CN104116484A - Endoscope system with adjustable shooting angle and method - Google Patents
Endoscope system with adjustable shooting angle and method Download PDFInfo
- Publication number
- CN104116484A CN104116484A CN201410326452.9A CN201410326452A CN104116484A CN 104116484 A CN104116484 A CN 104116484A CN 201410326452 A CN201410326452 A CN 201410326452A CN 104116484 A CN104116484 A CN 104116484A
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- China
- Prior art keywords
- magnet
- endoscope
- control
- shooting angle
- axis
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
Abstract
The invention provides an endoscope system with the adjustable shooting angle. The endoscope system comprises a control magnet and a control magnetic field which are arranged outside, a bending section which is arranged at the near front end of an endoscope and has flexibility, and an induction magnet arranged at the front end of the endoscope. The control magnet and the induction magnet are permanent magnets or electromagnets or superconducting magnets. The invention further provides a method for adjusting the shooting angle of the endoscope. The inductor magnet is arranged at the end of the endoscope, the control magnetic field is formed through the control magnet outside, the induction magnet is controlled to move or rotate, and the bending section which is arranged at the near front end of the endoscope and has flexibility is further bent. According to the endoscope system with the adjustable shooting angle, the angle of the endoscope is controlled in a magnetic field control mode, and accuracy of angle control can be effectively improved.
Description
Technical field
The present invention relates to a kind of Wicresoft and hinder the endoscope of surgical medicine for inside of human body inspection Clinics and Practices, relate in particular to a kind of endoscopic system of capable of regulating shooting angle.The invention still further relates to a kind of method of adjusting endoscope's shooting angle
Background technology
Existing endoscopic angle control normally adopts frame for movement to realize, as shown in Figure 1, application number is: 200810017325.5 Chinese invention patent discloses a kind of multiple bending sections and control device of endoscope, comprise shank pipe 5, the front end that is positioned at shank pipe 5 is provided with endoscope lens 1 and mirror neck 2, the rear end of shank pipe 5 is provided with operating portion 8, is at least provided with 2 groups of snake bone assemblies between described shank pipe 5 and camera lens 1, i.e. far-end snake bone assembly 3 and near-end snake bone assembly 4; Be positioned on operating portion 8 and be at least provided with the angle of group more than spiral button 7 corresponding to described snake bone assembly, many group angle spiral buttons 7 are by rotating shaft connection corresponding to angle sprocket wheel 6, be positioned on angle sprocket wheel 6 and engage with it and be provided with one section of angle chain 9, the two ends connection angle tricing line 10 of angle chain 9, the two ends of angle tricing line 10 is fixedly connected with the front end 4-1 of near-end snake bone assembly 4 with the front end 3-1 of far-end snake bone assembly 3 respectively.
Existing structure is all to control mechanically endoscope's angle, in some Minimally Invasive Surgerys, it is more and more less that endoscope need to do, required precision is also more and more higher, realize mechanically again control angle also more and more difficult, and then the research and development direction that necessitates of the method and system of improved control endoscope shooting angle.
Summary of the invention
The object of the present invention is to provide a kind of endoscopic system and method for capable of regulating shooting angle, realize endoscope's angle control by magnetic field control mode, can effectively improve the precision of control angle.
To achieve the above object, the invention provides a kind of endoscopic system of capable of regulating shooting angle, comprising:
Be arranged on outside control magnet and controlling magnetic field;
Be arranged on the flexible bending segment that has of described endoscope front end;
With the sensor magnet that is arranged on described endoscope distal end.
Preferably, the endoscopic system of capable of regulating shooting angle of the present invention, described control magnet is permanent magnet or electromagnet or superconducting magnet.
Further, the endoscopic system of capable of regulating shooting angle of the present invention, described control magnet is arranged on a mechanical hand or support that can move along three dimensions of x-axis, y-axis and z-axis.
Further, the endoscopic system of capable of regulating shooting angle of the present invention, described mechanical hand or support have respectively shifting sledge and control motor in x-axis, y-axis and z-axis.
Preferably, the endoscopic system of capable of regulating shooting angle of the present invention, described endoscope has one or more tracts, and described sensor magnet is the permanent magnet being arranged in described tract.
Preferably, the endoscopic system of capable of regulating shooting angle of the present invention, described sensor magnet is to be arranged on endoscope end by wire or rear electromagnet or the superconducting magnet forming of superconductivity wire energising.
The present invention also provides a kind of method of adjusting endoscope's shooting angle, end in endoscope arranges sensor magnet, move or rotate thereby utilize outside control magnet formation control magnetic field to control described sensor magnet, further make the flexible bending segment bending of having of described endoscope front end.
Preferably, the method for adjustment of the present invention endoscope shooting angle, utilizes the sensor magnet that moves endoscope described in the control of external control magnet in x-axis, y-axis and z-axis.
Preferably, the method for adjusting endoscope's shooting angle of the present invention, described control magnet and described sensor magnet are electromagnet or superconducting magnet, utilize the power of the interior size of current of pilot or superconducting line and direction control magnetic.
The endoscopic system of capable of regulating shooting angle of the present invention and method, realize endoscope's angle control by magnetic field control mode, can effectively improve the precision of control angle.
Brief description of the drawings
The endoscopic system of capable of regulating shooting angle of the present invention is provided by following embodiment and accompanying drawing.
Fig. 1 is a kind of existing endoscope control structure schematic diagram;
Fig. 2 is the schematic diagram of the endoscopic system control magnet of capable of regulating shooting angle of the present invention;
Fig. 3 is the schematic diagram of the endoscopic system sensor magnet of capable of regulating shooting angle of the present invention;
Fig. 4 is an embodiment schematic diagram adjusting endoscope's shooting angle of the present invention;
Fig. 5 is second embodiment schematic diagram adjusting endoscope's shooting angle of the present invention;
Fig. 6 is the result schematic diagram of second embodiment that adjusts endoscope's shooting angle of the present invention.
Detailed description of the invention
Below with reference to Fig. 2 and Fig. 3, the endoscopic system of capable of regulating shooting angle of the present invention is described in further detail.
As shown in Figure 2, the endoscopic system of capable of regulating shooting angle, comprises a controlling magnetic field that is arranged on outside control magnet 11 and is formed by control magnet 11.Described control magnet 11 is permanent magnet or electromagnet or superconducting magnet, it is arranged on a mechanical hand or support that can move along three dimensions of x-axis, y-axis and z-axis, described mechanical hand or support have respectively shifting sledge and control motor in x-axis, y-axis and z-axis, can make described control magnet 11 move on shifting sledge by controlling motor, control magnet 11 positions and move the direction that can change controlling magnetic field.If control magnet 11 electromagnets or superconducting magnet, can also change polarity and the intensity of the direction and intensity controlling magnetic field of current in wire.
The endoscopic system of capable of regulating shooting angle, also comprises and is arranged on having flexible bending segment 13 and being arranged on the sensor magnet of described endoscope distal end of described endoscope front end.Described endoscope has one or more tracts conventionally, and for picture shooting assembly, operating theater instruments, illuminating device etc. are set, under a kind of embodiment, sensor magnet can be for being arranged on the permanent magnet in described tract.Follow controlling magnetic field by sensor magnet and move or rotate and drive whole end to move, and bending segment 13 is bent, thereby change shooting angle.
As shown in Figure 3, under another kind of effectively embodiment, sensor magnet can be for to be arranged on the electromagnet or the superconducting magnet that form after endoscope end is switched on by loop or superconductivity wire circle 12, and the control line 14 of electromagnet or superconducting magnet is drawn out to endoscope outside.Can utilize the power of the interior size of current of pilot or superconducting line and direction control magnetic.
Embodiment mono-
As shown in Figure 4, the method of adjusting endoscope's shooting angle of the present invention, that sensor magnet (permanent magnet arranging in the electromagnet forming by wire or superconductivity wire 12 energisings in as figure or superconducting magnet and tract) is set in the end of endoscope, utilize outside control magnet formation control magnetic field, external control magnet with the vertical position of sensor magnet, and the polarity of phase near-end is contrary, thereby attract each other and can control described sensor magnet and move up, further make whole endoscope distal end move up, can adjust and take the visual field.If the sense of current in the wire of change sensor magnet, makes phase near-end polarity identical, can utilize repulsion to promote endoscope distal end and move down.
Embodiment bis-
As shown in Figure 5, the method of adjusting endoscope's shooting angle of the present invention, that sensor magnet (electromagnet or the superconducting magnet that in as figure, form by wire or superconductivity wire 12 energisings are set in the end of endoscope, or the permanent magnet arranging in tract), utilize mobile the change controlling magnetic field direction of outside control magnet in x-axis, y-axis and z-axis direction, position shown in the figure, the N that phase near-end is identical repels extremely mutually, drive sensor magnet rotates, and then can make kink bending, form the state shown in Fig. 6.Preferably, described control magnet and described sensor magnet are electromagnet or superconducting magnet, can utilize like this power of the interior size of current of pilot or superconducting line and direction control magnetic.
To sum up, the endoscopic system of capable of regulating shooting angle of the present invention, realizes endoscope's angle control by magnetic field control mode, can effectively improve the precision of control angle.
The above is the preferred embodiments of the present invention, is not limited to the present invention, to one skilled in the art, can have various modifications and variations.Within the spirit and scope of the present invention all, any amendment of making and be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
1. an endoscopic system for capable of regulating shooting angle, is characterized in that, comprising:
Be arranged on outside control magnet and controlling magnetic field;
Be arranged on the flexible bending segment that has of described endoscope front end;
With the sensor magnet that is arranged on described endoscope distal end.
2. the endoscopic system of capable of regulating shooting angle as claimed in claim 1, is characterized in that, described control magnet is permanent magnet or electromagnet or superconducting magnet.
3. the endoscopic system of capable of regulating shooting angle as claimed in claim 2, is characterized in that, described control magnet is arranged on a mechanical hand or support that can move along three dimensions of x-axis, y-axis and z-axis.
4. the endoscopic system of capable of regulating shooting angle as claimed in claim 3, is characterized in that, described mechanical hand or support have respectively shifting sledge and control motor in x-axis, y-axis and z-axis.
5. the endoscopic system of capable of regulating shooting angle as claimed in claim 1, is characterized in that, described endoscope has one or more tracts, and described sensor magnet is the permanent magnet being arranged in described tract.
6. the endoscopic system of capable of regulating shooting angle as claimed in claim 1, is characterized in that, described sensor magnet is to be arranged on endoscope end by wire or rear electromagnet or the superconducting magnet forming of superconductivity wire energising.
7. adjust the method for endoscope's shooting angle for one kind, it is characterized in that, end in endoscope arranges sensor magnet, moves or rotates thereby utilize outside control magnet formation control magnetic field to control described sensor magnet, further makes the flexible bending segment bending of having of described endoscope front end.
8. the method for adjustment as claimed in claim 7 endoscope shooting angle, is characterized in that, utilizes the sensor magnet that moves endoscope described in the control of external control magnet in x-axis, y-axis and z-axis.
9. the method for adjusting endoscope's shooting angle as claimed in claim 7, is characterized in that, described control magnet and described sensor magnet are electromagnet or superconducting magnet, utilizes the power of the interior size of current of pilot or superconducting line and direction control magnetic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410326452.9A CN104116484A (en) | 2014-07-03 | 2014-07-03 | Endoscope system with adjustable shooting angle and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410326452.9A CN104116484A (en) | 2014-07-03 | 2014-07-03 | Endoscope system with adjustable shooting angle and method |
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| CN104116484A true CN104116484A (en) | 2014-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410326452.9A Pending CN104116484A (en) | 2014-07-03 | 2014-07-03 | Endoscope system with adjustable shooting angle and method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108158549A (en) * | 2017-12-05 | 2018-06-15 | 北京理工大学 | A kind of pipe with small pipe diameter endoscope based on external magnet driving |
| CN108185972A (en) * | 2017-12-05 | 2018-06-22 | 北京理工大学 | A kind of endoscope for being used to implement precise motion control |
| CN108852260A (en) * | 2018-05-07 | 2018-11-23 | 北京理工大学 | It is a kind of using binary channels supply water and gas small diameter tube endoscope |
| US10636555B2 (en) | 2016-08-22 | 2020-04-28 | Seyed Mostafa Zareei | Articulated video probe with magnetic stimulation |
| CN111493798A (en) * | 2020-05-25 | 2020-08-07 | 华中科技大学 | Electromagnetic driving type rigid-flexible coupling endoscope |
| US11666464B2 (en) | 2019-01-28 | 2023-06-06 | Tensor Flow Ventures Llc | Magnetic stent and stent delivery |
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| CN103222842A (en) * | 2013-04-18 | 2013-07-31 | 安翰光电技术（武汉）有限公司 | Device and method for controlling movement of capsule endoscope in human alimentary canal |
| TW201420062A (en) * | 2012-11-22 | 2014-06-01 | Univ Nat Cheng Kung | Magnetic controlling endoscope system and magnetic controlling device thereof |
| TW201420067A (en) * | 2012-11-22 | 2014-06-01 | Univ Nat Cheng Kung | Controlling method for endoscopy catheter combined with simultaneous control of magnetic field, feeding and rotation of the catheter |
| CN204072033U (en) * | 2014-07-03 | 2015-01-07 | 乐虹信息科技(上海)有限公司 | The endoscopic system of adjustable shooting angle |
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- 2014-07-03 CN CN201410326452.9A patent/CN104116484A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US5681260A (en) * | 1989-09-22 | 1997-10-28 | Olympus Optical Co., Ltd. | Guiding apparatus for guiding an insertable body within an inspected object |
| US20040030244A1 (en) * | 1999-08-06 | 2004-02-12 | Garibaldi Jeffrey M. | Method and apparatus for magnetically controlling catheters in body lumens and cavities |
| US20020153015A1 (en) * | 2000-02-16 | 2002-10-24 | Garibaldi Jeffrey M. | Magnetic medical devices with changeable magnetic moments and method of navigating magnetic medical devices with changeable magnetic moments |
| JP2003265403A (en) * | 2002-03-15 | 2003-09-24 | Pentax Corp | Endoscope insert assisting device and endoscope instrument |
| CN101444424A (en) * | 2002-07-16 | 2009-06-03 | 麦格耐泰克斯公司 | Apparatus for catheter guidance control and imaging |
| CN101778592A (en) * | 2007-08-13 | 2010-07-14 | 奥林巴斯医疗株式会社 | Body interior observing system, and body interior observing method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10636555B2 (en) | 2016-08-22 | 2020-04-28 | Seyed Mostafa Zareei | Articulated video probe with magnetic stimulation |
| CN108158549A (en) * | 2017-12-05 | 2018-06-15 | 北京理工大学 | A kind of pipe with small pipe diameter endoscope based on external magnet driving |
| CN108185972A (en) * | 2017-12-05 | 2018-06-22 | 北京理工大学 | A kind of endoscope for being used to implement precise motion control |
| CN108852260A (en) * | 2018-05-07 | 2018-11-23 | 北京理工大学 | It is a kind of using binary channels supply water and gas small diameter tube endoscope |
| US11666464B2 (en) | 2019-01-28 | 2023-06-06 | Tensor Flow Ventures Llc | Magnetic stent and stent delivery |
| CN111493798A (en) * | 2020-05-25 | 2020-08-07 | 华中科技大学 | Electromagnetic driving type rigid-flexible coupling endoscope |
| CN111493798B (en) * | 2020-05-25 | 2021-11-02 | 华中科技大学 | Electromagnetic driving type rigid-flexible coupling endoscope |
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| PB01 | Publication | ||
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141029 |