CN102217926B - Intelligent electronic endoscope system passing through natural orifices - Google Patents
Intelligent electronic endoscope system passing through natural orifices Download PDFInfo
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Abstract
The invention belongs to the field of medical appliances, and particularly relates to an intelligent electronic endoscope system passing through natural orifices. The intelligent electronic endoscope system is suitable for a colposcope system, an anorectal endoscope system and a hysteroscope system, and comprises an electronic endoscope, an endoscope clamping mechanical arm for fixing the electronic endoscope, a movable adjustment operating platform, an intelligent robot-arm, a control desk and a central processing system, wherein the tail end of the main body of the endoscope is provided with a linear type robot-arm passage running through a hard working end part. By using the intelligent electronic endoscope system, a patient needs no operation, only the electronic endoscope is put inside through the natural orifices, and the intelligent robot-arm is put into an operation area by taking the intelligent robot-arm passage of the electronic endoscope as a platform; and the intelligent robot-arm is miniaturized, deformable and direction-changeable and simultaneously is provided with functions of a plurality of operative instruments (such as operative snap-on tongs, electric cutting equipment, electric coagulation equipment and the like), and thus, various operation treatments can be performed without introducing other instruments, and the difficulty of operations and the paint of patients are reduced.
Description
Technical field
The invention belongs to field of medical appliances, specifically, relate to the Intelligent electronic endoscope through natural tract, it is applicable to vaginoscope system, enteroscope system and hysteroscope system.
Background technology
The Higher-end machines robot system that uses at medical domain at present is American I ntuitive Surgical, Inc. company develops the Leonardo da Vinci's assisted surgery for robots system that finishes, since in December, 1998 First Leonardo da Vinci assisted surgery for robots system came out, present having above 390 was applied to all over the world.
Leonardo da Vinci's robotic surgical system mainly is made of doctor's control station (surgeon console), the other mechanical arm tower (patient cart) of bed and the high-precision 3D HD visual system (vision cart) that four mutual arms of 7 degree of freedom are housed.By means of high-tech equipment such as high definition three-dimensional imaging, the control of multi-joint arm automatization and the transmission of optical cable signal, make it possess the advantages such as three-dimensional high definition visual area, arm non-jitter, camera lens are fixed, range of activity is wide, the apparatus degree of excursion is large, and changed the patient and stood in the other traditional mode that operates of operating-table, finish whole process of operation by the operator doctor before being sitting in control station, meet base of principle of human engineering, be more suitable in long-time complicated operation.
Control station is comprised of computer system, operation technique monitor, robot control monitor, operating grip and input-output equipment etc.Before the surgeon can be sitting in control station away from operating-table during operation, head rest was on the frame of the visual field, and eyes are accepted the complete image from different cameras, jointly the 3 dimensional drawing of synthetic visual area.Doctor's both hands control operation bar, hand motion is communicated to the tip of mechanical arm, finishes operation technique, thereby increases accuracy and the stationarity of operation, and this is a kind of master-servant's formula remote-controlled operation pattern of new proposition.
Now, Leonardo da Vinci's assisted surgery for robots system has been widely used in department of general surgery, Cardiac Surgery, Urology Surgery, gynecological and pediatric surgery.
At present, the endoscopic technic field is also growing, but still do not have robot arm with through the endoscope of natural tract colposcope, anorectal mirror and the hysteroscope technology that checks or perform the operation after organically combining for example, therefore, to carry out the technology of operative treatment extremely urgent to reach precision robot arm to be integrated into colposcope, anorectal mirror and hysteroscope.
Summary of the invention
The objective of the invention is to propose one and enter the Intelligent electronic endoscope of the intelligence system control that human body performs the operation via natural tract, purpose is to utilize man-machine precision-fit to reach accurate operation, improves the purpose of operation accuracy rate.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions:
Intelligent electronic endoscope through natural tract of the present invention comprises following three kinds of forms, Intelligent electric colposcope system, Intelligent electronic anal-intestinal mirror system and Intelligent electronic hysteroscope system.
Intelligent electronic endoscope through natural tract of the present invention, its ingredient comprises fujinon electronic video endoscope, scope clamping mechanical arm, removable adjustment Surgery Platform, control station, central processing system, intelligence machine hands etc.
Described fujinon electronic video endoscope, the difference according to above three kinds of multi-form and ranges of application can be divided into electronic colposcope, electronic proctoscope and automatic anus-expanding unit, three of electronic hysteroscope and automatic intra-uterine dilators are multi-form.
1, electronic colposcope get involved the human body operative region, platform is provided and provides visual pattern for the doctor for the intelligence machine hands enters operative region, its structure comprises work end, scope main body and master machine hands passage and other accessory channels etc. of hard, its work end is the hard circular tube shaped, external diameter is less than or equal to 20mm, and length is more than or equal to 200mm.
2, electronic proctoscope and automatic anus-expanding unit, anus-expanding unit can change the diameter of adjusting the expansion anus according to the pressure of anus automatically, and electronic proctoscope enters the anorectal road by the automatic anus-expanding unit that fixes.Electronic proctoscope comprises work end, scope main body and master machine hands passage and other accessory channels etc., and its work end is the hard circular tube shaped, and external diameter is less than or equal to 20mm, length 200-450mm.Described automatic anus-expanding unit is equipped with pressure transducer and control module, can adjust and judge by obtaining pressure data the diameter of expansion anus.
3, described electronic hysteroscope and automatic intra-uterine dilator, intra-uterine dilator can change the diameter of adjusting expansion uterine cavity mouth according to size and the pressure of uterine cavity mouth automatically, so that electronic hysteroscope can pass into smoothly.Electronic hysteroscope comprises work end, scope main body and master machine hands passage and other accessory channels etc., and its work end is the hard circular tube shaped, and external diameter is less than or equal to 15mm, length 250～300mm.Described automatic intra-uterine dilator is equipped with pressure transducer and control module, can adjust and judge by obtaining pressure data the diameter in expansion palace.
Described electronic colposcope, electronic proctoscope and electronic hysteroscope, the front end of its hard work end is first end, elder generation end front portion can design and installation binocular solid electron-optical system or many ccd array electron-optical system, the perhaps electronic camera system of non-solid, end face and the periphery of elder generation end are designed with several range finders, be used for monitoring the position of first end in operative region, the elder generation end is designed with abundant sensor, such as pressure transducer, temperature sensor etc., be used for the state in the monitoring operative region, data communication device is crossed data wire and is offered the central processing unit processing, with for referencial use.
The internal diameter of the master machine hands passage of described electronic colposcope, electronic proctoscope and electronic hysteroscope is more than or equal to 5.0mm, and it is intake tunnel and exhalant canal independently, and internal diameter is more than or equal to 1.0mm.
The main part of described electronic colposcope, electronic proctoscope and electronic hysteroscope cooperates with scope clamping mechanical arm by syndeton.
The structure of described scope clamping mechanical arm comprises two kinds at least,
The first is: comprise pedestal, articulated arm and end effector, described base interior is designed with the executive component that major part provides scope clamping manipulator motion kinetic energy, comprise drive mechanism, Hydraulic Elements, pneumatic element, servomotor and motor etc., self can rotate and elevating movement;
The second is: comprising can be stuck at the bayonet socket part at removable adjustment Surgery Platform edge, articulated arm and end effector, and described bayonet socket part can tightly lockedly be support at the Surgery Platform edge;
In above-mentioned two kinds of structures: an end of described articulated arm is connected on pedestal or the bayonet socket part, an other end becomes end effector, end effector cooperates with fujinon electronic video endoscope by syndeton, arm comprises three joints at least, at least 7 degree of freedom, the feed accuracy of scope clamping mechanical arm is less than or equal to 1mm, its radius of clean-up is 500mm at least, vertical height 0～the 500mm of work (take the Surgery Platform plane of removable adjustment as the plane of reference), the end effector of scope clamping mechanical arm is with after fujinon electronic video endoscope cooperates, the first end that can drive fujinon electronic video endoscope reaches the interior any point of above-mentioned work space, form closed loop control by the range finder of fujinon electronic video endoscope tip end surface and side face and the feedback of respective sensor, increase the safety coefficient of operation, scope clamping mechanical arm is designed with anti-trembling function, surpassed distance alarm function and locking function increase the safety coefficient that operates.The control mode of scope clamping mechanical arm can be divided into the automatically form such as control and Sound control of keyboard.Keyboard automatically control refers to by the controlling of control handgrip or keyboard, and control scope clamping mechanical arm advances, retreats and the action of rotation etc.; The Sound control form refers to receive by mike manipulator's sound instruction, reaches scope clamping mechanical arm processed and advances, retreats and the action of rotation etc.
The operating-table of described removable adjustment, its height can be by adjusting structural adjustment, and the inclination of different angles can be done in its plane, cooperates fujinon electronic video endoscope to perform the operation, and further, operating-table can pass through fixed structure fixed clamp formula scope clamping mechanical arm.
Described intelligence machine hands is that the special purpose machinery hands passage by electronic colposcope, electronic proctoscope and electronic hysteroscope enters operative region and carries out operation technique.
The structure of described intelligence machine hands comprises machine pawl, performing structure, transmission structure and external control part etc.At least the machine pawl that comprises two involutory actions of energy of intelligence machine hands, intelligence machine hands be at the machine pawl all under the closed states, and its maximum outside diameter should be more than or equal to 5.0mm, and less than or equal to the diameter of the robot arm passage of fujinon electronic video endoscope.
The characteristics of intelligence machine hands are multi-functional, and its function comprises:
(1) end of at least one machine pawl can be used as the monopolar electrocoagulation apparatus or passes through two involutory machine pawls as a bipolar coagulation apparatus with the coagulation part of conducting electricity and insulant is made, and pathological changes is carried out electroblation and hemostatic treatment;
(2) two involutory machine pawls of energy can be finished the function of operating forceps, can get biopsy, extract pathological changes etc.;
(3) appropriate location of described intelligence machine hands is provided with the TURP equipment for excision intravaginal pathological tissues, is not combined into one with the intelligence machine hands when TURP equipment does not use, and stretches out during use, does the effect of cutting pathological tissues;
(4) center of intelligence machine hands or appropriate location are designed with a diameter serves as outside suction function less than or equal to the passage capable of being conduct of 2.0mm passage, also can pass into microwave probe equipment or laser probe equipment, be used for the operations such as microwave bleeding and cut, also can pass into the lasso with coagulation, be used for excising simultaneously anorectal road polyp and solidify the otch bleeding part;
(5) each machine pawl of described intelligence machine hands is equipped with microsensor, purpose is to understand the state of intelligence machine hands, for control provides data refer, so that the use of robot arm is safer, the operation precision of described intelligence machine hands reaches 1.0mm at least.
In the present invention, the action of the performing structure of described intelligence machine hands is by realizations such as minitype pneumatic element or micro hydraulic elements, and element can install at the front end of machine pawl or be connected to the outside of intelligence machine hands by micro-tube.Each machine claw portion of intelligence machine hands all is equipped with abundant sensor, comprises temperature sensor, and pressure transducer etc. are to obtain the details of operative region.
The transmission structure of described intelligence machine hands is that one section external diameter is less than the transfer line of the robot arm passage scope of fujinon electronic video endoscope, its character can be soft or rigid, pipeline is the action transmission power such as the crawl of intelligence machine hands and shearing, meet safe voltage for the action of the electric coagulation therapy of machine pawl provides, also comprise the transmission line of microsensor etc. in the pipeline.
The external control part of described intelligence machine hands shares with the central processing system of system.The control mode of intelligence machine hands can be divided into the forms such as Artificial Control and automatic control.Artificial Control refers to by the controlling of control handgrip, keyboard, and the control robot arm advances, retreats, the action of rotation and coagulation etc.; Automatically control form refers to the control form except Artificial Control.
The control station of described Intelligent electronic endoscope through natural tract, its structure comprises display screen, operation by human hand assembly and some control knobs and keyboard etc. at least.By hand-held operation by human hand assembly and the three-dimensional image of watching on the display screen, scope clamping mechanical arm, Surgery Platform and puma manipulator in the Intelligent electronic endoscope of natural tract are controlled; By the optical system of electronic colposcope, display screen can be exported the high-definition image more than 5 times, the operation safe of doctor under the image-guidance of high definition.
The central processing system of described Intelligent electronic endoscope through natural tract, its kernel adopts the polycaryon processor with high-speed computation performance, the Surgery Platform of connection control station, fujinon electronic video endoscope, scope clamping mechanical arm, removable adjustment and puma manipulator are the brains of whole system in one.The effect of central processing system is according to the doctor instruction to be resolved in the operation control of control station, Surgery Platform and the puma manipulator of control scope clamping mechanical arm, removable adjustment cooperatively interact, reach the optimal location of performing the operation, high definition 2D or 3D rendering that central processing system is returned by electronic colposcope are given the optimized image foundation that doctor's surgical procedure is provided; The status information of the microsensor feedback by the device such as electronic colposcope, puma manipulator, the alarm device in the central processing unit can be able to be controlled electronic colposcope and puma manipulator in real time in intravaginal motion, so that the safety of operation is carried out.
Below with regard to of the present invention three the cover different endoscopic systems describe:
Described Intelligent electric colposcope system in the Intelligent electronic endoscope of natural tract, its operative approach is as described below:
Before the art, first electronic colposcope is installed on the end effector of scope clamping mechanical arm, and intake tunnel is connected with exhalant canal connects upper corresponding equipment, debug and do the standby preparation after intact; Patient adopts suitable position at the mobile Surgery Platform of adjusting, after the art place does sterilization anesthesia, the doctor can at first use holder to enter intravaginal and fixing, the colpomicroscopic hard work of auxiliary electron end enters patient's vaginal orifice place, carry out the location, then the doctor shows by the high-definition image of display screen, operation hand Control Component and relevant control button etc., can control scope clamping mechanical arm, the Surgery Platform of removable adjustment and puma manipulator, scope clamping mechanical arm drives electronic colposcope and gos deep into intravaginal, situation to vaginal wall is observed, in the time of need to operating the art place, then pass into puma manipulator by the robot arm passage, puma manipulator is dexterous in intravaginal, accurately operation, the excision of organizing, hemorrhage place hemostasis and get the operation such as biopsy.
Described Intelligent electronic anal-intestinal mirror system in the Intelligent electronic endoscope of natural tract, its operative approach is as described below:
Before the art, first electronic proctoscope is installed on the end effector of scope clamping mechanical arm, and intake tunnel is connected with exhalant canal connects upper corresponding equipment, debug and do the standby preparation after intact; Patient adopts suitable position at the mobile Surgery Platform of adjusting, and after the art place did sterilization anesthesia, the doctor uses automatic anus-expanding unit that patient's anus is extended to first operation needed diameter, and anus-expanding unit is because adopt parameterized mode of operation, so safe and reliable automatically.Automatically after anus-expanding unit is finished the work and is fixed, patient's anus is passed through by automatic anus-expanding unit in the work end of the manual mobile electron anorectal of doctor mirror, enter in the anorectal road, the location also starts intelligence system, then can do a comprehensive diagnostic to the anorectal road patient's condition, and pass into puma manipulator corresponding pathological changes is processed.
Described Intelligent electronic hysteroscope system in the Intelligent electronic endoscope of natural tract, its operative approach is as described below:
Before the art, first electronic hysteroscope is installed on the end effector of scope clamping mechanical arm, automatically intra-uterine dilator is installed in the work end sections of electronic hysteroscope and fixes both, and intake tunnel is connected with exhalant canal connects upper corresponding equipment, debugs and does the standby preparation after intact; Patient adopts suitable position at the mobile Surgery Platform of adjusting, after the art place does sterilization anesthesia, doctor's hand-driven moving galvanic electricity hysteroscopy and automatic intra-uterine dilator are through per vaginam entering, after finding the uterine cavity mouth, start automatic intra-uterine dilator and strut the uterine cavity mouth, automatically the pressure transducer of intra-uterine dilator can calculate the state of the signal determining uterine cavity mouth of feedback, when expanding the palace to certain diameter, then can disconnect the work end of automatic intra-uterine dilator and electronic hysteroscope, the work end of electronic hysteroscope then can enter in the uterine cavity by automatic intra-uterine dilator and observe, and passes into puma manipulator corresponding pathological changes is processed.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention does not need the patient is operated on, after only need to passing into fujinon electronic video endoscope by natural tract, intelligence machine hands passage take fujinon electronic video endoscope enters in the field of operation as platform passes into the intelligence machine hands, the microminiaturization of intelligence machine hands, deformable, reversible and have simultaneously several operating theater instruments function (such as surgical grasping forceps, TURP equipment and Electrocoagulation equipment etc.), then do not need to pass into other apparatuses and just can do multiple surgical procedure, reducing the difficulty of operation and patient's misery, is the integrative medicine method, the surgery systems of new generation of precision machinery technology and software engineering.
Description of drawings
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Fig. 1 is the system schematic of the Intelligent electronic endoscope through natural tract of the present invention.
Fig. 2 A is scope clamping mechanical arm structural representation of the present invention.
Fig. 2 B is the second form structure sketch map of scope clamping mechanical arm of the present invention.
Fig. 3 is the electronic colposcope sketch map of Intelligent electric colposcope system of the present invention.
Fig. 4 is electronic proctoscope and the automatic anus-expanding unit sketch map of Intelligent electronic anal-intestinal mirror system of the present invention.
Fig. 5 is electronic hysteroscope and the automatic intra-uterine dilator sketch map of Intelligent electronic hysteroscope system of the present invention.
Fig. 6 be the Intelligent electronic endoscope through natural tract of the present invention the intelligence machine hands structure diagram and be used figure with fujinon electronic video endoscope.
Fig. 7 is the capable of regulating operating-table sketch map of the Intelligent electronic endoscope through natural tract of the present invention.
Fig. 8 A is the operation sketch map of Intelligent electric colposcope system of the present invention.
Fig. 8 B is the operation sketch map of Intelligent electronic anal-intestinal mirror system of the present invention.
Fig. 8 C is the operation sketch map of Intelligent electronic hysteroscope system of the present invention.
The specific embodiment
Be illustrated in figure 1 as the system schematic of the Intelligent electronic endoscope through natural tract of the present invention.Intelligent electronic endoscope through natural tract comprises following three kinds of forms, Intelligent electric colposcope system, Intelligent electronic anal-intestinal mirror system and Intelligent electronic hysteroscope system, the ingredient of system has fujinon electronic video endoscope 2, intelligence machine hands 3, scope clamping mechanical arm 1, removable adjustment Surgery Platform 4, control station 8, central processing system 6 and system attachment 7 etc.The form of intelligence machine hands 3 and fujinon electronic video endoscope 2 is different and different according to the operation application.Roomy linear robot arm passage of design on the fujinon electronic video endoscope 2 scope main bodys, its objective is as intelligence machine hands 3 enters operative region provides platform, and intelligence machine hands 3 possesses abundant function.
Be depicted as two kinds of multi-form scope clamping mechanical arms such as Fig. 2 A and Fig. 2 B, scope clamping mechanical arm 11 structures shown in Fig. 2 A comprise pedestal 111, articulated arm 112 and the end effector 113 that cooperates with fujinon electronic video endoscope 2, Fig. 2 B is depicted as a kind of stuck scope clamping mechanical arm 12 at Surgery Platform, and structure comprises pedestal 121 with bayonet, with arm 123 and the end effector 124 in joint 122.Pedestal 111 indoor designs have major part that the executive component of scope clamping manipulator motion kinetic energy is provided, and comprise drive mechanism, Hydraulic Elements, pneumatic element, servomotor and motor etc., and self can rotate and elevating movement; The pedestal 121 of bayonet socket can tightly lockedly be support at Surgery Platform 4 edges; Articulated arm 112 or an end of 123 are connected on pedestal 111 or bayonet socket pedestal 121 parts, an other end becomes end effector 113 or 123, end effector 113 or 123 cooperates with fujinon electronic video endoscope 2 by syndeton, arm comprises three joints at least, at least 7 degree of freedom, the feed accuracy of scope clamping mechanical arm 1 is less than or equal to 1mm, its radius of clean-up is 500mm at least, vertical height 0～the 500mm of work (take the Surgery Platform plane of removable adjustment as the plane of reference), the end effector 113 of scope clamping mechanical arm 1 or 123 is with after fujinon electronic video endoscope 2 cooperates, the first end that can drive fujinon electronic video endoscope 2 reaches the interior any point of above-mentioned work space, form closed loop control by the range finder of fujinon electronic video endoscope 2 tip end surfaces and side face and the feedback of respective sensor, increase the safety coefficient of operation, scope clamping mechanical arm 1 is designed with anti-trembling function, surpassed distance alarm function and locking function increase the safety coefficient that operates.The control mode of scope clamping mechanical arm 1 can be divided into the automatically form such as control and Sound control of keyboard.Keyboard automatically control refers to by the controlling of control handgrip or keyboard, and control scope clamping mechanical arm 1 advances, retreats and the action of rotation etc.; The Sound control form refers to receive by mike manipulator's sound instruction, reaches scope clamping mechanical arm 1 processed and advances, retreats and the action of rotation etc.
This system also comprises display screen, operation by human hand assembly and some control knobs and keyboard etc., by hand-held operation by human hand assembly and the three-dimensional image of watching on the display screen, scope clamping mechanical arm 1, Surgery Platform 4 and intelligence machine hands 3 in the Intelligent electronic endoscope of natural tract are controlled; By the optical system of fujinon electronic video endoscope 2, display screen can be exported the high-definition image more than 5 times, the operation safe of doctor under the image-guidance of high definition.
Central processing system, its kernel adopts the polycaryon processor with high-speed computation performance, and the Surgery Platform 4 of connection control station, fujinon electronic video endoscope 2, scope clamping mechanical arm 1, removable adjustment and intelligence machine hands 3 are the brains of whole system in one.The effect of central processing system is according to the doctor instruction to be resolved in the operation control of control station, Surgery Platform 2 and the intelligence machine hands 3 of control scope clamping mechanical arm 1, removable adjustment cooperatively interact, reach the optimal location of performing the operation, high definition 2D or 3D rendering that central processing system is returned by electronic colposcope are given the optimized image foundation that doctor's surgical procedure is provided; The status information that the microsensor that installs by fujinon electronic video endoscope 2, intelligence machine hands 3 etc. feeds back, alarm device in the central processing unit can be controlled fujinon electronic video endoscope 2 and the motion of intelligence machine hands 3 in natural tract in real time, so that the safety of operation is carried out.
Embodiment 1:
The structure of electronic colposcope as shown in Figure 3 comprises work end 21, the scope main body 22 of hard, the adapter 24 and intelligence machine hands passage and other accessory channels 23 etc. that cooperate with scope clamping mechanical arm 1, its work end 21 is the hard circular tube shaped, external diameter is less than or equal to 20mm, length is more than or equal to 200mm, and electronic colposcope is got involved the human body operative region, platform is provided and provides visual pattern for the doctor for intelligence machine hands 3 enters operative region.
The front end of the hard work end 21 of electronic colposcope is first end, elder generation end front portion can design and installation binocular solid electron-optical system or many ccd array electron-optical system, the perhaps electronic camera system of non-solid, end face and the periphery of elder generation end are designed with several range finders, be used for monitoring the position of first end in operative region, the elder generation end is designed with abundant sensor, such as pressure transducer, temperature sensor etc., be used for the state in the monitoring operative region, data communication device is crossed data wire and is offered the central processing unit processing, with for referencial use.
The internal diameter of the intelligence machine hands passage 23 of electronic colposcope is more than or equal to 5.0mm, and it is intake tunnel and exhalant canal independently, and internal diameter is more than or equal to 1.0mm.
The main part 22 of electronic colposcope cooperates with scope clamping mechanical arm 1 by syndeton 23.
Be illustrated in figure 6 as the structure diagram of intelligence machine hands 3 and be used figure with fujinon electronic video endoscope.Intelligence machine hands 3 is that the intelligence machine hands passage 23 by electronic colposcope enters operative region and carries out operation technique, and the structure of intelligence machine hands 3 comprises machine pawl 33,34, performing structure, transmission structure 31 and external control part 38 etc.At least the machine pawl 33,34 that comprises two involutory actions of energy of intelligence machine hands 3, intelligence machine hands 3 is under machine pawl 33,34 whole closed states, its maximum outside diameter should be more than or equal to 5.0mm, and less than or equal to the diameter of the robot arm passage of fujinon electronic video endoscope.
The characteristics of intelligence machine hands 3 are multi-functional, and its function comprises:
(1) the coagulation part made with conduction and insulant of at least one machine pawl 33,34 end, can be used as the monopolar electrocoagulation apparatus or by two involutory machine pawls as a bipolar coagulation apparatus, pathological changes is carried out electroblation and hemostatic treatment;
(2) two involutory machine pawls 33,34 of energy can be finished the function of operating forceps, can get biopsy, extract pathological changes etc.;
(3) appropriate location of intelligence machine hands 3 is provided with the TURP equipment 35 for excision intravaginal pathological tissues, is not combined into one with intelligence machine hands 3 when TURP equipment 35 does not use, and stretches out during use, does the effect of cutting pathological tissues;
(4) center of intelligence machine hands 3 or appropriate location are designed with a diameter serves as outside suction function less than or equal to the passage capable of being conduct of 2.0mm passage, also can pass into microwave probe equipment or laser probe equipment 37, be used for the operations such as microwave bleeding and cut, also can pass into the lasso 36 with coagulation, be used for excising simultaneously polyp and solidify the otch bleeding part.
(5) each machine pawl 33,34 of intelligence machine hands 3 is equipped with microsensor, purpose is to understand the state of intelligence machine hands 3, for control provides data refer, so that the use of intelligence machine hands 3 is safer, the operation precision of described intelligence machine hands 3 reaches 1.0mm at least.
The action of the performing structure of intelligence machine hands 3 is by realizations such as minitype pneumatic element or micro hydraulic elements, and element can install at front end or be connected to the outside of intelligence machine hands 3 by micro-tube.Each machine pawl 33 of intelligence machine hands 3,34 parts all are equipped with abundant sensor, comprise temperature sensor, and pressure transducer etc. are to obtain the details of operative region.
The transmission structure of intelligence machine hands 3 is that one section external diameter is less than the transfer line of the robot arm passage scope of fujinon electronic video endoscope, its character can be soft or rigid, pipeline is the action transmission power such as the crawl of intelligence machine hands 3 and shearing, meet safe voltage for the action of the electric coagulation therapy of machine pawl provides, also comprise the transmission line of microsensor etc. in the pipeline.
The external control part 38 of intelligence machine hands 3 shares with the central processing system of system 6.The control mode of intelligence machine hands 3 can be divided into the forms such as Artificial Control and automatic control.Artificial Control refers to by the controlling of control handgrip, keyboard, and control robot arm 3 advances, retreats, the action of rotation and coagulation etc.; Automatically control form refers to the control form except Artificial Control.
Be the operating-table 4 of removable adjustment such as Fig. 7, its height can be adjusted by adjusting structure 42, and the inclination of different angles can be done in its plane, cooperates fujinon electronic video endoscope to perform the operation, further, operating-table 4 can pass through fixed structure 43 fixed clamp formula scope clamping mechanical arms 12.
The operation sketch map of Intelligent electric colposcope system of the present invention such as Fig. 8 A.
Intelligent electric colposcope system in the Intelligent electronic endoscope of natural tract, its operative approach is as described below: before the art, first electronic colposcope 2 is installed on the end effector 113 or 124 of scope clamping mechanical arm 1, and intake tunnel is connected with exhalant canal connects corresponding equipment, debug and do standby after intact and prepare; Patient adopts suitable position at the mobile Surgery Platform of adjusting 4, after the art place does sterilization anesthesia, the doctor can at first use holder to enter in the vagina 91 and fix, the hard work end 21 of auxiliary electron colposcope 2 enters patient's vaginal orifice place, carry out the location, then the doctor shows by the high-definition image of display screen, operation hand Control Component and relevant control button etc., can control scope clamping mechanical arm 1, the Surgery Platform 4 of removable adjustment and puma manipulator 3, scope clamping mechanical arm 1 drives electronic colposcope 2 and gos deep into intravaginal, situation to vaginal wall is observed, in the time of need to operating the art place, then pass into puma manipulator 3 by the robot arm passage, puma manipulator 3 is in vagina 91 interior dexterities, accurately operation, the excision of organizing, hemorrhage place hemostasis and get the operation such as biopsy.
Embodiment 2:
The difference of Intelligent electronic anal-intestinal mirror system and embodiment 1 is:
Be illustrated in figure 4 as electronic proctoscope and automatic anus-expanding unit 51, anus-expanding unit 5 can change the diameter of adjusting the expansion anus according to the pressure of anus 101 automatically, and electronic proctoscope enters anorectal road 10 by the automatic anus-expanding unit 5 that fixes.Electronic proctoscope comprises work end 21, scope main body 22, the adapter 24 and master machine hands passage and other accessory channels 23 etc. that cooperate with scope clamping mechanical arm 1, and its work end 21 is the hard circular tube shaped, external diameter is less than or equal to 20mm, length 200-450mm.Described automatic anus-expanding unit 5 is equipped with pressure transducer and control module, can adjust and judge by obtaining pressure data the diameter of expansion anus, and the diameter that expands anus is 11～27mm, and length is 19～20cm.
The operation sketch map of Intelligent electronic anal-intestinal mirror system of the present invention such as Fig. 8 B
Intelligent electronic anal-intestinal mirror system in the Intelligent electronic endoscope of natural tract, its operative approach is as described below: before the art, first electronic proctoscope 2 is installed on the end effector 113 or 124 of scope clamping mechanical arm 1, and intake tunnel is connected with exhalant canal connects corresponding equipment, debug and do standby after intact and prepare; Patient adopts suitable position at the mobile Surgery Platform of adjusting 4, after the art place does sterilization anesthesia, the doctor uses automatic anus-expanding unit 51 that patient's anus 101 is extended to first operation needs diameter, and anus-expanding unit 51 is because adopt parameterized mode of operation, so safe and reliable automatically.Automatically after anus-expanding unit 51 is finished the work and is fixed, patient's anus 101 is passed through by automatic anus-expanding unit 51 in the work end 21 of the manual mobile electron anorectal of doctor mirror 2, enter in the anorectal road, the location also starts intelligence system, then can do a comprehensive diagnostic to the anorectal road patient's condition, and pass into 3 pairs of corresponding pathological changes of puma manipulator and process.
Embodiment 3:
The difference of Intelligent electronic hysteroscope system and embodiment 1 is:
Be illustrated in figure 5 as described be electronic hysteroscope and automatic intra-uterine dilator 52, intra-uterine dilator 52 can change the diameter of adjusting expansion uterine cavity mouth 91 according to size and the pressure of uterine cavity mouth 91 automatically, so that electronic hysteroscope can pass into smoothly.Electronic hysteroscope comprises work end 21, scope main body 22, the adapter 24 and master machine hands passage and other accessory channels 23 etc. that cooperate with scope clamping mechanical arm 1, and its work end 21 is the hard circular tube shaped, external diameter is less than or equal to 15mm, length 250～300mm.Described automatic intra-uterine dilator 52 is equipped with pressure transducer and control module, can adjust and judge by obtaining pressure data the diameter in expansion palace.
The operation sketch map of Intelligent electronic hysteroscope system of the present invention such as Fig. 8 C.
Intelligent electronic hysteroscope system in the Intelligent electronic endoscope of natural tract, its operative approach is as described below: before the art, first electronic hysteroscope 2 is installed on the end effector 113 or 124 of scope clamping mechanical arm 1, automatically intra-uterine dilator 52 is installed in work end 21 parts of electronic hysteroscope 2 and fixes both, and intake tunnel is connected with exhalant canal connects corresponding equipment, debug and do standby after intact and prepare; Patient adopts suitable position at the mobile Surgery Platform of adjusting 4, after the art place does sterilization anesthesia, doctor's hand-driven moving galvanic electricity hysteroscopy 2 and automatic intra-uterine dilator 52 are through per vaginam 91 entering, after finding the uterine cavity mouth, start automatic intra-uterine dilator 51 and strut the uterine cavity mouth, automatically the pressure transducer of intra-uterine dilator 52 can calculate the state of the signal determining uterine cavity mouth of feedback, when expanding the palace to certain diameter, then can disconnect the work end 21 of automatic intra-uterine dilator 52 and electronic hysteroscope 2,21 energy in the work end of electronic hysteroscope 2 enter in the uterine cavity 9 by automatic intra-uterine dilator 52 and observe, and pass into 3 pairs of corresponding pathological changes of puma manipulator and process.
The present invention is not limited to above-mentioned embodiment, if various changes of the present invention or distortion are not broken away from the spirit and scope of the present invention, if these changes and distortion belong within claim of the present invention and the equivalent technologies scope, then the present invention also is intended to comprise these changes and distortion.
Claims (8)
1. Intelligent electronic endoscope through natural tract, comprise fujinon electronic video endoscope, it is characterized in that: also comprise be used to the scope clamping mechanical arm of fixing fujinon electronic video endoscope, portable Surgery Platform, intelligence machine hands, control station and the central processing system adjusted;
Described fujinon electronic video endoscope comprises scope main body, hard work end, places intake tunnel separate on the scope main body and exhalant canal, the end of described scope main body also is provided with a linear type robot arm passage that runs through hard work end, described intelligence machine hands places in the linear type robot arm passage and can stretch out from the front end of hard work end, is connected with on the described scope main body be used to the scope clamping mechanical arm of fixing fujinon electronic video endoscope;
Described fujinon electronic video endoscope, scope clamping mechanical arm, portable adjustment Surgery Platform, intelligence machine hands, control station all are connected with central processing system;
Described intelligence machine hands comprises two machine pawl, performing structure, transmission structure and the external control parts that can do involutory action at least, this intelligence machine hands is under the whole closed states of machine pawl, its maximum outside diameter is more than or equal to 5.0mm, and less than or equal to the diameter of described linear type robot arm passage;
What the end of at least one machine pawl of described intelligence machine hands was provided with that conduction and insulant make carries out the coagulation part of electroblation and hemostatic treatment to pathological changes, and described intelligence machine also is provided with TURP equipment on hand; Be equipped with a microsensor on each machine pawl of described intelligence machine hands.
2. the Intelligent electronic endoscope through natural tract according to claim 1, it is characterized in that: described scope clamping mechanical arm comprises pedestal or is clamped on the portable end effector of adjusting the bayonet socket part at Surgery Platform edge, articulated arm and being connected with the scope main body, described pedestal or bayonet socket part connects articulated arm and end effector successively, is provided with in the described scope clamping mechanical arm to drive it and rotate freely or the driving element of elevating movement.
3. the Intelligent electronic endoscope through natural tract according to claim 2, it is characterized in that: the articulated arm of described scope clamping mechanical arm comprises three joint pieces at least, and has at least 7 degree of freedom, the feed accuracy of described scope clamping mechanical arm is less than or equal to 1mm, its radius of clean-up is 500mm at least, the vertical height 0～500mm of work.
4. the Intelligent electronic endoscope through natural tract according to claim 1, it is characterized in that: described intelligence machine hands comprises the described machine pawl of at least two mutual involutory actions of energy, drive the described performing structure of described machine pawl action, for the described transmission structure of the power that transmits described performing structure and the described external control part of controlling described performing structure action, the performing structure of described intelligence machine hands is the micro drives element, described transmission structure be one section external diameter less than the transfer line of the robot arm passage of fujinon electronic video endoscope, also comprise the transmission line of microsensor in the described transfer line.
5. the Intelligent electronic endoscope through natural tract according to claim 1, it is characterized in that: also be provided with a passage that serves as outside suction function in the described intelligence machine hands, perhaps for microwave probe equipment or laser probe equipment or the passage that passes through with the lasso of coagulation.
6. the Intelligent electronic endoscope through natural tract according to claim 1, it is characterized in that: described fujinon electronic video endoscope is electronic colposcope, electronic proctoscope or electronic hysteroscope, described electronic proctoscope is equipped with automatic anus-expanding unit, its hard work end is the hard circular tube shaped, external diameter is less than or equal to 20mm, length 200-450mm, described automatic anus-expanding unit is equipped with pressure transducer and control module; Described electronic hysteroscope is equipped with automatic intra-uterine dilator, and its hard work end is the hard circular tube shaped, and external diameter is less than or equal to 15mm, length 250～300mm, and described automatic intra-uterine dilator is equipped with pressure transducer and control module.
7. the Intelligent electronic endoscope through natural tract according to claim 1, it is characterized in that: the front end of described hard work end is first end, front portion, described first end is equipped with the binocular solid electron-optical system, perhaps many ccd array electron-optical system, the perhaps electronic camera system of non-solid, the end face of described first end and periphery are provided with several range finders, and inside, described first end is provided with pressure transducer or temperature sensor.
8. the Intelligent electronic endoscope through natural tract according to claim 1 is characterized in that: the internal diameter of the robot arm passage of described fujinon electronic video endoscope is more than or equal to 5.0mm, its independently the internal diameter of intake tunnel and exhalant canal more than or equal to 1.0mm.
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| CN110151462A (en) * | 2018-03-19 | 2019-08-23 | 胡青莲 | A kind of gynecological clinic checks integrating apparatus comprehensively |
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| CN108670415A (en) * | 2018-06-11 | 2018-10-19 | 沈阳尚贤微创医疗器械股份有限公司 | Endoscopic surgery tow-armed robot and robot system |
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