Enteral examination device suitable for pneumatic driving and control method

Abstract

The invention provides an enteral examination device suitable for pneumatic driving and a control method. The intestinal examination device is arranged in an intestinal tract, and comprises an examination part; the inspection part is arranged on the first anchoring part; a second anchoring portion; the telescopic part is arranged between the first anchoring part and the second anchoring part, and the first anchoring part, the second anchoring part and the telescopic part are respectively connected with an external air supply part; wherein the air supply part supplies air to the first anchoring part or exhausts air from the first anchoring part, so that the first anchoring part expands or contracts to be attached to or away from the inner wall of the intestinal tract; the air supply part supplies air to the second anchoring part or exhausts air from the second anchoring part, so that the second anchoring part expands or contracts to be attached to or away from the inner wall of the intestinal tract; the air supply part is controlled to supply air to or exhaust air from the telescopic part, so that the telescopic part is extended, shortened or deflected to drive the first anchoring part to move, the second anchoring part to move or the first anchoring part to deflect.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical devices, and particularly to an enteric inspection device suitable for pneumatic drive and a control method. Background Art

[0002] The colon and rectum are two main parts of the large intestine in the human digestive system and play an important role in maintaining overall digestive function and human health. Colorectal diseases and colorectal cancer pose a major health challenge globally. Given the development process of colorectal cancer, it is one of the few cancers that can be almost completely prevented.

[0003] Existing enteric inspection devices for examining the internal conditions of the intestine can be divided into three categories. The first is to change the working mode of traditional endoscopes, which are capsule endoscopes that can be swallowed. For example, the capsule endoscope described in the utility model patent CN202420605338.9, but it has the deficiencies of uncontrollable movement and blind spots in inspection. The second is to improve the structure of traditional endoscopes, which are endoscopes with all parts bendable. For example, the medical active continuous endoscope robot described in the invention patent CN115844321A, but it has the deficiencies of complex structure and cumbersome control. The third is to change the manual propulsion mode of traditional endoscopes, which are endoscope robots with autonomous propulsion ability. For example, the helical propulsion type intestinal endoscope device with contact force sensing ability described in the invention patent CN112006647A, but it has the deficiencies of limited field of view and inability to adapt to complex intestines. Summary of the Invention

[0004] In view of this, the present disclosure provides an enteric inspection device suitable for pneumatic drive, which is disposed in the intestine. The inspection device includes: an inspection part; a first anchoring part, with the inspection part disposed on the first anchoring part; a second anchoring part; and a telescopic part, disposed between the first anchoring part and the second anchoring part. The first anchoring part, the second anchoring part, and the telescopic part are respectively connected to an external air supply part. Wherein, the air supply part supplies air to or evacuates air from the first anchoring part, causing the first anchoring part to expand or contract so as to fit or move away from the intestinal wall; the air supply part supplies air to or evacuates air from the second anchoring part, causing the second anchoring part to expand or contract so as to fit or move away from the intestinal wall;

[0005] By controlling the air supply part to supply air to or evacuate air from the telescopic part, the telescopic part is caused to extend, shorten or deflect, so as to drive the first anchoring part to move, the second anchoring part to move or the first anchoring part to deflect.

[0006] Optionally, the first anchoring part includes: a first mounting assembly; a first airbag, sleeved on the first mounting assembly; and a first hose, with one end connected to the air supply part and the other end passing through the first mounting assembly and communicating with the first airbag.

[0007] Optionally, the second anchoring portion includes: a second mounting assembly; a second airbag sleeved on the second mounting assembly; and a second hose, one end of which is connected to the air supply portion and the other end of which passes through the second mounting assembly and communicates with the second airbag.

[0008] Optionally, the telescopic portion includes: N telescopic assemblies, one end of which is connected to the first anchoring portion and the other end of which is connected to the second anchoring portion; and N third hoses, one ends of which are respectively connected to the air supply portion and the other ends of which respectively pass through the second anchoring portion and are connected to the other ends of the telescopic assemblies, where N is greater than or equal to 2.

[0009] Optionally, by controlling the air supply portion to supply air to the N telescopic assemblies simultaneously, the telescopic portion is extended; by controlling the air supply portion to evacuate air from the N telescopic assemblies simultaneously, the telescopic portion is shortened; and by controlling the air supply portion to evacuate air from some of the N telescopic assemblies and supply air to the other some of the N telescopic assemblies, the telescopic portion is deflected.

[0010] Optionally, each telescopic assembly includes: a flexible tube, one end of which is connected to the first anchoring portion and the other end of which is connected to the second anchoring portion and the third hose; and a rigid tube surrounding the outer periphery of the flexible tube.

[0011] Optionally, the telescopic portion further includes M fixing members, each of which is formed with N mounting holes, and the N telescopic assemblies pass through the N mounting holes and are connected to the first anchoring portion and the second anchoring portion, where M is greater than or equal to 1.

[0012] Optionally, the telescopic portion further includes N pneumatic connectors, the flexible tube is connected to the second anchoring portion through the pneumatic connector, and the third hose is connected to the flexible tube through the pneumatic connector.

[0013] Optionally, three telescopic assemblies are provided, and the three telescopic assemblies are arranged in a circumferentially uniform distribution manner.

[0014] The present disclosure also provides a control method applicable to the above-mentioned enteric examination device, including: repeatedly performing the following operations until the examination part moves to the target position: controlling the air supply part to evacuate the first anchoring part and supply air to the second anchoring part, so that the first anchoring part contracts away from the intestinal wall, and the second anchoring part expands to fit the intestinal wall; controlling the air supply part to supply air to the telescopic part, so that the telescopic part extends to drive the first anchoring part to move; controlling the air supply part to supply air to the first anchoring part, so that the first anchoring part expands to fit the intestinal wall; controlling the air supply part to evacuate the second anchoring part and the telescopic part, so that the second anchoring part contracts and the telescopic part shortens to drive the second anchoring part to move; controlling the air supply part to evacuate the first anchoring part and supply air to the second anchoring part, so that the first anchoring part contracts away from the intestinal wall, and the second anchoring part expands to fit the intestinal wall; controlling the air supply part to supply air to the telescopic part, so that the telescopic part deflects to drive the examination part on the first anchoring part to deflect to the part to be examined.

[0015] According to the embodiments of the present disclosure, by providing that the first anchoring part and the second anchoring part are respectively connected to the air supply part, the first anchoring part and the second anchoring part can be respectively controlled to fit the intestinal wall, so that the enteric examination device can stay in the intestine. Since the first anchoring part and the second anchoring part can expand or contract, they can adapt to intestinal environments with different diameters, and the applicable range is relatively wide. By providing that the telescopic part is connected to the air supply part, the telescopic part can be controlled to extend or shorten, and cooperate with the first anchoring part and the second anchoring part to drive the enteric examination device to move forward or backward, so that the enteric examination device moves to the target position. By controlling the deflection of the telescopic part, the first anchoring part can be driven to deflect, so that the examination part on the first anchoring part is aligned with the target position, and thus the target position can be examined more accurately. Description of the Drawings

[0016] Through the following description of the embodiments of the present disclosure with reference to the drawings, the above and other objects, features and advantages of the present disclosure will become clearer. In the drawings:

[0017] Figure 1 A perspective view of an enteric examination device applicable to pneumatic drive according to an embodiment of the present disclosure is schematically shown.

[0018] Figure 2 An exploded view of an enteric examination device applicable to pneumatic drive according to an embodiment of the present disclosure is schematically shown.

[0019] Figure 3 An exploded view of the first anchoring part and the examination part according to an embodiment of the present disclosure is schematically shown.

[0020] Figure 4 A perspective view of the first upper cover according to an embodiment of the present disclosure is schematically shown.

[0021] Figure 5 A side view of a first upper cover according to an embodiment of the present disclosure is schematically shown.

[0022] Figure 6 A perspective view of a first lower cover according to an embodiment of the present disclosure is schematically shown.

[0023] Figure 7 A perspective view of a second anchoring portion according to an embodiment of the present disclosure is schematically shown.

[0024] Figure 8 An exploded view of a second anchoring portion according to an embodiment of the present disclosure is schematically shown.

[0025] Figure 9 A perspective view of a second lower cover according to an embodiment of the present disclosure is schematically shown.

[0026] Figure 10 A perspective view of a second lower cover according to an embodiment of the present disclosure is schematically shown.

[0027] Figure 11 A perspective view of a telescopic portion according to an embodiment of the present disclosure is schematically shown.

[0028] Figures 12 - 14 A movement state diagram of an enteric inspection device according to an embodiment of the present disclosure is schematically shown.

[0029] Figure 15 A state diagram after deflection of a first anchoring portion according to an embodiment of the present disclosure is schematically shown.

[0030] Figure 16 A control schematic diagram of an enteric inspection device according to an embodiment of the present disclosure is schematically shown.

[0031] Reference numerals

[0032] 1. Inspection unit; 2. First anchoring unit; 21. First installation component; 211. First upper cover; 2111. Groove; 2112. First part; 2113. Second air hole; 2114. Third air hole; 2115. Second part; 212. First lower cover; 2121. First air hole; 22. First airbag; 23. First hose; 3. Second anchoring unit; 31. Second installation component; 311. Second upper cover; 312. Second lower cover; 3121. Third part; 3122. Fourth part; 3123. Fourth air hole; 3124. Fifth air hole; 3125. Channel; 32. Second airbag; 33. Second hose; 4. Telescopic unit; 41. Telescopic component; 411. Flexible tube; 412. Rigid tube; 413. First telescopic component; 414. Second telescopic component; 415. Third telescopic component; 42. Third hose; 43. Fixing member; 44. Pneumatic joint; 5. Outer wall; 6. Inner wall; 7. Installation groove; 8. Bottom; 10. Control system; 101. Solenoid valve group; 102. Air supply unit. Detailed implementation manners

[0033] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In the following detailed description, for the sake of explanation, many specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. However, obviously, one or more embodiments can also be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily obscuring the concepts of the present disclosure.

[0034] The terms used herein are merely for describing specific embodiments and are not intended to limit the present disclosure. The terms "including", "comprising" and the like used herein indicate the presence of features, steps, operations and / or components, but do not exclude the presence or addition of one or more other features, steps, operations or components.

[0035] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0036] In the case of using expressions such as "at least one of A, B, and C", generally, it should be interpreted according to the meaning commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include, but not be limited to, a system having only A, only B, only C, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0037] Figure 1 A perspective view of an enteric inspection device suitable for pneumatic drive according to an embodiment of the present disclosure is schematically shown. Figure 2 An exploded view of an enteric inspection device suitable for pneumatic drive according to an embodiment of the present disclosure is schematically shown.

[0038] As Figures 1 - 2 shown, an embodiment of the present disclosure provides an enteric inspection device suitable for pneumatic drive. The inspection device can be disposed in the intestine to inspect a suspicious lesion site in the intestine. The inspection device can include an inspection unit 1, a first anchoring unit 2, a second anchoring unit 3, and a telescopic unit 4. The inspection unit 1 can collect images of a suspicious lesion site in the intestine. The inspection unit 1 can include, but is not limited to, image acquisition devices such as a colonoscope, a small intestine endoscope, a sigmoidoscope, and a capsule endoscope. The inspection unit 1 can be disposed on the first anchoring unit 2. The telescopic unit 4 can be disposed between the first anchoring unit 2 and the second anchoring unit 3. The first anchoring unit 2, the second anchoring unit 3, and the telescopic unit 4 can be respectively connected to an external air supply unit (not shown in the figure).

[0039] Furthermore, by controlling the air supply unit to supply air to or evacuate air from the first anchoring unit 2, the first anchoring unit 2 can be expanded or contracted to fit or move away from the intestinal wall. By controlling the air supply unit to supply air to or evacuate air from the second anchoring unit 3, the second anchoring unit 3 can be expanded or contracted to fit or move away from the intestinal wall. By controlling the air supply unit to supply air to or evacuate air from the telescopic unit 4, the telescopic unit 4 can be extended, shortened, or deflected to drive the first anchoring unit 2 to move, the second anchoring unit 3 to move, or the first anchoring unit 2 to deflect.

[0040] For example, when the second anchoring unit 3 is in contact with the intestinal wall, if the telescopic unit 4 extends, the telescopic unit 4 can drive the first anchoring unit 2 to move forward; if the telescopic unit 4 shortens, the telescopic unit 4 can drive the first anchoring unit 2 to move backward; if the telescopic unit 4 deflects, the telescopic unit 4 can drive the first anchoring unit 2 to deflect. When the first anchoring unit 2 is in contact with the intestinal wall, if the telescopic unit 4 extends, the telescopic unit 4 can drive the second anchoring unit 3 to move backward; if the telescopic unit 4 shortens, the telescopic unit 4 can drive the second anchoring unit 3 to move forward; if the telescopic unit 4 deflects, the telescopic unit 4 can drive the second anchoring unit 3 to deflect. The direction from the second anchoring unit 3 to the first anchoring unit 2 can be represented as the forward direction, and the direction from the first anchoring unit 2 to the second anchoring unit 3 can be represented as the backward direction.

[0041] According to an embodiment of the present disclosure, by respectively connecting the first anchoring part 2 and the second anchoring part 3 to the air supply part, the first anchoring part 2 and the second anchoring part 3 can be respectively controlled to fit the inner wall of the intestine, so that the intestinal inspection device can stay in the intestine. Since the first anchoring part 2 and the second anchoring part 3 can expand or contract, they can adapt to intestinal environments with different diameters, and the applicable range is relatively wide. By connecting the telescopic part 4 to the air supply part, the telescopic part 4 can be controlled to extend or shorten, and cooperate with the first anchoring part 2 and the second anchoring part 3 to drive the intestinal inspection device to move forward or backward, so that the intestinal inspection device moves to the target position. By controlling the deflection of the telescopic part 4, the first anchoring part 2 can be driven to deflect, so that the inspection part 1 on the first anchoring part 2 is aligned with the target position, and thus the target position can be inspected more accurately.

[0042] According to an embodiment of the present disclosure, the first anchoring part 2 and the second anchoring part 3 can be made of flexible materials to improve the comfort of use.

[0043] Figure 3 Schematically shows an exploded view of the first anchoring part and the inspection part according to an embodiment of the present disclosure.

[0044] As Figures 1 - 3 shown, in a schematic embodiment, the first anchoring part 2 may include a first mounting assembly 21, a first airbag 22, and a first hose 23. The first airbag 22 may be sleeved on the first mounting assembly 21. One end of the first hose 23 (such as Figure 2 the lower end of the first hose 23 shown) is connected to the air supply part (not shown in the figure). The other end of the first hose 23 (such as Figure 2 the upper end of the first hose 23 shown) may pass through the first mounting assembly 21 and communicate with the first airbag 22. The first airbag 22 may be made of flexible materials. When the air supply part supplies air to the first anchoring part 2, the gas of the air supply part can be transmitted to the first mounting assembly 21 via the first hose 23, and transmitted to the first airbag 22 through the air holes of the first mounting assembly 21, so that the first airbag 22 expands to fit the inner wall of the intestine, and thus the intestinal inspection device is fixed in the intestine based on the friction between the first airbag 22 and the inner wall of the intestine. When the air supply part evacuates the first anchoring part 2, the gas in the first airbag 22 can be transmitted to the air supply part via the first hose 23, so that the first airbag 22 contracts to move away from the inner wall of the intestine.

[0045] Figure 4 Schematically shows a perspective view of the first upper cover according to an embodiment of the present disclosure. Figure 5 Schematically shows a side view of the first upper cover according to an embodiment of the present disclosure. Figure 6 Schematically shows a perspective view of the first lower cover according to an embodiment of the present disclosure.

[0046] As Figures 3 - 6As shown, in a schematic embodiment, the first mounting assembly 21 may include a first upper cover 211 and a first lower cover 212. The first upper cover 211 may be formed with a first portion 2112 for mounting the first airbag 22 and a second portion 2115 for mounting the inspection unit 1. The first upper cover 211 may be provided with a groove 2111 for mounting the inspection unit 1. The shape of the groove 2111 may be set according to the shape of the inspection unit 1.

[0047] The perimeter of the first portion 2112 may be smaller than the perimeter of the second portion 2115. The first airbag 22 may be sleeved on the first portion 2112. The perimeter of the first lower cover 212 may be the same as the perimeter of the second portion 2115. An installation groove 7 that matches the first portion 2112 may be provided on the first lower cover 212 to facilitate the more precise installation of the first upper cover 211 on the first lower cover 212.

[0048] Furthermore, the first portion 2112 may be configured as a hollow cylindrical structure. A cavity structure for accommodating gas may be formed between the outer wall 5 and the inner wall 6 of the cylinder. The first portion 2112 and the first lower cover 212 may both be provided with air holes allowing gas to flow through. The first lower cover 212 may form a first air hole 2121. A second air hole 2113 may be formed at the bottom 8 of the first portion 2112 for matching with the first lower cover 212, and a third air hole 2114 may be formed on the outer wall 5 of the first portion 2112 for matching with the first airbag 22.

[0049] The first lower cover 212 and the first portion 2112 may be hollow structures. After the first upper cover 211 is installed on the first lower cover 212, the first air hole 2121 may be aligned with the second air hole 2113, and the first hose 23 may pass through the first air hole 2121 to the second air hole 2113, forming a relatively closed structure between the first lower cover 212, the cavity structure, and the first airbag 22 that only allows gas to flow in or out through the first hose 23. Gas may enter the cavity structure through the first hose 23 and enter the first airbag 22 through the third air hole 2114.

[0050] Furthermore, a plurality of uniformly arranged third air holes 2114 may be formed on the outer wall 5 of the first portion 2112, enabling gas to enter the first airbag 22 uniformly through the plurality of third air holes 2114, thereby enabling the first airbag 22 to expand uniformly.

[0051] Figure 7 A perspective view of a second anchoring portion according to an embodiment of the present disclosure is schematically shown. Figure 8 An exploded view of a second anchoring portion according to an embodiment of the present disclosure is schematically shown.

[0052] As Figure 1 、 Figure 3 、 Figure 7 andFigure 8 As shown, in a schematic embodiment, the second anchoring portion 3 may further include a second mounting assembly 31, a second airbag 32, and a second hose 33. The second airbag 32 may be sleeved on the second mounting assembly 31. One end of the second hose 33 (such as Figure 1 the lower end of the second hose 33 shown) may be connected to the air supply portion, and the other end of the second hose 33 (such as Figure 1 the lower end of the second hose 33 shown) may pass through the second mounting assembly 31 and communicate with the second airbag 32.

[0053] The second airbag 32 may be made of a flexible material. The first airbag 22 and the second airbag 32 may be made of silicone. A mold matching the shapes of the first airbag 22 and the second airbag 32 may be printed using a 3D printer. The silicone is poured into the mold, degassed using a vacuum machine, and after curing and demolding at room temperature, the first airbag 22 and the second airbag 32 can be obtained.

[0054] When the air supply portion supplies air to the second anchoring portion 3, the gas from the air supply portion may be transmitted to the second mounting assembly 31 via the second hose 33, and transmitted to the second airbag 32 through the air holes of the second mounting assembly 31, causing the second airbag 32 to expand and fit against the inner wall of the intestine. Thus, based on the friction between the second airbag 32 and the inner wall of the intestine, the intestinal inspection device is fixed in the intestine. When the air supply portion evacuates the second anchoring portion 3, the gas in the second airbag 32 may be transmitted to the air supply portion via the second hose 33, causing the second airbag 32 to contract and move away from the inner wall of the intestine.

[0055] Figure 9 A perspective view of a second lower cover according to an embodiment of the present disclosure is schematically shown. Figure 10 A perspective view of a second lower cover according to an embodiment of the present disclosure is schematically shown.

[0056] As Figures 7 - 10 shown, in a schematic embodiment, the second mounting assembly 31 may include a second upper cover 311 and a second lower cover 312. The second lower cover 312 may be formed with a third portion 3121 for mounting the second airbag 32 and a fourth portion 3122 matching the shape of the second upper cover 311. The perimeter of the third portion 3121 may be smaller than the perimeter of the fourth portion 3122. The perimeter of the second upper cover 311 may be the same as the perimeter of the fourth portion 3122. The second airbag 32 may be sleeved on the third portion 3121. An installation groove (not shown in the figure) matching the third portion 3121 may be provided on the second upper cover 311 to facilitate the more accurate installation of the second lower cover 312 on the second upper cover 311.

[0057] As Figures 9 - 10As shown, the third part 3121 can be configured as a hollow cylindrical structure. A cavity structure for accommodating gas can be formed between the outer wall 5 and the inner wall 6 of the cylinder. The third part 3121 and the fourth part 3122 can both be provided with air holes allowing gas to flow through. The fourth part 3122 can form a fourth air hole 3123. The outer wall 5 of the third part 3121 for matching with the second airbag 32 can form a fifth air hole 3124.

[0058] The second lower cover 312 and the second upper cover 311 can be of hollow structure. The first hose 23 can pass through the hollow structure to the first anchoring part 2. After the second lower cover 312 is installed on the second upper cover 311, the second hose 33 can pass through the fourth air hole 3123 to the cavity structure, and a relatively closed structure that only allows gas to flow in or out through the second hose 33 can be formed between the second lower cover 312 and the second airbag 32. Gas can enter the cavity structure through the second hose 33 and enter the second airbag 32 through the fifth air hole 3124. Further, the outer wall 5 of the third part 3121 can form a plurality of uniformly arranged fifth air holes 3124, enabling gas to enter the second airbag 32 uniformly through the plurality of fifth air holes 3124, so that the second airbag 32 expands uniformly.

[0059] Figure 11 A perspective view of the telescopic part according to an embodiment of the present disclosure is schematically shown.

[0060] As Figure 1 、 Figure 2 and Figure 11 shown, in a schematic embodiment, the telescopic part 4 can include N telescopic components 41 and N third hoses 42. N is greater than or equal to 2. For example, N can be 2, 3, 4, 5, 6. One end of each telescopic component 41 (such as the upper end of the telescopic component 41 as Figure 2 shown) can be connected to the first anchoring part 2. The other end of each telescopic component 41 (such as the lower end of the telescopic component 41 as Figure 2 shown) can be connected to the second anchoring part 3. One end of each third hose 42 (such as the lower end of the third hose 42 as Figure 1 shown) can be connected to the air supply part. The other end of each third hose 42 (such as the upper end of the third hose 42 as Figure 1 shown) can pass through the second anchoring part 3 and be connected to the other end of the telescopic component 41 (such as the lower end of the telescopic component 41 as Figure 2 shown).

[0061] Further, joints may be provided at both ends of each telescopic component 41. The telescopic component 41 is connected to the first anchoring portion 2 and the second anchoring portion 3 through the joints. Further, the joint between the telescopic component 41 and the second anchoring portion 3 may be a pneumatic joint 44, and the pneumatic joint 44 may also be connected to a third hose 42 to allow gas to be transmitted from the third hose 42 to the telescopic component 41 through the pneumatic joint 44, thereby controlling the telescopic movement of the telescopic component 41. The joint between the telescopic component 41 and the first anchoring portion 2 may not have a gas circulation function.

[0062] In a schematic embodiment, the telescopic portion 4 can be extended by controlling the air supply unit to supply air to the N telescopic components 41 simultaneously. The telescopic portion 4 can be shortened by controlling the air supply unit to extract air from the N telescopic components 41 simultaneously. The telescopic portion 4 can be deflected by controlling the air supply unit to extract air from some of the N telescopic components 41 and supply air to the other telescopic components 41. Further, the deflection angle of the telescopic portion 4 can be controlled by controlling the telescopic length of each telescopic component 41. For example, as Figure 11 shown, when the telescopic portion 4 includes 3 telescopic components 41, namely, a first telescopic component 413, a second telescopic component 414, and a third telescopic component 415. By controlling the length of the first telescopic component 413 to be greater than the length of the second telescopic component 414, and the length of the second telescopic component 414 to be greater than the length of the third telescopic component 415, the telescopic portion 4 can be deflected to the left (such as the left side shown in Figure 11 ).

[0063] In a schematic embodiment, three telescopic components 41 are provided, and the three telescopic components 41 are arranged in a circumferential uniform distribution manner to control the deflection of the first anchoring portion 2 more evenly and control the movement of the intestinal inspection device more stably.

[0064] As Figure 1 , Figure 2 , Figure 11 shown, in a schematic embodiment, each telescopic component 41 may include a flexible tube 411 and a rigid tube 412. One end of the flexible tube 411 (such as the upper end of the flexible tube 411 shown in Figure 11 ) is connected to the first anchoring portion 2. The other end of the flexible tube 411 (such as the lower end of the flexible tube 411 shown in Figure 11 ) is connected to the second anchoring portion 3 and the third hose 42. The rigid tube 412 surrounds the outer periphery of the flexible tube 411. Thus, when gas is transmitted from the third hose 42 to the flexible tube 411 and the gas in the flexible tube 411 increases, the rigid tube 412 prevents the flexible tube 411 from expanding, enabling the flexible tube 411 to only elongate, that is, the telescopic component 41 elongates. The flexible tube 411 can be made of a latex tube. The rigid tube can be made of a nylon braided mesh.

[0065] Further, the telescopic component 41 can be prepared by the following method:

[0066] S1: Material cutting, cut a latex tube with a length of L and a nylon braided net with a length of 4L. L can be greater than 0.1 meter.

[0067] S2: Fold forming, fold the cut nylon braided net into a pleated structure, and put it on a pre-prepared metal rod. Then tie the nylon braided net and the metal rod tightly to ensure that the pleated form of the nylon braided net remains stable during subsequent processing. For example, it can be tied tightly by medical tape, special ties, etc.

[0068] S3: Heating and solidifying, carefully place the pleated and tied nylon braided net in a heating device for heating treatment to solidify. The temperature of the heating device can be set to 150 °C. The heating time can be 20 minutes. The heating device can be a microwave oven. During the heating process, the operating state of the heating device and the heating condition of the nylon braided net should be closely monitored to prevent damage or performance degradation of the nylon braided net caused by overheating or other abnormal phenomena.

[0069] S4: Assembly, after the heating and solidifying is completed, take out the solidified pleated nylon braided net, and insert the latex tube into the nylon braided net.

[0070] In a schematic embodiment, the flexible tube 411 is connected to the second anchoring portion 3 through a pneumatic joint 44. The third hose 42 is connected to the flexible tube 411 through a pneumatic joint 44. Further, the second lower cover 312 is formed with a passage 3125 allowing N third hoses 42 to pass through. The pneumatic joint 44 can be installed on the second lower cover 312 and communicate with the passage 3125. The N third hoses 42 can pass through the passage 3125 of the second lower cover 312 and communicate with the N pneumatic joints 44 respectively. The pneumatic joint 44 can be connected to the control system, so that the control system can more accurately control the pressure of the gas supply part providing gas to the telescopic component 41 through the pneumatic joint 44, thereby more accurately controlling the telescopic movement of the telescopic component 41, and further achieving the purpose of accurately controlling the deflection angle of the first anchoring portion 2.

[0071] Further, the first airbag 22, the second airbag 32 and the telescopic component 41 can be respectively connected to the gas supply part through solenoid valve groups, and the solenoid valve groups can be connected to the control system to supply gas to the first airbag 22, the second airbag 32 and the telescopic component 41 more accurately. Each solenoid valve group can be provided with two two-way three-way solenoid valves to allow the first airbag 22, the second airbag 32 and the telescopic component 41 to switch among three different working states (inflation state, deflation state and pressure holding state).

[0072] In the inflated state, when the solenoid valve group allows gas to flow into the first airbag 22, the second airbag 32, and / or the telescopic assembly 41, the first airbag 22, the second airbag 32, and / or the telescopic assembly 41 enter the inflated state, the gas pressure inside the first airbag 22, the second airbag 32, and / or the telescopic assembly 41 increases, and the first airbag 22, the second airbag 32, and / or the telescopic assembly 41 expand or elongate.

[0073] In the deflated state, contrary to the inflated state, the solenoid valve group controls the gas to be discharged from the first airbag 22, the second airbag 32, and / or the telescopic assembly 41, thereby reducing the gas pressure inside the first airbag 22, the second airbag 32, and / or the telescopic assembly 41, and the first airbag 22, the second airbag 32, and / or the telescopic assembly 41 contract.

[0074] In the pressure-holding state, the solenoid valve group neither allows gas to flow in nor allows gas to flow out of the first airbag 22, the second airbag 32, and / or the telescopic assembly 41 to maintain the stability of the gas pressure inside the first airbag 22, the second airbag 32, and / or the telescopic assembly 41 and keep the first airbag 22, the second airbag 32, and / or the telescopic assembly 41 in the current state.

[0075] In a schematic embodiment, the telescopic part 4 may further include M fixing members 43. M is greater than or equal to 1. The number of the fixing members 43 can be set according to the length of the rigid tube 412. For example, M can be 1, 2, 3, or 4. Each fixing member 43 is formed with N mounting holes. The N telescopic assemblies 41 can respectively pass through the N mounting holes and be connected to the first anchoring part 2 and the second anchoring part 3 to avoid interference between the telescopic assemblies 41, improve the stability of the telescopic part 4, and can improve the stiffness of the telescopic part 4. The fixing members 43 can be spaced apart to not affect the deflection of the telescopic part 4. The fixing members 43 can be made of rigid materials. The width of the fixing members 43 can be smaller than the widths of the first lower cover 212 and the second upper cover 311 to avoid the fixing members 43 rubbing against the intestinal wall.

[0076] Figures 12 - 14 A motion state diagram of the intestinal inspection device according to an embodiment of the present disclosure is schematically shown.

[0077] The present disclosure also provides a control method applicable to the above-mentioned intestinal inspection device. The control method includes the following steps S110 to S130.

[0078] In step S110, the following steps S111 to S114 are repeatedly executed until the inspection part 1 moves to the target position.

[0079] In step S111, the air supply part is controlled to evacuate the first anchoring part 2 and supply air to the second anchoring part 3, so that the first anchoring part 2 contracts away from the intestinal wall, and the second anchoring part 3 expands to fit the intestinal wall, as Figure 12as shown

[0080] In step S112, the air supply unit is controlled to supply air to the telescopic part 4, so that the telescopic part 4 extends to drive the first anchoring part 2 to move, as Figure 13 shown

[0081] In step S113, the air supply unit is controlled to supply air to the first anchoring part 2, so that the first anchoring part 2 expands to fit the inner wall of the intestinal tract, as Figure 14 shown

[0082] In step S114, the air supply unit is controlled to evacuate the second anchoring part 3 and the telescopic part 4, so that the second anchoring part 3 contracts and the telescopic part 4 shortens to drive the second anchoring part 3 to move, as Figure 14 shown

[0083] According to the embodiments of the present disclosure, by repeating the above steps S111 - S114, the inspection part 1 can be moved to the target position. The target position can be expressed as a position adjacent to the suspected lesion site. The target position can be set by a doctor according to the structure of the intestinal inspection device and the position of the suspected lesion site.

[0084] Figure 15 Schematically shows the state diagram of the first anchoring part after deflection according to the embodiments of the present disclosure.

[0085] In step S120, the air supply unit is controlled to evacuate the first anchoring part 2 and supply air to the second anchoring part 3, so that the first anchoring part 2 contracts away from the inner wall of the intestinal tract, and the second anchoring part 3 expands to fit the inner wall of the intestinal tract, as Figure 15 shown

[0086] In step S130, the air supply unit is controlled to supply air to the telescopic part 4, so that the telescopic part 4 deflects to drive the inspection part 1 on the first anchoring part 2 to deflect to the part to be inspected, as Figure 15 shown, so that the part to be inspected can be inspected. The part to be inspected can be expressed as the suspected lesion site.

[0087] According to the embodiments of the present disclosure, the inspection part 1 can be closer to the suspected lesion site, reduce image distortion and blurring, improve the clarity and accuracy of the image, and provide high-quality image data for subsequent diagnosis and analysis.

[0088] Figure 16 Schematically shows the control principle diagram of the intestinal inspection device according to the embodiments of the present disclosure.

[0089] As Figure 16 shown, the control system 10 can control the air supply unit 102 to supply air to the first anchoring part 2, the second anchoring part 3 and the telescopic part 4 by controlling the solenoid valve group 101.

[0090] Furthermore, the gas supply unit 102 may include an air pump and a power source. The air pump can be used to supply gas. The control system 10 may include a host computer, a control unit, and a relay. The control unit can be used to process logical instructions and coordinate the work of other components. The host computer can serve as an operation interface, allowing the user to monitor the system status and send control instructions to the control unit. The relay can receive signals from the control unit and control the working state of the solenoid valve group 101 to ensure that the solenoid valve group 101 can work safely and efficiently.

[0091] Those skilled in the art can understand that the features recited in the various embodiments and / or claims of the present disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly recited in the present disclosure. In particular, without departing from the spirit and teachings of the present disclosure, the features recited in the various embodiments and / or claims of the present disclosure can be combined and combined in various ways. All such combinations and / or combinations fall within the scope of the present disclosure.

[0092] The embodiments of the present disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments have been described separately above, this does not mean that the measures in the respective embodiments cannot be used advantageously in combination. The scope of the present disclosure is defined by the appended claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art can make various substitutions and modifications, and all such substitutions and modifications should fall within the scope of the present disclosure.

Claims

1. An enteric examination device suitable for pneumatic drive, characterized in that, Located in the intestine, the inspection device includes: An inspection unit; A first anchoring unit, with the inspection unit disposed on the first anchoring unit; A second anchoring unit; and An expansion and contraction unit, disposed between the first anchoring unit and the second anchoring unit, and the first anchoring unit, the second anchoring unit, and the expansion and contraction unit are respectively connected to an external air supply unit; Wherein, the air supply unit supplies air to or evacuates air from the first anchoring unit, causing the first anchoring unit to expand or contract so as to fit or move away from the inner wall of the intestine; The air supply unit supplies air to or evacuates air from the second anchoring unit, causing the second anchoring unit to expand or contract so as to fit or move away from the inner wall of the intestine; By controlling the air supply unit to supply air to or evacuate air from the expansion and contraction unit, the expansion and contraction unit is elongated, shortened or deflected, so as to drive the first anchoring unit to move, the second anchoring unit to move or the first anchoring unit to deflect.

2. The enteric examination device according to claim 1, wherein The first anchoring unit includes: A first mounting assembly; A first airbag, sleeved on the first mounting assembly; and A first hose, one end of which is connected to the air supply unit, and the other end passes through the first mounting assembly and is communicated with the first airbag.

3. The enteric examination device according to claim 1, characterized in that, The second anchoring unit includes: A second mounting assembly; A second airbag, sleeved on the second mounting assembly; and A second hose, one end of which is connected to the air supply unit, and the other end passes through the second mounting assembly and is communicated with the second airbag.

4. The enteric inspection device according to claim 1, characterized in that, The expansion and contraction unit includes: N expansion and contraction assemblies, one end of which is connected to the first anchoring unit and the other end is connected to the second anchoring unit; and N third hoses, one end of each of which is respectively connected to the air supply unit, and the other end passes through the second anchoring unit and is connected to the other end of the expansion and contraction assembly, where N is greater than or equal to 2.

5. The intestinal inspection device according to claim 4, wherein: By controlling the air supply unit to supply air to the N expansion and contraction assemblies simultaneously, the expansion and contraction unit is elongated; By controlling the air supply unit to evacuate air from the N expansion and contraction assemblies simultaneously, the expansion and contraction unit is shortened; And By controlling the air supply unit to evacuate air from some of the N expansion and contraction assemblies and supply air to the other part of the expansion and contraction assemblies, the expansion and contraction unit is deflected.

6. The enteric examination device according to claim 4, wherein, Each expansion and contraction assembly includes: A flexible tube, one end of which is connected to the first anchoring unit, and the other end is connected to the second anchoring unit and the third hose; and A rigid tube, surrounding the outer periphery of the flexible tube.

7. The enteric examination device according to claim 4, wherein The expansion and contraction unit further includes M fixing members, each of which is formed with N mounting holes, and the N expansion and contraction assemblies pass through the N mounting holes and are connected to the first anchoring unit and the second anchoring unit, where M is greater than or equal to 1.

8. The enteric inspection device according to claim 6, wherein The expansion and contraction unit further includes N pneumatic joints, the flexible tube is connected to the second anchoring unit through the pneumatic joint, and the third hose is connected to the flexible tube through the pneumatic joint.

9. The enteric examination device according to claim 1, characterized in that, Three expansion and contraction assemblies are provided, and the three expansion and contraction assemblies are arranged in a circumferentially uniform distribution manner.

10. A control method applicable to the enteric examination device according to any one of the above-mentioned claims 1 to 9, characterized in that, Including: Circularly execute the following operations until the inspection unit moves to the target position: Control the air supply unit to evacuate air from the first anchoring unit and supply air to the second anchoring unit, causing the first anchoring unit to contract and move away from the inner wall of the intestine, and causing the second anchoring unit to expand and fit the inner wall of the intestine; Control the air supply unit to supply air to the telescopic part, causing the telescopic part to extend and drive the first anchoring part to move; Control the air supply unit to supply air to the first anchoring part, causing the first anchoring part to expand and fit against the inner wall of the intestine; Control the air supply unit to evacuate air from the second anchoring part and the telescopic part, causing the second anchoring part to contract and the telescopic part to shorten, and drive the second anchoring part to move; Control the air supply unit to evacuate air from the first anchoring part and supply air to the second anchoring part, causing the first anchoring part to contract and move away from the inner wall of the intestine, and causing the second anchoring part to expand and fit against the inner wall of the intestine; Control the air supply unit to supply air to the telescopic part, causing the telescopic part to deflect and drive the inspection part on the first anchoring part to deflect to the part to be inspected.

Images