Transesophageal probe capable of automatically rotating head

Abstract

The utility model discloses a transesophageal probe capable of automatically rotating a head, and aims to solve the problems that in the prior art, a whole probe rotates, so that a patient feels uncomfortable, operation depends on experience of a physician, and the examination efficiency is low. The probe comprises a probe head, a snake bone pipe, an insertion pipe, a rotating structure arranged at the joint of the probe head and the snake bone pipe, a driving module, a sensor and a rotating stabilizing structure. The driving module transmits power to the rotating structure through the flexible transmission part, so that the probe head can independently, accurately and automatically rotate relative to the insertion tube. The sensor monitors the rotation angle and speed in real time and feeds back to the control system. The rotation stabilizing structure ensures the stability and reliability of the movement process. Through the innovative mechanical structure and control system design, independent rotation of the probe head is achieved, friction to the esophagus of a patient is remarkably reduced, the operation difficulty is lowered, and the examination efficiency and the standardization level are improved.

Description

Technical Field

[0001] This utility model relates to the field of medical imaging equipment technology, and in particular to an esophageal probe with an automatically rotating head. Background Technology

[0002] Transesophageal ultrasound (TEE) is a key tool for the clinical diagnosis of diseases of deep organs such as the heart. Its core equipment, the transesophageal probe, needs to be inserted into the patient's esophagus to obtain close-up ultrasound images of the organs. To meet the needs of multi-plane and multi-angle examinations, the probe head needs to have a rotation adjustment function to adapt to the detection requirements of different anatomical structures.

[0003] The existing head rotation mechanism of transesophageal probes has significant limitations: the head of the traditional probe and the insertion tube (approximately 100cm in length and 11mm in diameter) are rigidly connected. Adjusting the head angle requires rotating an external operating handle to rotate the entire insertion tube and head synchronously (usually ±180°). This overall rotation method leads to the following problems: Firstly, each time the head angle is adjusted, the insertion tube will experience a frictional displacement of 3-5cm within the esophagus, and an average of 4-6 adjustments are required per examination. Repeated friction can easily cause damage to the esophageal mucosa, significantly increasing patient discomfort. Secondly, the overall rotation of the insertion tube relies on manual operation by the physician, which not only requires a high level of experience (more than 5 years of experience to master) but also makes it difficult to precisely control the head angle. This results in a success rate of only 68% for novice physicians to obtain a standard section, while also prolonging the examination time (25-40 minutes per examination).

[0004] Although some existing technologies attempt to optimize rotation control by setting up complex mechanisms at the handle, they still do not change the fundamental nature of "synchronous rotation of the head and the insertion tube" and cannot solve the core problem of the insertion tube rubbing against the esophagus. Utility Model Content

[0005] The purpose of this invention is to provide an esophageal probe with an automatically rotating head, which aims to solve the problems of patient discomfort caused by the overall rotation of the probe in the prior art, reliance on physician experience for operation, and low examination efficiency.

[0006] To achieve the above objectives, an esophageal probe with an automatically rotating head includes a probe head, a snake-bone tube, an insertion tube, a rotating structure, a drive module, a sensor, and a rotation stabilization structure.

[0007] One end of the snake bone tube is connected to the probe head, and the other end is connected to the insertion tube;

[0008] The rotating structure is located at the connection between the probe head and the snake bone tube, and is used to transmit the motion of the drive module to the probe head and rotate the probe head.

[0009] The drive module includes a motor and a flexible transmission component. One end of the flexible transmission component is connected to the motor, and the other end is connected to the rotating structure for transmitting the power of the motor to the rotating structure.

[0010] The sensor is mounted on the probe head and is used to detect the rotation angle and rotation speed of the probe head.

[0011] The rotational stabilizing structure is disposed on the rotating structure to prevent the rotating structure from getting stuck during movement;

[0012] The probe head rotates independently relative to the insertion tube via a rotating structure.

[0013] Preferably, the rotating structure is an axial rotating structure, which includes a positioning ring, a driving gear, and a driven gear. The positioning ring is fixed inside the insertion tube and limits and fixes the driving gear to one side inside the insertion tube. The flexible transmission component is a flexible transmission shaft, the end of which is away from the motor is fixedly connected to the driving gear. The driven gear is connected to the probe head, and the driving gear and the driven gear are meshed.

[0014] Preferably, the inner ring gears of the driving gear and the driven gear mesh, the transmission ratio of the driving gear and the driven gear is 4:1, the axial end face of the driven gear meshes with the end face of the probe head through matching tooth grooves, and the transmission ratio of the driven gear and the probe head is 1:1.

[0015] Preferably, the rotational stabilizing structure is a flange disposed at both ends of the driving gear, and the flange is limited and connected to the end faces of both sides of the driven gear.

[0016] Preferably, the rotating structure is a slider rotating structure, which includes a fixed ring, a slider, and a rotating ring. The fixed ring is fixed inside the snake-bone tube, and a guide groove is provided on the inner side of the fixed ring. A sliding groove is provided on the outer side of the rotating ring, and the guide groove and the sliding groove are intersected at a preset angle. The flexible transmission component is a flexible steel wire, and the flexible steel wire has two ends, one of which is connected to the slider away from the motor. The slider passes through the guide groove of the fixed ring and is connected to the sliding groove. The slider moves along the guide groove as the flexible steel wire moves, and the displacement change of the slider during movement drives the rotating ring to rotate.

[0017] Preferably, the axial end face of the rotating ring and the end face of the probe head are engaged by matching tooth grooves, and the transmission ratio between the rotating ring and the probe head is 1:1.

[0018] Preferably, the rotational stabilizing structure is an elastic structure disposed at both ends of the slider, and the elastic structure abuts against both ends of the guide groove. The elastic structure is used to provide elastic force opposite to the direction of the flexible steel wire driving force during the movement of the slider.

[0019] Preferably, the elastic structure is a spring or an elastic rubber component.

[0020] The beneficial effects of this utility model are:

[0021] 1. The probe head of this utility model rotates independently through a rotating structure, and the insertion tube does not need to move with it, which avoids the esophageal friction caused by the overall rotation of traditional probes and significantly reduces patient discomfort.

[0022] 2. This utility model effectively prevents the transmission mechanism from jamming in complex environments through a rotational stabilization structure, ensuring the stability of the probe during long-term use.

[0023] 3. This utility model, through motor drive and sensor feedback, can achieve precise angle control of the probe head, reducing the reliance on the doctor's operating experience, improving the success rate of novice doctors in obtaining standard sections, and significantly shortening the time of a single examination.

[0024] 4. The flexible transmission component of this utility model can bend and deform with the insertion tube without affecting the flexible movement of the probe in the esophagus; the rotating structure adopts a miniaturized design, which is suitable for the esophageal cavity space and easy to insert. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0026] Figure 1 This is a schematic diagram of the rotating probe head of this utility model.

[0027] Figure 2 This is a schematic diagram of the first embodiment of the head rotation structure of this utility model.

[0028] Figure 3 This is an exploded view of the first embodiment of the head rotation structure of this utility model.

[0029] Figure 4 This is a schematic diagram of the stable structure of Embodiment 1 of the head rotation structure of this utility model.

[0030] Figure 5 This is a schematic diagram of the second embodiment of the head rotation structure of this utility model.

[0031] Figure 6 This is an exploded view of the second embodiment of the head rotation structure of this utility model.

[0032] Figure 7 This is a schematic diagram of the stable structure of Embodiment 2 of the head rotation structure of this utility model.

[0033] In the diagram: 101-Probe head; 102-Snake bone tube; 103-Insert tube; 104-Axial rotation structure; 106-Flexible shaft; 107-Sensor; 108-Positioning ring; 109-Driving gear; 110-Driven gear; 111-Slider rotation structure; 112-Flexible steel wire; 113-Fixing ring; 114-Slider; 115-Rotating ring; 116-Flange; 117-Elastic structure; 118-Guide groove; 119-Slide groove. Detailed Implementation

[0034] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0035] This invention provides an esophageal probe with an automatically rotating head, the core of which lies in the independent rotation of the probe head relative to the insertion tube.

[0036] like Figure 1 As shown, the transesophageal probe includes a probe head 101, a snake-bone tube 102, an insertion tube 103, a rotating structure located at the connection between the two, a drive module, a sensor 107 mounted on the probe head 101, and a rotational stabilization structure. The drive module includes a motor (not shown) and a flexible transmission component, transmitting power to the rotating structure to drive the probe head 101 to rotate. The sensor 107 is a built-in sensor, specifically a magnetic absolute rotary encoder, capable of recording angles and rotational speeds. The rotational stabilization structure ensures the reliability of the structure's movement. Compared to traditional probes that require rotating the entire insertion tube 103, this structure only rotates the head during each angle adjustment, eliminating axial friction in the insertion tube 103, reducing the risk of esophageal mucosal damage, and significantly alleviating patient discomfort. The following describes two specific implementation methods in detail.

[0037] Example 1

[0038] Please see Figures 2 to 4 The transesophageal probe of this embodiment includes a probe head 101, a snake-bone tube 102, an insertion tube 103, an axial rotation structure 104, a drive module, a sensor 107, and a rotation stabilization structure.

[0039] Specifically, the probe head 101 is cylindrical, with an integrated ultrasonic transducer at the front end and a toothed groove at the rear end that matches the rotating structure. The hollow interiors of the snake-bone tube 102 and insertion tube 103 accommodate the transmission components; the snake-bone tube 102 enables the probe head to bend. The drive module includes a miniature geared motor (not shown) and a flexible drive shaft 106 (which can be a multi-strand steel rope wrapped in plastic, or pass through a hollow spring sleeve from end to end). The axial rotation structure 104 is located at the connection between the probe head 101 and the snake-bone tube 102.

[0040] The axial rotation structure 104 includes a positioning ring 108, a driving gear 109, and a driven gear 110. The positioning ring 108 is fixed to the inner side of the front end of the insertion tube 103 to limit and fix the driving gear 109, allowing it to rotate around the axis of the positioning ring 108. One end of the flexible transmission shaft 106 is connected to a motor, and the other end is fixedly connected to the driving gear 109. The inner ring teeth of the driving gear 109 and the driven gear 110 mesh and drive each other. Preferably, the transmission ratio is 4:1, which helps to improve the smoothness of rotation and increase torque. At the same time, the front end face of the driven gear 110 is provided with another tooth groove that matches the probe head 101, meshing with the end face of the probe head 101 to achieve 1:1 synchronous rotation.

[0041] Furthermore, to prevent the gear from jamming due to axial movement or tooth skipping during transmission, flanges 116 are provided at both ends of the drive gear 109 in this embodiment. Figure 4 As shown, the flange 116 and the two end faces of the driven gear 110 are matched to limit the axial position of the driving gear 109, which effectively constrains the axial position of the driving gear 109, ensures the continuous stability of gear meshing, and thus ensures the reliability of the entire rotating structure.

[0042] During operation, the control system issues a command, and the motor drives the flexible transmission shaft 106 to rotate. Power is transmitted to the drive gear 109 via the flexible transmission shaft 106, which in turn drives the driven gear 110 to rotate at a 4:1 reduction ratio. Ultimately, the driven gear 110, through its toothed grooves, drives the probe head 101 to rotate independently relative to the insertion tube 103 (e.g., within a range of ±15° or ±30°). A sensor 107 (such as a magnetic absolute rotary encoder) installed within the probe head 101 provides real-time feedback on the rotation angle (accuracy ±0.5°) and speed information to the control system, forming a closed-loop control system for precise positioning. This eliminates the reliance on the physician's touch and experience for probe rotation, significantly improving the success rate of obtaining standard incisions for novice physicians, thereby reducing operational difficulty and the physician's workload.

[0043] Example 2

[0044] See Figures 5 to 7This embodiment provides another rotation implementation method, and the structure and function of the probe head 101, snake bone tube 102, insertion tube 103 and sensor 106 are the same as in embodiment one.

[0045] The difference lies in the drive module, which includes a motor and two flexible steel wires 112, and the rotation structure is a slider rotation structure 111. Specifically, the slider rotation structure 111 is located at the connection between the probe head 101 and the snake tube 102, and includes a fixing ring 113, two sliders 114, and a rotating ring 115. The fixing ring 113 is fixed inside the snake tube, and its inner side has a guide groove 118 at a certain angle (e.g., 30°) to the axial direction. The rotating ring 115 is sleeved on the outside of the fixing ring 113, and its inner wall has a sliding groove 119 (e.g., parallel to the axis). The guide groove 118 and the sliding groove 119 intersect to form a guide channel. The sliders 114 pass through this intersecting channel. One end of each of the two flexible steel wires 112 is connected to the motor via a crank-connecting rod mechanism, etc., and the other end is fixedly connected to the two sliders 114 respectively. The motor drives the two flexible steel wires 112 to pull back and forth alternately. The linear motion of the steel wire drives the slider 114 to slide along the guide groove 118 of the fixed ring 113. The guide groove 118 has an inclined angle, so that the slider 114 rotates along the inclined angle while sliding in the guide groove 118. Since the guide groove 118 and the slide groove 119 of the rotating ring 115 are set at an intersecting angle, the axial linear motion of the slider 114 is decomposed, thereby converting the component force into the rotational motion of the rotating ring 115.

[0046] Furthermore, to prevent the slider 114 from getting stuck during movement within the guide groove, especially when the insertion tube is bent, this embodiment provides an elastic structure 117 at each of the front and rear ends of the slider 114, such as... Figure 7 As shown. The elastic structure 117 can be a folding spring, a spring, or an elastic rubber component, and it abuts against the inner wall of the guide groove 118. When the flexible steel wire 112 pulls the slider 114, the elastic structure 117 provides a reaction force opposite to the direction of the driving force, which plays a role in buffering and pre-clamping, helping the slider to overcome potential jamming points and ensuring smooth and reliable movement.

[0047] This invention effectively solves the core defects of traditional transesophageal probes through a combined design of "independent head rotation + flexible transmission + stable structure + precise sensing," reducing patient discomfort and examination risks. Simultaneously, it considers both clinical safety and operational practicality: the flange 116 limiting structure in Embodiment 1 and the elastic structure 117 in Embodiment 2 provide effective anti-jamming mechanisms for both gear and slider transmission methods, ensuring rotational stability under complex conditions such as tube bending. Furthermore, the structure of the flexible transmission components (flexible transmission shaft 106 / flexible steel wire 112) allows it to bend well with the insertion tube without affecting the probe's pushing and movement within the esophagus. The miniaturized design of the overall structure is perfectly suited to the esophageal lumen space, ensuring the feasibility of clinical application.

[0048] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

1. An esophageal probe with an automatically rotating head, characterized in that, It includes a probe head, a snake-bone tube, an insertion tube, a rotating structure, a drive module, a sensor, and a rotation stabilization structure; One end of the snake bone tube is connected to the probe head, and the other end is connected to the insertion tube; The rotating structure is located at the connection between the probe head and the snake bone tube, and is used to transmit the motion of the drive module to the probe head and rotate the probe head. The drive module includes a motor and a flexible transmission component. One end of the flexible transmission component is connected to the motor, and the other end is connected to the rotating structure for transmitting the power of the motor to the rotating structure. The sensor is mounted on the probe head and is used to detect the rotation angle and rotation speed of the probe head. The rotational stabilizing structure is disposed on the rotating structure to prevent the rotating structure from getting stuck during movement; The probe head rotates independently relative to the insertion tube via a rotating structure.

2. The transesophageal probe with an automatically rotating head as described in claim 1, characterized in that, The rotating structure is an axial rotating structure, which includes a positioning ring, a driving gear, and a driven gear. The positioning ring is fixed inside the insertion tube and limits and fixes the driving gear to one side inside the insertion tube. The flexible transmission component is a flexible transmission shaft, the end of which is away from the motor is fixedly connected to the driving gear. The driven gear is connected to the probe head, and the driving gear and the driven gear are meshed.

3. The transesophageal probe with an automatically rotating head as described in claim 2, characterized in that, The inner ring gears of the driving gear and the driven gear mesh, and the transmission ratio of the driving gear to the driven gear is 4:

1. The axial end face of the driven gear meshes with the end face of the probe head through matching tooth grooves, and the transmission ratio of the driven gear to the probe head is 1:

1.

4. The transesophageal probe with an automatically rotating head as described in claim 2, characterized in that, The rotational stabilizing structure is a flange disposed at both ends of the driving gear, and the flange is limited and connected to the end faces on both sides of the driven gear.

5. The transesophageal probe with an automatically rotating head as described in claim 1, characterized in that, The rotating structure is a slider rotating structure, which includes a fixed ring, a slider, and a rotating ring. The fixed ring is fixed inside the snake-bone tube, and a guide groove is provided on the inner side of the fixed ring. A sliding groove is provided on the outer side of the rotating ring. The guide groove and the sliding groove are intersected at a preset angle. The flexible transmission component is a flexible steel wire. The flexible steel wire has two ends, and the ends away from the motor are respectively connected to the slider. The slider passes through the guide groove of the fixed ring and is connected to the sliding groove. The slider moves along the guide groove as the flexible steel wire moves. The displacement change of the slider during movement drives the rotating ring to rotate.

6. The transesophageal probe with an automatically rotating head as described in claim 5, characterized in that, The axial end face of the rotating ring and the end face of the probe head are engaged by matching tooth grooves, and the transmission ratio between the rotating ring and the probe head is 1:

1.

7. The transesophageal probe with an automatically rotating head as described in claim 5, characterized in that, The rotational stabilizing structure is an elastic structure disposed at both ends of the slider. The elastic structure abuts against both ends of the guide groove. The elastic structure is used to provide elastic force opposite to the direction of the driving force of the flexible steel wire during the movement of the slider.

8. The transesophageal probe with an automatically rotating head as described in claim 7, characterized in that, The elastic structure is a spring or an elastic rubber component.

Images