CN104116484A - Endoscope system with adjustable shooting angle and method - Google Patents

Endoscope system with adjustable shooting angle and method Download PDF

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Publication number
CN104116484A
CN104116484A CN201410326452.9A CN201410326452A CN104116484A CN 104116484 A CN104116484 A CN 104116484A CN 201410326452 A CN201410326452 A CN 201410326452A CN 104116484 A CN104116484 A CN 104116484A
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China
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magnet
endoscope
control
angle
axis
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CN201410326452.9A
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Chinese (zh)
Inventor
钱大宏
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乐虹信息科技(上海)有限公司
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Priority to CN201410326452.9A priority Critical patent/CN104116484A/en
Publication of CN104116484A publication Critical patent/CN104116484A/en

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147Holding or positioning arrangements
    • A61B1/00158Holding or positioning arrangements using magnetic field
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005Flexible endoscopes
    • A61B1/0051Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052Constructional details of control elements, e.g. handles

Abstract

The invention provides an endoscope system with the adjustable shooting angle. The endoscope system comprises a control magnet and a control magnetic field which are arranged outside, a bending section which is arranged at the near front end of an endoscope and has flexibility, and an induction magnet arranged at the front end of the endoscope. The control magnet and the induction magnet are permanent magnets or electromagnets or superconducting magnets. The invention further provides a method for adjusting the shooting angle of the endoscope. The inductor magnet is arranged at the end of the endoscope, the control magnetic field is formed through the control magnet outside, the induction magnet is controlled to move or rotate, and the bending section which is arranged at the near front end of the endoscope and has flexibility is further bent. According to the endoscope system with the adjustable shooting angle, the angle of the endoscope is controlled in a magnetic field control mode, and accuracy of angle control can be effectively improved.

Description

可调整拍摄角度的内窥镜系统及方法 Adjustable endoscope system and method for imaging angle

技术领域 FIELD

[0001] 本发明涉及一种微创伤外科医学用于人体内部检查诊断与治疗的内窥镜,尤其涉及一种可调整拍摄角度的内窥镜系统。 [0001] The present invention relates to a minimally invasive endoscopic surgery within the human body for medical diagnosis and treatment, particularly to a shooting angle adjustable endoscope system. 本发明还涉及一种调整内窥镜拍摄角度的方法 The present invention further relates to a method for adjusting the angle of the endoscope photographing

背景技术 Background technique

[0002] 现有内窥镜的角度控制通常是采用机械结构实现的,如图1所示,申请号为: 200810017325. 5的中国发明专利公开了一种内窥镜的多弯曲部及控制装置,包括镜身管5,位于镜身管5的前端设置有内窥镜镜头1和镜颈2,镜身管5的后端设置有操作部8,所述镜身管5与镜头1之间至少设置有2组蛇骨组件,即远端蛇骨组件3和近端蛇骨组件4 ; 位于操作部8上对应于所述蛇骨组件至少设置有一个多组角度螺旋钮7,多组角度螺旋钮7 通过转轴与角度链轮6对应连接,位于角度链轮6上与其啮合设置有一段角度链条9,角度链条9的两端连接角度控制绳10,角度控制绳10的两端头分别与远端蛇骨组件3的前端头3-1和近端蛇骨组件4的前端头4-1固定连接。 [0002] The conventional endoscope is typically a mechanical angle control structure to achieve, as shown, Application No. 1: Chinese patent 200810017325.5 discloses a multi-bending portion of the endoscope and a control device , between the lens barrel 5 comprises, at the rear lens barrel 5 is provided with a front end of the endoscope lens 1 and the mirror neck 2, the lens barrel 5 is provided with an operation portion 8, the mirror 5 and the lens barrel 1 there are at least two sets of snake bone assembly is provided, i.e., a distal end and a proximal end snake bone snake bone component assembly 4 3; 7 corresponding to a plurality of sets of the snake bone assembly is provided at an angle of at least a plurality of sets of helical angle knob on the operation section 8 is located spiral button 7 is connected via a shaft angle 6 corresponding to the sprocket, the sprocket 6 at an angle thereto engaging the chain 9 is provided with some angle, the angle of the chain 9 is connected to both ends of the angle control cord 10, the cord angle of the control head 10 at both ends, respectively the distal end of the distal end snake bone head assembly 3 and a proximal end snake bone 3-1 4 4-1 head assembly distal end fixedly connected.

[0003] 现有结构都是通过机械方式控制内窥镜角度的,在一些微创手术中,内窥镜需要做的越来越小,精度要求也越来越高,再通过机械方式实现控制角度也越来越难,进而改进的控制内窥镜拍摄角度的方法和系统成为必要的研究和发展方向。 [0003] Existing structures are controlled by a mechanical angle of the endoscope, in some minimally invasive surgery, the endoscope need to do more and more smaller, increasingly high precision, then the control achieved by mechanical means more and more difficult angle, thereby improving the endoscopic camera angle control method and system become necessary research and development.

发明内容 SUMMARY

[0004] 本发明的目的在于提供一种可调整拍摄角度的内窥镜系统和方法,通过磁场控制方式实现内窥镜角度控制,能够有效提高控制角度的精准度。 [0004] The object of the present invention is to provide an endoscope system and a method to adjust the shooting angle, the control angle of the endoscope, can effectively improve the accuracy of the angle control mode is achieved by controlling the magnetic field.

[0005] 为了达到上述的目的,本发明提供一种可调整拍摄角度的内窥镜系统,包括: [0005] To achieve the above object, the present invention provides an adjustable angle endoscope imaging system, comprising:

[0006] 设置在外部的控制磁体和控制磁场; [0006] and control is provided to control magnetic field on the outside;

[0007] 设置在所述内窥镜近前端的具有柔性的弯折段; A flexible bending section [0007] disposed near the distal end of the endoscope;

[0008] 和设置在所述内窥镜前端的感应磁体。 [0008] and the induced magnet disposed in the front end of the endoscope.

[0009] 优选地,本发明的可调整拍摄角度的内窥镜系统,所述控制磁体为永磁体或电磁体或超导磁体。 [0009] Preferably, the present invention can adjust the angle of the imaging system of the endoscope, the control magnet is a permanent magnet or an electromagnet or a superconducting magnet.

[0010] 进一步地,本发明的可调整拍摄角度的内窥镜系统,所述控制磁体设置在一个可以沿X轴、y轴和z轴三个维度移动的机械手或支架上。 [0010] Further, the present invention can adjust the angle of the imaging system of the endoscope, the control can be a magnet is disposed on the X-axis, y-axis and z-axis robot movement in three dimensions or bracket.

[0011] 更进一步地,本发明的可调整拍摄角度的内窥镜系统,所述机械手或支架在X轴、 y轴和z轴分别具有移动滑轨和控制电机。 [0011] Still further, the present invention can adjust the angle of the imaging system of the endoscope, the manipulator or scaffold in X-axis, y-axis and z-axis, respectively, and control motors having a movable rail.

[0012] 优选地,本发明的可调整拍摄角度的内窥镜系统,所述内窥镜具有一个或一个以上腔道,所述感应磁体为设置在所述腔道内的永磁铁。 [0012] Preferably, the present invention can adjust the angle of the imaging system of the endoscope, the endoscope having one or more cavity, the sensing magnet is disposed within the lumen of the permanent magnet.

[0013] 优选地,本发明的可调整拍摄角度的内窥镜系统,所述感应磁体为设置在内窥镜端部由导线或超导导线通电后形成的电磁体或超导磁体。 [0013] Preferably, the present invention can adjust the angle of the imaging system of the endoscope, the inductive magnet or electromagnet is provided on the end portion of the endoscope superconducting magnet is formed of a superconducting wire or wire after energization.

[0014] 本发明还提供一种调整内窥镜拍摄角度的方法,在内窥镜的端部设置感应磁体, 利用外部的控制磁体形成控制磁场从而控制所述感应磁体移动或转动,进一步使所述内窥镜近前端的具有柔性的弯折段弯折。 [0014] The present invention further provides a method for adjusting the shooting angle of the endoscope, the endoscope end portion of the induction magnet, the magnet is formed by an external control to control the induction field to thereby control rotation of the moving magnet or, further by near the distal end of said endoscope has a flexible bending section is bent.

[0015] 优选地,本发明的调整内窥镜拍摄角度的方法,利用在X轴、y轴和Z轴移动外部控制磁体控制所述内窥镜的感应磁体。 Method [0015] Preferably, the endoscope of the present invention to adjust the shooting angle, using the X-axis, y-axis and the Z-axis moving an external control magnet for controlling the endoscope induced magnet.

[0016] 优选地,本发明的调整内窥镜拍摄角度的方法,所述控制磁体和所述感应磁体为电磁体或超导磁体,利用控制导线或超导线内电流大小和方向控制磁性的强弱。 [0016] Preferably, the method for adjusting the angle of the imaging endoscope of the present invention, the control magnet and the induction magnet is a superconducting magnet or an electromagnet, the control current conductor or super-conductor control the magnitude and direction of the ferromagnetic weak.

[0017] 本发明的可调整拍摄角度的内窥镜系统和方法,通过磁场控制方式实现内窥镜角度控制,能够有效提高控制角度的精准度。 The endoscope system and method of the present invention to adjust the shooting angle [0017] present, the magnetic field by controlling an endoscopic angle control mode, can effectively improve the accuracy of the control angle.

附图说明 BRIEF DESCRIPTION

[0018] 本发明的可调整拍摄角度的内窥镜系统由以下的实施例及附图给出。 [0018] adjust the shooting angle and the endoscope system according to the present invention is given by the following reference examples.

[0019] 图1是一种现有的内窥镜控制结构示意图; [0019] FIG. 1 is a schematic structural diagram of a conventional endoscope control;

[0020] 图2是本发明可调整拍摄角度的内窥镜系统控制磁体的示意图; [0020] FIG. 2 is a schematic diagram of the present invention to adjust the photographing angle of the endoscope system control magnet;

[0021] 图3是本发明的可调整拍摄角度的内窥镜系统感应磁体的示意图; [0021] FIG. 3 is a schematic diagram of the present invention, the photographing angle adjustable endoscope system sensing magnet;

[0022] 图4是本发明的调整内窥镜拍摄角度的一个实施例示意图; [0022] FIG. 4 is the endoscope of the present invention to adjust the shooting angle schematic diagram of a embodiment;

[0023] 图5是本发明的调整内窥镜拍摄角度的第二个实施例示意图; [0023] FIG. 5 is the endoscope of the present invention to adjust the shooting angle schematic view of a second embodiment;

[0024] 图6是本发明的调整内窥镜拍摄角度的第二个实施例的结果示意图。 [0024] FIG. 6 is a schematic diagram of the endoscope according to the present invention are adjusted photographing angle of the second embodiment.

具体实施方式 Detailed ways

[0025] 以下将结合图2和图3对本发明的可调整拍摄角度的内窥镜系统作进一步的详细描述。 [0025] FIGS. 2 and below in conjunction with the shooting angle of the adjustable endoscope system according to the invention FIG 3 will be further described in detail.

[0026] 如图2所示,可调整拍摄角度的内窥镜系统,包括一个设置在外部的控制磁体11 和由控制磁体11形成的控制磁场。 [0026] As shown in FIG 2, angle adjustable endoscope imaging system comprising a magnet disposed outside the control of the control 11 and the control magnetic field formed by the magnet 11. 所述控制磁体11为永磁体或电磁体或超导磁体,其设置在一个可以沿X轴、y轴和Z轴三个维度移动的机械手或支架上,所述机械手或支架在X 轴、y轴和z轴分别具有移动滑轨和控制电机,通过控制电机可以使得所述控制磁体11在移动滑轨上移动,控制磁体11位置移动可以改变控制磁场的方向。 The control magnet 11 is a permanent magnet or an electromagnet or a superconducting magnet, which is disposed on a movable X-axis, y-axis and the Z-axis robot or three dimensions stent, or scaffold the manipulator in the X-axis, y and z-axes, respectively, and control the motor having a movable rail, so that the motor can be controlled by the control magnet 11 is moved in the moving rail, the control position of the mobile magnet 11 can be varied to control the direction of the magnetic field. 控制磁体11若为电磁体或超导磁体,还可以改变导线电流的方向和强度控制磁场的极性和强度。 Control magnet 11 and the polarity of the magnetic field when the intensity control electromagnets or superconducting magnets, may also change the direction and strength of the conductor current.

[0027] 可调整拍摄角度的内窥镜系统,还包括设置在所述内窥镜近前端的具有柔性的弯折段13和设置在所述内窥镜前端的感应磁体。 [0027] adjust the shooting angle endoscope system further comprises an endoscope disposed near the distal end of the bending section 13 having flexibility and a magnet disposed in the induction of the distal end of the endoscope. 所述内窥镜通常具有一个或一个以上腔道, 用于设置拍摄组件、手术器械、照明器件等,一种实施方式下感应磁体可以为设置在所述腔道内的永磁铁。 The endoscope typically has one or more than one cavity, for setting a shooting component, surgical instruments, illumination devices and the like, the induction magnet may be disposed within the lumen of the permanent magnet under an embodiment. 通过感应磁体跟随控制磁场移动或转动带动整个端部移动,且使得弯折段13弯折,从而改变拍摄角度。 By controlling the magnetic field following the induction magnet is moved or rotated to drive the entire end portion is moved, and so that the bending section 13 is bent, thereby changing the shooting angle.

[0028] 如图3所不,另一种有效的实施方式下,感应磁体可以为设置在内窥镜端部由导线圈或超导导线圈12通电后形成的电磁体或超导磁体,电磁体或超导磁体的控制线14引出到内窥镜外部。 The [0028] FIG. 3 is not, another effective embodiment, the sensor magnet may be provided on an electromagnet or a superconducting magnet is formed after the end portion of the endoscope by a wire ring or wire of superconducting coil 12 is energized, the electromagnetic or a superconducting magnet control line 14 leads to the outside of the endoscope. 可以利用控制导线或超导线内电流大小和方向控制磁性的强弱。 Current wires or may be utilized to control the magnitude and direction of the magnetic strength of the superconducting wire control.

[0029] 实施例一 [0029] Example a

[0030] 如图4所示,本发明的调整内窥镜拍摄角度的方法,是在内窥镜的端部设置感应磁体(如图中通过导线或超导导线12通电形成的电磁体或超导磁体和腔道内设置的永磁体),利用外部的控制磁体形成控制磁场,外部控制磁体在与感应磁体的垂直的位置,且相近端的极性相反,从而相互吸引可以控制所述感应磁体向上移动,进一步使整个内窥镜前端向上移动,可以调整拍摄视野。 [0030], the method of the present invention to adjust the shooting angle of the endoscope is disposed at the end portion of the endoscope by sensing the magnet (as shown in the electromagnet 12 is energized superconducting wire or wires is formed as shown in FIG 4 or super magnetizer and a permanent magnet disposed in the cavity), forming the control magnetic field by an external control magnet, the external control magnet in a vertical position with the induction magnet, and opposite a similar end polarities, thereby attracting each other may control the sensing upward movement of the magnet further upward movement of the entire distal end of the endoscope, an imaging field can be adjusted. 若改变感应磁体的导线内的电流方向,使得相近端极性相同,则可以利用斥力推动内窥镜前端向下移动。 If the current direction changes induced in the magnet wire, such that the same polarity side is similar, the repulsive force can be utilized to promote the downward movement of the distal end of the endoscope.

[0031] 实施例二 [0031] Second Embodiment

[0032] 如图5所示,本发明的调整内窥镜拍摄角度的方法,是在内窥镜的端部设置感应磁体(如图中通过导线或超导导线12通电形成的电磁体或超导磁体,或腔道内设置的永磁体),利用外部的控制磁体在X轴、y轴和z轴方向上的移动改变控制磁场方向,在图中所示的位置,相近端相同的N极相互排斥,带动感应磁体转动,进而可以使得弯折部弯折,形成图6所示的状态。 [0032] 5, the method of the present invention to adjust the shooting angle of the endoscope is disposed at the end portion of the endoscope induced magnet (as shown by the electromagnet 12 is energized superconducting wire or wire form or super magnetic conductor, or disposed within the lumen of the permanent magnet), the use of an external control magnet movement changes the control field direction in the X-axis, y axis and z-axis direction, the position shown in the figure, similar to end the same N-poles face each other rejection, induction drive magnet is rotated, and thus can be bent so that the bent portion is formed in the state shown in FIG. 优选地,所述控制磁体和所述感应磁体为电磁体或超导磁体,这样可以利用控制导线或超导线内电流大小和方向控制磁性的强弱。 Preferably, the control magnet and the induction magnet is a superconducting magnet or an electromagnet, which can utilize a control wire or current magnitude and direction of the magnetic strength of the superconducting wire control.

[0033] 综上所示,本发明的可调整拍摄角度的内窥镜系统,通过磁场控制方式实现内窥镜角度控制,能够有效提高控制角度的精准度。 [0033] Fully illustrated, the present invention can adjust the angle of the imaging system of the endoscope, the endoscope angle control, can effectively improve the accuracy of the angle control mode is achieved by controlling the magnetic field.

[0034] 以上所述均为本发明的优选实施例,并不用于限制本发明,对本领域的技术人员来说,可以有各种更改和变化。 [0034] The above embodiments are preferred embodiments of the present invention is not intended to limit the present invention, those skilled in the art, may have various changes and variations. 凡在本发明的精神和范围内,所做的任何修改和等同替换、 改进等,均应包含在本发明的保护范围之内。 Within the spirit and scope of the present invention, any changes made and equivalents, modifications all fall within the protection scope of the present invention.

Claims (9)

1. 一种可调整拍摄角度的内窥镜系统,其特征在于,包括: 设置在外部的控制磁体和控制磁场; 设置在所述内窥镜近前端的具有柔性的弯折段; 和设置在所述内窥镜前端的感应磁体。 1. An adjustable angle imaging endoscope system characterized by comprising: setting a control magnetic field on the outside and a control; the bending section of the endoscope having flexibility near the distal end; and provided the distal end of the endoscope induced magnet.
2. 如权利要求1所述的可调整拍摄角度的内窥镜系统,其特征在于,所述控制磁体为永磁体或电磁体或超导磁体。 2. The adjustable according to claim 1 shooting angle endoscope system, characterized in that the control magnet is a permanent magnet or an electromagnet or a superconducting magnet.
3. 如权利要求2所述的可调整拍摄角度的内窥镜系统,其特征在于,所述控制磁体设置在一个可以沿X轴、y轴和z轴三个维度移动的机械手或支架上。 Adjustable according to claim 2 shooting angle endoscope system, characterized in that the control can be a magnet disposed along the X axis, y axis and z-axis robot movement in three dimensions or bracket.
4. 如权利要求3所述的可调整拍摄角度的内窥镜系统,其特征在于,所述机械手或支架在X轴、y轴和z轴分别具有移动滑轨和控制电机。 4. Adjustable according to claim 3 shooting angle endoscope system, characterized in that the holder or the manipulator X axis, y axis and z-axis, respectively, and control motors having a movable rail.
5. 如权利要求1所述的可调整拍摄角度的内窥镜系统,其特征在于,所述内窥镜具有一个或一个以上腔道,所述感应磁体为设置在所述腔道内的永磁铁。 5. The adjustable according to claim 1 shooting angle endoscope system, characterized in that said endoscope having one or more cavity, the sensing magnet is disposed within the lumen of the permanent magnet .
6. 如权利要求1所述的可调整拍摄角度的内窥镜系统,其特征在于,所述感应磁体为设置在内窥镜端部由导线或超导导线通电后形成的电磁体或超导磁体。 6. The adjustable according to claim 1 shooting angle endoscope system, wherein the sensing magnet is a superconducting or electromagnets disposed on the end portion of the endoscope is formed by a wire, or after power superconducting wire magnet.
7. -种调整内窥镜拍摄角度的方法,其特征在于,在内窥镜的端部设置感应磁体,利用外部的控制磁体形成控制磁场从而控制所述感应磁体移动或转动,进一步使所述内窥镜近前端的具有柔性的弯折段弯折。 7. - The method of such adjustment of the shooting angle of the endoscope, wherein the endoscope end portion of the sensor magnet, the magnet is formed by an external control to control the control magnetic field induction magnet is moved or rotated, the further near the distal end of the endoscope has a flexible bending section is bent.
8. 如权利要求7所述的调整内窥镜拍摄角度的方法,其特征在于,利用在X轴、y轴和z轴移动外部控制磁体控制所述内窥镜的感应磁体。 8. The method of claim 7 to adjust the endoscope photographing angle claim, characterized by the X-axis, y-axis and z-axis movement of an external control magnet for controlling the endoscope induced magnet.
9. 如权利要求7所述的调整内窥镜拍摄角度的方法,其特征在于,所述控制磁体和所述感应磁体为电磁体或超导磁体,利用控制导线或超导线内电流大小和方向控制磁性的强弱。 9. The method of claim 7 to adjust the endoscope photographing angle claim, characterized in that the control magnet and the induction magnet is a superconducting magnet or an electromagnet, or by the control wire current magnitude and direction over the wires controlled magnetic strength.
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