CN102217927A - Intelligent electronic endoscope system passing through manual channels - Google Patents
Intelligent electronic endoscope system passing through manual channels Download PDFInfo
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- CN102217927A CN102217927A CN 201110145649 CN201110145649A CN102217927A CN 102217927 A CN102217927 A CN 102217927A CN 201110145649 CN201110145649 CN 201110145649 CN 201110145649 A CN201110145649 A CN 201110145649A CN 102217927 A CN102217927 A CN 102217927A
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Abstract
The invention belongs to the field of medical appliances and discloses two sets of intelligent electronic endoscope systems entering a human body for operation through manual channels, namely, an intelligent electronic percutaneous nephroscopeset system and an intelligent electronic arthroscope system respectively. The intelligent electronic endoscope system comprises an electronic endoscope, and also comprises an endoscope clamping mechanical arm used for fixing the electronic endoscope, a movable adjusting operation platform, an automatic liquid supply system, an intelligent manipulator, a console and a central processing system. A wide and large linear manipulator channel is designed inside the body of the endoscope of the electronic endoscope to provide a platform for the intelligent manipulator to enter an operation area; the intelligent manipulator has abundant functions and can implement precise and targeted treatment according to the demands of operation types. Operative treatment is implemented under the guidance of the experiences and technologies of a doctor by the intelligent electronic endoscope through the organic combination of the intelligent manipulator and computer technology as well as software technology, thereby lightening the difficulty of the operation and the pains of patients, and achieving the purpose of implementing operative treatment precisely, and further improving the operation accuracy.
Description
Technical field
The invention belongs to field of medical appliances, be specifically related to the smart electronics endoscopic system through artificial channel, comprising two cover endoscope systems, is respectively smart electronics PCN system and smart electronics arthroscope system.
Prior art
The Higher-end machines robot system that uses on medical domain at present is American I ntuitive Surgical, Inc. company develops the Leonardo da Vinci's assisted surgery for robots system that finishes, since first Leonardo da Vinci's assisted surgery for robots of December in 1998 system came out, present having above 390 was applied to all over the world.
Leonardo da Vinci's robotic surgical system is mainly by doctor's control station (surgeon console); An other mechanical arm tower (patient cart) of bed and the high-precision 3D HD visual system (vision cart) that four the 7 mutual arms of degree of freedom are housed constitutes.By means of high-tech equipment such as high definition three-dimensional imaging, the control of multi-joint arm automatization and the transmission of optical cable signal, make it possess advantages such as three-dimensional high definition art open country, arm non-jitter, camera lens are fixed, range of activity is wide, the apparatus degree of excursion is big, and changed the patient and stood in the other traditional mode of operating of operating-table, finish the operation overall process by the operator doctor before being sitting in control station, meet the human engineering principle, be more suitable in long-time complicated operation.
Control station is made up of computer system, operation technique monitor, robot control monitor, operating grip and input-output equipment etc.Before the surgeon can be sitting in control station away from operating-table during operation, head rest was on the frame of the visual field, and eyes are accepted the complete image from different cameras, jointly the 3 dimensional drawing of synthetic art open country.Doctor's both hands control operation bar, hand motion is communicated to the tip of mechanical arm, finishes operation technique, thereby increases the accuracy and the stationarity of operation, and this is a kind of master-servant's formula remote-controlled operation pattern of new proposition.
Now, Leonardo da Vinci's assisted surgery for robots system has been widely used in department of general surgery, Cardiac Surgery, Urology Surgery, gynecological and pediatric surgery.
At present, the endoscopic technic field is also growing, but the technology of carrying out joint disease or ureteral diagnosis and treatment after still not having robot arm and for example arthroscope, PCN organically combining through the endoscope of artificial channel, therefore, it is extremely urgent to reach the undergo surgery technology of treatment of precision robot arm to be integrated into arthroscope, PCN.
Summary of the invention
The objective of the invention is to overcome the purpose of prior art, a kind of smart electronics endoscopic system that enters through artificial channel that provides, this smart electronics endoscope is by the combination of intelligence machine hands and computer technology, under instructing, doctor's experimental technology carries out joint disease or kidney and ureteral operation, reach the purpose of the treatment that critically undergos surgery, further improve the operation accuracy rate.
In order to solve the problems of the technologies described above, the present invention realizes by following technical scheme:
Smart electronics endoscopic system through artificial channel of the present invention comprises following two kinds of forms, smart electronics PCN system and smart electronics arthroscope system.
Smart electronics endoscopic system through artificial channel of the present invention comprises fujinon electronic video endoscope, scope clamping mechanical arm, portable operation platform, automatic liquid supply system, intelligence machine hands, control station and the central processing system etc. adjusted.
Described fujinon electronic video endoscope for get involved the human body operative region, platform is provided and provides visual pattern for the doctor for the intelligence machine hands enters operative region.Described fujinon electronic video endoscope comprises scope main body, hard working end, places the scope main body terminal and run through the robot arm passage of hard work end, and other accessory channels such as intake tunnel, exhalant canal.
The system schematic of the smart electronics endoscopic system through artificial channel of the present invention, comprise following two kinds of forms: smart electronics PCN system and smart electronics arthroscope system, what be its corresponding fujinon electronic video endoscope according to form and range of application is different, and it is multi-form mainly can be divided into two of electronics PCN and electronics arthroscopes:
The first, for the electronics arthroscope, its hard work end hard pipe shape, the external diameter of described hard work end be smaller or equal to 12mm, length 150～200mm.
The second, for the electronics PCN, its hard work end is because hard pipe shape, and the external diameter of described hard work end is smaller or equal to 8mm, length 200～350mm.
In the present invention, the front end of described fujinon electronic video endoscope hard work end is first end, the anterior design and installation binocular solid electron-optical system in elder generation end or many ccd array electron-optical system, perhaps non-spatial electronic camera system, the end face of elder generation end and periphery design have several range finders, be used to monitor the position of first end in operative region, elder generation's end design has abundant pick off, as pressure transducer, temperature sensor etc., be used to monitor the state in the operative region, data offer central processing unit by data wire and handle, with for referencial use.
The internal diameter of described robot arm passage is more than or equal to 5.0mm, and it is intake tunnel and exhalant canal independently, and internal diameter is more than or equal to 1.0mm.
The scope main body of described fujinon electronic video endoscope cooperates with scope clamping mechanical arm by syndeton.
The structure of described scope clamping mechanical arm comprises two kinds at least:
First kind is: comprise pedestal, articulated arm and end effector;
Second kind is: comprising can stuck bayonet socket part, articulated arm and end effector at removable adjustment operation platform edges.
The set syndeton of described end effector and scope main body closely cooperates, thereby makes scope clamping mechanical arm that fujinon electronic video endoscope is closely connected.
For first kind of structure: its base interior design has the driving element that motion energy is provided to scope clamping mechanical arm, comprises drive mechanism, Hydraulic Elements, pneumatic element, servomotor and motor etc., and self can rotate and elevating movement;
For second kind of structure: described bayonet socket part can be tightly locked at the operation platform edges for supporting.
In above-mentioned two kinds of structures: an end of described articulated arm is connected on pedestal or the bayonet socket part, an other end becomes end effector, in peep end effector and cooperate with fujinon electronic video endoscope by syndeton, arm comprises three joints at least, at least 7 degree of freedom, the feed accuracy of scope clamping mechanical arm is smaller or equal to 1mm, its radius of clean-up is 500mm at least, vertical height 0～the 500mm of work (is the plane of reference with movable type adjustment operation platform plane), the end effector of scope clamping mechanical arm is with after fujinon electronic video endoscope cooperates, the first end that can drive fujinon electronic video endoscope reaches the interior any point of above-mentioned work space, form closed loop control by the range finder of fujinon electronic video endoscope tip end surface and side face and the feedback of respective sensor, increase the safety coefficient of operation, the design of scope clamping mechanical arm has anti-trembling function, surpassed distance alarm function and locking function increase the safety coefficient of operating.The control mode of scope clamping mechanical arm can be divided into keyboard and control forms such as harmony sound control system automatically.Keyboard automatically control is meant by the controlling of control handgrip or keyboard, and control scope clamping mechanical arm advances, retreats and the action of rotation etc.; Sound control form is meant the sound instruction that receives the manipulator by mike, reaches system scope clamping mechanical arm and advances, retreats and the action of rotation etc.
The described portable operation platform of adjusting, its height can be by adjusting structural adjustment, and the inclination of different angles can be done in its plane, cooperates fujinon electronic video endoscope to undergo surgery, further, the portable operation platform of adjusting can pass through fixed structure fixed clamp formula scope clamping mechanical arm.
Described automatic liquid supply system comprises base, is connected telescopic supporting construction on the base, places the fluid reservoir at telescopic supporting construction top, is located at fluid reservoir upward pressure system structure and feed liquid pipeline etc.The automatic liquid supply system is connected with central processing system by data wire, feed back by pressure data field of operation, automatically stretching was regulated liquid stream about the telescopic supporting construction of control was done speed and intensity, also can cooperate the pressure system structure, regulate speed and the intensity of also staying by the pressure that changes fluid reservoir.
Described intelligence machine hands is that the robot arm passage by fujinon electronic video endoscope enters the operative region operation that undergos surgery.
Described intelligence machine hands comprises machine pawl, performing structure, transmission structure and external control part etc.At least the machine pawl that comprises two involutory actions of energy of intelligence machine hands, intelligence machine hands are under all closed states of machine pawl, and its maximum outside diameter should be more than or equal to 5.0mm, and smaller or equal to the diameter of the robot arm passage of fujinon electronic video endoscope.
In the present invention, the characteristics of intelligence machine hands are multi-functional, and its function comprises:
(1) end of at least one machine pawl has conduction and the electricity made of insulant coagulates part, can be used as the monopolar electrocoagulation apparatus or passes through two involutory machine pawls as a bipolar coagulation apparatus, and pathological changes is carried out electroblation and hemostatic treatment;
(2) two involutory machine pawls of energy can be finished the function of operating forceps, can get biopsy, extract pathological changes etc.;
(3) appropriate location of described intelligence machine hands is provided with the TURP equipment that is used to excise pathological tissues in the cavity, is not combined into one with the intelligence machine hands when TURP equipment does not use, and stretches out during use, does the effect of cutting pathological tissues;
(4) design of the center of intelligence machine hands or appropriate location has a diameter to serve as the passage of outside suction function smaller or equal to the passage energy conduct of 2.0mm, also can feed microwave probe equipment or laser probe equipment, be used for operations such as microwave bleeding and cut, also can feed the charged lasso that coagulates, be used for excising simultaneously intra-lumen polyp and solidify the otch bleeding part, can enter expansion and lead device, ureter is expanded, be convenient to the intelligence machine hand operated;
(5) each machine pawl of described intelligence machine hands all is equipped with microsensor, comprise temperature sensor, pressure transducer etc., purpose is to understand the state of intelligence machine hands, to obtain the details of operative region, for control provides data refer, make that the use of robot arm is safer, the operation precision of described intelligence machine hands reaches 1.0mm at least.
In the present invention, the action of the performing structure of described intelligence machine hands is by realizations such as minitype pneumatic element or micro hydraulic elements, and element can be installed in the front end of machine pawl or be connected the outside of intelligence machine hands by micro-tube.Each machine claw portion of intelligence machine hands all is equipped with abundant pick off,
The transmission structure of described intelligence machine hands is the transfer line of one section external diameter less than the robot arm passage scope of fujinon electronic video endoscope, its character can be soft or rigid, pipeline is action transmission power such as the extracting of intelligence machine hands and shearing, meet safe voltage for the action of the electric coagulation therapy of machine pawl provides, also comprise the transmission line of microsensor etc. in the pipeline.
The external control part of described intelligence machine hands is shared with central processing system.
The control mode of intelligence machine hands can be divided into forms such as Artificial Control and automatic control.Artificial Control is meant by the controlling of control handgrip, keyboard, the action that the control robot arm advances, retreats, rotates and electricity coagulates etc.; Automatically the control form is meant the control form except that Artificial Control.
The control station of described smart electronics endoscopic system through artificial channel, its structure comprises display screen, operation by human hand and some control knobs and keyboard etc. at least.By hand-held operation by human hand and the three-dimensional image of watching on the display screen, the scope clamping mechanical arm in the smart electronics endoscopic system of artificial channel, operation platform and puma manipulator are controlled; By the optical system of fujinon electronic video endoscope, display screen can be exported the high-definition image more than 5 times, the operation safe of doctor under the image-guidance of high definition.
The central processing system of described smart electronics endoscopic system through artificial channel, its kernel adopts the polycaryon processor with high-speed computation performance, connecting control station, fujinon electronic video endoscope, scope clamping mechanical arm, portable adjustment operation platform and puma manipulator in one, is the brain of whole system.The effect of central processing system is according to the doctor instruction to be resolved in the operation control of control station, control scope clamping mechanical arm, portable adjustment operation platform and puma manipulator cooperatively interact, reach the optimal location that undergos surgery, high definition 2D or 3D rendering that central processing system is returned by fujinon electronic video endoscope are given the optimized image foundation that doctor's surgical procedure is provided; The status information that the microsensor that installs by fujinon electronic video endoscope, puma manipulator etc. feeds back, the alarm device in the central processing unit can be controlled fujinon electronic video endoscope and puma manipulator intravital motion in the chamber in real time, so that the safety of operation is carried out.
Below with regard to of the present invention two the cover different endoscopic systems describe:
For the smart electronics PCN system in the smart electronics endoscopic system of artificial channel, its operative approach is as described below:
Before the art, earlier the electronics PCN is installed on the end effector of scope clamping mechanical arm, and intake tunnel is connected the feed liquid pipeline of automatic liquid supply system, exhalant canal is connected negtive-pressure implement equipment, debug and does the standby preparation after intact; Patient adopts suitable position on movable type adjustment operation platform, after the art place does sterilization anesthesia, the doctor at first uses puncture needle through supplementary instrument, as CT, the auxiliary of X-ray punctured at suitable position down, enter collecting system, nook closing member is taken out, after deriving urine, the hard work end of control electronics PCN enters human body, carries out the location, and the doctor shows by the high-definition image of display screen then, operation hand control and relevant control knob etc., can control scope clamping mechanical arm, the portable operation platform of adjusting makes the electronics PCN to observe in field of operation, the doctor can also the operative intelligence robot arm near ureter, passage by intelligent intelligence machine hands front end feeds dilator then, very thin ureter is expanded, be convenient to robot arm and enter operation, smash processing doing than maximum size, can control robot arm to pathological changes such as polyps extracts, calcination and hemostasis etc., in addition, laser and microwave equipment also can enter the art district and operate.The intelligence machine hands of intelligent electronic PCN surgery systems is equivalent to the extension of doctor's hand, the optical system of electronics PCN then is equivalent to the extension of doctor's eyes, by controlling of precision, can under the environment of at least 5 times of amplifications, handle kidney and ureteral pathological changes, and because the stability of system, can greatly improve the safety of operation.
And for the smart electronics arthroscope system in the smart electronics endoscopic system of artificial channel, its operative approach is as described below: before the art, earlier the electronics arthroscope is installed on the end effector of scope clamping mechanical arm, and intake tunnel and exhalant canal etc. are connected corresponding apparatus, debug and do standby after intact and prepare; Patient lies low on movable type adjustment operation platform or sits up straight operating chair, the fixing joint position, after the art place does sterilization anesthesia, the doctor at first does little otch in the affected part, control electronics arthroscope and scope clamping mechanical arm then and move to otch porch and location, can control scope by control station carefully accurately enters in the articular cavity, the doctor shows by the high-definition image that returns display screen, operation hand control and relevant control knob etc., can control scope clamping mechanical arm, portable operation platform and the intelligence machine hands adjusted, make the intelligence machine hands dexterous in articular cavity, accurately the cleaning of inflammation is carried out in operation; operations such as pathological changes excision and hemostasis.The intelligence machine hands of intelligent electronic arthrocsopic surgery system is equivalent to the extension of doctor's hand, the Arthroscopic optical system of electronics then is equivalent to the extension of doctor's eyes, by controlling of precision, can under the environment of at least 5 times of amplifications, handle the pathological changes in the articular cavity, and because the stability of system, can greatly improve the safety of operation.
Compared with prior art, the invention has the beneficial effects as follows:
Smart electronics endoscopic system through artificial channel feeds fujinon electronic video endoscope by artificial channel, by the clear truth of observing the internal organs cavity of camera system energy, robot arm passage with fujinon electronic video endoscope is that platform feeding intelligence machine hands enters, the microminiaturization of intelligence machine hands 3, deformable, but break-in and have simultaneously some kinds of operating theater instruments functions (as the operation nipper, TURP equipment and Electrocoagulation equipment etc.), determine that then not needing to feed other apparatuses just can do multiple surgical procedure, reduce the difficulty of operation and patient's misery, reach the purpose of the treatment that critically undergos surgery, further improve the operation accuracy rate.
Description of drawings
Fig. 1 is the system schematic of the smart electronics endoscopic system through artificial channel of the present invention.
Fig. 2 A is first kind of scope clamping mechanical arm structural representation among the present invention.
Fig. 2 B is second kind of form structure sketch map of second kind of scope clamping mechanical arm among the present invention.
Fig. 3 is an electronics PCN structural representation among the present invention.
Fig. 4 is an electronics arthroscope structural representation among the present invention.
Fig. 5 is an automatic liquid supply system structure sketch among the present invention.
Fig. 6 be among the present invention intelligence machine hands structure diagram and with fujinon electronic video endoscope be used figure.
Fig. 6 A is an intelligence machine hands closure state structural representation among above-mentioned Fig. 6.
Fig. 7 is the portable operating-table sketch map of adjusting among the present invention.
Fig. 8 A is the operation sketch map of smart electronics PCN system among the present invention.
Fig. 8 B is the operation sketch map of smart electronics arthroscope system among the present invention.
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing:
Be illustrated in figure 1 as the structural representation of the smart electronics endoscopic system through artificial channel of the present invention.Described smart electronics endoscopic system through artificial channel comprises fujinon electronic video endoscope 2, intelligence machine hands 3, scope clamping mechanical arm 1, removable adjustment operation platform 4, automatic liquid supply system 5, control station 8, central processing system 6 and system attachment 7 etc.
Smart electronics endoscopic system through artificial channel of the present invention comprises following two kinds of forms: smart electronics PCN system, smart electronics arthroscope system, promptly Dui Ying fujinon electronic video endoscope 2 is electronics PCN and electronics arthroscope.
In the present invention, described scope clamping mechanical arm by the difference of its structure also be divided into two kinds multi-form:
First kind of structure: shown in Fig. 2 A, described scope clamping mechanical arm 1 comprises pedestal 11, each articulated arm 12 and the end effector 13 that cooperates with endoscope 2, arm 12 1 ends that specifically are band joint 14 are connected on the pedestal 11, an other end becomes end effector 13, and end effector 13 closely cooperates by syndeton and fujinon electronic video endoscope 2.Described pedestal 11 indoor designs have major part that the executive component of scope clamping manipulator motion kinetic energy is provided, comprise drive mechanism, Hydraulic Elements, pneumatic element, servomotor and motor etc., self can rotate and elevating movement, makes scope clamping mechanical arm 1 drive fujinon electronic video endoscope 2 and can rotate together and elevating movement.
Second kind of structure: shown in Fig. 2 B, described scope clamping mechanical arm 1 ' comprises pedestal 11 ' with bayonet, the bayonet socket part of the arm 12 ' in band joint 14 ' and end effector 13 ' the described pedestal 11 ' with bayonet can tightly lockedly be support at movable type adjustment operation platform 4 edges, described articulated arm 12 ' one end is connected on the bayonet socket pedestal 11 ' part, an other end becomes end effector 13 ', end effector 13 ' closely cooperates by syndeton and fujinon electronic video endoscope 2, the arm 12 ' of the scope clamping mechanical arm 1 ' of this kind structure equally also is provided with the executive component that scope clamping mechanical arm 1 motion energy is provided, comprise drive mechanism, Hydraulic Elements, pneumatic element, servomotor and motor etc. make scope clamping mechanical arm 1 drive fujinon electronic video endoscope 2 and can rotate together and elevating movement.
By Fig. 2 A and Fig. 2 B as can be known, the scope clamping mechanical arm 1 of above-mentioned two kinds of structures, 1 ' arm 12,12 ' comprises three joints at least, at least 7 degree of freedom, the feed accuracy of scope clamping mechanical arm 1 is smaller or equal to 1mm, its radius of clean-up is 500mm at least, vertical height 0～the 500mm of work (is the plane of reference with movable type adjustment operation platform plane), the end effector 13 of scope clamping mechanical arm 1 or 13 ' is with after fujinon electronic video endoscope 2 cooperates, the first end that can drive fujinon electronic video endoscope 2 reaches the interior any point of above-mentioned work space, form closed loop control by the range finder of fujinon electronic video endoscope 2 tip end surfaces and side face and the feedback of respective sensor, increase the safety coefficient of operation.In addition, scope clamping mechanical arm 1 also designs anti-trembling function, surpassed distance alarm function and locking function, increases the safety coefficient of operation.The control mode of scope clamping mechanical arm 1 can also be divided into keyboard and control forms such as harmony sound control system automatically.Keyboard automatically control is meant by the controlling of control handgrip or keyboard, and control scope clamping mechanical arm 1 advances, retreats and the action of rotation etc.; Sound control form is meant the sound instruction that receives the manipulator by mike, reaches control scope clamping mechanical arm 1 and advances, retreats and the action of rotation etc.
As Fig. 3, Fig. 4 is electronics PCN and electronics arthroscope structure diagram.
As seen from the figure, electronics PCN and the equal correspondence of electronics arthroscope comprise hard work end 21, scope main body 22, the adapter 24 and robot arm passage and other accessory channels 23 etc. that cooperate with scope clamping mechanical arm 1.
In the present invention, according to the actual needs, the hard work end 21 of electronics PCN is a hard pipe shape, and hard work end 21 external diameters are smaller or equal to 8mm, its length 200～350mm.And the external diameter of electronics arthroscope hard work end 21 is smaller or equal to 12mm, its length 150～200mm.
As shown in Figure 5, described automatic liquid supply system 5 comprises base 1, is installed in telescopic supporting construction 52 on the base 1, places the fluid reservoir 54 on the telescopic supporting construction 52, and is located at pressure system structure 53 on the fluid reservoir 54 and feed liquid pipeline 55 etc.Automatic liquid supply system 5 is connected with central processing system by data wire, feed back by pressure data field of operation, automatically stretching was regulated liquid stream about the telescopic supporting construction 52 of control was done speed and intensity, also can cooperate pressure system structure 53, the speed and the intensity of regulating liquid stream by the pressure that changes fluid reservoir 54.
Fig. 6 is used sketch map figure for the structure diagram of intelligence machine hands 3 and with fujinon electronic video endoscope.Described intelligence machine hands 3 enters the operative region operation that undergos surgery by electronics PCN and the Arthroscopic special purpose machinery hands of electronics passage 23.The structure of described intelligence machine hands 3 comprises machine pawl 33,34, performing structure, transmission structure 31 and external control part 38 etc.The machine pawl that comprises two involutory actions of energy 33,34 of intelligence machine hands 3, intelligence machine hands 3 is under machine pawl 33,34 whole closed states (as shown in Figure 6A), its maximum outside diameter should be more than or equal to 5.0mm, and smaller or equal to the diameter of the robot arm passage of fujinon electronic video endoscope.
Among the present invention, the characteristics of described intelligence machine hands 3 are multi-functional, and its function comprises:
(1) end of at least one machine pawl 33,34 has conduction and the electricity made of insulant coagulates part, can be used as the monopolar electrocoagulation apparatus, perhaps by two involutory machine pawls as a bipolar coagulation apparatus, pathological changes is carried out electroblation and hemostatic treatment;
(2) two involutory machine pawls 33,34 of energy can be finished the function of operating forceps, can get biopsy, extract pathological changes etc.;
(3) appropriate location of described intelligence machine hands 3 is provided with the TURP equipment 35 that is used to excise pathological tissues in the cavity, is not combined into one with intelligence machine hands 3 when TURP equipment 35 does not use, and stretches out during use, does the effect of cutting pathological tissues;
(4) design of the center of intelligence machine hands 3 or appropriate location has a diameter to serve as the passage of outside suction function smaller or equal to the passage energy conduct of 2.0mm, also can feed microwave probe equipment or laser probe equipment 36, be used for operations such as microwave bleeding and cut.
(5) each machine pawl 33,34 of intelligence machine hands 3 all is equipped with microsensor, comprise temperature sensor, pressure transducer etc., to obtain the details of operative region, understand the state of intelligence machine hands 3, for control provides data refer, make that the use of intelligence machine hands 3 is safer, the operation precision of described intelligence machine hands 3 reaches 1.0mm at least.
(6) action of the performing structure of intelligence machine hands 3 is by realizations such as minitype pneumatic element or micro hydraulic elements, and element can install at front end or be connected the outside of intelligence machine hands 3 by micro-tube.
The transmission structure of described intelligence machine hands 3 is one section external diameter transfer lines less than the robot arm passage scope of fujinon electronic video endoscope, its character can be soft or rigid, pipeline is action transmission power such as the extracting of intelligence machine hands 3 and shearing, meet safe voltage for the action of the electric coagulation therapy of machine pawl provides, also comprise the transmission line of microsensor etc. in the pipeline.
The external control part 37 of described intelligence machine hands 3 is shared with the central processing system 6 of system.The control mode of intelligence machine hands 3 can be divided into forms such as Artificial Control and automatic control.Artificial Control be meant by the control hands will, the controlling of keyboard, the action that control robot arm 3 advances, retreats, rotates and electricity coagulates etc.; Automatically the control form is meant the control form except that Artificial Control.
As Fig. 7 is the portable operation platform 4 of adjusting, its height can be adjusted by adjusting structure 42, and the inclination of different angles can be done in its plane, cooperates fujinon electronic video endoscope to undergo surgery, further, operating-table 4 can pass through fixed structure 43 fixed clamp formula scope clamping mechanical arms 12.
As Fig. 8 A and 8B is respectively the operation sketch map of smart electronics PCN system of the present invention and smart electronics arthroscope system.
Shown in Fig. 8 A, described smart electronics PCN system in the smart electronics endoscopic system that artificial channel enters, its operative approach is as described below:
Before the art, earlier the electronics PCN is installed on the end effector 13 or 13 ' of scope clamping mechanical arm 1, and intake tunnel is connected the feed liquid pipeline 55 of automatic liquid supply system 5, exhalant canal is connected negtive-pressure implement equipment, debug and does the standby preparation after intact;
Patient adopts suitable position on movable type adjustment operation platform 4, after the art place does sterilization anesthesia, the doctor at first uses puncture needle through supplementary instrument, as CT, the auxiliary of X-ray punctured at suitable position down, enter collecting system, nook closing member is taken out, after deriving urine, the hard work end 21 of control electronics PCN 2 enters human body, carries out the location, and the doctor shows by the high-definition image of display screen then, operation hand control and relevant control knob etc., can control scope clamping mechanical arm 1, the portable operation platform 4 of adjusting makes electronics PCN 2 to observe in field of operation, the doctor can also operative intelligence robot arm 3 near ureters, passage by intelligent intelligence machine hands 3 front ends feeds dilator then, very thin ureter is expanded, be convenient to robot arm and enter operation, smash processing doing than maximum size, can control robot arm to pathological changes such as polyps extracts, calcination and hemostasis etc., in addition, laser and microwave equipment also can enter the art district and operate.The intelligence machine hands 3 of intelligent electronic PCN surgery systems is equivalent to the extension of doctor's hand, the optical system of electronics PCN 2 then is equivalent to the extension of doctor's eyes, by controlling of precision, can under the environment of at least 5 times of amplifications, handle the pathological changes of kidney and ureter 9, and because the stability of system, can greatly improve the safety of operation.
Shown in Fig. 8 B, described smart electronics arthroscope system in the smart electronics endoscopic system of artificial channel, its operative approach is as described below:
Before the art, earlier the electronics arthroscope is installed on the end effector 13 or 13 ' of scope clamping mechanical arm 1, and intake tunnel and exhalant canal etc. are connected corresponding apparatus, debug and do the standby preparation after intact; Patient lies low on movable type adjustment operation platform 4 or sits up straight operating chair, the fixing joint position, after the art place does sterilization anesthesia, the doctor at first does little otch in the affected part, control electronics arthroscope and scope clamping mechanical arm 1 then and move to otch porch and location, can carefully accurately enter in the articular cavity 10 by control station 8 control scopes, the doctor shows by the high-definition image that returns display screen, operation hand control and relevant control knob etc., can control scope clamping mechanical arm 1, portable operation platform 4 and the intelligence machine hands 3 adjusted, make intelligence machine hands 3 dexterous in articular cavity, accurately the cleaning of inflammation is carried out in operation; operations such as pathological changes excision and hemostasis.The intelligence machine hands 3 of intelligent electronic arthrocsopic surgery system is equivalent to the extension of doctor's hand, the Arthroscopic optical system of electronics then is equivalent to the extension of doctor's eyes, by controlling of precision, can under the environment of at least 5 times of amplifications, handle the pathological changes in the articular cavity, and because the stability of system, can greatly improve the safety of operation.
Claims (10)
1. smart electronics endoscopic system through artificial channel, comprise fujinon electronic video endoscope, it is characterized in that: also comprise the scope clamping mechanical arm that is used for fixing fujinon electronic video endoscope, portable operation platform, automatic liquid supply system, intelligence machine hands, control station and the central processing system adjusted;
Described fujinon electronic video endoscope comprises scope main body, hard work end, places intake tunnel separate on the scope main body and exhalant canal, the end of described scope main body also is provided with a linear type robot arm passage that runs through hard work end, described intelligence machine hands places in the linear type robot arm passage and can stretch out from the front end of hard work end, is connected with the scope clamping mechanical arm that is used for fixing fujinon electronic video endoscope on the described scope main body;
Described fujinon electronic video endoscope, scope clamping mechanical arm, portable adjustment operation platform, automatic liquid supply system, intelligence machine hands, control station all are connected with central processing system.
2. the smart electronics endoscopic system through artificial channel according to claim 1, it is characterized in that: described scope clamping mechanical arm comprises pedestal or is clamped on the portable end effector of adjusting the bayonet socket part of operation platform edges, articulated arm and being connected with the scope main body, described pedestal or bayonet socket part connects articulated arm and end effector successively, is provided with in the described scope clamping mechanical arm to drive it and rotate freely or the driving element of elevating movement.
3. the smart electronics endoscopic system through artificial channel according to claim 2, it is characterized in that: the articulated arm of described scope clamping mechanical arm comprises three joint pieces at least, and has 7 degree of freedom at least, the feed accuracy of described scope clamping mechanical arm is smaller or equal to 1mm, its radius of clean-up is 500mm at least, the vertical height 0～500mm of work.
4. the smart electronics endoscopic system through artificial channel according to claim 1, its feature comprises: described intelligence machine hands comprises at least two mutual involutory action machine pawls of energy, the performing structure of driven machine pawl action, be used to transmit the power transmission structure of actuator and the external control part of control executing mechanism action, the actuator of described intelligence machine hands is the micro drives element, described transmission structure is the transfer line of one section external diameter less than the robot arm passage scope of fujinon electronic video endoscope, also comprises the transmission line of microsensor in the described transfer line.
5. the smart electronics endoscopic system through artificial channel according to claim 2, it is characterized in that: the mutually involutory machine pawl of the energy of described intelligence machine hands is under all closed states of machine pawl, its maximum outside diameter should be more than or equal to 5.0mm, and smaller or equal to the diameter of the robot arm passage of fujinon electronic video endoscope.
6. the smart electronics endoscopic system through artificial channel according to claim 5, its feature comprises: the end of at least one machine pawl of described intelligence machine hands is provided with the electricity that pathological changes is carried out electroblation and hemostatic treatment that conduction and insulant make and coagulates part, and described intelligence machine also is provided with TURP equipment on hand; Be equipped with a microsensor on each machine pawl of described intelligence machine hands.
7. the smart electronics endoscopic system through artificial channel according to claim 6, it is characterized in that: also be provided with in the described intelligence machine hands one for Metal net basket by or serve as the passage of outside suction function or the passage of passage that tiny calculus is drawn, described channel diameter is smaller or equal to 2.0mm.
8. the smart electronics endoscopic system through artificial channel according to claim 1, it is characterized in that: described automatic liquid supply system comprises the base that connects successively, flexible supporting bracket and place the fluid reservoir of supporting bracket tip position automatically, be provided with pressure system in the described fluid reservoir, also connect the feed liquid pipeline of the intake tunnel connection of the fujinon electronic video endoscope of having a surplus on the described fluid reservoir.
9. the smart electronics endoscopic system through artificial channel according to claim 1, it is characterized in that: described fujinon electronic video endoscope is electronics PCN or electronics arthroscope, the front end of hard work end is first end, front portion, described first end is equipped with the binocular solid electron-optical system, perhaps many ccd array electron-optical system, perhaps non-spatial electronic camera system, the end face of described first end and periphery are provided with several range finders, and inside, described first end is provided with pressure transducer or temperature sensor.
10. the smart electronics endoscopic system through artificial channel according to claim 1, it is characterized in that: the internal diameter of the linear type robot arm passage of described fujinon electronic video endoscope is more than or equal to 5.0mm, and independently the internal diameter of intake tunnel and exhalant canal is more than or equal to 1.0mm.
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