WO2021208657A1 - 一种电致形变弯曲的内窥镜 - Google Patents

一种电致形变弯曲的内窥镜 Download PDF

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WO2021208657A1
WO2021208657A1 PCT/CN2021/081040 CN2021081040W WO2021208657A1 WO 2021208657 A1 WO2021208657 A1 WO 2021208657A1 CN 2021081040 W CN2021081040 W CN 2021081040W WO 2021208657 A1 WO2021208657 A1 WO 2021208657A1
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electro
deformation
bending
endoscope
electrodes
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English (en)
French (fr)
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李天宝
杨凯
陈述
刘发阳
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Zhuhai Vision Medical Technology Co Ltd
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Zhuhai Vision Medical Technology Co Ltd
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Priority to EP21788562.3A priority Critical patent/EP4133989B1/en
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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
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • 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
    • 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
    • A61B1/00064—Constructional details of the endoscope body
    • 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
    • A61B1/00131—Accessories for endoscopes
    • 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
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • 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
    • A61B1/0058—Flexible endoscopes using shape-memory elements

Definitions

  • the invention relates to the field of endoscopes, in particular to an endoscope with electro-induced deformation and bending.
  • the endoscope is an important instrument that can be sent into the human body cavity for visual inspection and surgical treatment. It is used in many fields such as gastrointestinal disease examination, pancreatic and biliary disease examination, and urinary tract examination. Clinically, the endoscope is classified according to whether the body of the endoscope can change its direction, and it is divided into two types: hard endoscope and soft endoscope.
  • the hard mirror is a prism optical system. The biggest advantage is that the image is clear. It can be equipped with multiple working channels and select multiple viewing angles. It is easy to operate, but it cannot adjust the direction and there is a blind spot in the field of vision.
  • Chinese patent application CN200310115365.0 discloses a ureteroscope, the end of the lens body is designed in two sections, and the end of the lens body is connected by a joint that can be controlled to rotate, so that the end of the lens body can be bent 180 degrees in two opposite directions.
  • the end of the lens body is designed in two sections and connected by a joint that can control rotation, so that the end of the lens body can be bent 180 degrees in two opposite directions. It adopts a mechanical transmission method to control the rotation of the end of the mirror body, the structure is complicated, and the quality and size of the mirror body are increased, which is not conducive to surgical operations.
  • the purpose of the present invention is to solve at least one of the technical problems existing in the prior art, and to provide an electro-deformation and bending endoscope with a simple structure and realize the adjustment of the endoscope without increasing the quality and size of the lens body. Function of bending angle.
  • the present invention provides an electro-deformation and bending endoscope, which includes a handle portion and an insertion portion provided below the handle portion.
  • the insertion portion includes a straight tube and an electro-deformation bending tube.
  • the upper end of the electro-deformation bending tube is coaxially fixed, and the electro-deformation bending tube includes a number of deformation-bending units connected end to end, each of the deformation-bending units includes at least two electro-deformation sheets made of electro-deformation materials,
  • An insulating layer is arranged between the electro-deformation sheets, and electrodes are arranged at both ends of the electro-deformation sheets, and the electrodes are connected with voltage generating units through wires.
  • the endoscope of the present invention includes a handle portion and an insertion portion provided below the handle portion, the insertion portion includes a straight tube and an electro-deformation bending tube, and the electro-deformation bending tube includes at least two electrical
  • the electro-deformable sheet is made of electro-deformable material. When the electro-active polymer is electrically stimulated, it will deform. Both ends of the electro-deformable sheet are provided with electrodes, which are controlled by applying a voltage on the electrodes.
  • the electro-deformation sheet bends to bend the end of the endoscope and adjust the shooting angle of the endoscope.
  • the invention has a simple structure and realizes the function of adjusting the bending angle of the endoscope without increasing the quality and size of the lens body.
  • the deformation and bending unit includes two semicircular electro-deformation sheets made of electro-deformation materials, and the side of the electro-deformation sheets is provided with an insulating layer.
  • the upper and lower ends of the deformable sheet are provided with electrodes. By controlling the electrode voltage, the two electro-deformable sheets are contracted and stretched one by one, so that the deformable and bending unit bends and turns in two different directions respectively.
  • the deformation and bending unit includes four quarter-round electro-deformation sheets made of electro-deformation materials, and the sides of the electro-deformation sheets are provided with an insulating layer, so Electrodes are provided on the upper and lower ends of the electro-deformation sheet. By controlling the electrode voltage, the degree of contraction and stretching of the electro-deformable sheet is controlled, so that the deformable and bending unit can be bent and turned in four different directions respectively.
  • the electrode adopts a graphite electrode.
  • Graphite electrodes are easy to process and light in weight.
  • the insulating layer is made of PET material.
  • PET has good friction resistance, low abrasion and high hardness, and has the greatest toughness among thermoplastics; it has good electrical insulation properties, can be deformed by the electro-deformable sheet without cracking, and has a long service life.
  • the electroactive polymer is selected from one of an electrostrictive grafted elastomer, an electrostrictive film, and a ferroelectric polymer.
  • these polymer materials When the materials are deformed by the electric field, these polymer materials have greater strain capacity, light weight, high driving efficiency, and good seismic performance.
  • the voltage generating unit is arranged on the handle part.
  • Fig. 1 is a schematic structural diagram of an endoscope in a preferred embodiment of the present invention
  • FIG. 2 is a schematic diagram of the structure of an electro-deformed bending tube according to a preferred embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of a deformable and bending unit according to a preferred embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a deformable and bending unit according to another preferred embodiment of the present invention.
  • Fig. 6 is an axial cross-sectional view of a deformable and bending unit according to another preferred embodiment of the present invention.
  • orientation description involved such as up, down, front, back, left, right, etc. indicates the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, but In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be configured and operate in a specific orientation, and therefore cannot be understood as a limitation to the present invention.
  • an electro-deformation and bending endoscope includes a handle portion 1 and an insertion portion 2 provided below the handle portion 1.
  • the insertion portion 2 includes a straight tube 21 and an electro-deformation bending tube 22, which are straight The lower end of the tube 21 and the upper end of the electro-deformation bending tube 22 are coaxially fixed.
  • the electro-deformation bending tube 22 includes a number of deformation and bending units 3 connected end to end. In this embodiment, the number of deformation and bending units 3 is 4. In other embodiments, the number of deformation and bending units 3 can also be other integers greater than zero.
  • Each deformation and bending unit 3 includes a number of electro-deformable sheets 31 made of electro-deformable materials.
  • An insulating layer 32 is arranged between the electro-deformable sheets 31.
  • the material of the insulating layer 32 needs to have a certain degree of flexibility.
  • Electrodes 33 are provided at both ends of the deformable sheet 31.
  • the electrodes 33 are connected to a voltage generating unit (not shown in the figure) through wires.
  • the voltage generating unit (not shown in the figure) can be installed on the handle 1 of the endoscope. Or other locations or independent settings.
  • the electroactive polymer selects one of electrostrictive grafted elastomer, electrostrictive film and ferroelectric polymer. When the materials are deformed by the electric field, these polymer materials have greater strain capacity, light weight, high driving efficiency, and good seismic performance.
  • the voltage generating unit (not shown in the figure) is used to output the regulated voltage to the electrode 33.
  • the voltage output by the voltage generating unit is controlled by a single-chip microcomputer, and the voltage applied to the motor 33 is controlled by the single-chip microcomputer.
  • a voltage is applied to the electrode 33 to control the bending of the electromorphic sheet 31 so as to bend the end of the endoscope and adjust the shooting angle of the endoscope.
  • the invention has a simple structure and realizes the function of adjusting the bending angle of the endoscope without increasing the quality and size of the lens body.
  • the deformation and bending unit 3 includes two semi-circular electro-deformation sheets 31 made of electrostrictive films, and the two electro-deformation sheets 31 are enclosed in a cylindrical shape,
  • An insulating layer 32 is provided on the side of the electro-deformable sheet 31, and the insulating layer 32 is made of PET material.
  • PET has good friction resistance, low abrasion and high hardness, and has the greatest toughness among thermoplastics; it has good electrical insulation properties, can be deformed by the electro-deformable sheet 31 without cracking, and has a long service life.
  • Electrodes 33 are provided at the upper and lower ends of the electro-deformation sheet 31, and the electrodes 33 are graphite electrodes 33. The graphite electrode 33 is easy to process and light in weight. By controlling the voltage of the electrode 33, the two electro-deformable sheets 31 are contracted and stretched one by one, so that the deformable and bending unit 3 bends and turns in two different directions, respectively. Thereby adjusting the endoscope to shoot images in different directions.
  • the deformation and bending unit 3 includes four quarter-circular electro-deformation sheets 31 made of ferroelectric polymer.
  • the sides of the electro-deformation sheets 31 are provided There is an insulating layer 32, and the insulating layer 32 is made of PET material.
  • PET has good friction resistance, low abrasion and high hardness, and has the greatest toughness among thermoplastics; it has good electrical insulation properties, can be deformed by the electro-deformable sheet 31 without cracking, and has a long service life.
  • Electrodes 33 are provided at the upper and lower ends of the electro-deformation sheet 31, and the electrodes 33 are graphite electrodes 33. By controlling the voltage of the electrode 33, the degree of contraction and stretching of the electro-deformable sheet 31 is controlled, so that the deformable and bending unit 3 can be bent and turned in four different directions, respectively.

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  • Medical Informatics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract

一种电致形变弯曲的内窥镜，属于内窥镜领域，包括手柄部（1）及设在手柄部（1）下方的插入部（2），插入部（2）包括直管（21）和电致形变弯曲管（22），电致形变弯曲管（22）包括至少两个电致形变片（31），电致形变片（31）由电致形变材料制成，当电活性聚合物受到电刺激后会产生形变，电致形变片（31）的两端设有电极（33），通过在电极（33）上施加电压控制电致形变片（31）弯曲从而使内窥镜末端弯曲，调节内窥镜拍摄角度。该装置结构简单，在不增加镜体的质量和尺寸的条件下实现调节内窥镜弯曲角度的功能。

Description

一种电致形变弯曲的内窥镜 技术领域
本发明涉及内窥镜领域，特别涉及一种电致形变弯曲的内窥镜。
背景技术
内窥镜是可送入人体腔道内进行直观检查和手术治疗的重要器械。应用于胃肠道疾病的检查、胰腺、胆道疾病的检查、泌尿道检查等多个领域。临床上根据内窥镜镜身能否改变方向进行分类，分为硬质镜和软镜两种。硬质镜为棱镜光学系统，最大优点是成像清晰，可配多个工作通道，选取多个视角，操作方便，但是不能调节方向存在视野盲区。中国专利申请CN200310115365.0，公开的一种输尿管镜，其镜体末端设计成两段，并由可控制转动的关节相连接，以实现镜体末端可向两个相对方向各弯曲180度。采用其镜体末端设计成两段，并由可控制转动的关节相连接，以实现镜体末端可向两个相对方向各弯曲180度。其采用机械传动方式控制镜体末端转动，结构复杂，且加大了镜体的质量和尺寸，不利于手术操作。
发明内容
本发明的目的在于至少解决现有技术中存在的技术问题之一，提供一种电致形变弯曲的内窥镜，结构简单，在不增加镜体的质量和尺寸的条件下实现调节内窥镜弯曲角度的功能。
本发明提供一种电致形变弯曲的内窥镜，包括手柄部及设在所述手柄部下方的插入部，所述插入部包括直管和电致形变弯曲管，所述直管的下端和电致形变弯曲管的上端同轴固定，所述电致形变弯曲管包括若干个首尾连接的形变弯曲单元，每个形变弯曲单元包括至少两个由电致形变材料制成的电致形变片，所述电致形变片之间设有绝缘层，所述电致形变片的两端设有电极，所述电极通过导线连接有电压 发生单元。
有益效果：本发明的内窥镜包括手柄部及设在所述手柄部下方的插入部，所述插入部包括直管和电致形变弯曲管，所述电致形变弯曲管包括至少两个电致形变片，电致形变片由由电致形变材料制成，当电活性聚合物受到电刺激后会产生形变，所述电致形变片的两端设有电极，通过在电极上施加电压控制电致形变片弯曲从而使内窥镜末端弯曲，调节内窥镜拍摄角度。本发明结构简单，在不增加镜体的质量和尺寸的条件下实现调节内窥镜弯曲角度的功能。
作为上述方案的进一步改进，所述形变弯曲单元包括两个由电致形变材料制成的半圆形的电致形变片，所述电致形变片的侧边设有绝缘层，所述电致形变片的上下两端均设有电极。通过控制电极电压，使两个电致形变片一个收缩一个拉伸，从而使形变弯曲单元分别向2个不同方向弯曲转向。
作为上述方案的进一步改进，所述形变弯曲单元包括4个由电致形变材料制成的四分之一圆形的电致形变片，所述电致形变片的侧边设有绝缘层，所述电致形变片的上下两端均设有电极。通过控制电极电压，控制电致形变片的收缩和拉伸程度，从而可使形变弯曲单元分别向4个不同方向弯曲转向。
作为上述方案的进一步改进，所述电极采用石墨电极。石墨电极加工容易，质量轻。
作为上述方案的进一步改进，所述绝缘层采用PET材料制成。PET耐摩擦性好，磨耗小而硬度高，具有热塑性塑料中最大的韧性；电绝缘性能好，能在电致形变片变形是不会开裂，使用寿命长。
作为上述方案的进一步改进，所述电活性聚合物选用电致伸缩接枝弹性体、电致伸缩薄膜及铁电聚合物中的一种。在电场作用材料发生形变，这些聚合物材料具有更大的应变能力，且重量轻、驱动效率 高、抗震性能好。
作为上述方案的进一步改进，所述电压发生单元设置在所述手柄部上。
附图说明
下面结合附图和实施例对本发明进一步地说明；
图1为本发明较优实施例内窥镜的结构示意图；
图2为本发明较优实施例电致形变弯曲管的结构示意图；
图3为本发明较优实施例形变弯曲单元的结构示意图；
图4为本发明较优实施例形变弯曲单元的轴向剖视图；
图5为本发明另一较优实施例形变弯曲单元的结构示意图；
图6为本发明另一较优实施例形变弯曲单元的轴向剖视图。
具体实施方式
本部分将详细描述本发明的具体实施例，本发明之较佳实施例在附图中示出，附图的作用在于用图形补充说明书文字部分的描述，使人能够直观地、形象地理解本发明的每个技术特征和整体技术方案，但其不能理解为对本发明保护范围的限制。
在本发明的描述中，需要理解的是，涉及到方位描述，例如上、下、前、后、左、右等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
在本发明的描述中，若干的含义是一个或者多个，多个的含义是两个以上，大于、小于、超过等理解为不包括本数，以上、以下、以内等理解为包括本数。如果有描述到第一、第二只是用于区分技术特征为目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量或者隐含指明所指示的技术特征的先后关系。
本发明的描述中，除非另有明确的限定，设置、安装、连接等词语应做广义理解，所属技术领域技术人员可以结合技术方案的具体内容合理确定上述词语在本发明中的具体含义。
参照图1和图2，一种电致形变弯曲的内窥镜，包括手柄部1及设在手柄部1下方的插入部2，插入部2包括直管21和电致形变弯曲管22，直管21的下端和电致形变弯曲管22的上端同轴固定，电致形变弯曲管22包括若干个首尾连接的形变弯曲单元3，在本实施例中，形变弯曲单元3的数量为4个，在其他实施例中，形变弯曲单元3的数量还可以为其他大于0的整数。每个形变弯曲单元3包括若干个由电致形变材料制成的电致形变片31，电致形变片31之间设有绝缘层32，绝缘层32的材料需要具有一定的可伸缩性，电致形变片31的两端设有电极33，电极33通过导线连接有电压发生单元(图中未视出)，电压发生单元(图中未视出)可设置在内窥镜的手柄部1上或其他位置或独立设置。电活性聚合物选用电致伸缩接枝弹性体、电致伸缩薄膜及铁电聚合物中的一种。在电场作用材料发生形变，这些聚合物材料具有更大的应变能力，且重量轻、驱动效率高、抗震性能好。电压发生单元(图中未视出)用于输出调节电压至电极33上，电压发生单元输出的电压有单片机控制，通过单片机控制加载到电机33的电压大小。本发明通过在电极33上施加电压控制电致形变片31弯曲从而使内窥镜末端弯曲，调节内窥镜拍摄角度。本发明结构简单，在不增加镜体的质量和尺寸的条件下实现调节内窥镜弯曲角度的功能。
参见图3和图4，在一些实施例中，形变弯曲单元3包括两个电致伸缩薄膜制成的半圆形的电致形变片31，两个电致形变片31围成圆筒状，电致形变片31的侧边设有绝缘层32，绝缘层32采用PET材料制成。PET耐摩擦性好，磨耗小而硬度高，具有热塑性塑料中最 大的韧性；电绝缘性能好，能在电致形变片31变形是不会开裂，使用寿命长。电致形变片31的上下两端均设有电极33，电极33采用石墨电极33。石墨电极33加工容易，质量轻。通过控制电极33电压，使两个电致形变片31一个收缩一个拉伸，从而使形变弯曲单元3分别向2个不同方向弯曲转向。从而调节内窥镜拍摄到不同方向的影像。
参见图5及图6，在另一些实施例中，形变弯曲单元3包括4个铁电聚合物制成的四分之一圆形的电致形变片31，电致形变片31的侧边设有绝缘层32，绝缘层32采用PET材料制成。PET耐摩擦性好，磨耗小而硬度高，具有热塑性塑料中最大的韧性；电绝缘性能好，能在电致形变片31变形是不会开裂，使用寿命长。电致形变片31的上下两端均设有电极33，电极33采用石墨电极33。通过控制电极33电压，控制电致形变片31的收缩和拉伸程度，从而可使形变弯曲单元3分别向4个不同方向弯曲转向。
上面结合附图对本发明实施例作了详细说明，但是本发明不限于上述实施例，在技术领域普通技术人员所具备的知识范围内，还可以在不脱离本发明宗旨的前提下作出各种变化。

Claims (7)

  1. 一种电致形变弯曲的内窥镜，其特征在于：包括手柄部(1)及设在所述手柄部(1)下方的插入部(2)，所述插入部(2)包括直管(21)和电致形变弯曲管(22)，所述直管(21)的下端和电致形变弯曲管(22)的上端同轴固定，所述电致形变弯曲管(22)包括若干个首尾连接的形变弯曲单元(3)，每个形变弯曲单元(3)包括至少两个由电致形变材料制成的电致形变片(31)，所述电致形变片(31)之间设有绝缘层(32)，所述电致形变片(31)的两端设有电极(33)，所述电极(33)通过导线连接有电压发生单元。
  2. 根据权利要求1所述的一种电致形变弯曲的内窥镜，其特征在于：所述形变弯曲单元(3)包括两个由电致形变材料制成的半圆形的电致形变片(31)，所述电致形变片(31)的侧边设有绝缘层(32)，所述电致形变片(31)的上下两端均设有电极(33)。
  3. 根据权利要求1所述的一种电致形变弯曲的内窥镜，其特征在于：所述形变弯曲单元(3)包括4个由电致形变材料制成的四分之一圆形的电致形变片(31)，所述电致形变片(31)的侧边设有绝缘层(32)，所述电致形变片(31)的上下两端均设有电极(33)。
  4. 根据权利要求1所述的一种电致形变弯曲的内窥镜，其特征在于：所述电极(33)采用石墨电极(33)。
  5. 根据权利要求1所述的一种电致形变弯曲的内窥镜，其特征在于：所述绝缘层(32)采用PET材料制成。
  6. 根据权利要求1所述的一种电致形变弯曲的内窥镜，其特征在于：所述电活性聚合物选用电致伸缩接枝弹性体、电致伸缩薄膜及铁电聚合物中的一种。
  7. 根据权利要求1所述的一种电致形变弯曲的内窥镜，其特征在于：所述电压发生单元设置在所述手柄部(1)上。
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