end of the obliquely extending sub-arm 52 are rotatably connected via a ninth pivot 54. The axis of the ninth pivot 54 is vertical. The rear end of the third horizontal sub-arm 51 is connected to the frame 1 via an eighth pivot 53. The front end of the oblique sub-arm 52 is connected to the winding unit 7 via a tenth pivot 55. The eighth, ninth, and tenth pivots can also be locked or have a certain degree of damping.

[0055] The winding unit 7 includes a housing 72, in which a motor is mounted. A turntable 75 is mounted on the motor's output terminal. A cable winding reel A is detachably mounted on the turntable 75 for winding the controllable ultra-thin endoscope's cable. The cable winding reel A may be formed with a raised portion A1 for convenient winding.

[0056] The housing 72 of the winding unit 7 can be formed with a handle 71. A lower end cap 79 is mounted on the lower portion of the housing 72, and an upper end cap 73 is mounted on the upper portion of the housing 72. An annular bearing 76 can be mounted in the upper end cap 73, with the outer ring of the bearing 76 connected to the upper end cap 73 and the inner ring connected to the turntable 75. A ring gear is mounted on the lower end of the turntable 75. A motor 7c can be fixed eccentrically to the upper end cap 73. A gear 7b is mounted on the motor's output shaft, which cooperates with the ring gear 77 on the turntable 75 to drive the turntable's rotation. The motor is equipped with a feedback circuit that can sense the force applied to the cable. Mounting holes are located in the centers of the turntable 75 and the upper end cap 73. The endoscope's interface circuit board is fixed to the top cover, with the endoscope interface 7a positioned in the center of the mounting hole to connect with the connector 91 of the controllable ultra-thin endoscope 9. The turntable 75 has multiple fixing holes, and the endoscope's cable winding drum A is secured to the fixing holes of the turntable 75 via pins A2 on its lower side. The winding unit 7 also includes a power button 78 for the motor. The lower end cap 79 of the winding unit 7 contains a power supply and communication interface. The winding unit 7 is used to transmit control data to the image processing unit 2 via USB and image data to the image processing unit 2 via the HDMI communication interface. The upper end of the raised portion of the endoscope's cable winding drum A is formed with a through hole, through which the connector 91 is inserted into the endoscope interface 7a.

[0057] The control handle unit 8 is as follows Figure 7As shown, the device can be used in either wireless or wired mode and includes a control handle 81, a battery 82, and a handle end cap 83. The control handle unit 8 can communicate with the winding unit 7 or the image processing unit 2, sending functional instructions to the winding unit 7 and the image processing unit 2. The control handle unit 8 facilitates operator operation and eliminates the need for an additional operator to control the image processor and winding unit.

[0058] Unless otherwise defined, all technical and / or scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which the invention relates. The materials, methods, and examples mentioned in this application are illustrative only and not restrictive.

[0059] Although the present invention has been described in conjunction with specific embodiments, those skilled in the art may make appropriate substitutions, modifications and changes within the scope of the invention of this application, and such substitutions, modifications and changes shall still fall within the scope of protection of this application.

Claims

1. A control device for a controllable ultra-thin endoscope, comprising: Frame, magnet control arm, magnet unit, cable control arm, winding unit, control handle unit; The rack is used to place the display and image processing unit; The magnet control arm and the cable control arm are respectively mounted on the frame; The magnet unit is used to provide an external magnetic field to guide the controllable ultra-thin endoscope to travel along a desired path; The magnet unit is rotatably mounted on the front end of the magnet control arm; The magnet control arm is a foldable hovering mechanical arm, which enables the magnet unit to be adjusted in the horizontal and vertical planes; The winding unit is used to retract and release the cable at the tail end of the controllable ultra-thin endoscope; The winding unit is installed at the front end of the cable control arm; The control handle unit is used to communicate with the winding unit or the image processing unit and send function instructions of the winding unit and the image processor.

2. The control device for a controllable ultra-thin endoscope according to claim 1, characterized in that: The magnet control arms are arranged on a first side of the frame, and the cable control arms are respectively arranged on a second side of the frame.

3. The control device for a controllable ultra-thin endoscope according to claim 1, characterized in that: The magnet control arm includes a horizontal arm and a vertical arm that are rotatably connected together; The horizontal arm can rotate in the horizontal plane; The vertical arm provides rotation in the vertical plane.

4. The control device for a controllable ultra-thin endoscope according to claim 3, characterized in that: The horizontal arm includes a first horizontal sub-arm and a second horizontal sub-arm; The rear end of the first horizontal sub-arm is rotatably mounted on the frame via a first pivot; the axis of the first pivot is vertical; The first horizontal sub-arm and the second horizontal sub-arm are rotatably connected together via a second pivot; the axis of the second pivot is vertical.

5. The control device for a controllable ultra-thin endoscope according to claim 4, characterized in that: The second horizontal sub-arm and the vertical arm are connected together through a first connecting member; the first connecting member includes a third pivot and a fourth pivot; the axis of the third pivot is vertical, and the axis of the fourth pivot is horizontal; the front end of the second horizontal sub-arm is connected to the third pivot; the rear end of the vertical arm is connected to the fourth pivot.

6. The control device for a controllable ultra-thin endoscope according to claim 5, characterized in that: The vertical arm and the magnet unit are connected together through a second connecting member and a third connecting member; The second connecting member includes a fifth pivot and a sixth pivot; the axis of the fifth pivot is vertical; the axis of the sixth pivot is horizontal; the front end of the vertical arm is connected to the fifth pivot; The rear end of the third connecting member is connected to the sixth pivot; The front end of the third component forms a seventh pivot; the axis of the seventh pivot is perpendicular to the axes of the fifth pivot and the sixth pivot.

7. The control device for a controllable ultra-thin endoscope according to claim 1, characterized in that: The magnet unit comprises a U-shaped frame; the magnet body is rotatably mounted in the U-shaped frame.

8. The control device for a controllable ultra-thin endoscope according to claim 1, characterized in that: The rear end of the cable control arm is rotatably mounted on the frame via an eighth pivot; The winding unit is mounted on the front end of the cable control arm via the tenth pivot; the axes of the eighth pivot and the tenth pivot are vertical.

9. The control device for a controllable ultra-thin endoscope according to claim 8, characterized in that: The cable control arm includes a third horizontal sub-arm and an obliquely extending sub-arm; the front end of the third horizontal sub-arm and the rear end of the obliquely extending sub-arm are rotatably connected together through a ninth pivot; the axis of the ninth pivot is vertical; the rear end of the third horizontal sub-arm is connected to the frame through an eighth pivot; and the front end of the oblique sub-arm is connected to the winding unit through a tenth pivot.

10. The control device for a controllable ultra-thin endoscope according to claim 1, characterized in that: The winding unit comprises a shell, a motor is installed in the shell, a turntable is connected to the output end of the motor, and a cable winding disk is detachably installed on the turntable to wind the cable of the controllable ultra-thin endoscope thereon.

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