Double-air-bag enteroscope entering and exiting auxiliary device and pedal control method

Abstract

The invention discloses a double-air-bag enteroscope entering and exiting auxiliary device and a pedal control method. The pedal control method comprises the steps that a man-machine interaction module sends an enteroscope entering or exiting trigger signal to a main control module in a pedal mode, and the main control module is used for controlling the endoscope entering or exiting of the double-air-bag enteroscope on the basis of detection results of air bag pressure and axial displacement; and the inflating and deflating states of the front air bag and the rear air bag and the propelling or withdrawing action of the endoscope and the outer sleeve are cooperatively controlled. In the endoscope advancing process, endoscope advancing is executed only when the air bag is in the fixed state meeting the preset pressure condition, and the outer sleeve is driven to follow up according to the displacement corresponding relation; and in the endoscope withdrawing process, the outer sleeve and the endoscope are sequentially controlled to withdraw according to a preset time sequence. And when it is detected that the pressure of the air bag is abnormal, the propelling or withdrawing action is stopped. On the premise that the original working principle of the double-air-bag enteroscope is not changed, auxiliary control over the processes of entering and exiting the enteroscope is achieved.

Description

Technical Field

[0001] This invention relates to the field of medical devices and digestive endoscopy auxiliary equipment, specifically to a double-balloon enteroscope insertion and withdrawal auxiliary device and a foot pedal control method. Background Technology

[0002] As the longest and deepest organ in the digestive tract, the small intestine has long been difficult to visualize entirely using conventional gastroscopy or colonoscopy. The diagnosis and treatment of diseases such as unexplained gastrointestinal bleeding, small intestinal tumors, and inflammatory bowel disease urgently require an endoscopic technique that can penetrate deep into the small intestine and allow for direct visualization.

[0003] The double-balloon enteroscope uses balloons placed at the distal end of the endoscope and on the outer cannula. The alternating inflation and deflation of these balloons create anchor points, allowing for segmental access into the small intestine as the endoscope and cannula are advanced. This technique is currently widely used for the diagnosis and endoscopic treatment of small bowel diseases.

[0004] However, in the current clinical application of double-balloon enteroscopy, the insertion and withdrawal of the endoscope mainly rely on manual collaboration. Typically, the operator is responsible for the endoscopic manipulation, while one or more assistants perform the inflation and deflation of the anterior and posterior balloons, and coordinate the advancement or retraction of the outer cannula. This method requires a high degree of coordination, has a complex procedure, and it is difficult for different operators to maintain a consistent pace.

[0005] In practice, the timing of balloon inflation and deflation, inflation pressure, and the advancement distance of the endoscope and outer cannula mainly rely on manual experience and judgment, lacking a unified control method. When the balloon movement and advancement movement are not coordinated properly, the advancement of the endoscope and the follow-up of the outer cannula can easily become asynchronous, leading to problems such as intestinal folding and increased traction tension, which affects the smooth progress of the examination.

[0006] Furthermore, the double-balloon enteroscopy requires frequent inflation and deflation of the balloon and advance and retreat of the endoscope, resulting in a prolonged examination time, high operator fatigue, and increased operational risks. Additionally, the current procedure is highly dependent on operator experience, hindering the standardization and normalization of the procedure.

[0007] In view of this, the present invention proposes a double-balloon enteroscope insertion and withdrawal auxiliary device and a foot pedal control method. Summary of the Invention

[0008] The purpose of this invention is to provide an auxiliary device for the insertion and withdrawal of a double-balloon enteroscope and a foot pedal control method, which aims to solve the problem that the inflation and deflation of the balloon and the advancement of the endoscope and outer cannula during the insertion and withdrawal of the existing double-balloon enteroscope are highly dependent on manual cooperation and difficult to keep the movements synchronized, resulting in a complicated operation process that is difficult to standardize.

[0009] In a first aspect, the present invention provides a foot-operated controlled double-balloon enteroscope insertion and withdrawal auxiliary device, used to assist in the insertion and withdrawal operations of a double-balloon enteroscope, comprising:

[0010] A pneumatic module, which is connected to the anterior and posterior balloons of the double-balloon enteroscope, is used to perform inflation or deflation operations on the anterior and posterior balloons respectively under the control of the main control module.

[0011] The mechanical actuation module includes a first propulsion unit for driving the endoscope to move axially, and a second propulsion unit for driving the outer tube to move axially.

[0012] The human-computer interaction module includes a foot pedal control unit, which is used to send an advance trigger signal or an exit trigger signal to the main control module;

[0013] The feedback monitoring module includes a pressure detection unit and a displacement detection unit, used to detect the airbag pressure of the anterior airbag and / or the posterior airbag, as well as the displacement of the endoscope and / or the outer tube.

[0014] Upon receiving an endoscope advancement trigger signal, the main control module controls the inflation of the front airbag. Once the pressure reaches the target level, it drives the first propulsion unit to advance the endoscope forward. Subsequently, it switches the airbag state and drives the second propulsion unit to advance the outer tube. Upon receiving an endoscope retraction trigger signal, it controls the airbag to switch to a fixed position and drives the second and first propulsion units to sequentially perform a retraction action according to a preset timing sequence. When the pressure detection unit detects that the pressure of any airbag exceeds the preset pressure range, it prohibits the mechanical execution module from performing the propulsion or retraction action.

[0015] As a preferred embodiment of the first aspect of the present invention, the preset pressure range is defined by an upper threshold and a lower threshold. The main control module is configured to allow the first propulsion unit to perform axial movement of the endoscope only after the pressure detection unit continuously detects that the airbag pressure is between the upper threshold and the lower threshold and maintains it for a preset time.

[0016] As a preferred embodiment of the first aspect of the present invention, the main control module is configured to trigger the next airbag inflation / deflation state switching operation only after the displacement detection unit detects that the actual movement displacement of the endoscope or the outer tube has reached a preset target value.

[0017] As a preferred technical solution of the first aspect of the present invention, the main control module controls the mechanical execution module according to a preset displacement correspondence relationship, wherein the displacement correspondence relationship includes the following ratio of the endoscope and the outer tube during the insertion process, or the retraction difference during the withdrawal process.

[0018] As a preferred embodiment of the first aspect of the present invention, the human-computer interaction module includes a first foot pedal unit for triggering a single advance loop and a second foot pedal unit for triggering a single retreat loop; the control signal output by the foot pedal unit serves as a trigger instruction for the main control module to execute a preset logic sequence, rather than directly driving the execution element.

[0019] As a preferred embodiment of the first aspect of the present invention, the main control module is configured to, during the execution process, determine in real time whether the intestinal resistance exceeds the standard based on the joint detection results of the pressure detection unit and the displacement detection unit, and decide whether to interrupt the current process and lock the mechanical execution module accordingly.

[0020] As a preferred embodiment of the first aspect of the present invention, the first propulsion unit and the second propulsion unit each include an independent drive mechanism, and the main control module is configured to asynchronously control the two in sequence according to a preset timing logic to simulate the manual "crawling" advance or retreat action.

[0021] As a preferred embodiment of the first aspect of the present invention, the main control module is configured to: cyclically execute the corresponding action sequence when receiving a continuous advance or retreat trigger signal; and maintain the current airbag inflation state and stop mechanical axial movement when the signal is interrupted.

[0022] As a preferred technical solution of the first aspect of the present invention, the main control module is preset with a variety of control parameter combinations, each combination including at least the airbag pressure threshold, movement displacement step size and action timing parameters corresponding to different intestinal environments; the endoscope withdrawal process is specifically configured as follows: first control the rear airbag to fix and retract the outer tube, then control the front airbag to fix and retract the endoscope.

[0023] In a second aspect, the present invention provides a foot-operated controlled double-balloon enteroscope advance and retraction control method, applied to the first aspect, comprising the following steps:

[0024] S101: Receives advance or retreat trigger signals via the foot pedal control unit, and the main control module initiates the corresponding preset control process;

[0025] S102: During the camera insertion process, the main control module controls the inflation of the front airbag and detects the airbag pressure through the pressure detection unit. When the pressure is continuously within the preset pressure range and maintained for a preset time, it is determined that the front airbag has entered a fixed state.

[0026] S103: With the front airbag fixed, the main control module drives the first propulsion unit to move the endoscope forward by a preset displacement, and the actual displacement is detected by the displacement detection unit.

[0027] S104: When the endoscope's advance displacement is detected to reach the preset target value, the main control module controls the rear airbag to inflate and the front airbag to deflate, so as to complete the airbag fixed position switching.

[0028] S105: Based on the preset displacement correspondence, the main control module drives the second propulsion unit to move the outer tube forward to restore the preset relative position between the outer tube and the endoscope;

[0029] S106: When the in-scope trigger signal is continuously input, execute steps S102–S105 in a loop; when the trigger signal is interrupted, maintain the current airbag state and stop axial movement;

[0030] S107: During the endoscope withdrawal process, the main control module sequentially controls the airbag to switch fixed positions and drives the outer tube and endoscope to retract backward according to the preset timing.

[0031] S108: In any of the above steps, when the pressure of any airbag is detected to exceed the preset safety range, the main control module prohibits the first propulsion unit and the second propulsion unit from performing movement actions.

[0032] The technical effects and advantages provided by the present invention in the above technical solution are as follows:

[0033] This invention uses a foot-triggered signal as the initiation condition for the endoscope insertion and withdrawal process. The main control module coordinates the inflation and deflation of the balloon and the advancement sequence of the endoscope and outer cannula based on the detection results of balloon pressure and axial displacement. This ensures that the endoscope advancement action is performed only when the balloon is in a fixed state that meets the preset pressure conditions. At the same time, the follow-up or retraction action of the outer cannula is restricted to a preset displacement correspondence, thereby avoiding asynchronous advancement caused by inconsistent manual coordination. Based on the above control method, a stable constraint relationship is formed between the fixed state of the balloon, the advancement displacement, and the action sequence during the insertion and withdrawal process. This allows the insertion and withdrawal process to be implemented in a cyclical and controllable manner. The advancement or retraction action is interrupted in time when abnormal balloon pressure is detected. Thus, without changing the original working principle of the double-balloon enteroscope, auxiliary control of the insertion and withdrawal operation process is achieved. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0035] Figure 1 This is a schematic diagram of the foot pedal control structure of the dual-balloon enteroscope insertion and withdrawal auxiliary device of the present invention.

[0036] Figure 2 This is a flowchart of the foot pedal control method for advancing and retracting the double-balloon enteroscope of the present invention. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings.

[0038] Throughout the accompanying drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions. The described embodiments are only a part of the embodiments of this application, not all of them. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0039] Example 1

[0040] Please see Figure 1 As shown, this embodiment provides a foot-operated controlled double-balloon enteroscope insertion and withdrawal auxiliary device to assist existing double-balloon enteroscopes in completing insertion and withdrawal operations. The auxiliary device is set as an external control and execution system, without changing the original imaging and examination principle of the double-balloon enteroscope. The auxiliary device includes: a main control module, a pneumatic module, a human-machine interface module, a mechanical execution module, and a feedback monitoring module. These modules communicate with each other via electrical or signal connections, and the main control module provides unified control over all modules.

[0041] The main control module executes the control program and stores control parameters. It includes a processing unit and a storage unit. The processing unit can be a microprocessor or an embedded controller, and the storage unit pre-stores the control logic corresponding to the camera advance and retreat procedures. The main control module receives control signals from the human-machine interface module and outputs corresponding airbag control commands and propulsion control commands according to the preset logic.

[0042] Specifically, the main control module is configured as follows:

[0043] Upon receiving the advance trigger signal, the pneumatic module is first controlled to inflate the front airbag, and the pressure of the front airbag is determined based on the detection result of the pressure detection unit to determine whether the pressure of the front airbag has reached the preset pressure range.

[0044] Only when the pressure of the anterior airbag reaches and is maintained within the preset pressure range will the endoscope advance control command be output to the first propulsion unit to drive the endoscope forward by a preset displacement.

[0045] After the endoscope is advanced, the pneumatic module is controlled to inflate the rear airbag and deflate the front airbag to switch the fixed position of the airbag.

[0046] After the airbag is switched to a fixed position, the second propulsion unit is controlled to drive the outer tube forward according to a preset displacement correspondence, so that the outer tube and the endoscope are restored to a preset positional relationship.

[0047] Furthermore, the main control module is also configured to prevent the mechanical actuator from continuing to perform the propulsion action when the pressure detection unit detects that the airbag pressure of the front airbag and / or the rear airbag exceeds the preset pressure range.

[0048] A pneumatic module, connected to the anterior and posterior balloons of the dual-balloon enteroscope, is used to inflate or deflate the anterior and posterior balloons respectively under the control of the main control module. The pneumatic module includes an air pump, an air passage, a solenoid valve, and a pressure sensor, wherein:

[0049] The air pump is connected to the front and rear airbags via air passages, and solenoid valves control the flow of gas in each air passage. Pressure sensors are installed in the corresponding air passages to detect the gas pressure inside the front and rear airbags and transmit the detection signals to the main control module.

[0050] During operation, the main control module controls the opening or closing of the solenoid valve according to the control command to achieve independent inflation and deflation of the front and rear airbags.

[0051] The human-machine interface (HMI) module is used to send camera advance or retreat commands to the main control module. The HMI module includes a foot pedal control unit, which has at least two foot switches, corresponding to the camera advance and retreat commands respectively. The operator inputs control signals to the main control module by pressing the corresponding foot switch.

[0052] Optionally, the human-computer interaction module may also include a display unit or a parameter setting unit for displaying the working status of the device or setting control parameters.

[0053] A mechanical actuation module, used to drive the outer tube or endoscope to move axially, includes a first propulsion unit for driving the axial movement of the endoscope and a second propulsion unit for driving the axial movement of the outer tube. The mechanical actuation module includes a propulsion mechanism, which may include a motor, a transmission assembly, and a fixing structure for clamping the outer tube or endoscope. The main control module controls the operating state of the propulsion mechanism to advance or retract the endoscope or outer tube according to a set displacement.

[0054] The feedback monitoring module includes a pressure detection unit and a displacement detection unit. The pressure detection unit acquires pressure information from the anterior and posterior airbags, while the displacement detection unit acquires the propulsion displacement information of the endoscope or sheath. This detection information is transmitted in real-time to the main control module for control judgment or anomaly handling.

[0055] In one implementation of the scope advance, after receiving the scope advance trigger signal, the main control module first controls the pneumatic module to inflate the front airbag and monitors the front airbag pressure in real time through the pressure detection unit. When the front airbag pressure is continuously within a preset pressure range defined by an upper and lower threshold for a preset time, the main control module determines that the front airbag has entered a fixed state.

[0056] With the front airbag in a fixed position, the main control module drives the first propulsion unit to advance the endoscope forward by a preset displacement along the axial direction, and detects the actual displacement of the endoscope through the displacement detection unit. When the actual displacement of the endoscope reaches the preset target value, the main control module controls the rear airbag to inflate and the front airbag to deflate, thereby completing the switching of the airbag fixed position.

[0057] After the airbag is switched to a fixed position, the main control module controls the second propulsion unit to move the outer sleeve forward according to the preset displacement correspondence, so that the outer sleeve and the endoscope are restored to the preset relative position relationship. When the endoscope insertion trigger signal is continuously input, the main control module executes the above endoscope insertion control process in a loop; when the endoscope insertion trigger signal is interrupted, the main control module maintains the current airbag inflation state and stops the axial movement of the mechanical execution module.

[0058] In one implementation of the endoscope withdrawal method, when the operator issues a withdrawal command via the foot pedal control unit, the main control module, according to the control logic opposite to the insertion process, alternately controls the deflation status of the front and rear airbags, and controls the mechanical actuator to drive the endoscope and outer tube to move backward, thereby realizing the withdrawal operation.

[0059] Specifically, the main control module first controls the rear airbag to enter a fixed state and drives the second propulsion unit to retract the outer tube backward; then it controls the front airbag to enter a fixed state and drives the first propulsion unit to retract the endoscope backward, thereby completing the endoscope withdrawal action.

[0060] In this embodiment, the main control module continuously receives the detection results from the pressure detection unit at any stage of the advance or retreat procedure. When the pressure of any airbag exceeds the preset safe pressure range, the main control module immediately prohibits the first and second propulsion units from continuing to perform propulsion or retraction actions, and locks the mechanical execution module to interrupt the current process.

[0061] In this embodiment, the main control module has multiple preset combinations of control parameters, each corresponding to different intestinal environments or operational needs. Each combination of control parameters includes at least the balloon pressure threshold, the movement step size of the endoscope and outer cannula, and the timing parameters for the insertion or withdrawal of the endoscope. The operator can select the appropriate parameter combination through the human-machine interface module. The balloon pressure value, the amount of advancement displacement, and the control sequence can all be set according to actual needs. The auxiliary device provides auxiliary control of the insertion and withdrawal processes without altering the original working principle of the double-balloon enteroscope.

[0062] Example 2

[0063] This embodiment, based on the foot-operated controlled double-balloon enteroscope insertion and withdrawal auxiliary device described in Embodiment 1, provides an implementation method using different combinations of control parameters and different action rhythms for insertion and withdrawal. The hardware structure, module composition, and connection relationships of the device in this embodiment are the same as in Embodiment 1; the difference lies only in the combination of control parameters used in the main control module and the configuration of the action rhythm during the insertion and withdrawal processes.

[0064] In this embodiment, the main control module pre-sets at least one set of control parameter combinations suitable for scenarios with high intestinal curvature or frequent changes in resistance. The control parameter combinations include:

[0065] Narrower airbag pressure allowable range compared to Example 1;

[0066] Smaller single endoscope advance step size compared to Example 1;

[0067] The airbag pressure maintenance time is extended compared to Example 1;

[0068] Adjusted timing parameters for camera entry and exit actions.

[0069] Before the inspection begins, the operator can select the control parameter combination through the human-machine interface module to put the device into the corresponding control mode.

[0070] During the lens advance process in this embodiment, when the main control module receives the lens advance trigger signal, it first controls the pneumatic module to perform an inflation operation on the front airbag, and then uses the pressure detection unit to detect the pressure of the front airbag in real time.

[0071] Unlike Embodiment 1, in this embodiment, after the main control module detects that the front airbag pressure has entered the preset pressure range, it does not immediately determine that it is in a fixed state. Instead, it requires the pressure state to be maintained for a corresponding extended maintenance time before determining that the front airbag has entered a fixed state.

[0072] With the anterior airbag fixed, the main control module drives the first propulsion unit to advance the endoscope forward along the axial direction by a small preset displacement step, and detects the actual propulsion displacement of the endoscope through the displacement detection unit. When the actual propulsion displacement of the endoscope reaches the target value corresponding to the small step, the main control module controls the rear airbag to inflate and the anterior airbag to deflate, thereby completing the switching of the airbag fixing position.

[0073] Subsequently, the main control module controls the second propulsion unit to drive the outer tube forward according to the preset displacement correspondence. Since the single propulsion displacement step is small, the following action of the outer tube is configured to be executed in segments to gradually restore its preset relative positional relationship with the endoscope.

[0074] In this embodiment, when the scope advance trigger signal is continuously input, the main control module executes the above-mentioned scope advance control process cyclically at a lower frequency. Compared with the standard rhythm mode of Embodiment 1, the advance amount in each scope advance cycle in this embodiment is smaller and the number of cycles is more, thereby forming a scope advance mode with a more refined advance rhythm; when the scope advance trigger signal is interrupted, the main control module also maintains the current inflation state of the airbag and stops the axial movement of the first propulsion unit and the second propulsion unit.

[0075] During the retraction process, when the main control module receives the retraction trigger signal, it still executes the control operation in the order of "outer tube retraction first, endoscope retraction later". However, the single displacement and timing parameters of each retraction action are adjusted according to the control parameter combination selected in this embodiment.

[0076] Specifically, the main control module first controls the rear airbag to enter a fixed state and drives the second propulsion unit to move the outer tube backward with a small retraction step; then it controls the front airbag to enter a fixed state and drives the first propulsion unit to retract the endoscope backward with a corresponding small step, thereby completing the endoscope withdrawal action.

[0077] In this embodiment, the main control module employs a more stringent monitoring threshold for airbag pressure during the advance or retreat procedure. When the pressure detection unit detects that the airbag pressure is approaching the preset upper or lower safety pressure limit, the main control module pauses the current advance or retreat action and maintains the airbag status, waiting for the pressure to return to the allowable range before continuing the subsequent procedure.

[0078] This embodiment enables the device to perform endoscope insertion and withdrawal operations with different control strategies without changing the airbag pressure range, the advancement displacement step size, and the action timing parameters, thus adapting to the operational needs under different intestinal conditions.

[0079] Example 3

[0080] Based on Embodiment 1, this embodiment provides a foot-operated double-balloon enteroscope advance and retreat control method, which is applied to the aforementioned foot-operated double-balloon enteroscope advance and retreat auxiliary device. The method coordinates the inflation and deflation of the double balloons and the advance and retreat movements of the endoscope and outer cannula through foot-operated triggering.

[0081] In this embodiment, the camera advance control process is triggered by the operator through a foot pedal control unit. Specifically, when the operator steps on the corresponding camera advance foot pedal unit, the foot pedal control unit outputs a camera advance trigger signal to the main control module, which then initiates a preset camera advance control procedure.

[0082] After the endoscope insertion process is initiated, the main control module first controls the pneumatic module to inflate the front airbag, and monitors the airbag pressure in real time through the pressure detection unit. When the front airbag pressure is detected to be continuously within a preset pressure range and maintained for a preset time, the main control module determines that the front airbag has entered a fixed state.

[0083] With the front airbag in a fixed position, the main control module outputs a propulsion command to the first propulsion unit, driving the endoscope to move forward by a preset displacement along the axial direction. Simultaneously, the displacement detection unit detects the actual propulsion displacement of the endoscope. When the actual propulsion displacement of the endoscope reaches the preset target value, the main control module controls the pneumatic module to inflate the rear airbag and deflate the front airbag, thereby completing the switch of the airbag's fixed position from the front to the rear.

[0084] After the airbag is fixed in a fixed position, the main control module controls the second propulsion unit to drive the outer tube to move forward along the axial direction based on the preset displacement correspondence, so that the outer tube and the endoscope are restored to the preset relative position relationship, thereby completing one endoscope insertion action unit.

[0085] When the endoscope foot pedal signal is continuously input, the main control module repeats the above endoscope advancement process to achieve segmented advancement of the endoscope; when the endoscope foot pedal signal is interrupted, the main control module maintains the current inflation state of the airbag and stops the axial movement of the endoscope and outer tube.

[0086] During the retraction process, when the operator steps on the corresponding retraction foot pedal, the foot pedal control unit outputs a retraction trigger signal to the main control module, which then initiates the preset retraction control procedure.

[0087] During the endoscope withdrawal procedure, the main control module executes the airbag fixation position switching and axial retraction actions in the reverse control sequence compared to the endoscope insertion process. Specifically, the main control module first controls the rear airbag to enter the fixed state and performs an air deflation operation on the front airbag, then drives the second propulsion unit to retract the outer tube axially backward; after completing the outer tube retraction, the main control module controls the front airbag to enter the fixed state and performs an air deflation operation on the rear airbag, then drives the first propulsion unit to retract the endoscope axially backward, thereby realizing the endoscope withdrawal operation.

[0088] During the advance or retreat control process, the main control module continuously receives detection signals from the pressure detection unit. When the airbag pressure of the front or rear airbag is detected to exceed the preset safety range, the main control module immediately prohibits the first and second propulsion units from continuing to perform axial movement and maintains the current airbag state to avoid further advancement or retraction.

[0089] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A foot-operated controlled double-balloon enteroscope insertion and withdrawal auxiliary device, used to assist in the insertion and withdrawal operations of a double-balloon enteroscope, characterized in that, include: A pneumatic module, which is connected to the anterior and posterior balloons of the double-balloon enteroscope, is used to perform inflation or deflation operations on the anterior and posterior balloons respectively under the control of the main control module. The mechanical actuation module includes a first propulsion unit for driving the endoscope to move axially, and a second propulsion unit for driving the outer tube to move axially. The human-computer interaction module includes a foot pedal control unit, which is used to send an advance trigger signal or an exit trigger signal to the main control module; The feedback monitoring module includes a pressure detection unit and a displacement detection unit, used to detect the airbag pressure of the anterior airbag and / or the posterior airbag, as well as the displacement of the endoscope and / or the outer tube. Upon receiving an endoscope advancement trigger signal, the main control module controls the inflation of the front airbag. Once the pressure reaches the target level, it drives the first propulsion unit to advance the endoscope forward. Subsequently, it switches the airbag state and drives the second propulsion unit to advance the outer tube. Upon receiving an endoscope retraction trigger signal, it controls the airbag to switch to a fixed position and drives the second and first propulsion units to sequentially perform a retraction action according to a preset timing sequence. When the pressure detection unit detects that the pressure of any airbag exceeds the preset pressure range, it prohibits the mechanical execution module from performing the propulsion or retraction action.

2. The foot-operated controlled double-balloon enteroscope advance and retraction auxiliary device according to claim 1, characterized in that: The preset pressure range is defined by an upper threshold and a lower threshold. The main control module is configured to allow the first propulsion unit to perform axial movement of the endoscope only after the pressure detection unit continuously detects that the airbag pressure is between the upper threshold and the lower threshold and maintains it for a preset time.

3. The foot-operated controlled double-balloon enteroscope advance and retraction auxiliary device according to claim 1, characterized in that: The main control module is configured to trigger the next airbag inflation / deflation state switching operation only after the displacement detection unit detects that the actual movement displacement of the endoscope or outer tube has reached a preset target value.

4. The foot-operated controlled double-balloon enteroscope advance and retraction auxiliary device according to claim 1, characterized in that: The main control module controls the mechanical execution module according to a preset displacement correspondence, which includes the following ratio of the endoscope and outer tube during the insertion process, or the retraction difference during the withdrawal process.

5. The foot-operated controlled double-balloon enteroscope advance and retraction auxiliary device according to claim 1, characterized in that: The human-computer interaction module includes a first foot pedal unit for triggering a single advance loop and a second foot pedal unit for triggering a single retreat loop; the control signal output by the foot pedal unit serves as a trigger instruction for the main control module to execute a preset logic sequence, rather than directly driving the execution element.

6. The foot-operated controlled double-balloon enteroscope advance and retraction auxiliary device according to claim 1, characterized in that: The main control module is configured to determine in real time whether the intestinal resistance exceeds the standard based on the joint detection results of the pressure detection unit and the displacement detection unit during the execution process, and decide whether to interrupt the current process and lock the mechanical execution module accordingly.

7. The foot-operated controlled double-balloon enteroscope advance and retraction auxiliary device according to claim 1, characterized in that: The first propulsion unit and the second propulsion unit each include an independent drive mechanism. The main control module is configured to asynchronously control the two in sequence according to a preset timing logic to simulate a manual "crawling" approach or exit action.

8. The foot-operated controlled double-balloon enteroscope advance and retraction auxiliary device according to claim 1, characterized in that: The main control module is configured to: when receiving a continuous advance or retreat trigger signal, execute the corresponding action sequence in a loop; when the signal is interrupted, maintain the current airbag inflation state and stop the mechanical axial movement.

9. A foot-operated controlled double-balloon enteroscope advance and retraction auxiliary device according to claim 1, characterized in that: The main control module has a variety of preset control parameter combinations. Each combination includes at least the airbag pressure threshold, movement displacement step size and action timing parameters corresponding to different intestinal environments. The endoscope withdrawal process is specifically configured as follows: first, control the rear airbag to fix and retract the outer tube, and then control the front airbag to fix and retract the endoscope.

10. A foot-operated controlled method for advancing and retracting a double-balloon enteroscope, characterized in that, The foot-operated dual-balloon enteroscope advance and withdrawal auxiliary device according to any one of claims 1–9 comprises the following steps: S101: Receives advance or retreat trigger signals via the foot pedal control unit, and the main control module initiates the corresponding preset control process; S102: During the camera insertion process, the main control module controls the inflation of the front airbag and detects the airbag pressure through the pressure detection unit. When the pressure is continuously within the preset pressure range and maintained for a preset time, it is determined that the front airbag has entered a fixed state. S103: With the front airbag fixed, the main control module drives the first propulsion unit to move the endoscope forward by a preset displacement, and the actual displacement is detected by the displacement detection unit. S104: When the endoscope's advance displacement is detected to reach the preset target value, the main control module controls the rear airbag to inflate and the front airbag to deflate, so as to complete the airbag fixed position switching. S105: Based on the preset displacement correspondence, the main control module drives the second propulsion unit to move the outer tube forward to restore the preset relative position between the outer tube and the endoscope; S106: When the in-scope trigger signal is continuously input, execute steps S102–S105 in a loop; when the trigger signal is interrupted, maintain the current airbag state and stop axial movement; S107: During the endoscope withdrawal process, the main control module sequentially controls the airbag to switch fixed positions and drives the outer tube and endoscope to retract backward according to the preset timing. S108: In any of the above steps, when the pressure of any airbag is detected to exceed the preset safety range, the main control module prohibits the first propulsion unit and the second propulsion unit from performing movement actions.

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