CN110432856A - It is a kind of for checking the endoscope control system of nasal sinus - Google Patents
It is a kind of for checking the endoscope control system of nasal sinus Download PDFInfo
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- CN110432856A CN110432856A CN201910824172.3A CN201910824172A CN110432856A CN 110432856 A CN110432856 A CN 110432856A CN 201910824172 A CN201910824172 A CN 201910824172A CN 110432856 A CN110432856 A CN 110432856A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00025—Operational features of endoscopes characterised by power management
- A61B1/00027—Operational features of endoscopes characterised by power management characterised by power supply
- A61B1/00032—Operational features of endoscopes characterised by power management characterised by power supply internally powered
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments 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
- A61B1/04—Instruments 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 combined with photographic or television appliances
- A61B1/042—Instruments 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 combined with photographic or television appliances characterised by a proximal camera, e.g. a CCD camera
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments 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
- A61B1/06—Instruments 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 with illuminating arrangements
- A61B1/0661—Endoscope light sources
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments 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
- A61B1/12—Instruments 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 with cooling or rinsing arrangements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments 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
- A61B1/233—Instruments 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 for the nose, i.e. nasoscopes, e.g. testing of patency of Eustachian tubes
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Abstract
The present invention is a kind of for checking the endoscope control system of nasal sinus, belongs to and checks nasal sinus endoscopic technique field；Technical problem to be solved are as follows: provide a kind of for checking the improvement of the endoscope control system hardware configuration of nasal sinus；Solve the technical solution of technical problem use are as follows: including controlling cabinet, the front of control cabinet is provided with display screen and keyboard, the side of control cabinet, which extends outwardly, is provided with mechanical arm, one end of mechanical arm adjusts motor with the mechanical arm of control cabinet inside setting and is connected, the other end of mechanical arm is connected with the angular adjustment shaft of bracket, and angular adjustment shaft is internally provided with the first stepper motor；Bracket includes upper arc frame and lower arc frame, is connected between upper arc frame and lower arc frame by bracket rotary joint, bracket rotary joint is internally provided with second stepper motor；The end of upper arc frame is provided with manual fine-tuning handle, and the end of lower arc frame is provided with endoscope apparatus；The present invention is applied to endoscope control system.
Description
Technical field
The present invention is a kind of for checking the endoscope control system of nasal sinus, belongs to and checks nasal sinus endoscopic technique field.
Background technique
The disease of nasal sinus and certain general diseases are interrelated, such as nasal sound, have a stuffy nose, have a running nose, sneezing, dysosmia,
Nosebleed, local pain or headache etc. often may be performance of the general disease in nose, and therefore, when inspection understands medical history, family
History and personal lifestyle habit are particularly significant, and currently used examination of nasal sinuses method mainly has: nasal endoscope and posterior rhinoscopy, body
Position drainage, puncture and irrigation of maxillarysinus, nasal sinus X-ray film, magnetic resonant imaging examination, CT examination etc., but these examination of nasal sinuses methods
It is more single, and side effect is obvious.
Carrying out operation on nasal sinus using conchoscope is one of most common operation of ear-nose-throat department, the endoscopic sinus hand of standard
Art generallys use single both hands operation, it is desirable that ENT doctor holds endoscope, and a hand leaves another hand and removes operation instrument
Device is operated, but nothing when carrying out expanding scope approach together with neurosurgeon usually using three hands or four hands
By which kind of situation, requires any one people and vacate a hand to hold endoscope, operation otherwise cannot be normally carried out, if adopted
It is operated with four hands, needs two surgeons to carry out surgical operation in minimum region, it is desirable that two people's mutual cooperation degree
Height, and be easy to extend operating time, and increase operation cost.
Therefore it should ideally pay the utmost attention to be operated by single both hands and carry out examination of nasal sinuses and operation on nasal sinus, to solve to be somebody's turn to do
Problem is provided with a kind of endoscope bracket at present and had as surgery assistor, but also needed to vacate a hand using the equipment
Carry out independent operation control stick, not can solve the problem of operation occupies hand, and the complex heaviness of the apparatus structure still, using tired
It is difficult；On the other hand, be to obtain good inspection and surgical effect, it is desirable that endoscope can collect at any time high quality it is intranasal at
Picture, this depends on surgical skilled operation degree, and there are uncertainties, may cause to inspection with surgical effect bad
It influences.
Summary of the invention
The present invention is in order to overcome the deficiencies in the prior art, technical problem to be solved are as follows: provides one kind and is used for
Check the improvement of the endoscope control system hardware configuration of nasal sinus.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows: a kind of for checking the endoscope of nasal sinus
Control system, including control cabinet, the front of the control cabinet are provided with display screen and keyboard, the side of the control cabinet
Extending outwardly and is provided with mechanical arm, one end of the mechanical arm adjusts motor with the mechanical arm of control cabinet inside setting and is connected,
The other end of the mechanical arm is connected with the angular adjustment shaft of bracket, and the angular adjustment shaft is internally provided with the first step
Into motor；
The bracket includes upper arc frame and lower arc frame, is connected between the upper arc frame and lower arc frame by bracket rotary joint, institute
It states bracket rotary joint and is internally provided with second stepper motor；
The end of the upper arc frame is provided with manual fine-tuning handle, and the end of the lower arc frame is provided with endoscope apparatus；
The inserting end of the endoscope apparatus is provided with microcam, and the microcam is internally provided with ccd sensor,
The side of the microcam is additionally provided with headlamp；
The control cabinet is internally provided with control circuit board, and microcontroller is integrated in the control circuit board, described micro-
Controller is connected with display screen, keyboard respectively by conducting wire；
The signal output end of the microcontroller adjusts motor, the first stepper motor, second stepper motor, photograph with mechanical arm respectively
Bright lamp is connected；
The microcontroller is bi-directionally connected by conducting wire and microcam；
The periphery of the control cabinet is additionally provided with foot controling pedal, the foot controling pedal be internally provided with Inertial Measurement Unit and
Bluetooth communication, the bluetooth communication and microcontroller are wirelessly connected；
The power input of the microcontroller is connected with power module.
The chip that the bluetooth communication uses is communication chip U1, the model BC417 of the communication chip U1；
The chip that the ccd sensor uses is NAND gate chip U2, controller chip U3, modulates chip U4, the NAND gate
The model 82C54 of the model 74LS00 of chip U2, controller chip U3 modulate the model 74LS74 of chip U4；
The chip that the Inertial Measurement Unit uses is sensor chip U5, the model MPU6050 of the sensor chip U5；
The chip that the power module uses is voltage-stablizer U6, the model TPS60110 of the voltage-stablizer U6；
The chip that the microcontroller uses is control chip U7, the model STM32F103RCT6 of the control chip U7；
The chip that the foot controling pedal uses is pressure sensitive chip U8, the model LM393 of the pressure sensitive chip U8.
The upper face of the foot controling pedal is provided with direction controlling key, is provided with film pressure in the direction controlling key
Force snesor N1, the model D2027 of the diaphragm pressure sensor N1；
Controling circuit structure in the foot controling pedal are as follows:
1 foot of the pressure sensitive chip U8 is connected with the signal input part of communication chip U1；
One end of the 3 foot shunt-wound capacitance C2 of the pressure sensitive chip U8, behind one end of resistance R1 with diaphragm pressure sensor N1
One end be connected, the capacitor C2, diaphragm pressure sensor N1 the other end ground connection, the resistance R1 another termination VCC electricity
Source input terminal；
One end of the 8 foot shunt-wound capacitance C1 of the pressure sensitive chip U8 is followed by input power VCC, the other end of the capacitor C1
Ground connection.
The mechanical arm is specially two sections, and it is hinged that the two sections mechanical arm passes through shaft between each other, is set in the shaft
It is equipped with manual fastening bolt.
The ccd sensor is internally provided with Linear Array CCD Driving Circuit, and the Linear Array CCD Driving Circuit includes clock arteries and veins
Rush circuit, frequency dividing circuit, control circuit, pulse-width modulation circuit.
The headlamp is specially the headlamp for using xenon light source.
The present invention that the present invention had compared with the existing technology have the beneficial effect that is provided in a kind of support doctor foot control
The control system of sight glass movement captures the induction of doctor's foot action based on Inertial Measurement Unit, its action signal is converted
For corresponding motor action, the endoscope on driving arm carries out corresponding actions, can achieve the mesh of liberation surgeon's both hands
, surgeon's with the hands operation instrument is equivalent to and operate without three hand of single nostril of bracket, can effectively reduce
Operating time；In addition ccd sensor imaging device provided by the invention can effectively improve intranasal Image Acquisition quality, make interior peep
Mirror image quality is no longer dependent on surgical qualification, effectively improves surgical quality.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawing:
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is electrical block diagram of the invention；
Fig. 3 is the circuit diagram of bluetooth communication of the present invention；
Fig. 4 is the circuit diagram of ccd sensor of the present invention；
Fig. 5 is the circuit diagram of Inertial Measurement Unit of the present invention；
Fig. 6 is the circuit diagram of power module of the present invention；
Fig. 7 is the electric operation control circuit figure of foot controling pedal of the present invention；
In figure: 1 being control cabinet, 2 be display screen, 3 be keyboard, 4 be mechanical arm, 5 be that mechanical arm adjusts motor, 6 is bracket, 7
It is the first stepper motor for angular adjustment shaft, 8,9 be upper arc frame, 10 be lower arc frame, 11 be bracket rotary joint, 12 is second
Stepper motor, 13 be manual fine-tuning handle, 14 be endoscope apparatus, 15 be microcam, 16 be ccd sensor, 17 be photograph
Bright lamp, 18 be microcontroller, 19 be foot controling pedal, 20 be Inertial Measurement Unit, 21 be bluetooth communication, 22 be power supply mould
Block.
Specific embodiment
As shown in Figures 1 to 7, the present invention is a kind of for checking the endoscope control system of nasal sinus, including control cabinet
(1), the front of control cabinet (1) is provided with display screen (2) and keyboard (3), an epitaxial lateral overgrowth of control cabinet (1)
It stretches and is provided with mechanical arm (4), the mechanical arm being arranged inside one end of the mechanical arm (4) and control cabinet (1) adjusts motor (5)
It is connected, the other end of the mechanical arm (4) is connected with the angular adjustment shaft (7) of bracket (6), the angular adjustment shaft (7)
Be internally provided with the first stepper motor (8)；
The bracket (6) includes upper arc frame (9) and lower arc frame (10), passes through branch between the upper arc frame (9) and lower arc frame (10)
Frame rotary joint (11) is connected, and the bracket rotary joint (11) is internally provided with second stepper motor (12)；
The end of the upper arc frame (9) is provided with manual fine-tuning handle (13), and the end of the lower arc frame (10) is provided with interior peep
Lens device (14)；
The inserting end of the endoscope apparatus (14) is provided with microcam (15), setting inside the microcam (15)
Have ccd sensor (16), the side of the microcam (15) is additionally provided with headlamp (17)；
Control cabinet (1) is internally provided with control circuit board, and microcontroller (18) are integrated in the control circuit board,
The microcontroller (18) is connected with display screen (2), keyboard (3) respectively by conducting wire；
The signal output end of the microcontroller (18) adjusts motor (5), the first stepper motor (8), second with mechanical arm respectively
Stepper motor (12), headlamp (17) are connected；
The microcontroller (18) is bi-directionally connected by conducting wire with microcam (15)；
The periphery of control cabinet (1) is additionally provided with foot controling pedal (19), and being internally provided with for the foot controling pedal (19) is used
Property measuring unit (20) and bluetooth communication (21), the bluetooth communication (21) and microcontroller (18) are wirelessly connected；
The power input of the microcontroller (18) is connected with power module (22).
The chip that the bluetooth communication (21) uses is communication chip U1, the model of the communication chip U1
BC417；
The chip that the ccd sensor (16) uses be NAND gate chip U2, controller chip U3, modulation chip U4, it is described with
The model 82C54 of the model 74LS00 of NOT gate chip U2, controller chip U3 modulate the model 74LS74 of chip U4；
The chip that the Inertial Measurement Unit (20) uses is sensor chip U5, the model of the sensor chip U5
MPU6050；
The chip that the power module (22) uses is voltage-stablizer U6, the model TPS60110 of the voltage-stablizer U6；
The chip that the microcontroller (18) uses is control chip U7, the model of the control chip U7
STM32F103RCT6；
The chip that the foot controling pedal (19) uses is pressure sensitive chip U8, the model of the pressure sensitive chip U8
LM393。
The upper face of the foot controling pedal (19) is provided with direction controlling key, is provided in the direction controlling key thin
Membrane pressure sensor N1, the model D2027 of the diaphragm pressure sensor N1；
Controling circuit structure in the foot controling pedal (19) are as follows:
1 foot of the pressure sensitive chip U8 is connected with the signal input part of communication chip U1；
One end of the 3 foot shunt-wound capacitance C2 of the pressure sensitive chip U8, behind one end of resistance R1 with diaphragm pressure sensor N1
One end be connected, the capacitor C2, diaphragm pressure sensor N1 the other end ground connection, the resistance R1 another termination VCC electricity
Source input terminal；
One end of the 8 foot shunt-wound capacitance C1 of the pressure sensitive chip U8 is followed by input power VCC, the other end of the capacitor C1
Ground connection.
The mechanical arm (4) is specially two sections, and it is hinged that the two sections mechanical arm passes through shaft between each other, in the shaft
It is provided with manual fastening bolt.
The ccd sensor (16) is internally provided with Linear Array CCD Driving Circuit, when the Linear Array CCD Driving Circuit includes
Clock circuit, frequency dividing circuit, control circuit, pulse-width modulation circuit.
The headlamp (17) is specially the headlamp using xenon light source.
Control system provided by the invention may be mounted on the device of control endoscope movement, wherein endoscope apparatus 14
On be provided with microcam 15 and headlamp 17, protrude into nasal cavity when in use and checked.
The IMU Inertial Measurement Unit 20 that the present invention uses is typically used in the equipment for needing to carry out motion control, such as vapour
Vehicle and robot can also be applied and be set in the occasion for needing to be carried out accurate displacement reckoning with posture, such as spacecraft inertial navigation
It is standby.
The present invention designs foot controling pedal 19 and incudes surgeon's foot action, by built-in Inertial Measurement Unit to the movement
Data are captured, the direction of action of real-time measurement foot, when in use, are allowed surgeon's list foot to step down in above, are passed through it
Internal IMU Inertial Measurement Unit module and pressure resistance type fexible film pressure sensor acquires induction direction of action in real time；
Controller inside the foot controling pedal 19 realizes nasal tube to nasal cavity using D2027 pressure resistance type fexible film pressure sensor
Interior comprehensive inspection；When needing to control nasal tube forward-reverse, the foot of doctor foot controling pedal direction controlling key of stepping on is left up and down
On right corresponding key, pressure sensor N1 is triggered, pressure sensitive chip U8 is made to be sent out action command by 1 foot, this is dynamic
Make instruction and control chip U7 is sent to by bluetooth communication, is that corresponding motor action refers to through control chip U7 analysis processing
It enables, realizes the movement of nasal tube；Resistance R1 in foot controling pedal circuit plays the role of current limliting, and C2 plays filtering.
The inductive signal of corresponding position is sent in microcontroller 18 by bluetooth communication 21 and is handled, it is described
Corresponding action signal is converted to the driving signal of corresponding actions motor by microcontroller 18, controls corresponding motor driving arm 6
Corresponding actions are made, microcam 15 is driven to be translated or rotated, cooperation operation carries out, and surgeon's both hands is facilitated to operate
Surgical instrument improves procedure efficiency.
The front end of the endoscope apparatus is provided with microcam 15, video camera in-built CCD charge-coupled device sensing
Device makes it have three chip CCD camera functions instead of optical fiber image transmission, allows (red, the blue, green) processing of dedicated primary colours, can
To acquire the image for sending higher resolution and color fidelity；The image focused in CCD chip is converted into counting when use
Word signal feeds back to microcontroller 18, then shows on the display screen 2 after being handled by microcontroller 18 data；
The front end of the endoscope apparatus 14 is provided with microcam 15, specially a Integral type small-sized camera module,
Model model NanEyeM, the package dimension of the imaging sensor is very small, only 1.2mm, can provide 100k pixel high score
10 bit digital images of resolution, and single ended interfaces mode (SEIM) is used, when use, will focus on the figure on microcam 15
As being converted into digital signal, it is fed back to microcontroller 18, then be shown in after being handled by microcontroller 18 data aobvious
In display screen 2, when carrying out examination of nasal sinuses and operation using the endoscope apparatus of the structure, it can permit surgeon and grasped with two hands
Make instrument, and watches acquisition image on computer display screen by pre-set programs.
The endoscope that the present invention uses generates multiple figures by placing microscope lens array on single distal end chip
Picture, to create stereoscopic vision, surgeon can check that this is vertical by wearing light-duty polarised light glasses on stereoscopic display
Body image.
The headlamp 17 that the present invention uses is the Image Acquisition needs for being suitble to endoscope, specially uses the photograph of xenon light source
Bright lamp, the light source are transmitted by fiber optic cables, and to provide scope illumination, the duration is longer, and the heat of generation is less, it is ensured that
Operation is normally carried out.
The present invention can under the auxiliary of flushing pump and sheath as endoscopic washing's system furthermore with endo scrubbing system
To rinse the end of endoscope, video camera is made to keep optimal Image Acquisition effect at any time.
Further, the chip model that the bluetooth communication 21 that the present invention uses uses is BC417, the communication chip
RX, TX communication ends of U1 are connected with 5V power input with connecting terminal S1,5 feet of the connecting terminal and the control of communication module
End processed is connected, and 5 feet of the connecting terminal are connected with the collector of triode Q3, the base stage and connecting resistance of the triode Q3
It is connected behind one end of R36 with one end of resistance R35, the other end of the resistance R36 is simultaneously grounded after connecing the emitter of triode Q3,
The other end of the resistance R35 is connected with BT-CTRL Bluetooth key end；In use, making BT- when pressing bluetooth key BT-CTRL
CTRL enters high level, and triode Q3 is connected at this time, and the end BT-GND ground connection, communication ends RX, TX, power end 5V and BT-GND are carried out
Serial communication, wherein resistance R36 plays the role of biasing resistor.
The display screen that the present invention uses is specially TFT liquid crystal display, described using ILI9341 chip controls liquid crystal display
ILI9341 chip is that a single-chip for TFT liquid crystal display controls driver, provides the 240 × 320 of 262,144 colors
Rgb pixel display function, liquid crystal display display chip are attached with single-chip microcontroller pin, the data of acquisition process can be shown
The case where showing, video camera acquisition image intuitively understood convenient for surgeon.
The ccd sensor 16 that the present invention uses is internally provided with Linear Array CCD Driving Circuit, including clock-pulse circuit, point
Frequency circuit, control circuit, pulse-width modulation circuit.
The clock-pulse circuit is used to provide commutator pulse to control module, and design driven circuit of the present invention is selected independent
Clock, clock-pulse circuit inside use the NAND gate chip U2 of model 74LS00 as control chip；
It is connected behind 1 foot of the NAND gate chip U2 and one end of connecting resistance P1 with one end of resistance P5, the NAND gate chip
It is connected after the 2 foot series resistor P4 of U2 with 5V power input；3 feet of the NAND gate chip U2 and the other end of connecting resistance P1
It is connected afterwards with one end of resistance P3, the other end of the resistance P3 simultaneously connects after 9 feet of NAND gate chip U2,10 feet with resistance P2's
One end is connected, 8 feet of the NAND gate chip U2 and connect after the other end of 4 feet of NAND gate chip U2,5 feet, resistance P2 with crystalline substance
One end of vibration X1 is connected, and the other end of the crystal oscillator X1 is connected with the other end of resistance P5；6 feet of the NAND gate chip U2 with
Control circuit is connected；
The frequency dividing circuit selects the d type flip flop of model 74LS123, for the ease of debugging and increasing the flexibility of system, cooperation
Control and frequency dividing circuit use the controller chip U3 of model 82C54, have higher output frequency, contain 3 16
Subtraction count device can play the role of frequency generator, and the end CLK input pulse makes counter subtract 1 at this time, and counter reduces to 1
When stop count, and make OUT terminal export negative pulse；It can also play the role of square-wave generator, [ (N+1)/2 ] has been counted at this time
At being before high level, low level is exported when counting to remaining [ (N-1)/2 ].
The pulse-width modulation circuit is mainly made of resistance-capacitance circuit, monostable circuit (such as 74LS/HC123), circuit master
It is used to adjust the phase relation between each driving pulse, the modulation chip U4 used is specially the monostable touching of repeatable triggering
Device is sent out, under the action of the rising edge (connecing the end B) of trigger pulse or failing edge (connecing the end A), output end Q is high level, by prolonging
When Tw after, output Q return low level；If between exporting high period, and detecting trigger pulse, then high level again can be from this moment
Be delayed Tw, so if trigger pulse constantly arrives between high period, then high level will be exported by indefinite delay
For high level.
Model MPU6050 spatial motion sensor chip U5 is used inside the Inertial Measurement Unit 20, support connects
Enter three components of acceleration and three angular velocity of rotation sensors, and has to collected orientation and motion status simulation data
Carry out analog-to-digital conversion；Capacitor C1, C2, C3, C4 in peripheral circuit play filtering and tunning effect, and resistance R1 and R2 play pull-up
The effect of resistance.
The power module that the present invention uses is specially lithium battery, provides 5V out-put supply, passes through internal model
4.2V can be inputted and be converted to 5V output, powered for corresponding control module by the conversion of the voltage-stablizer U6 of TPS60110, outside
The capacitor for enclosing setting plays filtering and tunning effect.
About specific structure of the present invention it should be noted that the mutual connection of each component models for using of the present invention is closed
System be it is determining, achievable, in addition to specified otherwise in embodiment, specific connection relationship can bring corresponding skill
Art effect, and based on not depending under the premise of corresponding software program executes, technical problem proposed by the present invention is solved, in the present invention
The component of appearance, module, the model of specific component, connection type belong to those skilled in the art in addition to illustrating
Member's prior arts such as the available publication arrived, published journal article or common knowledge before the applying date, are not necessarily to
It repeats, so that the technical solution that this case provides is clear, complete, achievable, and can reappear or obtain according to the technological means
Corresponding physical product.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (6)
1. a kind of for checking the endoscope control system of nasal sinus, it is characterised in that: including controlling cabinet (1), the control machine
The front of case (1) is provided with display screen (2) and keyboard (3), and the side of control cabinet (1), which extends outwardly, is provided with mechanical arm
(4), one end of the mechanical arm (4) and the internal mechanical arm being arranged of control cabinet (1) adjust motor (5) and are connected, the machinery
The other end of arm (4) is connected with the angular adjustment shaft (7) of bracket (6), and the angular adjustment shaft (7) is internally provided with
One stepper motor (8)；
The bracket (6) includes upper arc frame (9) and lower arc frame (10), passes through branch between the upper arc frame (9) and lower arc frame (10)
Frame rotary joint (11) is connected, and the bracket rotary joint (11) is internally provided with second stepper motor (12)；
The end of the upper arc frame (9) is provided with manual fine-tuning handle (13), and the end of the lower arc frame (10) is provided with interior peep
Lens device (14)；
The inserting end of the endoscope apparatus (14) is provided with microcam (15), setting inside the microcam (15)
Have ccd sensor (16), the side of the microcam (15) is additionally provided with headlamp (17)；
Control cabinet (1) is internally provided with control circuit board, and microcontroller (18) are integrated in the control circuit board,
The microcontroller (18) is connected with display screen (2), keyboard (3) respectively by conducting wire；
The signal output end of the microcontroller (18) adjusts motor (5), the first stepper motor (8), second with mechanical arm respectively
Stepper motor (12), headlamp (17) are connected；
The microcontroller (18) is bi-directionally connected by conducting wire with microcam (15)；
The periphery of control cabinet (1) is additionally provided with foot controling pedal (19), and being internally provided with for the foot controling pedal (19) is used
Property measuring unit (20) and bluetooth communication (21), the bluetooth communication (21) and microcontroller (18) are wirelessly connected；
The power input of the microcontroller (18) is connected with power module (22).
2. according to claim 1 a kind of for checking the endoscope control system of nasal sinus, it is characterised in that: the bluetooth
The chip that communication module (21) uses is communication chip U1, the model BC417 of the communication chip U1；
The chip that the ccd sensor (16) uses be NAND gate chip U2, controller chip U3, modulation chip U4, it is described with
The model 82C54 of the model 74LS00 of NOT gate chip U2, controller chip U3 modulate the model 74LS74 of chip U4；
The chip that the Inertial Measurement Unit (20) uses is sensor chip U5, the model of the sensor chip U5
MPU6050；
The chip that the power module (22) uses is voltage-stablizer U6, the model TPS60110 of the voltage-stablizer U6；
The chip that the microcontroller (18) uses is control chip U7, the model of the control chip U7
STM32F103RCT6；
The chip that the foot controling pedal (19) uses is pressure sensitive chip U8, the model of the pressure sensitive chip U8
LM393。
3. according to claim 2 a kind of for checking the endoscope control system of nasal sinus, it is characterised in that: the foot control
The upper face of pedal (19) is provided with direction controlling key, is provided with diaphragm pressure sensor N1 in the direction controlling key,
The model D2027 of the diaphragm pressure sensor N1；
Controling circuit structure in the foot controling pedal (19) are as follows:
1 foot of the pressure sensitive chip U8 is connected with the signal input part of communication chip U1；
One end of the 3 foot shunt-wound capacitance C2 of the pressure sensitive chip U8, behind one end of resistance R1 with diaphragm pressure sensor N1
One end be connected, the capacitor C2, diaphragm pressure sensor N1 the other end ground connection, the resistance R1 another termination VCC electricity
Source input terminal；
One end of the 8 foot shunt-wound capacitance C1 of the pressure sensitive chip U8 is followed by input power VCC, the other end of the capacitor C1
Ground connection.
4. according to claim 3 a kind of for checking the endoscope control system of nasal sinus, it is characterised in that: the machinery
Arm (4) is specially two sections, and it is hinged that the two sections mechanical arm passes through shaft between each other, and fastening spiral shell manually is provided in the shaft
Bolt.
5. according to claim 4 a kind of for checking the endoscope control system of nasal sinus, it is characterised in that: the CCD
Sensor (16) is internally provided with Linear Array CCD Driving Circuit, and the Linear Array CCD Driving Circuit includes clock-pulse circuit, frequency dividing
Circuit, control circuit, pulse-width modulation circuit.
6. according to claim 5 a kind of for checking the endoscope control system of nasal sinus, it is characterised in that: the illumination
Lamp (17) is specially the headlamp using xenon light source.
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