Magnetic control flexible endoscope for upper gastrointestinal examination

Abstract

The application discloses a magnetic control flexible endoscope for upper gastrointestinal tract examination, which comprises a magnetic control flexible guide section, a non-magnetic flexible section and a lens assembly, the magnetic control flexible guide section has an axial first straight channel; the outer diameter of the magnetic control flexible guide section is the same as that of the non-magnetic flexible section, the non-magnetic flexible section has an axial second straight channel, the axial front end of the non-magnetic flexible section is fixedly connected with the axial rear end of the magnetic control flexible guide section, and the second straight channel is axially communicated with the first straight channel; the lens assembly is arranged in the first straight channel and the second straight channel, and the lens end surface of the axial front end of the lens assembly is flush with the working end surface of the axial front end of the magnetic control flexible guide section. The application can effectively improve the comfort and safety of the examination process, can change the shooting angle under the control of a magnetic field, can increase the shooting visual field range, can efficiently and accurately examine, is convenient to operate, and can reduce the risk of examination.

Description

Technical Field

[0001] This invention relates to the field of surgical endoscopy technology, and in particular to a magnetically controlled flexible endoscope for upper gastrointestinal examination. Background Technology

[0002] An upper gastrointestinal endoscope is an instrument used for examining the upper gastrointestinal tract. When in use, the upper gastrointestinal endoscope uses a lens to image and observe parts of the upper gastrointestinal tract. From an examination perspective, the upper gastrointestinal endoscope is the preferred medical instrument for examining gastrointestinal diseases.

[0003] In general, medical staff insert an upper gastrointestinal endoscope through the mouth / nasal cavity to examine the esophagus, stomach, and duodenum, and usually also examine the areas along the way.

[0004] However, in practice, the examination section of the upper gastrointestinal endoscope is relatively large and its rigidity is much greater than that of the upper gastrointestinal tract tissues, which brings certain pain to patients, along with the risk of damaging the inner wall of the digestive tract and the sequelae of the examination. At the same time, the examination operation depends heavily on the experience and skills of the operator, which to some extent increases the difficulty of the operation, prolongs the examination time, and increases the risk of the examination. Summary of the Invention

[0005] This invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of this invention is to provide a magnetically controlled flexible endoscope for upper gastrointestinal examination, which can effectively improve the comfort and safety of the examination process. Under magnetic field control, it can change the shooting angle, increase the field of view, and provide precise and efficient examination. It is also easy to operate and can reduce the risks associated with the examination.

[0006] A magnetically controlled flexible endoscope for upper gastrointestinal examination according to an embodiment of the present invention comprises:

[0007] A magnetically controlled flexible guide segment, wherein the magnetically controlled flexible guide segment has a first linear channel along the axis;

[0008] The non-magnetic flexible segment has the same outer diameter as the magnetically controlled flexible guide segment. The non-magnetic flexible segment has an axial second straight channel. The axial front end of the non-magnetic flexible segment is fixedly connected to the axial rear end of the magnetically controlled flexible guide segment. The second straight channel is axially connected to the first straight channel.

[0009] A lens assembly is disposed in the first linear channel and the second linear channel, wherein the lens end face of the axial front end of the lens assembly is flush with the working end face of the axial front end of the magnetically controlled flexible guide segment.

[0010] When using the magnetically controlled flexible endoscope for upper gastrointestinal tract examination according to the embodiments of the present invention, the magnetically controlled flexible endoscope is inserted into the upper gastrointestinal tract. The external magnetic field generated by the three-dimensional electromagnet or permanent magnet precisely controls the deformation and bending of the magnetically controlled flexible guide section in the upper gastrointestinal tract, thereby changing the shooting angle of the magnetically controlled flexible endoscope and performing a precise examination of the upper gastrointestinal tract tissue.

[0011] The magnetically controlled flexible endoscope for upper gastrointestinal examination according to embodiments of the present invention has the following advantages: First, because the lens assembly is wrapped with a magnetically controlled flexible guide segment and a non-magnetic flexible segment, the magnetically controlled flexible guide segment and the non-magnetic flexible segment have similar rigidity and flexibility to the upper gastrointestinal tissue, and the outer diameter of the magnetically controlled flexible guide segment is the same as that of the non-magnetic flexible segment, that is, the size of the magnetically controlled flexible guide segment is small. Therefore, the pain and discomfort of the patient during the examination and the risk of damage to the inner wall of the digestive tract can be greatly reduced, and the comfort and safety of the examination process can be improved. Second, the magnetically controlled flexible guide segment 1 in the patient's body can be deformed and bent by an external magnetic field, changing the shooting angle of the magnetically controlled flexible endoscope, increasing the field of view, enabling precise and efficient examination of the upper gastrointestinal tissue, and greatly reducing the difficulty of operation and making the operation convenient. To a certain extent, it can also reduce the risk to the upper gastrointestinal tissue.

[0012] In some embodiments, the outer diameter of both the magnetically controlled flexible guide segment and the non-magnetic flexible segment is 2 to 8 mm.

[0013] In some embodiments, the inner diameter of the first linear channel is the same as the inner diameter of the second linear channel.

[0014] In some embodiments, the inner diameter of the first linear channel and the inner diameter of the second linear channel are both 1 to 4 mm.

[0015] In some embodiments, the magnetically controlled flexible guide segment is an integrally molded part made of hard magnetic material and a first polymer material.

[0016] In some embodiments, the hard magnetic material is at least one of neodymium iron boron, iron-platinum alloy, and samarium-cobalt alloy.

[0017] In some embodiments, the first polymer material is a first silicone rubber and / or a first polyurethane.

[0018] In some embodiments, the mass ratio of the hard magnetic material to the first polymer material is 1:10 to 5:1.

[0019] In some embodiments, the fabrication of the magnetically controlled flexible guide segment includes the following steps:

[0020] The hard magnetic material is mixed evenly with the uncured first polymer material to obtain a uniformly mixed material;

[0021] A first rod core is coaxially inserted into the first cylindrical mold, creating a first cavity between the first cylindrical mold and the first rod core. The uniformly mixed material is injected into the first cavity and then cured to obtain an unmagnetized flexible guide segment.

[0022] The unmagnetized flexible guide segment is removed and magnetized to obtain the magnetically controlled flexible guide segment with magnetic properties.

[0023] In some embodiments, the non-magnetic flexible segment is composed of a flexible tube wall and a metal wire extending axially and embedded in the flexible tube wall.

[0024] In some embodiments, the non-magnetic flexible segment is an integrally molded part made of a second polymer material and the metal wire.

[0025] In some embodiments, the second polymer material is a second silicone rubber and / or a second polyurethane.

[0026] In some embodiments, the wire is made of at least one of nickel-titanium alloy, copper, silver, and titanium alloy.

[0027] In some embodiments, the diameter of the metal wire is 50 to 1000 μm.

[0028] In some embodiments, there are multiple metal wires, and the multiple metal wires are centrally symmetrically distributed with respect to the central axis of the non-magnetic flexible segment.

[0029] In some embodiments, the fabrication of the non-magnetic flexible segment includes the following steps:

[0030] A second rod is coaxially inserted into the second round tube mold, creating a second cavity between the second round tube mold and the second rod. Uncured second polymer material is then injected into the second cavity.

[0031] Then, multiple metal wires are embedded axially inside the second polymer material, and the multiple metal wires are distributed circumferentially at intervals.

[0032] The material is then cured to obtain the non-magnetic flexible segment.

[0033] In some embodiments, it is prepared by the following steps:

[0034] The magnetically controlled flexible guide segment and the non-magnetic flexible segment are fabricated separately.

[0035] The rear end of the magnetically controlled flexible guide segment and the front end of the non-magnetic flexible segment are bonded together using a third polymer material.

[0036] Starting from the rear end of the non-magnetic flexible segment, the lens assembly is fed into the second linear channel and the first linear channel, such that the lens end face of the axial front end of the lens assembly is flush with the working end face of the axial front end of the magnetically controlled flexible guide segment.

[0037] The axial front end and rear axial rear end of the lens assembly are encapsulated using a fourth polymer material, thereby fixing the lens assembly within the magnetically controlled flexible guide section and the non-magnetic flexible section.

[0038] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0039] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0040] Figure 1 This is a schematic diagram of a magnetically controlled flexible endoscope for upper gastrointestinal examination according to an embodiment of the present invention;

[0041] Figure 2 This is a radial cross-sectional schematic diagram of the magnetically controlled flexible guide segment according to an embodiment of the present invention;

[0042] Figure 3 This is a radial cross-sectional schematic diagram of the non-magnetic flexible segment according to an embodiment of the present invention.

[0043] Figure label:

[0044] Magnetic-controlled flexible endoscope 1000; magnetic-controlled flexible guide section 1; non-magnetic flexible section 2; flexible tube wall 201; metal wire 202; lens assembly 3. Detailed Implementation

[0045] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0046] The following is combined with Figures 1 to 3 This invention describes a magnetically controlled flexible endoscope 1000 for upper gastrointestinal tract examination, according to an embodiment of the present invention.

[0047] like Figures 1 to 3As shown, a magnetically controlled flexible endoscope 1000 for upper gastrointestinal examination according to an embodiment of the present invention includes a magnetically controlled flexible guiding section 1, a non-magnetic flexible section 2, and a lens assembly 3.

[0048] Specifically, the magnetically controlled flexible guiding segment 1 has a first linear channel along its axis, which is used to accommodate the lens assembly 3. As an examination segment, the magnetically controlled flexible guiding segment 1 differs from the examination segments of traditional upper gastrointestinal endoscopes, which have a stiffness far greater than that of the upper gastrointestinal tissue. The magnetically controlled flexible guiding segment 1 possesses a stiffness and flexibility similar to that of the upper gastrointestinal tissue. This significantly reduces patient pain and discomfort during the examination, as well as the risk of damage to the gastrointestinal lining, improving the comfort and safety of the examination process. Simultaneously, the magnetically controlled flexible guiding segment 1 itself possesses good magnetism, allowing for precise deformation and bending within the upper gastrointestinal tract via an external magnetic field generated by a three-dimensional electromagnet or permanent magnet. This alters the imaging angle of the magnetically controlled flexible endoscope 1000, increasing the field of view, enhancing its flexibility, accuracy, efficiency, and ease of operation.

[0049] The outer diameter of the magnetically controlled flexible guide segment 1 is the same as that of the non-magnetic flexible segment 2. This effectively reduces the radial dimension of the magnetically controlled flexible guide segment 1 compared to the radial dimension of the examination segment in traditional upper gastrointestinal endoscopes. This further reduces patient pain and discomfort during upper gastrointestinal endoscopy, as well as the risk of damage to the digestive tract lining, improving the comfort and safety of the examination. Simultaneously, the external magnetic field can better control the deformation and bending of the magnetically controlled flexible guide segment 1 within the upper gastrointestinal tract. The non-magnetic flexible segment 2 has an axial second linear channel. The axial front end of the non-magnetic flexible segment 2 is fixedly connected to the axial rear end of the magnetically controlled flexible guide segment 1. The second linear channel is axially connected to the first linear channel, providing installation space for the lens assembly 3. The non-magnetic flexible segment 2 has rigidity and flexibility similar to biological tissue, which can guide the magnetically controlled flexible guide segment 1 into the upper gastrointestinal tract. At the same time, it can greatly reduce the pain and discomfort of patients during upper gastrointestinal endoscopy and the risk of damage to the gastrointestinal tract wall, improving the comfort and safety of the examination process. Moreover, the non-magnetic flexible segment 2 is not magnetic. Therefore, when the external magnetic field controls the magnetically controlled flexible guide segment 1 to deform and bend in the upper gastrointestinal tract, the non-magnetic flexible segment 2 has a certain rigidity and can remain stable. This is conducive to the precise control of the deformation and bending of the magnetically controlled flexible guide segment 1 by the external magnetic field.

[0050] Lens assembly 3 is disposed in the first linear channel and the second linear channel. The lens end face of the axial front end of lens assembly 3 is flush with the working end face of the axial front end of magnetically controlled flexible guide section 1. That is, lens assembly 3 is disposed within magnetically controlled flexible guide section 1 and non-magnetic flexible section 2. The lens of lens assembly 3 is located within magnetically controlled flexible guide section 1, and the wires of lens assembly 3 pass through non-magnetic flexible section 2. The lens end face of the axial front end of lens assembly 3 is flush with the working end face of the axial front end of magnetically controlled flexible guide section 1, which facilitates the imaging and observation by lens assembly 3.

[0051] When using the magnetically controlled flexible endoscope 1000 for upper gastrointestinal tract examination according to the present invention, the magnetically controlled flexible endoscope 1000 is inserted into the upper gastrointestinal tract. The external magnetic field generated by the three-dimensional electromagnet or permanent magnet precisely controls the deformation and bending of the magnetically controlled flexible guide segment 1 in the upper gastrointestinal tract, thereby changing the shooting angle of the magnetically controlled flexible endoscope 1000 and performing a precise examination of the upper gastrointestinal tract tissue.

[0052] The magnetically controlled flexible endoscope 1000 for upper gastrointestinal tract examination according to embodiments of the present invention has the following advantages: First, because the lens assembly 3 is wrapped with a magnetically controlled flexible guide segment 1 and a non-magnetic flexible segment 2, the magnetically controlled flexible guide segment 1 and the non-magnetic flexible segment 2 have similar rigidity and flexibility to the upper gastrointestinal tract tissue, and the outer diameter of the magnetically controlled flexible guide segment 1 is the same as the outer diameter of the non-magnetic flexible segment 2, that is, the size of the magnetically controlled flexible guide segment 1 is small. Therefore, the pain and discomfort of the patient during the examination and the risk of damage to the inner wall of the digestive tract can be greatly reduced, and the comfort and safety of the examination process can be improved. Second, the magnetically controlled flexible guide segment 1 in the patient's body can be deformed and bent by an external magnetic field, changing the shooting angle of the magnetically controlled flexible endoscope 1000, increasing the field of view, enabling precise and efficient examination of the upper gastrointestinal tract tissue, and greatly reducing the difficulty of operation and making operation convenient. To a certain extent, it can also reduce the risk of damage to the inner wall of the digestive tract.

[0053] In some embodiments, the outer diameter of the magnetically controlled flexible guiding segment 1 and the outer diameter of the non-magnetic flexible segment 2 are both 2-8 mm. This means that the sizes of the magnetically controlled flexible guiding segment 1 and the non-magnetic flexible segment 2 are relatively small, which can effectively reduce patient pain and discomfort during the examination process and the risk of damage to the digestive tract lining, thus improving the comfort and safety of the examination. The outer diameters of the magnetically controlled flexible guiding segment 1 and the non-magnetic flexible segment 2 can both be 2 mm, 3 mm, 4 mm, 5 mm, 6 mm, 7 mm, or 8 mm. This allows for the selection of a suitable size magnetically controlled flexible endoscope 1000 according to different patients. For example, children can use a magnetically controlled flexible endoscope 1000 with an outer diameter of 2 mm, while adults can use a magnetically controlled flexible endoscope 1000 with an outer diameter of 8 mm.

[0054] In some embodiments, the inner diameter of the first linear channel is the same as the inner diameter of the second linear channel. This facilitates the insertion of the lens assembly 3 into the second and first linear channels from the rear end of the non-magnetic flexible segment 2, such that the lens end face of the axial front end of the lens assembly 3 is flush with the working end face of the axial front end of the magnetically controlled flexible guide segment 1.

[0055] In some embodiments, the inner diameter of both the first linear channel and the second linear channel is 1 to 4 mm. For example, the inner diameter of both the first linear channel and the second linear channel can be 1 mm, 2 mm, 3 mm, or 4 mm. The inner diameters of the first and second linear channels can be selected with reference to different factors such as the outer diameter of the magnetically controlled flexible guide segment 1 and the outer diameter of the non-magnetic flexible segment 2, the wall thickness of the magnetically controlled flexible guide segment 1 and the wall thickness of the non-magnetic flexible segment 2, to ensure that the magnetically controlled flexible guide segment 1 and the non-magnetic flexible segment 2 have rigidity and flexibility similar to those of the upper digestive tract tissue.

[0056] In some embodiments, the magnetically controlled flexible guide segment 1 is an integrally molded part made of a hard magnetic material and a first polymer material. It is understood that, on the one hand, the hard magnetic material ensures that the magnetically controlled flexible guide segment 1 has a certain rigidity, and the first polymer material ensures that the magnetically controlled flexible guide segment 1 has a certain flexibility; that is, the rigidity and flexibility of the flexible guide segment 1, similar to that of upper gastrointestinal tissue, are balanced by the hard magnetic material and the first polymer material. On the other hand, the hard magnetic material becomes magnetic after magnetization, thus ensuring that the magnetically controlled flexible guide segment 1 is magnetic. Furthermore, the magnetically controlled flexible guide segment 1 is an integrally molded part, making it easy to process.

[0057] In some embodiments, the hard magnetic material is at least one of neodymium iron boron, iron-platinum alloy, and samarium cobalt alloy. That is, neodymium iron boron, iron-platinum alloy, and samarium cobalt alloy materials have good rigidity and good magnetic properties after magnetization treatment. The hard magnetic material can be selected from one, two, or three of neodymium iron boron, iron-platinum alloy, and samarium cobalt alloy according to actual needs.

[0058] In some embodiments, the first polymer material is a first silicone rubber and / or a first polyurethane. That is, the first silicone rubber and the first polyurethane material have good flexibility, and the first polymer material can be selected from the first silicone rubber or the first polyurethane, or both, as needed.

[0059] In some embodiments, the mass ratio of the hard magnetic material to the first polymer material is 1:10 to 5:1. It is understood that the magnetically controlled flexible guide segment 1 prepared by uniformly mixing the hard magnetic material and the first polymer material at a mass ratio of 1:10 to 5:1 has rigidity and flexibility similar to upper digestive tract tissue and has good magnetism.

[0060] In some embodiments, the fabrication of the magnetically controlled flexible guide segment 1 includes the following steps:

[0061] The hard magnetic material is mixed evenly with the uncured first polymer material to obtain a uniformly mixed material, so as to ensure that the rigidity, flexibility and magnetic distribution of the finally made magnetically controlled flexible guide segment 1 are uniform.

[0062] A first rod core is coaxially inserted into the first circular tube mold, creating a first cavity between the first circular tube mold and the first rod core. A uniformly mixed material is injected into the first cavity and then cured to obtain an unmagnetized flexible guide segment. It should be noted that the first rod core can be a metal rod core.

[0063] The unmagnetized flexible guide section was removed and magnetized to obtain a magnetically controlled flexible guide section 1.

[0064] Therefore, through the above manufacturing steps, the magnetically controlled flexible guide segment 1 can be integrally molded, which is convenient for processing.

[0065] In some embodiments, such as Figure 3 As shown, the non-magnetic flexible segment 2 is composed of a flexible tube wall 201 and a metal wire 202 extending axially and embedded in the flexible tube wall 201. It can be understood that the flexible tube wall 201 can be made of a second polymer material, which has good flexibility, and the metal wire 202 has a certain axial rigidity. By setting the axially extending metal wire 202 in the flexible tube wall 201, it can be ensured that the non-magnetic flexible segment 2 is neither too soft nor too hard, thus ensuring that the non-magnetic flexible segment 2 has flexibility and axial rigidity similar to that of the upper digestive tract tissue.

[0066] In some embodiments, the non-magnetic flexible segment 2 is an integrally molded part made of a second polymer material and a metal wire 202. It is understood that the second polymer material has good flexibility for forming the flexible tube wall 201, and the metal wire 202 has suitable axial rigidity. Therefore, the flexibility and rigidity of the non-magnetic flexible segment 2 are balanced by the second polymer material and the metal wire 202, resulting in the non-magnetic flexible segment 2 having flexibility and axial rigidity similar to that of the upper digestive tract.

[0067] In some embodiments, the second polymer material is a second silicone rubber and / or a second polyurethane. That is, the second silicone rubber and the second polyurethane material have good flexibility, and the second polymer material can be selected from the second silicone rubber or the second polyurethane, or both, as needed.

[0068] In some embodiments, the metal wire 202 is made of at least one of nickel-titanium alloy, copper, silver, and titanium alloy. That is, the metal wire 202 can be made of one, two, three, or four of nickel-titanium alloy, copper, silver, and titanium alloy, and has suitable axial stiffness.

[0069] In some embodiments, the diameter of the metal wire 202 is 50–1000 μm. It is understood that the axial stiffness of the metal wire 202 with a diameter of 50–1000 μm is suitable.

[0070] In some embodiments, there are multiple metal wires 202, and these multiple metal wires 202 are centrally symmetrically distributed relative to the central axis of the non-magnetic flexible segment 2. This allows for a uniform distribution of axial rigidity and flexibility in the non-magnetic flexible segment 2.

[0071] In some embodiments, the fabrication of the non-magnetic flexible segment 2 includes the following steps:

[0072] A second rod core is coaxially inserted into the second round tube mold, so that a second cavity is created between the second round tube mold and the second rod core, and uncured second polymer material is injected into the second cavity;

[0073] Then, multiple metal wires 202 are embedded axially inside the second polymer material, and the multiple metal wires 202 are distributed circumferentially. It should be noted that in some other embodiments, the metal wires 202 may not be added inside the second polymer material, that is, this step is omitted.

[0074] Then, solidify to obtain non-magnetic flexible segment 2, and remove non-magnetic flexible segment 2.

[0075] Therefore, through the above manufacturing steps, the non-magnetic flexible segment 2 can be integrally molded, which is convenient for processing.

[0076] In some embodiments, the magnetically controlled flexible endoscope 1000 for upper gastrointestinal examination is prepared by the following steps:

[0077] The magnetically controlled flexible guide segment 1 and the non-magnetic flexible segment 2 were fabricated separately.

[0078] The rear end of the magnetically controlled flexible guide segment 1 and the front end of the non-magnetic flexible segment 2 are bonded together using a third polymer material, which can be a third silicone rubber or / and a third polyurethane, and has good flexibility.

[0079] Starting from the rear end of the non-magnetic flexible segment 2, the lens assembly 3 is fed into the second linear channel and the first linear channel, so that the lens end face of the axial front end of the lens assembly 3 is flush with the working end face of the axial front end of the magnetically controlled flexible guide segment 1.

[0080] The lens assembly 3 is encapsulated at its axial front end and rear axial rear end using a fourth polymer material, which fixes the lens assembly 3 within the magnetically controlled flexible guide section 1 and the non-magnetic flexible section 2, thus protecting the lens assembly 3. The fourth polymer material can be a fourth silicone rubber or / and a fourth polyurethane, which has good flexibility.

[0081] Therefore, the magnetically controlled flexible endoscope 1000 used for upper gastrointestinal examination can be obtained through the above preparation steps.

[0082] It should be noted that the aforementioned “first polymer material,” “second polymer material,” “third polymer material,” and “fourth polymer material” are all polymer materials. The aforementioned “first silicone rubber,” “second silicone rubber,” “third silicone rubber,” and “fourth silicone rubber” are all the same silicone rubber. The aforementioned “first polyurethane,” “second polyurethane,” “third polyurethane,” and “fourth polyurethane” are all the same polyurethane. The use of “first,” “second,” “third,” and “fourth” is only for distinguishing descriptions and does not limit the materials.

[0083] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0084] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A magnetically controlled flexible endoscope for upper gastrointestinal examination, characterized in that, include: A magnetically controlled flexible guide segment, wherein the magnetically controlled flexible guide segment has a first linear channel along the axis; The magnetically controlled flexible guide section is an integrally molded part made by uniformly mixing hard magnetic material and a first polymer material; The non-magnetic flexible segment has the same outer diameter as the magnetically controlled flexible guide segment. The non-magnetic flexible segment has an axial second straight channel. The axial front end of the non-magnetic flexible segment is fixedly connected to the axial rear end of the magnetically controlled flexible guide segment. The second straight channel is axially connected to the first straight channel. A lens assembly is disposed in the first linear channel and the second linear channel, wherein the lens end face of the axial front end of the lens assembly is flush with the working end face of the axial front end of the magnetically controlled flexible guide segment. The axial front end and axial rear end of the lens assembly are encapsulated to fix the lens assembly within the magnetically controlled flexible guide section and the non-magnetic flexible section. The outer diameter of the magnetically controlled flexible guide section and the outer diameter of the non-magnetic flexible section are both 2~8mm; The hard magnetic material is at least one of neodymium iron boron, iron-platinum alloy, and samarium-cobalt alloy; The first polymer material is a first silicone rubber and / or a first polyurethane; The non-magnetic flexible segment is composed of a flexible tube wall and metal wires that extend axially and are embedded in the flexible tube wall. The non-magnetic flexible segment is an integrally molded part made of a second polymer material and the metal wire; The second polymer material is a second silicone rubber and / or a second polyurethane.

2. The magnetic control flexible endoscope for upper gastrointestinal examination according to claim 1, characterized in that, The inner diameter of the first straight channel is the same as the inner diameter of the second straight channel.

3. The magnetically controlled flexible endoscope for upper gastrointestinal examination according to claim 2, characterized in that, The inner diameter of both the first linear channel and the second linear channel is 1~4mm.

4. The magnetic control flexible endoscope for upper gastrointestinal examination according to claim 1, characterized in that, The mass ratio of the hard magnetic material to the first polymer material is 1:10 to 5:

1.

5. The magnetic control flexible endoscope for upper gastrointestinal examination according to claim 1, characterized in that, The fabrication of the magnetically controlled flexible guide segment includes the following steps: The hard magnetic material is mixed evenly with the uncured first polymer material to obtain a uniformly mixed material; A first rod core is coaxially inserted into the first cylindrical mold, creating a first cavity between the first cylindrical mold and the first rod core. The uniformly mixed material is injected into the first cavity and then cured to obtain an unmagnetized flexible guide segment. The unmagnetized flexible guide segment is removed and magnetized to obtain the magnetically controlled flexible guide segment with magnetic properties.

6. The magnetically controlled flexible endoscope for upper gastrointestinal examination according to claim 1, characterized in that, The metal wire is made of at least one of nickel-titanium alloy, copper, silver and titanium alloy.

7. The magnetically controlled flexible endoscope for upper gastrointestinal examination according to claim 1, characterized in that, The diameter of the metal wire is 50~1000μm.

8. The magnetically controlled flexible endoscope for upper gastrointestinal examination according to claim 1, characterized in that, The metal wires are multiple in number and are distributed in a centrally symmetrical manner with respect to the central axis of the non-magnetic flexible segment.

9. The magnetically controlled flexible endoscope for upper gastrointestinal examination according to claim 1, characterized in that, The fabrication of the non-magnetic flexible segment includes the following steps: A second rod is coaxially inserted into the second round tube mold, creating a second cavity between the second round tube mold and the second rod. Uncured second polymer material is then injected into the second cavity. Then, multiple metal wires are embedded axially inside the second polymer material, and the multiple metal wires are distributed circumferentially at intervals. The material is then cured to obtain the non-magnetic flexible segment.

10. The magnetically controlled flexible endoscope for upper gastrointestinal examination according to any one of claims 1-9, characterized in that, It is prepared using the following steps: The magnetically controlled flexible guide segment and the non-magnetic flexible segment are fabricated separately. The rear end of the magnetically controlled flexible guide segment and the front end of the non-magnetic flexible segment are bonded together using a third polymer material. Starting from the rear end of the non-magnetic flexible segment, the lens assembly is fed into the second linear channel and the first linear channel, such that the lens end face of the axial front end of the lens assembly is flush with the working end face of the axial front end of the magnetically controlled flexible guide segment. The axial front end and axial rear end of the lens assembly are encapsulated using a fourth polymer material, thereby fixing the lens assembly within the magnetically controlled flexible guide section and the non-magnetic flexible section.

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