TWI577321B - A positioning method for the endoscope and an auxiliary positioning device used in the positioning method - Google Patents

Description

Positioning method for endoscope and auxiliary positioning device used by the positioning method

The invention relates to an endoscope positioning technology, in particular to a positioning method for an endoscope and an auxiliary positioning device used by the positioning method.

Before the endoscope enters the patient's body cavity, the caregiver must first locate the invasion point on the surface of the body cavity. After the position is confirmed, the endoscope is further sent into the patient's body cavity through the invasion point. In the conventional positioning technology, for example, US 5,697,939 uses the images emitted by the left and right projection devices to overlap the surface of the body cavity to form an intrusion point, but the positioning process takes a long time, resulting in subsequent The program will be delayed. In addition, because the surface of the body cavity is not in a flat state, it is easy to cause image distortion and cause serious errors in positioning. Another method of positioning is to use a measuring ruler to determine the relative position between the virtual center point of the robot arm and the intrusion point of the body cavity. However, in the process of using the measuring rule, since the measuring tape needs to be in direct contact with the surface of the body cavity, It is easy to increase the risk of getting the wound infected, plus the same reason as mentioned above, because the surface of the body cavity is uneven, so that the measuring scale will be affected when it is placed, resulting in measurement results. error.

SUMMARY OF THE INVENTION A primary object of the present invention is to provide a method for positioning an endoscope that saves time for preoperative preparation, provides accurate positioning effects, and reduces the risk of infection.

In order to achieve the above object, the positioning method of the present invention comprises five steps. The first step first sets up a robot arm that defines a spherical center of rotation; the second step prepares an auxiliary positioning device having a snap member and a detachable connection to the clip member The alignment member, and a device insertion hole extending through the fastening member and the alignment member, the fastening member of the auxiliary positioning device is mounted on the mechanical arm, and the ends of the alignment member of the auxiliary safety device are coincident In the spherical rotation center of the robot arm; the third step is to insert an endoscope into the instrument insertion hole of the auxiliary positioning device, so that the end of the endoscope is aligned with the alignment member of the auxiliary positioning device. The fourth step is to remove the alignment member of the auxiliary positioning device, so that the end of the endoscope is coincident with the spherical rotation center of the robot arm; the fifth step is to insert the endoscope into a catheter The catheter is inserted into the integral cavity.

According to the above steps, when the endoscope is inserted into the body cavity through the catheter and the positioning is completed at the same time, the two preoperative preparation operations are completed in one action, thereby saving the preoperative preparation time and improving the positioning accuracy. There is no need to use additional tools to contact the surface of the body cavity throughout the procedure to significantly reduce the risk of infection.

More preferably, the auxiliary positioning device further has a knob disposed on the latching member. After the endoscope is inserted into the instrument through hole of the auxiliary positioning device, the latching member is rotated by rotating the knob. Fix the endoscope.

More preferably, after the alignment member of the auxiliary positioning device is removed, one of the light sources of the endoscope is turned on, and after the endoscope is inserted into the body cavity through the catheter, it is checked whether the light source is The body cavity is shielded to further confirm the position of the endoscope.

More preferably, before the endoscope is inserted into the body cavity, the positioning depth of the endoscope to be inserted into the body cavity may be selected first, and then the locking component of the auxiliary positioning device is driven by a moving seat. Causing the card member to move the endoscope in a direction away from a spherical center of rotation of the robot arm by a predetermined distance, the predetermined distance being equal to the positioning depth, and then the endoscope can be inserted into the catheter. After the penetrating into the catheter, the locking member of the auxiliary positioning device is driven by the moving seat, so that the locking member moves the endoscope to move the predetermined distance toward the spherical center of rotation of the robot arm. That is, the positioning of the endoscope is completed.

More preferably, another object of the present invention is to provide an auxiliary positioning device used in the foregoing positioning method, the auxiliary positioning device having a fastening component and a pair of positioning members, the fastening component having a first perforation, the pair The positional member has a first end, a second end, and a second through hole between the first and second ends, the second end is detachably coupled to the latching member, and the second through hole is coaxially connected The first perforation of the fastener member is such that the first and second perforations together form a device insertion hole for the endoscope to be provided to provide an auxiliary positioning effect on the endoscope.

Referring to FIG. 1, the positioning method of the first embodiment of the present invention includes the following steps:

Step a): erecting a robot arm 10, as shown in Fig. 2, the rotation axis of each rotatable portion of the robot arm 10 intersects at a center of spherical rotation C, so the process of actuation In the middle, each of the rotatable parts can be regarded as an imaginary spherical surface moving with the spherical center of rotation C as the center of the sphere. Regarding the detailed structure of the robot arm 10 used in the present invention, the examiner may refer to the applicant's previously filed patent application No. 103102343, which is hereby incorporated by reference.

Step b): preparing an auxiliary positioning device 20, as shown in FIG. 3, the auxiliary positioning device 20 has a latching member 30, a pair of position members 40, and a knob 50, wherein the latching member 30 has a buckle a portion 31, a clamping portion 32 connecting the locking portion 31, a first through hole 33 extending through the clamping portion 32 (as shown in Fig. 4), a dividing groove 34 connecting the first through hole 33, and a connecting section The screw hole 35 of the groove 34, in addition, the alignment member 40 has a first end 41, a second end 42, and a second through hole 43 between the first and second ends 41, 42; the alignment member 40 The second end 42 is coupled to the clamping portion 32 of the latching member 30 in a detachable manner (eg, adhesively), so that the second through hole 43 of the positioning member 40 is coupled to the latching member 30 in an axial communication manner. a through hole 33 (as shown in FIG. 4), whereby a first through hole 33 of the latching member 30 and the second through hole 43 of the indexing member 40 together form a device insertion hole 22; the knob 50 has a The screw 52 is disposed in the screw hole 35 of the latching member 30 by the screw 52, so that the knob 50 can change the inner diameter of the first through hole 33 of the latching member 30 when locked. When the mechanical arm 10 is used, as shown in FIG. 4, the locking portion 31 of the locking member 30 of the auxiliary positioning device 20 is attached to one of the moving seats 12 of the robot arm 10, so that the auxiliary positioning device 20 can be coupled with the robot arm. The movable seat 12 of the 10 is actuated synchronously, and after the installation is completed, the first end 41 of the alignment member 40 of the auxiliary positioning device 20 coincides with the spherical center of rotation C of the robot arm 10.

Step c): As shown in FIG. 5, an endoscope 60 is disposed in the instrument insertion hole 22 of the auxiliary positioning device 20, so that the end of the endoscope 60 is aligned with the alignment member 40 of the auxiliary positioning device 20. The first end 41, and then the knob 50 is locked, so that the clamping portion 32 of the latching member 30 is fixed to the endoscope 60

Step d): As shown in FIG. 6, the alignment member 40 of the auxiliary positioning device 20 is detached, so that the end of the endoscope 60 is coincident with the spherical rotation center C of the robot arm 10, and then the endoscope 60 is opened. A light source 62.

Step e): As shown in FIG. 7, the endoscope 60 is disposed in a catheter 14, the catheter 14 is inserted at a position just at the point of invasion of the body cavity 16, and the endoscope 60 is disposed through the catheter 14. During the process, the light source 62 of the endoscope 60 is simultaneously inspected by the body cavity 16. When the light source 62 of the endoscope 60 is obscured by the body cavity 16, it indicates the point of invasion of the spherical rotation center C of the robot arm 10 and the body cavity 16. The positioning of the endoscope 60 is completed just after being stacked together.

It should be additionally noted here that, in the foregoing steps, it is assumed that the position where the endoscope 60 is to be inserted is just near the surface of the body cavity 16, if the position at which the endoscope 60 is to be inserted is a certain depth from the surface of the body cavity 16. At this time, some steps need to be added to complete the positioning of the endoscope 60.

In detail, as shown in FIG. 8, in step d), the positioning depth D1 of the endoscope 60 to be inserted into the body cavity 16 is first selected, and then, as shown in FIG. 9, the robot arm 10 is activated. The movable seat 12 is used to drive the latching member 30 of the auxiliary positioning device 20, so that the latching member 30 moves the endoscope 60 in a direction away from the spherical rotational motion center C of the robot arm 10 by a predetermined distance D2, which is a predetermined distance D2. Equal to the positioning depth D1, then in step e), as shown in FIG. 10, after the endoscope 60 is placed in the catheter 14, the moving seat 12 of the robot arm 10 is activated again to drive the auxiliary positioning device 20 to buckle. And finally, as shown in FIG. 11, the snap member 30 is attached to the endoscope 60 in a direction of the spherical rotation center C of the robot arm 10 by a predetermined distance D2, so that the end of the endoscope 60 is followed by the body cavity 16 The distance between the surfaces will be equal to the positioning depth D1 set at the beginning to complete the positioning.

In summary, the positioning method of the present invention accomplishes two pre-operative preparation operations by one action, that is, the positioning of the endoscope 60 is completed after the endoscope 60 is inserted into the catheter 14, thus saving preoperative preparation. The effect of time and improved positioning accuracy, and the need to use other additional tools to make direct contact with the patient's body cavity during the entire operation, can greatly reduce the risk of infection, thereby achieving the object of the present invention.

10‧‧‧ Robotic arm
12‧‧‧Mobile seat
14‧‧‧ catheter
16‧‧‧ body cavity
C‧‧‧Spherical rotation center
20‧‧‧Assisted positioning device
22‧‧‧Device piercing
30‧‧‧Card fasteners
31‧‧‧Snaps
32‧‧‧Clamping Department
33‧‧‧First perforation
34‧‧‧"
35‧‧‧ screw holes
40‧‧‧ alignment parts
41‧‧‧ first end
42‧‧‧second end
43‧‧‧Second perforation
50‧‧‧ knob
50‧‧‧ knob
52‧‧‧ screw
60‧‧‧Endoscope
62‧‧‧Light source
D1‧‧‧Positioning depth
D2‧‧‧Predetermined distance

Fig. 1 is a block diagram showing a first embodiment of the present invention. Figure 2 is a plan view of the robot arm used in the present invention. Figure 3 is a perspective view of the auxiliary positioning device of the present invention. Fig. 4 is similar to Fig. 2 and mainly shows the state in which the auxiliary positioning device is mounted on the robot arm. Figure 5 is similar to Figure 4, which mainly shows that the endoscope is placed in the instrument through hole of the auxiliary positioning device. Fig. 6 is similar to Fig. 5 and mainly shows the state after the alignment member is removed. Fig. 7 is similar to Fig. 6, and mainly shows the state in which the end of the endoscope extends into the body cavity via the catheter. Figure 8 is a block diagram showing a second embodiment of the present invention. Fig. 9 is similar to Fig. 6, and mainly shows the state in which the endoscope is moved away from the center of the spherical rotation. Figure 10 is similar to Figure 9, which mainly shows the state in which the endoscope is placed inside the catheter. The eleventh figure is similar to the tenth figure, and mainly shows the state in which the endoscope moves toward the center of the spherical rotation.

Claims (5)

A positioning method for an endoscope includes the following steps: a) erecting a robot arm defining a spherical center of rotation; b) preparing an auxiliary positioning device having a snap member, a positioning member detachably coupled to the fastening member, and a device insertion hole extending through the locking member and the alignment member, the fastening member of the auxiliary positioning device is mounted on the mechanical arm, so that The end of the alignment member of the auxiliary device coincides with the spherical rotation center of the robot arm; c) an endoscope is inserted into the instrument insertion hole of the auxiliary positioning device, so that the end of the endoscope is aligned with the Assisting the end of the alignment member of the positioning device; d) removing the alignment member of the auxiliary positioning device such that the end of the endoscope is coincident with the spherical rotation center of the robot arm; and e) wearing the endoscope The catheter is disposed in a conduit, and the catheter is inserted into the integral cavity. The method for positioning an endoscope according to claim 1, wherein the auxiliary positioning device further has a knob disposed on the latching member; and in step c), when the endoscope is disposed in the auxiliary positioning After the device of the device is inserted into the hole, the snap member is fixed to the endoscope by rotating the knob. The method for positioning an endoscope according to claim 1, in step d), after the alignment member of the auxiliary positioning device is removed, one of the light sources of the endoscope is turned on; in step e), After the endoscope is inserted into the catheter, it is checked whether the light source of the endoscope is shielded by the body cavity. The method for positioning an endoscope according to claim 1, wherein in step b), the fastening component of the auxiliary positioning device is mounted on one of the moving arms; in step d), the inner selection is first The positioning mirror is inserted into a depth of the body cavity, and then the moving seat of the robot arm is activated to drive the locking component of the auxiliary positioning device, so that the fastening component is coupled with the endoscope mirror away from the spherical shape of the robot arm The direction of the center of rotation is moved by a predetermined distance, the predetermined distance being equal to the depth of positioning; in step e), after the endoscope is inserted into the duct, the moving seat of the robot arm is activated again to drive the auxiliary positioning device a latching member that causes the latching member to move the predetermined distance in the direction of the spherical center of rotation of the robot arm. An auxiliary positioning device used in the positioning method of claim 1, comprising: a fastening member having a first through hole; and a pair of position members having a first end and a second end, and a second through hole between the first end and the second end, the second end is detachably connected to the latching member, and the second through hole is coaxially connected to the first through hole of the latching member, so that the first The second through hole together forms a device insertion hole; the fastening member has a fastening portion and a clamping portion connecting the locking portion, the first through hole penetrating the clamping portion, and the second positioning member The end is detachably connected to the clamping portion of the fastening component; further comprising a knob, the knob has a screw, the clamping portion of the fastening component has a cutting groove connecting the second through hole and a connecting groove a screw hole, the screw hole is screwed to the screw of the knob.