CN114947691A

CN114947691A - Endoscope apparatus, position guide apparatus for endoscope, and medical bed

Info

Publication number: CN114947691A
Application number: CN202210345808.8A
Authority: CN
Inventors: 吴昊晟; 马家骏; 刘弘毅
Original assignee: Changzhou Lunghealth Medtech Co ltd
Current assignee: Changzhou Lunghealth Medtech Co ltd
Priority date: 2022-03-31
Filing date: 2022-03-31
Publication date: 2022-08-30

Abstract

The application relates to the technical field of endoscopes and provides endoscope equipment, position guide equipment of an endoscope and a medical bed, wherein the medical bed comprises: the endoscope scanning device comprises a bed plate, a scanning device and a control device, wherein a mechanical arm with an endoscope is arranged on a first side of the bed plate, a second side of the bed plate is arranged close to the scanning device arranged outside, and the first side and the second side are opposite; the adjusting device can drive the bed board to move from the direction of the first side to the direction of the second side so as to send the bearing objects on the bed board into the scanning device for scanning. The endoscope position guide device can simplify operation and improve treatment efficiency.

Description

Endoscope apparatus, position guide apparatus for endoscope, and medical bed

Technical Field

The present application relates to the field of endoscope technology, and in particular, to an endoscope apparatus, a position guide apparatus of an endoscope, and a medical bed.

Background

The endoscope is a detection instrument integrating traditional optics, ergonomics, precision machinery, modern electronics, mathematics and software, and has an image sensor, an optical lens, a light source illumination, a mechanical device and the like, and can enter the stomach through the oral cavity, enter the lung through the nasal cavity or enter the body through other natural pores. The endoscope can be used for seeing the pathological changes which can not be displayed by X-ray, and simultaneously, the endoscope can be matched with a biopsy tool to carry out clamp examination, brush examination and needle suction examination on living tissues; the operation tool is matched to cut off the tumor, polyp or other focus. The traditional endoscope is very challenging to operate and experience for operators. For example, the conventional bronchoscope has a large outer diameter, is difficult to enter into the bronchi with high progression on the periphery of the lung, and has general bending control performance and difficult operation.

On the basis of the conventional endoscope, in the published patent magnetic navigation trachea positioning robot with application number 2021103517486 and the published patent endoscope handle and driving device with application number 2021100352778, electric electronic bronchoscopes operated by medical robots are introduced, and compared with the conventional bronchoscopes, the electric electronic bronchoscopes can reach higher-level bronchi and have better displacement resistance and stability after reaching a target position.

Generally, biopsy procedures performed in conjunction with bronchoscopic interventions are performed directly under an endoscopic imaging system. However, for the focus which can not be reached and visualized by the endoscope in the natural cavity deep or behind the cavity wall of the human body, the doctor can not visually identify the focus through the imaging system, so that the biopsy tool can not be accurately positioned. Even for the target position which can be directly viewed under the image system, the visual field can be lost due to the interference of body fluid in the operation process, so that a doctor loses the perception of the passed path and the endoscope intervention can be needed to be carried out again. The multiple interventions not only prolong the operation time and improve the cost, but also cause great pain to the patients.

Disclosure of Invention

In order to solve or at least partially solve the above technical problem, the present application provides a position guidance method of an endoscope, including the steps of:

determining that a mechanical arm provided with an endoscope is in a position for avoiding a scanning device;

the scanning device is relatively moved from the direction far away from the mechanical arm to the direction close to the mechanical arm until reaching the working area of the endoscope and scanning, and then relatively moved to the direction far away from the mechanical arm so as to reset the scanning device;

and constructing a three-dimensional model based on computed tomography imaging, and guiding the endoscope on the mechanical arm to a final target position according to the three-dimensional model.

Optionally, guiding the endoscope on the robotic arm to the target location according to the three-dimensional model, comprising:

guiding an endoscope on the mechanical arm to an expected target position corresponding to the three-dimensional model according to the three-dimensional model;

rescanning, and judging whether the actual position of the endoscope is located at the final target position; and/or judging whether the direction of the head end of the endoscope faces correctly;

if the endoscope is not located at the final target position, correcting the position of the endoscope to the final target position;

if the direction of the head end is incorrect, the direction of the head end of the endoscope is corrected.

Optionally, before the scanning step, the method further comprises:

moving the magnetic navigation plate out of a navigation operation area corresponding to a working area of the endoscope;

after the step of homing the scanning device, further comprising:

moving the magnetic navigation plate to a navigation operation area corresponding to the scanned area;

in the step of guiding the endoscope on the arm to the final target position of the human body, the endoscope on the arm is guided to the final target position of the human body by magnetic navigation.

Alternatively,

guiding an endoscope on a robotic arm to a final target location of a human body via magnetic navigation, comprising:

guiding an endoscope on the mechanical arm to an expected target position corresponding to the three-dimensional model by means of magnetic navigation according to the three-dimensional model;

moving the magnetic navigation plate out of the navigation operation area;

rescanning the working area of the endoscope and then returning the scanning device in a direction away from the mechanical arm;

judging whether the actual position of the endoscope is located at the final target position;

if not, returning the scanning device to the direction far away from the mechanical arm;

the endoscope is corrected to the final target position by magnetic navigation.

Alternatively, the first and second liquid crystal display panels may be,

in the step of judging whether the actual position of the endoscope is located at the final target position, the method further comprises the following steps:

judging whether the pointing direction of the head end of the endoscope is consistent with the required pointing direction;

if not, after the step of resetting the scanning device towards the direction far away from the mechanical arm, the pointed direction of the head end of the endoscope is corrected to be consistent with the required pointed direction by means of magnetic navigation.

Optionally, the system for guiding an endoscope on a mechanical arm to a target position of a human body according to a three-dimensional model and electromagnetic navigation comprises:

defining a target position in the three-dimensional model and planning a traveling path of the endoscope;

registering a space system where the three-dimensional model is located and a space system where the patient is actually located;

and guiding the endoscope to a final target position according to the planned travel path.

Embodiments of the present application also provide a computer-readable storage medium storing program instructions that, when executed by a computer, cause the computer to execute the aforementioned position guidance method for an endoscope.

Embodiments of the present application also provide a position guide system of an endoscope, including:

a position determination unit for determining that a robot arm provided with an endoscope is in a position to avoid the scanning device;

the scanning unit is used for enabling the scanning device to relatively move from the direction far away from the mechanical arm to the direction close to the mechanical arm until the scanning device reaches the working area of the endoscope and scans, and then relatively moves to the direction far away from the mechanical arm so as to reset the scanning device;

the model building unit is used for building a three-dimensional model based on computed tomography;

and the guiding unit is used for guiding the endoscope on the mechanical arm to the final target position of the human body according to the three-dimensional model.

Embodiments of the present application also provide an endoscopic device, optionally comprising an endoscope, a robotic arm, a medical bed, and a controller, the endoscope disposed on the robotic arm;

the medical bed comprises:

the first side of the bed board is used for arranging a mechanical arm, the second side of the bed board is arranged close to an externally arranged scanning device, and the first side and the second side are opposite;

the adjusting device can drive the bed plate to move from the direction of the first side to the direction of the second side so as to send the bearing objects on the bed plate into the scanning device for scanning;

the endoscope, the mechanical arm, the medical bed and the scanning device are all in communication connection with the controller;

the controller is used for determining that a mechanical arm provided with an endoscope is in a position avoiding the scanning device;

the controller is also used for enabling the scanning device to move relatively from the direction far away from the mechanical arm to the direction close to the mechanical arm until the scanning device reaches the working area of the endoscope and scans, and then the scanning device is moved relatively from the direction far away from the mechanical arm to return to the position;

the controller is also used for constructing a three-dimensional model based on computed tomography imaging, and guiding the endoscope on the mechanical arm to a final target position according to the three-dimensional model.

Embodiments of the present application also provide a position guide apparatus of an endoscope, including a scanning device and the aforementioned endoscope apparatus.

Embodiments of the present application also provide a medical bed, comprising:

the medical bed comprises a bed plate, a first side of the bed plate is used for arranging a mechanical arm with an endoscope, a second side of the bed plate is arranged close to a scanning device arranged outside, and the first side and the second side are opposite;

the adjusting device can drive the bed plate to move from the direction of the first side to the direction of the second side so as to send the bearing objects on the bed plate into the scanning device for scanning.

Optionally, the method further comprises:

the magnetic navigation plate is arranged in a navigation operation area, the navigation operation area is arranged corresponding to the operation area of the endoscope, and the magnetic navigation plate is used for guiding the movement of the endoscope.

Optionally, the position of the magnetic navigation pad is fixed relative to the position of the scanning device.

Optionally, the method further comprises:

the mobile device is connected with the magnetic navigation plate, the mobile device can drive the magnetic navigation plate to move back and forth between the navigation operation area and the standby area, and the standby area avoids the area when the scanning device is in a scanning state.

Optionally, the method further comprises: a cavity is reserved in the bed plate;

the magnetic navigation plate is arranged in the cavity, the standby area is positioned in the direction of the cavity close to the second side, and the navigation operation area is positioned in the direction of the cavity close to the first side;

the mobile device comprises a power source and a transmission mechanism, the transmission mechanism is respectively connected with the power source and the magnetic navigation plate, and the power source drives the magnetic navigation plate to move back and forth between the navigation operation area and the standby area through the transmission mechanism.

Optionally, the transmission mechanism is disposed in the cavity, and the transmission mechanism is capable of changing its length under the driving of the power source, and the magnetic navigation plate moves back and forth when changing its length along with the transmission mechanism.

Optionally, comprising: the transmission mechanism is an expansion link or a scissor-type lifting arm.

Optionally, the transmission mechanism includes a lead screw disposed at a side portion of the bed plate, and a slider mounted on the lead screw, the slider being connected to the magnetic navigation plate.

Optionally, the method further comprises:

and the optical sensor is arranged on one side of the bed plate and is used for detecting whether the mechanical arm with the endoscope is positioned at a position avoiding the scanning device.

The embodiment of the application also provides endoscope equipment, which comprises an endoscope, a mechanical arm and the medical bed, wherein the endoscope is arranged on the mechanical arm, and the mechanical arm is fixed on the first side of the bed board of the medical bed.

Embodiments of the present application also provide a position guide apparatus of an endoscope, including: a computed tomography imaging apparatus and an endoscopic device as described previously.

According to the embodiment of the application, the scanning device and the mechanical arm of the endoscope are combined on the same medical bed, so that a coordinate system of a three-dimensional model obtained by the scanning device on the space and a coordinate system when the mechanical arm performs actions can be simply corresponded. During the in-service use, only need carry out the single registration to the space system in the reality of three-dimensional model and patient's human body, can record the relative position of magnetic navigation board and human through the bed body structure, removed the work of registering repeatedly to three-dimensional model and physical space coordinate system after the magnetic navigation board removes, avoid the required compensation calculation to the relative position of scanning device and arm after scanning at every turn, simplified the operation, show and improved treatment effeciency.

Drawings

In order to more clearly describe the embodiments of the present application, a brief description will be given below of the relevant drawings. It is to be understood that the drawings in the following description are only intended to illustrate some embodiments of the present application, and that a person skilled in the art may also derive from these drawings many other technical features and connections etc. not mentioned herein.

Fig. 1 is a schematic flowchart of a position guidance method for an endoscope according to an embodiment of the present disclosure;

FIG. 2 is a perspective view of an endoscope position guidance apparatus according to an embodiment of the present disclosure;

FIG. 3 is a schematic side view of a position guidance apparatus for an endoscope according to an embodiment of the present disclosure;

FIG. 4 is a schematic perspective view of another endoscope position guidance apparatus provided in accordance with an embodiment of the present application;

FIG. 5 is a perspective view of another endoscope position guidance apparatus for scanning according to an embodiment of the present application;

FIG. 6 is a schematic flow chart of another endoscope position guidance method provided in an embodiment of the present application;

fig. 7 is a schematic flowchart of a position guidance method for an endoscope according to an embodiment of the present disclosure;

FIG. 8 is a schematic perspective view of a position guidance apparatus for another endoscope provided in accordance with an embodiment of the present application;

fig. 9 is a perspective view of another position guide apparatus of an endoscope according to an embodiment of the present application, when removing a deck panel;

fig. 10 is a perspective view of another position guide apparatus of an endoscope according to an embodiment of the present application, when a table panel is removed during scanning;

FIG. 11 is a schematic top view of a position guidance apparatus for another endoscope provided in accordance with an embodiment of the present application;

fig. 12 is a schematic top view of another endoscope position guide apparatus according to an embodiment of the present application.

The reference numbers and designations in the drawings are as follows:

1. a scanning device; 2. an endoscopic device; 21. an endoscope; 22. a mechanical arm; 23. a medical bed; 231. a bed board; 232. an adjustment device; 233. an optical sensor; 234. a magnetic navigation plate; 235. a mobile device; 2351. a power source; 2352. a transmission mechanism; 236. a cavity.

Detailed Description

The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings in the embodiments of the present application.

The inventors have found that in order to reduce the number of interventions, the path of the endoscope into the body, the current position and the head end orientation can be defined in conjunction with a scanning device.

Implementation mode one

A first embodiment of the present application proposes a position guidance method of an endoscope, as shown in fig. 1, including the steps of:

determining that the robot arm 22 provided with the endoscope 21 is in a position to avoid the scanning apparatus 1;

relatively moving the scanning device 1 from the direction far away from the mechanical arm 22 to the direction close to the mechanical arm 22 until reaching the working area of the endoscope 21 and scanning, and then relatively moving the scanning device 1 from the direction far away from the mechanical arm 22 to return the scanning device 1;

a three-dimensional model based on computed tomography imaging is constructed, and the endoscope 21 on the robot arm 22 is guided to a final target position according to the three-dimensional model.

Embodiments of the present application also provide a computer-readable storage medium storing program instructions that, when executed by a computer, cause the computer to execute the aforementioned endoscope position guidance method. Based on the above method, an embodiment of the present application also provides a position guidance system of an endoscope, including:

a position determination unit for determining that the robot arm 22 provided with the endoscope 21 is in a position to avoid the scanning apparatus 1;

a scanning unit, configured to relatively move the scanning device 1 from a direction away from the mechanical arm 22 to a direction close to the mechanical arm 22 until reaching a working area of the endoscope 21 and scanning, and then relatively move to a direction away from the mechanical arm 22 to return the scanning device 1;

a guide unit for guiding the endoscope 21 on the robot arm 22 to a final target position of the human body according to the three-dimensional model.

Since the above position guidance method and position guidance system are dependent on a physical device to be performed, for the sake of understanding, a position guidance system of an endoscope based on the guidance method will be given next. The endoscope position guidance system according to the present embodiment is merely exemplary, and does not necessarily limit the endoscope position guidance method described above.

A position guide system of an endoscope according to a first embodiment of the present application, as shown in fig. 2, includes:

a scanning apparatus 1 and an endoscopic device 2.

The endoscope apparatus 2 includes an endoscope 21, a robot 22, and a medical bed 23, and the endoscope 21 is provided on the robot 22.

The hospital bed 23 includes:

the bed plate 231, the first side of bed plate 231 is used for setting up arm 22, and the second side is close to the scanning device 1 setting of outside setting, and first side and second side are relative. That is, the bed 231 provides a platform to which the patient, the robotic arm 22 and the endoscope 21 can be simultaneously secured, and moving the platform causes relative movement between the scanning device 1 and the robotic arm 22 to complete the scanning of the entire working area.

The adjusting device 232 can drive the bed plate 231 to move from the direction of the first side to the direction of the second side, so that the load on the bed plate 231 can be sent to the scanning device 1 for scanning;

the position guidance system of the endoscope may further include a controller (not shown) to which the endoscope 21, the robot arm 22, the medical bed 23, and the scanning apparatus 1 are communicatively connected.

The scanning device 1 is preferably a computed tomography device.

In the prior art, there are various scanning devices capable of acquiring body structures, such as X-rays, CT, and nuclear magnetic resonance, among others. At present, because the X-ray imaging device has a smaller volume and is more convenient to move, X-rays are often used as the imaging device for confirming the position of the head end of a bronchoscope or a biopsy tool. However, since the X-ray image is a two-dimensional image and cannot be restored to a three-dimensional model, the X-ray image is difficult to be used for defining the path of the endoscope 21 into the human body and can only be used for confirming whether the bronchoscope end reaches the target position or confirming the direction in which the bronchoscope end is located. And there are certain limitations and errors in this validation result.

Compared with an X-ray imaging apparatus, nuclear magnetic resonance is expensive, has a long scanning time, has a high requirement for ferromagnetic substances in space due to a strong magnetic field, and is not well suited for defining a path of the endoscope 21 into the human body.

Computed tomography, also known as CT, can obtain a three-dimensional image of an object in the scanned region, and can clearly and intuitively represent the specific position of the head end of the endoscope 21, so it is a relatively preferred option.

In the present embodiment, the endoscope apparatus 2 includes a combination of the endoscope 21, a device for assisting the setting of the endoscope 21, a device for guiding the movement of the endoscope 21, and the like. Among them, the Endoscope 21(Endoscope) generally refers to a medical instrument which enters a human body through various tubes to observe the internal condition of the human body. The endoscope 21 may also have biopsy or therapeutic functions, which are often performed depending on various accessory tools provided on the endoscope 21. The endoscope 21 of the present application may be a bronchoscope, a gastroscope, an enteroscope, a colposcope, and other endoscopes, and the accessory tools provided on the endoscope 21 may include biopsy tools such as a biopsy forceps, a biopsy brush, a biopsy needle, and the like, or medical tools such as an ablation catheter, a loop, and the like.

The structure of the mechanical arm 22 with the endoscope 21 has been widely used in the prior art, and taking a bronchoscope as an example, a magnetic navigation trachea positioning robot is disclosed in the chinese patent application No. 202110351748.6, and an implementation principle of the handle and the driving device of the endoscope 21 is disclosed in the chinese patent application No. 202110035277.8. The related prior art is considerable and thus the present application is not limited to this embodiment.

In the present embodiment, the couch 23 may be a couch 23 conventionally used in various scanning apparatuses 1 in the related art. The medical bed 23 may be provided with a rail along a longitudinal direction of the bed plate 231 so that the medical bed 23 has a function of moving the bed plate 231, and the adjusting device 232 may drive the bed plate 231 to move by means of a cylinder, a motor, or the like. The specific structure and accessories of the hospital bed 23 can be selected according to the kind of the endoscope 21. A great difference from the prior art is that in the present application, the robot arm 22 may be directly disposed on the bed plate 231 of the medical bed 23. Specifically, a platform may be provided on a first side of the bed plate 231 and the base of the robotic arm 22 may be fixedly secured to the bed plate 231 of the hospital bed 23 in a threaded manner.

In the prior art, when the scanning device 1 is combined with the medical bed 23, two scanning modes are possible. One is that the couch 23 is stationary and the scanning apparatus 1 scans across the couch 23. Secondly, the scanning device 1 is in a stationary state, and the hospital bed 23 moves forward or backward in the direction of the scanning device 1 to realize scanning. As shown in fig. 3, in any of the scanning methods, there is a problem of interference between the scanning device 1 and the robot 22 and between the endoscope 21 provided in the robot 22. If the robot arm 22 interferes with or collides with the scanner 1, the result is not expected.

Accordingly, in the embodiment of the present application, the scanner 1 is disposed on the first side of the top board 231 of the medical bed 23, and the scanner 1 is disposed close to the opposite second side of the top board 231, thereby laying a physical foundation for avoiding the two.

In the embodiment of the present application, the controller may be a computer, or may be a controller incorporated in a control device of the scanning apparatus 1 or the endoscope 21, or even a control device of the medical bed 23. That is, the controller may be integrated in any device of the position guidance system of the endoscope, or may be separately provided as a separate terminal. Generally, a controller is provided outside the treatment room in a region where the conditions inside the treatment room can be directly observed, and a physician can control the position guidance system of the endoscope provided in the present application, and the operation of the endoscope 21. That is, the controller may be used to determine that the robot arm 22 provided with the endoscope 21 is in a position to avoid the scanning apparatus 1; the controller may also be configured to cause the scanning device 1 to perform relative movement from a direction away from the mechanical arm 22 to a direction close to the mechanical arm 22 until reaching a working area of the endoscope 21 and scanning, and then to perform relative movement from a direction away from the mechanical arm 22 to return the scanning device 1; the controller may also be used to construct a three-dimensional model based on computed tomography imaging, from which the endoscope 21 on the robotic arm 22 is guided to a final target position.

According to the above system, the present application takes a bronchoscope for the airway intervention of a patient as an example, and describes the steps that can be followed in actual use, and the related cautions:

s1: the patient lies on his back on the couch 23 with the head near a first side of the couch plate 231, i.e. near the robot 22, and the feet near a second side of the couch plate 231, i.e. near the scanning apparatus 1.

S2: in the initial state, it is necessary to determine whether or not the robot arm 22 provided with the endoscope 21 is in a position to avoid the scanner apparatus 1. The step can be judged manually, but manual judgment is easy to cause negligence, and the fool-proof effect is not achieved. Therefore, in the control program of the robot arm 22, the operation logic of the robot arm 22 and the scanner apparatus 1 may be related, that is, once the initial state is returned, the robot arm 22 is returned to a position avoiding the scanner apparatus 1, and then scanning is performed.

However, it should be understood that the actual shape and size of the endoscope 21 and the tool attached to the head end of the endoscope 21 are different according to different medical requirements, and the control program of the robotic arm 22 is only relied on to avoid the situation, which is not safe enough.

Thus, still further, referring to fig. 4, the medical bed 23 may further include:

an optical sensor 233, the optical sensor 233 being provided on the side of the bed 231, detects whether or not the robot arm 22 having the endoscope 21 is in a position avoiding the scanner apparatus 1. The sensing area of the optical sensor 233 may be set to coincide with the area where the scanning apparatus 1 is located during scanning. In particular, the optical sensor 233 may include a plurality of optical probes arranged in an array, which may be arranged in an array to provide sufficient sensing range.

When the robot arm 22 is returned, the avoidance relationship of the robot arm 22 and the scanner apparatus 1 can be secondarily verified by the optical sensor 233, thereby increasing the safety factor of the endoscope apparatus 2 of the present application. That is, once it is found that the robot arm 22 or the endoscope 21 attached to the robot arm 22 may collide with the scanning device 1, the scanning operation may be immediately stopped according to the signal from the optical sensor 233, so as to ensure safety.

S3: as described above, the scanning process can be realized by the relative movement between the bed plate 231 of the couch 23 and the scanning apparatus 1, and the operation of the couch 23 is exemplified in the present embodiment. The controller controls the adjusting device 232 to move the medical bed 23 in the direction of the second side. As shown in fig. 5, during the movement of the patient along with the bed 231, the body of the patient is fed into the examination area of the scanning device 1, so that the body image, especially the lung image, of the patient is acquired by the scanning device 1. After the scan is completed, the couch 23 may be returned for further action.

S4: and (4) leading the image into a controller, and constructing a three-dimensional model of the tracheal tree of the patient based on computed tomography through software. In this three-dimensional model, the target location may be calibrated and the path of endoscope 21 to the target location planned. This series of operations may be performed automatically by a computer or semi-automatically with limited manual intervention.

S5: a pulling mechanism and a catheter, an accessory tool, and the like are mounted on the endoscope 21. The endoscope 21 is ready for operation. According to the planned path based on the three-dimensional model, the mechanical arm 22 and the endoscope 21 can be operated and guided automatically or manually, and the catheter can be controlled to bend, pushed and the like to enter the airway of the patient and reach the target position. In the process, the real-time image provided by the camera element at the head end of the catheter can be compared with the reconstructed three-dimensional model of the tracheal tree, the aim of optical navigation can be fulfilled by artificial intelligent image recognition, and the automation level is improved. The operation of the catheter and the tool on the catheter may be manual or may be coordinated by two robotic arms 22 as shown in fig. 4.

As described above, the use of the computed tomography apparatus has advantages over the X-ray and nuclear magnetic resonance apparatuses, but there is a difficulty if the endoscope 21 and the computed tomography apparatus are used in combination. This is because, compared to the conventional endoscope 21, the robot arm 22 with the endoscope 21 is provided with one or more robot arms 22 at the endoscope holding end, and the robot arms 22 are required to be moved and lifted in height by corresponding equipment, such as a robot cart. This results in a bulky robotic arm 22 and its associated equipment. Meanwhile, the volume of the computed tomography imaging equipment is large, and the computed tomography imaging equipment are difficult to meet the requirement of mutual noninterference when the computed tomography imaging equipment and the computed tomography imaging equipment are arranged in the same endoscope diagnosis and treatment room.

Compared with the prior art, the endoscope position guiding method, the system and the device thereof provided by the embodiment of the application can realize accurate guidance of the endoscope 21 by means of the three-dimensional model based on computed tomography constructed by the scanning device 1. In the guiding process, the endoscope position guiding system provided by the application can perform evasive adjustment on the position relation between the scanning device 1 and the mechanical arm 22 with the endoscope 21, avoid collision or interference between the scanning device and the mechanical arm, and improve safety.

Obviously, the technical scheme of the application is not limited to the application of bronchoscopes, and has good technical effects in the fields of gastroscopy, enteroscopy, colposcope and the like.

Further, the step of guiding the endoscope 21 on the robot arm 22 to the target position of the human body based on the three-dimensional model may further include the steps of:

defining a target position in the reconstructed three-dimensional model, and planning a traveling path of the endoscope 21;

registering the space system where the three-dimensional model is located and the space system where the patient is actually located;

guiding the endoscope 21 to the final target position according to the planned travel path.

That is, the position guidance system for an endoscope according to the embodiment of the present application may further include:

the registration unit is used for registering the space system where the three-dimensional model is located and the space system where the patient is actually located;

a planning unit, configured to define a target position in the reconstructed three-dimensional model and plan a travel path of the endoscope 21;

the guiding unit is further configured to guide the endoscope 21 to the final target position according to the planned travel path.

Accordingly, in the foregoing specific operation steps, for example, the following steps may be further included:

s6: prior to step S5, the spatial system of the three-dimensional model and the spatial system of the patient' S airway are registered using the principal structural points of the airway, such as the principal carina, the entrance of each bronchial segment, and so on.

And after the registration is finished, operating the bronchoscope robot to perform bending control and propulsion operation on the catheter. According to the registration result, more accurate guidance can be realized.

It should be noted that in the embodiment of the present invention, the scanning apparatus 1 and the robot 22 of the endoscope 21 are coupled to the same bed 23, so that the coordinate system of the three-dimensional model obtained by the scanning apparatus 1 in space and the coordinate system when the robot 22 performs the operation can be easily associated with each other. In practical use, only single registration is needed for the three-dimensional model and the actual space system of the human body of the patient, the relative position of the magnetic navigation plate 234 and the human body can be recorded through the bed body structure of the medical bed 23, the repeated registration work of the three-dimensional model and the physical space coordinate system after the magnetic navigation plate 234 moves is avoided, the compensation calculation of the relative position of the scanning device 1 and the mechanical arm 22 required after each scanning is avoided, the operation is simplified, and the treatment efficiency is remarkably improved.

Second embodiment

Due to the limitation of the volume of the apparatus, it is difficult to simultaneously perform the operation of the endoscope 21 when the examination of the computed tomography apparatus is performed. However, in the operation of the endoscope 21, although the desired target position is reached, there is a possibility that the desired target position deviates from the actual position to be reached due to the movement of the patient body or calculation error.

In view of the above, the second embodiment of the present application also provides a method and a system for guiding the position of an endoscope. The method and apparatus of the second embodiment is a further improvement of the method and apparatus of the first embodiment. In a second embodiment of the present application, referring to fig. 6, a position guidance method for an endoscope includes, in a step of guiding an endoscope 21 on a robot arm 22 to a target position based on a three-dimensional model:

guiding the endoscope 21 on the robot arm 22 to a desired target position corresponding to the three-dimensional model according to the three-dimensional model;

rescanning, and judging whether the actual position of the endoscope 21 is located at the final target position; if not, the position of the endoscope 21 is corrected to the final target position. If so, the operation of the endoscope 21 is continued.

That is, in the position guide system of the endoscope, the guide unit is also used to guide the endoscope 21 on the robot arm 22 to a desired target position corresponding to the three-dimensional model, based on the three-dimensional model;

the scanning unit is also used for rescanning;

a correction unit for judging whether the actual position of the endoscope 21 is at the final target position; if not, the position of the endoscope 21 is corrected to the final target position. If so, the operation of the endoscope 21 is continued.

The correction of the position of the endoscope 21 to the final target position according to the present embodiment may include a plurality of correction steps. That is, if the second scanning and correction step still fails to bring the endoscope 21 to the final target position,

accordingly, on the basis of the specific operation steps of the first embodiment by way of example, the following steps may also be included:

s7: when the head end of the endoscope 21 image display means has not reached the target position and the endoscope 21 needs to be fine-tuned by operating the robot arm 22, the operation of the robot arm 22 and the endoscope 21 may be stopped after step S5, and then the ct imaging acquisition may be performed again. Since the present acquisition can scan only the image in the vicinity of the intended target position, the scanning apparatus 1 does not interfere or collide with the robot arm 22 or the endoscope 21.

S8: and importing the acquired images into a controller, and reconstructing a new three-dimensional model of the trachea tree. In the new three-dimensional model of the trachea tree, it is possible to confirm whether the position of the tip end of the endoscope 21 reaches the final target position, or to determine the distance and path from the final target position, thereby further planning the next action.

In practice, there are other situations where it is desirable to use the scanning apparatus 1 during operation of the endoscope 21. For example, when the endoscope 21 has reached the target position, but the orientation of the head end of the tool on the endoscope 21 needs to be confirmed or adjusted, the computed tomography apparatus may be called to confirm the target position.

Therefore, as shown in fig. 7, in the rescanning step, the method further includes: it is determined whether the tip end of the endoscope 21 is correctly oriented. If so, the operation of the endoscope 21 is continued. If not, the direction in which the tip end of the endoscope 21 faces is corrected.

In the above description, the direction in which the head end of the endoscope 21 faces may include the direction of the endoscope 21 itself, and may further include the direction in which the head ends of various tools mounted on the endoscope 21 face, and those skilled in the art may adjust the direction according to actual needs, because the direction of the tools may deviate from the direction of the optical lens of the endoscope 21 in actual operation.

Compared with the prior art, the present embodiment can modify the position and direction of the endoscope 21 twice or more by rescanning of the scanning device 1, thereby ensuring that the endoscope 21 can accurately reach the final target position and present the correct head end orientation, and further improving the operation accuracy of the endoscope 21.

Third embodiment

In the prior art, there are various guiding solutions for the endoscope 21, such as optical guidance and magnetic navigation guidance. For optical guidance, it is no problem to intervene in the guidance process to perform a secondary scan of the scanning device 1. However, for magnetic navigation guidance, since the magnetic navigation guidance uses an electromagnetic field, the magnetic navigation plate 234 is a metal plate, and the metal plate is incompatible with computed tomography.

Computed Tomography (CT) is a non-destructive inspection technique for reconstructing an image of an internal structure of an object from external projection data, and can perfectly display the internal structure of the object to be inspected in the form of a two-dimensional tomographic image or a three-dimensional stereoscopic image without contact and damage to the object to be inspected.

However, when a metal material exists in a scanning region of the computed tomography, a metal artifact may be generated due to a phenomenon of beam hardening, and the like, and the artifact is often generated in a scanning object having two or more component materials and having a large density difference between the materials, such as a tooth with a metal filler, a joint with a prosthesis, and the like. The metal artifacts are embodied in that disordered emission-shaped bar artifacts are generated around the high-density material, and dark fringe banding artifacts are generated between the high-density material and the high-density material. The metal artifacts not only reduce the contrast of the image of the computed tomography, but also erode the real structure of the scanned object, which seriously degrades the image quality and affects the judgment of the diagnosis result.

The use of magnetic navigation to perform interventional procedures is currently a well established and popular technique. During navigation, the magnetic navigation plate 234 needs to be disposed beside the endoscope 21 in real time. Therefore, the third embodiment of the present application also proposes a method and a system for guiding the position of an endoscope. The method and apparatus of the third embodiment is a further development of the method and apparatus of the first or second embodiment. In a third embodiment of the present invention, a position guidance method for an endoscope further includes, before the scanning step:

moving the magnetic navigation plate 234 out of the navigation operation area corresponding to the operation area of the endoscope 21, i.e. at least part of the operation area of the scanning apparatus 1;

after the step of homing the scanning apparatus 1, it further comprises:

moving the magnetic navigation plate 234 to the navigation operation area corresponding to the area where the scanning has been completed;

in the step of guiding the endoscope 21 on the mechanical arm 22 to the final target position of the human body, the endoscope 21 on the mechanical arm 22 is guided to the final target position of the human body by magnetic navigation.

That is, the position guidance system for an endoscope further includes:

a moving unit for moving the magnetic navigation plate 234 out of a navigation work area corresponding to a work area of the endoscope 21; also for moving the magnetic navigation plate 234 to the navigation work area corresponding to the area where the scanning has been completed, after the step of homing the scanning apparatus 1.

The guiding unit is also used to guide the endoscope 21 on the robotic arm 22 to the final target position of the body by means of magnetic navigation.

The present embodiment exemplarily presents an improved position guidance system, as shown in fig. 8, including:

a scanning apparatus 1 and an endoscopic device 2.

The hospital bed 23 includes:

the first side of the bed plate 231 is used for arranging the mechanical arm 22, the second side of the bed plate 231 is arranged close to the scanning device 1 arranged outside, and the first side and the second side are opposite;

the position guidance system of the endoscope may further include a controller (not shown) to which the endoscope 21, the robot arm 22, the medical bed 23, and the scanning apparatus 1 are communicatively connected;

in addition, the medical bed 23 includes: a magnetic navigation plate 234, the magnetic navigation plate 234 being provided in a navigation work area provided corresponding to the work area of the endoscope 21, the magnetic navigation plate 234 being used to guide the movement of the endoscope 21.

The placement of magnetic navigation plate 234 is important because of the incompatibility of magnetic navigation plate 234 and computed tomography imaging. In the present embodiment, optionally, referring to fig. 8, the position of the magnetic navigation plate 234 is fixed relative to the position of the scanning apparatus 1. Specifically, the magnetic navigation plate 234 may be disposed at one side of the hospital bed 23, connected to the ground or the hospital bed 23 through a bracket, but does not move with the bed plate 231 of the hospital bed 23. That is, each time the bed plate 231 of the medical bed 23 is reset to the initial position close to the first side by the adjusting device 232, the endoscope 21 provided on the robot arm 22 can be magnetically guided by the magnetic guide plate 234, and when scanning is required, the bed plate 231 is driven by the adjusting device 232 to move from the direction of the first side to the direction of the second side so as to send the load on the bed plate 231 to the scanning device 1 for scanning. In this way, both magnetic navigation guidance for the endoscope 21 and computed tomography scanning for the patient can be achieved on one patient bed 23. Since the patient does not leave the hospital bed 23 during the scanning and guiding process, the space system can be accurately converted by the stroke of the bed plate 231 of the hospital bed 23, which is very convenient.

It will be readily appreciated that the magnetic navigation plate 234 may also be fixed to the scanning apparatus 1. In this way, even if the scanner 1 is actively moving, the magnetic navigation plate 234 can still maintain a relatively fixed position with respect to the scanner 1.

Embodiment IV

The fourth embodiment of the present application also proposes a position guide system of an endoscope and a device thereof. The fourth embodiment is different from the third embodiment. The main difference is that in the third embodiment of the present application, the position of the magnetic navigation plate 234 is fixed relative to the position of the scanning apparatus 1; in the fourth embodiment of the present application, referring to fig. 9 and 10, the hospital bed 23 further includes: and a moving device 235 connected to the magnetic navigation plate 234, wherein the moving device 235 can drive the magnetic navigation plate 234 to move back and forth between a navigation operation area and a standby area, and the standby area avoids an area when the scanning device 1 is in a scanning state.

The navigation operation area refers to an area where the magnetic navigation plate 234 guides the endoscope 21 to operate, and may be located at a side portion of or below the bed plate 231. The standby area may be any area that can be avoided when the scanning device 1 is in a scanning state. By providing the moving device 235, the scanning area can be avoided during the scanning process of the scanning device 1, and the magnetic navigation plate 234 is prevented from affecting the scanning operation.

Compared with the fixed arrangement of the third embodiment, the moving device 235 provided in the present embodiment can more flexibly avoid the scanning area and prevent the magnetic navigation plate 234 from hindering the operation.

Further optionally, as shown in fig. 9, a cavity 236 is reserved in the bed plate 231 of the medical bed 23.

The magnetic navigation plate 234 is disposed in the chamber 236, the standby area is located in a direction of the chamber 236 near the second side, and the navigation operation area is located in a direction of the chamber 236 near the first side;

the moving device 235 includes a power source 2351 and a transmission mechanism 2352, the transmission mechanism 2352 is connected with the power source 2351 and the magnetic navigation plate 234, respectively, and the power source 2351 drives the magnetic navigation plate 234 to move back and forth between the navigation operation area and the standby area through the transmission mechanism 2352.

As mentioned above, the simultaneous placement of the computed tomography imaging apparatus and the robotic arm 22 with the endoscope 21 in the medical room takes up a large field space. With magnetic navigation board 234 setting in cavity 236, compare in setting up externally, not only can avoid magnetic navigation board 234 to be naked to leak outside, play fine protection to it, but also can improve space utilization, saved the required human labor of moving magnetic navigation board simultaneously.

However, when the magnetic navigation plate 234 is disposed in the cavity 236 reserved in the bed plate 231, inevitably, the magnetic navigation plate 234 will enter the scanning range of the scanning device 1. Accordingly, the moving device 235 provided by the present application can drive the magnetic navigation plate 234 to move back and forth, so as to effectively avoid the scanning range and thoroughly avoid the interference of the magnetic navigation plate 234 on the computed tomography apparatus.

It should be noted that the moving device 235 can move the magnetic navigation plate 234 in many ways. Typical placement of the mobile device 235 is shown in fig. 9, 10, and 11. Wherein the transmission mechanism 2352 is disposed within the cavity 236, and the transmission mechanism 2352 is capable of changing its length under the drive of the power source 2351, the magnetic navigation plate 234 moves back and forth as the transmission mechanism 2352 changes its length.

Specifically, the transmission 2352 may be a scissor lift arm. In the example of fig. 9, it is moved towards and away from each other by means of a power source 2351, i.e. the drive movement of a motor, i.e. the rotation of a motor drives a slide arranged on the motor shaft, such that the slide moves two arms of a scissor lift arm as a transmission 2352 towards and away from each other. When the two lifting arms move closer to each other, the arms of the scissor arm compress against each other and the length of the lifting arm will be extended under the influence of the respective connection pivot, which allows the lifting arm to push the magnetic navigation plate 234 in the direction of the first side.

Conversely, referring to fig. 10, when the two lifting arms move away from each other, the two arms of the scissor lifting arm are spread apart from each other, and under the action of the respective connection pivots, the length of the lifting arm will be shortened, which allows the lifting arm to pull the magnetic navigation plate 234 in a direction towards the second side.

When the magnetic navigation plate 234 is pulled to the second side, the scanning apparatus 1 can scan a part of the patient close to the first side without being disturbed by the magnetic navigation plate 234. Accordingly, the scanning device 1 can perform secondary confirmation of the position and correction of the direction of the tip end of the robot 22 in the process of operating the endoscope 21 by the robot 22, which is very convenient.

The drive mechanism 2352 may also be a telescoping rod. In the example of fig. 11, it may be driven in motion by a power source 2351, similar to an electric motor or air cylinder. Taking the cylinder as an example, the cylinder drives the telescopic rod to set the slider on the motor shaft when air is admitted, so that the slider drives the telescopic rod as the transmission mechanism 2352 to extend, thereby pushing the magnetic navigation plate 234 to move towards the direction of the first side.

Conversely, when the cylinder is pumped down, the telescoping rod retracts, pulling the magnetic navigation plate 234 in the direction of the second side.

It is noted that the power source 2351 may be disposed within the cavity 236, or may be disposed outside the cavity 236 and engaged to a drive mechanism 2352 within the cavity 236. In both of the above embodiments, the transmission 2352 is disposed within the cavity 236. When the driving mechanism 2352 is made of the metal material, the device made of the metal material is always present in the cavity 236 near the second side, so that the patient cannot be scanned all over the body. The use of materials other than metal to make the drive mechanism 2352 presents life and cost issues.

Accordingly, the present application further provides a possible structure of the moving device 235, as shown in fig. 12, wherein the transmission mechanism 2352 includes a lead screw disposed at the side of the bed plate 231, and a slide block mounted on the lead screw, and the slide block is connected with the magnetic navigation plate 234. The slider can be driven to move linearly along the screw rod by means of the rotation of the screw rod, so as to drive the magnetic navigation plate 234 to move along the length direction of the bed plate 231. Wherein, there may be two lead screws respectively arranged at two sides of the bed plate 231, so as to balance the stress at two sides of the magnetic navigation plate 234.

Since the lead screw is provided at the side of the top board 231, the presence of the lead screw can be prevented from affecting the scanning result by only cutting the scanned image. During the whole-body scanning process, the scanning device 1 can be avoided all the way by suspending the scanning and moving the magnetic navigation plate 234 over the scanning device 1, so as to facilitate the whole-body scanning of the patient.

Fifth embodiment

A fifth embodiment of the present application also proposes a position guidance method for an endoscope. The fifth embodiment is an improvement of the method of the third embodiment and the system device of the fourth embodiment, and specifically, in the fifth embodiment, the position guidance method of an endoscope includes:

moving the magnetic navigation plate 234 out of the navigation operation area corresponding to the working area of the endoscope 21;

moving the magnetic navigation plate 234 to a navigation operation area corresponding to the area where the scanning has been completed;

constructing a three-dimensional model based on computed tomography imaging;

guiding the endoscope 21 on the mechanical arm 22 to the expected target position corresponding to the three-dimensional model by means of magnetic navigation according to the three-dimensional model;

moving the magnetic navigation pad 234 out of the navigation job area;

rescanning the working area of the endoscope 21 and then returning the scanning apparatus 1 away from the robotic arm 22;

judging whether the actual position of the endoscope 21 is located at the final target position; if not, the magnetic navigation plate 234 is moved to the navigation operation area corresponding to the area where the scanning is finished;

the endoscope 21 is corrected to the final target position by magnetic navigation.

The above-mentioned technical means for moving the magnetic navigation plate 234 out of the navigation operation area can be operated based on the scheme of the fourth embodiment, and therefore, the details are not repeated.

As mentioned in the foregoing second embodiment, there is a need to secondarily confirm the position of the endoscope 21 during the operation of the endoscope 21. However, in the case of the approach using magnetic navigation technology for navigation of the endoscope 21, there is a problem of incompatibility between magnetic navigation and computed tomography. Therefore, the two are not combined together in the prior art, and the temporary scanning is not performed during the operation of the endoscope 21.

The present embodiment temporarily moves the magnetic navigation plate 234 out of the navigation operation area, so that the navigation operation area is vacated for the scanning operation of the scanning device 1. Therefore, in the present embodiment, during the operation of the endoscope 21 based on magnetic navigation, the position of the endoscope 21 is adjusted and confirmed by the multiple scanning operations of the computed tomography, and the operation accuracy of the endoscope 21 is improved.

Further optionally, in the step of determining whether the actual position of the endoscope 21 is located at the final target position, the method may further include:

judging whether the pointing direction of the head end of the endoscope 21 is consistent with the required pointing direction;

if not, the tip pointing direction of the endoscope 21 is corrected to coincide with the desired pointing direction by means of magnetic navigation after the step of returning the scanning apparatus 1 in a direction away from the robot arm 22.

Similarly, in the present embodiment, during the operation of the endoscope 21 based on magnetic navigation, the adjustment and confirmation of the pointing direction of the tip end of the endoscope 21 are realized by the multiple scanning operations of the computer body layer imaging, and the operation accuracy of the endoscope 21 is further improved.

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A medical bed, comprising:

the medical bed comprises a bed plate, a first side of the bed plate is used for arranging a mechanical arm with an endoscope, a second side of the bed plate is arranged close to an external scanning device, and the first side is opposite to the second side;

the adjusting device can drive the bed board to move from the direction of the first side to the direction of the second side so as to send the bearing objects on the bed board into the scanning device for scanning.

2. The medical bed of claim 1, further comprising:

the magnetic navigation plate is arranged in a navigation operation area, the navigation operation area corresponds to the working area of the endoscope, and the magnetic navigation plate is used for guiding the movement of the endoscope.

3. The medical bed of claim 2, wherein the position of the magnetic navigation plate is fixed relative to the position of the scanning device.

4. The medical bed of claim 2, further comprising:

5. The medical bed of claim 4, further comprising: a cavity is reserved in the bed plate;

the mobile device comprises a power source and a transmission mechanism, the transmission mechanism is connected with the power source and the magnetic navigation plate respectively, and the power source drives the magnetic navigation plate to move back and forth between the navigation operation area and the standby area through the transmission mechanism.

6. The medical bed of claim 5, wherein the transmission mechanism is disposed within the cavity and is configured to change its length under the drive of the power source, the magnetic navigation plate moving back and forth as the transmission mechanism changes its length.

7. The medical bed of claim 6, comprising: the transmission mechanism is an expansion rod or a scissor-type lifting arm.

8. The medical bed of claim 5, wherein the transmission mechanism includes a lead screw disposed on a side of the bed plate, and a slider mounted on the lead screw, the slider being connected to the magnetic navigation plate.

9. The medical bed according to any one of claims 1 to 8, further comprising:

and the optical sensor is arranged on one side of the bed plate and used for detecting whether the mechanical arm with the endoscope is in a position for avoiding the scanning device.

10. An endoscopic apparatus comprising an endoscope, a robotic arm on which the endoscope is disposed, and the medical bed of any one of claims 1 to 9, the robotic arm being fixed to a first side of a bed plate of the medical bed.

11. A position guide apparatus of an endoscope, characterized by comprising: a computed tomography imaging apparatus and the endoscopic device of claim 10.