CN117158872A - Endoscope and endoscope system - Google Patents
Endoscope and endoscope system Download PDFInfo
- Publication number
- CN117158872A CN117158872A CN202311450809.XA CN202311450809A CN117158872A CN 117158872 A CN117158872 A CN 117158872A CN 202311450809 A CN202311450809 A CN 202311450809A CN 117158872 A CN117158872 A CN 117158872A
- Authority
- CN
- China
- Prior art keywords
- camera
- endoscope
- tube body
- module
- camera module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012545 processing Methods 0.000 claims description 48
- 230000001681 protective effect Effects 0.000 claims description 7
- 238000003384 imaging method Methods 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000005520 cutting process Methods 0.000 description 9
- 239000012530 fluid Substances 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 206010046798 Uterine leiomyoma Diseases 0.000 description 3
- 239000007788 liquid Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Landscapes
- Endoscopes (AREA)
Abstract
The application discloses an endoscope and an endoscope system. The endoscope tube comprises a tube body and a camera shooting module, wherein the tube body is provided with an instrument channel and a camera shooting channel, the instrument channel is used for an external instrument to pass through, and the camera shooting channel is used for accommodating the camera shooting module. The operating handle is arranged at the proximal end of the endoscope tube, and at least the endoscope tube body of the endoscope tube can rotate around the central axis of the camera shooting module relative to the operating handle. According to the application, the endoscope tube can rotate relative to the operating handle, and the rotating shaft of the endoscope tube is the central axis of the camera module, so that an external instrument positioned in the instrument channel can rotate under the drive of the endoscope tube body, and the endoscope tube is not limited by the operating handle, thereby being convenient for medical staff to operate. In addition, the endoscope tube uses the axle wire of the camera module as a rotating shaft, so that the camera module can be used as a fixed axle and the image information collected by the camera module can not rotate, and medical staff can directly perform operation according to the collected image information.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to an endoscope and an endoscope system.
Background
With the rapid development of medical technology, endoscopes are increasingly used in the medical field. Endoscopes generally include a scope tube and an operating handle, but most prior art scopes and operating handles are not rotatable relative to each other. In some situations, the operating handle is not allowed to rotate or cannot rotate due to environmental restrictions, which results in the lens tube not rotating.
As the application of the endoscope is more and more widespread, the endoscope is not only used for examination, but also put into operation, for example, in a hysteroscopic cutting hysteromyoma or similar scene, the endoscope tube is provided with a rotary cutter, and at this time, if the rotation of the endoscope tube is limited by an operation handle, the normal operation and the pushing of the operation can be affected.
In addition, among the prior art, the rotation of mirror tube often can drive the module of making a video recording in it and rotate together, and this just leads to the image information that makes a video recording the module to gather also can rotate to increase and observe the degree of difficulty, also have certain influence to the promotion of operation process.
Therefore, how to improve the technical defects existing in the prior art is a problem to be solved by the person skilled in the art.
Disclosure of Invention
The application aims to provide an endoscope and an endoscope system, which ensure that the rotation of an endoscope tube body is not limited by an operating handle any more, have strong operability and are more beneficial to medical staff to observe the condition in a patient.
The technical scheme provided by the application is as follows:
an endoscope, comprising:
an endoscope tube and an operating handle;
the endoscope tube comprises a tube body and a camera module, wherein the tube body is provided with an instrument channel and a camera channel, the instrument channel is suitable for an external instrument to pass through, and the camera channel is suitable for accommodating the camera module; and
The operating handle is arranged at the proximal end of the endoscope tube, and at least the endoscope tube body can rotate around the central axis of the camera shooting module relative to the operating handle.
In some embodiments, the operating handle includes a housing, the proximal end of the lens tube body and the proximal end of the camera module are both disposed in the housing in a penetrating manner, and the proximal end of the lens tube body is provided with a rotation handle;
the shell is provided with a first avoidance hole, the edge of the rotary handle extends to the outside of the shell through the first avoidance hole, and the rotary handle is used for driving the lens tube body to rotate relative to the operating handle.
In some embodiments, the operating handle comprises a housing, the proximal end of the lens tube body and the proximal end of the camera module are both arranged in the housing in a penetrating manner, and the proximal end of the camera module is provided with a rotary handle;
the shell is provided with a first avoidance hole, the edge of the rotary handle extends to the outside of the shell through the first avoidance hole, and the rotary handle is used for driving the camera module and the lens tube body to synchronously rotate around the central axis of the camera module relative to the operating handle; and
The rotary handle is provided with a second avoiding hole for avoiding the inner part of the shell or the wire harness.
In some embodiments, a protective cover is disposed at the distal end of the lens body corresponding to the image capturing channel, so as to protect a camera of the image capturing module.
In some embodiments, the lens body is rotatable relative to the operating handle, and the camera module is not rotatable relative to the operating handle; and
The protective cover is provided with an indication mark for identifying the rotation angle of the lens tube body relative to the operating handle.
In some embodiments, an angle sensor is provided at the distal end of the scope body to collect rotational information of the scope body.
In some embodiments, the proximal end of the knob is provided with an angle encoder or an angle sensor or an inertial navigation unit, so as to acquire rotation information of the knob, thereby acquiring rotation information of the lens tube body or the camera module.
In some embodiments, the camera module comprises a camera and a camera harness, and the camera harness has an outer diameter dimension that is smaller than an inner diameter dimension of the camera channel; and
The far end of the lens tube body is provided with an opening which is communicated with the camera shooting channel.
The present application also provides an endoscope system including:
an image processing apparatus and an endoscope provided in any one of the above;
the camera module comprises a camera and a camera wire harness, the camera wire harness is electrically connected with the camera and the image processing equipment, the camera is configured to transmit collected image information to the image processing equipment, and the image processing equipment is used for imaging.
In some embodiments, a rotating handle is arranged at the proximal end of the camera module, so as to drive the camera module and the lens tube body to synchronously rotate around the central axis of the camera module relative to the operating handle; and
The near end of the rotary handle is provided with an angle encoder or an angle sensor or an inertial navigation unit for acquiring the rotation information of the rotary handle so as to acquire the rotation information of the camera module; the angle encoder or the angle sensor or the inertial navigation unit is electrically connected to the image processing equipment, and the image processing equipment is configured to receive the rotation information of the camera module and rotate the image information acquired by the camera module according to the rotation information of the camera module so that the image displayed by the image processing equipment does not rotate; and
When the image processing device receives the rotation information of the camera module, the display frame number of the image displayed by the image processing device is reduced.
The application has the technical effects that:
1. in the application, the lens tube body can rotate around the central axis of the camera shooting module relative to the operating handle, so that the rotation of the lens tube body is not limited by the operating handle, and the instrument channel on the lens tube body is in an eccentric position relative to the central axis of the camera shooting module, namely the central axis of the camera shooting channel, so that when the lens tube body rotates, an external instrument positioned in the instrument channel can displace necessarily to follow the rotation of the lens tube body around the central axis of the camera shooting module. At this time, if the external instrument is a rotary cutter, medical staff can realize the rotary cutting of the rotary cutter to the internal tissues of the human body by rotating the endoscope tube body, and the operation is more convenient. In addition, the endoscope tube takes the central axis of the camera module as a rotating shaft, so that the camera module can be directly taken as a fixed shaft under some use scenes, and the camera module is kept still when the endoscope tube rotates. Therefore, the image information collected by the camera shooting module can not rotate, and medical staff can directly perform operation according to the collected image information.
2. In the application, when the camera shooting module is used as a fixed shaft and only the endoscope tube rotates, the indication mark can be arranged on the protection cover for protecting the camera. So medical staff can directly obtain the rotation angle of the lens tube body according to the image information before and after the lens tube body rotates, which is acquired by the camera shooting module. At this time, an angle sensor can be further arranged at the far end of the endoscope tube body so as to acquire more accurate rotation information (such as a rotation angle, a rotation speed and the like), and meanwhile, the rotation information can be directly displayed on the image processing equipment for medical staff to check.
3. In the application, when the camera shooting module synchronously rotates around the central axis of the camera shooting module and the lens tube body, an angle encoder or an angle sensor or an inertial navigation unit can be arranged to acquire the rotation information of the camera shooting module, and the rotation information is transmitted to the image processing equipment. Therefore, the image processing equipment can directly carry out rotation processing on the image information acquired by the camera shooting module according to the rotation information, so that the finally displayed image is not rotated all the time, and the observation of medical staff is facilitated. When the image processing device receives the rotation information of the camera module, the display frame number of the image displayed by the image processing device is reduced to match the speed of image processing.
Drawings
The application is described in further detail below with reference to the attached drawings and detailed description:
FIG. 1 is a schematic perspective view of an endoscope provided in one embodiment of the present application;
FIG. 2 is a cross-sectional view of an endoscope provided in one embodiment of the present application;
FIG. 3 is an enlarged schematic view of a portion of FIG. 2 at A;
FIG. 4 is a partial structural view of the distal end of the endoscope shown in FIG. 1;
FIG. 5 is a top view of an endoscope provided in another embodiment of the present application;
FIG. 6 is a cross-sectional view in the direction B-B shown in FIG. 5;
FIG. 7 is a cross-sectional view taken along the direction C-C shown in FIG. 5;
fig. 8 is a sectional view in the direction D-D shown in fig. 5.
Reference numerals illustrate:
100. a lens tube body; 110. an instrument channel; 120. a camera channel; 130. a protective cover; 131. an indication mark; 140. opening holes; 150. a boss;
200. a camera module; 210. a camera; 220. a camera harness;
300. a rotary handle; 310. a second avoidance hole; 320. a groove;
401. an angle sensor; 402. an angle encoder;
500. an operation handle; 510. a housing; 511. and a first avoiding hole.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will explain the specific embodiments of the present application with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the application, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
For simplicity of the drawing, only the parts relevant to the application are schematically shown in each drawing, and they do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In this context, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or limited otherwise; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
In the embodiment shown in the drawings, indications of orientation (such as up, down, left, right, front and rear) are used to explain the structure and movement of the various components of the application are not absolute but relative. These descriptions are appropriate when the components are in the positions shown in the drawings. If the description of the location of these components changes, then the indication of these directions changes accordingly.
In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance. And, in the description of the present application, "distal" indicates only the end of the member that is remote from the operator in use, and "proximal" indicates only the end of the member that is remote from the operator in use.
Referring to fig. 1-6, an endoscope, in accordance with one embodiment of the present application, may include an endoscope tube and an operating handle 500. The endoscope comprises an endoscope body 100 and a camera module 200, wherein the endoscope body 100 is provided with an instrument channel 110 and a camera channel 120, and the instrument channel 110 is suitable for an external instrument to pass through so that medical staff can extend the external instrument into the human body without damaging internal tissues of the human body; the image capturing channel 120 is adapted to accommodate the image capturing module 200, and the image capturing module 200 can collect image information of the interior of the human body and transmit the image information to the image processing device for observation by medical staff, and the medical staff can perform operations such as physical examination and operation on the patient according to the image displayed on the image processing device. The operation handle 500 is disposed at the proximal end of the endoscope tube, and is held by medical staff, and the medical staff can push the endoscope tube through the operation handle 500 until the endoscope tube reaches a specified position. Referring to fig. 3 and 4, the image capturing channel 120 and the instrument channel 110 are both eccentrically disposed on the scope body 100, and the image capturing channel 120 and the instrument channel 110 are respectively located at two sides of the central axis of the scope body 100 in the radial direction. Of course, in actual production, the camera channel 120 may also be disposed on the central axis of the scope tube body 100, so that the central axis of the camera module 200 is collinear with the central axis of the scope tube body 100, and at this time, a protrusion is disposed on the outer side wall of the scope tube body 100, and the instrument channel 110 is disposed on the protrusion, so that an external instrument passing through the instrument channel 110 is in an external state.
Specifically, referring to fig. 2 and 3, the camera module 200 includes a camera 210 and a camera harness 220, the camera harness 220 is electrically connected to the camera 210 and an image processing device, and the camera 210 is configured to transmit acquired image information to the image processing device, which is used for imaging.
In actual production, referring to fig. 1 to 4, in order to avoid that the camera 210 is scratched to affect the imaging of the picture, a protective cover 130 is further disposed at a position corresponding to the image capturing channel 120 at the distal end of the lens tube body 100, so as to protect the camera 210.
In a preferred embodiment, at least the scope body 100 of the endoscope can rotate around the central axis of the camera module 200 relative to the operation handle 300, so that the rotation of the scope body 100 can no longer be limited by the operation handle 500, and the scope body 100 is in an eccentric position relative to the central axis of the camera module 200, that is, the central axis of the camera channel 120, because the instrument channel 110 is located at the eccentric position, when the scope body 100 rotates, the external instrument located in the instrument channel 110 must displace and rotate around the central axis of the camera module 200 along with the scope body 100. At this time, if the external apparatus is a rotary cutter, medical staff can rotate the endoscope body 100 to realize the rotary cutting of the rotary cutter to the internal tissues of the human body, and the operation is more convenient.
Specifically, the endoscope provided by the embodiment can be applied to hysteroscopic hysteromyoma cutting or similar scenes, medical staff can examine the conditions in the patient through the endoscope, and can guide external instruments into the patient through the instrument channel 110 to directly conduct rotary cutting operation, so that the operation flow is simplified, the rapid propulsion of the operation process is facilitated, and the practicability is strong.
In this embodiment, at least the endoscope body 100 can rotate around the central axis of the camera module 200 relative to the operation handle 300, and the rotation can be specifically divided into two cases:
1) Referring to fig. 1 to 4, the scope body 100 is rotatable about a central axis of the camera module 200 with respect to the operation handle 500, and the camera module 200 as a whole serves as a fixed axis of rotation of the scope body 100, and the camera module remains stationary while the endoscope is rotated. At this time, medical staff can drive the rotary cutter in the instrument channel 110 to rotate through rotating the lens tube body 100 to realize the rotary cutting of the rotary cutter to the internal tissue of the human body, simultaneously, in the rotary cutting process, the camera module 200 can not be driven by the lens tube body 100, the image information that it gathered can not rotate either, so that the observation of medical staff is facilitated, the promotion of the operation is more facilitated, and the practicability is strong.
2) Referring to fig. 5 to 8, the scope body 100 may rotate about the central axis of the camera module 200 with respect to the operation handle 500, and at the same time, the camera module 200 may rotate together with the scope body 100. At this time, in order to further facilitate the observation of medical staff, the image processing apparatus may perform rotation processing on the image information collected by the image capturing module 200, and display the image information after the image information is adjusted to a suitable angle. Specifically, if the camera module 200 rotates 90 ° counterclockwise, the image processing device will rotate the received image information collected by the camera module 200 by 90 ° clockwise, so as to ensure that the image information observed by the medical staff will not rotate, and facilitate the operation of the medical staff.
In both cases, the angle range in which the scope body 100 can rotate with respect to the operation handle 500 is preferably 300 ° to 340 °. Specifically, in the initial state, the angle of the endoscope body 100 relative to the operation handle 500 is set to be 0 °, and in the use process, the medical staff can rotate the endoscope body 100 clockwise along the circumferential direction of the endoscope body 100, and the rotation range is 150 ° -170 °; in contrast, medical personnel can rotate the scope body 100 counterclockwise along the circumference of the scope body 100, with a range of rotation of 150-170. Therefore, the surgical operation device can meet the clinical operation requirements of most rotary cutting operations, especially hysteroscopic cutting hysteromyoma, and has strong practicability.
Specifically, referring to fig. 4, when the lens body 100 can rotate around the central axis of the camera module 200 relative to the operation handle 500 and the camera module remains stationary relative to the operation handle 500, an indication mark 131 can be disposed on the protective cover 130 to identify the relative rotation angle of the lens body 100 and the camera module 200. In this way, when the lens body 100 and the camera module 200 rotate relatively, the position of the indication mark 131 in the image information collected by the camera module 200 is also changed. Because the camera module 200 does not rotate, the collected image information does not rotate, so that medical staff can directly observe the rotation angle of the lens tube body 100 from the imaging of the image processing equipment.
Specifically, referring to fig. 4, the angle is marked as a short line extending along the radial direction of the lens body 100, and of course, in actual production, the extending angle of the short line may slightly deviate, and does not necessarily extend strictly along the radial direction of the lens body 100, which is within the scope of the present embodiment.
In this embodiment, the angle sensor 401 may be further disposed at the distal end of the endoscope tube body 100 to obtain more accurate rotation information (such as rotation angle and rotation speed), and the rotation information may be directly displayed on the image processing device for viewing by medical staff.
Of course, in actual production, if the camera module 200 and the endoscope body 100 rotate together, that is, if the endoscope is in the second condition, the angle sensor 401 may be disposed at the distal end of the endoscope body 100 to obtain rotation information (such as rotation angle and rotation speed) of the camera module 200 and the endoscope body 100, and the rotation information may be displayed on the image processing apparatus directly for viewing by medical staff.
Further, referring to fig. 2 and 5-8, the endoscope tube further includes a knob 300. Specifically, referring to fig. 2, if the endoscope is the first case, the knob 300 is disposed at the proximal end of the endoscope body 100 and adapted to drive the endoscope body 100 to rotate relative to the operating handle 500. Referring to fig. 5 to 8, if the endoscope tube is the second case, the rotation handle 300 should be disposed at the proximal end of the camera module 200, and adapted to drive the camera module 200 and the endoscope tube body 100 to rotate synchronously around the central axis of the camera module 200 relative to the operation handle 500.
Specifically, the operating handle 500 includes a housing 510, and the proximal end of the lens tube body 100 and the proximal end of the camera module 200 are both installed in the housing 510, meanwhile, a first avoiding hole 511 is formed in the housing 510, the edge of the rotary handle 300 extends to the outside of the housing 510 through the first avoiding hole 511, and medical staff can use the left hand holding the operating handle 500 to toggle the rotary handle 300, so as to realize one-hand operation, thereby driving the lens tube body 100, or the camera module 200 and the lens tube body 100 to rotate, and the right hand can be vacated to operate external instruments.
Specifically, referring to fig. 1, 5, 7 and 8, the rotary handle 300 is in a dial wheel or roller structure, and the rotary handle 300 is provided with a plurality of grooves 320 along the circumferential direction, which is convenient for the medical staff to dial. Of course, in actual production, a plurality of anti-slip bumps or raised strips may be disposed on the side wall of the knob 300, which are not described in detail herein, and are all within the scope of the present application.
Referring to fig. 6, an angle encoder 402 or an angle sensor 401 (e.g. a potentiometer) or an inertial navigation unit is disposed at the proximal end of the rotation handle 300, so as to collect rotation information of the rotation handle 300, thereby obtaining rotation information of the lens body 100 or the camera module 200, and the rotation information can be transmitted to an image processing device for obtaining by medical staff.
Of course, if the angle sensor 401 is already disposed at the distal end of the lens tube body 100, the rotation handle 300 does not need to be further provided with the angle encoder 402 or the angle sensor 401 or the inertial navigation unit to measure the rotation angle.
It should be noted that, when the camera module 200 and the endoscope body 100 rotate together, that is, the endoscope is in the second condition, the image processing apparatus can rotate the image information collected by the camera module 200 according to the rotation information after obtaining the rotation information of the camera module 200 or the endoscope body 100, so that the image displayed by the image processing apparatus cannot rotate due to the rotation of the camera module 200, which is convenient for the medical staff to observe.
In one embodiment, referring to fig. 3, the outer diameter of the camera harness 220 is smaller than the inner diameter of the camera channel 120, there is a gap between them, and the distal end of the lens body 100 is provided with an opening 140, which communicates with the camera channel 120. At this point, the gap between the camera harness 220 and the camera channel 120, and the aperture 140 in the scope body 100, may be used to feed or drain fluid out of the surgical site. Specifically, if instrument channel 110 is used to feed fluid to the surgical site, then the gap between camera harness 220 and camera channel 120, and aperture 140 in scope body 100, are used to drain fluid outwardly; conversely, the gap between the camera harness 220 and the camera channel 120, and the opening 140 in the scope body 100, is used to feed fluid into the surgical site, and the instrument channel 110 is used to drain fluid out. In this embodiment, the instrument channel 110 and the image capturing channel 120 on the scope body 100 are all connected with a water pipe, and the water pipe is subjected to flexible overstocking.
At this time, if the camera module 200 rotates together with the endoscope body 100, that is, when the endoscope is in the second condition, the second avoidance hole 310 needs to be formed in the rotation handle 300 disposed at the proximal end of the camera module 200, so as to avoid the water pipe and other components or the wire harness in the housing 510 of the operation handle 500, so that the water pipe is prevented from being entangled with other components or the wire harness in the housing 510 when the camera module 200 rotates relative to the operation handle 500, which is inconvenient to use.
It should be noted that, in the above embodiment in which all the lens bodies 100 can rotate around the central axis of the camera module 200 relative to the operation handle 500 and the camera module 200 does not rotate, the camera module 200 is fixed in the housing 510 of the operation handle 500 like a cantilever structure, and if the camera module 200 is required to support the lens bodies 100 for rotation, a tube (not shown) with higher rigidity needs to be sleeved outside the camera harness 220.
In a specific embodiment, the tube body may be a double-layer hollow tube with a certain rigidity, that is, the tube body includes an inner tube and an outer tube sleeved outside the inner tube, the proximal end of the inner tube is connected with the proximal end of the outer tube, and the distal end of the inner tube is connected with the distal end of the outer tube. At this time, a fluid passage through which fluid can flow is formed between the inner tube and the outer tube. Specifically, the distal end of the double-layered hollow tube is provided with an opening, and the water pipe is connected to the fluid channel on the double-layered hollow tube, so that the opening 140 on the scope tube body 100 is matched with the double-layered hollow tube, and can also feed liquid into or discharge liquid out of the operation site.
Specifically, referring to fig. 1 and 2, since the lens body 100 can rotate around the central axis of the camera module 200 relative to the operation handle 500, in consideration of most cases, the lens body 100 has an asymmetric structure along the central axis of the camera module 200, and the boss 150 can be disposed at the proximal end of the lens body 100, so that at least the proximal end of the lens body 100 has a symmetric circular structure along the central axis of the camera module 200. At this time, the third avoidance hole for avoiding the lens tube body 100 is formed in the casing 510 of the operating handle 500, and is a circular hole, so that the third avoidance hole can be well attached to the outer contour of the proximal end of the lens tube body 100, and the structural arrangement is reasonable and attractive.
The application also provides an endoscope system comprising the image processing device and the endoscope provided by any one of the embodiments. The camera module 200 includes a camera 210 and a camera harness 220, the camera harness 220 is electrically connected to the camera 210 and an image processing device, the camera 210 is configured to transmit collected image information to the image processing device, and the image processing device is used for imaging.
In one embodiment, if the camera module 200 and the scope body 100 rotate together, that is, if the endoscope scope is in the second condition, the proximal end of the camera module 200 is provided with a rotation handle 300 capable of driving the camera module 200 and the scope body 100 to rotate around the central axis of the camera module 200 synchronously with respect to the operation handle 500. Meanwhile, an angle encoder 402 or an angle sensor 401 or an inertial navigation unit is disposed at the proximal end of the rotation handle 300 to collect rotation information of the rotation handle 300, thereby obtaining rotation information of the camera module 200.
Meanwhile, the angle encoder 402 or the angle sensor 401 or the inertial navigation unit on the rotation handle 300 is electrically connected to the image processing device, and at this time, the image processing device is configured to receive the rotation information of the image capturing module 200 and rotate the image information collected by the image capturing module 200 according to the rotation information of the image capturing module 200, so that the image displayed by the image processing device cannot rotate due to the rotation of the image capturing module 200.
Specifically, when the image processing apparatus receives the rotation information of the image capturing module 200, the display frame number of the image displayed by the image processing apparatus is reduced to match the speed of the image processing.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and the parts of a certain embodiment that are not described or depicted in detail may be referred to in the related descriptions of other embodiments.
It should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (10)
1. An endoscope, comprising:
an endoscope tube and an operating handle;
the endoscope tube comprises a tube body and a camera module, wherein the tube body is provided with an instrument channel and a camera channel, the instrument channel is suitable for an external instrument to pass through, and the camera channel is suitable for accommodating the camera module; and
The operating handle is arranged at the proximal end of the endoscope tube, and at least the endoscope tube body can rotate around the central axis of the camera shooting module relative to the operating handle.
2. An endoscope as in claim 1 wherein,
the operating handle comprises a shell, the proximal end of the lens tube body and the proximal end of the camera shooting module are arranged in the shell in a penetrating mode, and a rotating handle is arranged at the proximal end of the lens tube body;
the shell is provided with a first avoidance hole, the edge of the rotary handle extends to the outside of the shell through the first avoidance hole, and the rotary handle is used for driving the lens tube body to rotate relative to the operating handle.
3. An endoscope as in claim 1 wherein,
the operating handle comprises a shell, the proximal end of the lens tube body and the proximal end of the camera shooting module are arranged in the shell in a penetrating mode, and a rotary handle is arranged at the proximal end of the camera shooting module;
the shell is provided with a first avoidance hole, the edge of the rotary handle extends to the outside of the shell through the first avoidance hole, and the rotary handle is used for driving the camera module and the lens tube body to synchronously rotate around the central axis of the camera module relative to the operating handle; and
The rotary handle is provided with a second avoiding hole for avoiding the inner part of the shell or the wire harness.
4. An endoscope as defined in any one of claims 1-3 wherein,
the far end of the lens tube body is provided with a protective cover corresponding to the camera shooting channel and used for protecting a camera of the camera shooting module.
5. The endoscope of claim 4, wherein the endoscope comprises a plurality of blades,
the lens tube body can rotate relative to the operating handle, and the camera shooting module does not rotate relative to the operating handle; and
The protective cover is provided with an indication mark for identifying the rotation angle of the lens tube body relative to the operating handle.
6. An endoscope as defined in any one of claims 1-3 wherein,
the far end of the lens tube body is provided with an angle sensor for collecting rotation information of the lens tube body.
7. An endoscope as claimed in claim 2 or 3, wherein,
the proximal end of the rotary handle is provided with an angle encoder or an angle sensor or an inertial navigation unit, and the angle encoder or the angle sensor or the inertial navigation unit is used for acquiring the rotation information of the rotary handle, so as to acquire the rotation information of the lens tube body or the camera module.
8. An endoscope as defined in any one of claims 1-3 wherein,
the camera module comprises a camera and a camera wire harness, and the outer diameter size of the camera wire harness is smaller than the inner diameter size of the camera channel; and
The far end of the lens tube body is provided with an opening which is communicated with the camera shooting channel.
9. An endoscope system, comprising:
an image processing apparatus and the endoscope of any one of claims 1 to 8;
the camera module comprises a camera and a camera wire harness, the camera wire harness is electrically connected with the camera and the image processing equipment, the camera is configured to transmit collected image information to the image processing equipment, and the image processing equipment is used for imaging.
10. The endoscope system of claim 9, wherein the endoscope system comprises a plurality of endoscope units,
a rotary handle is arranged at the proximal end of the camera shooting module so as to drive the camera shooting module and the lens tube body to synchronously rotate around the central axis of the camera shooting module relative to the operating handle; and
The near end of the rotary handle is provided with an angle encoder or an angle sensor or an inertial navigation unit for acquiring the rotation information of the rotary handle so as to acquire the rotation information of the camera module; the angle encoder or the angle sensor or the inertial navigation unit is electrically connected to the image processing equipment, and the image processing equipment is configured to receive the rotation information of the camera module and rotate the image information acquired by the camera module according to the rotation information of the camera module so that the image displayed by the image processing equipment does not rotate; and
When the image processing device receives the rotation information of the camera module, the display frame number of the image displayed by the image processing device is reduced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311450809.XA CN117158872B (en) | 2023-11-03 | 2023-11-03 | Endoscope and endoscope system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311450809.XA CN117158872B (en) | 2023-11-03 | 2023-11-03 | Endoscope and endoscope system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117158872A true CN117158872A (en) | 2023-12-05 |
| CN117158872B CN117158872B (en) | 2024-03-08 |
Family
ID=88939881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311450809.XA Active CN117158872B (en) | 2023-11-03 | 2023-11-03 | Endoscope and endoscope system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117158872B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050090849A1 (en) * | 2003-10-22 | 2005-04-28 | Adams Kenneth M. | Angled tissue cutting instruments and method of fabricating angled tissue cutting instrument having flexible inner tubular members of tube and single wrap construction |
| CN101889853A (en) * | 2010-08-06 | 2010-11-24 | 上海交通大学 | Three-dimensional endoscope system capable of rotating freely for angles |
| US20160066947A1 (en) * | 2013-04-20 | 2016-03-10 | Apollo Endosurgery, Inc. | Flexible endoscopic torqueable devices |
| US20170188793A1 (en) * | 2015-02-23 | 2017-07-06 | Xiaolong OuYang | Handheld surgical endoscope |
| CN211511967U (en) * | 2019-12-31 | 2020-09-18 | 重庆西山科技股份有限公司 | Visual medical planing device |
| CN212415679U (en) * | 2020-07-13 | 2021-01-29 | 安徽航天生物科技股份有限公司 | Disposable superfine flexible catheter and electronic endoscope |
| CN215534826U (en) * | 2021-07-15 | 2022-01-18 | 深圳市斯玛仪器有限公司 | Medical planing tool with endoscope |
| US20220022948A1 (en) * | 2019-04-30 | 2022-01-27 | Terumo Cardiovascular Systems Corporation | Endoscopic vessel harvester with gyrosensor on handle for rotating camera view |
| WO2022169799A1 (en) * | 2021-02-04 | 2022-08-11 | Qioptiq Photonics Gmbh & Co Kg | Endoscope system and method for operating the endoscope system |
| CN115778294A (en) * | 2022-11-10 | 2023-03-14 | 珠海市迪谱医疗科技有限公司 | Image rotating and aligning device of endoscope camera system and application method thereof |
| CN218832725U (en) * | 2022-07-12 | 2023-04-11 | 苏州阿酷育医疗科技有限公司 | Endoscope structure with adjustable viewing direction angle |
-
2023
- 2023-11-03 CN CN202311450809.XA patent/CN117158872B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050090849A1 (en) * | 2003-10-22 | 2005-04-28 | Adams Kenneth M. | Angled tissue cutting instruments and method of fabricating angled tissue cutting instrument having flexible inner tubular members of tube and single wrap construction |
| CN101889853A (en) * | 2010-08-06 | 2010-11-24 | 上海交通大学 | Three-dimensional endoscope system capable of rotating freely for angles |
| US20160066947A1 (en) * | 2013-04-20 | 2016-03-10 | Apollo Endosurgery, Inc. | Flexible endoscopic torqueable devices |
| US20170188793A1 (en) * | 2015-02-23 | 2017-07-06 | Xiaolong OuYang | Handheld surgical endoscope |
| US20220022948A1 (en) * | 2019-04-30 | 2022-01-27 | Terumo Cardiovascular Systems Corporation | Endoscopic vessel harvester with gyrosensor on handle for rotating camera view |
| CN211511967U (en) * | 2019-12-31 | 2020-09-18 | 重庆西山科技股份有限公司 | Visual medical planing device |
| CN212415679U (en) * | 2020-07-13 | 2021-01-29 | 安徽航天生物科技股份有限公司 | Disposable superfine flexible catheter and electronic endoscope |
| WO2022169799A1 (en) * | 2021-02-04 | 2022-08-11 | Qioptiq Photonics Gmbh & Co Kg | Endoscope system and method for operating the endoscope system |
| CN215534826U (en) * | 2021-07-15 | 2022-01-18 | 深圳市斯玛仪器有限公司 | Medical planing tool with endoscope |
| CN218832725U (en) * | 2022-07-12 | 2023-04-11 | 苏州阿酷育医疗科技有限公司 | Endoscope structure with adjustable viewing direction angle |
| CN115778294A (en) * | 2022-11-10 | 2023-03-14 | 珠海市迪谱医疗科技有限公司 | Image rotating and aligning device of endoscope camera system and application method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117158872B (en) | 2024-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9033871B2 (en) | Gravity referenced endoscopic image orientation | |
| EP1692996B1 (en) | Image orienting coupling assembly | |
| US7517314B2 (en) | Endoscopic imaging with indication of gravity direction | |
| US7134992B2 (en) | Gravity referenced endoscopic image orientation | |
| US20060258955A1 (en) | Endoscopic apparatus with integrated multiple biopsy device | |
| US20160353969A1 (en) | Method of controlling endoscopes, and endoscope system | |
| JP2002524119A (en) | Zoom laparoscope | |
| JP2009056105A (en) | Focal distance variable endoscope | |
| WO2009084345A1 (en) | Medical instrument system | |
| EP1844696B1 (en) | Endoscopic imaging with indication of gravity direction | |
| JP2009061185A (en) | Endoscope | |
| US20220007918A1 (en) | Endoscope with Bendable Camera Shaft | |
| US3870037A (en) | Apparatus for observations, photographs and interventions in the post-rhinal-pharyngeal regions | |
| EP3845117A1 (en) | Electronic endoscope and electronic endoscope system | |
| CN117158872B (en) | Endoscope and endoscope system | |
| JP4607043B2 (en) | Endoscopic image forming method with display of gravity direction | |
| JPH0919403A (en) | Device for endoscope and endoscopic device | |
| JP2022082516A (en) | Arthroscopic medical implements and assemblies | |
| JPH06269406A (en) | Electronic endoscope apparatus | |
| CN109620286A (en) | A kind of fast medical image processor | |
| JP3772129B2 (en) | Endoscopic imaging device | |
| CA2541759C (en) | Endoscopic imaging with indication of gravity direction | |
| CN213405963U (en) | Joint finder | |
| US20200345218A1 (en) | Endoscope with Disposable Camera Shaft and for Imaging in Nonvisible Light | |
| CN111990953A (en) | Joint finder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |