CN102217927B - Intelligent electronic endoscope system passing through manual channels - Google Patents
Intelligent electronic endoscope system passing through manual channels Download PDFInfo
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Abstract
The invention belongs to the field of medical appliances and discloses two sets of intelligent electronic endoscope systems entering a human body for operation through manual channels, namely, an intelligent electronic percutaneous nephroscopeset system and an intelligent electronic arthroscope system respectively. The intelligent electronic endoscope system comprises an electronic endoscope, and also comprises an endoscope clamping mechanical arm used for fixing the electronic endoscope, a movable adjusting operation platform, an automatic liquid supply system, an intelligent manipulator, a console and a central processing system. A wide and large linear manipulator channel is designed inside the body of the endoscope of the electronic endoscope to provide a platform for the intelligent manipulator to enter an operation area; the intelligent manipulator has abundant functions and can implement precise and targeted treatment according to the demands of operation types. Operative treatment is implemented under the guidance of the experiences and technologies of a doctor by the intelligent electronic endoscope through the organic combination of the intelligent manipulator and computer technology as well as software technology, thereby lightening the difficulty of the operation and the pains of patients, and achieving the purpose of implementing operative treatment precisely, and further improving the operation accuracy.
Description
Technical field
The invention belongs to field of medical appliances, be specifically related to the Intelligent electronic endoscope through artificial channel, comprising two cover endoscope systems, is respectively smart electronics percutaneous nephrolithotomy system and smart electronics arthroscope system.
Prior art
The Higher-end machines robot system that uses on medical domain at present is American I ntuitive Surgical, Inc. company develops the Leonardo da Vinci's assisted surgery for robots system that completes, since in December, 1998 First Leonardo da Vinci assisted surgery for robots system comes out, existingly at present surpassed 390 and be applied to all over the world.
Leonardo da Vinci's robotic surgical system is mainly by 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 7 mutual arms of degree of freedom are housed consists of.By means of high-tech equipment such as high definition three-dimensional imaging, multi-joint arm automatization's control 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, complete whole process of operation before being sitting in control station by the operator doctor, meet base of principle of human engineering, be more suitable in long-time complicated operation.
Control station is controlled monitor, operating grip and input-output equipment etc. by computer system, operation technique monitor, robot and is formed.Before during operation, the surgeon can be sitting in control station away from operating-table, 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, completes 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 the technology of carrying out joint disease or ureteral diagnosis and treatment after still there is no robot arm and for example arthroscope, PCN organically combining through the endoscope of artificial channel, therefore, to carry out the technology of operative treatment extremely urgent to reach precision robot arm to be integrated into arthroscope, PCN.
Summary of the invention
The objective of the invention is to overcome the purpose of prior art, a kind of Intelligent electronic endoscope that enters through artificial channel that provides, this smart electronics endoscope is by the combination of intelligence machine hands and computer technology, under instructing, doctor's experimental technology carries out joint disease or kidney and ureteral operation, reach the purpose of critically carrying out operative treatment, further improve the operation accuracy rate.
In order to solve the problems of the technologies described above, the present invention realizes by following technical scheme:
Intelligent electronic endoscope through artificial channel of the present invention comprises following two kinds of forms, smart electronics percutaneous nephrolithotomy system and smart electronics arthroscope system.
Intelligent electronic endoscope through artificial channel of the present invention comprises fujinon electronic video endoscope, scope clamping mechanical arm, portable Surgery Platform, automatic liquid supply system, intelligence machine hands, control station and the central processing system etc. adjusted.
Described fujinon electronic video endoscope for 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.Described fujinon electronic video endoscope comprises scope main body, hard working end, is placed in scope main body end and runs through the robot arm passage of hard work end, and other accessory channels such as intake tunnel, exhalant canal.
The system schematic of the Intelligent electronic endoscope through artificial channel of the present invention, comprise following two kinds of forms: smart electronics percutaneous nephrolithotomy system and smart electronics arthroscope system, be its corresponding fujinon electronic video endoscope according to the difference of form and range of application, mainly can be divided into two of electronics PCN and electronics arthroscopes multi-form:
The first, for the electronics arthroscope, its hard work end hard circular tube shaped, the external diameter of described hard work end be less than or equal to 12mm, length 150～200mm.
The second, for the electronics PCN, its hard work end is because the hard circular tube shaped, and the external diameter of described hard work end is less than or equal to 8mm, length 200～350mm.
In the present invention, the front end of described fujinon electronic video endoscope hard work end is first end, the anterior design and installation binocular solid electron-optical system in first end or many ccd array electron-optical system, the perhaps electronic camera system of non-solid, end face and the periphery of first end are designed with several range finders, be used for monitoring the position of first end in operative region, first end is designed with abundant sensor, as pressure transducer, temperature sensor etc., be used for the state in the monitoring operative region, data offer central processing unit by data wire and process, with for referencial use.
The internal diameter of described 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 described fujinon electronic video endoscope coordinates 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;
The second is: comprising can stuck bayonet socket part, articulated arm and end effector at removable adjustment Surgery Platform edge.
The set syndeton of described end effector and scope main body closely cooperates, thereby makes scope clamping mechanical arm that fujinon electronic video endoscope is closely connected.
For the first 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 the second structure: described bayonet socket part can be tightly locked at the Surgery Platform edge for supporting.
in above-mentioned two kinds of structures: an end of described articulated arm is connected on pedestal or bayonet socket part, an other end becomes end effector, in peep end effector and coordinate 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 (adjusting the Surgery Platform plane as the plane of reference take movable type), the end effector of scope clamping mechanical arm is with after fujinon electronic video endoscope coordinates, the first end that can drive fujinon electronic video endoscope reaches any point in 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 of operation.The control mode of scope clamping mechanical arm can be divided into the keyboard form such as control and Sound control automatically.Keyboard is automatically controlled and is referred to by controlling controlling of handgrip or keyboard, controls scope clamping mechanical arm and 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 described portable Surgery Platform of adjusting, its height can be by adjusting structural adjustment, and the inclination of different angles can be done in its plane, coordinates fujinon electronic video endoscope to perform the operation, further, the portable Surgery Platform of adjusting can pass through fixed structure fixed clamp formula scope clamping mechanical arm.
Described automatic liquid supply system comprises base, is connected to telescopic supporting construction on base, is placed in the fluid reservoir at telescopic supporting construction 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 by data wire, feed back by the pressure data to field of operation, automatically control telescopic supporting construction and do speed and the intensity that the up and down stretching is regulated liquid stream, also can coordinate the pressure system structure, regulate by the pressure that changes fluid reservoir speed and the intensity of also staying.
Described intelligence machine hands is that the robot arm passage by fujinon electronic video endoscope enters operative region and carries out operation technique.
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 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.
In the present invention, the characteristics of intelligence machine hands are multi-functional, and its function comprises:
(1) end of at least one machine pawl with the coagulation part of conducting electricity and insulant is made, 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 energy can be completed the function of operating forceps, can get biopsy, extract pathological changes etc.;
(3) appropriate location of described intelligence machine hands is provided with for the TURP equipment of pathological tissues in the excision 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 be designed with a diameter less than or equal to the passage capable of being of 2.0mm as the passage that serves as outside suction function, 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 intra-lumen polyp and solidify the otch bleeding part, can enter expansion and lead device, ureter is expanded, be convenient to the intelligence machine hand operated;
(5) each machine pawl of described intelligence machine hands 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 the use of robot arm 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 be arranged on 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,
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 pipeline.
External control part and the central processing system of described intelligence machine hands share.
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 controlling controlling of handgrip, keyboard, controls that 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 artificial channel, its structure comprises display screen, operation by human hand and some control knobs and keyboard etc. at least.By hand-held operation by human hand and the three-dimensional image of watching on display screen, scope clamping mechanical arm, Surgery Platform and puma manipulator in the Intelligent electronic endoscope of artificial channel are controlled; By 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 described Intelligent electronic endoscope 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 Surgery Platform and puma manipulator in one, is the brain of whole system.The effect of central processing system is according to the doctor, the operation of control station to be controlled to resolve into instruction, controlling scope clamping mechanical arm, portable adjustment Surgery Platform and puma manipulator cooperatively interacts, reach the optimal location of performing the operation, high definition 2D or 3D rendering that central processing system is returned by 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 by fujinon electronic video endoscope, puma manipulator etc. feeds back, the alarm device in central processing unit can be controlled fujinon electronic video endoscope and the motion of puma manipulator in cavity in real time, so that the safety of operation is carried out.
Below with regard to of the present invention two the cover different endoscopic systems describe:
For the smart electronics percutaneous nephrolithotomy system in the Intelligent electronic endoscope of artificial channel, its operative approach is as described below:
before art, first the electronics PCN is arranged on the end effector of scope clamping mechanical arm, and intake tunnel is connected to the feed liquid pipeline of automatic liquid supply system, exhalant canal is connected to negtive-pressure implement equipment, debugs to do standby after intact and prepare, patient adjusts in movable type and adopts suitable position on Surgery Platform, after the art place does sterilization anesthesia, at first the doctor uses puncture needle through supplementary instrument, as CT, puncture at suitable position under X-ray auxiliary, enter collecting system, nook closing member is taken out, after deriving urine, the hard work end of controlling the electronics PCN enters human body, carry out the location, then the doctor shows by the high-definition image of display screen, the control of operation hand and relevant control button etc., can control scope clamping mechanical arm, the portable Surgery Platform of adjusting, make the electronics PCN to observe in field of operation, the doctor can also the operative intelligence robot arm near ureter, then the passage by intelligent intelligence machine hands front end passes into dilator, very thin ureter is expanded, be convenient to robot arm and enter operation, smash processing to doing than maximum size, can control robot arm to pathological changes such as polyps extracts, calcination and hemostasis etc., in addition, laser and microwave equipment also can enter 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 is equivalent to the extension of doctor's eyes, by controlling of precision, can process kidney and ureteral pathological changes under the environment of at least 5 times of amplifications, and due to Systems balanth, can greatly improve the safety of operation.
and for the smart electronics arthroscope system in the Intelligent electronic endoscope of artificial channel, its operative approach is as described below: before art, first the electronics arthroscope is arranged on the end effector of scope clamping mechanical arm, and intake tunnel is connected with exhalant canal connects corresponding equipment, debug and do the standby preparation after intact, patient lies low and adjusts on Surgery Platform or sit up straight operating chair in movable type, the fixing joint position, after the art place does sterilization anesthesia, at first the doctor does little otch in the affected part, then control electronics arthroscope and scope clamping mechanical arm and move to otch porch and location, can control scope by control station carefully accurately enters in articular cavity, the doctor shows by the high-definition image that returns to display screen, the control of operation hand and relevant control button etc., can control scope clamping mechanical arm, portable Surgery Platform and the intelligence machine hands adjusted, make the intelligence machine hands dexterous in articular cavity, accurately operation, carry out the cleaning of inflammation, the operations such as pathological changes excision and hemostasis.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 is equivalent to the extension of doctor's eyes, by controlling of precision, can process the pathological changes in articular cavity under the environment of at least 5 times of amplifications, and due to Systems balanth, can greatly improve the safety of operation.
Compared with prior art, the invention has the beneficial effects as follows:
Intelligent electronic endoscope through artificial channel passes into fujinon electronic video endoscope by artificial channel, by the clear truth of observing the internal organs cavity of camera system energy, robot arm passage take fujinon electronic video endoscope enters as platform passes into the intelligence machine hands, the microminiaturization of intelligence machine hands 3, deformable, reversible and have simultaneously several operating theater instruments function (as surgical grasping forceps, TURP equipment and Electrocoagulation equipment etc.), determine that not needing to pass into other apparatuses just can do multiple surgical procedure, reduce the difficulty of operation and patient's misery, reach the purpose of critically carrying out operative treatment, further improve the operation accuracy rate.
Description of drawings
Fig. 1 is the system schematic of the Intelligent electronic endoscope through artificial channel of the present invention.
Fig. 2 A is the first scope clamping mechanical arm structural representation in the present invention.
Fig. 2 B is the second form structure schematic diagram of the second scope clamping mechanical arm in the present invention.
Fig. 3 is electronics PCN structural representation in the present invention.
Fig. 4 is electronics arthroscope structural representation in the present invention.
Fig. 5 is automatic liquid supply system structure sketch in the present invention.
Fig. 6 be in the present invention intelligence machine hands structure diagram and with fujinon electronic video endoscope be used in conjunction with figure.
Fig. 6 A is intelligence machine hands closure state structural representation in above-mentioned Fig. 6.
Fig. 7 is the portable operating-table schematic diagram of adjusting in the present invention.
Fig. 8 A is the operation schematic diagram of smart electronics percutaneous nephrolithotomy system in the present invention.
Fig. 8 B is the operation schematic diagram of smart electronics arthroscope system in the present invention.
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing:
Be illustrated in figure 1 as the structural representation of the Intelligent electronic endoscope through artificial channel of the present invention.Described Intelligent electronic endoscope through artificial channel comprises fujinon electronic video endoscope 2, intelligence machine hands 3, scope clamping mechanical arm 1, removable adjustment Surgery Platform 4, automatic liquid supply system 5, control station 8, central processing system 6 and system attachment 7 etc.
Intelligent electronic endoscope through artificial channel of the present invention comprises following two kinds of forms: smart electronics percutaneous nephrolithotomy system, smart electronics arthroscope system, namely corresponding fujinon electronic video endoscope 2 is electronics PCN and electronics arthroscope.
In the present invention, described scope clamping mechanical arm by the difference of its structure also be divided into two kinds multi-form:
The first structure: as shown in Fig. 2 A, described scope clamping mechanical arm 1 comprises pedestal 11, each articulated arm 12 and the end effector 13 that coordinates with endoscope 2, specifically arm 12 1 ends with joint 14 are connected on pedestal 11, an other end becomes end effector 13, and end effector 13 closely cooperates by syndeton and fujinon electronic video endoscope 2.Described 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.
the second structure: as shown in Fig. 2 B, described scope clamping mechanical arm 1 ' comprises pedestal 11 ' with bayonet, the bayonet socket part of the band arm 12 ' in joint 14 ' and end effector the 13 ' described pedestal 11 ' with bayonet can be tightly locked be adjusted Surgery Platform 4 edges for supporting in movable type, described articulated arm 12 ' one end is connected on bayonet socket pedestal 11 ' part, an other end becomes end effector 13 ', end effector 13 ' closely cooperates by 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., making scope clamping mechanical arm 1 drive fujinon electronic video endoscope 2 can rotate and elevating movement together.
by Fig. 2 A and Fig. 2 B as can be known, the scope clamping mechanical arm 1 of above-mentioned two kinds of structures, 1 ' arm 12, 12 ' 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 (adjusting the Surgery Platform plane as the plane of reference take movable type), the end effector 13 of scope clamping mechanical arm 1 or 13 ' is with after fujinon electronic video endoscope 2 coordinates, the first end that can drive fujinon electronic video endoscope 2 reaches any point in 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.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 the keyboard form such as control and Sound control automatically.Keyboard is automatically controlled and is referred to by controlling controlling of handgrip or keyboard, controls scope clamping mechanical arm 1 and advances, retreats and the action of rotation etc.; The Sound control form refers to receive by mike manipulator's sound instruction, reaches to control scope clamping mechanical arm 1 and advance, retreat and the action of rotation etc.
As Fig. 3, Fig. 4 is electronics PCN and electronics arthroscope structure diagram.
As seen from the figure, electronics PCN and the equal correspondence of electronics arthroscope comprise hard work end 21, scope main body 22, the adapter 24 and robot arm passage and other accessory channels 23 etc. that coordinate with scope clamping mechanical arm 1.
In the present invention, according to the actual needs, the hard work end 21 of electronics PCN is the hard circular tube shaped, and hard work end 21 external diameters are less than or equal to 8mm, its length 200～350mm.And the external diameter of electronics arthroscope hard work end 21 is less than or equal to 12mm, its length 150～200mm.
As shown in Figure 5, described automatic liquid supply system 5 comprises base 1, is arranged on telescopic supporting construction 52 on base 1, is placed in the fluid reservoir 54 on telescopic supporting construction 52, and is located at pressure system structure 53 on fluid reservoir 54 and feed liquid pipeline 55 etc.Automatic liquid supply system 5 is connected with central processing system by data wire, feed back by the pressure data to field of operation, automatically control telescopic supporting construction 52 and do speed and the intensity that the up and down stretching is regulated liquid stream, also can coordinate pressure system structure 53, speed and the intensity of regulating liquid stream by the pressure that changes fluid reservoir 54.
Fig. 6 is the structure diagram of intelligence machine hands 3 and is used in conjunction with schematic diagram figure with fujinon electronic video endoscope.Described intelligence machine hands 3 enters operative region by electronics PCN and the Arthroscopic special purpose machinery hands of electronics passage 23 and carries out operation technique.The structure of described intelligence machine hands 3 comprises machine pawl 33,34, performing structure, transmission structure 31 and external control part 38 etc.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 (as shown in Figure 6A), 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.
In the present invention, the characteristics of described 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, perhaps 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 completed the function of operating forceps, can get biopsy, extract pathological changes etc.;
(3) appropriate location of described intelligence machine hands 3 is provided with for the TURP equipment 35 of pathological tissues in the excision 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 be designed with a diameter less than or equal to the passage capable of being of 2.0mm as the passage that serves as outside suction function, also can pass into microwave probe equipment or laser probe equipment 36, be used for the operations such as microwave bleeding and cut.
(5) each machine pawl 33,34 of intelligence machine hands 3 is equipped with microsensor, comprise temperature sensor, pressure transducer etc., to obtain the details of operative region, understand the state of intelligence machine hands 3, for control provides data refer, make the use of intelligence machine hands 3 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 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.
The transmission structure of described 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 pipeline.
The external control part 37 of described 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 refer to by control hands will, the controlling of keyboard, control that 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 portable Surgery Platform 4 of adjusting as Fig. 7, its height can be adjusted by adjusting structure 42, and the inclination of different angles can be done in its plane, coordinates 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.
Respectively the operation schematic diagram of smart electronics percutaneous nephrolithotomy system of the present invention and smart electronics arthroscope system as Fig. 8 A and 8B.
As shown in Fig. 8 A, described smart electronics percutaneous nephrolithotomy system in the Intelligent electronic endoscope that artificial channel enters, its operative approach is as described below:
Before art, first the electronics PCN is arranged on the end effector 13 or 13 ' of scope clamping mechanical arm 1, and intake tunnel is connected to the feed liquid pipeline 55 of automatic liquid supply system 5, exhalant canal is connected to negtive-pressure implement equipment, debugs to do standby after intact and prepare;
patient adjusts in movable type and adopts suitable position on Surgery Platform 4, after the art place does sterilization anesthesia, at first the doctor uses puncture needle through supplementary instrument, as CT, puncture at suitable position under X-ray auxiliary, enter collecting system, nook closing member is taken out, after deriving urine, the hard work end 21 of controlling electronics PCN 2 enters human body, carry out the location, then the doctor shows by the high-definition image of display screen, the control of operation hand and relevant control button etc., can control scope clamping mechanical arm 1, the portable Surgery Platform 4 of adjusting, make electronics PCN 2 to observe in field of operation, the doctor can also the operative intelligence robot arm 3 near ureter, then the passage by intelligent intelligence machine hands 3 front ends passes into dilator, very thin ureter is expanded, be convenient to robot arm and enter operation, smash processing to doing than maximum size, can control robot arm to pathological changes such as polyps extracts, calcination and hemostasis etc., in addition, laser and microwave equipment also can enter 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 is equivalent to the extension of doctor's eyes, by controlling of precision, can process the pathological changes of kidney and ureter 9 under the environment of at least 5 times of amplifications, and due to Systems balanth, can greatly improve the safety of operation.
As shown in Fig. 8 B, described smart electronics arthroscope system in the Intelligent electronic endoscope of artificial channel, its operative approach is as described below:
before art, first the electronics arthroscope is arranged on the end effector 13 or 13 ' of scope clamping mechanical arm 1, and intake tunnel is connected with exhalant canal connects corresponding equipment, debug and do the standby preparation after intact, patient lies low and adjusts on Surgery Platform 4 or sit up straight operating chair in movable type, the fixing joint position, after the art place does sterilization anesthesia, at first the doctor does little otch in the affected part, then control electronics arthroscope and scope clamping mechanical arm 1 and move to otch porch and location, can control scope by control station 8 carefully accurately enters in articular cavity 10, the doctor shows by the high-definition image that returns to display screen, the control of operation hand and relevant control button etc., can control scope clamping mechanical arm 1, portable Surgery Platform 4 and the intelligence machine hands 3 adjusted, make intelligence machine hands 3 dexterous in articular cavity, accurately operation, carry out the cleaning of inflammation, the operations such as pathological changes excision and hemostasis.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 is equivalent to the extension of doctor's eyes, by controlling of precision, can process the pathological changes in articular cavity under the environment of at least 5 times of amplifications, and due to Systems balanth, can greatly improve the safety of operation.
Claims (6)
1. Intelligent electronic endoscope through artificial channel, 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, automatic liquid supply system, intelligence machine hands, control station and the central processing system adjusted;
Described fujinon electronic video endoscope comprises scope main body, hard work end, is placed in 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 is placed in linear type robot arm passage and can stretches out from the front end of hard work end, is connected with on 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 Surgery Platform, the automatic liquid supply system, intelligence machine hands, control station of adjusting all are connected with central processing system;
Described scope clamping mechanical arm comprises pedestal or is clamped on portable bayonet socket part, the articulated arm at Surgery Platform edge and the end effector that is connected with the scope main body adjusted, described pedestal or bayonet socket part connects articulated arm and end effector successively, is provided with in described scope clamping mechanical arm to drive it and rotate freely or the driving element of elevating movement;
Described intelligence machine hands comprises at least two energy external control part of involutory machine pawl, the actuator of driven machine pawl action, the power transmission structure that is used for the transmission actuator and control actuator action mutually, the actuator 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 internal diameter of fujinon electronic video endoscope, also comprise the transmission line of microsensor in described transfer line;
Mutually involutory machine pawl is at the machine pawl all under closed states for the energy of described intelligence machine hands, 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;
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 artificial channel according to claim 1, 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.
3. the Intelligent electronic endoscope through artificial channel according to claim 2, it is characterized in that: also be provided with in described intelligence machine hands one for Metal net basket by or serve as the passage of outside suction function or the passage that Microlithiasis is drawn, the described channel diameter of described intelligence machine hands is less than or equal to 2.0mm.
4. the Intelligent electronic endoscope through artificial channel according to claim 1, it is characterized in that: described automatic liquid supply system comprises the supporting bracket of the base that connects successively, automatic telescopic and is placed in the fluid reservoir of supporting bracket tip position, be provided with pressure system in described fluid reservoir, also be connected with the feed liquid pipeline that is communicated with the intake tunnel of fujinon electronic video endoscope on described fluid reservoir.
5. the Intelligent electronic endoscope through artificial channel according to claim 1, it is characterized in that: described fujinon electronic video endoscope is electronics PCN or electronics arthroscope, the front end of 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.
6. the Intelligent electronic endoscope through artificial channel according to claim 1, it is characterized in that: the internal diameter of the linear type robot arm passage of described 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.
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| CN 201110145649 CN102217927B (en) | 2011-06-01 | 2011-06-01 | Intelligent electronic endoscope system passing through manual channels |
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| CN 201110145649 CN102217927B (en) | 2011-06-01 | 2011-06-01 | Intelligent electronic endoscope system passing through manual channels |
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| CN104873167A (en) * | 2015-03-27 | 2015-09-02 | 广州医科大学附属第一医院 | Flexible bendable electronic nephroscope for percutaneous nephroseopy surgery and application method of flexible bendable electronic nephroscope |
| CN106963344A (en) * | 2017-04-01 | 2017-07-21 | 武汉大学 | Temperature, pressure for urogenital tract intracavity operation monitors adjusting means in real time |
| CN109171978B (en) * | 2018-09-18 | 2024-02-13 | 上海健康医学院 | Master-slave type stomach operation robot system |
| CN111012499B (en) * | 2018-12-29 | 2021-07-30 | 华科精准（北京）医疗科技有限公司 | Medical auxiliary robot |
| CN114917003A (en) * | 2022-07-20 | 2022-08-19 | 珠海康弘医疗科技有限公司 | Percutaneous spine endoscope robot scope sheath drainage device that catchments |
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| KR101075363B1 (en) * | 2008-10-31 | 2011-10-19 | 정창욱 | Surgical Robot System Having Tool for Minimally Invasive Surgery |
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