CN111134728A - Self-guiding type endoscopic system and diagnosis method for ultrasonic endoscopic interventional imaging - Google Patents
Self-guiding type endoscopic system and diagnosis method for ultrasonic endoscopic interventional imaging Download PDFInfo
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- CN111134728A CN111134728A CN202010105459.3A CN202010105459A CN111134728A CN 111134728 A CN111134728 A CN 111134728A CN 202010105459 A CN202010105459 A CN 202010105459A CN 111134728 A CN111134728 A CN 111134728A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 19
- 238000003745 diagnosis Methods 0.000 title claims abstract description 10
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000003287 optical effect Effects 0.000 claims abstract description 101
- 238000012545 processing Methods 0.000 claims abstract description 14
- 230000003902 lesion Effects 0.000 claims abstract description 11
- 238000009210 therapy by ultrasound Methods 0.000 claims abstract description 3
- 238000005286 illumination Methods 0.000 claims description 6
- 239000000523 sample Substances 0.000 claims description 6
- 238000002405 diagnostic procedure Methods 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 239000000919 ceramic Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 239000013078 crystal Substances 0.000 description 2
- 238000000338 in vitro Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
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- 238000009558 endoscopic ultrasound Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
-
- 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
-
- 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
- A61B1/0684—Endoscope light sources using light emitting diodes [LED]
-
- 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
- A61B1/07—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 using light-conductive means, e.g. optical fibres
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
- A61B8/4488—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer the transducer being a phased array
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
- A61N2007/0004—Applications of ultrasound therapy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
- A61N2007/0043—Ultrasound therapy intra-cavitary
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
- A61N2007/0052—Ultrasound therapy using the same transducer for therapy and imaging
Abstract
The invention relates to a self-guiding type endoscopic system and a diagnosis method of ultrasonic endoscopic interventional imaging, wherein the endoscopic system comprises a host machine, a display, an endoscopic catheter and a communicating vessel used for connecting the host machine and the endoscopic catheter, the endoscopic catheter comprises a sleeve body, an optical sensor and an ultrasonic transducer, the sleeve body forms a closed cavity inside, the optical sensor and the ultrasonic transducer are arranged in the closed cavity in which the extending end part of the sleeve body is positioned, the optical sensor can generate an optical image on the display, and the ultrasonic transducer moves to a target area along with the extending end part under the guidance of the optical image and carries out ultrasonic imaging on the display or ultrasonic treatment on the target area through the signal processing of the host machine. The invention utilizes the integrated forward-looking optical sensor, not only can image the front area of the catheter to position and guide the catheter, but also can display an optical image in the display, and simultaneously, through the ultrasonic transducer, not only can diagnose the lesion part, but also can display an ultrasonic image in the display.
Description
Technical Field
The invention belongs to the field of medical instruments, particularly relates to a self-guiding type endoscopic system, and also relates to a diagnosis method of ultrasonic endoscopic interventional imaging.
Background
Currently, common to endoscopic systems appearing on the market are ultrasonic endoscopic catheters such as: the intravascular ultrasonic catheter, the ultrasonic endoscope, the ultrasonic gastroscope, the ultrasonic bronchoscope and the like are mainly used for diagnosis and treatment of various interventional operations, but have no positioning function, so that the intravascular ultrasonic catheter, the ultrasonic endoscope, the ultrasonic gastroscope, the ultrasonic bronchoscope and the like are guided by means of CT, DAS and other equipment to reach a diseased region for observation, and meanwhile, the state of the diseased region is displayed in a display through the processing of a system host machine, so that a doctor can make accurate treatment judgment.
However, both CT and DAS are radioactive, causing some injury to both patients and healthcare workers, and also limiting the equipment use.
Disclosure of Invention
The technical problem to be solved by the present invention is to overcome the defects of the prior art and to provide an improved self-guided endoscopic system.
Meanwhile, the invention also relates to a diagnostic method of the ultrasonic endoscopic interventional imaging.
In order to solve the technical problems, the invention adopts the following technical scheme:
a self-guiding type endoscopic system comprises a host machine, a display, an endoscopic catheter and a communicating vessel used for connecting the host machine and the endoscopic catheter, wherein the endoscopic catheter comprises a sleeve body, an optical sensor and an ultrasonic transducer, the sleeve body is internally provided with a closed cavity, the optical sensor is arranged in the closed cavity, in which the extending end part of the sleeve body is positioned, the ultrasonic transducer is communicated with the optical sensor and is arranged in the closed cavity, the optical sensor can generate an optical image on the display, and the ultrasonic transducer moves to a target area along with the extending end part under the guidance of the optical image and carries out ultrasonic imaging on the display or ultrasonic treatment on the target area through the signal processing of the host machine.
Preferably, the inner diameter of the cannula body is 0.35-6 mm; the optical sensor and the ultrasonic transducer are communicated with the communicating vessel through cables, wherein the optical sensor is positioned at the front end of the end part of the sleeve body, and the ultrasonic transducer is arranged close to the optical sensor and positioned behind the optical sensor.
Specifically, the optical sensor is a CMOS sensor or a CCD sensor.
Preferably, an illumination module is also integrated on the optical sensor. With the aid of the lighting module, the imaging is clearer. The lighting module is an LED lamp, or an external light source is used for guiding the light to enter the catheter through an optical fiber to realize lighting imaging. The signal is transmitted to the communicating vessel through the connected cable, and after the signal processing of the host computer, the corresponding optical image is displayed on the display.
According to a specific implementation and preferred aspect of the invention, the endoscopic catheter further comprises a lens disposed at the front end of the optical sensor. With the aid of the lens, the light rays are convenient to scatter, so that large-area endoscopic optical images are obtained.
Preferably, the optical sensor has a diameter of 1/3-4/5 of the inner diameter of the cannula body; and the optical sensor generates an optical image on the display having pixels greater than 20 x 20.
According to yet another embodied and preferred aspect of the invention, the ultrasonic transducer has a diameter 1/3-4/5 of the inner diameter of the cannula body, and the ultrasonic transducer is located on a side behind the optical sensor.
Preferably, the frequency of the ultrasonic transducer is more than 50 KHz, and the ultrasonic transducer is a single-array element probe transducer or a multi-array element ring array transducer, a linear array transducer, a convex array transducer or an area array transducer.
Specifically, the ultrasonic transducer is a piezoelectric ceramic transducer, a piezoelectric single crystal transducer, a 1-3 composite transducer, a PMUT transducer, or a CMUT transducer.
In addition, the host includes an ultrasonic and optical signal receiving unit, an ultrasonic and optical signal processing unit, wherein the ultrasonic and optical signal receiving unit is in communication with the optical sensor and the ultrasonic transducer, the display is in communication with the ultrasonic and optical signal processing unit, and the display is capable of simultaneously displaying an optical and an ultrasonic image.
The other technical scheme of the invention is as follows: the diagnosis method of the ultrasonic endoscopic interventional imaging is characterized in that the diagnosis process of the self-guided endoscopic system is as follows:
1) communicating the sterilized endoscopic catheter with a host machine through a communicating vessel, putting the endoscopic catheter into an external dummy or a water container, and simultaneously displaying an optical image and an ultrasonic image in a display according to feedback signals of an ultrasonic transducer and an optical sensor through the work of the ultrasonic transducer and the optical sensor in the endoscopic catheter so as to ensure the normal work of the endoscopic catheter;
2) slowly inserting the endoscopic catheter into a body to a lesion area, guiding according to an optical image in the inserting process, adjusting the inserting angle and the inserting direction in due time, and carrying out ultrasonic imaging on the endoscopic catheter by using an ultrasonic probe or directly carrying out ultrasonic diagnosis on the lesion area after the endoscopic catheter reaches a target area;
3) and after the operation is finished, taking out the endoscopic catheter, stopping working and disconnecting the endoscopic catheter.
Due to the implementation of the technical scheme, compared with the prior art, the invention has the following advantages:
the invention utilizes the integrated forward-looking optical sensor, not only can image the front area of the catheter to carry out positioning and guiding on the catheter, but also can display an optical image in the display, and simultaneously, through the ultrasonic transducer, not only can diagnose the lesion part, but also can display an ultrasonic image in the display, therefore, the flexibility, the accuracy and the application range of the ultrasonic endoscopic catheter are greatly improved without in-vitro CT and DAS monitoring guidance or endoscopic electronic endoscope guidance.
Drawings
FIG. 1 is a schematic view of the self-guided endoscopic system of the present invention;
wherein: 1. a host; 1a, an ultrasonic and optical signal receiving unit; 1b, an ultrasonic and optical signal processing unit;
2. a display;
3. an endoscopic catheter; 30. a sleeve body; 31. an optical sensor; 32. an ultrasonic transducer; 33. a cable; 34. a lighting module; 35. a lens;
4. a communicating vessel.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise explicitly specified or limited, a first feature "on" or "under" a second feature may be directly contacted with the first and second features, or indirectly contacted with the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
As shown in fig. 1, the self-guided endoscope system according to the present embodiment includes a main unit 1, a display 2, an endoscopic catheter 3, and a communicating vessel 4 for connecting the main unit 1 and the endoscopic catheter 3, wherein the endoscopic catheter 3 includes a cannula body 30 having a closed cavity formed therein, an optical sensor 31 disposed in the closed cavity in which an extending end portion of the cannula body 30 is located, and an ultrasonic transducer 32 communicated with the optical sensor 31 and disposed in the closed cavity, the optical sensor 31 is capable of generating an optical image on the display 2, and the ultrasonic transducer 32 moves to a target region along with the extending end portion under the guidance of the optical image and performs ultrasonic imaging or ultrasonic therapy on the target region on the display 2 through signal processing of the main unit 1.
Specifically, the main body 1 includes an ultrasonic and optical signal receiving unit 1a, an ultrasonic and optical signal processing unit 1b, wherein the ultrasonic and optical signal receiving unit 1a communicates with the optical sensor 31 and the ultrasonic transducer 32, the display 2 communicates with the ultrasonic and optical signal processing unit 1b, and the display 2 is capable of simultaneously displaying an optical and ultrasonic image.
In this example, the inner diameter of the sleeve body 30 is 3 mm; the optical sensor 31 and the ultrasonic transducer 32 are communicated with the communicating vessel 4 through a cable 33, wherein the optical sensor 31 is positioned at the front end of the end part of the sleeve body 30 extending into the sleeve body, and the ultrasonic transducer 32 is arranged close to the optical sensor 31 and positioned at one side behind the optical sensor 31.
Specifically, the optical sensor 31 is a CMOS sensor.
Meanwhile, an illumination module 34 is also integrated on the optical sensor 31. With the aid of the illumination module 34, the imaging is made clearer.
In this example, the illumination module 34 is an LED lamp, or an external light source is used to guide the light into the catheter through an optical fiber to realize illumination imaging. The signal is transmitted to the communicating vessel through the connected cable, and after the signal processing of the host computer, the corresponding optical image is displayed on the display.
The endoscopic catheter 3 further includes a lens 35 provided at the distal end portion of the optical sensor 31. With the aid of the lens 35, the spreading of the light rays is facilitated, so that an endoscopic optical image of a large area is obtained.
In this example, the diameter of the optical sensor 31 is 2 mm, and the pixels of the optical image generated by the optical sensor 31 on the display 2 are 200 × 200.
The diameter of the ultrasonic transducer 32 is 2 mm, and the frequency of the ultrasonic transducer 32 is 20 MHz.
Specifically, the ultrasonic transducer 32 is a piezoelectric ceramic transducer, a piezoelectric single crystal transducer, a 1-3 composite transducer, a PMUT transducer, or a CMUT transducer.
Meanwhile, the ultrasonic transducer 32 is a single-element probe transducer or a multi-element ring, linear, convex or area array transducer.
In summary, the steps of diagnosing the endoscopic ultrasound interventional imaging by using the self-guided endoscopic system in this embodiment are as follows:
1) communicating the sterilized endoscopic catheter with a host machine through a communicating vessel, putting the endoscopic catheter into an external dummy or a water container, and simultaneously displaying an optical image and an ultrasonic image in a display according to feedback signals of an ultrasonic transducer and an optical sensor through the work of the ultrasonic transducer and the optical sensor in the endoscopic catheter so as to ensure the normal work of the endoscopic catheter;
2) slowly inserting the endoscopic catheter into a body to a lesion area, guiding according to an optical image in the inserting process, adjusting the inserting angle and the inserting direction in due time, and carrying out ultrasonic imaging on the endoscopic catheter by using an ultrasonic probe or directly carrying out ultrasonic diagnosis on the lesion area after the endoscopic catheter reaches a target area;
3) and after the operation is finished, taking out the endoscopic catheter, stopping working and disconnecting the endoscopic catheter.
Therefore, the present embodiment has the following advantages:
1. visual optical sensors are added into the endoscopic catheter, so that the self-guiding or self-positioning function of the endoscopic catheter is realized;
2. with the assistance of the lens and the LED lamp, the information fed back to the host by the optical sensor is more accurate, so that the quality (such as pixels, the size of a lesion area and the like) of an optical image generated in the display is improved;
3. the optical sensor and the ultrasonic transducer are arranged inside the sleeve body, and the sleeve body is used for protection, so that the operation of the endoscopic catheter extending into a human body lesion area is facilitated;
4. by utilizing the integrated forward-looking optical sensor, the front area of the catheter can be imaged to position and guide the catheter, optical images can also be displayed in the display, and meanwhile, through the ultrasonic transducer, not only can the lesion part be diagnosed, but also ultrasonic images can be displayed in the display, so that the flexibility, the accuracy and the application range of the ultrasonic endoscopic catheter are greatly improved without in-vitro CT and DAS monitoring guidance or endoscopic electronic endoscope guidance.
The present invention has been described in detail in order to enable those skilled in the art to understand the invention and to practice it, and it is not intended to limit the scope of the invention, and all equivalent changes and modifications made according to the spirit of the present invention should be covered by the present invention.
Claims (10)
1. A self-guided endoscopic system comprising a main unit, a display, an endoscopic catheter, and a communicator for connecting the main unit with the endoscopic catheter, characterized in that:
the endoscopic catheter comprises a sleeve body, an optical sensor and an ultrasonic transducer, wherein a closed cavity is formed inside the sleeve body, the optical sensor is arranged in the closed cavity, in which the extending end part of the sleeve body is located, the ultrasonic transducer is communicated with the optical sensor and is arranged in the closed cavity, the optical sensor can generate an optical image on the display, and the ultrasonic transducer moves to a target area along with the extending end part under the guidance of the optical image and carries out ultrasonic imaging on the display or ultrasonic treatment on the target area through the signal processing of the host.
2. The self-guided endoscope system according to claim 1, wherein: the inner diameter of the sleeve body is 0.36-6 mm; the optical sensor and the ultrasonic transducer are communicated with the communicating vessel through cables, wherein the optical sensor is positioned at the front end of the extending end part of the sleeve body, and the ultrasonic transducer is arranged close to the optical sensor and positioned behind the optical sensor.
3. The self-guided endoscope system according to claim 1, wherein: the optical sensor is a CMOS sensor or a CCD sensor.
4. The self-guided endoscope system according to claim 1, wherein: and an illumination module is integrated on the optical sensor.
5. The self-guiding endoscopic system according to any one of claims 1 to 4, wherein: the endoscopic catheter further comprises a lens arranged at the front end part of the optical sensor.
6. The self-guided endoscope system according to claim 5, wherein: the diameter of the optical sensor is 1/3-4/5 of the inner diameter of the sleeve body; and said optical sensor generates an optical image on said display having pixels greater than 20 x 20.
7. The self-guided endoscope system according to claim 2, characterized in that: the diameter of the ultrasonic transducer is 1/3-4/5 of the inner diameter of the sleeve body, and the ultrasonic transducer is positioned on one side behind the optical sensor.
8. The self-guided endoscope system according to claim 7, wherein: the frequency of the ultrasonic transducer is more than 50 KHz, and the ultrasonic transducer is a single-array-element probe transducer or a multi-array-element ring array transducer, a multi-array-element linear array transducer, a multi-array-element convex array transducer or a multi-array-element planar array transducer.
9. The self-guided endoscope system according to claim 1, wherein: the host machine comprises an ultrasonic and optical signal receiving unit and an ultrasonic and optical signal processing unit, wherein the ultrasonic and optical signal receiving unit is communicated with the optical sensor and the ultrasonic transducer, the display is communicated with the ultrasonic and optical signal processing unit, and the display can simultaneously display an optical image and an ultrasonic image.
10. A diagnostic method of ultrasonic endoscopic interventional imaging is characterized in that: the diagnostic method is performed by using the self-guided endoscope system according to any of claims 1-9, and the diagnostic process is as follows:
1) communicating the sterilized endoscopic catheter with a host machine through a communicating vessel, putting the endoscopic catheter into an external dummy or a water container, and simultaneously displaying an optical image and an ultrasonic image in a display according to feedback signals of an ultrasonic transducer and an optical sensor through the work of the ultrasonic transducer and the optical sensor in the endoscopic catheter so as to ensure the normal work of the endoscopic catheter;
2) slowly inserting the endoscopic catheter into a body to a lesion area, guiding according to an optical image in the inserting process, adjusting the inserting angle and the inserting direction in due time, and carrying out ultrasonic imaging on the endoscopic catheter by using an ultrasonic probe or directly carrying out ultrasonic diagnosis on the lesion area after the endoscopic catheter reaches a target area;
3) and after the operation is finished, taking out the endoscopic catheter, stopping working and disconnecting the endoscopic catheter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010105459.3A CN111134728A (en) | 2020-02-20 | 2020-02-20 | Self-guiding type endoscopic system and diagnosis method for ultrasonic endoscopic interventional imaging |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010105459.3A CN111134728A (en) | 2020-02-20 | 2020-02-20 | Self-guiding type endoscopic system and diagnosis method for ultrasonic endoscopic interventional imaging |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4327738A (en) * | 1979-10-19 | 1982-05-04 | Green Philip S | Endoscopic method & apparatus including ultrasonic B-scan imaging |
| US20070244391A1 (en) * | 2006-03-31 | 2007-10-18 | Terumo Kabushiki Kaisha | Image diagnostic system and apparatus, and processing method therefor |
| JP2012192022A (en) * | 2011-03-16 | 2012-10-11 | Hitachi Medical Corp | Ultrasonic endoscope and endoscope device |
| JP2014226472A (en) * | 2013-05-27 | 2014-12-08 | オリンパス株式会社 | Therapeutic ultrasonic adapter and ultrasonic therapy device |
| CN109925004A (en) * | 2017-12-19 | 2019-06-25 | 苏州国科昂卓医疗科技有限公司 | Conduit and imaging device are peeped in snooping head and ultrasound with it in a kind of ultrasound |
-
2020
- 2020-02-20 CN CN202010105459.3A patent/CN111134728A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4327738A (en) * | 1979-10-19 | 1982-05-04 | Green Philip S | Endoscopic method & apparatus including ultrasonic B-scan imaging |
| US20070244391A1 (en) * | 2006-03-31 | 2007-10-18 | Terumo Kabushiki Kaisha | Image diagnostic system and apparatus, and processing method therefor |
| JP2012192022A (en) * | 2011-03-16 | 2012-10-11 | Hitachi Medical Corp | Ultrasonic endoscope and endoscope device |
| JP2014226472A (en) * | 2013-05-27 | 2014-12-08 | オリンパス株式会社 | Therapeutic ultrasonic adapter and ultrasonic therapy device |
| CN109925004A (en) * | 2017-12-19 | 2019-06-25 | 苏州国科昂卓医疗科技有限公司 | Conduit and imaging device are peeped in snooping head and ultrasound with it in a kind of ultrasound |
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Effective date of registration: 20210120 Address after: 215163 Room 501, 5th floor, building 7, 78 Keling Road, science and Technology City, high tech Zone, Suzhou City, Jiangsu Province Applicant after: Suzhou Xisheng Technology Co.,Ltd. Applicant after: BEIJING HUACO HEALTHCARE TECHNOLOGIES Co.,Ltd. Address before: 215163 Room 501, 5th floor, building 7, 78 Keling Road, science and Technology City, high tech Zone, Suzhou City, Jiangsu Province Applicant before: Suzhou Xisheng Technology Co.,Ltd. |
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Effective date of registration: 20220526 Address after: 215163 Suzhou hi tech Zone, Jiangsu Province, No. 88 Applicant after: Suzhou Institute of Biomedical Engineering and Technology Chinese Academy of Sciences Applicant after: Suzhou Xisheng Technology Co.,Ltd. Applicant after: BEIJING HUACO HEALTHCARE TECHNOLOGIES Co.,Ltd. Address before: 215163 Room 501, 5th floor, building 7, 78 Keling Road, science and Technology City, high tech Zone, Suzhou City, Jiangsu Province Applicant before: Suzhou Xisheng Technology Co.,Ltd. Applicant before: BEIJING HUACO HEALTHCARE TECHNOLOGIES Co.,Ltd. |
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Country or region after: China Address after: 215163 Suzhou hi tech Zone, Jiangsu Province, No. 88 Applicant after: Suzhou Institute of Biomedical Engineering and Technology Chinese Academy of Sciences Applicant after: Suzhou Xisheng Technology Co.,Ltd. Applicant after: Beijing Lepu Zhiying Technology Co.,Ltd. Address before: 215163 Suzhou hi tech Zone, Jiangsu Province, No. 88 Applicant before: Suzhou Institute of Biomedical Engineering and Technology Chinese Academy of Sciences Country or region before: China Applicant before: Suzhou Xisheng Technology Co.,Ltd. Applicant before: BEIJING HUACO HEALTHCARE TECHNOLOGIES Co.,Ltd. |