Photoacoustic combined electronic endoscope based on memory alloy electronic control bending adjustment

Abstract

The invention discloses a photoacoustic combined electronic endoscope based on memory alloy electric control bending, which comprises an endoscope catheter and a host, the endoscope catheter comprises a catheter main body, an adjustable bending pipe section, an ultrasonic probe, an optical probe, a connector and an electric control handle, and particularly, the adjustable bending pipe section comprises an inner pipe body, an outer pipe body and a memory alloy spring pipe; wherein a plurality of memory alloy bourdon tubes form a plurality of sections of bending adjustment groups, and bending adjustment of required bending radius, bending center direction change and up-down and left-right bending direction change is formed according to the magnitude of current loaded by the memory alloy bourdon tube corresponding to each section of bending adjustment group. On the one hand, accurate intervention and bending adjustment operation can be achieved, the device is also suitable for being used in some small cavities, and meanwhile, photoacoustic dual-mode imaging is combined to assist intervention and diagnosis and treatment; and on the other hand, a segmented operation bending adjusting mode is adopted, operation is convenient, different from traditional traction control, operation time is shortened, and development of robot operation is promoted.

Description

Technical Field

[0001] This invention belongs to the field of medical devices, specifically relating to a photoacoustic combined electronic endoscope based on the electronically controlled bending of a shape memory alloy. Background Technology

[0002] Photoacoustic electronic endoscopy combines ultrasound and optical endoscopy, providing both optical and ultrasound images simultaneously. In recent years, it has become an important instrument for minimally invasive interventional treatments in clinical practice. Currently, photoacoustic electronic endoscopy can diagnose and differentiate benign and malignant lesions occurring in various layers of the visceral organ walls. It can also clarify the depth of lesion invasion into the visceral organ walls, the presence of regional lymph nodes, and the spread or metastasis to adjacent tissues and organs. Photoacoustic electronic endoscopic-guided puncture has changed the external guidance mode of CT and ultrasound puncture, enabling puncture of mediastinal lesions, retroperitoneal lesions, and bronchi, and diagnosing lesions in deep abdominal cavities and the lungs. It has become an essential tool for the clinical examination, diagnosis, and adjuvant treatment of digestive / respiratory system diseases.

[0003] The principle of shape memory alloy drive is to shape the shape memory alloy material at high temperature. When it is in a low temperature environment, it will bend and deform. When it is heated again, the shape memory alloy material will return to the original shape at high temperature. When driving the conduit, multiple shape memory alloy structural joints can be placed in its driving part. Each joint is made up of several evenly distributed shape memory alloy coils as active motion actuators. By controlling the current of the shape memory alloy coils of each joint, the bending angle of the entire active conduit can be controlled.

[0004] However, shape memory alloys have also been used in the market for bending endoscopic catheters. However, most shape memory alloy joints are made by winding single or multiple strands of nickel-titanium shape memory alloy wire into a spring tube shape. This spring tube is then fitted around the outer circumference of the inner catheter, and under electric heating, the spring tube undergoes shape memory bending from the bending point. Therefore, the following technical drawbacks exist:

[0005] 1) If there is a deviation in the control of the bending point position, the bending direction and minimum bend angle of the catheter will not meet the actual needs, and it will be impossible to accurately position it to the required precision. It will require constant adjustment during the operation, resulting in high technical threshold and long time consumption for related diagnostic and treatment operations.

[0006] 2) The bending radius is relatively fixed, and the resulting duct structure is large. Therefore, it is not suitable for use in some small cavities, such as: bronchi, small trachea, pancreas, prostate, etc. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide an improved photoacoustic combined electronic endoscope based on shape memory alloy electronically controlled bending.

[0008] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0009] An electronic endoscope based on shape memory alloy and electrically adjustable photoacoustic combination includes an endoscope catheter and a main unit. The endoscope catheter includes a catheter body, an adjustable bend section formed at the front end of the catheter body, an ultrasonic probe located on one side of the front end of the adjustable bend section, an optical probe located in front of the ultrasonic probe, a connector located at the rear end of the catheter body, and an electrically controlled handle connected to the connector. In particular, the adjustable bend section includes an inner tube body, an outer tube body, and a shape memory alloy spring tube installed between the inner tube body and the outer tube body. The inner tube body communicates with the inner lumen of the catheter body to form a working channel, and the outlet of the working channel is close to the ultrasonic probe. Probe setup: The outer tube is fixedly connected to the front end of the conduit body. There are multiple shape memory alloy spring tubes, which are distributed at intervals along the length of the inner tube to form multiple bending groups. Each bending group consists of multiple shape memory alloy spring tubes evenly distributed around the circumference of the inner tube. The bending direction of the multiple shape memory alloy spring tubes in each bending group includes at least four directions: up, down, left, and right. Each bending group is connected to the electric control handle through a connector. The magnitude of the current loaded on the shape memory alloy spring tube corresponding to each bending group determines the required bending radius, bending center position change, and bending direction change in the up, down, left, and right directions.

[0010] Preferably, the shape memory alloy spring tubes used in each bending section are of equal length. This further improves the adjustment accuracy and also facilitates the implementation of bending.

[0011] According to a specific embodiment and preferred aspect of the present invention, the bending centers of the shape memory alloy spring tubes used in each bending section are located on the same cross section. This facilitates the determination of the bending radius and the orientation of the bending center, enabling high-precision bending of the endoscopic catheter.

[0012] In some specific implementations, the spacing between each pair of adjacent bending groups gradually decreases from front to back. The variation in bending amplitude created by different bending groups allows for more stable and convenient bending operations within narrow cavities.

[0013] In some specific implementations, the current between each pair of adjacent bending sections gradually decreases from front to back. By creating different forces at different positions, the desired position and angle adjustment can be optimally achieved, especially in narrow cavities.

[0014] According to another specific embodiment and preferred aspect of the present invention, the conduit body has the same structure as the adjustable bend section, and also correspondingly forms an inner tube and an outer tube, wherein a cable channel is formed between the inner tube and the outer tube, and the inner cavity of the inner tube forms a working channel. This allows for integral molding, facilitating processing, and eliminates the need for joints or accidental detachment of the adjusting head.

[0015] Preferably, a sleeved metal spring tube or hypothalamic tube is formed between the inner and outer tubes of the catheter body. The metal spring tube or hypothalamic tube serves to support the catheter structure and allow the catheter to bend more flexibly without damaging surrounding tissues.

[0016] Preferably, the connector is connected to the main unit via a cable; the optical probe is located at the front end of the adjustable bend section, and the ultrasonic probe is located behind the optical probe and on one side of the adjustable bend section; the outlet of the working channel is located on the same side as the ultrasonic probe, that is, the front end of the working channel is close to the ultrasonic array probe and forms an outlet on the side wall of the catheter, so that corresponding interventional surgical instruments, such as puncture needles and ablation catheters, can pass through the working channel at the tail of the catheter, pass through the main body of the catheter, pass out of the front end of the working channel, and reach the lesion site to be treated under the guidance of the ultrasound image for corresponding treatment.

[0017] Furthermore, the connector is detachably and securely attached to the catheter body (the connector is located at the tail of the catheter and is mainly used to connect the catheter to the main unit's cable and optical fiber. It can be a fixed connection or a plug-in connection), and the optical probe and ultrasonic probe are respectively connected to the connector.

[0018] In addition, the optical probe includes an optical imaging sensor CMOS that is parallel to the end face of the adjustable bend and seals the end of the pipe, and an illumination optical fiber connected to the connector; the ultrasonic probe is a linear array or phased array probe with the number of array elements ranging from 32 to 128 and the center frequency ranging from 5 to 20 MHz; and the ultrasonic probe is connected to the connector through a multi-core cable or a multi-channel FPGA circuit board.

[0019] In addition, the main unit includes an optical imaging unit, an ultrasound imaging unit, and a display unit. In short, the imaging CMOS and illumination fiber are located at the very tip of the interventional catheter. The illumination fiber illuminates the area in front, and the CMOS captures the optical images in real time, serving as an optical endoscope and interventional navigation tool. That is, it uses real-time optical images to observe the structure of the organs in front of the catheter and adjacent organs, the location of lesions, to guide the direction of the interventional catheter, determine its location, and perform optical endoscopy diagnosis. The imaging CMOS is connected to the main unit's optical imaging unit (optical imaging image processor) via cables and connectors. The image processor supplies power to the CMOS and transmits the captured optical image signals. After processing by the image processor, the relevant optical images are displayed in real time on the display unit (i.e., the monitor). The illumination fiber is connected to the main unit's optical endoscopic light source via fiber optic cables and connectors, guiding the light emitted by the light source through the catheter to illuminate the target area. The ultrasound probe is located on the side wall of the catheter tip. It is a small linear or phased array probe with 32-128 array elements and a center frequency of 5-20MHz. Its main function is to provide real-time ultrasound imaging of the lesion area and intraoperative navigation for interventional procedures such as biopsy and radiofrequency ablation. The ultrasound probe is connected to the host's ultrasound imaging unit via a multi-core cable or a multi-channel FPCB circuit board. The ultrasound imaging unit emits high voltage to excite the front-end ultrasound probe, which emits ultrasound waves and receives the reflected ultrasound waves from the target, converting them into electrical signals. These signals are transmitted to the host via cable, and then processed through beamforming, filtering, gain adjustment, time gain compensation, and optimization to form a real-time ultrasound image of the target, which is then displayed on the display unit (i.e., the monitor).

[0020] Due to the implementation of the above technical solutions, the present invention has the following advantages compared with the prior art:

[0021] Existing shape memory alloy endoscopic catheters have several drawbacks. If the bending point is miscontrolled during the bending process, the bending orientation and minimum angle of the catheter cannot meet the actual needs, making it impossible to accurately position the catheter to the required precision. This necessitates continuous adjustments during the procedure, resulting in high technical barriers and long operating times. Furthermore, the bending radius is relatively fixed, and the resulting catheter structure is large, making it unsuitable for use in small cavities. This invention cleverly solves these shortcomings of existing structures through a holistic design of the photoacoustic electronic endoscope. After using this photoacoustic electronic endoscope, the catheter is first connected to the main unit to ensure normal optical and ultrasound imaging. Then, guided by the optical image, it enters the patient's natural cavities such as the digestive or respiratory tract. Simultaneously, based on the observed internal conditions, the electronic control handle is operated in real time to deliver different currents to the shape memory alloy in different sections of the adjustable catheter area, thereby achieving the desired directional control effect. Initially, the corresponding current on / off and strength modes and programs need to be set through the specific internal catheter adjustment structure. These settings are ultimately integrated into a few simple control buttons on the electronic control handle (forward, backward, left, and right), reducing operational complexity and achieving precise control. Therefore, this invention not only enables precise interventional directional control with adjustable bending radii, bending center positions, and bending directions, but is also suitable for use in some small cavities. It also combines photoacoustic dual-mode imaging to assist interventional and diagnostic treatments. Furthermore, the segmented bending method is not only convenient to operate but also differs from traditional traction control methods in that it offers high precision, ease of use, effectively shortens surgical time, and promotes the development of robotic automated operation. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the photoacoustic combined electronic endoscope based on shape memory alloy electronically controlled bending according to the present invention;

[0023] Figure 2 for Figure 1 Enlarged schematic diagram of a portion of the adjustable bend section;

[0024] The components include: 1. Endoscopic catheter; 10. Catheter body; 11. Adjustable bend section; 110. Inner tube body; 111. Outer tube body; 112. Memory alloy spring; w. Adjustment assembly; 12. Ultrasonic probe; 13. Optical probe; 14. Connector; 15. Electrically controlled handle; 16. Working channel; 16a. Inlet; 16b. Outlet;

[0025] 2. Main unit; 20. Optical imaging unit; 21. Ultrasonic imaging unit; 22. Display unit; 23. Wheels. Detailed Implementation

[0026] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0027] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0028] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0029] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0030] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0031] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0032] like Figure 1 and Figure 2 As shown, the photoacoustic combined electronic endoscope based on shape memory alloy electronically controlled bending in this embodiment includes an endoscope catheter 1 and a main unit 2. The endoscope catheter 1 includes a catheter body 10, an adjustable bending section 11 formed at the front end of the catheter body 10, an ultrasonic probe 12 located on one side of the front end of the adjustable bending section 11, an optical probe 13 located in front of the ultrasonic probe 12, a connector 14 located at the rear end of the catheter body 10, and an electronically controlled handle 15 connected to the connector 14. The main unit 2 includes a light imaging unit 20, an ultrasonic imaging unit 21, and a display unit 22.

[0033] Specifically, the adjustable bend section 11 includes an inner tube 110, an outer tube 111, and a shape memory alloy spring tube 112 installed between the inner tube 110 and the outer tube 111. The inner tube 110 is connected to the inner lumen of the catheter body 10 to form a working channel, and the outlet of the working channel is located close to the ultrasound probe 12. The outer tube 111 is fixedly connected to the front end of the catheter body 10. There are multiple shape memory alloy spring tubes 112, which are distributed at intervals along the length of the inner tube to form multiple bend groups w. Each bend group w is formed by circling the inner tube 110. The adjustable bending section is composed of multiple shape memory alloy spring tubes 112 evenly spaced together. Each section of the bending assembly w has multiple shape memory alloy spring tubes 112 bending in at least four directions: up, down, left, and right (in short, four are sufficient, though five, six, or more are also possible). Each section of the bending assembly w is connected to an electric control handle 15 via a connector 14. The magnitude of the current applied to the shape memory alloy spring tube 112 corresponding to each section of the bending assembly w determines the required bending radius, bending center position change, and bending direction change. In short, the main feature of the adjustable bending section is the embedding of several shape memory alloy joints between its outer skin and inner wall (polymer, pebax, rubber, nylon, etc.). The shape memory alloy joints are made of single or multiple strands of nickel-titanium shape memory alloy wire wound into spring tube shapes to achieve a larger deformation size, thereby providing a greater driving force for the guide tube's steering. To precisely control the bending direction and minimum bend angle of the guide tube, such as... Figure 2As shown, the shape memory alloy joints within the adjustable bending section can be divided into multiple segments. Within the same conduit cross-section, four alloy joints can be placed at the top, bottom, left, and right. Of course, for more precise control, six or more segments can also be considered. The tail of each shape memory alloy segment is connected to an electronic control handle at the end of the conduit via a cable, enabling the flow of current and control of the current in each segment. This allows for complex and precise operations such as bending and changing direction in the adjustable bending conduit area according to the operator's needs.

[0034] In some specific embodiments, the shape memory alloy spring tubes 112 used in each bending group w are of equal length. This further improves the adjustment accuracy and facilitates the bending process. The bending centers of the shape memory alloy spring tubes 112 used in each bending group w are located on the same cross-section. This facilitates the determination of the bending radius and the orientation of the bending center, enabling high-precision bending of the endoscopic catheter.

[0035] In this example, the spacing between each pair of adjacent bending segments w gradually decreases from front to back. The variation in bending amplitude created by different bending segments allows for more stable and convenient bending operations in narrow cavities. The current between each pair of adjacent bending segments w also gradually decreases from front to back. By creating different forces at different locations, optimal adjustment of the required position and angle can be achieved, especially in narrow cavities.

[0036] In some specific embodiments, the catheter body 10 and the adjustable bend section 11 have the same structure, also correspondingly forming an inner tube and an outer tube. A cable channel is formed between the inner and outer tubes, and the inner cavity of the inner tube forms a working channel. This allows for integral molding, facilitating processing and eliminating the need for joints or accidental detachment of the adjusting head. Furthermore, a sleeved metal spring tube or hypotube is formed between the inner and outer tubes of the catheter body. The metal spring tube or hypotube supports the catheter structure and allows for flexible bending of the catheter without damaging surrounding tissues.

[0037] In this example, the optical probe 13 is located at the front end of the adjustable bend section 11, and the ultrasound probe 12 is located behind the optical probe 13 and on one side of the adjustable bend section 11. The outlet 16b of the working channel 16 is located on the same side as the ultrasound probe, that is, the front end of the working channel 16 is close to the ultrasound array probe and forms an outlet on the side wall of the catheter, which facilitates the corresponding interventional surgical instruments, such as puncture needles and ablation catheters, to pass through the working channel at the tail of the catheter, through the catheter body, and out of the front end of the working channel, and reach the lesion site to be treated under the guidance of ultrasound images for corresponding treatment. The inlet 16a of the working channel 16 is located on one side of the connector 14. The connector 14 is connected to the host 2 through a cable, and the connector 14 is detachably connected and fixed to the catheter body 10 (the connector is located at the tail of the catheter, mainly to realize the connection between the catheter and the host cable fiber. It can be a fixed connection or a plug-in connection). The optical probe 13 and the ultrasound probe 12 are respectively connected to the connector 14.

[0038] In some specific embodiments, the optical probe 13 includes an optical imaging sensor CMOS parallel to the end face of the adjustable bend section and sealing the end of the tube, and an illumination fiber connected to the connector; the ultrasound probe 12 is a linear array or phased array probe with 32-128 array elements and a center frequency range of 5-20MHz; and the ultrasound probe is connected to the connector via a multi-core cable or a multi-channel FPGA circuit board. In short, the imaging CMOS and illumination fiber are located at the very front of the entire interventional catheter. The illumination fiber illuminates the area in front, and then the CMOS captures the optical image in real time, serving as an optical endoscope and interventional navigation tool. That is, real-time optical images are used to observe the structure of the organs in front of the catheter and adjacent organs, the location of lesions, to guide the direction of the interventional catheter, determine the catheter's orientation, and perform optical endoscopic diagnosis. The imaging CMOS sensor is connected to the optical imaging unit 20 (optical imaging image processor) of the host computer via a cable and connector. The image processor supplies power to the CMOS sensor and transmits the captured optical image signals. After processing by the image processor, the relevant optical images are displayed in real time on the display unit 22 (i.e., the monitor). The illumination fiber is connected to the optical endoscopic light source of the host computer via a fiber optic cable and connector, guiding the light emitted by the light source through the catheter to illuminate the target area. The ultrasound probe is located on the side wall at the front end of the catheter. It is a small-sized linear array or phased array probe with 32-128 array elements and a center frequency range of 5-20MHz. Its main purpose is to realize real-time ultrasound image detection of the lesion area and intraoperative navigation for interventional procedures such as puncture biopsy and radiofrequency ablation. The ultrasonic probe 12 is connected to the ultrasonic imaging unit 21 of the host 2 via a multi-core cable or a multi-channel FPGA circuit board. The ultrasonic imaging unit 21 emits high voltage to excite the front-end ultrasonic probe 12 to work. The ultrasonic probe emits ultrasonic waves and receives ultrasonic waves reflected from the target and converts them into electrical signals. These signals are then transmitted to the host 2 via a cable. After processing such as beamforming, filtering, gain adjustment, time gain compensation, and optimization, a real-time target ultrasonic image is formed and transmitted to the display unit 22 (i.e., the monitor) for display.

[0039] In addition, the bottom of the main unit 2 is equipped with wheels 23, which allows the main unit 2 to move for easy operation.

[0040] The working principle of this embodiment is as follows:

[0041] During operation, the catheter is first connected to the main unit to ensure that optical and ultrasound imaging are normal. Then, guided by the optical image, it is inserted into the patient's natural cavities such as the digestive tract and respiratory tract. At the same time, based on the observed internal conditions, the electronic control handle is operated in real time to pass different currents to the shape memory alloy in different sections of the adjustable catheter area, thereby achieving the desired directional control effect. In the early stages, the corresponding current on / off and strength modes and programs need to be set through the specific internal adjustment structure of the catheter. Finally, these settings are integrated into a few simple control buttons on the electronic control handle, such as forward, backward, left, and right, thereby reducing the complexity of operation and achieving precise control.

[0042] In summary, this invention not only enables precise interventional direction control with adjustable bending radius, bending center orientation, and bending direction, but is also suitable for use in some small cavities, and can be combined with photoacoustic dual-mode imaging to assist intervention and diagnosis; secondly, the segmented bending method is not only convenient to operate, but also different from traditional traction control methods, with high precision, simple operation, and can effectively shorten operation time and promote the development of robotic automated operation; thirdly, the shape memory alloy spring tubes used in each bending segment are of equal length. This further improves the precision of adjustment and facilitates bending. The bending centers of the shape memory alloy spring tubes used in each bending group are located on the same cross-section, facilitating the determination of the bending radius and center orientation for high-precision bending of the endoscopic catheter. Fourthly, the spacing between adjacent bending groups gradually decreases from front to back. The varying bending amplitude created by different bending groups allows for more stable and convenient bending operations in narrow cavities. Fifthly, the current between adjacent bending groups gradually decreases from front to back, creating different forces at different positions, optimally achieving the required position and angle adjustment, especially in narrow cavities. Sixthly, the catheter body and the adjustable bending section have the same structure, allowing for integral molding, convenient processing, and eliminating joints and accidental detachment of the bending head. A metal spring tube or hypo tube is also formed between the inner and outer tubes of the catheter body, supporting the catheter structure and facilitating bending. The seventh aspect is that the front end of the working channel is close to the ultrasound array probe and forms an exit on the side wall of the catheter, which facilitates the passage of corresponding interventional surgical instruments, such as puncture needles and ablation catheters, through the working channel at the tail of the catheter, through the main body of the catheter, and out of the front end of the working channel. Under the guidance of ultrasound images, they reach the lesion site to be treated and perform the corresponding treatment. The eighth aspect is that the illumination fiber illuminates the area in front, and then the CMOS captures the optical image in real time, which plays the role of optical endoscopy and interventional navigation. That is, the real-time optical image is used to observe the structure of the organs in front of the catheter and the location of the lesion, so as to guide the direction of interventional catheter advancement, determine the catheter orientation, and perform optical endoscopy diagnosis. At the same time, the ultrasound probe emits ultrasound waves and receives the ultrasound waves reflected by the target and converts them into electrical signals. These signals are transmitted to the host via cable, and then processed by beamforming, filtering, gain, time gain compensation, optimization, etc., to form a real-time target ultrasound image for more accurate interventional treatment or diagnosis.

[0043] The present invention has been described in detail above, with the aim of enabling those skilled in the art to understand and implement the invention. However, this description should not be construed as limiting the scope of protection of the invention. All equivalent changes or modifications made in accordance with the spirit and essence of the invention should be included within the scope of protection of the invention.

Claims

1. A photoacoustic combined electronic endoscope based on shape memory alloy with electrically adjustable bending, comprising an endoscope catheter and a main unit, wherein the endoscope catheter includes a catheter body, an adjustable bending section formed at the front end of the catheter body, an ultrasonic probe located on one side of the front end of the adjustable bending section, an optical probe located in front of the ultrasonic probe, a connector located at the rear end of the catheter body, and an electrically controlled handle communicating with the connector, characterized in that: The adjustable bending section includes an inner tube, an outer tube, and a shape memory alloy spring tube installed between the inner and outer tubes. The inner tube communicates with the inner cavity of the catheter body to form a working channel, and the outlet of the working channel is located close to the ultrasound probe. The outer tube is fixedly connected to the front end of the catheter body. There are multiple shape memory alloy spring tubes, which are spaced apart along the length of the inner tube to form multiple bending groups. Each bending group consists of multiple shape memory alloy spring tubes evenly spaced around the circumference of the inner tube. The bending directions of the multiple shape memory alloy spring tubes in each bending group include at least four directions: up, down, left, and right. Each bending group is connected to an electric control handle through a connector. The magnitude of the current loaded on the shape memory alloy spring tube corresponding to each bending group determines the required bending radius, bending center orientation, and bending direction (up, down, left, and right).

2. The photoacoustic combined electronic endoscope based on shape memory alloy electro-controlled bending as described in claim 1, characterized in that: The shape memory alloy spring tubes used in each bending section are of equal length.

3. The photoacoustic combined electronic endoscope based on shape memory alloy electro-controlled bending as described in claim 1, characterized in that: The bending centers of the shape memory alloy spring tubes used in each bending section are located on the same cross section.

4. The photoacoustic combined electronic endoscope based on shape memory alloy electro-controlled bending as described in claim 1, 2, or 3, characterized in that: The spacing between each pair of adjacent bending sections gradually decreases from front to back.

5. The photoacoustic combined electronic endoscope based on shape memory alloy electro-controlled bending as described in claim 1, 2, or 3, characterized in that: The current between each pair of adjacent bending sections gradually decreases from front to back.

6. The photoacoustic combined electronic endoscope based on shape memory alloy electro-controlled bending as described in claim 1, characterized in that: The main body of the conduit has the same structure as the adjustable bend section, and also forms an inner tube and an outer tube. A cable channel is formed between the inner tube and the outer tube, and the inner cavity of the inner tube forms a working channel.

7. The photoacoustic combined electronic endoscope based on shape memory alloy electro-controlled bending as described in claim 6, characterized in that: A metal spring tube or hysteresis tube is also formed between the inner tube and the outer tube of the catheter body.

8. The photoacoustic combined electronic endoscope based on shape memory alloy electro-controlled bending as described in claim 1, characterized in that: The connector is connected to the host via a cable; the optical probe is located at the front end of the adjustable bend section, and the ultrasonic probe is located behind the optical probe and on one side of the adjustable bend section; the outlet of the working channel is located on the same side as the ultrasonic probe.

9. The photoacoustic combined electronic endoscope based on shape memory alloy electro-controlled bending as described in claim 8, characterized in that: The connector is detachably connected and fixed to the catheter body, and the optical probe and the ultrasonic probe are respectively connected to the connector.

10. The photoacoustic combined electronic endoscope based on shape memory alloy electro-controlled bending as described in claim 1, 8, or 9, characterized in that: The optical probe includes an optical imaging sensor CMOS that is parallel to the end face of the adjustable bend and seals the end of the pipe, and an illumination optical fiber connected to the connector; and / or, the ultrasonic probe is a linear array or phased array probe with the number of array elements ranging from 32 to 128 and the center frequency ranging from 5 to 20 MHz; and the ultrasonic probe is connected to the connector via a multi-core cable or a multi-channel FPGA circuit board.

Images