CN104083142B - A kind of can omnidistance indagation and the endoscope for the treatment of - Google Patents
A kind of can omnidistance indagation and the endoscope for the treatment of Download PDFInfo
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- CN104083142B CN104083142B CN201410380907.5A CN201410380907A CN104083142B CN 104083142 B CN104083142 B CN 104083142B CN 201410380907 A CN201410380907 A CN 201410380907A CN 104083142 B CN104083142 B CN 104083142B
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Abstract
A kind of can omnidistance indagation and the endoscope for the treatment of, it comprises mirror body insertion section front end (1), it is characterized in that rectangular guideway groove (4) in described mirror body insertion section front end (1), slide rail (3) is installed in rectangular guideway groove (4), ultrasonic therapeutic head (2) is arranged on slide rail (3) above and can moves up and down, slide rail (3) can move forward and backward in guide-track groove (4), and slide rail (3) can also move left and right in guide-track groove (4) simultaneously; Be provided with ultrasonic a period of time (6), lighting fiber (5) and image channel (7) in the insertion end near mirror body insertion section front end (1), the surrounding of guide-track groove (4); While being provided with for treatment on the guide-track groove (4) around ultrasonic therapeutic head (2), ultrasonic therapeutic head is carried out to cooling water inlet and delivery port, water inlet and delivery port are connected with corresponding water inlet pipe (9) and outlet pipe (10) respectively. The present invention is simple in structure, multiple functional, easy to operate.
Description
Technical field
The present invention relates to a kind of medicine equipment, especially one can integrate diagnosis and the integrated diagnostic equipment for the treatment of, specifically a kind of for human intracavity or pipeline can omnidistance indagation and treatment endoscope.
Background technology
At present, the endoscope that health system uses clinically both at home and abroad, most optical systems of utilizing that adopt are carried out image viewing, and part is to adopt ultrasonic wave capture to observe inner chamber hypodermis. Even if there is the endoscope with ultrasonic therapy function, due to the restriction of a treatment focal range, add that ultrasonic therapeutic head cannot move up along the longitudinal Vertical Square for the treatment of face, make subcutaneous pathological tissues in tube chamber can not get treating completely, or because treatment focal length exceeds pathological tissues scope, subcutaneous health tissues in tube chamber is also caused and burnt, cause the unnecessary misery of patient; In addition, if need the subcutaneous pathological tissues for the treatment of different depth, also need the frequent treatment head of changing, bring very large trouble to clinical manipulation doctor. Based on these problems, in the urgent need to a kind of endoscope the emerging in clinical practice that can eliminate these drawbacks.
Summary of the invention
The object of the invention is can not to move as required to realize for existing endoscope function singleness or the treatment head with the endoscope for the treatment of function the problem of effective treatment, design one can carry out ultrasonoscopy and optical imagery obtains, can make three dimensional orientation along the surface of patient's tube chamber inner disease foci position again moves arbitrarily, to realize in whole-course treatment without changing treatment head and the frequent mirror body insertion section toe angle of adjusting, just can implement the lesions position of patient's tube chamber inner surface and hypodermis different depth to carry out omnidistance image indagation and thoroughly treatment, and that can not damage human body health tissues can omnidistance indagation and treatment endoscope.
Technical scheme of the present invention is:
A kind of can omnidistance indagation and the endoscope for the treatment of, it comprises mirror body insertion section front end 1, this mirror body insertion section front end 1 is connected with endoscopic procedure portion and bending rotation in body lumen under it is controlled, it is characterized in that rectangular guideway groove 4 in described mirror body insertion section front end 1, slide rail 3 is installed in rectangular guideway groove 4, ultrasonic therapeutic head 2 is arranged on slide rail 3 and can under the driving of Y-direction driving mechanism, on slide rail 3, moves up and down, slide rail 3 X to can be interior at guide-track groove 4 under the driving of driving mechanism be that X moves forwards, backwards along mirror body insertion section front end 1 horizontal radial, it is axially moving left and right of Z-direction that while slide rail 3 can also be done along mirror body insertion section front end 1 at guide-track groove 4 under the driving of Z-direction driving mechanism, be provided with ultrasonic a period of time 6, lighting fiber 5 and image channel 7 in the insertion end near mirror body insertion section front end 1, the surrounding of guide-track groove 4, microcam is installed in image channel, described ultrasonic a period of time 6, ultrasonic therapeutic head 2 and lighting fiber 5 is all by data signal line 8 and the electrical connection of Background control device, and microcam is directly delivered to background computer by the optical imagery of collection and carried out image processing, while being provided with for treatment on the guide-track groove 4 around ultrasonic therapeutic head 2, ultrasonic therapeutic head is carried out to cooling water inlet and delivery port, water inlet and delivery port are connected with corresponding water inlet pipe 9 and outlet pipe 10 respectively.
Described Y-direction driving mechanism is made up of the Y-axis micro-step motor 3-2 and the Y-axis travel switch 3-4 that are arranged on slide rail 3, and ultrasonic therapeutic head 2 moves up and down along slide rail 3 under Y-axis micro-step motor 3-2 effect.
Described X is made up of the X axis micro-step motor 3-1 being connected with slide rail 3 and X axis travel switch 3-3 to driving mechanism, and X axis micro-step motor 3-1 drives slide rail 3 to do moving forward and backward of X axis.
Described Z-direction driving mechanism is made up of the Z-axis direction micro-step motor 4-1 and the Z-axis direction travel switch 4-2 that are arranged on guide-track groove 4, and it is axially moving left and right of Z-direction that Z-axis direction micro-step motor 4-1 drives slide rail 3 to do along mirror body insertion section front end 1.
Described water inlet and delivery port are positioned on the both sides up and down or left and right sides of guide-track groove 4.
In the insertion end of described mirror body insertion section front end 1, translucent cover 11 is installed.
Beneficial effect of the present invention:
Endoscope body diversity photoimaging collection of the present invention, ultrasonography collection and ultrasonic therapy function are in one; The ultrasonic therapeutic head of ultrasonic therapy function can be done along human lumen surface and hypodermis lesions position mobile arbitrarily in three dimensional orientation, thoroughly solve thus because of the restriction of ultrasonic therapeutic head fixed focal length and can not vertically vertically move the brought halfway drawback that focus hypodermis is treated at tube chamber inner surface; In addition, also solved because of existing endoscope ultrasonic therapeutic head focal range unadjustablely, or exceeded injected organism tissue focus scope, caused the negative consequence of the healthy injected organism tissue of burning in treatment. Controlling organization just because of ultrasonic therapeutic head can be under intelligent control program effect, according to the mass range curve of drawing in lesion image, combined treatment calculation of parameter, FEEDBACK CONTROL treatment head is along tube chamber inner disease foci area three-dimensional dimensional orientation moving treatment, form pancratic ultrasonic wave function, make tube chamber inner surface and hypodermic different depth lesions position be able to thoroughly cover treatment, also having exempted doctor simultaneously needs frequent mobile endoscope insertion part and brings operational inconvenience. Find out thus, endoscope of the present invention has had the misery alleviating in patient treatment in clinical use, improves state of an illness treatment effect, has brought facility also to clinician on substantial length of operation is used simultaneously.
The present invention is applicable to, without wound or Wicresoft, patient's tube chamber inner surface and tube chamber subendothelial tissue lesion tissue are carried out to indagation and treatment; Ultrasonic therapeutic head wherein can move arbitrarily along three dimensions in cavity under controlling organization effect, in omnidistance examination and treatment without changing ultrasonic therapeutic head, also without frequent manually passing insertion section transposition treatment, just can realize at patient's tube chamber inner surface and subcutaneous lesion tissue and implement omnidistance observation and treatment, and can damage healthy tissues, contribute to alleviate patient's misery, also facilitated clinical diagnosis and treatment doctor's operation simultaneously.
The present invention is simple in structure, utilize existing single group micro-step motor controlling organization under software program control, to do one-dimensional square any movement upwards by guiding target body, realize and done mobile arbitrarily in three dimensional orientation by three cover micro-step motor control volume guiding treatment heads, be very easy to doctor's operation, improve surgical result, promoted operative treatment to intelligent development.
Brief description of the drawings
Fig. 1 is the ultrasonic use treatment of endoscope of the present invention flow chart.
Fig. 2 is endoscope insertion part front-end architecture schematic diagram of the present invention.
Fig. 3 is the sectional structure schematic diagram of Fig. 2.
In figure: 1, mirror body insertion section front end, 2, ultrasonic therapeutic head, 3, slide rail, 3-1, X axis micro-step motor, 3-2, Y-axis micro-step motor, 3-3, X axis lead limit switch, 3-4, Y-axis lead limit switch, 4, guide-track groove, 4-1, Z-axis direction micro-step motor, 4-2, Z-axis direction lead limit switch, 5, light-conductive optic fibre, 6, ultrasonic a period of time, 7, image channel, 8, holding wire, 9, water inlet pipe, 9-1, water inlet, 10, outlet pipe, 10-1, delivery port, 11, translucent cover.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further illustrated.
As Figure 2-3.
A kind of can omnidistance indagation and the endoscope for the treatment of, it comprises mirror body insertion section front end 1, this mirror body insertion section front end 1 be connected with endoscopic procedure portion and can be under endoscopic procedure portion controls in body lumen bending rotation, in the insertion end of mirror body insertion section front end 1, translucent cover 11 is installed, as shown in Figure 2, rectangular guideway groove 4 in the front end 1 of mirror body insertion section, mirror body insertion section front end 1 overall cylindrical structure, cross section is as shown in Figure 3. Slide rail 3 is installed in rectangular guideway groove 4, ultrasonic therapeutic head 2 is arranged on slide rail 3 and can under the driving of Y-direction driving mechanism, on slide rail 3, moves up and down, slide rail 3 X to can be interior at guide-track groove 4 under the driving of driving mechanism be that X moves forwards, backwards along mirror body insertion section front end 1 horizontal radial, can also under the driving of Z-direction driving mechanism, to do along mirror body insertion section front end 1 at guide-track groove 4 be axially moving left and right of Z-direction to slide rail 3 simultaneously; Be provided with ultrasonic a period of time 6, lighting fiber 5 and image channel 7 in the insertion end near mirror body insertion section front end 1, the surrounding of guide-track groove 4, as shown in Figure 3, microcam is installed in image channel, and described ultrasonic a period of time 6, lighting fiber 5 and microcam is all by data signal line 8 and the electrical connection of Background control device; While being provided with for treatment, ultrasonic therapeutic head is carried out to cooling water inlet and delivery port on the guide-track groove 4 around ultrasonic therapeutic head 2, water inlet 9-1 and delivery port 10-1 are opened on the both sides up and down or left and right sides of guide-track groove 4, and they are connected with corresponding water inlet pipe 9 and outlet pipe 10 respectively. The driving mechanism of three directions of the present invention can be directly from the corresponding micro drives of market purchasing mechanism, wherein Y-direction driving mechanism is made up of the Y-axis micro-step motor 3-2 and the Y-axis travel switch 3-4 that are arranged on slide rail 3, and ultrasonic therapeutic head 2 moves up and down along slide rail 3 under Y-axis micro-step motor 3-2 effect. Described X is made up of the X axis micro-step motor 3-1 being connected with slide rail 3 and X axis travel switch 3-3 to driving mechanism, and X axis micro-step motor 3-1 drives slide rail 3 to do moving forward and backward of X axis. Described Z-direction driving mechanism is made up of the Z-axis direction micro-step motor 4-1 and the Z-axis direction travel switch 4-2 that are arranged on guide-track groove 4, and it is axially moving left and right of Z-direction that Z-axis direction micro-step motor 4-1 drives slide rail 3 to do along mirror body insertion section front end 1.
The present invention utilizes optical system and ultrasound image system capture observation human lumen surface and hypodermic focus situation respectively, carries out diagnoses and treatment for clinician; In addition, its insertion section front end is also with the treatment head of ultrasonic therapy function, utilize fuel factor, mechanical effect and the cavitation effect of ultrasonic therapy, and by under the effect in Jing Tinei intelligence control system mechanism, can, according to size and the region of tube chamber inner surface and hypodermis lesions position, make three dimensional orientation along the surface of patient's tube chamber inner disease foci position and move arbitrarily. Can realize thus in whole-course treatment without changing treatment head and the frequent mirror body insertion section front end of adjusting, just can implement the lesions position of patient's tube chamber inner surface and hypodermis different depth to carry out omnidistance image indagation and thoroughly treatment, and can not damage human body health tissues. The misery that has alleviated thus patient, has improved curative effect, has also facilitated clinician's operation simultaneously.
In the time of needs inspections and examinations human lumen surface and hypodermis image, can be chosen in respectively the capture button on mirror body handle, or the software image button that is connected to computer and moves in computer, now can in computer display, observe tube chamber inner surface image and tube chamber subendothelial tissue image, this image can be edited it, intercept, preserves after clinician carries out diagnostic observation. The lesions position for the treatment of for needs, clinician can edit drafting on lesion image, draws focus curve ranges, determines thus lesions position and therapeutic domain. The therapeutic domain identifying and figure can relate to following ultrasonic therapy parameter after startup treatment:
ITP=(PA)2/ρc（1）
ITA=W/S（2）
Wherein: I in formula (1)TPFor temporal peak intensity, PAFor sound pressure amplitude, ρ is Media density, and c is the velocity of sound; I in formula (2)TAFor the time average peak sound intensity, W is the acoustical power of probe radiation, and S is the effective swept area of probe.
Due to fuel factor, mechanical effect and cavitation effect that in tube chamber, human body lesion tissue produces under ultrasonic therapy effect, there is following heat energy and sound intensity parameter conversion relation:
Q=2αIt（3）
α=0.026f1.1（4）
ΔT=0.052Itf1.1/ρcm（5）
Wherein: in formula (3), Q is that (unit is J/cm to heat energy3), I(unit is W/cm2) be the sound intensity, α (unit is Np/cm) is acoustical absorptivity; In formula (4), f(unit is MHz) be ultrasonic frequency; Formula (5) ZhongΔ T(unit is a ° C) under ul-trasonic irradiation, the temperature rise of injected organism tissue in the t time, cm(unit is J/cm3° C) be specific heat, (unit is g/cm to ρ3) be the mass density of soft tissue.
Above-mentioned various for start the parameter conversion relation producing after treatment at ultrasonic wave, call parameter in these clinical practices, or be built in ultrasonic therapy control program, or by manually inputting in computer operation, the value such as heat energy and temperature rise of human body lesions position thus can obtain medical treatment in ultrasonic therapy process, the values such as these heat energy and temperature rise, with reference to the value limit given in plug-in, and be preset at area for treatment scope in lesion image, control circuit and program can feed back to these parameter values in ultrasonic therapy control program, just can in therapeutic process, control ultrasonic therapeutic head and treat the displacement of face on three-dimensional position along inner chamber, translational speed and treatment time, guarantee the validity to lesions position treatment, and health tissues is not burnt, and can be at therapeutic process and the omnidistance call parameter that records treatment results at the end, comprise treatment time, treatment position, human body position heat, send the parameter values such as power, and be stored in the picture library of therapentic part state, for doctor inquiry, also play and avoid same lesions position and repeatedly treated or futile treatment simultaneously.
Use procedure of the present invention and method, as Fig. 1, by optical imagery and ultrasonic imaging, can obtain respectively human lumen surface and subcutaneous depth tissue image. By the image of obtaining, can judge lesions position situation for clinical diagnosis and treatment doctor; According to lesions position illness analysis, drawn out the lesions position scope envelope diagram that needs treatment by clinician, choose according to envelope diagram, can calculate ultrasonic therapeutic head needs the parameters such as the distance of stroke, treatment time, longitudinal (Y-direction) and horizontal (Z-direction) translational speed and feeds back to ultrasonic therapeutic head controlling organization, an order that waits treatment head to be controlled to start. Start ultrasonic therapy if select, ultrasonic therapeutic head can be made laterally (Z-direction), longitudinal (Y-direction) and vertical tube cavity inner surface orientation (X to) moving treatment along focus region inner surface, after the treatment of in moving treatment process and region, can record its motion track, treatment time, therapentic part, and calculate the thermal energy that therapentic part produces, with built-in ultrasonic therapy parameter comparison, thereby determine treatment time and the translational speed of ultrasonic therapeutic head, guarantee completeness and the validity of therapentic part, avoid the being repeated property treatment of same position simultaneously. After a certain lesions position treatment, continue check and treat next position if need, can from endoscope handle operator panel buttons or computer picture control software, choose corresponding button, start next focus range check and the treatment of a new round; Check or treatment if stop, can choose and exit operation, finish this treatment activity.
Shown in Fig. 2 is endoscope insertion part front-end architecture figure, and it is made up of parts such as ultrasonic therapeutic head 2, slide rail 3 guide-track grooves 4. Ultrasonic therapeutic head 2 is embedded on slide rail 3, and is moved for it provides Y-axis by slide rail 3; X axis micro-step motor 3-1, Y-axis micro-step motor 3-2, X axis lead limit switch 3-3, Y-axis lead limit switch 3-4 are installed on slide rail 3. Guide-track groove 3 is arranged on guide-track groove 4, and can, under the effect of micro-step motor 4-1 controlling organization, be that Z-axis direction moves along guide-track groove 4 left and right directions. In therapeutic process, according to selected lesions position scope curve, under the same degree of depth, can drive ultrasonic therapeutic head to make X axis and at the uniform velocity moving treatment of Y-axis along tube chamber inner surface by X axis micro-step motor 3-1 and Y-axis micro-step motor 3-2, and stop the offside movement of ultrasonic therapeutic head by X axis lead limit switch 3-3 and Y-axis lead limit switch 3-4; In different depth hypodermis focus region, drive the slide rail 3 that ultrasonic therapeutic head 2 is installed along moving left and right in Z-direction by the Z-axis direction micro-step motor 4-1 being arranged on guide-track groove 4, to guarantee completeness and the validity of lesions position treatment, the direction arrow in figure also illustrates the direction that ultrasonic therapy mechanism moves. One end of water inlet pipe 9 and outlet pipe 10 is connected to water inlet 9-1 and the delivery port 10-1 of guide-track groove 4 upper sheds, the other end connects respectively magnetic drive pump, effect is to reduce the temperature that ultrasonic therapeutic head itself produces in therapeutic process, guarantees security and the validity of therapeutic process. The tube chamber inner surface image that image channel 7 is absorbed by object lens reaches in computer, for inspections and examinations; Holding wire 8 connects the tube chamber subendothelial tissue ultrasonoscopy being generated by ultrasonic a period of time 6 and is sent to computer. Meanwhile, the control signal that acts on ultrasonic therapeutic head 2 is also transmitted by holding wire 8. Translucent cover 11 is fixed on mirror body insertion section top end face, sealing Jing Ti insertion section mechanism, and do not hinder optical channel and ultrasonic wave operating path.
Mirror body insertion section tip section figure as shown in Figure 3. The sequence number of each correspondence mark on it, all narrations to some extent in Fig. 2.
The present invention observes and therapeutic system as a kind of endoscopic images, optics and the each self-generating of ultrasonic wave and station diagram that can not function replacement are looked like to carry out capture observation, and can be according to the observation to carry out ultrasonic therapy at tube chamber inner surface and hypodermic lesions position, there is Wicresoft or noninvasive result for the treatment of; By the intelligent control program of setting, according to the degree of depth of lesions position, allow ultrasonic therapeutic head do three-dimensional direction moving treatment, form a kind of pancratic therapeutic state. Therefore, can be according to setting focus curvilinear figure and treating parameter and avoid healthy injected organism tissue in therapeutic process, simultaneously, can implement treatment completely to tube chamber inner surface and the hypodermis lesions position with the needs treatment of different depth, solve thus endoscope on the market and used unicity in function and the no thoroughness for the treatment of. Also opened the gate of endoscope in clinical practice in Wicresoft or aspect wound, safety, validity.
The part that the present invention does not relate to all prior art that maybe can adopt same as the prior art is realized.
Claims (3)
- One kind can omnidistance indagation and the endoscope for the treatment of, it comprises mirror body insertion section front end (1), this mirror body insertion section front end (1) is connected with endoscopic procedure portion and bending rotation in body lumen under endoscope control, it is characterized in that being provided with rectangular guideway groove (4) in described mirror body insertion section front end (1), slide rail (3) is installed in rectangular guideway groove (4), ultrasonic therapeutic head (2) is arranged on slide rail (3) above and can under the driving of Y-direction driving mechanism, on slide rail (3), moves up and down, slide rail (3) can be that X moves forwards, backwards along mirror body insertion section front end (1) horizontal radial at X under the driving of driving mechanism in guide-track groove (4), slide rail (3) can also be axially moving left and right of Z-direction at guide-track groove (4) work along mirror body insertion section front end (1) under the driving of Z-direction driving mechanism simultaneously, be provided with ultrasonic a period of time (6), lighting fiber (5) and image channel (7) in the insertion end near mirror body insertion section front end (1), the surrounding of guide-track groove (4), microcam is installed in image channel, and described ultrasonic a period of time (6), ultrasonic therapeutic head (2) and lighting fiber (5) is all by data signal line (8) and the electrical connection of Background control device, while being provided with for treatment on the guide-track groove (4) around ultrasonic therapeutic head (2), ultrasonic therapeutic head is carried out to cooling water inlet and delivery port, water inlet and delivery port are connected with corresponding water inlet pipe (9) and outlet pipe (10) respectively, described Y-direction driving mechanism is made up of the Y-direction micro-step motor (3-2) and the Y-direction limitation travel switch (3-4) that are arranged on slide rail (3), and ultrasonic therapeutic head (2) moves up and down along slide rail (3) under the driving of Y-direction micro-step motor (3-2), described X is made up of to travel switch (3-3) to micro-step motor (3-1) and X the X being connected with slide rail (3) to driving mechanism, X to micro-step motor (3-1) drive slide rail (3) do X to move forward and backward, described Z-direction driving mechanism is made up of the Z-direction micro-step motor (4-1) and the Z-direction travel switch (4-2) that are arranged on guide-track groove (4), and it is axially moving left and right of Z-direction along mirror body insertion section front end (1) that Z-direction micro-step motor (4-1) drives slide rail (3) to do.
- 2. endoscope according to claim 1, is characterized in that described water inlet and delivery port are positioned on the both sides up and down or left and right sides of guide-track groove (4).
- 3. endoscope according to claim 1, is provided with translucent cover (11) in the insertion end of the mirror body insertion section front end (1) described in it is characterized in that.
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| US20200029932A1 (en) * | 2018-07-30 | 2020-01-30 | Koninklijke Philips N.V. | Systems, devices, and methods for displaying multiple intraluminal images in luminal assessment with medical imaging |
| CN111297309B (en) * | 2020-03-07 | 2024-01-30 | 陕西艾诺美瑞申医疗科技有限公司 | Electronic endoscope for medical imaging |
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| US5908445A (en) * | 1996-10-28 | 1999-06-01 | Ep Technologies, Inc. | Systems for visualizing interior tissue regions including an actuator to move imaging element |
| JP2004290548A (en) * | 2003-03-28 | 2004-10-21 | Toshiba Corp | Diagnostic imaging device, diagnosis or therapeutic device and diagnosis or therapeutic method |
| JP2004041780A (en) * | 2003-10-27 | 2004-02-12 | Olympus Corp | Ultrasonic cutting and coagulation device |
| JP4823496B2 (en) * | 2004-08-23 | 2011-11-24 | オリンパス株式会社 | Observation system |
| JP4868959B2 (en) * | 2006-06-29 | 2012-02-01 | オリンパスメディカルシステムズ株式会社 | Body cavity probe device |
| CN201445530U (en) * | 2009-06-30 | 2010-05-05 | 广州宝胆医疗器械科技有限公司 | ultrasonic cystoscope |
| CN101933795B (en) * | 2010-08-30 | 2012-09-26 | 武汉佑康科技有限公司 | Combined type soft or hard endoscope |
| CN202015192U (en) * | 2010-12-30 | 2011-10-26 | 广州宝胆医疗器械科技有限公司 | Esophagoscope system with color Doppler ultrasonic scanning function |
| CN102499719B (en) * | 2011-09-30 | 2013-07-03 | 汕头市超声仪器研究所有限公司 | Ultrasonic probe for endoscope |
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