CN202096192U - Intelligent electronic endoscope systems passing through artificial channel - Google Patents
Intelligent electronic endoscope systems passing through artificial channel Download PDFInfo
- Publication number
- CN202096192U CN202096192U CN2011201819233U CN201120181923U CN202096192U CN 202096192 U CN202096192 U CN 202096192U CN 2011201819233 U CN2011201819233 U CN 2011201819233U CN 201120181923 U CN201120181923 U CN 201120181923U CN 202096192 U CN202096192 U CN 202096192U
- Authority
- CN
- China
- Prior art keywords
- video endoscope
- electronic video
- intelligence machine
- mechanical arm
- fujinon electronic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Endoscopes (AREA)
Abstract
The utility model belongs to the field of medical devices, and particularly discloses two sets of intelligent electronic endoscope systems entering a human body to conduct an operation via an artificial channel, namely an intelligent electronic percutaneous nephroscope and an intelligent electronic arthroscope system. Each intelligent electronic endoscope system comprises an electronic endoscope, an endoscope clamping mechanical arm used for fixing the electronic endoscope, a movable adjusting operation platform, an automatic liquid feeding system, an intelligent mechanical hand, a control console and a central processing system. A spacious linear mechanical hand channel is designed at the inner part of the main body of the electronic endoscope, so as to provide a platform for the intelligent mechanical hand to enter an operation area; and the intelligent mechanical hand has abundant functions and can conduct accurate and pertinent treatment according to requirements of operation types. The intelligent electronic endoscopes have the advantages that through the organic combination of the intelligent mechanical hand, a computer technology and a software technology, operative treatment is conducted under the guidance of the experience and the technology of doctors, so that the operation difficulty and the pain of a patient are reduced, the purpose of accurately conducting operative treatment is achieved, and the operation accuracy rate is further increased.
Description
Technical field
This utility model belongs to field of medical appliances, is specifically related to the smart electronics endoscopic system through artificial channel, comprising two cover endoscope systems, is respectively smart electronics PCN system and smart electronics arthroscope system.
Prior art
The Higher-end machines robot system that on medical domain, uses at present is American I ntuitive Surgical; Inc. company develops the Leonardo da Vinci's assisted surgery for robots system that accomplishes; Since first Leonardo da Vinci's assisted surgery for robots of December in 1998 system came out, present having above 390 was applied to all over the world.
Leonardo da Vinci's robotic surgical system is mainly by doctor's control station (surgeon console); An other mechanical arm tower (patient cart) of bed and the high-precision 3D HD visual system (vision cart) that four the 7 mutual arms of degree of freedom are housed constitutes.By means of high technology equipments such as high definition three-dimensional imaging, the control of multi-joint arm automatization and the transmission of optical cable signal; Make it possess advantages such as three-dimensional high definition art is wild, arm does not have shake, camera lens is fixed, range of activity is wide, the apparatus degree of excursion is big; And changed the patient and stood in the other traditional mode of operating of operating-table; Be sitting in by the operator doctor and accomplish the operation overall process before the control station, the ergonomic principle is more suitable in long-time complicated operation.
Control station is made up of computer system, operation technique monitor, robot control monitor, operating grip and input-output equipment etc.Before the surgeon can be sitting in the 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, the wild 3 dimensional drawing of synthetic jointly art.Doctor's both hands control operation bar, hand motion is communicated to the tip of mechanical arm, accomplishes operation technique, thereby increases the 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 the technology of carrying out joint disease or ureteral diagnosis and treatment after still not having robot arm and for example arthroscope, PCN organically combining through the endoscope of artificial channel; Therefore, robot arm is integrated into arthroscope, PCN to reach technological extremely urgent that precision undergos surgery and treats.
The utility model content
The purpose of this utility model is the purpose that overcomes prior art; A kind of smart electronics endoscopic system that gets into through artificial channel that provides; This smart electronics endoscope is through the combination of intelligence machine hands and computer technology; Under doctor's experimental technology instructs, carry out joint disease or kidney and ureteral operation, reach the purpose of the treatment that critically undergos surgery, further improve the operation accuracy rate.
In order to solve the problems of the technologies described above, this utility model is realized by following technical scheme:
The described smart electronics endoscopic system through artificial channel of this utility model comprises following two kinds of forms, smart electronics PCN system and smart electronics arthroscope system.
The described smart electronics endoscopic system through artificial channel of this utility model comprises fujinon electronic video endoscope, scope clamping mechanical arm, portable adjustment operation platform, automatic liquid supply system, intelligence machine hands, control station and central processing system etc.
Said fujinon electronic video endoscope for get involved the human body operative region, platform is provided and visual pattern is provided for the doctor for intelligence machine hands entering operative region.Said fujinon electronic video endoscope comprises scope main body, hard working end, places the scope main body terminal and run through the robot arm passage of hard work end, and other accessory channels such as intake tunnel, exhalant canal.
The system schematic through the smart electronics endoscopic system of artificial channel of this utility model; Comprise following two kinds of forms: smart electronics PCN system and smart electronics arthroscope system; What be its corresponding fujinon electronic video endoscope according to form and range of application is different, and it is multi-form mainly can be divided into two of electronics PCN and electronics arthroscopes:
The first, for the electronics arthroscope, its hard work end hard pipe shape, the external diameter of said hard work end be smaller or equal to 12mm, length 150～200mm.
The second, for the electronics PCN, its hard work end is because hard pipe shape, and the external diameter of said hard work end is smaller or equal to 8mm, length 200～350mm.
In this utility model, the front end of said fujinon electronic video endoscope hard work end is first end, first end anterior design and installation binocular solid electron-optical system or many ccd array electron-optical system; Perhaps non-spatial electronic camera system, the end face of first end and periphery are designed with several range finders, are used to monitor the position of first end in operative region; The elder generation end is designed with abundant pick off; Like pressure transducer, temperature sensor etc. are used to monitor the state in the operative region; Data offer central processing unit through data wire and handle, with for referencial use.
The internal diameter of said robot arm passage 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 scope main body of said fujinon electronic video endoscope cooperates with scope clamping mechanical arm through syndeton.
The structure of described scope clamping mechanical arm comprises two kinds at least:
First kind is: comprise pedestal, articulated arm and end effector;
Second kind is: comprising can stuck bayonet socket part, articulated arm and end effector at removable adjustment operation platform edges.
Said end effector and the set syndeton of scope main body closely cooperate, thereby make scope clamping mechanical arm that fujinon electronic video endoscope is closely connected.
For first kind of structure: its base interior is designed with the driving element that motion energy is provided to scope clamping mechanical arm, comprises drive mechanism, Hydraulic Elements, pneumatic element, servomotor and motor etc., and self can rotate and elevating movement;
For second kind of structure: said bayonet socket part can be tightly locked at the operation platform edges for supporting.
In above-mentioned two kinds of structures: an end of said articulated arm is connected on pedestal or the bayonet socket part; An other end becomes end effector, in peep end effector and cooperate with fujinon electronic video endoscope through syndeton, arm comprises three joints at least; At least 7 degree of freedom; The feed accuracy of scope clamping mechanical arm is smaller or equal to 1mm, and its radius of clean-up is 500mm at least, the vertical height 0～500mm of work (is the plane of reference with movable type adjustment operation platform plane); 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 any point in the above-mentioned work space, forms closed loop control through the range finder of fujinon electronic video endoscope tip end surface and side face and the feedback of respective sensor, increases the safety coefficient of operation; Scope clamping mechanical arm is designed with anti-trembling function, surpassed distance alarm function and locking function, increases the safety coefficient of operation.The control mode of scope clamping mechanical arm can be divided into keyboard and control forms such as harmony sound control system automatically.Keyboard automatically control is meant through the controlling of control handgrip or keyboard, and control scope clamping mechanical arm advances, retreats and the action of rotation etc.; Sound control form is meant the sound instruction that receives the manipulator through mike, reaches system scope clamping mechanical arm and advances, retreats and the action of rotation etc.
Said portable adjustment operation platform; Its height can be through the adjustment structural adjustment, and the inclination of different angles can be done in its plane, cooperates fujinon electronic video endoscope to undergo surgery; Further, portable adjustment operation platform can pass through fixed structure fixed clamp formula scope clamping mechanical arm.
Said automatic liquid supply system comprises base, is connected retracted support structure on the base, places the fluid reservoir of retracted support structural top, is located at fluid reservoir upward pressure system structure and feed liquid pipeline etc.The automatic liquid supply system is connected with central processing system through data wire; Pressure data through to field of operation feeds back; Automatically stretching was regulated liquid stream about control retracted support structure was done speed and intensity; Also can cooperate the pressure system structure, regulate speed and the intensity of also staying through the pressure that changes fluid reservoir.
Said intelligence machine hands is that the robot arm passage through fujinon electronic video endoscope gets into the operative region operation that undergos surgery.
Said 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 ability of intelligence machine hands, intelligence machine hands are under all closed states of machine pawl, and its maximum outside diameter should be more than or equal to 5.0mm, and smaller or equal to the diameter of the robot arm passage of fujinon electronic video endoscope.
In this utility model, the characteristics of intelligence machine hands are multi-functional, and its function comprises:
(1) end of at least one machine pawl has the electricity that conduction makes with insulant and coagulates part, can be used as the monopolar electrocoagulation apparatus or passes through two involutory machine pawls as a bipolar coagulation apparatus, and pathological changes is carried out electroblation and hemostatic treatment;
(2) two involutory machine pawls of ability can be accomplished the function of operating forceps, can get biopsy, extract pathological changes etc.;
(3) appropriate location of said intelligence machine hands is provided with the TURP equipment that is used to excise pathological tissues in the cavity, 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 smaller or equal to the passage ability conduct of 2.0mm passage; Also can feed microwave probe equipment or laser probe equipment, be used for operations such as microwave bleeding and cut, also can feed the charged lasso that coagulates; Be used for excising simultaneously intra-lumen polyp and solidify the otch bleeding part; Can get into expansion and lead device, ureter is expanded, be convenient to the intelligence machine hand operated;
(5) each machine pawl of said intelligence machine hands all is equipped with microsensor; Comprise temperature sensor, pressure transducer etc., purpose is to understand the state of intelligence machine hands; To obtain the details of operative region; For control provides data refer, make that the use of robot arm is safer, the operation precision of described intelligence machine hands reaches 1.0mm at least.
In this utility model, the action of the performing structure of said intelligence machine hands is through realizations such as minitype pneumatic element or micro hydraulic elements, and element can be installed in the front end of machine pawl or be connected the outside of intelligence machine hands through micro-tube.Each machine claw portion of intelligence machine hands all is equipped with abundant pick off,
The transmission structure of said intelligence machine hands is the transfer line of one section external diameter less than the robot arm passage scope of fujinon electronic video endoscope; Its character can be soft or rigid; Pipeline is action transmission power such as extracting and the shearing of intelligence machine hands; 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 said intelligence machine hands is shared with central processing system.
The control mode of intelligence machine hands can be divided into forms such as Artificial Control and automatic control.Artificial Control is meant through the controlling of control handgrip, keyboard, the action that the control robot arm advances, retreats, rotates and electricity coagulates etc.; Automatically the control form is meant the control form except that Artificial Control.
The control station of said smart electronics endoscopic system through artificial channel, its structure comprises display screen, operation by human hand and some control knobs and keyboard etc. at least.Through handing operation by human hand and watching the three-dimensional image on the display screen, the scope clamping mechanical arm in the smart electronics endoscopic system of artificial channel, operation platform and puma manipulator are controlled; Through the optical system of fujinon electronic video endoscope, 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 said smart electronics endoscopic system through artificial channel; Its kernel adopts the polycaryon processor with high-speed computation performance; Connecting control station, fujinon electronic video endoscope, scope clamping mechanical arm, portable adjustment operation platform and puma manipulator in one, is the brain of whole system.The effect of central processing system is according to the doctor instruction to be resolved in controling of control station; Control scope clamping mechanical arm, portable adjustment operation platform and puma manipulator cooperatively interact; Reach the optimal location that undergos surgery; High definition 2D or 3D rendering that central processing system is returned through fujinon electronic video endoscope are given the optimized image foundation that doctor's surgical procedure is provided; The status information that the microsensor that installs through fujinon electronic video endoscope, puma manipulator etc. feeds back, the alarm device in the central processing unit can be controlled fujinon electronic video endoscope and puma manipulator intravital motion in the chamber in real time, so that the safety of operation is carried out.
Below with regard to this utility model described two the cover different endoscopic systems describe:
For the smart electronics PCN system in the smart electronics endoscopic system of artificial channel, its operative approach is described below:
Before the art, earlier the electronics PCN is installed on the end effector of scope clamping mechanical arm, and intake tunnel is connected the feed liquid pipeline of automatic liquid supply system, exhalant canal is connected negtive-pressure implement equipment, debug and does the standby preparation after intact; Patient adopts suitable position on movable type adjustment operation platform, after the art place did sterilization anesthesia, the doctor at first used puncture needle through supplementary instrument, punctures at suitable position down like the auxiliary of CT, X-ray; Get into collecting system, nook closing member is taken out, after the derivation urine; The hard work end of control electronics PCN gets into human body, carries out the location, and the doctor shows through the high-definition image of display screen then; Operation hand control and relevant control knob etc. can be controlled scope clamping mechanical arm, portable adjustment operation platform, make the electronics PCN in field of operation, to observe; The doctor can also the operative intelligence robot arm near ureter, the passage through intelligent intelligence machine hands front end feeds dilator then, and very thin ureter is expanded; Be convenient to robot arm and get into operation, smash processing, can control robot arm to pathological changes such as polyps and extract doing than maximum size; Calcination and hemostasis etc., in addition, laser and microwave equipment also can get into the art district and operate.The intelligence machine hands of intelligent electronic PCN surgery systems is equivalent to the extension of doctor's hand; The optical system of electronics PCN then is equivalent to the extension of doctor's eyes; Through controlling of precision; Can handle kidney and ureteral pathological changes amplifying under at least 5 times the environment, and because the stability of system, can greatly improve the safety of operation.
And for the smart electronics arthroscope system in the smart electronics endoscopic system of artificial channel; Its operative approach is described below: before the art; Earlier the electronics arthroscope is installed on the end effector of scope clamping mechanical arm; And intake tunnel and exhalant canal etc. are connected corresponding apparatus, debug and do standby after intact and prepare; Patient lies low on movable type adjustment operation platform or sits up straight operating chair, after sterilization anesthesia is done at fixing joint position, art place; The doctor at first does little otch in the affected part; Control electronics arthroscope and scope clamping mechanical arm then and move to otch porch and location, can control scope through control station and carefully accurately get in the articular cavity, the doctor shows through the high-definition image that returns display screen; Operation hand control and relevant control knob etc.; Can control scope clamping mechanical arm, movable type adjustment operation platform and intelligence machine hands, make that the intelligence machine hands is dexterous in articular cavity, accurately move, carry out the operations such as cleaning, pathological changes excision and hemostasis of inflammation.The intelligence machine hands of intelligent electronic arthrocsopic surgery system is equivalent to the extension of doctor's hand; The Arthroscopic optical system of electronics then is equivalent to the extension of doctor's eyes; Through controlling of precision; Can under amplifying at least 5 times environment, handle, and because the stability of system, can greatly improve the safety of operation the pathological changes in the articular cavity.
Compared with prior art, the beneficial effect of this utility model is:
Smart electronics endoscopic system through artificial channel feeds fujinon electronic video endoscope through artificial channel; Through the clear truth of observing the internal organs cavity of camera system ability; Robot arm passage with fujinon electronic video endoscope is that platform feeds the entering of intelligence machine hands; But the microminiaturization of intelligence machine hands 3, deformable break-in and have some kinds of operating theater instruments functions (like operation nipper, TURP equipment and Electrocoagulation equipment etc.) simultaneously just then decision need not feed other apparatuses and can do multiple surgical procedure, reduce the difficulty of operation and patient's misery; Reach the purpose of the treatment that critically undergos surgery, further improve the operation accuracy rate.
Description of drawings
Fig. 1 is the system schematic of the said smart electronics endoscopic system through artificial channel of this utility model.
Fig. 2 A is first kind of scope clamping mechanical arm structural representation in this utility model.
Fig. 2 B is second kind of form structure sketch map of second kind of scope clamping mechanical arm in this utility model.
Fig. 3 is an electronics PCN structural representation in this utility model.
Fig. 4 is an electronics arthroscope structural representation in this utility model.
Fig. 5 is an automatic liquid supply system structure sketch in this utility model.
Fig. 6 be in this utility model intelligence machine hands structure diagram and with fujinon electronic video endoscope be used figure.
Fig. 6 A is an intelligence machine hands closure state structural representation among above-mentioned Fig. 6.
Fig. 7 is a portable adjustment operating-table sketch map in this utility model.
Fig. 8 A is the operation sketch map of smart electronics PCN system in this utility model.
Fig. 8 B is the operation sketch map of smart electronics arthroscope system in this utility model.
The specific embodiment
Below in conjunction with accompanying drawing this utility model is done further to detail:
Be illustrated in figure 1 as the structural representation of the described smart electronics endoscopic system through artificial channel of this utility model.Said smart electronics endoscopic system through artificial channel comprises fujinon electronic video endoscope 2, intelligence machine hands 3, scope clamping mechanical arm 1, removable adjustment operation platform 4, automatic liquid supply system 5, control station 8, central processing system 6 and system attachment 7 etc.
The said smart electronics endoscopic system through artificial channel of this utility model comprises following two kinds of forms: smart electronics PCN system, smart electronics arthroscope system, promptly corresponding fujinon electronic video endoscope 2 is electronics PCN and electronics arthroscope.
In this utility model, said scope clamping mechanical arm by the difference of its structure also be divided into two kinds multi-form:
First kind of structure: shown in Fig. 2 A; Said scope clamping mechanical arm 1 comprises pedestal 11; Each articulated arm 12 and the end effector 13 that cooperates with endoscope 2; Arm 12 1 ends that specifically are band joint 14 are connected on the pedestal 11, and an other end becomes end effector 13, and end effector 13 closely cooperates through syndeton and fujinon electronic video endoscope 2.Said pedestal 11 indoor designs have major part that the executive component of scope clamping manipulator motion kinetic energy is provided; Comprise drive mechanism, Hydraulic Elements, pneumatic element, servomotor and motor etc.; Self can rotate and elevating movement, makes scope clamping mechanical arm 1 drive fujinon electronic video endoscope 2 and can rotate together and elevating movement.
Second kind of structure: shown in Fig. 2 B; Said scope clamping mechanical arm 1 ' comprise the bayonet socket part of arm 12 ' and end effector 13 ' the said pedestal 11 ' with bayonet in pedestal with bayonet 11 ', band joint 14 ' can be tightly locked at movable type adjustment operation platform 4 edges for supporting; Described articulated arm 12 ' one end is connected on the bayonet socket pedestal 11 ' part; An other end becomes end effector 13 '; End effector 13 ' closely cooperates through syndeton and fujinon electronic video endoscope 2; The arm 12 ' of the scope clamping mechanical arm 1 ' of this kind structure equally also is provided with the executive component that scope clamping mechanical arm 1 motion energy is provided; Comprise drive mechanism, Hydraulic Elements, pneumatic element, servomotor and motor etc., make scope clamping mechanical arm 1 drive fujinon electronic video endoscope 2 and can rotate together and elevating movement.
Can know by Fig. 2 A and Fig. 2 B; The scope clamping mechanical arm 1 of above-mentioned two kinds of structures, 1 ' arm 12,12 ' comprise three joints at least; At least 7 degree of freedom; The feed accuracy of scope clamping mechanical arm 1 is smaller or equal to 1mm, and its radius of clean-up is 500mm at least, the vertical height 0～500mm of work (is the plane of reference with movable type adjustment operation platform plane); The end effector 13 of scope clamping mechanical arm 1 or 13 ' is with after fujinon electronic video endoscope 2 cooperates; The first end that can drive fujinon electronic video endoscope 2 reaches any point in the above-mentioned work space, forms closed loop control through the range finder of fujinon electronic video endoscope 2 tip end surfaces and side face and the feedback of respective sensor, increases the safety coefficient of operation.In addition, scope clamping mechanical arm 1 also is designed with anti-trembling function, surpassed distance alarm function and locking function, increases the safety coefficient of operation.The control mode of scope clamping mechanical arm 1 can also be divided into keyboard and control forms such as harmony sound control system automatically.Keyboard automatically control is meant through the controlling of control handgrip or keyboard, and control scope clamping mechanical arm 1 advances, retreats and the action of rotation etc.; Sound control form is meant the sound instruction that receives the manipulator through mike, reaches control scope clamping mechanical arm 1 and advances, retreats and the action of rotation etc.
Like Fig. 3, Fig. 4 is electronics PCN and electronics arthroscope structure diagram.
Can know that by figure electronics PCN and the equal correspondence of electronics arthroscope comprise hard work end 21, scope main body 22, the adapter 24 that cooperates with scope clamping mechanical arm 1 and robot arm passage and other accessory channels 23 etc.
In this utility model, according to the needs of reality, the hard work end 21 of electronics PCN is a hard pipe shape, and hard work end 21 external diameters are smaller or equal to 8mm, its length 200～350mm.And the external diameter of electronics arthroscope hard work end 21 is smaller or equal to 12mm, its length 150～200mm.
As shown in Figure 5, said automatic liquid supply system 5 comprises base 1, is installed in retracted support structure 52 on the base 1, places the fluid reservoir 54 on the retracted support structure 52, and is located at pressure system structure 53 and feed liquid pipeline 55 etc. on the fluid reservoir 54.Automatic liquid supply system 5 is connected with central processing system through data wire; Pressure data through to field of operation feeds back; Automatically stretching was regulated liquid stream about control retracted support structure 52 was done speed and intensity; Also can cooperate pressure system structure 53, the speed and the intensity of regulating liquid stream through the pressure that changes fluid reservoir 54.
Fig. 6 is used sketch map figure for the structure diagram of intelligence machine hands 3 and with fujinon electronic video endoscope.Said intelligence machine hands 3 gets into the operative regions operation that undergos surgery through electronics PCN and the Arthroscopic special purpose machinery hands of electronics passage 23.The structure of said intelligence machine hands 3 comprises machine pawl 33,34, performing structure, transmission structure 31 and external control part 38 etc.The machine pawl that comprises two involutory actions of ability 33,34 of intelligence machine hands 3; Intelligence machine hands 3 is under machine pawl 33,34 whole closed states (shown in Fig. 6 A); Its maximum outside diameter should be more than or equal to 5.0mm, and smaller or equal to the diameter of the robot arm passage of fujinon electronic video endoscope.
In this utility model, the characteristics of said intelligence machine hands 3 are multi-functional, and its function comprises:
(1) end of at least one machine pawl 33,34 has conduction and the electricity made of insulant coagulates part, can be used as the monopolar electrocoagulation apparatus, perhaps through 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 ability can be accomplished the function of operating forceps, can get biopsy, extract pathological changes etc.;
(3) appropriate location of said intelligence machine hands 3 is provided with the TURP equipment 35 that is used to excise pathological tissues in the cavity, 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 smaller or equal to the passage ability conduct of 2.0mm passage; Also can feed microwave probe equipment or laser probe equipment 36, be used for operations such as microwave bleeding and cut.
(5) each machine pawl 33,34 of intelligence machine hands 3 all is equipped with microsensor; Comprise temperature sensor, pressure transducer etc. are to obtain the details of operative region; Understand the state of intelligence machine hands 3; For control provides data refer, make that the use of intelligence machine hands 3 is safer, the operation precision of described intelligence machine hands 3 reaches 1.0mm at least.
(6) action of the performing structure of intelligence machine hands 3 is through realizations such as minitype pneumatic element or micro hydraulic elements, and element can install the outside that is connected intelligence machine hands 3 at front end or through micro-tube.
The transmission structure of said intelligence machine hands 3 is one section external diameter transfer lines less than the robot arm passage scope of fujinon electronic video endoscope; Its character can be soft or rigid; Pipeline is action transmission power such as extracting and the shearing of intelligence machine hands 3; 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 37 of said intelligence machine hands 3 is shared with the central processing system 6 of system.The control mode of intelligence machine hands 3 can be divided into forms such as Artificial Control and automatic control.Artificial Control be meant through the control hands will, the controlling of keyboard, the action that control robot arm 3 advances, retreats, rotates and electricity coagulates etc.; Automatically the control form is meant the control form except that Artificial Control.
Like Fig. 7 is portable adjustment operation platform 4; Its height can be through 42 adjustment of adjustment structure, and the inclination of different angles can be done in its plane, cooperates fujinon electronic video endoscope to undergo surgery; Further, operating-table 4 can pass through fixed structure 43 fixed clamp formula scope clamping mechanical arms 12.
Like Fig. 8 A and 8B is respectively the smart electronics PCN system of this utility model and the operation sketch map of smart electronics arthroscope system.
Shown in Fig. 8 A, said smart electronics PCN system in the smart electronics endoscopic system that artificial channel gets into, its operative approach is described below:
Before the art, earlier the electronics PCN is installed on the end effector 13 or 13 ' of scope clamping mechanical arm 1, and intake tunnel is connected the feed liquid pipeline 55 of automatic liquid supply system 5, exhalant canal is connected negtive-pressure implement equipment, debug and does the standby preparation after intact;
Patient adopts suitable position on movable type adjustment operation platform 4, after the art place did sterilization anesthesia, the doctor at first used puncture needle through supplementary instrument, punctures at suitable position down like the auxiliary of CT, X-ray; Get into collecting system, nook closing member is taken out, after the derivation urine; The hard work end 21 of control electronics PCN 2 gets into human body, carries out the location, and the doctor shows through the high-definition image of display screen then; Operation hand control and relevant control knob etc. can be controlled scope clamping mechanical arm 1, portable adjustment operation platform 4, make electronics PCN 2 in field of operation, to observe; The doctor can also operative intelligence robot arm 3 near ureter, the passage through intelligent intelligence machine hands 3 front ends feeds dilator then, and very thin ureter is expanded; Be convenient to robot arm and get into operation, smash processing, can control robot arm to pathological changes such as polyps and extract doing than maximum size; Calcination and hemostasis etc., in addition, laser and microwave equipment also can get into the art district and operate.The intelligence machine hands 3 of intelligent electronic PCN surgery systems is equivalent to the extension of doctor's hand; The optical system of electronics PCN 2 then is equivalent to the extension of doctor's eyes; Through controlling of precision; Can handle the pathological changes of kidney and ureter 9 amplifying under at least 5 times the environment, and, can greatly improve the safety of operation owing to the stability of system.
Shown in Fig. 8 B, said smart electronics arthroscope system in the smart electronics endoscopic system of artificial channel, its operative approach is described below:
Before the art, earlier the electronics arthroscope is installed on the end effector 13 or 13 ' of scope clamping mechanical arm 1, and intake tunnel and exhalant canal etc. are connected corresponding apparatus, debug and do the standby preparation after intact; Patient lies low on movable type adjustment operation platform 4 or sits up straight operating chair; The fixing joint position; After the art place did sterilization anesthesia, the doctor at first did little otch in the affected part, controlled electronics arthroscope and scope clamping mechanical arm 1 then and moved to otch porch and location; Can carefully accurately get in the articular cavity 10 through control station 8 control scopes; The doctor shows through the high-definition image that returns display screen, and the control of operation hand and relevant control knob etc. can be controlled scope clamping mechanical arm 1, portable adjustment operation platform 4 and intelligence machine hands 3; Make that intelligence machine hands 3 is dexterous in articular cavity, accurately move, carry out the operations such as cleaning, pathological changes excision and hemostasis of inflammation.The intelligence machine hands 3 of intelligent electronic arthrocsopic surgery system is equivalent to the extension of doctor's hand; The Arthroscopic optical system of electronics then is equivalent to the extension of doctor's eyes; Through controlling of precision; Can under amplifying at least 5 times environment, handle, and because the stability of system, can greatly improve the safety of operation the pathological changes in the articular cavity.
Claims (10)
1. smart electronics endoscopic system through artificial channel; Comprise fujinon electronic video endoscope, it is characterized in that: also comprise the scope clamping mechanical arm that is used for fixing fujinon electronic video endoscope, portable adjustment operation platform, automatic liquid supply system, intelligence machine hands, control station and central processing system;
Said 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 said scope main body also is provided with a linear type robot arm passage that runs through hard work end; Said 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 the scope clamping mechanical arm that is used for fixing fujinon electronic video endoscope on the said scope main body;
Said fujinon electronic video endoscope, scope clamping mechanical arm, portable adjustment operation platform, automatic liquid supply system, intelligence machine hands, control station all are connected with central processing system.
2. the smart electronics endoscopic system through artificial channel according to claim 1; It is characterized in that: said scope clamping mechanical arm comprises pedestal or is clamped on bayonet socket part, the articulated arm of portable adjustment operation platform edges and the end effector that is connected with the scope main body; Said pedestal or bayonet socket part connects articulated arm and end effector successively, is provided with in the said scope clamping mechanical arm to drive it and rotate freely or the driving element of elevating movement.
3. the smart electronics endoscopic system through artificial channel according to claim 2; It is characterized in that: the articulated arm of said scope clamping mechanical arm comprises three joint pieces at least; And has 7 degree of freedom at least; The feed accuracy of said scope clamping mechanical arm is smaller or equal to 1mm, and its radius of clean-up is 500mm at least, the vertical height 0～500mm of work.
4. the smart electronics endoscopic system through artificial channel according to claim 1; Its characteristic comprises: said intelligence machine hands comprise the action of at least two mutual involutory action machine pawls of ability, drive machines pawl performing structure, be used to transmit the power transmission structure of actuator and the external control part of control executing mechanism action; The actuator of said intelligence machine hands is the micro drives element; Said transmission structure is the transfer line of one section external diameter less than the robot arm passage scope of fujinon electronic video endoscope, also comprises the transmission line of microsensor in the said transfer line.
5. the smart electronics endoscopic system through artificial channel according to claim 2; It is characterized in that: the each other involutory machine pawl of the ability of said intelligence machine hands is under all closed states of machine pawl; Its maximum outside diameter should be more than or equal to 5.0mm, and smaller or equal to the diameter of the robot arm passage of fujinon electronic video endoscope.
6. the smart electronics endoscopic system through artificial channel according to claim 5; Its characteristic comprises: the end of at least one machine pawl of said intelligence machine hands is provided with the electricity that pathological changes is carried out electroblation and hemostatic treatment that conduction and insulant make and coagulates part, and said intelligence machine also is provided with TURP equipment on hand; Be equipped with a microsensor on each machine pawl of said intelligence machine hands.
7. the smart electronics endoscopic system through artificial channel according to claim 6; It is characterized in that: also be provided with in the said intelligence machine hands one supply Metal net basket through or serve as the passage of outside suction function or the passage of passage that tiny calculus is drawn, said channel diameter is smaller or equal to 2.0mm.
8. the smart electronics endoscopic system through artificial channel according to claim 1; It is characterized in that: said automatic liquid supply system comprises the base that connects successively, flexible supporting bracket and place the fluid reservoir of supporting bracket tip position automatically; Be provided with pressure system in the said fluid reservoir, also connect the feed liquid pipeline of the intake tunnel connection of the fujinon electronic video endoscope of having a surplus on the said fluid reservoir.
9. the smart electronics endoscopic system through artificial channel according to claim 1; It is characterized in that: said fujinon electronic video endoscope is electronics PCN or electronics arthroscope; The front end of hard work end is first end; Front portion, said first end is equipped with the binocular solid electron-optical system, perhaps many ccd array electron-optical system, perhaps non-spatial electronic camera system; The end face of said first end and periphery are provided with several range finders, and inside, said first end is provided with pressure transducer or temperature sensor.
10. the smart electronics endoscopic system through artificial channel according to claim 1; It is characterized in that: the internal diameter of the linear type robot arm passage of said fujinon electronic video endoscope is more than or equal to 5.0mm, and independently the internal diameter of intake tunnel and exhalant canal is more than or equal to 1.0mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201819233U CN202096192U (en) | 2011-06-01 | 2011-06-01 | Intelligent electronic endoscope systems passing through artificial channel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201819233U CN202096192U (en) | 2011-06-01 | 2011-06-01 | Intelligent electronic endoscope systems passing through artificial channel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202096192U true CN202096192U (en) | 2012-01-04 |
Family
ID=45382233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201819233U Expired - Lifetime CN202096192U (en) | 2011-06-01 | 2011-06-01 | Intelligent electronic endoscope systems passing through artificial channel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202096192U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102217927A (en) * | 2011-06-01 | 2011-10-19 | 广州宝胆医疗器械科技有限公司 | Intelligent electronic endoscope system passing through manual channels |
| CN106371374A (en) * | 2016-11-07 | 2017-02-01 | 福州幻科机电科技有限公司 | Intelligent control circuit system for minimally invasive endoscopic four-freedom-degree locator |
| CN109151273A (en) * | 2018-08-27 | 2019-01-04 | 彭波 | A kind of light fan stereo camera and stereoscopic measurement method |
| CN109259717A (en) * | 2018-08-27 | 2019-01-25 | 彭波 | A kind of stereo endoscope and endoscope measurement method |
| CN110432856A (en) * | 2019-09-02 | 2019-11-12 | 太原理工大学 | It is a kind of for checking the endoscope control system of nasal sinus |
| CN114668503A (en) * | 2022-03-29 | 2022-06-28 | 吉林省金博弘智能科技有限责任公司 | Diagnosis and treatment integrated surgical robot |
-
2011
- 2011-06-01 CN CN2011201819233U patent/CN202096192U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102217927A (en) * | 2011-06-01 | 2011-10-19 | 广州宝胆医疗器械科技有限公司 | Intelligent electronic endoscope system passing through manual channels |
| CN102217927B (en) * | 2011-06-01 | 2013-06-05 | 广州宝胆医疗器械科技有限公司 | Intelligent electronic endoscope system passing through manual channels |
| CN106371374A (en) * | 2016-11-07 | 2017-02-01 | 福州幻科机电科技有限公司 | Intelligent control circuit system for minimally invasive endoscopic four-freedom-degree locator |
| CN109151273A (en) * | 2018-08-27 | 2019-01-04 | 彭波 | A kind of light fan stereo camera and stereoscopic measurement method |
| CN109259717A (en) * | 2018-08-27 | 2019-01-25 | 彭波 | A kind of stereo endoscope and endoscope measurement method |
| CN109151273B (en) * | 2018-08-27 | 2020-09-04 | 彭波 | Fan stereo camera and stereo measurement method |
| CN110432856A (en) * | 2019-09-02 | 2019-11-12 | 太原理工大学 | It is a kind of for checking the endoscope control system of nasal sinus |
| CN114668503A (en) * | 2022-03-29 | 2022-06-28 | 吉林省金博弘智能科技有限责任公司 | Diagnosis and treatment integrated surgical robot |
| CN114668503B (en) * | 2022-03-29 | 2024-06-04 | 吉林省金博弘智能科技有限责任公司 | Diagnosis and treatment integrated operation robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102217926B (en) | Intelligent electronic endoscope system passing through natural orifices | |
| CN112770689B (en) | Systems and devices for aspiration and irrigation | |
| US11832907B2 (en) | Medical robotics systems implementing axis constraints during actuation of one or more motorized joints | |
| CN109662779B (en) | Transurethral resectoscope surgical robot system | |
| CN112804933B (en) | Articulating medical device | |
| CN102197989B (en) | Intelligent electronic cystoscope system | |
| US20190175288A1 (en) | System and apparatus for endoscopic deployment of robotic concentric tube manipulators for performing surgery | |
| CN202096192U (en) | Intelligent electronic endoscope systems passing through artificial channel | |
| CN110115630B (en) | Medical robot system with linkage type control mode | |
| CN102217927B (en) | Intelligent electronic endoscope system passing through manual channels | |
| US20110270273A1 (en) | Systems and methods for performing minimally invasive surgical operations | |
| CA2806237A1 (en) | Rapidly deployable flexible robotic instrumentation | |
| CN202096186U (en) | Intelligent electronic hysteroscope system | |
| CN202191265U (en) | Intelligent electronic cholecystoscopy system | |
| CN112190336A (en) | Flexible surgical robot system | |
| WO2023037221A1 (en) | Robotically controlled uterine manipulator | |
| CN115334993A (en) | System and method for constrained motion control of a medical instrument | |
| CN102188230B (en) | Intelligent electronic gall bladder endoscope system | |
| CN202096190U (en) | Intelligent electronic cystoscope system | |
| CN202235293U (en) | Intelligent electronic anal-intestinal mirror system | |
| CN105287001A (en) | Robot arm rectoscope system | |
| CN202313259U (en) | Intelligent electric colposcope system | |
| CN117243696A (en) | Double-source auxiliary endoscope mechanical arm and endoscope operation artificial intelligence middle table | |
| US11944340B2 (en) | Suction and irrigation valve and method of priming same in a robotic surgical system | |
| CN205198164U (en) | Arm proctoscope system of robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120104 |
|
| CX01 | Expiry of patent term |