CN202096186U - Intelligent electronic hysteroscope system - Google Patents
Intelligent electronic hysteroscope system Download PDFInfo
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- CN202096186U CN202096186U CN2011201823027U CN201120182302U CN202096186U CN 202096186 U CN202096186 U CN 202096186U CN 2011201823027 U CN2011201823027 U CN 2011201823027U CN 201120182302 U CN201120182302 U CN 201120182302U CN 202096186 U CN202096186 U CN 202096186U
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Abstract
The utility model belongs to the field of medical apparatus and instruments, and particularly relates to an intelligent electronic hysteroscope system which comprises an electronic hysteroscope, and also comprises an endoscope clamping mechanical arm which is used for fixing the electronic hysteroscope, a movable adjusting operation platform, an intelligent mechanical hand, a control table and a central processing machine, wherein the tail end of an endoscope main body is provided with a linear mechanical hand passage penetrating though a hard working end part. In the utility model, the surgical operation on a patient is not needed, the electronic hysteroscope is only introduced into the vagina, the intelligent mechanical hand passage of the electric hysteroscope is used as the platform for the intelligent mechanical hand to be introduced into an operation area; and as the intelligent mechanical hand is miniaturized, can deform and deflect, and simultaneously has the functions of various operation instruments (such as operation grasping forceps, electric incision equipment, electric coagulation equipment, and the like), various operations can be carried out without introducing other instruments, and further, the difficulty of the operation can be reduced, and the pains of the patient can be alleviated.
Description
Technical field
This utility model belongs to field of medical appliances, specifically, relates to the smart electronics hysteroscope system.
Background technology
The Higher-end machines robot system that on medical domain, uses at present is American I ntuitive Surgical; Inc. company develops the Leonardo da Vinci's assisted surgery for robots system that accomplishes; Since first Leonardo da Vinci's assisted surgery for robots of December in 1998 system came out, present having above 390 was applied to all over the world.
Leonardo da Vinci's robotic surgical system mainly is made up of doctor's control station (surgeon console), an other mechanical arm tower (patient cart) of bed and the high-precision 3D HD visual system (vision cart) that four the 7 mutual arms of degree of freedom are housed.By means of high technology equipments such as high definition three-dimensional imaging, the control of multi-joint arm automatization and the transmission of optical cable signal; Make it possess advantages such as three-dimensional high definition art is wild, arm does not have shake, camera lens is fixed, range of activity is wide, the apparatus degree of excursion is big; And changed the patient and stood in the other traditional mode of operating of operating-table; Be sitting in by the operator doctor and accomplish the operation overall process before the control station, the ergonomic principle is more suitable in long-time complicated operation.
Control station is made up of computer system, operation technique monitor, robot control monitor, operating grip and input-output equipment etc.Before the surgeon can be sitting in the control station away from operating-table during operation, head rest was on the frame of the visual field, and eyes are accepted the complete image from different cameras, the wild 3 dimensional drawing of synthetic jointly art.Doctor's both hands control operation bar, hand motion is communicated to the tip of mechanical arm, accomplishes operation technique, thereby increases the accuracy and the stationarity of operation, and this is a kind of master-servant's formula remote-controlled operation pattern of new proposition.
Now, Leonardo da Vinci's assisted surgery for robots system has been widely used in department of general surgery, Cardiac Surgery, Urology Surgery, gynecological and pediatric surgery.
At present, the endoscopic technic field is also growing, but therefore the technology of checking or performing the operation after still not having robot arm and hysteroscope to organically combine, is integrated into hysteroscope to reach technological extremely urgent that precision undergos surgery and treats with robot arm.
The utility model content
The purpose of this utility model is to propose the smart electronics hysteroscope system that an intelligence system that undergos surgery via natural tract entering human body is controlled, and purpose is to utilize man-machine precision-fit to reach accurate operation, improves the purpose of the accuracy rate of performing the operation.
In order to solve the problems of the technologies described above, this utility model is realized through following technical scheme:
The described smart electronics hysteroscope system of this utility model, its ingredient comprises electronic hysteroscope, scope clamping mechanical arm, removable adjustment operation platform, control station, central processing system, intelligence machine hands etc.
Described electronic hysteroscope and automatic intra-uterine dilator, intra-uterine dilator can change the diameter that adjustment enlarges the uterine cavity mouth according to the size and the pressure of uterine cavity mouth automatically, makes electronic hysteroscope to feed smoothly.Electronic hysteroscope comprises work end, scope main body and master machine hands passage and other accessory channels etc., and its work end is a hard pipe shape, and external diameter is smaller or equal to 15mm, length 250～300mm.Described automatic intra-uterine dilator is equipped with pressure transducer and control module, can adjust and judge the diameter in expansion palace through obtaining pressure data.
Described electronic hysteroscope, the front end of its hard work end is first end, front portion, first end can design and installation binocular solid electron-optical system or many ccd array electron-optical system; Perhaps non-spatial electronic camera system, the end face of first end and periphery are designed with several range finders, are used to monitor the position of first end in operative region; The elder generation end is designed with abundant pick off; Like pressure transducer, temperature sensor etc. are used to monitor the state in the operative region; Data offer central processing unit through data wire and handle, with for referencial use.
The internal diameter of the master machine hands passage of described electronic hysteroscope is more than or equal to 5.0mm, and it is intake tunnel and exhalant canal independently, and internal diameter is more than or equal to 1.0mm.
The main part of described electronic hysteroscope cooperates with scope clamping mechanical arm through syndeton.
The structure of described scope clamping mechanical arm comprises two kinds at least,
First kind is: comprise pedestal, articulated arm and end effector; Described base interior is designed with the executive component that major part provides scope clamping manipulator motion kinetic energy; Comprise drive mechanism, Hydraulic Elements, pneumatic element, servomotor and motor etc., self can rotate and elevating movement;
Second kind is: comprise can be stuck at bayonet socket part, articulated arm and the end effector of removable adjustment operation platform edges, described bayonet socket part can be tightly locked at the operation platform edges for supporting;
In above-mentioned two kinds of structures: an end of described articulated arm is connected on pedestal or the bayonet socket part; An other end becomes end effector, and end effector cooperates with electronic hysteroscope through syndeton, and arm comprises three joints at least; At least 7 degree of freedom; The feed accuracy of scope clamping mechanical arm is smaller or equal to 1mm, and its radius of clean-up is 500mm at least, the vertical height 0～500mm of work (the operation platform plane with removable adjustment is the plane of reference); The end effector of scope clamping mechanical arm is with after electronic hysteroscope cooperates; The first end that can drive electronic hysteroscope reaches any point in the above-mentioned work space, forms closed loop control through the range finder of electronic hysteroscope tip end surface and side face and the feedback of respective sensor, increases the safety coefficient of operation; Scope clamping mechanical arm is designed with anti-trembling function, surpassed distance alarm function and locking function, increases the safety coefficient of operation.The control mode of scope clamping mechanical arm can be divided into keyboard and control forms such as harmony sound control system automatically.Keyboard automatically control is meant through the controlling of control handgrip or keyboard, and control scope clamping mechanical arm advances, retreats and the action of rotation etc.; Sound control form is meant the sound instruction that receives the manipulator through mike, reaches system scope clamping mechanical arm and advances, retreats and the action of rotation etc.
The operating-table of described removable adjustment, its height can be through the adjustment structural adjustment, and the inclination of different angles can be done in its plane, cooperates electronic hysteroscope to undergo surgery, and further, operating-table can pass through fixed structure fixed clamp formula scope clamping mechanical arm.
Described intelligence machine hands is that the special purpose machinery hands passage through electronic hysteroscope gets into the operative region operation that undergos surgery.
The structure of described intelligence machine hands comprises machine pawl, performing structure, transmission structure and external control part etc.At least the machine pawl that comprises two involutory actions of ability of intelligence machine hands, intelligence machine hands are under all closed states of machine pawl, and its maximum outside diameter should be more than or equal to 5.0mm, and smaller or equal to the diameter of the robot arm passage of electronic hysteroscope.
The characteristics of intelligence machine hands are multi-functional, and its function comprises:
(1) end of at least one machine pawl has the electricity that conduction makes with insulant and coagulates part, can be used as the monopolar electrocoagulation apparatus or passes through two involutory machine pawls as a bipolar coagulation apparatus, and pathological changes is carried out electroblation and hemostatic treatment;
(2) two involutory machine pawls of ability can be accomplished the function of operating forceps, can get biopsy, extract pathological changes etc.;
(3) appropriate location of described intelligence machine hands is provided with the TURP equipment that is used for removal lesion tissue, when TURP equipment does not use and the intelligence machine hands be combined into one, stretch out during use, do the cutting pathological tissues effect;
(4) center of intelligence machine hands or appropriate location are designed with a diameter serves as outside suction function smaller or equal to the passage ability conduct of 2.0mm passage; Also can feed microwave probe equipment or laser probe equipment; Be used for operations such as microwave bleeding and cut; Also can feed the charged lasso that coagulates, be used for excising simultaneously polyp and solidify the otch bleeding part;
(5) each machine pawl of described intelligence machine hands all is equipped with microsensor; Purpose is to understand the state of intelligence machine hands; For control provides data refer, make that the use of robot arm is safer, the operation precision of described intelligence machine hands reaches 1.0mm at least.
In this utility model, the action of the performing structure of described intelligence machine hands is through realizations such as minitype pneumatic element or micro hydraulic elements, and element can install the outside that is connected the intelligence machine hands at the front end of machine pawl or through micro-tube.Each machine claw portion of intelligence machine hands all is equipped with abundant pick off, comprises temperature sensor, and pressure transducer etc. are to obtain the details of operative region.
The transmission structure of described intelligence machine hands is the transfer line of one section external diameter less than the robot arm passage scope of electronic hysteroscope; Its character can be soft or rigid; Pipeline is action transmission power such as extracting and the shearing of intelligence machine hands; Meet safe voltage for the action of the electric coagulation therapy of machine pawl provides, also comprise the transmission line of microsensor etc. in the pipeline.
The external control part of described intelligence machine hands is shared with the central processing system of system.The control mode of intelligence machine hands can be divided into forms such as Artificial Control and automatic control.Artificial Control is meant through the controlling of control handgrip, keyboard, the action that the control robot arm advances, retreats, rotates and electricity coagulates etc.; Automatically the control form is meant the control form except that Artificial Control.
The control station of described smart electronics hysteroscope system, its structure comprise display screen, operation by human hand assembly and some control knobs and keyboard etc. at least.Through handing the operation by human hand assembly and watching the three-dimensional image on the display screen, the scope clamping mechanical arm in the smart electronics hysteroscope system, operation platform and puma manipulator are controlled; Through the optical system of electronic hysteroscope, display screen can be exported the high-definition image more than 5 times, the operation safe of doctor under the image-guidance of high definition.
The central processing system of described smart electronics hysteroscope system; Its kernel adopts the polycaryon processor with high-speed computation performance; The operation platform of connection control station, electronic hysteroscope, scope clamping mechanical arm, removable adjustment and puma manipulator are the brains of whole system in one.The effect of central processing system is according to the doctor instruction to be resolved in controling of control station; The operation platform and the puma manipulator of control scope clamping mechanical arm, removable adjustment cooperatively interact; Reach the optimal location that undergos surgery; High definition 2D or 3D rendering that central processing system is returned through electronic hysteroscope are given the optimized image foundation that doctor's surgical procedure is provided; The status information of the microsensor feedback through device such as electronic hysteroscope, puma manipulator, the alarm device in the central processing unit can be able to be controlled electronic hysteroscope and puma manipulator in real time in intrauterine motion, so that the safety of operation is carried out.
Described smart electronics hysteroscope system, its operative approach is described below:
Before the art; Be installed in electronic hysteroscope on the end effector of scope clamping mechanical arm earlier; Automatically intra-uterine dilator be installed in electronic hysteroscope the work end sections and fixing both, and be connected corresponding apparatus to intake tunnel and exhalant canal etc., debug and do the standby preparation after intact; Patient adopts suitable position on the operation platform that moves adjustment; After the art place did sterilization anesthesia, manual mobile electron hysteroscope of doctor and automatic intra-uterine dilator were after per vaginam getting into, finding the uterine cavity mouth; Start automatic intra-uterine dilator and strut the uterine cavity mouth; Automatically the pressure transducer of intra-uterine dilator can calculate the state of the signal determining uterine cavity mouth of feedback, when expanding the palace to certain diameter, then can break off the work end of automatic intra-uterine dilator and electronic hysteroscope; The work end of electronic hysteroscope then can get in the uterine cavity through automatic intra-uterine dilator and observe, and the feeding puma manipulator is handled corresponding pathological changes.
Compared with prior art, the beneficial effect of this utility model is:
This utility model need not operated on to the patient; Only need through behind the vagina feeding electronic hysteroscope; Intelligence machine hands passage with electronic hysteroscope is that platform feeds in the intelligence machine hands entering field of operation; But the microminiaturization of intelligence machine hands, deformable break-in and have some kinds of operating theater instruments functions (like operation nipper, TURP equipment and Electrocoagulation equipment etc.) simultaneously; Then need not feed other apparatuses and just can do multiple surgical procedure, reduce the difficulty of operation and patient's misery, be the surgery systems of new generation that combines medical approaches, precision machinery technology and software engineering.
Description of drawings
Below in conjunction with the accompanying drawing and the specific embodiment this utility model is done further detailed explanation.
Fig. 1 is the system schematic of the smart electronics hysteroscope system of this utility model.
Fig. 2 A is the scope clamping mechanical arm structural representation of this utility model.
Fig. 2 B is second kind of form structure sketch map of the scope clamping mechanical arm of this utility model.
Fig. 3 is the electronic hysteroscope and the automatic intra-uterine dilator sketch map of the smart electronics hysteroscope system of this utility model.
Fig. 4 be this utility model the smart electronics hysteroscope system the intelligence machine hands structure diagram and with electronic hysteroscope be used figure.
Fig. 5 is the operating-table the adjusted sketch map of the smart electronics hysteroscope system of this utility model.
Fig. 6 is the operation sketch map of the smart electronics hysteroscope system of this utility model.
The specific embodiment
Be illustrated in figure 1 as the system schematic of the smart electronics hysteroscope system of this utility model.The ingredient of smart electronics hysteroscope system has electronic hysteroscope 2, intelligence machine hands 3, scope clamping mechanical arm 1, removable adjustment operation platform 4, control station 8, central processing system 6 and system attachment 7 etc.The form of intelligence machine hands 3 and electronic hysteroscope 2 is different and different according to surgical application.Roomy linear robot arm passage of design on the electronic hysteroscope 2 scope main bodys, its objective is to intelligence machine hands 3 gets into operative region provides platform, and intelligence machine hands 3 possesses rich functions.
Be depicted as two kinds of multi-form scope clamping mechanical arms like Fig. 2 A and Fig. 2 B; Scope clamping mechanical arm 11 structures shown in Fig. 2 A comprise pedestal 111; Articulated arm 112 and the end effector 113 that cooperates with electronic hysteroscope 2; Fig. 2 B is depicted as a kind of stuck scope clamping mechanical arm 12 at the operation platform, and structure comprises the arm 123 and the end effector 124 in pedestal with bayonet 121, band joint 122.Pedestal 111 indoor designs have major part that the executive component of scope clamping manipulator motion kinetic energy is provided, and comprise drive mechanism, Hydraulic Elements, pneumatic element, servomotor and motor etc., and self can rotate and elevating movement; The pedestal 121 of bayonet socket can tightly lockedly be support at operation platform 4 edges; Articulated arm 112 or an end of 123 are connected on pedestal 111 or bayonet socket pedestal 121 parts; An other end becomes end effector 113 or 123, and end effector 113 or 123 cooperates with electronic hysteroscope 2 through syndeton, and arm comprises three joints at least; At least 7 degree of freedom; The feed accuracy of scope clamping mechanical arm 1 is smaller or equal to 1mm, and its radius of clean-up is 500mm at least, the vertical height 0～500mm of work (the operation platform plane with removable adjustment is the plane of reference); The end effector 113 of scope clamping mechanical arm 1 or 123 is with after electronic hysteroscope 2 cooperates; The first end that can drive electronic hysteroscope 2 reaches any point in the above-mentioned work space, forms closed loop control through the range finder of electronic hysteroscope 2 tip end surfaces and side face and the feedback of respective sensor, increases the safety coefficient of operation; Scope clamping mechanical arm 1 is designed with anti-trembling function, surpassed distance alarm function and locking function, increases the safety coefficient of operation.The control mode of scope clamping mechanical arm 1 can be divided into keyboard and control forms such as harmony sound control system automatically.Keyboard automatically control is meant through the controlling of control handgrip or keyboard, and control scope clamping mechanical arm 1 advances, retreats and the action of rotation etc.; Sound control form is meant the sound instruction that receives the manipulator through mike, reaches system scope clamping mechanical arm 1 and advances, retreats and the action of rotation etc.
This system also comprises display screen, operation by human hand assembly and some control knobs and keyboard etc.; Through handing the operation by human hand assembly and watching the three-dimensional image on the display screen, the scope clamping mechanical arm 1 in the smart electronics hysteroscope system, operation platform 4 and intelligence machine hands 3 are controlled; Through the optical system of electronic hysteroscope 2, display screen can be exported the high-definition image more than 5 times, the operation safe of doctor under the image-guidance of high definition.
Central processing system, its kernel adopts the polycaryon processor with high-speed computation performance, and the operation platform 4 of connection control station, electronic hysteroscope 2, scope clamping mechanical arm 1, removable adjustment and intelligence machine hands 3 are the brains of whole system in one.The effect of central processing system is according to the doctor instruction to be resolved in controling of control station; The operation platform 2 and the intelligence machine hands 3 of control scope clamping mechanical arm 1, removable adjustment cooperatively interact; Reach the optimal location that undergos surgery; High definition 2D or 3D rendering that central processing system is returned through electronic hysteroscope are given the optimized image foundation that doctor's surgical procedure is provided; The status information of the microsensor feedback through device such as electronic hysteroscope 2, intelligence machine hands 3, the alarm device in the central processing unit can be able to be controlled electronic hysteroscope 2 and intelligence machine hands 3 in real time in intrauterine motion, so that the safety of operation is carried out.
Be illustrated in figure 3 as said be electronic hysteroscope and automatic intra-uterine dilator 52, intra-uterine dilator 52 can change the diameter that adjustment enlarges uterine cavity mouth 91 according to the size and the pressure of uterine cavity mouth 91 automatically, makes electronic hysteroscope to feed smoothly.Electronic hysteroscope comprises work end 21, scope main body 22, the adapter that cooperates with scope clamping mechanical arm 1 24 and master machine hands passage and other accessory channels 23 etc., and its work end 21 is a hard pipe shape, external diameter is smaller or equal to 15mm, length 250～300mm.Described automatic intra-uterine dilator 52 is equipped with pressure transducer and control module, can adjust and judge the diameter in expansion palace through obtaining pressure data.
The front end of the hard work end 21 of electronic hysteroscope is first end, and front portion, first end can design and installation binocular solid electron-optical system or many ccd array electron-optical system, perhaps non-spatial electronic camera system; The end face and the periphery of elder generation end are designed with several range finders; Be used to monitor the position of first end in operative region, first end is designed with abundant pick off, like pressure transducer; Temperature sensor etc.; Be used to monitor the state in the operative region, data offer central processing unit through data wire and handle, with for referencial use.
The internal diameter of the intelligence machine hands passage 23 of electronic hysteroscope is more than or equal to 5.0mm, and it is intake tunnel and exhalant canal independently, and internal diameter is more than or equal to 1.0mm.
The main part 22 of electronic hysteroscope cooperates with scope clamping mechanical arm 1 through syndeton 23.
Be illustrated in figure 4 as the structure diagram of intelligence machine hands 3 and be used figure with electronic hysteroscope.Intelligence machine hands 3 is that the intelligence machine hands passage 23 through electronic hysteroscope gets into the operative regions operation that undergos surgery, and the structure of intelligence machine hands 3 comprises machine pawl 33,34, performing structure, transmission structure 31 and external control part 38 etc.At least the machine pawl that comprises two involutory actions of ability 33,34 of intelligence machine hands 3; Intelligence machine hands 3 is under machine pawl 33,34 whole closed states; Its maximum outside diameter should be more than or equal to 5.0mm, and smaller or equal to the diameter of the robot arm passage of electronic hysteroscope.
The characteristics of intelligence machine hands 3 are multi-functional, and its function comprises:
(1) end of at least one machine pawl 33,34 has conduction and the electricity made of insulant coagulates part, can be used as the monopolar electrocoagulation apparatus or through two involutory machine pawls as a bipolar coagulation apparatus, pathological changes is carried out electroblation and hemostatic treatment;
(2) two involutory machine pawls 33,34 of ability can be accomplished the function of operating forceps, can get biopsy, extract pathological changes etc.;
(3) appropriate location of intelligence machine hands 3 is provided with the TURP equipment 35 that is used for removal lesion tissue, when TURP equipment 35 does not use and intelligence machine hands 3 be combined into one, stretch out during use, do the cutting pathological tissues effect;
(4) center of intelligence machine hands 3 or appropriate location are designed with a diameter serves as outside suction function smaller or equal to the passage ability conduct of 2.0mm passage; Also can feed microwave probe equipment or laser probe equipment 37; Be used for operations such as microwave bleeding and cut; Also can feed the charged lasso that coagulates 36, be used for excising simultaneously polyp and solidify the otch bleeding part.
(5) each machine pawl 33,34 of intelligence machine hands 3 all is equipped with microsensor; Purpose is to understand the state of intelligence machine hands 3; For control provides data refer, make that the use of intelligence machine hands 3 is safer, the operation precision of described intelligence machine hands 3 reaches 1.0mm at least.
The action of the performing structure of intelligence machine hands 3 is through realizations such as minitype pneumatic element or micro hydraulic elements, and element can install the outside that is connected intelligence machine hands 3 at front end or through micro-tube.Each machine pawl 33,34 parts of intelligence machine hands 3 all are equipped with abundant pick off, comprise temperature sensor, and pressure transducer etc. are to obtain the details of operative region.
The transmission structure of intelligence machine hands 3 is one section external diameter transfer lines less than the robot arm passage scope of electronic hysteroscope; Its character can be soft or rigid; Pipeline is action transmission power such as extracting and the shearing of intelligence machine hands 3; Meet safe voltage for the action of the electric coagulation therapy of machine pawl provides, also comprise the transmission line of microsensor etc. in the pipeline.
The external control part 38 of intelligence machine hands 3 is shared with the central processing system 6 of system.The control mode of intelligence machine hands 3 can be divided into forms such as Artificial Control and automatic control.Artificial Control is meant through the controlling of control handgrip, keyboard, the action that control robot arm 3 advances, retreats, rotates and electricity coagulates etc.; Automatically the control form is meant the control form except that Artificial Control.
Like Fig. 5 is the operating-table 4 of removable adjustment; Its height can be through 42 adjustment of adjustment structure, and the inclination of different angles can be done in its plane, cooperates electronic hysteroscope to undergo surgery; Further, operating-table 4 can pass through fixed structure 43 fixed clamp formula scope clamping mechanical arms 12.
Like Fig. 6 is the operation sketch map of the smart electronics hysteroscope system of this utility model.
The smart electronics hysteroscope system; Its operative approach is described below: before the art; Be installed in electronic hysteroscope 2 on the end effector 113 or 124 of scope clamping mechanical arm 1 earlier; Automatically intra-uterine dilator 52 be installed in electronic hysteroscope 2 work end 21 parts and fixing both, and be connected corresponding apparatus to intake tunnel and exhalant canal etc., debug and do the standby preparation after intact; Patient adopts suitable position on the operation platform 4 that moves adjustment; After the art place did sterilization anesthesia, manual mobile electron hysteroscope 2 of doctor and automatic intra-uterine dilator 52 were after per vaginam 91 getting into, finding the uterine cavity mouth; Start automatic intra-uterine dilator 51 and strut the uterine cavity mouth; Automatically the pressure transducer of intra-uterine dilator 52 can calculate the state of the signal determining uterine cavity mouth of feedback, when expanding the palace to certain diameter, then can break off the work end 21 of automatic intra-uterine dilator 52 and electronic hysteroscope 2; 21 abilities in the work end of electronic hysteroscope 2 get in the uterine cavity 9 through automatic intra-uterine dilator 52 and observe, and 3 pairs of corresponding pathological changes of feeding puma manipulator are handled.
This utility model is not limited to above-mentioned embodiment; If the various changes of this utility model or distortion are not broken away from the spirit and the scope of this utility model; If these changes and distortion belong within the claim and equivalent technologies scope of this utility model, then this utility model also is intended to comprise these changes and distortion.
Claims (10)
1. a smart electronics hysteroscope system comprises electronic hysteroscope, it is characterized in that: also comprise the scope clamping mechanical arm that is used for fixing electronic hysteroscope, portable adjustment operation platform, intelligence machine hands, control station and central processing system;
Said electronic hysteroscope comprises scope main body, hard work end, places intake tunnel separate on the scope main body and exhalant canal; The end of said scope main body also is provided with a linear type robot arm passage that runs through hard work end; Said intelligence machine hands places in the linear type robot arm passage and can stretch out from the front end of hard work end, is connected with the scope clamping mechanical arm that is used for fixing electronic hysteroscope on the said scope main body;
Said electronic hysteroscope, scope clamping mechanical arm, portable adjustment operation platform, intelligence machine hands, control station all are connected with central processing system.
2. smart electronics hysteroscope system according to claim 1; It is characterized in that: said scope clamping mechanical arm comprises pedestal or is clamped on bayonet socket part, the articulated arm of portable adjustment operation platform edges and the end effector that is connected with the scope main body; Said pedestal or bayonet socket part connects articulated arm and end effector successively, is provided with in the said scope clamping mechanical arm to drive it and rotate freely or the driving element of elevating movement.
3. smart electronics hysteroscope system according to claim 2; It is characterized in that: the articulated arm of said scope clamping mechanical arm comprises three joint pieces at least; And has 7 degree of freedom at least; The feed accuracy of said scope clamping mechanical arm is smaller or equal to 1mm, and its radius of clean-up is 500mm at least, the vertical height 0～500mm of work.
4. smart electronics hysteroscope system according to claim 1; It is characterized in that: said intelligence machine hands comprise the action of at least two mutual involutory action machine pawls of ability, drive machines pawl performing structure, be used to transmit the power transmission structure of actuator and the external control part of control executing mechanism action; The actuator of said intelligence machine hands is the micro drives element; Said transmission structure is the transfer line of one section external diameter less than the robot arm passage scope of electronic hysteroscope, also comprises the transmission line of microsensor in the said transfer line.
5. smart electronics hysteroscope system according to claim 2; It is characterized in that: said intelligence machine hands comprise two machine pawl, performing structure, transmission structure and the external control parts that can do involutory action at least; This intelligence machine hands is under the whole closed states of machine pawl; Its maximum outside diameter is more than or equal to 5.0mm, and smaller or equal to the diameter of said intelligence machine hands passage.
6. smart electronics hysteroscope system according to claim 5; It is characterized in that: the end of at least one machine pawl of said intelligence machine hands is provided with the electricity that pathological changes is carried out electroblation and hemostatic treatment that conduction and insulant make and coagulates part, and said intelligence machine also is provided with TURP equipment on hand; Be equipped with a microsensor on each machine pawl of said intelligence machine hands.
7. smart electronics hysteroscope system according to claim 6; It is characterized in that: also be provided with a passage that serves as outside suction function in the said intelligence machine hands, the passage that perhaps supplies microwave probe equipment or laser probe equipment or the charged lasso that coagulates to pass through.
8. smart electronics hysteroscope system according to claim 1; It is characterized in that: said electronic hysteroscope is equipped with automatic intra-uterine dilator; Its hard work end is a hard pipe shape; External diameter is smaller or equal to 15mm, length 250～300mm, and said automatic intra-uterine dilator is equipped with pressure transducer and control module.
9. smart electronics hysteroscope system according to claim 1; It is characterized in that: the front end of said hard work end is first end; Front portion, said first end is equipped with the binocular solid electron-optical system, perhaps many ccd array electron-optical system, perhaps non-spatial electronic camera system; The end face of said first end and periphery are provided with several range finders, and inside, said first end is provided with pressure transducer or temperature sensor.
10. smart electronics hysteroscope system according to claim 1 is characterized in that: the internal diameter of the robot arm passage of said electronic hysteroscope is more than or equal to 5.0mm, its independently the internal diameter of intake tunnel and exhalant canal more than or equal to 1.0mm.
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| CN2011201823027U CN202096186U (en) | 2011-06-01 | 2011-06-01 | Intelligent electronic hysteroscope system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011201823027U CN202096186U (en) | 2011-06-01 | 2011-06-01 | Intelligent electronic hysteroscope system |
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| CN202096186U true CN202096186U (en) | 2012-01-04 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107049477A (en) * | 2017-04-28 | 2017-08-18 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of positioning and guiding operation coagulation scissors |
| CN108366813A (en) * | 2015-12-17 | 2018-08-03 | 伊西康有限责任公司 | Ultrasonic surgical instrument with cleaning port |
| CN108606814A (en) * | 2018-05-25 | 2018-10-02 | 东莞市联洲知识产权运营管理有限公司 | It is a kind of disposably to use endoscope specimen fetching bag |
| CN108888326A (en) * | 2018-06-29 | 2018-11-27 | 广州乔铁医疗科技有限公司 | A kind of hysteroscope system visualizing suction of foreign body |
| CN114469353A (en) * | 2022-04-18 | 2022-05-13 | 湖南科迈森医疗科技有限公司 | Robot-assisted hysteroscopic surgery system |
-
2011
- 2011-06-01 CN CN2011201823027U patent/CN202096186U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108366813A (en) * | 2015-12-17 | 2018-08-03 | 伊西康有限责任公司 | Ultrasonic surgical instrument with cleaning port |
| CN107049477A (en) * | 2017-04-28 | 2017-08-18 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of positioning and guiding operation coagulation scissors |
| CN107049477B (en) * | 2017-04-28 | 2023-07-25 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Positioning guiding surgical electric coagulation scissors |
| CN108606814A (en) * | 2018-05-25 | 2018-10-02 | 东莞市联洲知识产权运营管理有限公司 | It is a kind of disposably to use endoscope specimen fetching bag |
| CN108888326A (en) * | 2018-06-29 | 2018-11-27 | 广州乔铁医疗科技有限公司 | A kind of hysteroscope system visualizing suction of foreign body |
| CN114469353A (en) * | 2022-04-18 | 2022-05-13 | 湖南科迈森医疗科技有限公司 | Robot-assisted hysteroscopic surgery system |
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