A flexible mirror device based on a head-end identification and positioning system

Abstract

This invention belongs to the field of medical device technology, specifically referring to a flexible endoscope device based on a head-end positioning system. It includes a handle, one end of which has a cavity. One end of the cavity is connected to a rigid tube, and one end of the rigid tube is connected to a flexible tube. An instrument channel is provided inside the rigid tube, flexible tube, and cavity. A fixing ring is fixedly connected to the inside of one end of the flexible tube. One end of the instrument channel and one end of the flexible tube are sealed together by the fixing ring. The outer side wall of the instrument channel and the inner side wall of the flexible tube are sealed together by a separating ring. This application, through the cooperation of an electromagnetic tracking sensor coil and an electromagnetic induction device, can accurately position the head of the flexible tube. Simultaneously, by utilizing a first angle adjustment component, a second angle adjustment component, a third angle adjustment component, and a fourth angle adjustment component, it enables flexible movement of the head of the flexible tube in multiple directions, facilitating precise operation of the flexible endoscope device by medical personnel inside the patient.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically referring to a flexible endoscope device based on a head-end positioning system. Background Technology

[0002] In the medical field, flexible endoscopic devices are widely used in various internal examinations and surgical procedures, such as gastroscopy, colonoscopy, and bronchoscopy. However, traditional flexible endoscopic devices have many inconveniences and limitations during operation.

[0003] On the one hand, the positioning of traditional flexible endoscopes in the body mainly relies on the experience and visual judgment of medical staff, lacking precise positioning methods. This makes it difficult to accurately reach the target area in the complex human body structure, increasing the difficulty and risk of operation, and may also prolong the operation time, causing more pain to the patient.

[0004] On the other hand, traditional flexible endoscopes have poor maneuverability, and the flexible tubes are not flexible enough to move in the body, making it difficult to achieve precise adjustments in multiple directions. For some situations that require delicate operation, such as the treatment of small lesions, they often cannot meet clinical needs. Summary of the Invention

[0005] To address the aforementioned problems, this invention proposes a flexible mirror device based on a head-end identification and positioning system.

[0006] The technical solution adopted by this invention is as follows: This invention provides a flexible endoscope device based on a head-end positioning system, including a handle, one end of which has a cavity, one end of which is connected to a rigid tube, and one end of which is connected to a flexible tube. An instrument channel is provided inside the rigid tube, the flexible tube, and the cavity. A fixing ring is fixedly connected to the inside of one end of the flexible tube. One end of the instrument channel and one end of the flexible tube are sealed together by the fixing ring. The outer side wall of the instrument channel and the inner side wall of the flexible tube are sealed together by a separator ring. An electromagnetic tracking sensor coil is embedded in the inner wall of one side of the fixing ring. A light is installed on one side of the fixing ring. A hardening adjustment component is provided on the cavity, a first angle adjustment component is provided on the flexible tube, a second angle adjustment component is provided on the flexible tube, a third angle adjustment component is provided on the flexible tube, and a fourth angle adjustment component is provided on the flexible tube.

[0007] Furthermore, the handle has a cavity, a channel opening on one side of the top of the handle, and a water injection pipe connected to the other side of the top of the handle. The lighting lamp is powered externally. The hardening adjustment assembly includes a pipe, the top of the cavity is fixedly connected to the pipe, a slider is slidably mounted on the inner wall of the pipe, a piston is fixedly connected to the lower end of the slider, one end of a lead screw is rotatably connected to the top of the slider, the other end of the lead screw is fixedly connected to a rotating handle, the lead screw and the cavity are threadedly connected, an electrorheological fluid is provided inside the cavity, an electrorheological fluid is provided between the instrument channel and the hard tube, an electrorheological fluid is provided between the instrument channel, the separating ring and the flexible tube, and one end of a power-carrying wire is provided inside the cavity.

[0008] Furthermore, the first angle adjustment component includes a first channel, which is opened inside the upper end of the separator ring. One end of a first spring is fixedly connected to the upper end of the other side wall of the fixing ring. The first spring is fixedly connected to the upper end of the side wall of the separator ring. A first conduit is provided on the upper end of the outer side wall of the rigid tube and the flexible tube. A first receiving tube is fixedly connected to the upper end of the cavity. One end of a first take-up shaft is rotatably connected to the bottom end of the inner side of the first receiving tube. The other end of the first take-up shaft is fixedly connected to a first rotating handle. One end of a first guide wire is fixedly connected to the upper end of the other side wall of the fixing ring. The other end of the first guide wire is fixedly connected to the lower end of the side wall of the first take-up shaft.

[0009] Furthermore, the first guidewire is used to pass through the first channel and the first conduit.

[0010] Furthermore, the second angle adjustment component includes a second channel, which is located at the lower end of the inner side of the separator ring. One end of a second spring is fixedly connected to the lower end of the other side wall of the fixing ring. The second spring is fixedly connected to the lower end of the side wall of the separator ring. A second conduit is provided at the lower end of the outer side wall of the rigid tube and the flexible tube. A second receiving tube is fixedly connected to the lower end of the cavity. One end of a second take-up shaft is rotatably connected to the upper end of the inner side of the second receiving tube. The other end of the second take-up shaft is fixedly connected to a second handle. One end of a second guide wire is fixedly connected to the lower end of the other side wall of the fixing ring. The other end of the second guide wire is fixedly connected to the lower end of the side wall of the second take-up shaft.

[0011] Furthermore, the second guidewire is used to pass through the second channel and the second conduit.

[0012] Furthermore, the third angle adjustment component includes a third channel, which is located inside the rear end of the separator ring. One end of a third spring is fixedly connected to the rear end of the other side wall of the fixing ring. The third spring is fixedly connected to the rear end of the side wall of the separator ring. A third cable tube is provided at the rear end of the outer side wall of the rigid tube and the flexible tube. A third receiving tube is fixedly connected to the rear end of the cavity. One end of a third take-up shaft is rotatably connected to the bottom end of the third receiving tube. The other end of the third take-up shaft is fixedly connected to a third handle. One end of a third guide wire is fixedly connected to the rear end of the other side wall of the fixing ring. The other end of the third guide wire is fixedly connected to the lower end of the side wall of the third take-up shaft.

[0013] Furthermore, the third guidewire is used to pass through the third channel and the third conduit.

[0014] Furthermore, the fourth angle adjustment component includes a fourth channel, which is located inside the front end of the separator ring. One end of a fourth spring is fixedly connected to the front end of the other side wall of the fixing ring. The fourth spring is fixedly connected to the front end of the side wall of the separator ring. A fourth conduit is provided at the rear end of the outer side wall of the rigid tube and the flexible tube. A fourth receiving tube is fixedly connected to the end of the cavity. One end of a fourth take-up shaft is rotatably connected to the bottom end of the fourth take-up shaft. The other end of the fourth take-up shaft is fixedly connected to a fourth handle. One end of a fourth guide wire is fixedly connected to the front end of the other side wall of the fixing ring. The other end of the fourth guide wire is fixedly connected to the lower end of the side wall of the fourth take-up shaft.

[0015] Furthermore, the third guidewire is used to pass through the third channel and the third conduit.

[0016] The beneficial effects achieved by the present invention using the above structure are as follows: (1) By using the electromagnetic tracking sensor coil in conjunction with the electromagnetic induction device, the head of the flexible tube can be accurately positioned. At the same time, by using the first angle adjustment component, the second angle adjustment component, the third angle adjustment component, and the fourth angle adjustment component, the head of the flexible tube can be moved flexibly in multiple directions, which makes it convenient for medical staff to operate the flexible endoscope device accurately inside the patient's body.

[0017] (2) When energized, the electrorheological fluid changes from a liquid phase to a solid phase, providing support for the tubing and facilitating its movement. After de-energization, the distribution of the electrorheological fluid is controlled by the screw and piston, allowing the tubing to be straightened or freely change shape, thus better adapting to the needs of different parts of the patient's body and complex environments.

[0018] (3) By controlling the direction of movement of the tube head, medical staff can quickly adjust the position of the tube, improve the efficiency of surgery or examination, reduce operation time, and reduce patient pain. Attached Figure Description

[0019] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a front view of a flexible mirror device based on a head-end identification and positioning system according to the present invention; Figure 2 This is a schematic diagram of the main structure of a flexible mirror device based on a head-end identification and positioning system according to the present invention; Figure 3 This is a top view schematic diagram of a flexible mirror device based on a head-end marking and positioning system according to the present invention; Figure 4 for Figure 2 Enlarged view of part A in the middle; Figure 5 for Figure 3 Enlarged view of part B in the middle section; Figure 6 for Figure 2 Enlarged view of part C in the middle; Figure 7 for Figure 3 Enlarged view of part D in the middle.

[0021] Among them, 1. Rigid tube, 2. Flexible tube, 3. Handle, 4. Cavity, 5. Lighting lamp, 6. Separating ring, 7. Fixing ring, 8. Instrument channel, 9. Electromagnetic tracking sensor coil, 10. Hardening adjustment assembly, 11. First angle adjustment assembly, 12. Second angle adjustment assembly, 13. Third angle adjustment assembly, 14. Fourth angle adjustment assembly, 15. Rotating handle, 16. Electrorheological fluid, 17. Current-carrying wire, 18. Pipe, 19. Piston, 20. Slider, 21. Lead screw, 22. First guide wire, 23. First spring, 24. First channel, 25. First conduit, 26. First receiving tube 27. First take-up spool; 28. First handle; 29. ​​Second guide wire; 30. Second spring; 31. Second channel; 32. Second cable tube; 33. Second storage tube; 34. Second take-up spool; 35. Second handle; 36. Third guide wire; 37. Third spring; 38. Third channel; 39. Third cable tube; 40. Third storage tube; 41. Third take-up spool; 42. Third handle; 43. Fourth guide wire; 44. Fourth spring; 45. Fourth channel; 46. Fourth cable tube; 47. Fourth storage tube; 48. Fourth take-up spool; 49. Fourth handle; 50. Channel opening; 51. Water injection pipe. Detailed Implementation

[0022] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0023] like Figures 1-7 As shown, this invention proposes a flexible endoscope device based on a head-end positioning system, including a handle 3, a cavity 4 at one end of the handle 3, a rigid tube 1 at one end of the cavity 4, a flexible tube 2 at one end of the rigid tube 1, an instrument channel 8 inside the rigid tube 1, the flexible tube 2, and the cavity 4, a fixing ring 7 fixedly connected to the inside of one end of the flexible tube 2, a sealing connection between one end of the instrument channel 8 and one end of the flexible tube 2 via the fixing ring 7, a sealing connection between the outer side wall of the instrument channel 8 and the inner side wall of the flexible tube 2 via a separating ring 6, an electromagnetic tracking sensor coil 9 embedded in the inner wall of one side of the fixing ring 7, an illumination lamp 5 installed on one side of the fixing ring 7, a hardening adjustment component 10 on the cavity 4, a first angle adjustment component 11 on the flexible tube 2, a second angle adjustment component 12 on the flexible tube 2, a third angle adjustment component 13 on the flexible tube 2, and a fourth angle adjustment component 14 on the flexible tube 2.

[0024] The handle 3 has a cavity inside, and a channel opening 50 is opened on one side of the top of the handle 3. The other side of the top of the handle 3 is connected to one end of the water injection pipe 51. The lighting lamp 5 is connected to an external power source. The hardening adjustment component 10 includes a pipe 18. The top of the cavity 4 is fixedly connected to the pipe 18. A slider 20 is slidably provided on the inner wall of the pipe 18. The lower end of the slider 20 is fixedly connected to a piston 19. The top of the slider 20 is rotatably connected to one end of a lead screw 21. The other end of the lead screw 21 is fixedly connected to a rotating handle 15. The lead screw 21 and the cavity 4 are threadedly connected. The cavity 4 is provided with an electrorheological fluid 16. An electrorheological fluid 16 is provided between the instrument channel 8 and the hard tube 1. An electrorheological fluid 16 is provided between the instrument channel 8, the separating ring 6 and the hose 2. One end of an electric conductor 17 is provided inside the cavity 4.

[0025] The first angle adjustment component 11 includes a first channel 24, which is located inside the upper end of the partition ring 6. The upper end of the other side wall of the fixing ring 7 is fixedly connected to one end of the first spring 23. The upper end of the side wall of the first spring 23 is fixedly connected to the upper end of the partition ring 6. The upper end of the outer side wall of the rigid tube 1 and the flexible tube 2 is provided with a first wire tube 25. The upper end of the cavity 4 is fixedly connected to the first receiving tube 26. The lower end of the inner side of the first receiving tube 26 is rotatably connected to one end of the first take-up shaft 27. The other end of the first take-up shaft 27 is fixedly connected to the first rotating handle 28. The upper end of the other side wall of the fixing ring 7 is fixedly connected to one end of the first guide wire 22. The other end of the first guide wire 22 is fixedly connected to the lower end of the side wall of the first take-up shaft 27.

[0026] The first guide wire 22 is used to pass through the first channel 24 and the first conduit 25.

[0027] The second angle adjustment component 12 includes a second channel 31, which is located at the lower end of the inner side of the partition ring 6. The lower end of the other side wall of the fixing ring 7 is fixedly connected to one end of the second spring 30. The lower end of the side wall of the second spring 30 is fixedly connected to the lower end of the partition ring 6. The lower end of the outer side wall of the rigid tube 1 and the flexible tube 2 is provided with a second cable tube 32. The lower end of the cavity 4 is fixedly connected to the second receiving tube 33. The top end of the inner side of the second receiving tube 33 is rotatably connected to one end of the second take-up shaft 34. The other end of the second take-up shaft 34 is fixedly connected to the second handle 35. The lower end of the other side wall of the fixing ring 7 is fixedly connected to one end of the second guide wire 29. The other end of the second guide wire 29 is fixedly connected to the lower end of the side wall of the second take-up shaft 34.

[0028] The second guide wire 29 is used to pass through the second channel 31 and the second conduit 32.

[0029] The third angle adjustment component 13 includes a third channel 38, which is located inside the rear end of the partition ring 6. The rear end of the other side wall of the fixing ring 7 is fixedly connected to one end of the third spring 37. The rear end of the side wall of the third spring 37 is fixedly connected to the rear end of the partition ring 6. The rear end of the outer side wall of the rigid tube 1 and the flexible tube 2 is provided with a third cable tube 39. The rear end of the cavity 4 is fixedly connected to the third receiving tube 40. The bottom end of the inner side of the third receiving tube 40 is rotatably connected to one end of the third take-up shaft 41. The other end of the third take-up shaft 41 is fixedly connected to the third handle 42. The rear end of the other side wall of the fixing ring 7 is fixedly connected to one end of the third guide wire 36. The other end of the third guide wire 36 is fixedly connected to the lower end of the side wall of the third take-up shaft 41.

[0030] The third guide wire 36 is used to pass through the third channel 38 and the third conduit 39.

[0031] The fourth angle adjustment component 14 includes a fourth channel 45, which is located inside the front end of the partition ring 6. One end of the fourth spring 44 is fixedly connected to the front end of the other side wall of the fixing ring 7. The fourth spring 44 is fixedly connected to the front end of the side wall of the partition ring 6. A fourth cable tube 46 is provided at the rear end of the outer side wall of the rigid tube 1 and the flexible tube 2. A fourth receiving tube 47 is fixedly connected to the end of the cavity 4. One end of the fourth receiving tube 47 is rotatably connected to the bottom end of the fourth receiving tube 47. The other end of the fourth receiving tube 48 is fixedly connected to the fourth rotating handle 49. One end of the fourth guide wire 43 is fixedly connected to the front end of the other side wall of the fixing ring 7. The other end of the fourth guide wire 43 is fixedly connected to the lower end of the side wall of the fourth receiving tube 48.

[0032] The third guide wire 36 is used to pass through the third channel 38 and the third conduit 39.

[0033] In practical use, after energizing the conductor 17, the electrorheological fluid 16 in the cavity 4, the electrorheological fluid 16 between the instrument channel 8 and the rigid tube 1, and the electrorheological fluid 16 between the instrument channel 8, the separating ring 6, and the flexible tube 2, changes from the liquid phase to the solid phase. Then, medical personnel rotate the first handle 28, which drives the first take-up shaft 27 to rotate, winding the first guide wire 22. The head of the flexible tube 2 moves upward, compressing the first spring 23. Medical personnel then rotate the second handle 35, which drives the second take-up shaft 34 to rotate, winding the second guide wire 29. The head of the flexible tube 2 moves downward, compressing the second spring 30. Finally, medical personnel rotate the third handle 42, which drives the third take-up shaft 41 to rotate, winding the third guide wire 36. The head of the flexible tube 2 moves backward, compressing the third spring 37. Medical personnel then rotate the fourth handle 49... The rotation drives the fourth take-up shaft 48 to rotate, which in turn winds up the fourth guide wire 43. The head of the flexible tube 2 moves forward, and the third spring 37 is compressed, thus facilitating the movement of the flexible tube 2 inside the patient's body. When it is necessary to straighten the flexible tube 2, the energized wire 17 is de-energized, and the rotating handle 15 is rotated. The rotating handle 15 rotates, which drives the lead screw 21 to move downward. The downward movement of the lead screw 21 drives the lead screw 21 and the piston 19 to move downward, thereby filling the space between the instrument channel 8, the separator ring 6, and the flexible tube 2 with the electrochemical fluid 16, straightening the flexible tube 2. The rotating handle 15 is rotated in the opposite direction, and the piston 19 moves upward, freeing up extra space. The flexible tube 2 can be freely changed. The lighting lamp 5 is used for illumination inside the patient's body. The electromagnetic tracking sensor coil 9 is used for positioning the head of the flexible tube 2 through an electromagnetic induction device. The instrument channel 8 is used for the insertion of surgical instruments, and the water injection tube 51 is used for water injection. The above is the overall workflow of this invention. This step can be repeated for the next use.

[0034] As can be seen from the above embodiments, the beneficial effects of the present invention are as follows: By cooperating with an electromagnetic tracking sensor coil and an electromagnetic induction device, the flexible endoscope head can be precisely positioned. Simultaneously, using first, second, third, and fourth angle adjustment components, the flexible endoscope head can move flexibly in multiple directions, facilitating precise manipulation of the flexible endoscope device by medical personnel inside the patient. When energized, the electrorheological fluid changes from a liquid to a solid phase, providing support for the flexible endoscope and facilitating its movement. After de-energization, the distribution of the electrorheological fluid is controlled by a screw and piston, allowing the flexible endoscope to straighten or freely change shape, better adapting to the needs of different parts of the patient's body and complex environments. Medical personnel can control the direction of movement of the flexible endoscope head, making operation simple and intuitive, enabling rapid adjustment of the flexible endoscope position, improving the efficiency of surgical or examination procedures, reducing operation time, and minimizing patient discomfort.

[0035] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible endoscope device based on a head-end positioning system, comprising a handle (3), one end of which is provided with a cavity (4), one end of which is connected to a rigid tube (1), one end of which is connected to a flexible tube (2), the interior of the rigid tube (1), the flexible tube (2) and the cavity (4) being provided with an instrument channel (8), a fixing ring (7) being fixedly connected to the interior of one end of the flexible tube (2), one end of the instrument channel (8) and one end of the flexible tube (2) being sealed and connected by the fixing ring (7), the outer side wall of the instrument channel (8) and the inner side wall of the flexible tube (2) being sealed and connected by a partition ring (6), an electromagnetic tracking sensor coil (9) being embedded in the inner wall of one side of the fixing ring (7), and a lighting lamp (5) being installed on one side of the fixing ring (7), characterized in that: The cavity (4) is provided with a hardening adjustment component (10), the hose (2) is provided with a first angle adjustment component (11), the hose (2) is provided with a second angle adjustment component (12), the hose (2) is provided with a third angle adjustment component (13), and the hose (2) is provided with a fourth angle adjustment component (14).

2. The flexible mirror device based on a head-end identification and positioning system according to claim 1, characterized in that: The handle (3) has a cavity inside, and a channel opening (50) is opened on one side of the top of the handle (3). The other side of the top of the handle (3) is connected to one end of the water injection pipe (51). The lighting lamp (5) is connected to an external power source. The hardening adjustment component (10) includes a pipe (18). The top of the cavity (4) is fixedly connected to the pipe (18). A slider (20) is slidably provided on the inner wall of the pipe (18). The lower end of the slider (20) is fixedly connected to a piston (19). The top of 20) is rotatably connected to one end of the lead screw (21), and the other end of the lead screw (21) is fixedly connected to the rotating handle (15). The lead screw (21) and the cavity (4) are threadedly connected. The cavity (4) is provided with electrorheological fluid (16). The instrument channel (8) and the hard tube (1) are provided with electrorheological fluid (16). The instrument channel (8), the partition ring (6) and the hose (2) are provided with electrorheological fluid (16). The cavity (4) is provided with one end of the energized wire (17).

3. The flexible mirror device based on a head-end marking and positioning system according to claim 2, characterized in that: The first angle adjustment component (11) includes a first channel (24), which is located inside the upper end of the partition ring (6). The upper end of the other side wall of the fixing ring (7) is fixedly connected to one end of the first spring (23). The first spring (23) is fixedly connected to the upper end of the side wall of the partition ring (6). The upper end of the outer side wall of the rigid tube (1) and the flexible tube (2) is provided with a first wire tube (25). The upper end of the cavity (4) is fixedly connected to the first storage tube (26). The bottom end of the inner side of the first storage tube (26) is rotatably connected to one end of the first take-up shaft (27). The other end of the first take-up shaft (27) is fixedly connected to the first handle (28). The upper end of the other side wall of the fixing ring (7) is fixedly connected to one end of the first guide wire (22). The other end of the first guide wire (22) is fixedly connected to the lower end of the side wall of the first take-up shaft (27).

4. The flexible mirror device based on a head-end marking and positioning system according to claim 3, characterized in that: The first guide wire (22) is used to pass through the first channel (24) and the first conduit (25).

5. The flexible mirror device based on a head-end identification and positioning system according to claim 4, characterized in that: The second angle adjustment component (12) includes a second channel (31), which is located at the lower end of the inner side of the partition ring (6). The lower end of the other side wall of the fixing ring (7) is fixedly connected to one end of the second spring (30). The lower end of the side wall of the second spring (30) is fixedly connected to the lower end of the side wall of the partition ring (6). The lower end of the outer side wall of the rigid tube (1) and the flexible tube (2) is provided with a second conduit (32). The lower end of the cavity (4) is fixedly connected to the second storage tube (33). The upper end of the inner side of the second storage tube (33) is rotatably connected to one end of the second take-up shaft (34). The other end of the second take-up shaft (34) is fixedly connected to the second handle (35). The lower end of the other side wall of the fixing ring (7) is fixedly connected to one end of the second guide wire (29). The other end of the second guide wire (29) is fixedly connected to the lower end of the side wall of the second take-up shaft (34).

6. The flexible mirror device based on a head-end identification and positioning system according to claim 5, characterized in that: The second guide wire (29) is used to pass through the second channel (31) and the second conduit (32).

7. A flexible mirror device based on a head-end identification and positioning system according to claim 6, characterized in that: The third angle adjustment component (13) includes a third channel (38), which is located inside the rear end of the partition ring (6). The other side wall of the fixing ring (7) is fixedly connected to one end of a third spring (37). The third spring (37) is fixedly connected to the rear end of the side wall of the partition ring (6). The outer side wall of the rigid tube (1) and the flexible tube (2) is provided with a third cable tube (39). The rear end of the cavity (4) is fixedly connected to a third receiving tube (40). The bottom end of the inner part of the third receiving tube (40) is rotatably connected to one end of a third take-up shaft (41). The other end of the third take-up shaft (41) is fixedly connected to a third handle (42). The other side wall of the fixing ring (7) is fixedly connected to one end of a third guide wire (36). The other end of the third guide wire (36) is fixedly connected to the lower end of the side wall of the third take-up shaft (41).

8. The flexible mirror device based on a head-end marking and positioning system according to claim 7, characterized in that: The third guidewire (36) is used to pass through the third channel (38) and the third conduit (39).

9. A flexible mirror device based on a head-end marking and positioning system according to claim 8, characterized in that: The fourth angle adjustment component (14) includes a fourth channel (45), which is located at the front end of the inner side of the partition ring (6). The front end of the other side wall of the fixing ring (7) is fixedly connected to one end of the fourth spring (44). The fourth spring (44) is fixedly connected to the front end of the side wall of the partition ring (6). The rear end of the outer side wall of the rigid tube (1) and the flexible tube (2) is provided with a fourth cable tube (46). The end of the cavity (4) is fixedly connected to the fourth storage tube (47). The bottom end of the inner side of the fourth storage tube (47) is rotatably connected to one end of the fourth take-up shaft (48). The other end of the fourth take-up shaft (48) is fixedly connected to the fourth handle (49). The front end of the other side wall of the fixing ring (7) is fixedly connected to one end of the fourth guide wire (43). The other end of the fourth guide wire (43) is fixedly connected to the lower end of the side wall of the fourth take-up shaft (48).

10. A flexible mirror device based on a head-end identification and positioning system according to claim 9, characterized in that: The third guidewire (36) is used to pass through the third channel (38) and the third conduit (39).

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