CN102217926B - Intelligent electronic endoscope system passing through natural orifices - Google Patents

Intelligent electronic endoscope system passing through natural orifices Download PDF

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CN102217926B
CN102217926B CN201110146295XA CN201110146295A CN102217926B CN 102217926 B CN102217926 B CN 102217926B CN 201110146295X A CN201110146295X A CN 201110146295XA CN 201110146295 A CN201110146295 A CN 201110146295A CN 102217926 B CN102217926 B CN 102217926B
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robot
intelligent
electronic endoscope
electronic
system
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CN102217926A (en
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乔铁
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广州宝胆医疗器械科技有限公司
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Abstract

本发明属于医用器械领域,具体的说,涉及经自然腔道的智能电子内窥镜系统,其适用于阴道镜系统、肛肠镜系统和宫腔镜系统,包括电子内窥镜,还包括用于固定住电子内窥镜的内镜夹持机械臂、移动式调整手术平台、智能机器手、控制台及中央处理系统,所述内镜主体的末端还设有一条贯穿硬质工作端部的直线型机器手通道,本发明不需要对患者进行开刀,只需要通过自然腔道通入电子内窥镜后,以电子内窥镜的智能机器手通道为平台通入智能机器手进入手术区内,智能机器手的微型化、可变形、可变向和同时具有若干种手术器械功能(如手术抓钳、电切设备和电凝设备等),则决定不需要通入其他器械便能做多种手术处理,减少手术的难度和病人的痛苦。 The present invention belongs to the field of medical devices, specifically, relates to a natural orifice intelligent electronic endoscope system, the system adapted to colposcopy, hysteroscopy anorectal mirror system and systems, including electronic endoscope, further comprising means for to fix the electronic endoscope endoscopic robot arm gripper, to adjust operation of mobile platform, intelligent robot, the console and the central processing system, the end of the endoscope body is provided with a further straight line through the rigid portion of the working end channel-type robot, the present invention does not require surgery patient, after only into an electronic endoscope through a natural orifice, to an electronic endoscope channels intelligent robot intelligent robot into internet access to the surgical area, intelligent robot miniaturization, deformable, and simultaneously variable to a surgical instrument having several features (e.g., surgical graspers, cutting equipment and coagulation electrical equipment, etc.), then decision does not need to do it into a variety of other instruments surgical treatment, reducing the difficulty and pain of surgery patients.

Description

经自然腔道的智能电子内窥镜系统技术领域[0001] 本发明属于医用器械领域,具体的说,涉及经自然腔道的智能电子内窥镜系统,其适用于阴道镜系统、肛肠镜系统和宫腔镜系统。 Intelligent electronic endoscope through a natural orifice TECHNICAL FIELD [0001] The present invention belongs to the field of medical devices, specifically, relates to a natural orifice intelligent electronic endoscope system adapted to colposcopy system, anorectal mirror system and hysteroscopy system. 背景技术[0002] 目前在医学领域上使用的高端机器人系统是美国Intuitive Surgical, Inc.公司开发完成的达芬奇机器人辅助外科手术系统,自从1998年12月第一台达芬奇机器人辅助外科手术系统问世以来,目前已有超过390台应用于世界各地。 [0002] current high-end robotic systems for use in the medical field is the United States Intuitive Surgical, Inc. The company developed the da Vinci robot-assisted surgery systems, since December 1998 the first da Vinci robot-assisted surgery since the advent of the system, there are more than 390 units used around the world. [0003] 达芬奇机器人手术系统主要由医生控制台(surgeon console)、一个装有四支7 自由度交互手臂的床旁机械臂塔(patient cart)和一个高精度的3D HD视觉系统(vision cart)构成。 [0003] da Vinci robotic surgical system console mainly by doctors (surgeon console), equipped with four degrees of freedom 7 interactive manipulator arm bedside column (patient cart) and a high-precision 3D HD vision system (Vision cart) constitution. 借助于高清立体成像、多关节臂自动化控制及光缆信号传送等高科技设备,使其具备了三维高清术野、手臂无抖动、镜头固定、活动范围广、器械移动度大等优点,并且改变了术者站在手术台旁操作的传统模式,由主刀医师坐在控制台前完成手术全过程,符合人体工程学原理,更适合于长时间复杂手术。 By means of a high-definition three-dimensional imaging, and multi-joint arm automatic control signal transmission cable and other high-tech equipment, so that it has a three-dimensional definition of the operative field, without shaking the arm, a fixed lens, a wide range of activities, degree, etc. mobile device, and changes the surgeon standing beside the operating table traditional mode of operation, the entire process to complete the operation by the surgeon physician sitting at the console, ergonomic, more suitable for long complicated surgery. [0004] 控制台由计算机系统、手术操作监视器、机器人控制监视器、操作手柄和输入输出设备等组成。 [0004] console by a computer system, the operation monitor, the robot control monitor, operating handle input and output devices and other components. 手术时外科医生可坐在远离手术台的控制台前,头靠在视野框上,双眼接受来自不同摄像机的完整图像,共同合成术野的三维立体图。 The surgeon may sit in front console away from the operating table during surgery, head on a field frame, receiving full binocular images from different cameras, three-dimensional co-synthesis technique wild FIG. 医生双手控制操作杆,手部动作传达到机械臂的尖端,完成手术操作,从而增加操作的精确性和平稳性,这是一种新提出的主-仆式远距离操作模式。 Doctor hand control lever, hand movement is transmitted to the tip of a robot arm, the surgical procedure is completed, thereby increasing the accuracy and stability of operation, it is proposed a new master - slave type remote operation mode. [0005] 现在,达芬奇机器人辅助外科手术系统已被广泛应用于普外科、心外科、泌尿外科、妇科和小儿外科。 [0005] Now, the da Vinci robot-assisted surgery systems have been widely used in general surgery, heart surgery, urology, gynecology and pediatric surgery. [0006]目前,内镜技术领域也日益发展,但是仍没有机器手与经自然腔道的内窥镜例如阴道镜、肛肠镜和宫腔镜有机结合后进行检查或手术的技术,因此,将机器手集成到阴道镜、肛肠镜和宫腔镜以达到精密进行手术治疗的技术迫在眉睫。 [0006] Currently, endoscopic BACKGROUND also growing, there is still no robot with natural orifice endoscopic examination or for example after surgical technique colposcopy, hysteroscopy anorectal combination of mirrors and, therefore, the robot integrated into colposcopy, hysteroscopy and anorectal mirror to achieve precise technical imminent surgery. 发明内容[0007] 本发明的目的是提出一个经由自然腔道进入人体进行手术的智能系统控制的智能电子内窥镜系统,目的是利用人机的精密配合来达到精密手术,提高手术准确率的目的。 SUMMARY OF THE INVENTION [0007] The object of the present invention is to provide an intelligent electronic endoscope system into the intelligent control system in the body via the surgical natural orifice, the purpose of using the man-machine with precision to achieve precise surgery, surgery to improve the accuracy of the purpose. [0008] 为了解决上述技术问题,本发明是通过以下技术方案实现的:[0009] 本发明所述的经自然腔道的智能电子内窥镜系统,包括以下三种形式,智能电子阴道镜系统、智能电子肛肠镜系统和智能电子宫腔镜系统。 [0008] To solve the above problems, the present invention is achieved by the following technical solutions: [0009] natural orifice according to the present invention is intelligent electronic endoscope system, comprising the three forms, the intelligent system colposcopy intelligent electronic anorectal mirror system and intelligent electronic hysteroscopy system. [0010] 本发明所述的经自然腔道的智能电子内窥镜系统,其组成部分包括电子内窥镜, 内镜夹持机械臂,可移动调整手术平台,控制台,中央处理系统,智能机器手等。 [0010] intelligent electronic endoscope system according to the present invention, the natural orifice, which part comprises an electronic endoscope, endoscopic robotic arm holding the movable adjusting platform surgical console, the central processing system, intelligent robot and so on. [0011] 所述的电子内窥镜,根据以上三种不同形式和应用范围的区别,可以分为电子阴道镜,电子肛肠镜及自动扩肛器,电子宫腔镜及自动扩宫器三个不同形式。 [0011] The electronic endoscope according to differences between the above three different forms and the scope of application can be divided into colposcopy, electron microscopy and anorectal anal automatic, electronic automatic hysteroscopy and dilatation is three different forms. [0012] I、电子阴道镜介入人体手术区域的、为智能机器手进入手术区域提供平台和为医生提供视觉图像,其结构包括硬质的工作端部、内镜主体和主机器手通道及其他辅助通道等,其工作端部为硬质圆管状,外径小于等于20mm,长度大于等于200mm。 [0012] I, colposcopy Interventional surgical field, and provide a platform to provide a visual image for the physician intelligent robot enters the operation area, which structure comprises a hard working end portion, endoscope body and the host device and the other hand channel and other auxiliary channel, which is a hard working end circular tube, the outer diameter of less than or equal 20mm, a length not less than 200mm. [0013] 2、电子肛肠镜及自动扩肛器,自动扩肛器能根据肛门的压力变化调整扩肛的直径,电子肛肠镜通过固定好的自动扩肛器进入肛肠道。 [0013] 2, electron microscopy and anorectal anal automatic, automated anal The diameter of the pressure device can be adjusted for changes in the anus anal, the electronic anorectal mirror fixed good auto enters anorectal anal channel. 电子肛肠镜包括工作端部、内镜主体和主机器手通道及其他辅助通道等,其工作端部为硬质圆管状,外径小于等于20_,长度200-450mm。 Electronic anorectal mirror includes a working end portion, endoscope body and the main machine and other auxiliary channel hand channel and the like, which is a hard working end circular tube, the outer diameter of less than or equal 20_, the length of 200-450mm. 所述的自动扩肛器安装有压力传感器和控制模块,可以通过获取压力数据来调整和判定扩肛的直径。 The automatic installation anal pressure sensor and a control module may be adjusted and determined by the diameter of the anal acquiring pressure data. [0014] 3、所述的电子宫腔镜及自动扩宫器,自动扩宫器能根据宫腔口的大小和压力变化调整扩大宫腔口的直径,使得电子宫腔镜能够顺利通入。 [0014] 3, said automatic electronic hysteroscopy and dilatation, automatic uterine dilator can be adjusted according to the size of enlarged uterine opening of the uterine cavity mouth diameter and pressure changes, so that electrons can be smoothly passed through hysteroscopy. 电子宫腔镜包括工作端部、内镜主体和主机器手通道及其他辅助通道等,其工作端部为硬质圆管状,外径小于等于15_,长度250〜300mm。 Electronic working end including hysteroscopy, and endoscopy main machine body other hand channel and the auxiliary channel, with its working end of a rigid circular pipe, an outer diameter less than or equal 15_, length 250~300mm. 所述的自动扩宫器安装有压力传感器和控制模块,可以通过获取压力数据来调整和判定扩宫的直径。 The automatic dilatation mounted pressure sensor and a control module may be adjusted and determined by the diameter of the dilatation pressure data acquisition. [0015] 所述的电子阴道镜、电子肛肠镜和电子宫腔镜,其硬质工作端部的前端为先端部, 先端部前部可以设计安装双目立体电子光学系统或者多CCD阵列电子光学系统,或者非立体的电子摄像系统,先端部的端面和圆周面设计有若干个测距器,用于监控先端部在手术区域内的位置,先端部设计有丰富的传感器,如压力传感器,温度传感器等,用于监控手术区域内的状态,数据通过数据线提供给中央处理器处理,以作参考。 [0015] The electronic colposcopy, electron microscopy and electron anorectal hysteroscope, which rigid distal working end of the tip portion, the tip portion of the front portion may be designed to install an electronic binocular optical system, a CCD array or a multiple electron optical system, or a non-stereoscopic electronic imaging systems, the end face and the circumferential surface of the tip portion is designed with a plurality of distance measuring device for monitoring the position of the tip portion within the surgical region is rich in design tip portion sensor, pressure sensor, temperature sensors for monitoring conditions within the surgical field, to the central data processor through the data lines, by reference. [0016] 所述的电子阴道镜、电子肛肠镜和电子宫腔镜的主机器手通道的内径大于等于5. Omm,其独立的进水通道和出水通道,内径大于等于I. 0_。 [0016] The electronic colposcopy, an inner diameter of the host hand channel electron microscopy and electron anorectal hysteroscope is greater than or equal 5. Omm, independent of the inlet passage and the outlet passage, an inner diameter greater than or equal I. 0_. [0017] 所述的电子阴道镜、电子肛肠镜和电子宫腔镜的主体部分通过连接结构与内镜夹持机械臂配合。 [0017] The electronic colposcopy, the body portion electron microscopy and electron anorectal hysteroscope by mating connection structure sandwiched endoscopic robotic arm. [0018] 所述的内镜夹持机械臂的结构至少包括两种,[0019] 第一种是:包括基座、带关节的臂部及末端执行器,所述的基座内部设计有大部分提供内镜夹持机械臂运动动能的执行元件,包括传动结构、液压元件、气动元件、伺服电机和步进电机等,自身能做旋转运动和升降运动;[0020] 第二种是:包括可卡死在可移动调整手术平台边缘的卡口部分、带关节的臂部及末端执行器,所述的卡口部分可以紧紧锁死在手术平台边缘为支撑;[0021] 上述两种结构中:所述的带关节的臂部的一端连接在基座或者卡口部分上,另外一端成为末端执行器,末端执行器通过连接结构与电子内窥镜配合,臂部至少包括三个关节,至少7个自由度,内镜夹持机械臂的进给精度小于等于Imm,其工作半径至少500mm,工作的垂直高度O〜500_(以可移动调整的手术平台平面为参考面),内镜夹 [0018] clamping structure of the endoscopic robotic arm includes at least two, [0019] The first one is: a base comprising, articulated arm and the end effector, according to the interior design of a large base provide endoscopic robotic arm holding portion of the kinetic energy of the actuator movement, comprising a transmission structure, hydraulic elements, pneumatic elements, servo and stepper motors and the like, do their rotational movement and the lifting movement; [0020] the second is: comprising may be stuck in the movable jaw portion is adjusted surgical edge of the platform, the articulated arm and the end effector, said bayonet portion may be firmly locked in the edge of the platform to support the operation; [0021] the two structures in which: one end of said articulated arm is attached to the base or bayonet portion, the other end becomes the end effector, the end effector through the mating connecting structure and the electronic endoscope, the arm comprising at least three joints, at least seven degrees of freedom, the robot arm holding the endoscope feed accuracy Imm, or less, its working radius of at least 500mm, the height of the vertical operating O~500_ (internet surgical plane may be adjusted to move the reference plane), endoscopic clip 机械臂的末端执行器与电子内窥镜配合后,能驱动电子内窥镜的先端部达到上述工作空间内的任何一点,通过电子内窥镜先端部端面和周面的测距器和相应传感器的反馈形成闭环控制,增加操作的安全系数,内镜夹持机械臂设计有防抖功能、越程警报功能和锁死功能,增加操作的安全系数。 After the robot arm end fitted with the electronic endoscope, an electronic endoscope tip portion can be driven at any point reached by the electronic endoscope and the distal end surface portion rangefinder and the respective circumferential surfaces of the sensor within the workspace a closed loop feedback control to increase operator safety, the safety factor endoscope manipulator gripper design anti-shake function, alarm function and the locking function of the process, to increase the operation. 内镜夹持机械臂的控制方式可以分为键盘自动控制和声音控制等形式。 Control endoscopic robotic arm holding the keyboard can be divided into automatic control and voice control and the like. 键盘自动控制是指通过控制手把或者键盘的操控,控制内镜夹持机械臂进行前进、后退和旋转等的动作;声音控制形式是指通过麦克风接收操控者的声音指令,达到制内镜夹持机械臂进行前进、后退和旋转等的动作。 Keyboard control is automatically controlled by manipulating the keyboard or the handle, the clamping control endoscopic robotic arm is operated forward and backward and rotating the like; sound control means in the form of sound received by the microphone's manipulation command, to endoscopic clip system who operates the robot arm forward, backward and rotation of. [0022] 所述的可移动调整的手术台,其高低可以通过调整结构调整,其平面能作不同角度的倾斜,配合电子内窥镜进行手术,进一步地,手术台能通过固定结构固定夹持式内镜夹持机械臂。 [0022] The adjustment of a movable operating table, which can adjust the height adjusting structure, which plane can be inclined at different angles, with the electronic endoscope surgery, and further, the structure of the operating table is fixed by fixing nip endoscopy gripping manipulator. [0023] 所述的智能机器手是通过电子阴道镜、电子肛肠镜和电子宫腔镜的专用机器手通道进入手术区域进行手术操作的。 [0023] The intelligent robot by colposcopy, electron microscopy and electron anorectal hysteroscopy dedicated channel into the robot operation area of ​​the surgical procedure. [0024] 所述的智能机器手的结构包括机器爪、执行结构、传输结构和外部控制部分等。 [0024] The structure of the intelligent robot comprises a pawl machine performing structure, the transmission control portion and the outer structure and the like. 智能机器手的至少包括两个能对合动作的机器爪,智能机器手在机器爪全部闭合的状态下, 其最大外径应该大于等于5. 0_,并小于等于电子内窥镜的机器手通道的直径。 Intelligent robot comprises at least two jaws capable of closing operation of the machine, the machine intelligent robot at all jaws in the closed state, which should be greater than the maximum outer diameter equal to 5. 0_, and less than or equal robot electronic endoscope channels diameter of. [0025] 智能机器手的特点是多功能,其功能包括:[0026] (I)至少一个机器爪的端部带有导电和绝缘材料做成的电凝部分,可以作为单极电凝器械或者通过对合的两个机器爪作为一个双极电凝器械,对病变进行电切除和止血治疗;[0027] (2)两个能对合的机器爪能完成手术钳的功能,能取活检组织、摘除病变等;[0028] (3)所述的智能机器手的适当位置设置有用于切除阴道内病变组织的电切设备, 电切设备不使用时与智能机器手组合成一体,使用时伸出,做切割病变组织的作用;[0029] (4)智能机器手的正中或者适当位置设计有一直径小于等于2. Omm的通道能作为充当外部负压作用的通道,也能通入微波探头设备或者激光探头设备,用于微波止血和激光切割等操作,也可通入带电凝的套圈,用于同时切除肛肠道息肉和凝固切口出血部位;[0030] (5)所述的智能机器手的 [0025] The intelligent robot is characterized by multi-functional, which functions include: [0026] (I) at least one end with a pawl electrocoagulation machine part made of electrically conductive and insulating materials can be used as monopolar coagulation instrument or by two engagement pawls machine as a bipolar coagulation instrument for electrically lesion excision and hemostasis; [0027] (2) to complete the two forceps jaws capable of engaging function machine, and to take biopsies, removal of the lesion and the like; [0028] (3) in place of the intelligent robot is provided apparatus for electrically cutting the diseased tissue excision vaginal, and combined into one intelligent power cut when the robot apparatus is not used, the use of extended , do the cutting action of diseased tissue; [0029] (4) or the middle of the intelligent robot designed with a position equal to 2. Omm diameter smaller than a passage which acts as external channels can be used as the negative pressure, can be introduced into the device or the microwave probe laser probe device for hemostasis microwave and laser cutting operations, the ferrule can be charged into the condensate, for simultaneous removal of polyps anorectal bleeding and coagulation incision site; intelligent robot [0030] of (5) 每个机器爪都安装有微型传感器,目的是了解智能机器手的状态,为控制提供数据参考,使得机器手的使用更加安全,所述的智能机器手的动作精度至少达到I. 0mm。 Each machine is fitted with the claw miniature sensors purpose is to understand the state of the intelligent robot, to provide reference data for control, such that the robot hand using the safer operation of the intelligent robot accuracy of at least I. 0mm. [0031] 在本发明中,所述的智能机器手的执行结构的动作通过微型气动元件或者微型液压元件等实现,元件可以装置在机器爪的前端或者通过微型管道连接在智能机器手的外部。 [0031] In the present invention, the operation performed according to the structure of the intelligent robot by micro-miniature pneumatic or hydraulic components and other components implemented on the front end of the machine element can pawl means or the external smart robot connected by the microchannel. 智能机器手的各个机器爪部分都安装有丰富的传感器,包括温度传感器,压力传感器等,以获得手术区域的详细信息。 Individual machine intelligent robot claw parts are mounted rich sensors include temperature sensors, pressure sensors, etc., to obtain more information of the surgical field. [0032] 所述的智能机器手的传输结构是一段外径小于电子内窥镜的机器手通道内镜的传输管线,其性质可以是软性或者硬性,管线为智能机器手的抓取和剪切等动作传输动力, 为机器爪的电凝治疗动作提供符合安全的电压,管线中还包括微型传感器的传输线路等。 [0032] The transmission architecture of the intelligent robot is defined by a smaller outer diameter than an electronic endoscope endoscopic robot path transmission line, which may be soft or hard nature, smart robot line crawling and shear transmission power cutting operation, to provide voltage compliance for the safe operation of the machine electrocoagulation treatment pawl, the pipeline further comprising a transmission line and the like microsensors. [0033] 所述的智能机器手的外部控制部分与系统的中央处理系统共用。 [0033] External system control section and said central processing intelligent robot system common. 智能机器手的控制方式可以分为人工控制和自动控制等形式。 Control intelligent robot can be divided into manual control and automatic control form. 人工控制是指通过控制手把、键盘的操控,控制机器手进行前进、后退、旋转和电凝等的动作;自动控制形式是指除人工控制外的控制形式。 Manual control means controlled by manipulating the handle, the keyboard, the control robot moves forward, backward, and the rotation operation of the coagulation and the like; automatic control refers to the control in the form of an outer form other than manual control. [0034] 所述的经自然腔道的智能电子内窥镜系统的控制台,其结构至少包括显示屏、手部操作组件和若干控制按钮及键盘等。 [0034] Natural Orifice said console intelligent electronic endoscope system, which structure comprises at least a display screen, a plurality of operating components of the hand control buttons and keyboard. 通过手持手部操作组件和观看显示屏上的三维立体图像,对经自然腔道的智能电子内窥镜系统中的内镜夹持机械臂、手术平台和智能机械手进行控制;通过电子阴道镜的光学系统,显示屏能输出5倍以上的高清图像,医生在高清的图像指导下的操作更加安全。 , To intelligent electronic endoscope system via a natural orifice in the endoscopic robotic arm holding, intelligent robotic surgical platform and controlled by the three-dimensional image on the screen of the handheld operating components of the watch hands; electronic colposcopy the optical system, more than five times the display can output high-definition images, the doctor is operated at a high-definition image-guided safer. [0035] 所述的经自然腔道的智能电子内窥镜系统的中央处理系统,其内核采用具有高速运算性能的多核处理器,连接控制台、电子内窥镜、内镜夹持机械臂、可移动调整的手术平台和智能机械手于一体,是整个系统的大脑。 [0035] Natural Orifice said intelligent electronic endoscope system central processing system, which uses multi-core processor core having a high-speed computing capability, the connection consoles, electronic endoscope, endoscopic manipulator gripper, adjusting the movable platform and the smart surgical manipulator in one, the entire system is the brain. 中央处理系统的作用是根据医生对控制台的操作控制分解成指令,控制内镜夹持机械臂、可移动调整的手术平台和智能机械手相互配合,达到进行手术的最优位置,中央处理系统通过电子阴道镜返回的高清2D或者3D图像, 给提供医生手术处理的最佳图像依据;通过电子阴道镜、智能机械手等装置的微型传感器反馈的状态信息,中央处理器内的报警装置能可以实时控制电子阴道镜及智能机械手在阴道内的运动,以使得手术的安全进行。 Role of the central processing system is an exploded physician according to the operation control instruction to the console control endoscopic robotic arm holding the movable platform and adjust the surgical intelligent robots cooperate with each other to achieve the optimum position for the operation, the central processing system colposcopy returned definition 2D or 3D image based on the image to provide the best surgeon processing; colposcopy through the micro-sensors, intelligent devices such as the robot feedback status information, alarm means within the central processor is capable of real-time control colposcopy and intelligent robot motion in the vagina, so that safe operation is performed. [0036] 以下就本发明所述的三套不同的内窥镜系统进行说明:[0037] 所述的经自然腔道的智能电子内窥镜系统中的智能电子阴道镜系统,其手术入路如下所述:[0038] 术前,先把电子阴道镜安装在内镜夹持机械臂的末端执行器上,并把进水通道和出水通道等连接上相应的设备,调试完好后作待机准备;病人在移动调整的手术平台上采用适当体位,术处作消毒麻醉后,医生可以首先使用固定器进入阴道内并固定,辅助电子阴道镜的硬质工作端部进入患者阴道口处,做好定位,然后医生通过显示屏的高清图像显示, 操作手部控制组件和相关控制按钮等,可以控制内镜夹持机械臂、可移动调整的手术平台及智能机械手,内镜夹持机械臂带动电子阴道镜深入阴道内,对阴道壁的情况进行观察,需要对术处进行操作时,则通过机器手通道通入智能机械手,智能机 [0036] Here will be described the three different endoscope system according to the present invention: [0037] intelligent electronic systems colposcopy intelligent electronic endoscope system according to natural orifice in which surgical approach as follows: [0038] before surgery, colposcopy first mounted on the end effector clamping endoscopic manipulator, and the inlet passage and the outlet passage connected to the respective other device, standby ready made after commissioning intact ; patient use on a mobile platform suitable position adjustment operation, the operation for sterilization after anesthesia, the physician may use a fixed first enters the vagina and fixed, rigid portion of the auxiliary working end colposcopy vaginal opening into the patient, good positioning, then the doctor by definition picture display, operator control assembly unit and associated control buttons, the robot arm can be controlled endoscopic clamping, the movable platform and adjust the surgical intelligent robot, a robot arm driven by an electronic endoscope holder intravaginally colposcopy depth of vaginal wall was observed, when required to operate the operation, the intelligent robot into the robot through the channel, the smart phone 械手在阴道内灵巧、精确地运行,进行组织的切除、出血处止血和取活检等操作。 Intravaginally dexterity robot, precise operation, tissue excision, hemostasis and hemorrhage at the biopsy operations. [0039] 所述的经自然腔道的智能电子内窥镜系统中的智能电子肛肠镜系统,其手术入路如下所述:[0040] 术前,先把电子肛肠镜安装在内镜夹持机械臂的末端执行器上,并把进水通道和出水通道等连接上相应的设备,调试完好后作待机准备;病人在移动调整的手术平台上采用适当体位,术处作消毒麻醉后,医生使用自动扩肛器把病人的肛门先扩大至手术需要直径,自动扩肛器因为采用参数化的操作方式,所以安全可靠。 [0039] intelligent electronic anorectal mirror system intelligent electronic endoscope system according to natural orifice in which the surgical approach is as follows: [0040] Preoperative, first mirror mounted in the electronic endoscope holding anorectal on the end effector of the robot arm, and the other inlet passage and outlet passage connected to the respective device, a standby ready made after commissioning intact; appropriate patient position adjustment operation on the mobile platform, the technique for disinfection of anesthesia, the doctor use automatic anal is the first expansion of the patient's anus to need surgery in diameter, automatic anal is because the use of parameterized mode of operation, it is safe and reliable. 自动扩肛器完成工作并固定好后,医生手动移动电子肛肠镜的工作端部通过自动扩肛器通过患者肛门,进入肛肠道内,定位并启动智能系统,则可以对肛肠道病况做一个全面诊断,并通入智能机械手对相应病变进行处理。 Automatic anal to complete the work and after fixed, the work ends physicians to manually move the electronic anorectal mirror with automatic anal through the anus of the patient, into the anorectal track, locate and start smart system, we can do a comprehensive diagnosis of anorectal road conditions and passing a smart robot processes the corresponding lesion. [0041] 所述的经自然腔道的智能电子内窥镜系统中的智能电子宫腔镜系统,其手术入路如下所述:[0042] 术前,先把电子宫腔镜安装在内镜夹持机械臂的末端执行器上,自动扩宫器安装在电子宫腔镜的工作端部部分并固定两者,并把进水通道和出水通道等连接上相应的设备,调试完好后作待机准备;病人在移动调整的手术平台上采用适当体位,术处作消毒麻醉后,医生手动移动电子宫腔镜并自动扩宫器经由阴道进入,找到宫腔口后,启动自动扩宫器撑开宫腔口,自动扩宫器的压力传感器能计算反馈的信号判定宫腔口的状态,当扩宫至一定直径,则能把自动扩宫器和电子宫腔镜的工作端部断开,电子宫腔镜的工作端部则能通过自动扩宫器进入宫腔内进行观察,并通入智能机械手对相应病变进行处理。 [0041] the natural orifice of the intelligent electronic systems hysteroscopy intelligent electronic endoscope system, the surgical approach as follows: [0042] Preoperative, mounted first electronic endoscope hysteroscopy clamping the end effector manipulator, automatic dilatation installed in the working end portion and fixed to both the electronic hysteroscope, and the inlet passage and the outlet passage connected to the respective other device, made after commissioning standby intact preparation; patient appropriate position on a mobile platform adjustment of surgery, intraoperative Department for the disinfection of anesthesia, the doctor moved manually and automatically electronic hysteroscopy through the vagina into the uterine dilator, find uterine mouth, start automatically dilatation distraction uterine port, the pressure sensor signals can be automatically calculated uterine dilator determines the state feedback uterine opening, when the dilatation to a predetermined diameter at the working end can automatically dilatation and electronic hysteroscopy is turned off, the electronic hysteroscopy working end of the dilatation by automatically enters the uterine cavity was observed, and the robot into the respective intelligent processing lesions. [0043] 与现有技术相比,本发明的有益效果是:[0044] 本发明不需要对患者进行开刀,只需要通过自然腔道通入电子内窥镜后,以电子内窥镜的智能机器手通道为平台通入智能机器手进入手术区内,智能机器手的微型化、可变形、可变向和同时具有若干种手术器械功能(如手术抓钳、电切设备和电凝设备等),则不需要通入其他器械便能做多种手术处理,减少手术的难度和病人的痛苦,是结合医学方法、精密机械技术和软件技术的新一代手术系统。 [0043] Compared with the prior art, the beneficial effects of the present invention are: [0044] The present invention does not require surgery patient, after only into an electronic endoscope through a natural orifice, to an electronic endoscope intelligence hand machine channels into intelligent robot internet access to the surgical area, intelligent robot miniaturization, deformable, and simultaneously variable to a surgical instrument having several features (e.g., surgical graspers, cutting equipment and electrical equipment coagulation ), you do not pass into other instruments they can do a variety of surgical treatment, the patient's pain and reduce the difficulty of the surgery, the surgical system combines a new generation of medical procedures, precision machinery technology and software technology. 附图说明[0045] 下面结合附图和具体实施方式对本发明作进一步详细的说明。 BRIEF DESCRIPTION [0045] The accompanying drawings and the following specific embodiments of the present invention will be further described in detail. [0046] 图I是本发明的经自然腔道的智能电子内窥镜系统的系统示意图。 [0046] FIG. I is a schematic of a system of intelligent electronic endoscope system via a natural orifice of the present invention. [0047] 图2A是本发明的内镜夹持机械臂结构示意图。 [0047] FIG. 2A is a schematic structural endoscopic robotic arm according to the present invention sandwiched. [0048] 图2B是本发明的内镜夹持机械臂的第二种形式结构示意图。 [0048] FIG. 2B is a schematic view of a second form of clamping structure endoscopic robotic arm according to the invention. [0049] 图3是本发明的智能电子阴道镜系统的电子阴道镜示意图。 [0049] FIG. 3 is an intelligent electronic colposcopy colposcopy system schematic of the present invention. [0050] 图4是本发明的智能电子肛肠镜系统的电子肛肠镜及自动扩肛器示意图。 [0050] FIG. 4 is a schematic view of an electronic microscope intelligent electronic anorectal anorectal mirror system of the present invention and an automatic anal. [0051] 图5是本发明的智能电子宫腔镜系统的电子宫腔镜及自动扩宫器示意图。 [0051] FIG. 5 is a schematic diagram of electronic hysteroscopy hysteroscopy intelligent electronic system according to the present invention and automatic uterine dilator. [0052] 图6是本发明的经自然腔道的智能电子内窥镜系统的智能机器手的结构简图及与电子内窥镜配合使用图。 [0052] FIG. 6 is a block diagram of the intelligent robot intelligent electronic endoscope system via a natural orifice of the present invention and with the use of the electronic endoscope in FIG. [0053] 图7是本发明的经自然腔道的智能电子内窥镜系统的可调整手术台示意图。 [0053] FIG. 7 is a schematic view of an adjustable operating table intelligent electronic endoscope system via a natural orifice of the present invention. [0054] 图8A是本发明的智能电子阴道镜系统的手术示意图。 [0054] FIG. 8A is a schematic view of the surgical intelligent electronic system according to the present invention colposcopy. [0055] 图SB是本发明的智能电子肛肠镜系统的手术示意图。 [0055] FIG. SB is a schematic view of the surgical intelligent electronic anorectal mirror system of the present invention. [0056] 图SC是本发明的智能电子宫腔镜系统的手术示意图。 [0056] FIG. SC is a schematic view of the surgical hysteroscopy intelligent electronic system according to the invention. 具体实施方式[0057] 如图I所示为本发明的经自然腔道的智能电子内窥镜系统的系统示意图。 DETAILED DESCRIPTION [0057] FIG intelligent electronic endoscope system Natural Orifice I of the present invention is shown a schematic view of the system. 经自然腔道的智能电子内窥镜系统包括以下三种形式,智能电子阴道镜系统、智能电子肛肠镜系统和智能电子宫腔镜系统,系统的组成部分有电子内窥镜2,智能机器手3,内镜夹持机械臂1,可移动调整手术平台4,控制台8,中央处理系统6和系统附件7等。 Intelligent electronic endoscope through a natural orifice system comprises part of the following three forms, colposcopy intelligent electronic systems, intelligent electronic systems and anorectal mirror hysteroscopy intelligent electronic system, the electronic endoscope system 2, the intelligent robot 3, an endoscopic robotic arm holding the movable platform 4 adjusting operation, the console 8, the central processing system 6, and 7 other system accessories. 智能机器手3和电子内窥镜2的形式根据手术应用的不同而不同。 Form of a smart robot 3 and the electronic endoscope 2 according to the different procedures for different applications. 电子内窥镜2内镜主体上设计一条宽大的直线型的机器手通道,其目的是为智能机器手3进入手术区域提供平台,智能机器手3具备丰富的功能。 Design of the electronic endoscope 2 of the endoscope body a large linear channel robot hand, aims to provide a platform for access to the surgical intelligent robot area 3, the intelligent robot 3 with rich functionality. [0058] 如图2A和图2B所示为两种不同形式的内镜夹持机械臂,图2A所示的内镜夹持机械臂11结构包括基座111,带关节的臂部112和与电子内窥镜2配合的末端执行器113,图2B所示为一种卡死在手术平台的内镜夹持机械臂12,结构包括带卡口的基座121、带关节122的臂部123及末端执行器124。 [0058] FIGS. 2A and 2B nip of two different forms of endoscopic robot arm, the robot arm 11 endoscopic holding structure shown in FIG. 2A includes a base 111, an arm 112 and a joint with the electronic endoscope 2 with an end effector 113, as shown in FIG. 2B as a robot arm stuck in endoscopic surgery holding platform 12, the base structure comprises a bayonet 121 of the joint 122 with an arm 123 124 and the end effector. 基座111内部设计有大部分提供内镜夹持机械臂运动动能的执行元件,包括传动结构、液压元件、气动元件、伺服电机和步进电机等,自身能做旋转运动和升降运动;卡口的基座121可以紧紧锁死在手术平台4边缘为支撑;带关节的臂部112或者123的一端连接在基座111或者卡口基座121部分上,另外一端成为末端执行器113或者123,末端执行器113或者123通过连接结构与电子内窥镜2配合,臂部至少包括三个关节,至少7个自由度,内镜夹持机械臂I的进给精度小于等于1mm,其工作半径至少500mm,工作的垂直高度O〜500mm(以可移动调整的手术平台平面为参考面),内镜夹持机械臂I的末端执行器113或者123与电子内窥镜2配合后,能驱动电子内窥镜2的先端部达到上述工作空间内的任何一点,通过电子内窥镜2先端部端面和周面的测距器和相应传感器的反馈形成闭环控制,增加 Most of the interior design of base 111 provides actuator motion endoscopic robotic arm holding kinetic energy, comprising a transmission structure, hydraulic elements, pneumatic elements, servo and stepper motors and the like, do their rotational movement and the lifting movement; bayonet the base 121 may be firmly locked in the operating platform to support the edge 4; end articulated arm portion 112 or 123 is connected to the base portion 111 or 121 of the base mount, the other end becomes the end effector 113 or 123 , the end effector 113 or 123 through a connection structure with the electronic endoscope 2, the arm comprising at least three joints, at least seven degrees of freedom, I endoscopic robotic arm holding the feed accuracy of less than equal to 1mm, its working radius at least 500mm, the vertical height of the work O~500mm (internet surgical plane may be adjusted to move the reference surface), after 113 or 1232 with the electronic endoscope endoscope manipulator holding an end effector I, can drive electronics the endoscope distal end portion 2 reaches any point, feedback through electronic endoscope distal end portion end face and the circumferential surface of the rangefinder and the respective sensor in the work space forming a closed loop control, increased 作的安全系数,内镜夹持机械臂I设计有防抖功能、越程警报功能和锁死功能,增加操作的安全系数。 The safety factor for the endoscopic robotic arm holding design I have anti-shake function, overrun alarm function and lock function, increase the safety factor of operation. 内镜夹持机械臂I的控制方式可以分为键盘自动控制和声音控制等形式。 I endoscopic robotic arm holding control mode can be divided into automatic control and voice control keyboard and the like. 键盘自动控制是指通过控制手把或者键盘的操控,控制内镜夹持机械臂I进行前进、后退和旋转等的动作;声音控制形式是指通过麦克风接收操控者的声音指令,达到制内镜夹持机械臂I进行前进、后退和旋转等的动作。 Keyboard control is automatically controlled by manipulating the keyboard or the handle, the control operation for endoscopic gripping manipulator I forward, backward and rotation; a sound control means in the form of sound received by the microphone's manipulation command, to endoscopic system I operate the robot arm holding the forward and backward rotation and the like. [0059] 该系统还包括显示屏、手部操作组件和若干控制按钮及键盘等,通过手持手部操作组件和观看显示屏上的三维立体图像,对经自然腔道的智能电子内窥镜系统中的内镜夹持机械臂I、手术平台4和智能机器手3进行控制;通过电子内窥镜2的光学系统,显示屏能输出5倍以上的高清图像,医生在高清的图像指导下的操作更加安全。 [0059] The system further includes a display, the hand assembly operations and several control buttons and a keyboard, a handheld hand assembly operations and 3D viewing images on a display screen, a natural orifice of intelligent electronic endoscope system the endoscopic robotic arm clamp I, the platform 4 and intelligent surgical robot 3 is controlled; electronic endoscope optical system 2, the display can output more than 5 times the HD images, the doctor in image-guided HD operation safer. [0060] 中央处理系统,其内核采用具有高速运算性能的多核处理器,连接控制台、电子内窥镜2、内镜夹持机械臂I、可移动调整的手术平台4和智能机器手3于一体,是整个系统的大脑。 [0060] The central processing system, which uses multi-core processor core with high-speed operation properties, the console is connected, the electronic endoscope 2, holding endoscopic robotic arm I, the movable adjusting platform 4 and intelligent surgical robot 3 in one, is the brain of the whole system. 中央处理系统的作用是根据医生对控制台的操作控制分解成指令,控制内镜夹持机械臂I、可移动调整的手术平台2和智能机器手3相互配合,达到进行手术的最优位置,中央处理系统通过电子阴道镜返回的高清2D或者3D图像,给提供医生手术处理的最佳图像依据;通过电子内窥镜2、智能机器手3等装置的微型传感器反馈的状态信息,中央处理器内的报警装置能可以实时控制电子内窥镜2及智能机器手3在自然腔道内的运动,以使得手术的安全进行。 Role of the central processing system is an exploded physician according to the operation control instruction to the console control endoscopic robotic arm clamp I, the movable platen 2 and the operation to adjust the intelligent robot 3 cooperate with each other to achieve the optimum position for surgery, by colposcopy central processing system returns HD 2D or 3D images, to provide the surgeon based on the optimal image processing; status information via electronic endoscope 2, 3 miniature sensor intelligent robot apparatus such feedback, the central processor alarm means capable of real-time control in the electronic endoscope 2 and 3 moving in the intelligent robot's natural orifice, so that the operation is safe. [0061] 实施例I :[0062] 如图3所示的电子阴道镜的结构包括硬质的工作端部21、内镜主体22,与内镜夹持机械臂I配合的连接器24和智能机器手通道及其他辅助通道23等,其工作端部21为硬质圆管状,外径小于等于20mm,长度大于等于200mm,电子阴道镜介入人体手术区域、为智能机器手3进入手术区域提供平台和为医生提供视觉图像。 [0061] Example I: [0062] colposcopy structure shown in Figure 3 comprises a hard working end 21 of endoscopic body 22, and endoscopic robotic arm holder 24 and the connector mating intelligent I robot channels and other auxiliary channel 23 and the like, its working end 21 is a rigid circular pipe, an outer diameter less than or equal 20mm, a length not less than 200mm, colposcopy Interventional surgical field to provide internet access to the surgical intelligent robot area 3 and provide a visual image for the doctor. [0063] 电子阴道镜的硬质工作端部21的前端为先端部,先端部前部可以设计安装双目立体电子光学系统或者多CCD阵列电子光学系统,或者非立体的电子摄像系统,先端部的端面和圆周面设计有若干个测距器,用于监控先端部在手术区域内的位置,先端部设计有丰富的传感器,如压力传感器,温度传感器等,用于监控手术区域内的状态,数据通过数据线提供给中央处理器处理,以作参考。 [0063] Hard colposcopy working end tip of the front end portion, the front tip portion 21 may be designed to install an electronic binocular optical system, a CCD array or a multiple electron optical system, or the non-stereoscopic electronic imaging systems, the tip portion end surface and the circumferential surface is designed with a plurality of distance measuring device for monitoring the position of the tip portion within the surgical region, the tip portion is rich in design sensor, pressure sensor, temperature sensor, for monitoring the state of the surgical field, data to the central processor through the data lines, by reference. [0064] 电子阴道镜的智能机器手通道23的内径大于等于5. 0mm,其独立的进水通道和出水通道,内径大于等于I. 0_。 [0064] colposcopy intelligent robot passage 23 an inner diameter greater than or equal 5. 0mm, independent of the inlet passage and the outlet passage, an inner diameter greater than or equal I. 0_. [0065] 电子阴道镜的主体部分22通过连接结构23与内镜夹持机械臂I配合。 [0065] colposcopy body portion 22 through the connection structure 23 and endoscopic robotic arm holding I complexed. [0066] 如图6所示为智能机器手3的结构简图及与电子内窥镜配合使用图。 [0066] FIG. 6 is a diagram of the structure of the intelligent robot and 3 with the use of the electronic endoscope shown in FIG. 智能机器手3是通过电子阴道镜的智能机器手通道23进入手术区域进行手术操作的,智能机器手3的结构包括机器爪33、34、执行结构、传输结构31和外部控制部分38等。 Intelligent robot 3 through the robot intelligent electronic colposcopy passage 23 into the surgical field of the surgical procedure, the structure of the intelligent robot machine 3 comprises claws 33 and 34, perform configuration, the transmission structure 31 and the external control section 38 and the like. 智能机器手3的至少包括两个能对合动作的机器爪33、34,智能机器手3在机器爪33、34全部闭合的状态下, 其最大外径应该大于等于5. 0_,并小于等于电子内窥镜的机器手通道的直径。 3 intelligent robot including at least two machines can be combined action of the jaws 33 and 34, the intelligent robot 3 at a machine all the pawl 33 in the closed state, which should be greater than the maximum outer diameter equal to 5. 0_, and less than or equal the diameter of the electronic endoscope channel robot. [0067] 智能机器手3的特点是多功能,其功能包括:[0068] (I)至少一个机器爪33、34的端部带有导电和绝缘材料做成的电凝部分,可以作为单极电凝器械或者通过对合的两个机器爪作为一个双极电凝器械,对病变进行电切除和止血治疗;[0069] (2)两个能对合的机器爪33、34能完成手术钳的功能,能取活检组织、摘除病变等;[0070] (3)智能机器手3的适当位置设置有用于切除阴道内病变组织的电切设备35,电切设备35不使用时与智能机器手3组合成一体,使用时伸出,做切割病变组织的作用;[0071] (4)智能机器手3的正中或者适当位置设计有一直径小于等于2. Omm的通道能作为充当外部负压作用的通道,也能通入微波探头设备或者激光探头设备37,用于微波止血和激光切割等操作,也可通入带电凝的套圈36,用于同时切除息肉和凝固切口出血部位。 [0067] Intelligent robot 3 is characterized by multi-functional, which functions include: [0068] (I) at least one machine with a claw end portion 33 and a portion of the conductive electrocoagulation made of insulating material can be used as a monopolar coagulation instruments or by two engagement pawls machine as a bipolar coagulation instrument for electrically lesion excision and hemostasis; [0069] (2) able to complete the two forceps jaws 33, 34 are bonded to the machine function, can take biopsies, removal of lesions; [0070] (3) intelligent robot position 3 is provided transurethral device 35 has intravaginal diseased tissue for ablation, when the electric cutting apparatus 35 does not use the smart robot 3 combined into one, out of use, make the cutting action of the diseased tissue; [0071] (4) 3 intelligent robot middle position or design of a diameter less than or equal to 2. Omm channel acts as external negative pressure can be used as a passage can also be introduced into a microwave device, or laser probe of the probe apparatus 37 for microwave and laser cutting operations such as hemostasis, coagulation may be charged into a ferrule 36, for the simultaneous removal of polyps and the coagulation incision bleeding site. [0072] (5)智能机器手3的每个机器爪33、34都安装有微型传感器,目的是了解智能机器手3的状态,为控制提供数据参考,使得智能机器手3的使用更加安全,所述的智能机器手3的动作精度至少达到I. 0mm。 Each machine pawl 33 [0072] (5) a smart robot 3 are attached to miniature sensors purpose is to understand the state of the intelligent robot 3, to provide reference data for control, so that the use of intelligent robot 3 more secure, the intelligent robot operation accuracy of at least 3 I. 0mm. [0073] 智能机器手3的执行结构的动作通过微型气动元件或者微型液压元件等实现,元件可以装置在前端或者通过微型管道连接在智能机器手3的外部。 Configuration action performed [0073] by the intelligent robot 3 micro miniature pneumatic or hydraulic components and other components implemented on the front end of the device or element may be connected to the external smart robot 3 through the microchannel. 智能机器手3的各个机器爪33、34部分都安装有丰富的传感器,包括温度传感器,压力传感器等,以获得手术区域的详细信息。 Intelligent robot machines each pawl 33 are installed portion 3 has a wealth of sensors including temperature sensors, pressure sensors, etc., to obtain more information of the surgical field. [0074] 智能机器手3的传输结构是一段外径小于电子内窥镜的机器手通道内镜的传输管线,其性质可以是软性或者硬性,管线为智能机器手3的抓取和剪切等动作传输动力,为机器爪的电凝治疗动作提供符合安全的电压,管线中还包括微型传感器的传输线路等。 [0074] The architecture of the intelligent transport robot 3 is a transmission line section of smaller outer diameter than an electronic endoscope robot endoscope channel, which may be soft or hard nature, line smart robot gripping and shearing 3 and other power transmission operation, a voltage to meet the safety operation of electrocoagulation treatment machine jaws, the pipeline further comprising a transmission line and the like microsensors. [0075] 智能机器手3的外部控制部分38与系统的中央处理系统6共用。 [0075] 3 external smart robot control part 38 shared with the central processing system system 6. 智能机器手3的控制方式可以分为人工控制和自动控制等形式。 3 intelligent robot control method can be divided into manual control and automatic control form. 人工控制是指通过控制手把、键盘的操控, 控制机器手3进行前进、后退、旋转和电凝等的动作;自动控制形式是指除人工控制外的控制形式。 Manual control means controlled by manipulating the handle, the keyboard, the control robot 3 moves forward, backward, and the rotation operation of the coagulation and the like; automatic control refers to the control in the form of an outer form other than manual control. [0076] 如图7为可移动调整的手术台4,其高低可以通过调整结构42调整,其平面能作不同角度的倾斜,配合电子内窥镜进行手术,进一步地,手术台4能通过固定结构43固定夹持式内镜夹持机械臂12。 [0076] FIG. 7 is movable to adjust the operating table 4, the level can be adjusted by adjusting the structure 42, which plane can be inclined at different angles, with the electronic endoscope surgery, and further, by fixing the operating table 4 endoscopy structure 43 fixed gripping clamp arm 12. [0077] 如图8A是本发明的智能电子阴道镜系统的手术示意图。 [0077] FIG. 8A is a schematic view of the surgical intelligent electronic system according to the present invention colposcopy. [0078] 经自然腔道的智能电子内窥镜系统中的智能电子阴道镜系统,其手术入路如下所述:术前,先把电子阴道镜2安装在内镜夹持机械臂I的末端执行器113或者124上,并把进水通道和出水通道等连接上相应的设备,调试完好后作待机准备;病人在移动调整的手术平台4上采用适当体位,术处作消毒麻醉后,医生可以首先使用固定器进入阴道91内并固定,辅助电子阴道镜2的硬质工作端部21进入患者阴道口处,做好定位,然后医生通过显示屏的高清图像显示,操作手部控制组件和相关控制按钮等,可以控制内镜夹持机械臂I、 可移动调整的手术平台4及智能机械手3,内镜夹持机械臂I带动电子阴道镜2深入阴道内,对阴道壁的情况进行观察,需要对术处进行操作时,则通过机器手通道通入智能机械手3,智能机械手3在阴道91内灵巧、精确地运行,进行组织的切除 [0078] intelligent electronic endoscope system via a natural orifice in colposcopy intelligent electronic system, the surgical approach as follows: before surgery, colposcopy first electronic endoscope 2 is mounted at the end of the robot arm holding the I actuator 113 or 124, and the inlet passage and the outlet passage connected to the respective other device, a standby ready made after commissioning intact; 4 using the appropriate position on the patient platform shift adjustment operation, the operation for disinfection anesthesia, doctors may first holder 91 into the vagina and fixed, rigid colposcopy auxiliary working end 21 of the patient into the vaginal opening, good positioning, then the doctor by definition picture display, operator control assembly unit and related control buttons, etc., can control the gripping manipulator I endoscopic, surgical adjustment of the movable platform, intelligent robot 3 and 4, endoscopic manipulator gripper drive colposcopy 2 I intravaginally depth of vaginal wall was observed when surgery is required for the operation, is passed through the channel intelligent robot manipulator 3, intelligent robot 3 in the vagina 91 dexterity, precision operation for ablation of tissue 、出血处止血和取活检等操作。 , Bleeding and hemostasis at the biopsy operations. [0079] 实施例2 :[0080] 智能电子肛肠镜系统与实施例I的区别在于:[0081] 如图4所示为电子肛肠镜及自动扩肛器51,自动扩肛器5能根据肛门101的压力变化调整扩肛的直径,电子肛肠镜通过固定好的自动扩肛器5进入肛肠道10。 [0079] Example 2: [0080] anorectal intelligent electronic endoscope system that differs from the embodiment of Example I: [0081] As shown in FIG electronic anorectal mirror 51 and automatic anal, rectal 4 automatically enlarged according to the anus can 5 pressure 101 changes the adjustment anal diameter, by fixing the electronic anorectal good mirror 5 enters the automatic anal anorectal channel 10. 电子肛肠镜包括工作端部21、内镜主体22,与内镜夹持机械臂I配合的连接器24和主机器手通道及其他辅助通道23等,其工作端部21为硬质圆管状,外径小于等于20mm,长度200-450mm。 Electronic anorectal mirror 21 includes a working end portion, endoscope body 22, and endoscopic robotic arm holding the mating connectors I and the host device 24 and other auxiliary channel hand passage 23 and the like, its working end 21 is a rigid circular pipe, diameter less than equal to 20mm, the length of 200-450mm. 所述的自动扩肛器5安装有压力传感器和控制模块,可以通过获取压力数据来调整和判定扩肛的直径,扩肛的直径为11〜27mm,长度为19〜20cm。 The automatic anal 5 is mounted with a pressure sensor and a control module may be adjusted and determined by the diameter of the anal pressure data acquisition, anal diameter 11~27mm, length 19~20cm. [0082] 如图SB是本发明的智能电子肛肠镜系统的手术示意图[0083] 经自然腔道的智能电子内窥镜系统中的智能电子肛肠镜系统,其手术入路如下所述:术前,先把电子肛肠镜2安装在内镜夹持机械臂I的末端执行器113或者124上,并把进水通道和出水通道等连接上相应的设备,调试完好后作待机准备;病人在移动调整的手术平台4上采用适当体位,术处作消毒麻醉后,医生使用自动扩肛器51把病人的肛门101 先扩大至手术需要直径,自动扩肛器51因为采用参数化的操作方式,所以安全可靠。 [0082] FIG. SB is a schematic view of the surgical intelligent electronic anorectal mirror system according to the present invention [0083] intelligent electronic endoscope system via a natural orifice in the intelligent electronic anorectal mirror system, the surgical approach as follows: preoperative , first electronic anorectal endoscopic mirror 2 is mounted on the robot arm holding the end effector 113 I or 124, and the inlet passage and the outlet passage connected to the respective other device, a standby ready made after commissioning intact; patient movement using adjustment operation platform 4 the appropriate position, surgery Department for disinfection anesthesia, doctors use an automatic anal 51 the patient's anus 101 to expand to surgery requires diameter, automatically anal 51. because using the parameters of the operation, so Safe and reliable. 自动扩肛器51完成工作并固定好后,医生手动移动电子肛肠镜2的工作端部21通过自动扩肛器51通过患者肛门101,进入肛肠道内,定位并启动智能系统,则可以对肛肠道病况做一个全面诊断,并通入智能机械手3对相应病变进行处理。 After automatic anal 51 to complete the work and secure the working end portion of the doctor to manually move the electronic anorectal mirror 2 21 51 through anus of the patient by an automatic anal 101, into the anorectal track, locate and start the intelligent system can anorectal channel condition to make a comprehensive diagnosis, and pass into the intelligent robot three pairs of corresponding lesion treated. [0084] 实施例3 :[0085] 智能电子宫腔镜系统与实施例I的区别在于:[0086] 如图5所示为所述为电子宫腔镜及自动扩宫器52,自动扩宫器52能根据宫腔口91的大小和压力变化调整扩大宫腔口91的直径,使得电子宫腔镜能够顺利通入。 [0084] Example 3: [0085] hysteroscopy intelligent electronic system differs from Example I in that: [0086] FIG. 5 shows the automatic electronic hysteroscopy and dilatation 52, automatic dilatation 52 to expand the uterine cavity can be adjusted according to the size of the opening 91 and the diameter of the pressure port 91 changes in the uterine cavity, so that electrons can be smoothly passed through hysteroscopy. 电子宫腔镜包括工作端部21、内镜主体22,与内镜夹持机械臂I配合的连接器24和主机器手通道及其他辅助通道23等,其工作端部21为硬质圆管状,外径小于等于15mm,长度250〜300mm。 Electronic working end 21 comprises a hysteroscope, endoscope main body 22, and endoscopic robotic arm holding the mating connector 24 I and the host is chiral auxiliary channel 23 and other channels like, working end 21 is a rigid circular pipe an outer diameter less than or equal to 15mm, 250~300mm. 所述的自动扩宫器52安装有压力传感器和控制模块,可以通过获取压力数据来调整和判定扩宫的直径。 The automatic uterine dilator 52 is attached to pressure sensors and the control module may be adjusted and determined by the diameter of the dilatation pressure data acquisition. [0087] 如图SC是本发明的智能电子宫腔镜系统的手术示意图。 [0087] FIG SC is a schematic view of the surgical hysteroscopy intelligent electronic system according to the invention. [0088] 经自然腔道的智能电子内窥镜系统中的智能电子宫腔镜系统,其手术入路如下所述:术前,先把电子宫腔镜2安装在内镜夹持机械臂I的末端执行器113或者124上,自动扩宫器52安装在电子宫腔镜2的工作端部21部分并固定两者,并把进水通道和出水通道等连接上相应的设备,调试完好后作待机准备;病人在移动调整的手术平台4上采用适当体位,术处作消毒麻醉后,医生手动移动电子宫腔镜2并自动扩宫器52经由阴道91进入, 找到宫腔口后,启动自动扩宫器51撑开宫腔口,自动扩宫器52的压力传感器能计算反馈的信号判定宫腔口的状态,当扩宫至一定直径,则能把自动扩宫器52和电子宫腔镜2的工作端部21断开,电子宫腔镜2的工作端部21则能通过自动扩宫器52进入宫腔9内进行观察, 并通入智能机械手3对相应病变进行处理。 [0088] intelligent electronic endoscope system via a natural orifice in the hysteroscopy intelligent electronic system, the surgical approach described below: preoperative, hysteroscopy first electronic endoscope 2 is mounted in sandwiched manipulator I the upper end effector 113 or 124, the automatic uterine dilator 52 is mounted in the working end portion 21 2 of the electronic hysteroscopy and both fixed, and the inlet passage and the outlet passage connected to the respective other device, debugging intact ready for standby; appropriate position on the patient's movement adjustment operation platform 4, for disinfection of anesthesia, the doctor moves the electronic manual and automatic 2 hysteroscopy uterine dilator 52 enters via the vaginal surgery at 91, to find the uterine cavity mouth, start automatic dilatation distraction uterine port 51, automatically dilatation pressure sensor 52 can calculate the feedback signal determines the state of the uterine cavity of the mouth, when the dilatation to a diameter, the can 52 and the automatic electronic dilatation uterine working end 21 of the mirror 2 is turned off, the working end 21 of the electronic hysteroscopy 2 by automatically uterine dilator 52 into the uterine cavity 9 were observed, and into the corresponding intelligent robot three lesions treated. [0089] 本发明并不局限于上述实施方式,如果对本发明的各种改动或变形不脱离本发明的精神和范围,倘若这些改动和变形属于本发明的权利要求和等同技术范围之内,则本发明也意图包含这些改动和变形。 [0089] The present invention is not limited to the above embodiments, the present invention, if various modifications or variations without departing from the spirit and scope of the present invention, if these modifications and variations within the claims and equivalents of the present invention range, the the present invention intends to include these modifications and variations.

Claims (8)

1. ー种经自然腔道的智能电子内窥镜系统,包括电子内窥镜,其特征在于:还包括用于固定住电子内窥镜的内镜夹持机械臂、移动式调整手术平台、智能机器手、控制台及中央处理系统; 所述电子内窥镜包括内镜主体、硬质工作端部、置于内镜主体上相互独立的进水通道和出水通道,所述内镜主体的末端还设有一条贯穿硬质工作端部的直线型机器手通道,所述智能机器手置于直线型机器手通道内井能从硬质工作端部的前端伸出,所述内镜主体上连接有用于固定住电子内窥镜的内镜夹持机械臂; 所述电子内窥镜、内镜夹持机械臂、移动式调整手术平台、智能机器手、控制台均与中央处理系统连接; 所述智能机器手至少包括两个能做对合动作的机器爪、执行结构、传输结构和外部控制部分,该智能机器手在机器爪全部闭合的状态下,其最大外径大于 1. Natural Orifice ー kinds of intelligent electronic endoscope system includes an electronic endoscope, characterized by: further comprising a movable platform for holding at adjusting endoscopic surgical electronic endoscope holder robot arm, intelligent robot, the console and the central processing system; electronic endoscope comprising the endoscope body, the rigid working end disposed on endoscope body independent inlet channel and outlet channel, said endoscope body There is also the end of a robot arm through the linear passage of the rigid working end, the smart robot positioned within a linear channel wells robot from the distal end rigid portion projecting working end, said body endoscopic connections for fixed endoscopic robotic arm holding the electronic endoscope; said electronic endoscope, endoscopic robot arm gripper, to adjust operation of mobile platform, intelligent robot, console are connected to a central processing system; the intelligent robot comprises at least two pairs of claws do closing operation of the machine, performing configuration, the transmission control section and an outer structure, the smart robot machine at all jaws in the closed state, which is greater than the maximum outer diameter 于5. 0_,并小于等于所述直线型机器手通道的直径; 所述智能机器手的至少ー个机器爪的端部设有导电和绝缘材料做成的对病变进行电切除和止血治疗的电凝部分,所述智能机器手上还设有电切设备;所述智能机器手的各机器爪上均设有ー微型传感器。 5. 0_ to, and less than or equal to the diameter of the straight passage robot; intelligent robot, at least the end portion of machine ー pawl provided with a conductive and insulating materials made of electrically lesions and hemostasis of resected coagulation part, the smart machine further provided with an electrical hand-cutting equipment; on each of said pawl machine intelligent robot are provided ー microsensors.
2.根据权利要求I所述的经自然腔道的智能电子内窥镜系统,其特征在于:所述内镜夹持机械臂包括基座或卡紧在移动式调整手术平台边缘的卡ロ部分、带关节的臂部及与内镜主体连接的末端执行器,所述基座或卡ロ部分依次连接带关节的臂部和末端执行器,所述内镜夹持机械臂内设有驱动其自由旋转或升降运动的驱动元件。 The intelligent electronic endoscope system according to I Natural Orifice claim, wherein: said robot arm comprises a gripper endoscopic surgery immediately adjusted at the mobile platform edge portions of the base card or cards ro , articulated arm and connected to the end effector of the endoscopic body, said base portion or card ro sequentially connecting arm portion and the end effector is articulated, the endoscopic robot arm equipped with a drive which clamping the drive element or the lifting movement of the free rotation.
3.根据权利要求2所述的经自然腔道的智能电子内窥镜系统,其特征在于:所述内镜夹持机械臂的带关节的臂部至少包括三个关节件,且至少具有七个自由度,所述内镜夹持机械臂的进给精度小于等于1mm,其工作半径至少500mm,工作的垂直高度O〜500mm。 The intelligent electronic endoscope system natural orifice according to claim 2, wherein: said clamping arm endoscope manipulator comprises at least three articulated joint member, and having at least seven degrees of freedom, the robot arm holding the endoscope feeding accuracy of less than equal to 1mm, its operating radius of at least 500mm, the vertical height of the work O~500mm.
4.根据权利要求I所述的经自然腔道的智能电子内窥镜系统,其特征在于:所述智能机器手包括至少两个能相互对合动作的所述机器爪、驱动所述机器爪动作的所述执行结构、用于传递所述执行结构的动カ的所述传输结构以及控制所述执行结构动作的所述外部控制部分,所述智能机器手的执行结构为微型驱动元件,所述传输结构为一段外径小于电子内窥镜的机器手通道的传输管线,所述传输管线中还包括微型传感器的传输线路。 The intelligent electronic endoscope system of the natural orifice according to claim I, wherein: said intelligent robot comprises at least two mutually capable of closing operation of the jaw of the machine, the machine drive pawl the structure performing operation for transmitting the execution ka movable structure and the structure of the transmission control section performs the control of the external configuration of the operation, the structure of the intelligent robot performed for micro-drive element, the said transmission line structure is a transmission period less than the outer diameter of the electronic endoscope robot path, said transmission line further comprises a transmission line microsensors.
5.根据权利要求I所述的经自然腔道的智能电子内窥镜系统,其特征在于:所述智能机器手内还设有一条充当外部负压作用的通道,或者供微波探头设备或者激光探头设备或者带电凝的套圈通过的通道。 The intelligent electronic endoscope system of the natural orifice according to claim I, characterized in that: said machine further provided with an intelligent function as a negative pressure in the passage outside the hands, or for a microwave apparatus or a laser probe channel probe apparatus ferrule or charged by coagulation.
6.根据权利要求I所述的经自然腔道的智能电子内窥镜系统,其特征在于:所述电子内窥镜为电子阴道镜、电子肛肠镜或电子宫腔镜,所述电子肛肠镜配备自动扩肛器,其硬质工作端部为硬质圆管状,外径小于等于20mm,长度200-450mm,所述的自动扩肛器安装有压力传感器和控制模块;所述电子宫腔镜配备自动扩宫器,其硬质工作端部为硬质圆管状,夕卜径小于等于15mm,长度250〜300mm,所述自动扩宫器安装有压カ传感器和控制模块。 The intelligent electronic endoscope system according to I Natural Orifice claim, wherein: said electronic endoscope is colposcopy, hysteroscopy electronic or electronic anorectal mirror, the mirror electronic anorectal anal equipped with automatic control, which is a hard working end rigid circular pipe, an outer diameter less than or equal 20mm, a length of 200-450mm, the automatic installation anal pressure sensor and a control module; said electronic hysteroscopy equipped with automatic uterine dilator, which is a hard working end rigid circular pipe, Bu Xi diameter less than or equal to 15mm, 250~300mm, the automatic installation with a dilatation pressure sensor and a control module grades.
7.根据权利要求I所述的经自然腔道的智能电子内窥镜系统,其特征在于:所述硬质工作端部的前端为先端部,所述先端部前部安装有双目立体电子光学系统,或者多CCD阵列电子光学系统,或者非立体的电子摄像系统,所述先端部的端面和圆周面设有若干个测距器,所述先端部内部设有压力传感器或温度传感器。 The intelligent electronic endoscope system of the natural orifice according to claim I, characterized in that: said rigid distal working end is a tip portion, said tip portion is attached to the front portion of an electronic binocular an optical system, a CCD array or a plurality of electron optical system, or the non-stereoscopic electronic imaging systems, and the circumferential surface of the distal end surface provided with a plurality of distance portion, a distal portion of the interior of a pressure sensor or a temperature sensor.
8.根据权利要求I所述的经自然腔道的智能电子内窥镜系统,其特征在于:所述电子内窥镜的机器手通道的内径大于等于5. 0_,其独立的进水通道和出水通道的内径大于等亍I. Omm0 Intelligent electronic endoscope system according to claim I Natural Orifice claim, wherein: the inner diameter of the electronic endoscope robot path is greater than or equal 5. 0_ which separate inlet passage and an inner diameter larger than the other right foot outlet passage I. Omm0
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