A forward traction-assisted colonoscopy robot and method

Abstract

This invention discloses a forward traction-assisted colonoscopy advancement robot, comprising a colonoscopy body, which includes an endoscope tip, an endoscope bend, and an endoscope insertion part connected in sequence. It also includes: a continuous external sheath system sleeved on the outside of the endoscope bend; a traction drive system for traction of the continuous external sheath system forward; and a colonoscopy fixation system for fixing or releasing the endoscope insertion part. The continuous external sheath system includes a slider pair and a continuous external sheath. The slider pair includes an inner slider and an outer slider that slide against each other. The inner slider is fixedly connected to the endoscope tip; the outer slider is fixedly connected to the front end of the continuous external sheath; and the inner and outer sliders slide relative to each other under the drive of the traction drive system. This invention achieves a forward-driven endoscope advancement method, solving the problem of endoscope knotting in existing colonoscopy advancement methods and reducing pain for the patient during examination.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a forward traction-assisted colonoscopy robot and a method for advancing the endoscope. Background Technology

[0002] Currently, the main traditional method of endoscopic examination involves the physician manually pushing the colonoscope to advance it. However, the skill level of manual operation often depends on various factors such as the physician's experience and personal condition. This process can lead to endoscope tangling, causing severe pain to the patient and affecting the smooth progress of the procedure. Therefore, a stable and reliable advancement method or device is needed to replace manual operation, thereby avoiding endoscope tangling and reducing patient pain. Studies have shown that forward traction advancement can prevent colonoscope tangling and reduce patient pain. Therefore, a colonoscope or colonoscopy-assisted device capable of forward traction advancement is of great significance. Summary of the Invention

[0003] This invention provides a forward traction-assisted colonoscopy robot and a method for advancing the endoscope, in order to solve the technical problems existing in the prior art.

[0004] The technical solution adopted by this invention to solve the technical problems existing in the prior art is as follows:

[0005] A forward traction-assisted colonoscopy robot includes a colonoscopy body, which includes an endoscope tip, an endoscope bend, and an endoscope insertion part connected in sequence. It also includes: a continuous extracorporeal sheath system sleeved on the outside of the endoscope bend, a traction drive system for traction of the continuous extracorporeal sheath system to move forward, and a colonoscopy fixation system for fixing or releasing the endoscope insertion part.

[0006] The continuous extracorporeal sheath system includes a slider pair and a continuous extracorporeal sheath; the slider pair includes an inner slider and an outer slider that slide against each other; the inner slider is fixed to the tip of the endoscope; the outer slider is fixed to the front end of the continuous extracorporeal sheath; the inner slider and the outer slider slide relative to each other under the drive of the traction drive system.

[0007] Furthermore, the traction drive system includes an endoscope traction drive system, an external sheath traction drive system, and a traction base; both the endoscope traction drive system and the external sheath traction drive system include two or more traction units; each traction unit includes: a winding wheel, a traction motor that drives the winding wheel to rotate, and a traction line wound on the winding wheel at one end; the traction motor is fixed on the traction base; the output shaft of the traction motor is fixedly connected to the winding wheel; the traction lines of the endoscope traction drive system and the external sheath traction drive system are respectively named the endoscope traction line and the external sheath traction line; one end of the endoscope traction line is wound on the winding wheel, and the other end of the endoscope traction line is fixedly connected to the inner slider; one end of the external sheath traction line is wound on the winding wheel, and the other end of the external sheath traction line is fixedly connected to the outer slider; the traction base has a hole for the endoscope insertion part; the proximal end of the continuous external sheath is fixedly connected to the traction base.

[0008] Furthermore, the continuous external sheath comprises several annular unit rings, with a pair of nickel-titanium alloy wires connecting adjacent unit rings; the unit rings are evenly distributed with fixing holes along their circumference for inserting and fixing the nickel-titanium alloy wires; the number of fixing holes is 2k, where k is greater than or equal to 2; the two fixing holes on the same unit ring for inserting the same pair of nickel-titanium alloy wires are symmetrical about the center of the unit ring; the fixing holes on each unit ring are numbered clockwise or counterclockwise starting from the top fixing hole, sequentially as H1, H2, ..., H k H k+1 H 2k According to the arrangement order of the unit rings, the pair of nickel-titanium alloy wires between two adjacent unit rings are inserted into the two fixing holes. A cycle consists of k consecutive unit rings following the first unit ring. Within one cycle, the arrangement order is: H1, H... k+1 H2, H k+2 H k H 2k .

[0009] Furthermore, the unit ring is also provided with guide holes for the traction wires, and the guide holes for the endoscope traction wires and the guide holes for the outer sheath traction wires are evenly distributed along the circumference of the unit ring.

[0010] Furthermore, both the inner and outer sliders are cylindrical; one of the inner and outer sliders has several axial grooves; the other has a protrusion that slides with the axial grooves; the axial grooves are evenly distributed circumferentially; the ends of the inner and outer sliders facing the unit ring have axial insertion holes or slots for inserting traction wires; the traction wires are inserted into the insertion holes or slots axially and fixed with adhesive.

[0011] Furthermore, the external sheath traction drive system also includes an external sheath clamp for clamping and fixing the proximal end of the continuous external sheath during traction of the colonoscope; the external sheath clamp is fixed on the traction base.

[0012] Furthermore, the traction base is also equipped with a traction line guide frame; the traction line guide frame is equipped with guide wheels corresponding to each traction line, the guide wheels are used to guide the traction line so that the direction of the traction line entering the proximal end of the continuous outer sheath is parallel to the axis of the proximal end of the continuous outer sheath; the traction line guide frame is also equipped with a baffle with a partially arc-shaped surface on its side, the arc-shaped surface of the baffle is circumferentially matched with the guide wheel, used to guide the traction line and prevent the traction line from detaching from the guide wheel when it is released.

[0013] Furthermore, the colonoscopy fixation system includes:

[0014] A colonoscopy guide for guiding the axial movement of the endoscope insertion section; a push rod for clamping and fixing the endoscope insertion section; a push rod motor for driving the push rod to rise and fall; and a mounting base for fixing the push rod motor.

[0015] The colonoscopy guide includes two guide sleeves that are perpendicularly connected to each other in a T-shape and are internally interconnected, named the first guide sleeve and the second guide sleeve respectively; the endoscope insertion part is sleeved in the first guide sleeve and slidably connected to the first guide sleeve; the push rod is inserted into the second guide sleeve and slidably connected to the second guide sleeve.

[0016] The top of the push rod has an arc-shaped concave surface. When the push rod rises, its concave surface presses against the endoscope insertion part and fixes it relative to the first guide sleeve.

[0017] Furthermore, it also includes a ball screw slide for linear motion of the traction drive system; the ball screw slide includes a slider platform, a ball screw, and a slide drive motor; the slide drive motor drives the ball screw to rotate, and the slider platform moves relative to the slide drive motor along the axis of the ball screw under the drive of the slide drive motor; the traction drive system is fixed on the slider platform, and the colonoscopy fixation system is fixed relative to the slide drive motor.

[0018] The present invention also provides a method for advancing a colonoscope using the aforementioned forward traction-assisted colonoscopy robot, characterized by comprising the following steps:

[0019] Release the fixation of the colonoscopy fixation system on the endoscope insertion part, tighten the endoscope traction line and release the outer sheath traction line at the same time, and use the continuous outer sheath as support to pull the inner slider, the curved part of the endoscope and the endoscope insertion part forward.

[0020] The colonoscopy fixation system fixes the endoscope insertion part, tightens the outer sheath traction line while releasing the endoscope traction line, and uses the fixed endoscope bend and endoscope insertion part as support to pull the end of the continuous outer sheath forward.

[0021] When entering the flexure of the colon, the endoscopic traction line near the inside of the bend contracts compared to the endoscopic traction line near the outside of the bend; the outer sheath traction line near the inside of the bend contracts compared to the outer sheath traction line near the outside of the bend.

[0022] The advantages and positive effects of this invention are:

[0023] This invention discloses a forward traction-assisted colonoscopy robot. By incorporating a continuous external sheath system fitted around the curved portion of the endoscope and a traction drive system for moving the continuous external sheath system forward, it enables forward traction for endoscope insertion. This solves the problem of endoscope tangling in existing insertion methods and reduces potential pain for the patient during the examination.

[0024] The present invention provides a forward traction-assisted colonoscopy robot that can replace manual operation, achieve automatic and autonomous endoscope insertion, and improve the stability of the insertion process.

[0025] The continuous extracorporeal sheath of the present invention is low in cost, detachable, and can reduce the risk of cross-infection during colonoscopy. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of a forward traction-assisted colonoscopy robot according to the present invention.

[0027] Figure 2 This is a schematic diagram of the connection structure between a continuous external sheath system and a traction wire according to the present invention.

[0028] Figure 3 This is a cross-sectional view of a continuous external sheath according to the present invention.

[0029] Figure 4 This is a structural schematic diagram of a traction line guide frame according to the present invention.

[0030] Figure 5 This is a schematic diagram of the structure of a colonoscopy fixation system according to the present invention.

[0031] Figure 6 This is a block diagram of a control system structure according to the present invention.

[0032] In the diagram: 1-Traction drive system; 101-Inner slider, 102-Outer slider, 110-Continuous outer sheath, 111-Unit ring, 112-Ni-titanium alloy wire, 121-Outer sheath clamp, 122-Traction line guide frame, 123-Winding wheel, 124-Guide wheel, 131-First endoscope traction motor, 132-First outer sheath traction motor, 133-Second endoscope traction motor, 134-Second outer sheath traction motor, 141-First endoscope traction line, 142-First outer sheath traction line 143-Second endoscopic traction line, 144-Second outer sheath traction line, 150-Motor bracket, 151-Traction base; 2-Ball screw slide: 201-Slider platform, 202-Ball screw, 203-Coupling, 204-Slide drive motor; 3-Colon endoscope fixation system: 301-Fixed base, 302-Push rod motor, 303-Colon endoscope guide, 304-Push rod top; 401-Endoscope bending part, 402-Endoscope insertion part. Detailed Implementation

[0033] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0034] In the description of this invention, the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. The terms "connected" and "linked" used in this invention should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a direct connection or an indirect connection through intermediate components; or an electrical connection or signal transmission. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0035] Please see Figures 1 to 6 A forward traction-assisted colonoscopy robot includes a colonoscopy body, which includes an endoscope tip, an endoscope bend 401, and an endoscope insertion part 402 connected in sequence. It also includes a continuous extracorporeal sheath 110 system sleeved on the outside of the endoscope bend 401, a traction drive system 1 for traction of the continuous extracorporeal sheath 110 system to move forward, and a colonoscopy fixation system 3 for fixing or releasing the endoscope insertion part 402.

[0036] The continuous extracorporeal sheath 110 system includes a slider pair and a continuous extracorporeal sheath 110; the slider pair includes an inner slider 101 and an outer slider 102 that slide against each other; the inner slider 101 is fixed to the tip of the endoscope; the outer slider 102 is fixed to the front end of the continuous extracorporeal sheath 110; the inner slider 101 and the outer slider 102 slide relative to each other under the drive of the traction drive system 1.

[0037] Preferably, the traction drive system 1 may include an endoscope traction drive system 1, an external sheath traction drive system 1, and a traction base 151; both the endoscope traction drive system 1 and the external sheath traction drive system 1 may include two or more traction units; each traction unit includes: a winding wheel 123, a traction motor that drives the winding wheel 123 to rotate, and a traction line wound on the winding wheel 123 at one end; the traction motor is fixed on the traction base 151; the output shaft of the traction motor is fixedly connected to the winding wheel 123; the traction lines of the endoscope traction drive system 1 and the external sheath traction drive system 1 are respectively named the endoscope traction line and the external sheath traction line; one end of the endoscope traction line is wound on the winding wheel 123, and the other end of the endoscope traction line is fixedly connected to the inner slider 101; one end of the external sheath traction line is wound on the winding wheel 123, and the other end of the external sheath traction line is fixedly connected to the outer slider 102; the traction base 151 has a hole through the endoscope insertion part 402; the proximal end of the continuous external sheath 110 is fixedly connected to the traction base 151.

[0038] Preferably, the continuous external sheath 110 may include a plurality of annular unit rings 111, with a pair of nickel-titanium alloy wires connecting adjacent unit rings 111; the unit rings 111 are evenly distributed with fixing holes for inserting and fixing the nickel-titanium alloy wires 112 along the circumference; the number of fixing holes may be 2k, where k is greater than or equal to 2; the two fixing holes on the same unit ring 111 for inserting the same pair of nickel-titanium alloy wires are symmetrical about the center of the unit ring 111; the fixing holes on each unit ring 111 are numbered clockwise or counterclockwise starting from the top fixing hole, in sequence as H1, H2, ..., H k H k+1 H 2k According to the arrangement order of the unit rings, the pair of nickel-titanium alloy wires between two adjacent unit rings are inserted into the two fixing holes. A cycle consists of k consecutive unit rings following the first unit ring. Within one cycle, the arrangement order is: H1, H... k+1 H2, H k+2 H k H 2k Connect and fix each pair of nickel-titanium alloy wires according to the above-mentioned fixing holes.

[0039] In the m-th cycle, when m is greater than 1, the first unit ring of this cycle (the m-th cycle) and the last unit ring of the previous cycle (the (m-1)-th cycle) are adjacent; the two fixing holes into which the pair of nickel-titanium alloy wires between them are H1 and H2.k+1 When m equals 1, the first unit ring of this cycle (the first cycle) is adjacent to the first unit ring; the two fixing holes into which the pair of nickel-titanium alloy wires between them are inserted are H1 and H2. k+1 .

[0040] The second unit ring of this cycle (the m-th cycle) and the first unit ring of this cycle, the two fixing holes into which the pair of nickel-titanium alloy wires are inserted are H2 and H. k+2 In this cycle (the m-th cycle), the two fixing holes into which the pair of nickel-titanium alloy wires between the third unit ring and the second unit ring of this cycle are inserted are H3 and H4. k+3 Similarly, in this cycle (the m-th cycle), the two fixing holes into which a pair of nickel-titanium alloy wires are inserted between the k-th unit ring and the (k-1)-th unit ring of this cycle are H. k H 2k .

[0041] If the number of unit rings in the last cycle is less than k, the nickel-titanium alloy wires are still inserted into the corresponding two fixed holes according to the sorting method described above.

[0042] Preferably, the unit ring 111 may also be provided with guide holes for the traction wire, and the guide holes for the endoscope traction wire and the guide holes for the outer sheath traction wire are evenly distributed around the circumference of the unit ring 111.

[0043] Preferably, both the inner slider 101 and the outer slider 102 are cylindrical; one of the inner slider 101 and the outer slider 102 may have several axial grooves; the other has a protrusion that slides with the axial grooves; the axial grooves may be evenly distributed circumferentially; the ends of the inner and outer sliders 102 facing the unit ring 111 may have axial insertion holes or slots for inserting traction wires; the traction wires are inserted into the insertion holes or slots and can be fixed by adhesives such as strong glue.

[0044] The inner slider 101 and the outer slider 102 can also adopt other structures. For example, the inner slider 101 may include multiple arc-shaped inner sliders with the same structure evenly distributed along the circumference of the tip of the endoscope; the outer slider 102 correspondingly includes multiple arc-shaped outer sliders with the same structure that slide in cooperation with the arc-shaped inner sliders; the rear end centers of the inner and outer sliders are provided with axial insertion holes or slots for inserting traction wires; the traction wires are inserted into the insertion holes or slots along the axial direction and can be fixed by adhesives such as strong glue.

[0045] The inner and outer slides, one of which may have a dovetail groove or a U-shaped groove, and the other has a protrusion that slides with the dovetail groove or the U-shaped groove.

[0046] Preferably, the external sheath traction drive system 1 may further include an external sheath clamp 121 for clamping and fixing the proximal end of the continuous external sheath 110 during traction of the colonoscope; the external sheath clamp 121 is fixed on the traction base 151.

[0047] Preferably, the traction base 151 may also be provided with a traction line guide frame 122; the traction line guide frame 122 may be provided with guide wheels 124 corresponding to each traction line, the guide wheels 124 are used to guide the traction line so that the direction of the traction line entering the proximal end of the continuous outer sheath 110 is parallel to the axis of the proximal end of the continuous outer sheath 110; the traction line guide frame 122 may also be provided with a baffle with a partially arc-shaped surface, the arc-shaped surface of the baffle is circumferentially matched with the guide wheel 124 to guide the traction line and prevent the traction line from detaching from the guide wheel 124 when it is released.

[0048] Preferably, the colonoscopy fixation system 3 may include:

[0049] A colonoscopy guide 303 for guiding the axial movement of the endoscope insertion part 402; a push rod for clamping and fixing the endoscope insertion part 402; a push rod motor 302 for driving the push rod to rise and fall; and a fixing base 301 for fixing the push rod motor 302.

[0050] The colonoscopy guide 303 may include two guide sleeves that are perpendicularly connected to each other in a T-shape and are internally interconnected, named the first guide sleeve and the second guide sleeve respectively; the endoscope insertion part 402 is sleeved in the first guide sleeve and slidably connected to the first guide sleeve; the push rod is inserted into the second guide sleeve and slidably connected to the second guide sleeve.

[0051] The top of the push rod 304 may be provided with an arc-shaped concave surface. When the push rod rises, its concave surface presses against the endoscope insertion part 402 and fixes it relative to the first guide sleeve.

[0052] Preferably, it may also include a ball screw slide 2 for linearly moving the traction drive system 1; the ball screw slide 2 includes a slider platform 201, a ball screw 202 and a slide drive motor 204; the slide drive motor 204 drives the ball screw 202 to rotate, and the slider platform 201 moves relative to the slide drive motor 204 along the axis of the ball screw 202 under the drive of the slide drive motor 204; the traction drive system 1 is fixed on the slider platform 201, and the colonoscopy fixation system 3 is fixed relative to the slide drive motor 204.

[0053] The present invention also provides a method for advancing a colonoscope using the aforementioned forward traction-assisted colonoscopy robot, characterized by comprising the following steps:

[0054] The colonoscopy fixation system 3 releases the fixation of the endoscope insertion part 402, tightens the endoscope traction line and releases the outer sheath traction line, and with the continuous outer sheath 110 as support, pulls the inner slider 101, the endoscope bending part 401 and the endoscope insertion part 402 forward.

[0055] The colonoscopy fixation system 3 fixes the endoscope insertion part 402, tightens the outer sheath traction line and releases the endoscope traction line, and moves the end of the continuous outer sheath 110 forward with the fixed endoscope bending part 401 and endoscope insertion part 402 as support.

[0056] When entering the flexure of the colon, the endoscopic traction line near the inside of the bend contracts compared to the endoscopic traction line near the outside of the bend; the outer sheath traction line near the inside of the bend contracts compared to the outer sheath traction line near the outside of the bend.

[0057] Preferably, the traction motor can be a stepper motor or a servo motor. The slide drive motor 204 can be a servo motor.

[0058] Preferably, the inner slider 101, the outer slider 102 and / or the unit ring 111 can be made of resin material by 3D printing.

[0059] The structure, workflow, and working principle of the present invention are further illustrated below with reference to a preferred embodiment:

[0060] refer to Figures 1-6 As shown, a forward traction-assisted colonoscopy robot includes a colonoscopy body, which comprises an endoscope tip, an endoscope bend 401, and an endoscope insertion part 402 connected in sequence. It also includes: a continuous external sheath 110 system sleeved on the outside of the endoscope bend 401; a traction drive system 1 for moving the continuous external sheath 110 system forward; a colonoscopy fixation system 3 for fixing or releasing the endoscope insertion part 402; a ball screw slide 2 for linearly moving the traction drive system 1; and a control system.

[0061] The ball screw slide 2 includes a slider platform 201, a ball screw 202, and a slide drive motor 204; the slide drive motor 204 drives the ball screw 202 to rotate, and the slider platform 201 moves relative to the slide drive motor 204 along the axis of the ball screw 202 under the drive of the slide drive motor 204; the traction drive system 1 is fixed on the slider platform 201, and the colonoscopy fixation system 3 is fixed relative to the slide drive motor 204.

[0062] The continuous extracorporeal sheath 110 system includes a slider pair and a continuous extracorporeal sheath 110; the slider pair includes an inner slider 101 and an outer slider 102 that slide against each other; the inner slider 101 is fixedly connected to the tip of the endoscope; the outer slider 102 is fixedly connected to the front end of the continuous extracorporeal sheath 110; the inner slider 101 and the outer slider 102 slide relative to each other under the drive of the traction drive system 1. The continuous extracorporeal sheath system is used to provide support along the axis of the colonoscope when tractioning the colonoscope forward.

[0063] Both the inner slider 101 and the outer slider 102 are cylindrical; the outer slider 102 has two axial grooves; the inner slider 101 has a protrusion that slides with the axial grooves; the two axial grooves are evenly distributed circumferentially; the ends of the inner and outer sliders 102 facing the unit ring 111 are both provided with axial slots for inserting traction wires; the traction wires are inserted into the slots axially and can be fixed by strong glue or other adhesives.

[0064] The traction drive system 1 is fixedly connected to the slider platform 201 by screws, and the fixation base 301 of the colonoscopy fixation system 3 is fixedly connected to the slider drive motor 204 by screws.

[0065] The control system controls the traction drive system 1, the colon endoscope fixation system 3, and the ball screw slide 2. The traction drive system 1 pulls the colon endoscope body forward into the colon.

[0066] The traction drive system 1 includes an endoscope traction drive system, an external sheath traction drive system, and a traction base 151. Both the endoscope traction drive system and the external sheath traction drive system include two traction units. Each traction unit includes: a winding wheel 123, a traction motor that drives the winding wheel 123 to rotate, and a traction line wound on the winding wheel 123 at one end. The traction motor is fixed to the traction base 151. The output shaft of the traction motor is fixedly connected to the winding wheel 123. The traction lines of the endoscope traction drive system and the external sheath traction drive system are respectively named the endoscope traction line and the external sheath traction line. Traction line; one end of the endoscopic traction line is wound around the winding wheel 123, and the other end of the endoscopic traction line is fixedly connected to the inner slider 101; the fixed connection points between the endoscopic traction line and the inner slider 101 are evenly distributed along the circumference of the colon endoscope; one end of the outer sheath traction line is wound around the winding wheel 123, and the other end of the outer sheath traction line is fixedly connected to the outer slider 102; the fixed connection points between the outer sheath traction line and the outer slider 102 are evenly distributed along the circumference of the colon endoscope; the traction base 151 has a hole through the endoscope insertion part 402; the proximal end of the continuous outer sheath 110 is fixedly connected to the traction base 151.

[0067] The endoscope traction drive system has two traction units, named the first endoscope traction unit and the second endoscope traction unit. The first endoscope traction unit includes a first endoscope traction motor 131, a first endoscope traction cable 141, and a first endoscope winding wheel 123; the second endoscope traction unit includes a second endoscope traction motor 133, a second endoscope traction cable 143, and a second endoscope winding wheel 123.

[0068] The outer sheath traction drive system has two traction units, named the first outer sheath traction unit and the second outer sheath traction unit, respectively. The first outer sheath traction unit includes a first outer sheath traction motor 132, a first outer sheath traction line 142, and a first outer sheath winding wheel 123; the second outer sheath traction unit includes a second outer sheath traction motor 134, a second outer sheath traction line 144, and a second outer sheath winding wheel 123.

[0069] like Figure 2 , Figure 3 As shown, the continuous external sheath 110 may include several unit rings 111, with a pair of nickel-titanium alloy wires connected between adjacent unit rings 111; the unit rings 111 are evenly distributed with fixing holes for inserting and fixing the nickel-titanium alloy wires 112 along the circumference; the number of fixing holes may be 2k, where k equals 2, that is, the number of fixing holes may be 4; the two fixing holes on the same unit ring 111 into which the same pair of nickel-titanium alloy wires are inserted are symmetrical about the center of the unit ring 111; the fixing holes on each unit ring 111 are numbered clockwise or counterclockwise starting from the top fixing hole, in the order of H1, H2, H3, H4; according to the arrangement order of the unit rings 111, the two fixing holes into which the pair of nickel-titanium alloy wires between adjacent unit rings 111 are inserted are arranged in the order of H1, H3, H2, H4, with two consecutive unit rings arranged after the first unit ring as one cycle.

[0070] In the m-th cycle, when m is greater than 1, the first unit ring of this cycle (m-th cycle) is adjacent to the last unit ring of the previous cycle (m-1-th cycle); the two fixing holes into which the pair of nickel-titanium alloy wires between them are H1 and H3; when m equals 1, the first unit ring of this cycle (1st cycle) is adjacent to the first unit ring; the two fixing holes into which the pair of nickel-titanium alloy wires between them are H1 and H3.

[0071] The two fixing holes between the second unit ring of this cycle (the m-th cycle) and the first unit ring of this cycle are H2 and H4, into which a pair of nickel-titanium alloy wires are inserted.

[0072] The material used for the traction line is PE wire. This material was chosen because PE wire has high flexibility, high tensile strength, no deformation under tension, and small diameter, which perfectly meet the requirements for use as a traction line.

[0073] The nickel-titanium alloy wire 112 has high tensile stiffness and is a ring-shaped unit ring. A pair of nickel-titanium alloy wires connects adjacent unit rings 111, and two fixing holes on the same unit ring 111, where the same pair of nickel-titanium alloy wires are inserted, are symmetrically symmetrical about the center of the unit ring 111. These structures give the continuous outer sheath 110 high circumferential deformation stiffness and high compressive stiffness. The unit rings are sequentially connected by the nickel-titanium alloy wires 112 to form a tubular channel. Because the two fixing holes where the pair of nickel-titanium alloy wires between adjacent unit rings 111 are inserted, with two consecutive unit rings after the first unit ring forming a cycle, and the arrangement order within a cycle being H1, H3, H2, H4, the continuous outer sheath 110 is easy to bend and has low bending stiffness.

[0074] The continuous outer sheath 110 is characterized by low bending stiffness, high tensile stiffness, high compressive stiffness, and high circumferential deformation stiffness; the bending shape and bending stiffness can be adjusted by adjusting the length and diameter of the nickel-titanium alloy wire 112.

[0075] Adjustable bending stiffness is to avoid interference with the turning of the colonoscope. The bending stiffness is affected by the diameter and length of the medical nickel-titanium alloy wire 112. High tensile stiffness is to prevent the outer sheath from breaking when pulling the continuous outer sheath 110. High compressive stiffness is to provide support along the axis of the colonoscope when pulling the colonoscope forward. High circumferential deformation stiffness is to reduce the friction between the continuous outer sheath 110 and the colonoscope.

[0076] The external sheath traction drive system also includes an external sheath clamp 121 for clamping and fixing the proximal end of the continuous external sheath 110 during traction of the colonoscope; the external sheath clamp 121 is fixed on the traction base 151.

[0077] The traction base 151 is also provided with a traction line guide frame 122; the traction line guide frame 122 is provided with guide wheels 124 corresponding to each traction line, the guide wheels 124 are used to guide the traction line so that the direction of the traction line entering the proximal end of the continuous outer sheath 110 is parallel to the axis of the proximal end of the continuous outer sheath 110; the traction line guide frame 122 is also provided with a baffle with a partially arc-shaped surface, the arc surface is circumferentially matched with the guide wheel 124, used to guide the traction line and prevent the traction line from leaving the guide wheel 124 when it is released.

[0078] The outer sheath clamp 121 and the winding reel 123 frame are both made of resin printing. The longitudinal section of both the winding reel 123 and the guide wheel 124 is H-shaped, and the winding reel 123 is a standard U-groove winding reel 123; Figure 4 As shown, the outer sheath clamp 121 is fixed on the traction base 151 and is responsible for providing support to the proximal end of the continuous outer sheath 110 when tractioning the colonoscope; several winding wheels 123 are fixed on the traction base 151, and the guide wheel 124 and the traction base 151 provide guidance for the traction wire and reduce contact friction.

[0079] The traction motor is a stepper motor, which is simpler to control while meeting the torque requirements. The traction motors of the endoscope traction drive system and the outer sheath traction drive system are named the endoscope traction motor and the outer sheath traction motor, respectively. The endoscope traction motor and the outer sheath traction motor jointly drive the traction line to pull the continuous outer sheath 110 and the colon endoscope body forward.

[0080] The material used for the traction line is PE wire. This material was chosen because PE wire has high flexibility, high tensile strength, no deformation under tension, and small diameter, which perfectly meet the requirements for use as a traction line.

[0081] The traction lines are divided into two groups: the endoscope traction line and the outer sheath traction line. The outer sheath traction line is responsible for traction of the continuous outer sheath 110. The distal ends of the outer sheath 110 are glued to the outer slider 102 with strong adhesive, and the proximal ends are connected to the winding wheel 123 of the traction motor. The endoscope traction line is responsible for traction of the colonoscope. The distal ends of the endoscope 110 are glued to the inner slider 101 with strong adhesive, and the proximal ends are connected to the winding wheel 123 of the corresponding traction motor.

[0082] The traction base 151 is equipped with multiple motor brackets 150. The traction base 151 is made of resin printing, and the motor brackets 150 are common standard stepper motor brackets. Each traction motor is fixed on a motor bracket 150.

[0083] The ball screw slide 2 contains a slider platform 201, a ball screw 202, a coupling 203, and a slide drive motor 204. The slide drive motor 204 is fixedly connected to one end of the ball screw 202 through the coupling 203, and the other end of the ball screw 202 is supported by a bearing seat.

[0084] The ball screw slide 2 can be an existing finished product; the traction base 151 is fixed on the slider platform 201; the slide drive motor 204 drives the slider platform 201 to move in the direction of colonoscopy insertion.

[0085] The colonoscopy fixation system 3 includes: a colonoscopy guide 303 for guiding the axial movement of the endoscope insertion part 402; a push rod for clamping and fixing the endoscope insertion part 402; a push rod motor 302 for driving the push rod to rise and fall; and a fixing base 301 for fixing the push rod motor 302.

[0086] The colonoscopy guide 303 includes two guide sleeves that are perpendicularly connected to each other in a T-shape and are internally interconnected, named the first guide sleeve and the second guide sleeve respectively; the endoscope insertion part 402 is sleeved in the first guide sleeve and slidably connected to the first guide sleeve; the push rod is inserted into the second guide sleeve and slidably connected to the second guide sleeve.

[0087] The top of the push rod 304 is provided with an arc-shaped concave surface. When the push rod rises, its concave surface presses against the endoscope insertion part 402 and fixes it relative to the first guide sleeve.

[0088] The fixed base 301, the push rod top 304, and the colonoscope guide 303 are made of resin printing. The push rod motor 302 is a miniature permanent magnet screw motor. The colonoscope guide 303 is fixed to the flange of the push rod motor 302 by screws and nuts. The fixed base 301 is connected to the drive motor of the ball screw slide 2 by screws. The push rod top 304 is fixed to the push rod of the push rod motor 302. The push rod motor 302 of the colonoscope fixation system 3 pushes the push rod top 304 to fix the insertion part of the colonoscope, so as to facilitate the forward movement of the continuous extracorporeal sheath 110. When the colonoscope is moved forward, the push rod motor 302 releases the fixation of the endoscope insertion part 402.

[0089] The forward traction type of endoscope insertion refers to the traction force from the distal end on the endoscope insertion part 402 and the endoscope bending part 401 and the continuous external sheath system during the insertion process, rather than the thrust from the proximal end that is experienced during the traditional colonoscopy insertion process.

[0090] According to the above technical solution, the drive control system includes a motor driver and a controller, the controller of which can be a microcontroller; each endoscope traction motor, each outer sheath traction motor, as well as the slide drive motor 204 and the push rod motor 302, corresponds to a motor driver, such as Figure 6 As shown, the first endoscope traction motor 131, the second endoscope traction motor 133, the first outer sheath traction motor 132, the second outer sheath traction motor 134, the slide drive motor 204, and the push rod motor 302 are driven by the first endoscope traction motor driver, the second endoscope traction motor driver, the first outer sheath traction motor driver, the second outer sheath traction motor driver, the slide drive motor driver, and the push rod motor driver, respectively.

[0091] The first endoscope traction motor driver, the second endoscope traction motor driver, the first outer sheath traction motor driver, the second outer sheath traction motor driver, the slide drive motor driver, and the push rod motor driver are all electrically connected to the controller. The control system controls each motor driver through the controller, thereby further controlling the operation of the colonoscope body, the traction drive system 1, the colonoscope fixation system 3, and the ball screw slide 2, to achieve the forward traction insertion mode of the endoscope.

[0092] A preferred embodiment of the method for forward traction-assisted colonoscopy advancement using the aforementioned forward traction-assisted colonoscopy advancement robot:

[0093] The program is pre-imported into the microcontroller, which is then connected to the mobile terminal via Bluetooth. The mobile terminal inputs commands to control the robot to move into the camera.

[0094] Step 1: Input command to control push rod motor 302 to retract push rod, release fixation on endoscope insertion part 402. Endoscope traction motor tightens endoscope traction line while outer sheath traction motor releases outer sheath traction line. Outer sheath clamp 121 blocks continuous outer sheath 110 from moving backward. With continuous outer sheath 110 as support, pull inner slider 101, endoscope bending part 401 and endoscope insertion part 402 forward.

[0095] Step 2: Input command to control push rod motor 302 to push push rod, press and fix endoscope insertion part 402. At the same time, outer sheath traction motor tightens outer sheath traction line and endoscope traction motor releases endoscope traction line. With fixed endoscope bending part 401 and endoscope insertion part 402 as support, pull continuous outer sheath 110 forward. At the same time, ball screw slide 2 drives traction drive system 1 to move in the direction of colon endoscope insertion.

[0096] Step 3: Input commands to control the outer sheath traction motor to tighten / release the outer sheath traction cable, and the endoscope traction motor to tighten / release the endoscope traction cable to accommodate the turning of the endoscope bend 401;

[0097] Repeat steps 1, 2, and 3 until the colonoscope is finally pulled to the designated position.

[0098] The aforementioned components include: inner slider 101, outer slider 102, continuous outer sheath 110, unit ring 111, nickel-titanium alloy wire 112, outer sheath clamp 121, traction wire guide frame 122, winding wheel 123, guide wheel 124, traction motor, traction wire, motor bracket 150, traction base 151, ball screw slide 2, slider platform 201, ball screw 202, coupling 203, slide drive motor 204, colonoscope fixation system 3, fixation base 301, push rod motor 302, and colonoscope guide 30. 3. The push rod top 304, the endoscope bending part 401, the endoscope insertion part 402, the microcontroller, the driver of the traction motor, the driver of the slide table drive motor, the driver of the push rod motor, etc. can all use applicable parts in the prior art, or use parts in the prior art and manufacture them using conventional technical means. The running programs and parameter settings in the microcontroller, the driver of the traction motor, the driver of the slide table drive motor, and the driver of the push rod motor can all use programs in the prior art and be programmed and parameter set according to conventional technical means.

[0099] The embodiments described above are only used to illustrate the technical ideas and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The patent scope of the present invention should not be limited by these embodiments. That is, any equivalent changes or modifications made in accordance with the spirit disclosed in the present invention still fall within the patent scope of the present invention.

Claims

1. A forward-traction assisted colonoscopy robot, comprising a colonoscopy body, the colonoscopy body including an endoscope tip, an endoscope bending section, and an endoscope insertion section connected in sequence, characterized in that, Also includes: A continuous extracorporeal sheath system fitted onto the outside of the curved portion of the endoscope; a traction drive system for pulling the continuous extracorporeal sheath system forward; and a colonoscopy fixation system for fixing or releasing the endoscope insertion portion. The continuous extracorporeal sheath system includes a slider pair and a continuous extracorporeal sheath; the slider pair includes an inner slider and an outer slider that slide against each other; the inner slider is fixed to the tip of the endoscope; the outer slider is fixed to the front end of the continuous extracorporeal sheath; the inner slider and the outer slider slide relative to each other under the drive of the traction drive system. The traction drive system includes an endoscope traction drive system, an external sheath traction drive system, and a traction base. Both the endoscope traction drive system and the external sheath traction drive system include two or more traction units. Each traction unit includes: a winding wheel, a traction motor that drives the winding wheel to rotate, and a traction line wound at one end on the winding wheel. The traction motor is fixed to the traction base. The output shaft of the traction motor is fixedly connected to the winding wheel. The traction lines of the endoscope traction drive system and the external sheath traction drive system are respectively named the endoscope traction line and the external sheath traction line. One end of the endoscope traction line is wound around the winding wheel, and the other end is fixedly connected to the inner slider. One end of the external sheath traction line is wound around the winding wheel, and the other end is fixedly connected to the outer slider. The traction base has a hole for the endoscope insertion portion. The proximal end of the continuous external sheath is fixedly connected to the traction base. The continuous external sheath comprises several annular unit rings, each unit ring also having guide holes for the traction wires. The guide holes for the endoscopic traction wires and the guide holes for the external sheath traction wires are evenly distributed along the circumference of the unit rings.

2. The forward traction-assisted colonoscopy robot according to claim 1, characterized in that, A pair of nickel-titanium alloy wires connects two adjacent unit rings; fixing holes for inserting and fixing the nickel-titanium alloy wires are evenly distributed circumferentially on the unit rings; the number of fixing holes is 2k, where k is greater than or equal to 2; the two fixing holes on the same unit ring for inserting the same pair of nickel-titanium alloy wires are symmetrical about the center of the unit ring; the fixing holes on each unit ring are numbered clockwise or counterclockwise starting from the top fixing hole, in sequence as H1, H2, ..., H k H k+1 H 2k According to the arrangement order of the unit rings, the pair of nickel-titanium alloy wires between two adjacent unit rings are inserted into the two fixing holes. A cycle consists of k consecutive unit rings following the first unit ring. Within one cycle, the arrangement order is: H1, H... k+1 H2, H k+2 H k H 2k .

3. The forward traction-assisted colonoscopy robot according to claim 1, characterized in that, Both the inner and outer sliders are cylindrical; one of the inner and outer sliders has several axial grooves; the other has a protrusion that slides with the axial grooves; the axial grooves are evenly distributed circumferentially; the ends of the inner and outer sliders facing the unit ring have axial insertion holes or slots for inserting traction wires; the traction wires are inserted into the insertion holes or slots axially and fixed with adhesive.

4. The forward traction-assisted colonoscopy robot according to claim 1, characterized in that, The external sheath traction drive system also includes an external sheath clamp for clamping and fixing the proximal end of the continuous external sheath during traction of the colonoscope; the external sheath clamp is fixed to the traction base.

5. The forward traction-assisted colonoscopy robot according to claim 1, characterized in that, The traction base is also equipped with a traction line guide frame; the traction line guide frame is equipped with guide wheels corresponding to each traction line, and the guide wheels are used to guide the traction line so that the traction line enters the proximal end of the continuous outer sheath in a direction parallel to the axis of the proximal end of the continuous outer sheath; the traction line guide frame is also equipped with a baffle with a partially arc-shaped surface on its side, and the arc-shaped surface of the baffle is circumferentially matched with the guide wheel to guide the traction line and prevent the traction line from detaching from the guide wheel when it is released.

6. The forward traction-assisted colonoscopy robot according to claim 1, characterized in that, Colonoscopy fixation systems include: A colonoscopy guide for guiding the axial movement of the endoscope insertion section; a push rod for clamping and fixing the endoscope insertion section; a push rod motor for driving the push rod to rise and fall; and a mounting base for fixing the push rod motor. The colonoscopy guide includes two guide sleeves that are perpendicularly connected to each other in a T-shape and are internally interconnected, named the first guide sleeve and the second guide sleeve respectively; the endoscope insertion part is sleeved in the first guide sleeve and slidably connected to the first guide sleeve; the push rod is inserted into the second guide sleeve and slidably connected to the second guide sleeve. The top of the push rod has an arc-shaped concave surface. When the push rod rises, its concave surface presses against the endoscope insertion part and fixes it relative to the first guide sleeve.

7. The forward traction-assisted colonoscopy robot according to claim 1, characterized in that, It also includes a ball screw slide for linear motion of the traction drive system; the ball screw slide includes a slider platform, a ball screw and a slide drive motor; the slide drive motor drives the ball screw to rotate, and the slider platform moves relative to the slide drive motor along the axis of the ball screw under the drive of the slide drive motor; the traction drive system is fixed on the slider platform, and the colonoscopy fixation system is fixed relative to the slide drive motor.

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