CN102961115A - Equipment and method for detecting piles fistula orificium - Google Patents
Equipment and method for detecting piles fistula orificium Download PDFInfo
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- CN102961115A CN102961115A CN2012105265226A CN201210526522A CN102961115A CN 102961115 A CN102961115 A CN 102961115A CN 2012105265226 A CN2012105265226 A CN 2012105265226A CN 201210526522 A CN201210526522 A CN 201210526522A CN 102961115 A CN102961115 A CN 102961115A
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Abstract
The invention provides equipment and a detection method for detecting piles fistula orificium. The equipment comprises a bendable mechanical finger, a probe part, a driving mechanism and a controller; the probe part is arranged at a first end of the mechanical finger and used for looking for the fistula orificium and returning location information of the found fistula orificium and for obtaining appearance information of the inner walls of the rectum at the same time; the driving mechanism is provided with a power output end, and the power output end is connected with a second end of the mechanical finger so as to drive the mechanical finger to advance or retreat in the rectum; and the controller is respectively connected with the mechanical finger, the probe part and the driving mechanism, is used for storing the location information of the fistula orificium and controlling the advancement distance or retreat distance of the power output end of the driving mechanism, and is used for controlling the bending deformation of the mechanical finger according to the appearance of the inner walls of the rectum. The fistula orificium detection equipment and method provided by the invention can replace hand operation, improves the automation degree of fistula orificium detection during a piles operation, can avoid pricking to a wound, and relieves the recurrence pain of a patient.
Description
Technical field
The present invention relates to the hemorrhoid treatment device field, especially, relate to a kind of hemorrhoid fistula hole checkout equipment and method.
Background technology
As a kind of common clinical symptoms, anal fistula is very large to the health effect of human body, and effective detection in fistula hole is the precondition of effectively treating, the manual operation stage that also rests on is detected in the fistula hole at present, operator's technical experience is had relatively high expectations, simultaneously in order accurately to detect the fistula hole, usually need to form or enlarge wound, and because anal canal inwall and fistula mouth situation are complicated, often stab wound in the testing process, cause infecting, delayed healing, even since detect inaccurate, not exclusively cause recurrence.Therefore use the checkout equipment in accurate and undamaged fistula hole most important to patient's treatment and rehabilitation.
Common diagnostic method has following several at present:
The first, probe diagnostics: its operating process is for to stretch into fistula with probe from the fistula collar extension, and forefinger stretches into anal canal, and probe is passed from internal orifice, judges fistula mouth position.The method shortcoming is, need to enlarge wound for the ease of the staff operation, and to the fistula road of bending, probe is difficult to pass smoothly, and What is more, and undue force will cause probe to wear out the fistula wall, causes new infected.
The second, anal sinus hook diagnosis: its operating process is for to stretch into anus with specula, seeks and repeatedly diagnoses anal sinus with the anal sinus hook, with the judgement internal orifice.The method shortcoming is, and is high to operator's specification requirement, if wear out normal anal sinus, will cause new infected internal orifice.
The 3rd, the methylene blue labelling: its operating process is for to be positioned over anal with gauze, then 5% aqueous solution of methylene blue is injected fistula by collar extension, take out afterwards gauze, tentatively judge the position of internal orifice according to the gauze change color, expand anus with specula again, detect with anal sinus hook or probe, diagnosis internal orifice position.The method shortcoming is that gauze can only tentatively be judged the internal orifice position, although can improve the specific aim of next step diagnosis, can't fundamentally improve diagnostic level.
The 4th, additive method: such as diagnostic methods such as anal canal pressure mensuration, x-ray diagnosis, present less usefulness, its accuracy and operability still await improving.
This shows, tradition fistula hole checkout equipment is simple, therefore basically also to rest on the manual operation stage, the operator is required highly, have also that to enlarge wound, testing result inaccurate comprehensively even can produce and stab wound and cause the shortcomings such as infection in order detecting in testing process.The relevant expert attempts using the first-class sensor of shooting to replace naked eyes to detect in the world, can the Effective Raise detection accuracy, but because photographic head need to be by manual operation, so fundamentally do not improve the level that traditional fistula hole checkout equipment runs into.
Summary of the invention
The object of the invention is to provide a kind of hemorrhoid fistula hole checkout equipment and method, detects owing to adopting the technical problem that manual operation causes wound expansion, testing result is inaccurate and cause easily infection to solve existing fistula hole.
For achieving the above object, according to an aspect of the present invention, provide a kind of hemorrhoid fistula hole checkout equipment, having comprised: flexible mechanical finger; Probe portion is arranged on the first end of mechanical finger, and the positional information that is used for seeking the fistula hole and returns the fistula hole of finding obtains the pattern of inner walls of rectums simultaneously; Driving mechanism has clutch end, and clutch end links to each other with the second end of mechanical finger, refers to advance or retreat at internal rectum with driving device; Controller is connected respectively with mechanical finger, probe portion and driving mechanism, is used for the advancing or backway of clutch end of the positional information in storage fistula hole and control driving mechanism, and according to the flexural deformation of the morphology control mechanical finger of inner walls of rectums.
Further, mechanical finger comprises many parallel air bag pipelines that arrange, every the air bag pipeline comprises a plurality of deformable air bag joint segments, each air bag joint segments comprises arranged stacked and a plurality of air bags that are interconnected, and is connected to each other between the adjacent air bag joint segments and has separately separate air bag supply air line; Controller is controlled the distortion of each air bag joint segments by the air bag supply air line of controlling each air bag joint segments.
Further, hemorrhoid fistula provided by the invention hole checkout equipment also comprises: the air bag supply air line that air supply source, air bag joint segments pass through separately respectively links to each other with described air supply source; Air bag air feed control valve is arranged on the corresponding air bag supply air line of each air bag joint segments, and controller is controlled gas input quantity and the air pressure of each air bag joint segments by air bag air feed control valve.
Further, mechanical finger comprises three parallel air bag pipelines that arrange, and the cross section of three air bag pipelines is triangularly arranged.
Further, every air bag pipeline includes four air bag joint segments, and the lower end of each air bag joint segments is provided with air inlet, and the air bag supply air line that each air inlet passes through separately respectively links to each other with air supply source.
Further, driving mechanism is air cylinder driven mechanism, and the free end of the piston of air cylinder driven mechanism is the clutch end of driving mechanism, and the motor control mechanical finger of controller by control piston advances or retreat at internal rectum.
Further, the clutch end of driving mechanism is provided with the mechanical finger positioning seat, and the second end of mechanical finger removably links to each other with the mechanical finger positioning seat.
Further, hemorrhoid fistula provided by the invention hole checkout equipment also comprises reference workbench, and reference workbench consists of the displacement of piston with reference to platform.
Further, probe portion comprises the probe body and is arranged on a plurality of sensors of probe on the body.
According to another aspect of the present invention, also provide a kind of hemorrhoid fistula hole detection method, comprised the steps: the first step, probe portion detects inner walls of rectums pattern information and sends to controller; Second step, described controller receive described inner walls of rectums pattern and determine whether to exist the fistula hole according to described inner walls of rectums pattern information, if there is the fistula hole, then carry out for the 3rd step, and if there is no the 4th step was then carried out in the fistula hole; In the 3rd step, probe portion detects further position and the pattern information in fistula hole and sends to controller, and described controller receives and store position and the pattern information in described fistula hole; In the 4th step, probe portion again detects inner walls of rectums pattern information and sends to controller, and described controller judges whether there is the advanceable wider space of probe portion at internal rectum according to described inner walls of rectums pattern information, if exist, then carried out for the 5th step, if there is no, then carried out for the 7th step; In the 5th step, the clutch end of controller control driving mechanism advances quantitatively; In the 6th step, return the first step; The 7th step, quantitative the retreating of clutch end of controller control driving mechanism; The 8th step, detection of end.
The present invention has following beneficial effect:
Hemorrhoid fistula provided by the invention hole checkout equipment, comprise by the mechanical finger of controller control and be used for driving device and refer to the driving mechanism that advances or retreat at internal rectum, mechanical finger is along the pattern deformable of inner walls of rectums, the first end of mechanical finger is provided with probe portion, the positional information that probe portion is used for seeking the fistula hole and returns the fistula hole of finding, obtain simultaneously the pattern of described inner walls of rectums, the distortion of the morphology control mechanical finger of the inner walls of rectums that controller can detect according to probe portion.Fistula provided by the invention hole checkout equipment and method can utilize the equipment of automatization to realize the detection in fistula hole, and, because the small and exquisite motion of mechanical finger volume is flexible, the shape that can adapt to inner walls of rectums, can substitute people's hand operated, improve the automaticity that the fistula hole is detected in the hemorrhoid operation process, can avoid simultaneously producing and stab wound, reduced the misery of sufferer recurrence.
Except purpose described above, feature and advantage, the present invention also has other purpose, feature and advantage.The below is with reference to figure, and the present invention is further detailed explanation.
Description of drawings
The accompanying drawing that consists of the application's a part is used to provide a further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the working state schematic representation of the preferred embodiment of the present invention;
Fig. 2 is the cross-sectional view of the preferred embodiment of the present invention; And
Fig. 3 is the schematic flow sheet of hemorrhoid fistula hole detection method of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
As depicted in figs. 1 and 2, the invention provides a kind of hemorrhoid fistula hole checkout equipment, this checkout equipment comprises flexible mechanical finger 10; Probe portion 20, comprise probe body 21 and be arranged on a plurality of sensors 23 of probe on the body 21, probe body 21 is arranged on the first end of mechanical finger 10, and sensor 23 is used for searching fistula hole and returns the positional information in the fistula hole of finding, and obtains simultaneously the pattern of inner walls of rectums; Driving mechanism 30 has clutch end, and this clutch end links to each other with the second end of mechanical finger 10, refers to that with driving device 10 advance or retreat at internal rectum; Controller 50, are connected with driving mechanism with mechanical finger 10, sensor 23 and are connected respectively, the distance of advancing or retreating that is used for the clutch end of the positional information in storage fistula hole and control driving mechanism 30, and according to the flexural deformation of the morphology control mechanical finger 10 of inner walls of rectums.Mechanical finger 10 may be advanced into 15 to 20 centimetres of internal rectum, can say that also the greatest length of mechanical finger 10 can reach 15 to 20 centimetres, and diameter can reach three to four centimetres.
The clutch end of driving mechanism 30 is provided with mechanical finger positioning seat 33, and the second end of mechanical finger 10 removably links to each other with mechanical finger positioning seat 33.
Hemorrhoid fistula provided by the invention hole checkout equipment also comprises reference workbench 60, and reference workbench 60 consists of the displacement of piston 31 with reference to platform.This reference workbench 60 can be used as the basis reference of displacement of the clutch end of driving mechanism.
In actual testing process, can increase separation sleeve with the outside of the contacted probe portion 20 of human body and mechanical finger 10, effect is human body and apparatus body are isolated, and can adopt the materials such as flexible and harmless silica gel.
The present invention is on the basis that sensor detects, and expansion wound, the testing result that causes mainly for detection is inaccurate comprehensively and produce in testing process and stab wound and cause the problems such as infection, has proposed a kind of hemorrhoid fistula hole checkout equipment.Be intended to improve the hemorrhoid operation accuracy, improve the automatic and mechanical level, overcome the drawback of traditional fistula hole detection method, replace staff to operate by the robot that uses motion accurately and structure is small and exquisite, avoid simultaneously producing and stab wound, reduce the misery of sufferer recurrence.
As shown in Figure 3, according to another aspect of the present invention, also provide a kind of hemorrhoid fistula hole detection method, comprised the steps:
First step S1, probe portion detects inner walls of rectums pattern information and sends to controller;
Second step S2, described controller receive described inner walls of rectums pattern and determine whether to exist the fistula hole according to described inner walls of rectums pattern information, if there is the fistula hole, then carry out the 3rd step S3, and if there is no the 4th step S4 is then carried out in the fistula hole;
The 3rd step S3, probe portion detects further position and the pattern information in fistula hole and sends to controller, and described controller receives and stores position and the pattern information in described fistula hole;
The 4th step S4, probe portion again detects inner walls of rectums pattern information and sends to controller, described controller judges whether there is the advanceable wider space of probe portion at internal rectum according to described inner walls of rectums pattern information, if exist, then carry out the 5th step S5, if there is no, then carry out the 7th step S7;
The 5th step S5, the clutch end of controller control driving mechanism advances quantitatively;
The 6th step S6 returns first step S1;
The 7th step S7, quantitative the retreating of clutch end of controller control driving mechanism;
The 8th step S8, detection of end.
Specifically, at first the sensor 23 of mechanical finger 10 first ends detects inner walls of rectums information, and the detection signals such as image, pressure are passed in the controller.Next, controller 50 judges whether to exist the fistula mouth according to detection signal, if picture signal, then adopt computer image technology that the image that a plurality of photographic head obtain is processed, whether exist the fistula mouth to carry out Discern and judge according to the features such as size, shape, color in the image to the anal canal inwall, if pressure signal then carries out Discern and judge according to the size of pressure signal.If there is the fistula mouth, driving sensor 23 carries out local detection, and fistula message breath, i.e. fistula mouth size and pus situation are stored and calculated to the location status of each checkout equipment and image.Controller 50 judges whether to exist the inwall bearing of trend according to detection signal, in the checkout equipment range ability for picture signal, adopt computer image technology that the image that a plurality of photographic head obtain is processed, and according to the features such as size, shape, color in the image anal canal inwall bearing of trend is carried out Discern and judge, for pressure signal, then the size according to pressure signal calculates the inwall bearing of trend, does not have the inwall bearing of trend if reach to detect range ability then be judged as.Afterwards, mechanical finger 10 is along the inner walls of rectums bearing of trend unit distance of advancing, controller 50 is cumulative with the unit distance on the bearing of trend, obtains new inner walls of rectums routing information, adjusts the form of mechanical finger 10 to adapt to the anal canal inwall according to the inwall routing information simultaneously.Repeat above-mentioned steps, until do not have inwall bearing of trend, detection of end.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a hemorrhoid fistula hole checkout equipment is characterized in that, comprising:
Flexible mechanical finger (10);
Probe portion (20) is arranged on the first end of described mechanical finger (10), and the positional information that is used for seeking the fistula hole and returns the fistula hole of finding obtains the pattern of described inner walls of rectums simultaneously;
Driving mechanism (30) has clutch end, and described clutch end links to each other with the second end of described mechanical finger (10), advances or retreats at internal rectum to drive described mechanical finger (10);
Controller (50), be connected respectively with described mechanical finger (10), described probe portion (20) and the driving mechanism (30) of being connected, the advancing or backway of clutch end that is used for storing the positional information in described fistula hole and controls described driving mechanism (30), and according to the flexural deformation of the described mechanical finger of the morphology control of described inner walls of rectums (10).
2. hemorrhoid fistula according to claim 1 hole checkout equipment is characterized in that,
Described mechanical finger (10) comprises many parallel air bag pipelines (11) that arrange, every described air bag pipeline (11) comprises a plurality of deformable air bag joint segments (11a), a plurality of air bags (11aa) that each described air bag joint segments (11a) comprises arranged stacked and is interconnected are connected to each other between the adjacent described air bag joint segments (11a) and have separately separate air bag supply air line;
Described controller (50) is controlled the distortion of each described air bag joint segments (11a) by the air bag supply air line of each described air bag joint segments (11a) of control.
3. hemorrhoid fistula according to claim 2 hole checkout equipment is characterized in that, also comprises:
The air bag supply air line that air supply source (40), described air bag joint segments (11a) pass through separately respectively links to each other with described air supply source (40);
Air bag air feed control valve is arranged on the corresponding air bag supply air line of each described air bag joint segments (11a), and described controller (50) is controlled gas input quantity and the air pressure of each described air bag joint segments (11a) by described air bag air feed control valve.
4. hemorrhoid fistula according to claim 3 hole checkout equipment, it is characterized in that, described mechanical finger (10) comprises three parallel air bag pipelines (11) that arrange, and is triangularly arranged at the above three air bag pipeline (11) of cross section of described mechanical finger (10).
5. hemorrhoid fistula according to claim 3 hole checkout equipment, it is characterized in that, every described air bag pipeline (11) includes four described air bag joint segments (11a), the lower end of each described air bag joint segments (11a) is provided with air inlet (11c), and the described air bag supply air line that each described air inlet (11c) passes through separately respectively links to each other with described air supply source (40).
6. hemorrhoid fistula according to claim 1 hole checkout equipment, it is characterized in that, described driving mechanism (30) is air cylinder driven mechanism, the free end of the piston (31) of described air cylinder driven mechanism is the clutch end of described driving mechanism (30), and the motor control described mechanical finger (10) of described controller (50) by the described piston of control (31) advances or retreat at internal rectum.
7. hemorrhoid fistula according to claim 6 hole checkout equipment, it is characterized in that, the clutch end of described driving mechanism (30) is provided with mechanical finger positioning seat (33), and the second end of described mechanical finger (10) removably links to each other with described mechanical finger positioning seat (33).
8. hemorrhoid fistula according to claim 7 hole checkout equipment is characterized in that also comprise reference workbench (60), described reference workbench (60) consists of the displacement of described piston (31) with reference to platform.
9. each described hemorrhoid fistula hole checkout equipment in 8 according to claim 2 is characterized in that, described probe portion (20) comprises probe body (21) and is arranged on a plurality of sensors (23) on the described probe body (21).
10. a hemorrhoid fistula hole detection method is characterized in that, comprises the steps:
The first step (S1), probe portion detects inner walls of rectums pattern information and sends to controller;
Second step (S2), described controller receive described inner walls of rectums pattern and determine whether to exist the fistula hole according to described inner walls of rectums pattern information, if there is the fistula hole, then carry out for the 3rd step (S3), and if there is no the 4th step (S4) was then carried out in the fistula hole;
In the 3rd step (S3), probe portion detects further position and the pattern information in fistula hole and sends to controller, and described controller receives and store position and the pattern information in described fistula hole;
The 4th step (S4), probe portion again detects inner walls of rectums pattern information and sends to controller, described controller judges whether there is the advanceable wider space of probe portion at internal rectum according to described inner walls of rectums pattern information, if exist, then carried out for the 5th step (S5), if there is no, then carried out for the 7th step (S7);
In the 5th step (S5), the clutch end of controller control driving mechanism advances quantitatively;
In the 6th step (S6), return the first step (S1);
The 7th step (S7), quantitative the retreating of clutch end of controller control driving mechanism;
The 8th step (S8), detection of end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210526522.6A CN102961115B (en) | 2012-12-07 | 2012-12-07 | Equipment and method for detecting piles fistula orificium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210526522.6A CN102961115B (en) | 2012-12-07 | 2012-12-07 | Equipment and method for detecting piles fistula orificium |
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| CN102961115A true CN102961115A (en) | 2013-03-13 |
| CN102961115B CN102961115B (en) | 2015-01-21 |
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Cited By (5)
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| CN104109522A (en) * | 2014-03-27 | 2014-10-22 | 中国石油化工股份有限公司 | Ternary composite oil displacement system used for high temperature oil reservoirs |
| CN107349014A (en) * | 2017-06-02 | 2017-11-17 | 北京邮电大学 | Hard and soft changeable endoscope type micro-wound operation robot |
| CN107440671A (en) * | 2017-08-28 | 2017-12-08 | 榆林市星元医院 | A kind of digestive endoscopy foreign matter measuring system |
| CN108422418A (en) * | 2018-05-18 | 2018-08-21 | 燕山大学 | A kind of variation rigidity gasbag-type omnidirectional is bent flexible robot |
| CN109480748A (en) * | 2018-10-31 | 2019-03-19 | 苏州佩斯夫智能科技有限公司 | It is a kind of can free bend medical endoscope and its application method |
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| CN102961115B (en) | 2015-01-21 |
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