CN102961115B - Equipment and method for detecting piles fistula orificium - Google Patents
Equipment and method for detecting piles fistula orificium Download PDFInfo
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- CN102961115B CN102961115B CN201210526522.6A CN201210526522A CN102961115B CN 102961115 B CN102961115 B CN 102961115B CN 201210526522 A CN201210526522 A CN 201210526522A CN 102961115 B CN102961115 B CN 102961115B
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- air bag
- mechanical finger
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- fistula
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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 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 treatment, current fistula hole is detected and is also rested on the manual operation stage, require higher to operator's technical experience, simultaneously in order to accurately detect fistula hole, usually need to be formed or expand wound, and due to anal canal inwall and fistula mouth situation complexity, often wound is stabbed in testing process, cause infect, delayed healing, even due to detect inaccurate, not exclusively cause recurrence.Therefore use the checkout equipment in accurate and undamaged fistula hole to the treatment of patient and rehabilitation most important.
Diagnostic method common at present has following several:
The first, probe diagnostics: its operating process is for stretch into fistula with probe from fistula collar extension, and forefinger stretches into anal canal, makes probe pass from internal orifice, judges fistula mouth position.The method shortcoming is, need to expand wound, and to bending fistula road, probe is difficult to pass through, and What is more, and undue force will cause probe to wear out fistula wall for the ease of staff operation, causes new infected.
The second, anal sinus hook is diagnosed: its operating process, for specula is stretched into anus, is found and uses anal sinus hook repeatedly to diagnose anal sinus, to judge internal orifice.The method shortcoming is, high to operator's technical requirement, if wear out normal anal sinus, will cause new infected internal orifice.
3rd, methylene blue labelling: its operating process is for be positioned over anal by gauze, then the aqueous solution of methylene blue of 5% is injected fistula by collar extension, take out gauze afterwards, the position of internal orifice is tentatively judged according to the change of gauze color, expand anus with specula again, detect with anal sinus hook or probe, diagnosis internal orifice position.The method shortcoming is, gauze can only tentatively judge internal orifice position, although can improve the specific aim of next step diagnosis, fundamentally cannot improve diagnostic level.
4th, additive method: as diagnostic methods such as anal canal pressure mensuration, x-ray diagnosis, current less use, its accuracy and operability still await improving.
As can be seen here, tradition fistula hole checkout equipment is simple, substantially also rest on the manual operation stage, therefore operator required high, also exist in order to detect expand wound, testing result inaccurate comprehensively, even can produce in testing process and stab wound and cause the shortcomings such as infection.Relevant expert attempts using the first-class sensor of shooting to replace naked eyes to detect in the world, effectively can improve detection accuracy, but needs manually to operate due to photographic head, 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 to cause owing to adopting manual operation that wound expands, testing result is inaccurate and easily cause the technical problem of 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, comprising: flexible mechanical finger; Probe portion, is arranged on the first end of mechanical finger, for finding fistula hole and returning the positional information in the fistula hole found, obtains the pattern of inner walls of rectums simultaneously; Driving mechanism, has clutch end, and clutch end is connected with the second end of mechanical finger, refers to advance at internal rectum or retreat with driving device; Controller, is connected respectively with mechanical finger, probe portion and driving mechanism, for storing the positional information in fistula hole and controlling the advance of clutch end or the backway of driving mechanism, and the flexural deformation of morphology control mechanical finger according to inner walls of rectums.
Further, mechanical finger comprises many parallel air bag pipelines arranged, every bar air bag pipeline comprises multiple deformable air bag joint segments, each air bag joint segments comprises arranged stacked and the multiple air bags be interconnected, and is connected to each other and has separate air bag supply air line separately between adjacent air bag joint segments; Controller controls the distortion of each air bag joint segments by the air bag supply air line controlling each air bag joint segments.
Further, hemorrhoid fistula hole provided by the invention checkout equipment, also comprise: air supply source, air bag joint segments is connected with described air supply source respectively by respective air bag supply air line; Air bag air feed control valve, is arranged on the air bag supply air line corresponding to each air bag joint segments, and controller passes through gas input and the air pressure of each air bag joint segments of air bag air feed governor valve control.
Further, mechanical finger comprises three parallel air bag pipelines arranged, and the cross section of three air bag pipelines is triangularly arranged.
Further, every bar 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 each air inlet is connected with air supply source respectively by respective air bag supply air line.
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 controller is advanced or retrogressing at internal rectum by the motor control mechanical finger of control piston.
Further, the clutch end of driving mechanism is provided with mechanical finger positioning seat, and the second end of mechanical finger is removably connected with mechanical finger positioning seat.
Further, hemorrhoid fistula hole provided by the invention checkout equipment, also comprises reference workbench, and reference workbench forms the displacement of piston with reference to platform.
Further, probe portion comprises probe body and is arranged on the multiple sensors on probe body.
According to another aspect of the present invention, additionally provide a kind of hemorrhoid fistula hole detection method, comprise the steps: the first step, probe portion detects inner walls of rectums topographical information and sends to controller; Second step, described controller receives described inner walls of rectums pattern and determines whether there is fistula hole according to described inner walls of rectums topographical information, if there is fistula hole, then performs the 3rd step, if there is no fistula hole, then performs the 4th step; 3rd step, probe portion detects the position in fistula hole and topographical information further and sends to controller, and described controller receives and stores position and the topographical information in described fistula hole; 4th step, probe portion again detects inner walls of rectums topographical 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 topographical information, if existed, then perform the 5th step, if there is no, then perform the 7th step; 5th step, the clutch end that controller controls driving mechanism advances quantitatively; 6th step, returns the first step; 7th step, controller controls the quantitative retrogressing of the clutch end of driving mechanism; 8th step, detection of end.
The present invention has following beneficial effect:
Hemorrhoid fistula hole provided by the invention checkout equipment, comprise the mechanical finger that controlled by controller and refer to the driving mechanism that advances at internal rectum or retreat for driving device, mechanical finger is along the pattern deformable of inner walls of rectums, the first end of mechanical finger is provided with probe portion, probe portion is for finding fistula hole and returning the positional information in the fistula hole found, obtain 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 simultaneously.Fistula hole checkout equipment provided by the invention and method can utilize the equipment of automatization to realize the detection in fistula hole, and, because the motion of mechanical finger compact is flexible, the shape of inner walls of rectums can be adapted to, people's hand operated can be substituted, improve the automaticity that in hemorrhoid operation process, fistula hole is detected, generation can be avoided to stab wound simultaneously, reduce the misery of sufferer recurrence.
Except object described above, feature and advantage, the present invention also has other object, feature and advantage.Below with reference to figure, the present invention is further detailed explanation.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation 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.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, 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 the multiple sensors 23 on probe body 21, probe body 21 is arranged on the first end of mechanical finger 10, and sensor 23, for finding fistula hole and returning the positional information in the fistula hole found, obtains the pattern of inner walls of rectums simultaneously; Driving mechanism 30, has clutch end, and this clutch end is connected with the second end of mechanical finger 10, refers to that 10 advance or retrogressing at internal rectum with driving device; Controller 50, be connected respectively with mechanical finger 10, sensor 23 and driving mechanism 30, for storing the positional information in fistula hole and controlling the advance of clutch end of driving mechanism 30 or the distance of retrogressing, and the flexural deformation of morphology control mechanical finger 10 according to inner walls of rectums.Mechanical finger 10 may be advanced into internal rectum ten five to two ten centimetres, and alternatively the greatest length of mechanical finger 10 can reach ten five to two ten centimetres, and diameter can reach three to four centimetres.
Sensor 23 can be photographic head or pressure-strain sheet etc.
Controller 50 can be industrial control unit (ICU), computer and single-chip microcomputer etc., and whether internal rectum exists extendible space can be calculated by inwall pattern and fistula mouth situation, also can be drawn by Non-follow control.
Mechanical finger 10 can adapt to complicated detection inwall pattern, and this mechanical finger 10 can adopt pneumatic actuation deformation type, line to drive the various ways such as deformation type.Specifically, mechanical finger 10 comprises many parallel air bag pipelines 11 arranged, every bar air bag pipeline 11 comprises multiple deformable air bag joint segments 11a, each air bag joint segments 11a comprises arranged stacked and the multiple air bag 11aa be interconnected, and is connected to each other and has separate air bag supply air line separately between adjacent air bag joint segments 11a; Controller 50 controls the distortion of each air bag joint segments 11a by the air bag supply air line controlling each air bag joint segments 11a.As a kind of concrete embodiment, the cross section that mechanical finger 10 comprises three parallel air bag pipeline 11, three air bag pipelines 11 arranged is triangularly arranged (only indicate two air bag pipelines 11 above in Fig. 1, another is blocked fails to illustrate).Every bar air bag pipeline 11 includes four air bag joint segments 11a, and the lower end of each air bag joint segments 11a is provided with air inlet 11c, and each air inlet 11c is connected with air supply source 40 respectively by respective air bag supply air line.In order to be reached for the object that air bag joint segments 11a inflates, hemorrhoid fistula hole provided by the invention checkout equipment also comprises the air supply source 40 be connected with each air bag joint segments 11a, and each air bag joint segments 11a is connected with air supply source 40 respectively by respective air bag supply air line.In order to realize the control of insufflation gas to air bag joint segments 11a and air pressure, on the air bag supply air line corresponding to each air bag joint segments 11a, be respectively arranged with an air bag air feed control valve.
Driving mechanism 30 is air cylinder driven mechanism, and the free end of the piston 31 of air cylinder driven mechanism is the clutch end of driving mechanism 30, and controller 50 is advanced or retrogressing at internal rectum by the motor control mechanical finger 10 of control piston 31.
The clutch end of driving mechanism 30 is provided with mechanical finger positioning seat 33, and the second end of mechanical finger 10 is removably connected with mechanical finger positioning seat 33.
Hemorrhoid fistula hole provided by the invention checkout equipment, also comprises reference workbench 60, and reference workbench 60 forms the displacement of piston 31 with reference to platform.This reference workbench 60 can as the basis reference of the displacement of the clutch end of driving mechanism.
In actual testing process, the probe portion 20 contacted with human body and the outside of mechanical finger 10 can increase separation sleeve, and effect is human body and apparatus body to isolate, and can adopt flexible and materials such as harmless silica gel.
The present invention is on the basis that sensor detects, inaccurate comprehensively and produce in testing process and stab wound and cause the problems such as infection mainly for detecting the expansion wound, the testing result that cause, proposes a kind of hemorrhoid fistula hole checkout equipment.Be intended to improve hemorrhoid operation accuracy, improve automatic and mechanical level, overcome the drawback of traditional fistula hole detection method, by using motion accurately and the robot of compact structure replaces staff to operate, avoid generation to stab wound simultaneously, reduce the misery of sufferer recurrence.
As shown in Figure 3, according to another aspect of the present invention, additionally provide a kind of hemorrhoid fistula hole detection method, comprise the steps:
First step S1, probe portion detects inner walls of rectums topographical information and sends to controller;
Second step S2, described controller receives described inner walls of rectums pattern and determines whether there is fistula hole according to described inner walls of rectums topographical information, if there is fistula hole, then performs the 3rd step S3, if there is no fistula hole, then performs the 4th step S4;
3rd step S3, probe portion detects the position in fistula hole and topographical information further and sends to controller, and described controller receives and stores position and the topographical information in described fistula hole;
4th step S4, probe portion again detects inner walls of rectums topographical 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 topographical information, if existed, then perform the 5th step S5, if there is no, then the 7th step S7 is performed;
5th step S5, the clutch end that controller controls driving mechanism advances quantitatively;
6th step S6, returns first step S1;
7th step S7, controller controls the quantitative retrogressing of the clutch end of driving mechanism;
8th step S8, detection of end.
Specifically, first the sensor 23 of mechanical finger 10 first end detects inner walls of rectums information, is passed in controller by the detection signal such as image, pressure.Next, controller 50 judges whether to there is fistula mouth according to detection signal, if picture signal, computer image technology is then adopted to process the image that multiple photographic head obtains, according to features such as size, shape, colors in image, whether fistula mouth is existed to anal canal inwall and carry out Discern and judge, if pressure signal, then carry out Discern and judge according to the size of pressure signal.If there is fistula mouth, driving sensor 23 carries out local detection, the location status of each checkout equipment and image is carried out to storage and calculates fistula message and cease, be i.e. fistula mouth size and pus situation.Controller 50 judges whether to there is inwall bearing of trend according to detection signal, for picture signal in checkout equipment range ability, computer image technology is adopted to process the image that multiple photographic head obtains, and according to features such as size, shape, colors in image, Discern and judge is carried out to anal canal inwall bearing of trend, for pressure signal, then carry out calculating inwall bearing of trend according to the size of pressure signal, detect range ability if reached, be judged as there is not inwall bearing of trend.Afterwards, mechanical finger 10 is along inner walls of rectums bearing of trend advance unit distance, unit distance on bearing of trend adds up by controller 50, obtains new inner walls of rectums routing information, adjusts the form of mechanical finger 10 to adapt to anal canal inwall according to inwall routing information simultaneously.Repeat above-mentioned steps, until there is not inwall bearing of trend, detection of end.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, 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 amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
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), for finding fistula hole and returning the positional information in the fistula hole found, obtains the pattern of described inner walls of rectums simultaneously;
Driving mechanism (30), has clutch end, and described clutch end is connected with the second end of described mechanical finger (10), advances or retrogressing at internal rectum to drive described mechanical finger (10);
Controller (50), be connected respectively with described mechanical finger (10), described probe portion (20) and described driving mechanism (30), for storing the positional information in described fistula hole and controlling the advance of clutch end or the backway of described driving mechanism (30), and the flexural deformation of mechanical finger (10) according to the morphology control of described inner walls of rectums;
Described mechanical finger (10) comprises many parallel air bag pipelines (11) arranged, air bag pipeline (11) described in every bar comprises multiple deformable air bag joint segments (11a), each described air bag joint segments (11a) comprises arranged stacked and the multiple air bags (11aa) be interconnected, and is connected to each other and has separate air bag supply air line separately between adjacent described air bag joint segments (11a);
Described controller (50) controls the distortion of air bag joint segments (11a) described in each by the air bag supply air line controlling each described air bag joint segments (11a);
Described hemorrhoid fistula hole checkout equipment also comprises:
Air supply source (40), described air bag joint segments (11a) is connected with described air supply source (40) respectively by respective air bag supply air line;
Air bag air feed control valve, be arranged on the air bag supply air line corresponding to each described air bag joint segments (11a), described controller (50) is by the gas input of each described air bag joint segments (11a) of described air bag air feed governor valve control and air pressure;
Described mechanical finger (10) comprises three parallel air bag pipelines (11) arranged, and on the cross section of described mechanical finger (10), described three air bag pipelines (11) are triangularly arranged.
2. hemorrhoid fistula hole according to claim 1 checkout equipment, it is characterized in that, air bag pipeline (11) described in every bar 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 each described air inlet (11c) is connected with described air supply source (40) respectively by respective described air bag supply air line.
3. hemorrhoid fistula hole according to claim 1 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), described controller (50) by control described piston (31) motor control described in mechanical finger (10) internal rectum advance or retreat.
4. hemorrhoid fistula hole according to claim 3 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) is removably connected with described mechanical finger positioning seat (33).
5. hemorrhoid fistula hole according to claim 4 checkout equipment, is characterized in that, also comprise reference workbench (60), and described reference workbench (60) forms the displacement of described piston (31) with reference to platform.
6. hemorrhoid fistula hole according to any one of claim 1 to 5 checkout equipment, it is characterized in that, described probe portion (20) comprises probe body (21) and is arranged on the multiple sensors (23) on described probe body (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
|---|---|---|---|
| CN201210526522.6A CN102961115B (en) | 2012-12-07 | 2012-12-07 | Equipment and method for detecting piles fistula orificium |
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| Publication Number | Publication Date |
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| CN102961115A CN102961115A (en) | 2013-03-13 |
| CN102961115B true CN102961115B (en) | 2015-01-21 |
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| CN201210526522.6A Expired - Fee Related CN102961115B (en) | 2012-12-07 | 2012-12-07 | Equipment and method for detecting piles fistula orificium |
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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 |
| CN107349014B (en) * | 2017-06-02 | 2021-02-26 | 北京科迈启元科技有限公司 | Rigid-flexible switchable endoscope type minimally invasive surgery 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 |
| CN108422418B (en) * | 2018-05-18 | 2021-09-14 | 燕山大学 | Variable-rigidity air bag type omnidirectional bending 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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