Miniature lens structure of magnetic control deflection choledochoscope

Abstract

This invention discloses a magnetically controlled choledochoscope miniature lens structure, comprising a base shell and a transparent cover. A swivel inner tube is suspended within the base shell, and a miniature lens is connected to the front end of the swivel inner tube. A permanent magnet ring assembly is fitted onto the body of the swivel inner tube. The advantages of this invention are: the permanent magnet ring assembly is coupled with a synthetic magnetic field of controllable intensity and direction generated by an external magnetic field generator; a telescopic positioning unit and a flexible support unit are movably connected between the swivel inner tube and the base shell; the base shell and the transparent cover form a sealed main body, protecting the internal structure; the swivel inner tube, as the core moving component carrying the miniature lens, allows for multi-degree-of-freedom movement due to its suspended arrangement; and the permanent magnet ring assembly is coupled with the external magnetic field generator to achieve contactless transmission. This solves the problems of wear, breakage, and large space occupation associated with traditional wire traction mechanisms, significantly improving reliability and allowing for structural miniaturization.

Description

Technical Field

[0001] This invention relates to a miniature lens structure, specifically a magnetically controlled choledochoscope miniature lens structure, belonging to the field of medical device technology. Background Technology

[0002] The diagnosis and treatment of biliary system diseases (such as bile duct stones and tumors) heavily rely on endoscopic techniques. Traditional cholangioscopy typically employs a wire-driven mechanical steering system, which has several inherent drawbacks: low steering accuracy (wire transmission involves backlash and deformation, leading to slow lens response and inaccurate positioning), high risk of trauma (mechanical transmission components require significant space, resulting in a thicker endoscope diameter, increasing patient discomfort and surgical risks), and reliability issues (the wire is prone to fatigue and breakage with prolonged use). These limitations are particularly pronounced in complex biliary tract diagnostic and treatment procedures, especially when precise observation and manipulation are required within narrow bile ducts, where traditional methods often fail to provide sufficient flexibility and stability.

[0003] With the development of minimally invasive surgical techniques, the performance requirements for cholangioscopy are becoming increasingly stringent, especially in terms of steering precision, miniaturization, and operational stability. Cholangioscopy needs to possess the ability to perform precise multi-degree-of-freedom steering within a confined space, while maintaining a specific viewing angle for detailed observation or delicate manipulation by the surgeon. These demands have driven the development of cholangioscopy technology from traditional mechanical control to more advanced magnetically controlled steering.

[0004] Magnetic steering technology controls the movement of internal magnetic components through an external magnetic field, enabling contactless transmission and theoretically offering higher precision and reliability. This technology provides a potential direction for overcoming the limitations of traditional cholangioscopy. Existing technologies, such as the adjustable-angle endoscope system and method disclosed in CN104116484A, use a flexible bending section and an inductive magnet near the endoscope's proximal end, controlling the endoscope's steering angle by utilizing changes in the external magnet's magnetic field. However, these early magnetic steering technologies still have significant shortcomings: firstly, their steering accuracy is limited, making it difficult to meet the needs of detailed observation of the biliary tract; secondly, they lack an effective positioning and locking mechanism, failing to maintain a stable viewing angle after steering, which makes it easy for doctors to lose their optimal field of vision due to lens movement during subsequent operations. Furthermore, most of these systems lack specific design for the unique environment of the biliary tract, failing to achieve ideal levels of biocompatibility, sealing, and miniaturization. During biliary surgery, doctors need to maintain lens stability when carefully observing or manipulating specific areas, but the system in this patent lacks an effective locking mechanism and cannot provide a stable working platform. Furthermore, the design of this patent does not fully consider the special requirements of the biliary environment, such as how to achieve sufficient turning angle and precision within a very limited space. Another example is the cholangioscope for a minimally invasive surgical robot disclosed in publication number CN204683554U. This device includes a front-end assembly, a bending assembly, a rigid link, and a cholangioscope housing. Its bending assembly can achieve bending movement in one direction, while the rigid link can achieve rotational movement. Although this design attempts to improve the operational precision of the cholangioscope, it still relies on mechanical transmission and cannot fundamentally solve the problems of mechanical wear, large space occupation, and difficulty in fine control. Summary of the Invention

[0005] The purpose of this invention is to provide a magnetically controlled choledochoscope miniature lens structure to solve at least one of the above-mentioned technical problems.

[0006] The present invention achieves the above objectives through the following technical solution: a magnetically controlled choledochoscope microlens structure, comprising a base shell and a transparent cover, the transparent cover being connected to the front end of the base shell, a swivel inner tube being suspended inside the base shell, a microlens being connected to the front end of the swivel inner tube, a permanent magnet ring assembly being fitted on the body of the swivel inner tube, the permanent magnet ring assembly being coupled to a synthetic magnetic field with controllable intensity and direction generated by an external magnetic field generator, and a telescopic positioning unit and a flexible support unit being movably connected between the swivel inner tube and the base shell;

[0007] The permanent magnet ring assembly includes permanent magnet strips arranged in a cross shape, with the outer ends of two opposite permanent magnet strips having the same magnetic pole and the outer ends of two adjacent permanent magnet strips having opposite magnetic poles.

[0008] The telescopic positioning unit includes a positioning sleeve, a telescopic inner rod, and an outer sleeve. The positioning sleeve and the outer sleeve are connected. The telescopic inner rod is movably inserted into the positioning sleeve and the outer sleeve. The inner cavity of the positioning sleeve is filled with magnetorheological fluid.

[0009] The flexible support unit includes symmetrically arranged flexible thin beams, which initially have an inwardly concave arc shape.

[0010] As a further embodiment of the present invention: the base shell is a cylindrical structure precision machined from medical-grade stainless steel or titanium alloy, the tail end of the base shell is fixedly connected to the flexible tubing part of the cholangioscope body, and multiple through channels are reserved inside the base shell.

[0011] As a further aspect of the present invention: the transparent cover is an arc-shaped optical-grade transparent cover, and the transparent cover is made of highly biocompatible materials including but not limited to medical-grade sapphire glass, PMMA or Cyclic Olefin Copolymer.

[0012] As a further embodiment of the present invention: two sets of permanent magnet ring assemblies are arranged vertically. The permanent magnet ring assembly also includes a collar, which is fixedly sleeved on the tube body of the steering inner tube. The collar has grooves arranged in a cross shape on its body, and the permanent magnet strip is fixedly embedded in the grooves.

[0013] As a further embodiment of the present invention: two telescopic positioning units are arranged as a group, and the upper and lower groups of telescopic positioning units are arranged vertically; two flexible support units are arranged as a group, and the upper and lower groups of flexible support units are arranged vertically; the telescopic positioning units and flexible support units located on the same plane are arranged vertically; the upper flexible support unit is arranged vertically; and the lower flexible support unit is arranged horizontally.

[0014] As a further embodiment of the present invention: the positioning sleeve of the telescopic positioning unit includes an outer sleeve I, a shielding cavity tube, an inner sleeve and a miniature electromagnetic coil, the outer sleeve I, the shielding cavity tube and the inner sleeve are arranged sequentially from the outside to the inside, and the miniature electromagnetic coil is embedded in the inner wall of the inner sleeve.

[0015] As a further embodiment of the present invention: both the outer sleeve I and the inner sleeve are tubes made of soft magnetic materials, and the soft magnetic materials include, but are not limited to, high-permeability permalloy or electrical pure iron; the shielding cavity tube is a tube made of non-magnetic materials, and the non-magnetic materials include, but are not limited to, high-magnetic-resistance L stainless steel or titanium alloy.

[0016] As a further embodiment of the present invention: a sealing ring is fitted on the rod body where the telescopic inner rod connects to both ends of the positioning sleeve, and a retaining ring is fixedly fitted on the rod body of the telescopic inner rod inside the positioning sleeve, with the retaining ring located in the middle part of the positioning sleeve in the initial state.

[0017] As a further aspect of the present invention: the inner side of the flexible thin beam of the flexible support unit is provided with several bending grooves, and the cross-section of the bending grooves is V-shaped.

[0018] As a further embodiment of the present invention: both ends of the telescopic positioning unit and the flexible support unit are provided with ball seats. The ball seats include ball heads and ball sockets. The ball heads are fixedly connected to both ends of the telescopic positioning unit and the flexible support unit, respectively. The ball sockets are fixedly connected to the inner walls of the steering inner tube and the base shell, respectively. The ball heads are movably placed in the ball sockets.

[0019] The beneficial effects of this invention are:

[0020] 1. This invention comprises a base shell and a transparent cover. A steering inner tube is suspended inside the base shell, and a micro-lens is connected to the front end of the steering inner tube. A permanent magnet ring assembly is fitted on the body of the steering inner tube. The permanent magnet ring assembly is coupled with a synthetic magnetic field with controllable strength and direction generated by an external magnetic field generator. A telescopic positioning unit and a flexible support unit are movably connected between the steering inner tube and the base shell. The base shell and the transparent cover form a sealed main body to protect the internal structure. The steering inner tube, as the core moving part that carries the micro-lens, can achieve multi-degree-of-freedom movement due to its suspended arrangement. The permanent magnet ring assembly is coupled with the external magnetic field generator to achieve contactless transmission, solving the problems of wear, breakage, and large space occupation of traditional steel wire pulling mechanisms, significantly improving reliability and allowing for structural miniaturization.

[0021] 2. The permanent magnet ring assembly of the present invention includes permanent magnet strips distributed in a cross shape, and the outer ends of two opposite permanent magnet strips are the same magnetic pole, while the outer ends of two adjacent permanent magnet strips are opposite magnetic poles. The permanent magnet strips distributed in a cross shape and arranged with specific magnetic poles in the permanent magnet ring assembly can generate more uniform and precise torque with the external rotating magnetic field, thereby achieving high-precision control of the steering angle.

[0022] 3. The telescopic positioning unit of the present invention includes a positioning sleeve, a telescopic inner rod, and an outer sleeve. The positioning sleeve and the outer sleeve are connected. The telescopic inner rod is movably inserted into the positioning sleeve and the outer sleeve. The inner cavity of the positioning sleeve is filled with magnetorheological fluid. The magnetorheological fluid inside the telescopic positioning unit gives the steering inner tube the ability to actively lock. It can switch from flexible steering to stable locking in milliseconds, providing doctors with a stable operating platform.

[0023] 4. The flexible support unit provided by the present invention includes a symmetrically arranged flexible thin beam. The flexible thin beam initially has an inwardly concave arc surface. The flexible support unit provides the necessary degrees of freedom of movement and elastic restoring force for the steering inner tube. The symmetrically arranged flexible thin beam initially has an inwardly concave arc surface, which provides optimized motion stroke and stress distribution for steering. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall appearance and structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the front cross-sectional structure of the present invention in its undeflected state;

[0026] Figure 3 This is a schematic diagram of the front cross-sectional structure of the deflection state of the present invention;

[0027] Figure 4 This is a schematic diagram of the side cross-sectional structure of the present invention in its undeflected state;

[0028] Figure 5 This is a schematic diagram of the side cross-sectional structure of the present invention in the deflection state;

[0029] Figure 6 This is a schematic diagram of the permanent magnet ring assembly structure of the present invention;

[0030] Figure 7 This is a schematic cross-sectional view of the telescopic positioning unit of the present invention;

[0031] Figure 8 This is a schematic diagram of the connection structure between the positioning sleeve and the telescopic inner rod of the present invention;

[0032] Figure 9 This is a schematic diagram of the disassembled positioning sleeve structure of the present invention;

[0033] Figure 10 This is a schematic diagram of the flexible support unit structure of the present invention.

[0034] In the diagram: 1. Base shell; 2. Transparent cover; 3. Steering inner tube; 4. Miniature lens; 5. Permanent magnet ring assembly; 51. Collar; 52. Permanent magnet strip; 53. Slot; 6. Telescopic positioning unit; 61. Positioning sleeve; 611. Outer sleeve I; 612. Shielding cavity tube; 613. Inner sleeve; 614. Miniature electromagnetic coil; 62. Telescopic inner rod; 63. Outer sleeve; 64. Magnetorheological fluid; 65. Retaining ring; 66. Sealing ring; 7. Flexible support unit; 71. Flexible thin beam; 72. Bending groove; 8. Ball seat; 81. Ball head; 82. Ball socket. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Example 1, as Figures 1 to 10As shown, a magnetically controlled choledochoscope microlens structure includes a base shell 1 and a transparent cover 2. The transparent cover 2 is connected to the front end of the base shell 1. A swivel inner tube 3 is suspended inside the base shell 1. A microlens 4 is connected to the front end of the swivel inner tube 3. A permanent magnet ring assembly 5 is fitted on the tube body of the swivel inner tube 3. The permanent magnet ring assembly 5 is coupled with a synthetic magnetic field with controllable intensity and direction generated by an external magnetic field generator. A telescopic positioning unit 6 and a flexible support unit 7 are movably connected between the swivel inner tube 3 and the base shell 1. The base shell 1 and the transparent cover 2 form a sealed main body to protect the internal structure. The swivel inner tube 3, as the core moving part that carries the microlens 4, can achieve multi-degree-of-freedom movement due to its suspended arrangement. The permanent magnet ring assembly 5 is coupled with the external magnetic field generator to achieve contactless transmission, solving the problems of wear, breakage, and large space occupation of traditional steel wire pulling mechanisms, significantly improving reliability and allowing for structural miniaturization.

[0037] The permanent magnet ring assembly 5 includes permanent magnet strips 52 arranged in a cross shape, with the outer ends of two opposite permanent magnet strips 52 having the same magnetic pole and the outer ends of two adjacent permanent magnet strips 52 having opposite magnetic poles. The permanent magnet strips 52 arranged in a cross shape and with specific magnetic poles in the permanent magnet ring assembly 5 can generate a more uniform and precise torque with the external rotating magnetic field, thereby achieving high-precision control of the steering angle.

[0038] The telescopic positioning unit 6 includes a positioning sleeve 61, a telescopic inner rod 62, and an outer sleeve 63. The positioning sleeve 61 is connected to the outer sleeve 63. The telescopic inner rod 62 is movably inserted into the positioning sleeve 61 and the outer sleeve 63. The inner cavity of the positioning sleeve 61 is filled with magnetorheological fluid 64. The magnetorheological fluid 64 inside the telescopic positioning unit 6 gives the steering inner tube 3 the ability to actively lock, and can switch from flexible steering to stable locking in milliseconds, providing doctors with a stable operating platform.

[0039] The flexible support unit 7 includes a symmetrically arranged flexible thin beam 71. The flexible thin beam 71 initially has an inwardly concave arc surface. The flexible support unit 7 provides the necessary degrees of freedom of movement and elastic restoring force to the steering inner tube 3. The symmetrically arranged flexible thin beam 71 initially has an inwardly concave arc surface, which provides optimized motion stroke and stress distribution for steering.

[0040] Example 2: In addition to all the technical features in Example 1, this example also includes: the base shell 1 is a cylindrical structure precision machined from medical-grade 316L stainless steel or titanium alloy. The tail end of the base shell 1 is fixedly connected to the flexible tubing part of the cholangioscope body. Multiple through channels are reserved inside the base shell 1. The base shell 1 ensures that the entire component has excellent biocompatibility and corrosion resistance in contact with human tissue. At the same time, the fixed connection between the tail end of the base shell 1 and the flexible tubing part of the cholangioscope body ensures that the structure is compatible with existing cholangioscope systems. The multiple through channels reserved inside the base shell 1 provide space for the installation of image sensor signal lines, lighting LED power lines, control lines of miniature electromagnetic coils, and flushing or instrument channels.

[0041] The transparent shell 2 is an arc-shaped optical-grade transparent shell. The transparent shell 2 is made of highly biocompatible materials, including but not limited to medical-grade sapphire glass, PMMA or Cyclic Olefin Copolymer. By setting the transparent shell 2 as an arc-shaped optical-grade transparent shell, it ensures that the field of view in front has a sufficiently large observation angle and minimal imaging distortion. The arc-shaped structure also helps to reduce resistance when passing through the body and can ensure that the parts that come into direct contact with the internal tissues of the human body are absolutely safe and will not cause rejection or toxic reactions.

[0042] Example 3: In addition to all the technical features in Example 1, this example also includes: two sets of permanent magnet ring assemblies 5 arranged vertically; the permanent magnet ring assembly 5 also includes a collar 51, which is fixedly sleeved on the body of the steering inner tube 3; the collar 51 has cross-shaped slots 53 on its body; the permanent magnet strip 52 is fixedly embedded in the slots 53; the permanent magnet ring assembly 5 has two sets of structures that can enhance the coupling strength and force arm with the external magnetic field, resulting in greater torque, more powerful and faster steering; at the same time, the dual magnetic ring design can improve the problem of unstable movement that may occur with a single magnetic ring, ensuring complete synchronization between the magnet and the steering inner tube 3; the slots 53 enable precise positioning and secure installation of the magnet, preventing it from shifting or falling off during high-speed movement or vibration, ensuring the accuracy of the magnetic pole direction, thereby ensuring the accuracy of magnetic field coupling and the predictability of steering control.

[0043] The telescopic positioning unit 6 is arranged in pairs, with the upper and lower sets of telescopic positioning units 6 arranged vertically. Similarly, the flexible support unit 7 is also arranged in pairs, with the upper and lower sets of flexible support units 7 arranged vertically. The telescopic positioning units 6 and flexible support units 7, located on the same plane, are arranged vertically. The upper flexible support unit 7 is vertically positioned, while the lower flexible support unit 7 is horizontally positioned. Through the combined action of the two telescopic positioning units 6, the movement of the steering inner tube 3 in both pitch and yaw directions can be effectively locked or released. The vertical distribution ensures that the control force in the two orthogonal directions is independent and balanced. The flexible support units 7, arranged in pairs, with the upper and lower sets arranged vertically, have a similar effect to the telescopic positioning units 6, providing the necessary flexible support and elastic recovery in the two orthogonal directions. The vertical arrangement of the telescopic positioning units 6 and flexible support units 7 on the same plane allows the movement and locking of the steering inner tube 3 to be handled collaboratively by these two orthogonal systems in any direction, avoiding motion interference and achieving a balanced distribution of force. This ensures that the lens is flexible and smooth during turning and stable and drift-free when locked.

[0044] The positioning sleeve 61 of the telescopic positioning unit 6 includes an outer sleeve I 611, a shielding cavity tube 612, an inner sleeve 613, and a miniature electromagnetic coil 614. The outer sleeve I 611, the shielding cavity tube 612, and the inner sleeve 613 are arranged sequentially from the outside to the inside. The miniature electromagnetic coil 614 is embedded in the inner wall of the inner sleeve 613. The outer sleeve I 611 serves as the main load-bearing and sealing structure. The shielding cavity tube 612 provides magnetic isolation. The inner sleeve 613 serves as the magnetic circuit and coil carrier. The electromagnetic component that generates the magnetic field required to activate the magnetorheological fluid 64 is directly integrated into the wall of the working cavity, realizing the shortest distance integration between the magnetic field generating device and the functional fluid, ensuring efficient utilization and rapid response of magnetic field energy.

[0045] Both the outer sleeve I 611 and the inner sleeve 613 are tubes made of soft magnetic materials, including but not limited to high-permeability permalloy or electrical pure iron. The shielding cavity tube 612 is a tube made of non-magnetic materials, including but not limited to high-magnetic-resistance 316L stainless steel or titanium alloy. The outer sleeve I 611 and the inner sleeve 613 tightly confine the magnetic field generated by the miniature electromagnetic coil 614 to the expected path, forming a highly efficient magnetic circuit through the magnetorheological fluid 64, which greatly enhances the magnetic field strength acting on the fluid, thereby achieving the strongest locking effect with the minimum current and coil volume. The shielding cavity tube 612, as a magnetic shielding layer, effectively blocks the leakage of the internal locking magnetic field to the outside, and also prevents the external driving magnetic field used for steering from accidentally penetrating into the internal interfering magnetorheological fluid 64, ensuring the independence between steering and locking.

[0046] A sealing ring 66 is fitted on the rod body where the telescopic inner rod 62 connects to both ends of the positioning sleeve 61. A retaining ring 65 is fixedly fitted on the rod body of the telescopic inner rod 62 inside the positioning sleeve 61. In the initial state, the retaining ring 65 is located in the middle of the positioning sleeve 61. The fitted sealing ring 66 prevents leakage of the internal magnetorheological fluid 64 and intrusion of external body fluids. The retaining ring 65 divides the internal magnetorheological fluid 64 cavity into two parts. Its initial central position provides symmetrical and equal travel space for the telescopic inner rod 62 to move in both directions, ensuring that the flexibility of steering is not restricted. In the locked state, the solidified magnetorheological fluid 64 will act on the retaining ring 65, thereby effectively locking the rod.

[0047] Example 4, in addition to all the technical features included in Example 1, also includes:

[0048] The flexible sheet beam 71 of the flexible support unit 7 has several bending grooves 72 on its inner side, and the cross-section of the bending grooves 72 is V-shaped. The bending grooves 72 serve as preset hinge points, which makes the bending deformation more concentrated at the groove opening, thereby achieving more precise and controllable rotational movement, rather than unpredictable dispersed deformation on the entire beam. The V-shaped cross-section of the bending grooves 72 ensures that the bending occurs entirely at the bottom of the groove, making the motion relationship more linear and predictable. This greatly enhances the reciprocating bending fatigue life of the flexible sheet beam 71 and ensures the reliability of the equipment after countless turning cycles.

[0049] Both ends of the telescopic positioning unit 6 and the flexible support unit 7 are provided with ball seats 8. The ball seats 8 include ball heads 81 and ball sockets 82. The ball heads 81 are fixedly connected to both ends of the telescopic positioning unit 6 and the flexible support unit 7, respectively. The ball sockets 82 are fixedly connected to the inner walls of the steering inner tube 3 and the base shell 1, respectively. The ball heads 81 are movably placed in the ball sockets 82. The ball seats 8 allow the units to move along their own axes at both ends and also adapt to small angular deflections, avoiding structural jamming or internal stress.

[0050] In steering mode, the control magnetic field generated by the external magnetic field generator couples with the cross-shaped permanent magnet strips 52 in the permanent magnet ring assembly 5, generating precise torque to drive the steering inner tube 3 and the miniature lens 4 at its front end to deflect. At this time, the magnetorheological fluid 64 in the telescopic positioning unit 6 is in a liquid state, and the telescopic inner rod 62 can move freely; the pre-bent flexible thin-film beam 71 of the flexible support unit 7 provides degrees of freedom of movement and restoring force through elastic deformation, together ensuring flexible and precise multi-degree-of-freedom movement.

[0051] When the viewing angle needs to be locked, the system energizes the miniature electromagnetic coil 614. The magnetic field generated is efficiently guided through the magnetic circuit formed by the soft magnetic material inner sleeve 613 and outer sleeve I 611, penetrating the magnetorheological fluid 64 and instantly turning it into a solid-like substance, locking the telescopic inner rod 62 and its retaining ring 65. This action rigidly fixes the position of the steering inner tube 3 through the ball seat 8 connecting mechanism. At the same time, the deformation of the flexible thin beam 71 is fixed, thus the entire system maintains a stable viewing angle without external force. After the lock is released, the magnetorheological fluid 64 returns to a liquid state, and the system resets under the elastic recovery of the flexible support. The entire sealed structure is protected by the base shell 1 and the transparent cover 2, achieving reliable operation in a vacuum environment.

[0052] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0053] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A magnetically controlled choledochoscope miniature lens structure, comprising a base shell (1) and a transparent cover (2), characterized in that: The transparent cover (2) is connected to the front end of the base shell (1). The base shell (1) is suspended inside the inner tube (3). The front end of the inner tube (3) is connected to a miniature lens (4). The inner tube (3) is fitted with a permanent magnet ring assembly (5). The permanent magnet ring assembly (5) is coupled with a synthetic magnetic field with controllable intensity and direction generated by an external magnetic field generator. The inner tube (3) and the base shell (1) are movably connected by a telescopic positioning unit (6) and a flexible support unit (7). The permanent magnet ring assembly (5) includes permanent magnet strips (52) arranged in a cross shape, and the outer ends of two opposite permanent magnet strips (52) are the same magnetic pole, while the outer ends of two adjacent permanent magnet strips (52) are opposite magnetic poles. The telescopic positioning unit (6) includes a positioning sleeve (61), a telescopic inner rod (62), and an outer sleeve (63). The positioning sleeve (61) is connected to the outer sleeve (63). The telescopic inner rod (62) is movably inserted into the tubes of the positioning sleeve (61) and the outer sleeve (63). The inner cavity of the positioning sleeve (61) is filled with magnetorheological fluid (64). The flexible support unit (7) includes a flexible thin sheet beam (71) arranged in a symmetrical manner, and the flexible thin sheet beam (71) is initially concave arc surface.

2. The miniature lens structure of the cholangioscope according to claim 1, characterized in that: The base shell (1) is a cylindrical structure made of medical grade 316L stainless steel or titanium alloy. The tail end of the base shell (1) is fixedly connected to the flexible tube part of the cholangioscope body. Multiple through channels are reserved inside the base shell (1).

3. The miniature lens structure of the cholangioscope according to claim 1, characterized in that: The transparent cover (2) is an arc-shaped optical-grade transparent cover, and the transparent cover (2) is made of highly biocompatible materials including but not limited to medical-grade sapphire glass, PMMA or Cyclic Olefin Copolymer.

4. The miniature lens structure of the cholangioscope according to claim 1, characterized in that: The permanent magnet ring assembly (5) is arranged in two sets, one above the other. The permanent magnet ring assembly (5) also includes a collar (51). The collar (51) is fixedly sleeved on the tube body of the steering inner tube (3). The collar (51) has a cross-shaped groove (53) on its body. The permanent magnet strip (52) is fixedly embedded in the groove (53).

5. The miniature lens structure of the cholangioscope according to claim 1, characterized in that: The telescopic positioning unit (6) is set in pairs, with the upper and lower sets of telescopic positioning units (6) arranged vertically. The flexible support unit (7) is set in pairs, with the upper and lower sets of flexible support units (7) arranged vertically. The telescopic positioning unit (6) and the flexible support unit (7) located on the same plane are arranged vertically. The flexible support unit (7) located on the upper layer is arranged vertically, and the flexible support unit (7) located on the lower layer is arranged horizontally.

6. The miniature lens structure of the cholangioscope according to claim 1, characterized in that: The positioning sleeve (61) of the telescopic positioning unit (6) includes an outer sleeve I (611), a shielding cavity tube (612), an inner sleeve (613), and a miniature electromagnetic coil (614). The outer sleeve I (611), the shielding cavity tube (612), and the inner sleeve (613) are arranged sequentially from the outside to the inside. The miniature electromagnetic coil (614) is embedded in the inner wall of the inner sleeve (613).

7. The miniature lens structure of the cholangioscope according to claim 6, characterized in that: The outer sleeve I (611) and the inner sleeve (613) are both tubes made of soft magnetic materials, and the soft magnetic materials include, but are not limited to, high-permeability permalloy or electrical pure iron. The shielding cavity tube (612) is a tube made of non-magnetic materials, and the non-magnetic materials include, but are not limited to, high-magnetic-resistance 316L stainless steel or titanium alloy.

8. The miniature lens structure of the cholangioscope according to claim 7, characterized in that: A sealing ring (66) is fitted on the rod body part that connects the telescopic inner rod (62) to the two ends of the positioning sleeve (61). A retaining ring (65) is fixedly fitted on the rod body of the telescopic inner rod (62) inside the positioning sleeve (61). The retaining ring (65) is located in the middle part of the positioning sleeve (61) in the initial state.

9. The miniature lens structure of the cholangioscope according to claim 1, characterized in that: The flexible support unit (7) has several bending grooves (72) on its inner side of the flexible thin beam (71), and the cross-section of the bending groove (72) is V-shaped.

10. The miniature lens structure of the cholangioscope according to claim 1, characterized in that: Both ends of the telescopic positioning unit (6) and the flexible support unit (7) are provided with ball seats (8). The ball seat (8) includes a ball head (81) and a ball socket (82). The ball head (81) is fixedly connected to both ends of the telescopic positioning unit (6) and the flexible support unit (7). The ball socket (82) is fixedly connected to the inner wall of the steering inner tube (3) and the base shell (1). The ball head (81) is movably placed in the ball socket (82).

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