An esophageal probe with an automatically rotating head

Abstract

An automatically rotating transesophageal probe includes a probe head, a snake-bone tube, an insertion tube, a rotating structure, a drive module, a sensor, and a control module. The rotating structure includes two embodiments: an axial rotating structure (gear module) and a slider rotating structure. A motor drives a flexible transmission component (soft shaft or steel wire) to independently rotate the probe head relative to the insertion tube by ±15° or ±30°. The control module calculates the optimal rotation angle based on cardiac anatomy and real-time image analysis, forming a closed-loop control system combined with sensor feedback. A rotation stabilization structure (flange or elastic element) prevents jamming. This invention solves the problems of patient discomfort, reliance on physician experience, and low efficiency caused by traditional probe insertion tube rotation. It standardizes operation, improves patient comfort and examination efficiency, simplifies the structure, and reduces costs, making it suitable for transesophageal echocardiography.

Description

Technical Field

[0001] This invention relates to the field of medical imaging equipment technology, and in particular to a transesophageal probe with an automatically rotating head. Background Technology

[0002] Transesophageal echocardiography (TEE) is a key tool for the diagnosis of clinical heart diseases. The traditional TEE probe consists of an insertion tube (approximately 100cm in length and 11mm in diameter) and a probe head (14mm in diameter). During the procedure, the physician must manually insert the probe and then adjust the head angle by rotating the external handle of the insertion tube (±180° rotation) to obtain 28 standard sections (such as the long axis section of the left ventricle in the mid-esophagus).

[0003] The existing technology has significant drawbacks:

[0004] 1. Poor patient comfort: The head is rigidly connected to the snake bone tube and the insertion tube. During adjustment, the insertion tube rotates synchronously. On average, the esophagus is rubbed 3-5cm per examination, and a total of 4-6 adjustments are made, resulting in obvious mucosal irritation.

[0005] 2. High operational threshold: It relies on the doctor's experience. The success rate of obtaining standard incisions for new doctors is only 68%, and it takes more than 5 years of experience to operate skillfully.

[0006] 3. Inefficient: Manual adjustments are cumbersome, and a single check takes 25-40 minutes;

[0007] 4. Insufficient intelligence: It lacks an automatic angle calculation and precise control mechanism, relies entirely on manual judgment, and fails to address the issue of proactive protection against jamming risks during rotation. Summary of the Invention

[0008] The purpose of this invention is to provide a transesophageal probe with an automatically rotating head, which aims to solve the problems of traditional TEE probes that rely on manual adjustment, cause patient discomfort, are inefficient, and lack intelligent control. By designing an independent rotating structure and control module, the probe head can be automatically rotated and the angle can be accurately calculated and controlled.

[0009] To achieve the above objectives, the present invention provides an esophageal probe with an automatically rotating head, comprising:

[0010] The probe head integrates detection elements at the front end for transmitting and receiving detection signals;

[0011] The snake-bone tube connects to the probe head at one end and to the insertion tube at the other, allowing the head to bend.

[0012] The insertion tube is a flexible tubular structure, with its front end connected to the snake bone tube;

[0013] A rotating structure is located at the connection between the probe head and the snake bone tube, used to transmit driving force to the probe head and drive it to rotate.

[0014] The drive module includes a motor and a flexible transmission component. One end of the flexible transmission component is connected to the motor, and the other end is connected to the rotating structure for transmission, so as to provide power to the rotating structure.

[0015] The sensor, installed on the probe head, is used to detect the rotation angle, rotation speed, and rotation acceleration of the probe head in real time.

[0016] A rotational stabilizing structure is installed on the rotating structure to reduce the risk of jamming during the rotation process;

[0017] The control module is electrically connected to the drive module and the sensor respectively. It is used to receive the detection signal from the sensor and control the power output of the drive module to realize the automatic rotation of the probe head.

[0018] The probe head can rotate independently and automatically relative to the insertion tube via a rotating structure.

[0019] Preferably, the rotating structure is an axial rotating structure or a slider rotating structure;

[0020] The axial rotation structure includes a positioning ring, a driving gear, and a driven gear. The positioning ring is fixed inside the insertion tube. The driving gear is connected to a flexible transmission component, and the driven gear is connected to the probe head. The driving gear and the driven gear mesh. The flexible transmission component is a flexible transmission shaft.

[0021] The slider rotation structure includes a fixed ring, a slider, and a rotating ring. The fixed ring is fixed inside the snake bone tube, the rotating ring is connected to the probe head, and the slider passes through the guide groove of the fixed ring and the sliding groove of the rotating ring, and is connected to a flexible transmission component, which is a flexible steel wire.

[0022] Preferably, the rotationally stabilizing structure is:

[0023] When the rotating structure is an axial rotating structure, the rotational stabilizing structure is the flanges at both ends of the driving gear, and the flanges are in a limiting fit with the end faces on both sides of the driven gear.

[0024] When the rotating structure is a slider rotating structure, the rotational stabilizing structure is the elastic structure at both ends of the slider, and the elastic structure abuts against the two ends inside the guide groove.

[0025] Preferably, the control module includes a signal processing unit and an execution unit, wherein the signal processing unit is used to identify the rotation parameters detected by the sensor.

[0026] Preferably, the method further includes a rotation control method, which includes the following steps:

[0027] (1) Insert the probe into the middle of the esophagus, to a distance of about 30 cm from the incisors;

[0028] (2) Ultrasound images are acquired through the detection element at the probe head, and the probe control module identifies the five-chamber view of the mid-esophagus in the ultrasound image through the signal processing unit;

[0029] (3) The signal processing unit of the control module calculates the target rotation angle based on the identified five-chamber cross-section;

[0030] (4) The sensor detects the rotation speed, rotation angle and rotation acceleration of the probe head in real time and transmits the detection signal to the control module. The control module adjusts the rotation parameters through the signal processing unit.

[0031] (5) The execution unit of the control module outputs motor control commands to the drive module based on the adjusted rotation parameters;

[0032] (6) The motor of the drive module receives the control command and drives the rotating structure to move through the flexible transmission component, so that the probe head can rotate independently and automatically to the designated position relative to the insertion tube, and the rotation stabilization structure maintains the stability during the rotation process.

[0033] (7) Output the heart cross-section image.

[0034] The beneficial effects of this invention are:

[0035] 1. This invention relies on cardiac anatomy and real-time image analysis modules. The control module can automatically complete target section recognition, spatial angle conversion, rotation command generation and feedback control. Physicians do not need to manually judge the angle, which greatly reduces the dependence on operational experience and enables novice physicians to efficiently obtain standard sections, thus promoting the standardization and normalization of the examination process.

[0036] 2. This invention completely changes the traditional operation mode of requiring the entire probe to rotate to insert the tube by independently rotating the probe head relative to the insertion tube. This reduces friction and displacement of the insertion tube in the esophagus from the root, alleviates patient discomfort during the examination, reduces the risk of mucosal irritation, and improves the medical experience.

[0037] 3. This invention addresses the jamming problem through a rotational stabilization structure (gear flange limiting or slider elastic reset), and improves the long-term stability of the equipment by combining it with flexible transmission components (soft shaft or steel wire). Compared with the complex control mechanism at the handle in the prior art, this design miniaturizes and integrates the drive and rotation structure near the head, simplifying the overall structure and reducing manufacturing costs and maintenance difficulty.

[0038] 4. This invention can be flexibly adapted to different examination scenarios through two rotating structures (axial gear transmission and slider transmission) to meet the rotation requirements of multiple ranges such as ±15° or ±30°. Combined with target section recognition, spatial angle conversion, rotation command generation and feedback control, it can accurately match the acquisition requirements of 28 standard sections and improve the applicability of the equipment in complex clinical scenarios. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0040] Figure 1 This is a schematic diagram of the probe head rotation of the present invention.

[0041] Figure 2 This is a schematic diagram of an embodiment of the head rotation structure of the present invention.

[0042] Figure 3 This is an exploded view of the structure of Embodiment 1 of the head rotation structure of the present invention.

[0043] Figure 4 This is a schematic diagram of the stable structure of Embodiment 1 of the head rotation structure of the present invention.

[0044] Figure 5 This is a schematic diagram of the second embodiment of the head rotation structure of the present invention.

[0045] Figure 6 This is an exploded view of the structure of Embodiment 2 of the head rotation structure of the present invention.

[0046] Figure 7 This is a schematic diagram of the stable structure of Embodiment 2 of the head rotation structure of the present invention.

[0047] Figure 8 This is a flowchart of the operation of the present invention.

[0048] In the diagram: 101-Probe head; 102-Snake bone tube; 103-Insert tube; 104-Axial rotation structure; 106-Flexible shaft; 107-Sensor; 108-Positioning ring; 109-Driving gear; 110-Driven gear; 111-Slider rotation structure; 112-Flexible steel wire; 113-Fixing ring; 114-Slider; 115-Rotating ring; 116-Flange; 117-Elastic structure; 118-Guide groove; 119-Slide groove. Detailed Implementation

[0049] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0050] like Figure 1 As shown, the esophageal probe with an automatically rotating head provided by the present invention mainly includes a probe head 101, a snake bone tube 102, an insertion tube 103, a rotating structure, a drive module, a sensor 107, a rotation stabilization structure, and a control module.

[0051] The probe head 101 is the key component for acquiring cardiac ultrasound signals, integrating detection elements such as an ultrasound transducer array at its front end. Its rear end is connected sequentially to the front ends of the snake-bone tube 102 and the insertion tube 103 via a rotating structure, allowing it to rotate independently relative to the insertion tube 103. One end of the snake-bone tube 102 connects to the probe head 101, and the other end connects to the insertion tube 103, enabling the head to bend. The insertion tube 103 is a slender, flexible tube with internal channels to accommodate flexible transmission components and various leads. It is made of medical-grade flexible material, allowing the probe to bend and move within the body. The drive module provides power to the rotating structure, including a motor and flexible transmission components. The motor is preferably a micro-motor with high angular accuracy (e.g., ±0.5°), installed inside the probe handle. The flexible transmission components transmit the motor's power to the distal rotating structure.

[0052] Sensor 107 is mounted on the probe head 101 to monitor its rotation angle, speed, acceleration, and other motion parameters in real time, and feeds the signals back to the control module for closed-loop control and status judgment. This invention, through the independent rotation design of the probe head relative to the insertion tube, completely changes the traditional operation mode where the entire insertion tube needs to be rotated. This fundamentally reduces friction and displacement of the insertion tube within the esophagus, alleviating patient discomfort during examination, reducing the risk of mucosal irritation, and improving the overall medical experience.

[0053] This invention provides two preferred embodiments of the rotating structure.

[0054] Example 1

[0055] like Figure 2 , Figure 3 As shown, the rotating structure is an axial rotating structure 104, which includes a positioning ring 108, a driving gear 109, and a driven gear 110. The positioning ring 108 is fixed inside the insertion tube 103. The driving gear 109 is connected to a flexible shaft 106, which serves as a flexible transmission element, and receives power from a motor. The driven gear 110 is connected to the probe head 101 and meshes with the driving gear 109. When the motor drives the flexible shaft 106 to rotate, the driving gear 109 drives the driven gear 110 to rotate, thereby driving the probe head 101 to rotate independently (e.g., ±15° or ±30°).

[0056] Furthermore, such as Figure 4As shown, to ensure rotational stability, the present invention also includes a rotational stabilizing structure. When the rotational structure is an axial rotational structure 104, its corresponding rotational stabilizing structure is a flange 116 disposed at both ends of the driving gear 109. The flange 116 forms a limiting fit with the two end faces of the driven gear 110, effectively preventing axial movement or tooth skipping of the gear during meshing, thus ensuring the smoothness and reliability of the transmission.

[0057] Example 2

[0058] like Figure 5 , Figure 6 As shown, the rotating structure can also be a slider rotating structure 111, which includes a fixed ring 113, a slider 114, and a rotating ring 115. The fixed ring 113 is fixed inside the snake-bone tube 102. The rotating ring 115 is connected to the probe head 101. The slider 114 passes through the guide groove of the fixed ring 113 and the slide groove of the rotating ring 115, and is connected to the flexible steel wire 112, which serves as a flexible transmission component. When the motor pulls the slider 114 through the flexible steel wire 112, the slider 114 moves within the guide groove and the slide groove, forcing the rotating ring 115 to rotate, thereby driving the probe head 101 to rotate.

[0059] To improve the stability of rotating structures, such as Figure 7 As shown, the rotational stabilization structure in this embodiment is an elastic structure 117 (such as a spring) disposed at both ends of the slider 114. The elastic structure 117 abuts against both ends inside the guide groove, providing buffering and restoring force when the slider 114 moves, reducing the impact and jamming between the slider and the groove wall. The elastic structure 117 can also generate a thrust when the slider 114 jams, allowing the slider 114 to be pushed over the jamming point, ensuring smooth movement of the slider 114, thereby ensuring rotational stability.

[0060] This invention utilizes two rotating structures (axial gear transmission and slider transmission) to flexibly adapt to different examination scenarios, meeting rotation requirements within a range of ±15° or ±30°. Combined with target section recognition, spatial angle conversion, rotation command generation, and feedback control, it can accurately match the acquisition requirements of 28 standard sections, improving the applicability of the device in complex clinical scenarios. The rotating stabilization structure specifically addresses the jamming problem, and the flexible transmission components enhance the long-term stability of the device. Compared to the complex control mechanisms at the handle in existing technologies, this design miniaturizes and integrates the drive and rotating structures near the head, simplifying the overall structure and reducing manufacturing costs and maintenance difficulty.

[0061] like Figure 8As shown, this invention, relying on cardiac anatomy and a real-time image analysis module, allows the control module to automatically complete target section recognition, spatial angle conversion, rotation command generation, and feedback control. This eliminates the need for physicians to manually judge angles, significantly reducing reliance on operational experience and enabling even novice physicians to efficiently obtain standard sections, thus promoting the standardization and normalization of examination procedures. The specific operation process is as follows:

[0062] A transesophageal probe with a 14mm tip diameter is used. A motor-driven flexible transmission component rotates the probe tip via a rotating structure. During operation:

[0063] (1) Probe insertion:

[0064] Insert the probe along the esophagus to the predetermined position—the middle section of the esophagus, about 30cm from the incisors.

[0065] (2) Initial positioning:

[0066] The ultrasound image is initially acquired by the detection element at the probe head. The ultrasound image is then identified and rotated to the five-chamber view in the mid-esophagus (the starting standard view for transesophageal echocardiography; refer to the guidelines of the Society of Cardiovascular Anesthesiologists (SCA) and the American Society of Echocardiography (ASE).

[0067] (3) Calculation of rotation angle:

[0068] The probe head detection element acquires real-time ultrasound images, and calculates the target rotation angle by identifying characteristic structures such as the mitral valve annulus and the apex of the heart (referencing the textbook "Human Anatomy" for typical anatomical structures). The signal processing unit is used to filter, calibrate, and convert the rotation parameters detected by the sensor, and calculates the target angle that the probe head needs to rotate.

[0069] (4) Sensor feedback and adjustment:

[0070] The sensor continuously monitors the rotation angle, speed, and acceleration of the probe head, transmitting the signals to the control module. The control module compares the real-time detected values ​​with the target angle and dynamically adjusts the rotation parameters through a feedback mechanism to ensure rotation accuracy.

[0071] (5) Drive control and stable rotation:

[0072] The control module outputs motor control commands, and the motor of the drive module drives the rotating structure (axial rotation structure or slider rotation structure) to move through a flexible transmission component (flexible transmission shaft or flexible steel wire), so that the probe head rotates independently and automatically relative to the insertion tube. The signal processing unit calculates the motor speed correction amount (correction range ±10%) by comparing the real-time rotation parameters with the target value, and the execution unit converts it into a PWM control signal. During the rotation, the rotation stabilization structure (the flanges at both ends of the driving gear or the elastic structure at both ends of the slider) plays a role simultaneously: the former limits the movement by engaging with the end faces of the driven gear on both sides, and the latter abuts against the two ends inside the guide groove, reducing the risk of rotational jamming and maintaining rotational stability.

[0073] (6) Target location positioning:

[0074] The control module stops driving commands once the sensor detects that the probe head has rotated to the specified position (matching the angle of the target section), thus completing the accurate acquisition of the standard section.

[0075] (7) Output image

[0076] After the probe head rotates to the designated position, the probe acquires the cross-sectional data and transmits the image data to complete the inspection.

[0077] The entire process utilizes target section recognition, spatial angle conversion, rotation command generation, and feedback control to ensure positioning adaptability by leveraging cardiac anatomy and achieves independent and precise rotation through rotational structure and stable design. This effectively reduces friction of the insertion tube, lowers the reliance on physician experience, and improves examination efficiency and patient comfort.

[0078] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

1. An automatic swiveling head transesophageal probe, characterized by, The application relates to a rotating probe head, which comprises the following parts: a probe head, a front-end integrated detection element for transmitting and receiving detection signals; a snake bone pipe, one end of which is connected with the probe head and the other end of which is connected with an insertion pipe; the insertion pipe is a flexible tubular structure, the front end of which is connected with the snake bone pipe; a rotating structure, which is arranged at the connection position of the probe head and the snake bone pipe, is used for transmitting driving force to the probe head and driving the probe head to rotate; a driving module, which comprises a motor and a flexible transmission part, one end of the flexible transmission part is connected with the motor and the other end of the flexible transmission part is in transmission connection with the rotating structure, is used for providing power for the rotating structure; a sensor, which is installed on the probe head, is used for detecting the rotating angle, the rotating speed and the rotating acceleration of the probe head in real time; a rotating stabilizing structure, which is arranged on the rotating structure, is used for reducing the risk of jamming during the movement of the rotating structure; a control module, which is electrically connected with the driving module and the sensor respectively, is used for receiving the detection signals of the sensor, controlling the power output of the driving module and realizing the automatic rotation of the probe head; wherein the probe head can independently and automatically rotate relative to the insertion pipe through the rotating structure; the rotating structure is an axial rotating structure or a sliding block rotating structure; the axial rotating structure comprises a positioning ring, a driving gear and a driven gear, the positioning ring is fixed in the insertion pipe, the driving gear is connected with the flexible transmission part, the driven gear is connected with the probe head, the driving gear is in meshing connection with the driven gear, and the flexible transmission part is a flexible transmission shaft; the sliding block rotating structure comprises a fixing ring, a sliding block and a rotating ring, the fixing ring is fixed in the snake bone pipe, the rotating ring is connected with the probe head, the sliding block is arranged in the guide groove of the fixing ring and the sliding groove of the rotating ring and is connected with the flexible transmission part, and the flexible transmission part is a flexible steel wire; the rotating stabilizing structure is as follows: when the rotating structure is the axial rotating structure, the rotating stabilizing structure is the flanges at the two ends of the driving gear, the flanges are in limiting connection with the two side end faces of the driven gear; when the rotating structure is the sliding block rotating structure, the rotating stabilizing structure is the elastic structures at the front and back ends of the sliding block, the elastic structures are in abutting connection with the two ends inside the guide groove. The control module comprises a signal processing unit and an execution unit, and the signal processing unit is used for identifying the rotating parameters detected by the sensor. The application further discloses a rotating control method, wherein the rotating control comprises the following steps: (1) acquiring an ultrasonic image through the detection element of the probe head, and identifying a five-chamber heart section in the middle esophagus in the ultrasonic image through the control module of the probe and a signal processing unit; (2) calculating a target rotating angle based on the identified five-chamber heart section through the signal processing unit of the control module; (3) detecting the rotating speed, the rotating angle and the rotating acceleration of the probe head in real time through the sensor and transmitting the detection signals to the control module, and feeding back and adjusting the rotating parameters through the signal processing unit of the control module; (4) outputting motor control instructions to the driving module based on the adjusted rotating parameters through the execution unit of the control module; (5) receiving the control instructions through the motor of the driving module, driving the rotating structure to move through the flexible transmission part, and independently and automatically rotating the probe head to a specified position relative to the insertion pipe, and synchronously maintaining the stability in the rotating process through the rotating stabilizing structure; (6) outputting a heart section image. ​ ​ ​ ​ ​ ​ ​ 2. An automatic swiveling head transesophageal probe according to claim 1, wherein, ​ 3. A transesophageal probe with automatic rotation head according to any of claims 1-2, characterized in that, ​ ​ ​ ​ ​ ​ ​

Images