Multifunctional digestive endoscopy treatment device

Abstract

The invention discloses a multifunctional digestive endoscopy treatment device in the technical field of medical instruments, which comprises a first pressure-adjustable bag, a peristaltic component and a limiting component which are arranged at the front end of a digestive endoscopy, a plurality of particles are arranged in the first pressure-adjustable bag, and the peristaltic component is used for driving the front end of the digestive endoscopy to creep in the digestive tract. The limiting assembly is used for limiting rotation of the front end part of the digestive endoscope; the system further comprises a control system which is used for collecting form information formed by all the particles, obtaining position information of the tip of the digestive endoscope according to the form information, controlling the limiting assembly and the wriggling assembly to work according to the position information and further used for collecting rotation frequency information of the tip of the digestive endoscope through the limiting assembly and controlling the wriggling assembly to work according to the position information. And the peristaltic component is controlled to work according to the frequency information, so that the professional technical requirements of the digestive endoscope on doctors are reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and specifically relates to a multifunctional digestive endoscope treatment device. Background Art

[0002] Digestive endoscopes play an important role in the diagnosis of early digestive tract tumors and bile duct and pancreatic diseases. They can directly observe the structural changes of the digestive tract wall; for minor mucosal lesions, the microscopic structural changes of the lesions can be shown through optical magnification and endoscopic staining; through an attached laser confocal device, the microscopic structure of the digestive tract mucosa can be obtained to directly observe the pathological changes of the mucosa; through an attached ultrasonic scanning probe, the size, tissue origin, and invasion depth of digestive tract wall lesions can be diagnosed, and at the same time, clearer ultrasonic images of digestive organs such as the bile duct and pancreas can be obtained; with the help of X-ray contrast, the radiological images of the bile duct and pancreatic duct can be obtained to diagnose bile duct and pancreatic diseases.

[0003] Among them, colonoscopy is a relatively common application method of digestive endoscopes. Colonoscopy refers to a method of inserting an endoscope into the intestine through the human anus for the examination, diagnosis, and treatment of related intestinal diseases. It belongs to the complete system of digestive endoscopes together with gastroscopy, duodenoscopy, etc.

[0004] In the prior art, during the process of inserting the endoscope, most rely on the special techniques of physicians and the assistance of patients to complete, which undoubtedly puts forward relatively high requirements for the professional technical level of physicians.

[0005] At the same time, during colonoscopy, due to the special structure of the intestinal turning positions, feces and other residues are likely to accumulate, and these areas are also common sites for intestinal diseases such as polyps, inflammation, or tumors. Therefore, physicians often conduct a focused and careful examination of this position.

[0006] In the prior art, physicians need to rely on colonoscopy images, patient feedback, and their own experience for judgment, which has relatively high requirements for the professional technology of physicians. If technologies such as ultrasound are used in combination with colonoscopy, it is easy to increase the operation steps of physicians, and due to the certain toughness of the distal end of the digestive endoscope, it is difficult to have obvious deformation when entering the intestinal turning position, which may cause misjudgment by physicians and miss the best opportunity to observe the intestinal turning position. Summary of the Invention

[0007] The purpose of the present invention is to provide a multifunctional digestive endoscope treatment device to reduce the operation difficulty of the digestive endoscope, thereby reducing the professional technical requirements for physicians.

[0008] To achieve the above object, the technical solution of the present invention is as follows: A multifunctional digestive endoscope treatment device includes a first adjustable pressure sac, a peristaltic component, and a limiting component arranged at the distal end of the digestive endoscope. A number of particles are provided inside the first adjustable pressure sac. The peristaltic component is used to drive the distal end of the digestive endoscope to peristalsis in the digestive tract, and the limiting component is used to limit the rotation of the distal end of the digestive endoscope;

[0009] It further includes a control system. The control system is used to collect the morphological information formed by all the particles, obtain the position information of the distal end of the digestive endoscope according to the morphological information, and control the working of the limiting component and the peristaltic component according to the position information. It can also be used to collect the frequency information of the rotation of the distal end of the digestive endoscope through the limiting component, and control the working of the peristaltic component according to the frequency information.

[0010] Further, the peristaltic component includes a second adjustable pressure sac. The second adjustable pressure sac is communicated with a pressure regulating component. The pressure regulating component is used to adjust the pressures inside the first adjustable pressure sac and the second adjustable pressure sac. Deformation parts are provided on the outer side wall of the second adjustable pressure sac and the side wall of the second adjustable pressure sac close to the first adjustable pressure sac, and the elastic moduli of the deformation parts are all smaller than that of the second adjustable pressure sac. An elastic member is provided on the deformation part on the side wall of the second adjustable pressure sac, and one end of the elastic member away from the second adjustable pressure sac is fixedly connected to the first adjustable pressure sac. The control system is used to control the working of the pressure regulating component according to the frequency information, and adjust the morphology of the first adjustable pressure sac or the deformation part by adjusting the pressure inside the first adjustable pressure sac or the second adjustable pressure sac, so as to drive the digestive endoscope to peristalsis in the digestive tract.

[0011] Further, the limiting component includes a fixed ring. The outer side wall of the fixed ring is fixedly connected to the first adjustable pressure sac, and a magnetic isolation layer is provided on the outer side wall of the fixed ring. A moving ring is rotatably connected to the inner side wall of the fixed ring, and the inner side wall of the moving ring is fixedly connected to the distal end of the digestive endoscope. A measuring coil and a number of electromagnets are provided inside the fixed ring, and a permanent magnet is provided inside the moving ring, and the permanent magnets are arranged crosswise according to different magnetic poles. The control system controls the working of the electromagnets according to the position information.

[0012] Further, the materials of the particles are all metal materials. The control system includes a controller, a current sensor, an electromagnetic coil, and a number of three-axis magnetometers;

[0013] The electromagnetic coil is used to generate a uniform magnetic field in the space where the particles are located;

[0014] The three-axis magnetometers are all used to collect magnetic field information;

[0015] The current sensor is used to collect the current information passing through the measuring coil;

[0016] The controller is used to obtain the morphological information of the particles based on the magnetic field information, and obtain the position information of the distal end of the digestive endoscope based on the morphological information. It controls the electromagnet and the pressure regulating component to work according to the position information, and can also obtain the frequency information of the rotation of the distal end of the digestive endoscope based on the current information, and control the pressure regulating component to work according to the frequency information.

[0017] Furthermore, the media inside the first adjustable pressure capsule and the second adjustable pressure capsule are both liquids. The first adjustable pressure capsule and the second adjustable pressure capsule are both connected to the pressure regulating component, and solenoid valves are provided at the connection points of the pressure regulating component with the first adjustable pressure capsule and the second adjustable capsule. The controller controls the water pump and the solenoid valves to work according to the frequency information.

[0018] Furthermore, the elastic component is a deformation ring, and the material of the deformation ring is an elastic material.

[0019] Furthermore, a plurality of grooves are provided on both the inner side wall and the outer side wall of the deformation ring.

[0020] Furthermore, the control system further includes a water pressure sensor, which is used to collect the water pressure information of the liquid entering the first adjustable pressure capsule or the second adjustable pressure capsule. The controller controls the water pump and the solenoid valves to work according to the water pressure information.

[0021] Furthermore, it further includes a heating wire, which is used to heat the liquid entering the first adjustable pressure capsule or the second adjustable pressure capsule.

[0022] Furthermore, the control system further includes a temperature sensor, which is used to collect the temperature information of the liquid entering the first adjustable pressure capsule or the second adjustable pressure capsule. The controller controls the heating wire to work according to the temperature information and the frequency information.

[0023] The technical principle and beneficial effects of the above solution are as follows:

[0024] (1) In this solution, the design of the particles in the first adjustable pressure capsule utilizes the principle that when the first adjustable pressure capsule enters the turning position of the intestine, the angle between it and the horizontal plane will change, thereby driving the overall shape presented by all the particles to change under the action of gravity and the like. By monitoring the overall shape of the particles, it is judged whether the digestive endoscope enters the intestinal turning point, and when entering the turning point, a warning is given to the doctor to prompt the doctor to observe this place in detail, reducing the technical requirements for the doctor to judge the intestinal turning position during the traditional digestive endoscope examination. Compared with the prior art, this solution is less affected by the toughness of the distal end of the digestive endoscope and has higher accuracy and response speed.

[0025] (2) In the design of the peristaltic component in this solution, based on the principle that objects with different elastic moduli have different deformations when subjected to the same pressure, the liquid pumped into the second adjustable pressure sac causes the deformation part to deform. While fixing the position of the second adjustable pressure sac, it also causes the elastic component to deform for energy storage. After the elastic component returns to its original position, the elastic force of the deformation part itself drives the second adjustable pressure sac to move. Compared with the prior art, this solution can achieve device fixation and peristalsis only by introducing liquid. The operation steps and the components required for peristalsis are both simple, which is beneficial to reducing the professional technical requirements of the digestive endoscope for doctors and reducing the device cost. At the same time, compared with the solution using electromagnetism for peristalsis, there is no current passing through the part of this solution that is in direct contact with the patient, which can avoid the discomfort of the patient caused by coil leakage.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Is an axonometric view of an embodiment of the multifunctional digestive endoscope treatment device of the present invention;

[0028] Figure 2 Is a semi-sectional schematic view of an embodiment of the multifunctional digestive endoscope treatment device of the present invention;

[0029] Figure 3 Is a front view of an embodiment of the multifunctional digestive endoscope treatment device of the present invention;

[0030] Figure 4 Is Figure 3 The A-A sectional view of;

[0031] Figure 5 Is Figure 3 The B-B sectional view of;

[0032] Figure 6 Is a circuit schematic diagram of an embodiment of the multifunctional digestive endoscope treatment device of the present invention.

[0033] Reference numerals in the accompanying drawings of the specification include: the first adjustable pressure sac 1, particles 11, the peristaltic component 2, the deformation ring 21, the groove 211, the second adjustable pressure sac 22, the deformation part 221, the hose 23, the limiting component 3, the fixing ring 31, the electromagnet 311, the measuring coil 312, the moving ring 32, the permanent magnet 321, and the digestive endoscope 4. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where 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 by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0035] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "longitudinal", "transverse", "vertical", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0036] In the description of the present invention, unless otherwise specified and defined, it should be noted that the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the communication inside two elements. It can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0037] The following will be further described in detail by specific embodiments:

[0038] As shown in the attached Figure 1 - attached Figure 6 figure: A multifunctional digestive endoscope treatment device includes a first adjustable pressure capsule 1, a peristaltic component 2, and a limiting component 3 provided at the distal end of the digestive endoscope 4. A number of particles 11 are provided inside the first adjustable pressure capsule 1, and the materials of the particles 11 are all metal materials. The peristaltic component 2 is used to drive the distal end of the digestive endoscope 4 to peristalsis in the digestive tract. The peristaltic component 2 includes a second adjustable pressure capsule 22, and the second adjustable pressure capsule 22 is slidably matched with the distal end of the digestive endoscope 4. The second adjustable pressure capsule 22 is communicated with a pressure regulating member, and the pressure regulating member is used to adjust the pressures inside the first adjustable pressure capsule 1 and the second adjustable pressure capsule 22. The media inside the first adjustable pressure capsule 1 and the second adjustable pressure capsule 22 are both liquids, and the pressure regulating member is a water pump (not shown in the figure). The water pump is communicated with a hose 23, and both the first adjustable pressure capsule 1 and the second adjustable pressure capsule 22 are communicated with the water pump through the hose 23, and solenoid valves are provided at the communication positions. Deformation parts 221 are integrally formed on the outer side wall of the second adjustable pressure capsule 22 and the side wall close to the first adjustable pressure capsule 1, and the elastic moduli of the deformation parts 221 are both smaller than that of the second adjustable pressure capsule 22. An elastic member is adhesively fixed on the deformation part 221 on the side wall of the second adjustable pressure capsule 22, and the other end of the elastic member is adhesively fixed to the first adjustable pressure capsule 1.

[0039] The limiting component 3 is used to limit the rotation of the distal end of the digestive endoscope 4. The limiting component 3 includes a fixing ring 31. The outer wall of the fixing ring 31 is adhesively fixed to the first adjustable pressure balloon 1, and a magnetic isolation layer is coated on the outer wall of the fixing ring 31. A moving ring 32 is rotatably connected to the inner wall of the fixing ring 31. The inner wall of the moving ring 32 is adhesively fixed to the distal end of the digestive endoscope 4. A measuring coil 312 and a plurality of electromagnets 311 are arranged in the fixing ring 31. A permanent magnet 321 is arranged in the moving ring 32, and the permanent magnets 321 are arranged in a cross pattern according to different magnetic poles;

[0040] It further includes a control system. The control system includes a controller, a current sensor, an electromagnetic coil, and a plurality of three-axis magnetometers. The electromagnetic coil is used to generate a uniform magnetic field in the space where the particles 11 are located. The three-axis magnetometers are all used to collect magnetic field information. The current sensor is used to collect the current information passing through the measuring coil 312. The current sensor, the three-axis magnetometers, the electromagnets 311, the water pump, and the solenoid valve are all electrically connected to the controller. The controller is used to obtain the morphological information of the particles 11 according to the magnetic field information, and obtain the position information of the distal end of the digestive endoscope 4 according to the morphological information, and control the operation of the electromagnets 311, the water pump, and the electromagnet 311 assembly according to the position information. It can also obtain the frequency information of the rotation of the distal end of the digestive endoscope 4 according to the current information, and control the operation of the water pump and the solenoid valve according to the frequency information.

[0041] The specific implementation process is as follows: When a physician uses this device to assist in the examination with the digestive endoscope 4, the device is started, and the current sensor continuously collects the current information passing through the measurement coil 312. When the physician pushes and rotates the digestive endoscope 4 simultaneously to examine the patient's intestine, the digestive endoscope 4 drives the moving ring 32 to rotate. The relative position between the permanent magnet 321 in the moving ring 32 and the measurement coil 312 changes, that is, the magnetic field at the position of the measurement coil 312 changes, so that an induced current appears in the measurement coil 312, that is, current information appears. The controller judges the rotation frequency of the digestive endoscope 4 according to the change and magnitude of the current information and obtains the frequency information. When the frequency information appears, the controller controls the water pump and the solenoid valve to work. The water pump is used to fill the first adjustable pressure bladder 1 with liquid, so that the internal pressure rises and it starts to expand. The outer wall of the first adjustable pressure bladder 1 contacts the inner wall of the patient's intestine to fix the position of the first adjustable pressure bladder 1. At the same time, the second adjustable pressure bladder 22 is filled with liquid. Since the elastic modulus of the deformation part 221 is smaller than that of the second adjustable pressure bladder 22, thus, when the pressure in the second adjustable pressure bladder 22 rises, under the action of the liquid pressure, the deformation part 221 deforms prior to the second adjustable pressure bladder 22. The deformation part 221 located on the outer wall of the second adjustable pressure bladder 22 expands until it contacts the inner wall of the patient's intestine, thereby fixing the position of the second adjustable pressure bladder 22. After the deformation part 221 located on the side wall of the second adjustable pressure bladder 22 deforms and expands, it pushes the elastic member to deform and contract. Subsequently, the controller closes the solenoid valve corresponding to the second adjustable pressure bladder 22, opens the solenoid valve corresponding to the first adjustable pressure bladder 1, and opens the water pump again to extract the liquid in the first adjustable pressure bladder 1 to make it reset. The fixing effect of the first adjustable pressure bladder 1 on the elastic member, which has lost the fixing effect on the inner wall of the intestine, is released, and the elastic member resets, driving the first adjustable pressure bladder 1 and the digestive endoscope 4 to move deeper into the intestine. After a set time, the elastic member has completed the reset. At this time, the controller controls the air pump and the solenoid valve to work again to fill the first adjustable pressure bladder 1 with liquid to make it expand and fix it in the patient's body. Subsequently, the liquid in the second adjustable pressure bladder 22 is extracted to make the deformation part 221 reset. During the reset process, under the action of the elastic force of the deformation part 221, the deformation part 221 located on the side wall of the second adjustable pressure bladder 22 drives the second adjustable pressure bladder 22 to move deeper into the intestine to complete one peristalsis. Subsequently, the controller controls the water pump and the solenoid valve to work again to fill the second adjustable pressure bladder 22 with liquid for the next peristalsis until the physician stops rotating the digestive endoscope 4 and the frequency information disappears.

[0042] During this process, the electromagnetic coil continuously generates a magnetic field, and the three-axis magnetometer continuously collects magnetic field information. The method for detecting the shape of a metal published in the Chinese patent with the publication number CN205537484U is used to construct a magnetic field cloud map. Based on the changes in the magnetic field cloud map, the morphological information of the particles 11 is obtained, that is, the morphology presented by all the particles 11 as a whole. When the first adjustable pressure capsule 1 enters the intestinal turning position, the angle between the side wall of the first adjustable pressure capsule 1 and the liquid plane changes. Affected by gravity and the like, the position of the particles 11 inside it also changes accordingly, so that the morphology presented by the particles 11 as a whole changes. Thus, according to the change in the morphology presented by the particles 11 as a whole, it can be judged whether the first adjustable pressure capsule 1 enters the intestinal turning point. When the first pressure regulating capsule enters the intestinal turning point, the controller controls the electromagnet 311 to work, so that it generates a magnetic force to attract the permanent magnet 321, thereby restricting the continuous movement of the moving ring 32, that is, based on a certain resistance of the physician through the digestive endoscope 4, assisting the physician to judge whether the digestive endoscope 4 moves to the intestinal turning point. At the same time, the controller controls the water pump and the solenoid valve to stop working and stop peristalsis, assisting the physician to fix the position of the digestive endoscope 4, facilitating the physician to conduct a detailed examination of the intestinal turning position.

[0043] By setting the media in the first adjustable pressure capsule 1 and the second adjustable pressure capsule 22 as liquid, compared with the solution with the medium being gas, this device has higher safety. The liquid can make the pressure exerted by the first adjustable pressure capsule 1 and the deformation part 221 on the inner intestinal wall more uniform, reducing the irritation of the device to the patient's intestine. At the same time, by adjusting the flow rate of the liquid, the deformation amount of the first adjustable pressure capsule 1 and the deformation part 221 can be accurately adjusted, which helps to improve the patient experience and the diagnosis and treatment efficiency. Moreover, the particles 11 are affected by the buoyancy in the liquid and are more likely to move when the angle between the side wall of the first adjustable pressure capsule 1 and the liquid plane changes, thereby improving the sensitivity of the device.

[0044] Based on the above solution, in order to reduce the difficulty of subsequent disinfection, the elastic member is the deformation ring 21, and the material of the deformation ring 21 is an elastic material. Thus, during use, after the liquid is filled into the second adjustable pressure capsule 22, the deformation part 221 deforms and pushes the deformation ring 21 to deform. After the first adjustable pressure capsule 1 is reset, the deformation ring 21 is reset. Compared with using a spring or other solutions, this solution has smaller disinfection dead corners, which is beneficial to reducing the disinfection difficulty after use, and can reduce the situation where the internal mucosa of the patient's intestine enters between two adjacent turns of the spring during use and is clamped by the spring during the subsequent contraction of the spring, causing pain to the patient.

[0045] Based on the above solution, to further reduce the occurrence of damage to the inner side of the patient's intestine during the deformation of the elastic member, a number of grooves 211 are provided on both the inner and outer walls of the deformation ring. Thus, the design of the grooves 211 reduces the cross-sectional area of the deformation ring 21 at this position. During the process of the deformation part 221 squeezing the deformation ring 21, a stress concentration phenomenon occurs at the position of the grooves 211, making it easier for the deformation ring 21 to deform and bend at the position of the grooves 211, thereby artificially defining the shape of the deformation ring 21 after deformation, effectively avoiding improper deformation positions of the deformation ring 21 during deformation, the sharp corners facing outwards being too far away from the digestive endoscope 4, causing scratches to the patient's intestine and rupture of the deformation ring 21.

[0046] Based on the above solution, to further improve the patient experience, the control system further includes a water pressure sensor. The water pressure sensor is connected to the output end of the water pump and electrically connected to the controller. The water pressure sensor is used to collect the water pressure information of the liquid entering the first adjustable pressure bladder 1 or the second adjustable pressure bladder 22. The controller controls the operation of the water pump and the solenoid valve according to the water pressure information. Thus, when using this device, when the water pump is working and pumping water into the first adjustable pressure bladder 1 or the second adjustable pressure bladder 22, the liquid passes through the water pressure sensor, generating water pressure information. When the first adjustable pressure bladder 1 or the deformation part 221 is in contact with the inner wall of the patient's intestine, due to the nature of the patient's intestine, it is difficult for the first adjustable pressure bladder 1 or the deformation part 221 to continue to deform. At this time, the liquid pressure inside the first adjustable pressure bladder 1 or the second adjustable pressure bladder 22 rises, that is, the water pressure information rises. That is, when the water pressure information rises to the set value, the first adjustable pressure bladder 1 or the deformation part 221 is already in close contact with the patient's intestine. At this time, the controller controls the water pump and the solenoid valve to stop working, avoiding excessive expansion of the first adjustable pressure bladder 1 or the deformation part 221 and causing discomfort to the patient.

[0047] Based on the above solution, to further improve the patient experience, an electric heating wire is provided on the side wall of the hose 23. The electric heating wire is used to heat the liquid entering the first adjustable pressure bladder 1 or the second adjustable pressure bladder 22. Thus, when using this solution, the doctor can activate the electric heating wire and heat the liquid flowing through the hose and about to enter the first adjustable pressure bladder 1 or the second adjustable pressure bladder 22 by means of heat transfer, reducing the temperature difference between it and the patient's body temperature, thereby avoiding a large amount of absorption of the patient's intestinal temperature when the first adjustable pressure bladder 1 and the deformation part 221 are in contact with the patient's intestine, thus causing irritation to the patient's intestine and causing discomfort to the patient.

[0048] Based on the above solution, to reduce the operation steps of the physician and at the same time reduce the working energy consumption of the device, the control system further includes a temperature sensor. The temperature sensor is electrically connected to the controller. The temperature sensor is used to collect the temperature information of the liquid entering the first adjustable pressure bladder 1 or the second adjustable pressure bladder 22. The controller controls the heating wire to work according to the temperature information and the frequency information. Thus, after the physician turns on the heating wire, the controller determines whether the water pump needs to be started at this time through the frequency information. When the water pump does not need to be started, the controller cuts off the power supply of the heating wire. When the water pump needs to be started, the temperature sensor is started synchronously to collect the temperature of the liquid passing through the hose 23 to obtain the temperature information. When the temperature information is higher than the set temperature range, the controller cuts off the power supply of the heating wire. When the temperature information is lower than the set temperature range, the controller starts the power supply of the heating wire again, so that the temperature of the liquid passing through the hose 23 is maintained within the set temperature range, thereby achieving the purpose of reducing the working energy consumption of the device.

[0049] The above are only the embodiments of the present invention, and the common knowledge of the specific structures and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicability of the patent. The protection scope required by this application should be subject to the content of its claims, and the specific implementation manners in the specification can be used to explain the content of the claims.

Claims

1. A multifunctional digestive endoscopic treatment device, characterized in that: It comprises a first adjustable pressure bag, a peristaltic component and a limiting component arranged at the front end of a digestive endoscope, wherein a plurality of particles are arranged in the first adjustable pressure bag, the peristaltic component is used to drive the front end of the digestive endoscope to peristalsis in the digestive tract, and the limiting component is used to limit the rotation of the front end of the digestive endoscope; It also includes a control system, which is used to collect morphological information of all particles, obtain position information of the distal end of the digestive endoscope based on the morphological information, and control the operation of the limiting component and the peristaltic component based on the position information. It can also be used to collect frequency information of the rotation of the distal end of the digestive endoscope through the limiting component, and control the operation of the peristaltic component based on the frequency information.

2. The multifunctional digestive endoscopic treatment device according to claim 1, characterized in that: The peristaltic component includes a second adjustable pressure bag, which is connected to a pressure regulating member, and the pressure regulating member is used to adjust the pressure inside the first adjustable pressure bag and the second adjustable pressure bag. A deformation portion is provided on the outer wall of the second adjustable pressure bag and the side wall of the second adjustable pressure bag close to the first adjustable pressure bag, and the elastic modulus of the deformation portion is smaller than that of the second adjustable pressure bag. An elastic member is provided on the deformation portion located on the side wall of the second adjustable pressure bag, and the end of the elastic member away from the second adjustable pressure bag is fixedly connected to the first adjustable pressure bag. The control system is used to control the operation of the pressure regulating member according to frequency information, and adjusts the shape of the first adjustable pressure bag or the deformation portion by adjusting the pressure inside the first adjustable pressure bag or the second adjustable pressure bag, thereby driving the digestive endoscope to peristalsis in the digestive tract.

3. The multifunctional digestive endoscopic treatment device according to claim 2, characterized in that: The limiting component includes a fixed ring, an outer wall of the fixed ring is fixedly connected to the first adjustable pressure bag, and the outer wall of the fixed ring is provided with a magnetic isolation layer, the inner wall of the fixed ring is rotatably connected to a movable ring, and the inner wall of the movable ring is fixedly connected to the front end of the digestive endoscope, a measuring coil and a plurality of electromagnets are provided in the fixed ring, a permanent magnet is provided in the movable ring, and the permanent magnets are arranged in a cross-arrangement according to different magnetic poles, and a control system controls the operation of the electromagnet according to position information.

4. The multifunctional digestive endoscopic treatment device according to claim 3, characterized in that: The particles are all made of metal, and the control system includes a controller, a current sensor, an electromagnetic coil, and several three-axis magnetometers; The electromagnetic coil is used to generate a uniform magnetic field in the space where the particles are located; Three-axis magnetometers are used to collect magnetic field information; The current sensor is used to collect information about the current passing through the measuring coil; The controller is used to obtain the morphological information of the particles based on the magnetic field information, and obtain the position information of the tip of the digestive endoscope based on the morphological information, control the operation of the electromagnet and the voltage regulator based on the position information, and obtain the frequency information of the rotation of the tip of the digestive endoscope based on the current information, and control the operation of the voltage regulator based on the frequency information.

5. The multifunctional digestive endoscopic treatment device according to claim 4, characterized in that: The media inside the first adjustable pressure capsule and the second adjustable pressure capsule are both liquids, the first adjustable pressure capsule and the second adjustable pressure capsule are both connected to the pressure regulating part, and electromagnetic valves are provided at the connection points between the pressure regulating part and the first adjustable pressure capsule and the second adjustable pressure capsule, and the controller controls the operation of the pressure regulating part and the electromagnetic valve according to the frequency information.

6. The multifunctional digestive endoscopic treatment device according to claim 5, characterized in that: The elastic member is a deformation ring, and the material of the deformation ring is elastic material.

7. The multifunctional digestive endoscopic treatment device according to claim 6, characterized in that: A plurality of grooves are provided on the inner side wall and the outer side wall of the deformation ring.

8. The multifunctional digestive endoscopic treatment device according to claim 7, characterized in that: The control system also includes a water pressure sensor, which is used to collect water pressure information of the liquid entering the first adjustable pressure bag or the second adjustable pressure bag. The controller controls the pressure regulating element and the electromagnetic valve to work according to the water pressure information.

9. The multifunctional digestive endoscopic treatment device according to claim 8, characterized in that: It also includes a heating wire, which is used to heat the liquid entering the first adjustable pressure bag or the second adjustable pressure bag.

10. The multifunctional digestive endoscopic treatment device according to claim 9, characterized in that: The control system also includes a temperature sensor, which is used to collect temperature information of the liquid entering the first adjustable pressure bag or the second adjustable pressure bag. The controller controls the operation of the heating wire according to the temperature information and the frequency information.

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