CN106371374A - Intelligent control circuit system for minimally invasive endoscopic four-freedom-degree locator - Google Patents

Intelligent control circuit system for minimally invasive endoscopic four-freedom-degree locator Download PDF

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Publication number
CN106371374A
CN106371374A CN201610971046.7A CN201610971046A CN106371374A CN 106371374 A CN106371374 A CN 106371374A CN 201610971046 A CN201610971046 A CN 201610971046A CN 106371374 A CN106371374 A CN 106371374A
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CN
China
Prior art keywords
circuit
minimally invasive
control circuit
endoscope
central processing
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CN201610971046.7A
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Chinese (zh)
Inventor
李德福
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福州幻科机电科技有限公司
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Priority to CN201610971046.7A priority Critical patent/CN106371374A/en
Publication of CN106371374A publication Critical patent/CN106371374A/en

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423Input/output
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/20Pc systems
    • G05B2219/25Pc structure of the system
    • G05B2219/25257Microcontroller

Abstract

The invention relates to an intelligent control circuit system for a minimally invasive endoscopic four-freedom-degree locator. The system is characterized in that the system comprises a power supply module, a voltage regulator circuit, a minimally invasive endoscope circuit, a video automatic focus tracking circuit, an X-ray or ultrasonic minimally invasive locating circuit, a manual control circuit, a motor drive control circuit and a central processing circuit; the power supply module is directly electrically connected with the voltage regulator circuit; and the voltage regulator circuit is electrically connected with the minimally invasive endoscope circuit, the video automatic focus tracking circuit, the X-ray or ultrasonic minimally invasive locating circuit, the manual control circuit, the motor drive control circuit and the central processing circuit to provide working power supply for the minimally invasive endoscope circuit, the video automatic focus tracking circuit, the X-ray or ultrasonic minimally invasive locating circuit, the manual control circuit, the motor drive control circuit and the central processing circuit. The intelligent control circuit system provided by the invention has the advantages of being simple, less computation of the central processing circuit, high sensitivity and easy operation and use.

Description

A kind of Intelligent control circuit system of minimally invasive endoscope four-degree-of-freedom localization machine

Technical field

The present invention relates to medication instrument field, it is related specifically to a kind of intelligence of minimally invasive endoscope four-degree-of-freedom localization machine Control circuit system.

Background technology

Medical science and technology is able to fast development in recent years, and surgical operation develops into the minimally invasive handss of puncture by the original broken tripe of intestinal of opening Art, the correlation technique of the minimally invasive endoscope positioning that has been born therewith and product.There is a similar machine human arm in the prior art As minimally invasive endoscope localization machine, it is made up of three joints and corresponding armed lever, and all there is three degree of freedom in each joint.Minimally invasive interior Sight glass is arranged in the palm of similar machine people.The control circuit of this minimally invasive endoscope localization machine is because needing to control three joints The motor of nine degree of freedom, thus control circuit is complex, the operand of central processing circuit is big, leads to the electricity of each degree of freedom Motor-driven make relative delay.In addition there is no Non-follow control function, its initial adjustment positioning is extremely inconvenience before surgery.How customer service is existing The deficiency of technology, it is critical only that frame for movement must be made and thoroughly improves and free to the minimally invasive endoscope four after improving The Intelligent control circuit system of degree localization machine makes respective design, is allowed to that intelligent control circuit is simple, reduce central processing circuit Operand, improve sensitivity, set up Non-follow control function, automatic focusing function, be automatically positioned insertions function.Here it is this Bright Main Topics.

Content of the invention

Present invention aim to overcoming the deficiencies in the prior art, for the minimally invasive endoscope four-degree-of-freedom positioning after improving A kind of machine (separately applying for) intelligent control circuit of offer is simple, central processing circuit operand is relatively small, it is manual to have A kind of minimally invasive endoscope four-degree-of-freedom localization machine Intelligent control circuit system of control function.

For realizing object above, the present invention is achieved through the following technical solutions: a kind of minimally invasive endoscope four is freely Degree localization machine Intelligent control circuit system is it is characterised in that it includes power module, mu balanced circuit, minimally invasive endoscope circuit, regards Frequency auto-focusing follow the tracks of circuit, x light or ultrasound wave minimally invasive mouth positioning circuit, manual control circuit, motor driving controling circuit, in Centre process circuit, pipe arm lateral displacement motor, pipe arm electric rotating machine, screw mandrel motor, longitudinal electric rotating machine, described power supply mould Block is directly electrically connected with mu balanced circuit, described mu balanced circuit follow the tracks of with minimally invasive endoscope circuit, video auto-focusing respectively circuit, X light or ultrasound wave minimally invasive mouth positioning circuit, manual control circuit, motor driving controling circuit, central processing circuit electrically connect as Minimally invasive endoscope circuit, video auto-focusing follow the tracks of circuit, x light or ultrasound wave minimally invasive mouth positioning circuit, manual control circuit, electricity Machine drive control circuit, central processing circuit directly provide working power, described minimally invasive endoscope circuit and video auto-focusing Follow the tracks of circuit electrical connection, x ray machine or ultrasonic depth finder are electrically connected with x light or ultrasound wave minimally invasive mouth positioning circuit by data wire Connect, video auto-focusing follows the tracks of circuit and x light or ultrasound wave minimally invasive mouth positioning circuit is electrically connected with central processing circuit, control manually Circuit processed and central processing circuit are electrically connected with motor driving controling circuit, and motor driving controling circuit is again horizontal with pipe arm respectively Displacement motor, pipe arm electric rotating machine, screw mandrel motor, longitudinal electric rotating machine electrical connection.

Further, for the ease of operation, in the minimally invasive endoscope length travel of minimally invasive endoscope four-degree-of-freedom localization machine The shell of rotary positioning mechanism is provided with the pipe arm lateral displacement of manual operation and pipe arm rotation process key, screw mandrel drive and longitudinal Rotation process key, is further provided with auto-focusing following function key, automatic insertion function key and on and off switch.

The present invention is such work: 1, minimally invasive endoscope manual operation state: determine patient according to x light or ultrasound wave The accurate location of Minimally Invasive Surgery, then cuts minimally invasive endoscope insert port and minimally-invasive scalpel handss with surgical instrument with patient Art pincers insert port stretches in order to minimally invasive endoscope and minimally-invasive scalpel operating forcepies in vivo.Then in operation manual control circuit Manual operation key issues instructions to motor driving controling circuit, and motor driving controling circuit goes to the horizontal position of control pipe arm according to instruction Move motor, pipe arm electric rotating machine, screw mandrel motor, longitudinal electric rotating machine, make pipe arm or lateral displacement or rotation, make minimally invasive interior Minimally invasive endoscope is adjusted to optimal accurate location and is directed at entering of minimally invasive endoscope insert port by sight glass or length travel or rotation At mouthful, and slowly crawl minimally invasive endoscope length travel operated key, minimally invasive endoscope is extend in vivo close to the position of focus; 2nd, minimally invasive endoscope is automatically brought into operation state: the accurate image position parameter determining patient's Minimally Invasive Surgery with x light or ultrasound wave is simultaneously Preserved, then cut minimally invasive endoscope insert port and minimally-invasive scalpel operating forcepies insert port with patient with surgical instrument Stretch in vivo in order to minimally invasive endoscope and minimally-invasive scalpel operating forcepies.Start minimally invasive endoscope automatic insertion function, at this moment x light Accurate image position parameter is passed through data line transfer to x light or ultrasound wave minimally invasive mouth positioning circuit, x by machine or ultrasonic depth finder Image position parameter is converted into 4 D data and is transferred to central processing circuit by light or ultrasound wave minimally invasive mouth positioning circuit, central authorities Process circuit receives to be processed by the laggard row operation of 4 D data that x light or ultrasound wave minimally invasive mouth positioning circuit transmit and determines the four-dimension This each vector value is simultaneously sequentially transferred to motor driving controling circuit by the vector value of data and each vector value sequencing, Motor driving controling circuit goes control pipe arm lateral displacement motor, the rotation of pipe arm according to the vector value of 4 D data and sequencing Motor, the angle value of screw mandrel motor, longitudinal electric rotating machine rotating and rotating, thus realize minimally invasive endoscope in intelligence Can be accurately aimed at, under the control of control circuit, the position that minimally invasive endoscope insert port enters focus in the patient;3rd, manually or from Under dynamic mode of operation, complete minimally invasive endoscope and enter in the patient behind the position position of focus, then minimally-invasive scalpel is performed the operation Pincers are inserted into close to the position of focus and the center near minimally invasive endoscopic video from insert port, then open minimally invasive interior peep Mirror video auto-focusing following function, operative doctor just can carry out Minimally Invasive Surgery.With minimally-invasive scalpel operating forcepies constantly Mobile, real-time image data is transferred to video auto-focusing and follows the tracks of circuit by minimally invasive endoscope circuit, video auto-focusing with Track circuit determines the deviation of minimally invasive endoscopic video focal length center and scalpel operating forcepies and by this deviation according to image data Value is transferred to central processing circuit, and central processing circuit is after receiving the deviation being transmitted by video auto-focusing tracking circuit Carry out rapid computations process and result is resolved into the vector value of 4 D data and each vector value sequencing is sent to electricity Machine drive control circuit, motor driving controling circuit goes to the horizontal position of control pipe arm according to the vector value of 4 D data and sequencing Move motor, pipe arm electric rotating machine, the angle value of screw mandrel motor, longitudinal electric rotating machine rotating and rotating, Zhi Daoshi Value is zero to cut-off.Thus realizing the work that minimally invasive endoscope completes auto-focusing under the control of intelligent control circuit, make micro- Wound endoscopic video focal length center followed by minimally-invasive scalpel operating forcepies all the time automatically.

By can be seen that the present invention not minimally invasive endoscope as similar machine human arm in above technical scheme Localization machine has nine, three joints degree of freedom and corresponding armed lever like that, thus intelligent control circuit is simple, central processing circuit Operand is little, sensitivity is high, is additionally arranged Non-follow control function, automatic focusing function, is automatically positioned insertions function, thus operation makes With conveniently.

In order to better illustrate the present invention, make further with reference to specific embodiment and embodiment accompanying drawing Bright.

Brief description

Fig. 1 is a kind of front view of minimally invasive endoscope four-degree-of-freedom localization machine.

Fig. 2 is the d-d sectional view of Fig. 1.

Fig. 3 is the b-b sectional view of Fig. 2.

Fig. 4 is the d-d sectional view of Fig. 2.

Fig. 5 is a partial enlarged drawing of Fig. 3.

Fig. 6 is a direction view of Fig. 2.

Fig. 7 is a partial enlarged drawing of Fig. 6.

Fig. 8 is the Intelligent control circuit system figure of the specific embodiment of the invention.

In figure: 1- main body cover bonnet;2- pipe arm lateral displacement motor;4- main body cover;5- power module;The horizontal position of 6- Silk shifting rod;7- pipe arm rotate gear;8- mu balanced circuit;9- pipe arm feed screw nut;10- pipe arm;11- minimally invasive endoscope circuit;12- Sliding tooth wheel post;13- video auto-focusing follows the tracks of circuit;14-x light or ultrasound wave minimally invasive mouth positioning circuit;15-x ray machine or super Sonic detector;16- central processing circuit;17- motor driving controling circuit;18- manual control circuit;19- pipe arm electric rotating Machine;32- shoulder pole;34- screw mandrel motor;35- major part axle;The minimally invasive endoscope of 36-;40- shell;41- connecting rod;43- lithium electricity Pond;51- on and off switch;52- membrane switch panel;55- feed screw nut;56- length travel screw mandrel;60- microcephaly's axle;62- is longitudinally Electric rotating machine.

Specific embodiment

As can be seen that the present invention includes power module 5, mu balanced circuit 8, minimally invasive from the accompanying drawing of embodiments above Endoscope's circuit 11, video auto-focusing follow the tracks of circuit 13, x light or ultrasound wave minimally invasive mouth positioning circuit 14, manual control circuit 18th, motor driving controling circuit 17, central processing circuit 16, pipe arm lateral displacement motor 2, pipe arm electric rotating machine 19, screw mandrel drive Galvanic electricity machine 34, longitudinal electric rotating machine 62, described power module 2 is directly electrically connected with mu balanced circuit 8, mu balanced circuit 8 respectively with micro- Wound endoscope circuit 11, video auto-focusing follow the tracks of circuit 13, x light or ultrasound wave minimally invasive mouth positioning circuit 14, Non-follow control electricity Road 18, motor driving controling circuit 17, central processing circuit 16 electrically connect, and respectively minimally invasive endoscope circuit 11, video are automatic Focusing follow the tracks of circuit 13, x light or ultrasound wave minimally invasive mouth positioning circuit 14, manual control circuit 18, motor driving controling circuit 17, Central processing circuit 16 directly provides working power, and minimally invasive endoscope circuit 11 and video auto-focusing are followed the tracks of circuit 13 and be electrically connected Connect, x ray machine or ultrasonic depth finder 15 are electrically connected with x light or ultrasound wave minimally invasive mouth positioning circuit 14 by data wire, video is certainly Circuit 13 and x light are followed the tracks of in dynamic focusing or ultrasound wave minimally invasive mouth positioning circuit 14 is electrically connected with central processing circuit 16, Non-follow control Circuit 18 and central processing circuit 16 are electrically connected with motor driving controling circuit 17, motor driving controling circuit 17 again respectively with pipe Arm lateral displacement motor 2, pipe arm electric rotating machine 19, screw mandrel motor 34, longitudinal electric rotating machine 62 electrically connect.For the ease of behaviour Make, the shell 40 of the minimally invasive endoscope length travel rotary positioning mechanism of minimally invasive endoscope four-degree-of-freedom localization machine is provided with thin Membrane switch panel 52, thin film switch face, 52 are provided with pipe arm lateral displacement and pipe arm rotation process key, the screw mandrel drive of manual operation Dynamic and longitudinal rotation process key, is further provided with auto-focusing following function key, automatic insertion function key and on and off switch 51(detailed See Fig. 6, Fig. 7).

The specific embodiment of the invention has following several mode of operation.

1st, minimally invasive endoscope manual operation mode: determine the accurate position of patient's Minimally Invasive Surgery according to x light or ultrasound wave 15 Put, then cut minimally invasive endoscope 36 insert port and minimally-invasive scalpel operating forcepies insert port with patient with surgical instrument so that Stretch in vivo in minimally invasive endoscope 36 and minimally-invasive scalpel operating forcepies.Then thin film on shell 40 in operation manual control circuit 18 Manual operation key on switch panel 52 issues instructions to motor driving controling circuit 17, and motor driving controling circuit 17 is according to finger Control pipe arm lateral displacement motor 2, pipe arm electric rotating machine 19, screw mandrel motor 34, longitudinal electric rotating machine 62 are removed in order, make pipe arm Or lateral displacement or rotation, make minimally invasive endoscope or length travel or rotation that minimally invasive endoscope 36 is adjusted to optimal accurate position Put the porch being directed at minimally invasive endoscope 36 insert port, and the length travel operated key of the slowly minimally invasive endoscope of crawl 36, will be micro- Wound endoscope 36 extend in vivo close to the position of focus.

2nd, minimally invasive endoscope automatic operation mode: determine the accurate image of patient's Minimally Invasive Surgery with x light or ultrasound wave 15 Location parameter is simultaneously preserved, and then cuts minimally invasive endoscope insert port and minimally-invasive scalpel handss with patient with surgical instrument Art pincers insert port stretches in order to minimally invasive endoscope and minimally-invasive scalpel operating forcepies in vivo.Press minimally invasive endoscope 36 to be automatically inserted into Function key, at this moment accurate image position parameter is passed through data line transfer to x light or ultrasound wave by x ray machine or ultrasonic depth finder 15 Image position parameter is converted into 4 D data and passes by minimally invasive mouth positioning circuit 14, x light or ultrasound wave minimally invasive mouth positioning circuit 14 It is defeated by central processing circuit 16, central processing circuit 16 receives four being transmitted by x light or ultrasound wave minimally invasive mouth positioning circuit 14 The laggard row operation of dimension data processes the vector value determining 4 D data and each vector value sequencing and presses first this each vector value , to motor driving controling circuit 17, motor driving controling circuit 17 is suitable according to the vector value of 4 D data and priority for sequential delivery afterwards Sequence goes control pipe arm lateral displacement motor 2, pipe arm electric rotating machine 19, screw mandrel motor 34, longitudinal electric rotating machine 62 rotating And the angle value of rotating, thus realize minimally invasive endoscope 36 to be accurately aimed at minimally invasive interior peep under the control of intelligent control circuit The insert port of mirror 36 simultaneously enters the position of focus in the patient.

3rd, auto-focusing mode of operation: under manually or automatically operating, complete minimally invasive endoscope 36 and enter in the patient Behind the position position of focus, then minimally-invasive scalpel operating forcepies are inserted into close to the position of focus and near minimally invasive interior from insert port The center of sight glass 36 video focal length, the minimally invasive endoscopic video then pressed on membrane switch panel 52 on lower casing 40 is automatic Focus function key, operative doctor just can carry out Minimally Invasive Surgery.Constantly move with minimally-invasive scalpel operating forcepies, minimally invasive interior peep Real-time image data is transferred to video auto-focusing and follows the tracks of circuit 13 by mirror circuit 11, and video auto-focusing follows the tracks of 13, circuit Determine the deviation of minimally invasive endoscope 36 video focal length center and scalpel operating forcepies according to image data and this deviation transmitted To central processing circuit 16, central processing circuit 16 is after receiving the deviation being transmitted by video auto-focusing tracking circuit 13 Carry out rapid computations process and result is resolved into the vector value of 4 D data and each vector value sequencing is sent to electricity Machine drive control circuit 17, motor driving controling circuit 17 goes control pipe arm horizontal according to the vector value of 4 D data and sequencing To displacement motor 2, pipe arm electric rotating machine 19, screw mandrel motor 34, longitudinal electric rotating machine 62 rotating and rotating angle Value, until vector value is zero to cut-off.Thus realize minimally invasive endoscope 36 completing under the control of Intelligent control circuit system certainly The work of dynamic focusing, makes minimally invasive endoscopic video focal length center automatically followed by minimally-invasive scalpel operating forcepies all the time.

By can be seen that the present invention in above specific embodiment and embodiment not as similar machine staff As arm, minimally invasive endoscope localization machine has nine, three joints degree of freedom and corresponding armed lever like that, thus intelligent control circuit is simple Single, central processing circuit operand is little, sensitivity is high, be additionally arranged Non-follow control function, automatic focusing function, be automatically positioned slotting Enter function, thus easy for operation.

Specific embodiment enumerated above is only one kind of numerous embodiments it is impossible to enumerate.All according to the present invention The improvement modification made of protection domain and modification belong to protection scope of the present invention, ought to be protected.

Claims (2)

1. a kind of minimally invasive endoscope four-degree-of-freedom localization machine Intelligent control circuit system it is characterised in that it include power module, Mu balanced circuit, minimally invasive endoscope circuit, video auto-focusing are followed the tracks of circuit, x light or ultrasound wave minimally invasive mouth positioning circuit, are controlled manually Circuit processed, motor driving controling circuit, central processing circuit, pipe arm lateral displacement motor, pipe arm electric rotating machine, screw mandrel drive electricity Machine, longitudinal electric rotating machine, power module is directly electrically connected with mu balanced circuit, mu balanced circuit respectively with minimally invasive endoscope circuit, regard Frequency auto-focusing follow the tracks of circuit, x light or ultrasound wave minimally invasive mouth positioning circuit, manual control circuit, motor driving controling circuit, in Centre process circuit electrically connects as minimally invasive endoscope circuit, video auto-focusing follows the tracks of circuit, x light or ultrasound wave minimally invasive mouth positioning are electric Road, manual control circuit, motor driving controling circuit, central processing circuit directly provide working power, minimally invasive endoscope circuit Follow the tracks of circuit with video auto-focusing to electrically connect, x ray machine or ultrasonic depth finder pass through data wire and x light or the minimally invasive mouth of ultrasound wave Positioning circuit electrically connects, and video auto-focusing follows the tracks of circuit and x light or ultrasound wave minimally invasive mouth positioning circuit and central processing circuit Electrical connection, manual control circuit and central processing circuit are electrically connected with motor driving controling circuit, and motor driving controling circuit is again Electrically connect with pipe arm lateral displacement motor, pipe arm electric rotating machine, screw mandrel motor, longitudinal electric rotating machine respectively.
2. a kind of minimally invasive endoscope according to claim 1 four-degree-of-freedom localization machine Intelligent control circuit system, its feature It is on the shell of the minimally invasive endoscope length travel rotary positioning mechanism of described minimally invasive endoscope four-degree-of-freedom localization machine It is provided with the pipe arm lateral displacement of manual operation and pipe arm rotation process key, screw mandrel drive and longitudinal rotation process key, in addition also set There are auto-focusing following function key, automatic insertion function key and on and off switch.
CN201610971046.7A 2016-11-07 2016-11-07 Intelligent control circuit system for minimally invasive endoscopic four-freedom-degree locator CN106371374A (en)

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