Visual digestive tract catheterization system integrating front-end driving and active steering

Abstract

The invention discloses an integrated front-end driving, active steering and visual digestive tract catheterization system, which belongs to the field of medical apparatus and instruments, and comprises a guide arm comprising a pull wire and an elastic arm, the guide arm is provided with a first end and a second end deviating from each other, and one end of the pull wire is fixedly connected to the first end; the lens is arranged at the first end; the driving part comprises a first annular balloon, a second annular balloon and a cylindrical balloon, and the first annular balloon and the second annular balloon are fixedly connected to the two sides of the cylindrical balloon in the axial direction respectively; when the annular balloon is full, the outer wall expands in the radial direction; when the cylindrical balloon is full, the outer wall extends in the axial direction; the fixing sleeve comprises a flexible sleeve and a connecting base which are fixedly connected, the connecting base is connected with the second end of the guide arm and the first annular balloon, and the end, deviating from the connecting base, of the flexible sleeve penetrates through the driving part and extends in the direction deviating from the guide arm. Through the arrangement, the front end of the nasointestinal tube can be guided and driven at the epiglottis of the nasal cavity and the upper and lower digestive tracts.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical devices, and particularly relates to a gastrointestinal tube placement system integrated with front-end driving, active steering and visualization. BACKGROUND

[0002] Gastrointestinal tube placement technology refers to a technology of placing a catheter into a specific part of the gastrointestinal tract such as the stomach, duodenum, jejunum, colon, rectum, etc. through a natural cavity (mouth, nose) or a surgically created stoma, so as to achieve diagnosis, treatment or nutritional support. Among various gastrointestinal tube placement technologies, nasojejunal tube placement is the most difficult and risky nursing tube placement technology with the deepest insertion depth. In the actual operation of the traditional nasojejunal tube placement nursing technology, the insertion depth needs to be estimated by referring to the patient's body surface, and then the catheter is inserted into the nasal cavity by hand. However, the tortuous tube placement path and complex body cavity space make the blind insertion operation challenging. There are three major technical problems in nasojejunal tube placement by hand:

[0003] Large resistance to rear driving: the physical properties of the catheter, such as elongation and softness, result in low efficiency of driving force transmission at the rear end, especially when passing through the pylorus with high resistance, which easily causes folding, coiling and ectopia;

[0004] Blind insertion is not visible: since the operator cannot see the insertion of the catheter in the body cavity, only relying on the operator's experience and perception, the catheter often coils, reverses or misenters the airway in the stomach;

[0005] Active steering is difficult: the catheter lacks a precise steering control system, making it difficult to actively steer at large-angle parts such as the pylorus to the duodenum, resulting in large long-diameter ratio catheter folding, coiling, and even causing gastrointestinal mucosa damage, bleeding, and even serious complications such as intestinal fistula.

[0006] Therefore, a device capable of guiding and driving the front end of the nasojejunal tube in the intestinal tract is designed, which is a gastrointestinal tube placement system integrated with front-end driving, active steering and visualization. SUMMARY

[0007] In order to overcome the problems raised in the background art, the present application adopts the following technical solutions:

[0008] The application discloses a front-end drive integrated, active steering and visualized digestive tract intubation system, which comprises a guide arm, a lens, a driving part and a fixed sleeve.

[0009] Further, the elastic arm comprises a plurality of elastic monomers which are connected to each other, and the elastic monomers have a connecting surface and a limiting surface.

[0010] The elastic monomers have an initial state, and when the elastic monomers are in the initial state, the limiting surfaces between adjacent elastic monomers form a gap on the outer wall of the elastic arm.

[0011] When the traction line drives the elastic arm to deform, the limiting surfaces of adjacent elastic monomers move towards each other; when the limiting surfaces abut against each other, the radial bending deformation of the elastic arm is limited, and the elastic monomers are in a limiting state.

[0012] Further, the elastic arm is provided with a placement cavity, the placement cavity is open at the first end, and the placement cavity is provided with a Bluetooth transmission module and a power supply module which are connected to each other; the Bluetooth transmission module and the power supply module are connected to the lens through lead wires.

[0013] Further, the number of the traction lines is at least four, and the four traction lines are distributed in an equidistant circumferential array around the central axis of the elastic arm; when the elastic arm is pulled in the direction away from the first end by different numbers of the traction lines, the deformation direction of the elastic arm is different.

[0014] Further, the elastic arm is provided with a liquid delivery channel, the liquid delivery channel is arranged in the interior of the elastic arm, and the liquid delivery channel is open at the second end and the outer wall of the elastic arm; when the fixed sleeve is sleeved with a nasogastric tube, the fluid input through the nasogastric tube enters the liquid delivery channel from the second end, and then moves to the first end through the outer wall of the elastic arm after passing through the liquid delivery channel.

[0015] Further, when the nose-intestinal tube is pulled to move to the deep part of the intestinal tract, the annular balloon two, the cylindrical balloon and the annular balloon one are inflated and contracted in the same order:

[0016] The annular balloon two expands radially to tightly contact the cavity wall when inflated;

[0017] The cylindrical balloon expands axially to push the annular balloon one to move to the first end when inflated;

[0018] The annular balloon one expands radially to tightly contact another cavity wall when inflated;

[0019] The annular balloon two is contracted to separate from the cavity wall;

[0020] The cylindrical balloon is contracted to drive the annular balloon two and the fixing sleeve of the nose-intestinal tube to move to the first end;

[0021] The annular balloon one is contracted to separate from the cavity wall, and the movement distance of the nose-intestinal tube in this process is the same as the axial deformation length of the cylindrical balloon.

[0022] Further, the cavities formed by the annular balloon one, the annular balloon two and the cylindrical balloon are connected with each other and constitute a driving channel penetrating through the driving part; the inner diameter of the driving channel is greater than the outer diameter of the flexible sleeve, so that the driving channel does not contact the flexible sleeve, to prevent the cylindrical balloon from changing the shape of the flexible sleeve during stretching and contraction.

[0023] Further, the inner wall and the outer wall of the cylindrical balloon are both provided with folding areas; the folding areas are stretched along the axial direction of the cylindrical balloon when the cylindrical balloon is inflated; and the folding areas are folded along the axial direction of the cylindrical balloon when the cylindrical balloon is contracted.

[0024] The beneficial effects of the present application are:

[0025] 1. The present application is provided with a pulling line and an elastic arm, and the bending direction and angle of the front end elastic arm are controlled by the plurality of pulling lines, which solves the problem of traditional tube insertion "blind insertion", can actively avoid physiological bending and narrow parts, and greatly reduces the risk of misentry into the airway, intracranial or gastric coiling.

[0026] 2. The front end of the system is integrated with a lens and equipped with a Bluetooth transmission module, which can transmit real-time images in the cavity to external equipment, so that the tube insertion process changes from experience and hand feeling to visual precise navigation.

[0027] 3. This invention employs a series of interconnected triple balloons (annular balloon one, cylindrical balloon, and annular balloon two). By controlling the order of inflation and deflation of the different balloons, the peristaltic waves of the intestine are mimicked. This method aligns with the natural movement pattern of the intestine, providing continuous, stable, and minimally invasive propulsion, avoiding tissue damage and patient discomfort caused by relying solely on external pushing and pulling of the catheter.

[0028] 4. By setting up an infusion channel that runs through the guide arm, even when the balloon is inflated and anchored to the cavity wall to provide driving reaction force, the nutrient solution or drugs can still be continuously infused through this channel, so as to ensure that the movement of the nasoenteric tube into the depth of the patient's intestine and the infusion therapy can be carried out simultaneously.

[0029] 5. The system integrates drive, steering, visualization, and infusion functions into a size-controllable system, which is inserted through an external nasoenteric tube, avoiding complex surgery. It is a minimally invasive or even non-invasive interventional treatment method, reducing patient pain and infection risk. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0031] Figure 1 This is a schematic diagram of one overall structure of the present invention when the annular balloons are not inflated and the elastic monomers are in their initial state.

[0032] Figure 2 This is a schematic diagram of an overall structure of the present invention when the annular balloons are not inflated and the elastic monomers are in a confined state.

[0033] Figure 3 When the annular balloon is fully inflated Figure 1 A schematic diagram of a cross-sectional structure;

[0034] Figure 4 Another overall structural diagram of the present invention is shown when the annular balloon is fully inflated and the elastic monomers are in their initial state.

[0035] Figure 5 for Figure 4 A schematic diagram of a cross-sectional structure;

[0036] Figure 6 A schematic diagram of an overall structure of the drive unit during the inflation of a tubular balloon;

[0037] Figure 7 for Figure 6 A schematic diagram of a cross-sectional structure;

[0038] Figure 8 An overall structure schematic diagram of a driving part for a cylindrical balloon in shrinkage;

[0039] Figure 9 An connection structure schematic diagram of an elastic monomer and a traction line;

[0040] In the figure, 1, a guide arm; 11, a first end; 12, a second end; 13, a traction line; 14, an elastic arm; 141, a notch; 142, an elastic monomer; 1421, a connecting surface; 1422, a limiting surface; 143, a placing cavity; 1431, a Bluetooth transmission module; 1432, a power supply module; 1433, a lead wire; 144, an infusion channel; 2, a driving part; 21, a ring-shaped balloon one; 211, a limiting shell; 22, a ring-shaped balloon two; 23, a cylindrical balloon; 231, a folding area; 232, an elastic piece; 24, a driving channel; 25, a gas delivery pipe; 3, a fixing sleeve; 31, a flexible sleeve; 311, a wiring hole; 32, a connecting seat; 4, a lens. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below through specific, concrete embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the present specification. The present application can also be implemented or applied through other different specific embodiments, and the following embodiments and features in the embodiments can be combined with each other without conflict, based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the present application.

[0042] A kind of integrated front end drive, active steering, visual gastrointestinal intubation system, such as Figures 1-9As shown, comprising: a guide arm 1, comprising a traction line 13 and an elastic arm 14, the traction line 13 is connected with the elastic monomer 142 closest to the first end 11, the guide arm 1 has a first end 11 and a second end 12 which are away from each other, one end of the traction line 13 is fixedly connected to the first end 11, the other end of the traction line 13 penetrates through the guide arm 1 and extends from the second end 12, when the first end 11 moves to the second end 12 under the drive of the traction line 13, the elastic arm 14 elastically bends; a lens 4, arranged at the first end 11; a drive part 2, comprising a ring-shaped balloon one 21, a ring-shaped balloon two 22 and a cylindrical balloon 23, the ring-shaped balloon one 21 and the ring-shaped balloon two 22 are fixedly connected on the two sides of the cylindrical balloon 23 in the axial direction; when the ring-shaped balloon is filled, its outer wall expands in the radial direction; when the cylindrical balloon 23 is filled, its outer wall extends in the axial direction; a fixed sleeve 3, comprising a flexible sleeve 31 and a connecting seat 32 which are fixedly connected, the two ends of the connecting seat 32 in the axial direction are fixedly connected with the second end 12 of the guide arm 1 and the ring-shaped balloon one 21 respectively, the end of the flexible sleeve 31 away from the connecting seat 32 penetrates through the drive part 2 and extends in the direction away from the guide arm 1. The flexible sleeve 31 is provided with a plurality of wiring holes 311, the gas conveying pipe 25 and part of the traction line 13 move in the wiring holes 311. By integrating the front end drive, active steering and visualization functions, the problems of invisible front end of the pipe body and difficult steering in the traditional "blind insertion" method and the problem of large resistance of the rear drive tube are overcome. By arranging the guide arm 1, the front end lens 4 and the drive part 2 composed of three balloons, the system is provided with the basic ability of steering, visualization and self-propelling.

[0043] In some embodiments of the present application, as Figures 1-9As shown, the elastic arm 14 comprises a plurality of elastic monomers 142 connected in series, each elastic monomer 142 has a connecting surface 1421 and a limiting surface 1422, and the connecting surfaces 1421 of adjacent elastic monomers 142 are fixedly connected; each elastic monomer 142 has an initial state, when all the elastic monomers 142 are in the initial state, the limiting surfaces 1422 of adjacent elastic monomers 142 form a gap 141 on the outer wall of the elastic arm 14, the gap 141 is annular and arranged on the outer wall of the elastic arm 14, and the traction line 13 is distributed in a circumferential array around the axial direction of the elastic arm 14. The bending direction is perpendicular to the central axis of the elastic arm 14, when the traction line 13 drives the elastic arm 14 to deform, the limiting surfaces 1422 of adjacent elastic monomers 142 move towards each other; when the adjacent limiting surfaces 1422 abut against each other, the radial bending deformation of the elastic arm 14 is limited, so that the elastic monomers 142 are in a limiting state; when the pulling force of the traction line 13 on the elastic arm 14 is removed, the elastic arm 14 restores to the initial state under the action of its own elasticity. By arranging the elastic monomers 142 with the connecting surface 1421, the limiting surface 1422 and the gap 141, the guide arm 1 has an initial state capable of flexible bending, and the limiting surfaces 1422 can abut against each other when needed by tightening the traction line 13, so that the guide arm 1 bends and is in a limiting state, thereby accurately controlling the steering angle and avoiding excessive bending or folding in the cavity.

[0044] In some embodiments of the present application, as shown in Figures 1-9 As shown, the elastic arm 14 is provided with a placement cavity 143, the placement cavity 143 is open at the first end 11, and the placement cavity 143 is provided with a Bluetooth transmission module 1431 and a power supply module 1432 connected with each other, and the Bluetooth transmission module 1431 and the power supply module 1432 are connected with the lens 4 through a lead wire 1433. By integrating the lens 4 and the wireless transmission module, the real-time image in the cavity is transmitted to an external device, so that the operation process is visualized, thereby solving the problem of blind insertion invisibility.

[0045] In some embodiments of the present application, as shown in Figures 1-9 As shown, the number of traction lines 13 is at least four, and the four traction lines 13 are distributed in an equidistant circumferential array around the central axis of the elastic arm 14, and when different numbers of traction lines 13 pull the elastic arm 14 in the direction away from the first end 11, the deformation direction of the elastic arm 14 is different. By at least four equidistantly distributed traction lines 13, the elastic arm 14 can be pulled in different directions without rotating circumferentially, thereby realizing 360-degree accurate control of the front end direction and solving the problem of active steering difficulty. After the end of the traction line 13 away from the first end 11 is drawn out from the second end 12, it is gathered and arranged in an operation handle, and a plurality of knobs or sliders corresponding to the traction lines 13 are arranged on the handle. By respectively operating each knob or slider, the movement of a single or multiple traction lines 13 can be independently controlled, thereby realizing bending of the front end guide arm 1 in different directions.

[0046] In some embodiments of the present application, as shown in Figures 1-9 The elastic arm 14 is tapered, i.e. the outer diameter of the elastic arm 14 gradually decreases in the direction from the second end 12 to the first end 11. That is, the outer diameter of the elastic arm 14 is the smallest at the first end 11. During the intubation process, the first end 11 with the lens 4 is at the front end of the device, which facilitates the adjustment of the movement direction of the guide arm 1 based on the view in front of the first end 11 obtained and transmitted by the lens 4 and the adjustment of the first end 11 towards the traction line 13. The tapered design makes the first end 11 more slender, so as to easily pass through the physiological narrow parts such as the nasal cavity and pylorus, thereby reducing the insertion resistance.

[0047] In some embodiments of the present application, as shown in Figures 1-9 The elastic arm 14 is provided with a liquid infusion channel 144, which is arranged inside the elastic arm 14 and opens at the outer wall of the elastic arm 14 and the second end 12. When the fixing sleeve 3 is sleeved with the nasojejunal tube, the fluid input through the nasojejunal tube enters the liquid infusion channel 144 from the second end 12 and moves to the first end 11 through the outer wall of the elastic arm 14 after passing through the liquid infusion channel 144. The nutrients or therapeutic drugs infused through the nasojejunal tube enter the intestinal tract of the patient through the guide arm 1 and the driving part 2, and even if the annular balloon one 21 or the annular balloon two 22 is inflated and tightly abuts against the cavity wall, it does not affect the normal entry of the fluid in the liquid infusion channel 144 into the intestinal tract of the patient.

[0048] In some embodiments of the present application, as shown in Figures 1-9 When the nasojejunal tube is moved towards the deep part of the intestinal tract, the annular balloon two 22, the cylindrical balloon 23 and the annular balloon one 21 are inflated in sequence and contracted in the same order:

[0049] The annular balloon two 22 expands radially when inflated to tightly abut against the cavity wall;

[0050] The cylindrical balloon 23 expands axially when inflated to push the annular balloon one 21 to move towards the first end 11;

[0051] The annular balloon one 21 expands radially when inflated to tightly abut against another cavity wall;

[0052] The annular balloon two 22 is contracted to separate from the cavity wall;

[0053] The cylindrical balloon 23 is contracted to drive the annular balloon two 22 and the fixing sleeve 3 sleeved with the nasojejunal tube to move towards the first end 11;

[0054] The annular balloon 21 is contracted to separate from the cavity wall, and the movement distance of the nasoenteral tube is the same as the axial deformation length of the cylindrical balloon 23. Three gas supply tubes 25 are respectively connected to two-position three-way electromagnetic valves controlled by the control core, and the common end of the electromagnetic valves is connected to the gas source. By controlling the energization sequence of the three electromagnetic valves, the sequential inflation and deflation of the three balloons is realized. Alternatively, the above balloon inflation and contraction can also follow the following sequence: the remaining sequence remains unchanged, and the difference lies in that, after the cylindrical balloon 23 is contracted to pull the annular balloon 22 towards the annular balloon 21, the step of re-expanding the annular balloon 22 is added, so as to prevent the movement of the nasoenteral tube from being out of control when both the annular balloons are separated from the cavity wall.

[0055] The cavity wall, which is abutted by the annular balloon 21 and the annular balloon 22 to provide a force point for the movement of the driving part 2, includes but is not limited to the nasal cavity, the epiglottis, the esophagus, the stomach, the duodenum, and the jejunum, and the inner diameters of the above cavity walls are different. The annular balloon 21 and the annular balloon 22 are provided with pressure sensing units, and the pressure sensing units are connected to wires extending to the outside along the gas supply tubes 25. The wires are laid along the outer walls of the gas supply tubes 25 and pass through the micro-wiring holes 311 reserved on the flexible sleeve 31. The wires are connected to the pressure sensing units and the gas source with a control core. By inputting the pressure data to the control core, the inflation pressure of the annular balloon 21 and the annular balloon 22 is adjusted, so that the driving part 2 can be inflated to different degrees when passing through cavity walls with different inner diameters, and the pressure damage to the cavity wall is avoided while the annular balloon 21 and the annular balloon 22 are tightly abutted to the cavity wall. In some embodiments, the control core adopts a PID closed-loop control algorithm or other closed-loop control algorithm, and the pressure sensor data is received in real time. When the pressure reaches 2.5 kPa, the control core controls the gas source to stop inflation and maintain the current pressure. When the pressure decreases due to the peristalsis of the cavity, the inflation is restarted to compensate for the pressure.

[0056] More specifically, when the pressure value monitored by the pressure sensing unit reaches a threshold value, the control core sends an instruction to the gas source to maintain the pressure of the inflated annular balloon 21 or annular balloon 22. The threshold value of the pressure value is not greater than 3 kPa, and the gas source used is a pressure pump or other pressure relief device. By simulating the sequence of intestinal peristalsis (annular balloon 22 inflation-cylindrical balloon 23 inflation-annular balloon 21 inflation-annular balloon 22 contraction-cylindrical balloon 23 contraction-annular balloon 21 contraction), the system is provided with forward power. At the same time, through the pressure sensing unit and the threshold control, the pressure damage to the cavity wall is avoided when sufficient anchoring force is provided.

[0057] In some embodiments of the present application, as Figures 1-9As shown, the annular balloon one 21 and the annular balloon two 22 are respectively connected with a gas delivery pipe 25, the other end of the gas delivery pipe 25 penetrates through the outer wall of the flexible sleeve 31 and communicates with a gas source; the axial length of the gas delivery pipe 25 is greater than the axial length of the flexible sleeve 31, so as to ensure that the balloons can be normally inflated and deflated.

[0058] In some embodiments of the present application, as shown in Figures 1-9 As shown, the cavities formed by the annular balloon one 21, the annular balloon two 22 and the cylindrical balloon 23 are in communication with each other and constitute a driving channel 24 penetrating through the driving part 2; it should be noted that the cavity of the annular balloon one 21, the annular balloon two 22 and the cylindrical balloon 23 specifically refers to the cavity formed by the outer wall of the part of the annular balloon towards the central axis, which is not the internal cavity for containing fluid, and the cavity of the cylindrical balloon 23 is the same. The inner diameter of the driving channel 24 is greater than the outer diameter of the flexible sleeve 31, so that the driving channel 24 does not contact the flexible sleeve 31, so as to prevent the cylindrical balloon 23 from changing the shape of the flexible sleeve 31 during the stretching and contraction process, thereby preventing the destruction of the relative positional relationship between the flexible sleeve 31 and the nasojejunal tube when they are connected. The connection relationship between the nasojejunal tube and the flexible sleeve 31 is that when the nasojejunal tube is sleeved on the flexible sleeve 31, the nasojejunal tube and the flexible sleeve 31 are fixed by surface friction force, which isolates the driving channel 24 from the flexible sleeve 31, prevents the interference of the cylindrical balloon 23 during the stretching and contraction, and ensures the stability of the system. In other embodiments, a plurality of low-friction annular supports are arranged in the driving channel 24, the inner diameter of the annular support is not less than the outer diameter of the flexible sleeve 31, the outer edge of the annular support is connected with the inner wall of the driving channel 24, and the annular support is used for supporting the cylindrical balloon 23 and keeping the cylindrical balloon 23 coaxial with the flexible sleeve 31.

[0059] In some embodiments of the present application, as shown in Figures 1-9 As shown, the outer wall of the annular balloon one 21 and the annular balloon two 22 are connected with a limiting shell 211, the limiting shell 211 limits the expansion direction of the annular balloon, so that the annular balloon can only expand outward along the radial direction of itself when the fluid is input, and the limiting shell 211 restricts the expansion shape of the balloon, so that it can be more reliably anchored on the cavity wall and provide effective driving reaction force.

[0060] In some embodiments of the present application, as shown in Figures 1-9As shown, the inner wall and the outer wall of the cylindrical balloon 23 are both provided with a folding area 231; when the cylindrical balloon 23 is inflated, the folding area 231 extends along the axial direction of the cylindrical balloon 23; when the cylindrical balloon 23 is deflated, the folding area 231 is folded along the axial direction of the cylindrical balloon 23. The folding area 231 includes a plurality of corrugated links equidistantly distributed along the axial direction of the cylindrical balloon 23; the inner wall of the cylindrical balloon 23 is provided with elastic members 232, which are specifically arranged between adjacent corrugated links, and the elastic members 232 are used to guide the folding direction of the folding area 231 when the cylindrical balloon 23 is deflated, so as to ensure that the cylindrical balloon 23 can be normally reset. The elastic members 232 are specifically elastic wire bodies made of rubber or the like, and the arrangement direction of the wire bodies is the same as the axial direction of the cylindrical balloon 23, so that the guide direction of the wire bodies to the folding area 231 when the cylindrical balloon 23 is deflated is the axial direction of the cylindrical balloon 23, and the folding area 231 and the elastic members 232 ensure that the cylindrical balloon 23 can be stretched and deflated along the predetermined direction when inflated and deflated, and can be smoothly reset, so as to serve as the basis for realizing the "peristaltic" driving.

Claims

1. An integrated front-end drive, active steering, visualized digestive tract catheterization system, characterized in that, The utility model provides a kind of nose-gut tube, including: Guiding arm, including traction line and elastic arm, the guiding arm has first end and second end mutually away, one end of the traction line is fixedly connected to the first end; Lens, disposed in the first end; Driving part, including annular balloon one, annular balloon two and barrel balloon, the annular balloon one and the annular balloon two are fixedly connected respectively in the barrel balloon axial direction on both sides;When the annular balloon is filled, its outer wall expands along the radial direction;When the barrel balloon is filled, its outer wall extends along the axial direction; Fixed sleeve, including fixedly connected flexible sleeve and connecting seat, two ends of the connecting seat in axial direction are fixedly connected respectively the second end of the guiding arm and the annular balloon one, the end of the flexible sleeve away from the connecting seat penetrates the driving part and extends in the direction away from the guiding arm.

2. The integrated front-end drive, active steering, visualized digestive tract catheterization system according to claim 1, characterized in that, The elastic arm includes a plurality of elastic monomers connected in series, the elastic monomers have connecting surfaces and limiting surfaces, and the connecting surfaces of adjacent elastic monomers are fixedly connected. The elastic monomers have an initial state, when the elastic monomers are all in the initial state, the limiting surfaces between adjacent elastic monomers form a gap with the outer wall of the elastic arm. When the traction line drives the elastic arm to deform, the limiting surfaces of adjacent elastic monomers move towards each other, and when the limiting surfaces abut against each other, the radial bending deformation of the elastic arm is limited, so that the elastic monomers are in a limiting state.

3. The integrated front-end drive, active steering, visualized digestive tract catheterization system of claim 2, wherein, The elastic arm is provided with a placement cavity, the placement cavity is open at the first end, and the placement cavity is provided with a Bluetooth transmission module and a power supply module connected with each other, and the Bluetooth transmission module and the power supply module are connected with the lens through lead wires.

4. The integrated front-end drive, active steering, visualized digestive tract catheterization system of claim 2, wherein, The number of the traction lines is at least four, and the four traction lines are distributed in equidistant circumferential array around the central axis of the elastic arm, and when different numbers of the traction lines pull the elastic arm away from the first end, the deformation direction of the elastic arm is different.

5. The integrated front-end drive, active steering, visualized digestive tract catheterization system of claim 2, wherein, The elastic arm is conical, and the outer diameter of the elastic arm gradually decreases in the direction from the second end to the first end.

6. The integrated front-end drive, active steering, visualized digestive tract catheterization system of claim 1, wherein, The elastic arm is provided with an infusion channel, the infusion channel is arranged in the interior of the elastic arm, and the infusion channel is open at the second end and the outer wall of the elastic arm, respectively; when the fixed sleeve is sleeved with a nasogastric tube, the fluid input through the nasogastric tube enters the infusion channel from the second end, and then moves to the first end through the outer wall of the elastic arm after passing through the infusion channel.

7. The integrated front-end drive, active steering, visualized digestive tract catheterization system of claim 1, wherein, When the nasogastric tube moves from the nasal cavity to the deep part of the intestinal tract, the annular balloon two, the barrel balloon and the annular balloon one are sequentially filled and contracted in the same order: The annular balloon two expands radially when filled to tightly abut against a cavity wall; The barrel balloon expands axially when filled to drive the annular balloon one to move to the first end; The annular balloon one expands radially when filled to tightly abut against another cavity wall; The annular balloon two contracts to separate from the cavity wall; The barrel balloon contracts to drive the annular balloon two and the fixed sleeve sleeved with the nasogastric tube to move to the first end; The annular balloon one contracts to separate from the cavity wall, and the movement distance of the nasogastric tube in this process is the same as the axial deformation length of the barrel balloon.

8. The integrated front-end drive, active steering, visualized digestive tract catheterization system of claim 1, wherein, The annular balloon one, the annular balloon two and the cylindrical balloon are respectively connected with gas delivery tubes, the other end of the gas delivery tube passes through the outer wall of the flexible sleeve and communicates with a gas source; the axial length of the gas delivery tube is greater than the axial length of the flexible sleeve.

9. The integrated front-end drive, active steering, visualized digestive tract catheterization system of claim 1, wherein, The outer wall of the annular balloon one and the annular balloon two are connected with limiting shells, the limiting shells limit the expansion direction of the annular balloon, so that the annular balloon can only expand radially outward when fluid is input.

10. The integrated front-end drive, active steering, visualized digestive tract catheterization system of claim 1, wherein, The inner wall and the outer wall of the cylindrical balloon are both provided with folding areas; when the cylindrical balloon is inflated, the folding areas stretch along the axial direction of the cylindrical balloon; when the cylindrical balloon is deflated, the folding areas fold along the axial direction of the cylindrical balloon.

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