TWI639407B - Medical device with control module and endoscope control system using the same - Google Patents
Medical device with control module and endoscope control system using the same Download PDFInfo
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Abstract
一種具有操控模組的醫療器械,包含一器械本體,及一操控模組,該器械本體包括一手持部、一相反該手持部的工具部,及一位於該手持部及該工具部之間的辨識部,該辨識部具有相鄰設置的一遮蔽段及一透光段,該操控模組包括一設置於該手持部的操控部、一連接該操控部且穿設於該辨識部並可受該操控部連動的傳動部,及一連接並可受該傳動部連動地於一對應該遮蔽段的一不可觀測位置及一對應該透光段的可觀測位置之間移動的標示部,藉由設置該器械本體的該透光段,及該操控模組的操控部及標示部,使該標示部能受操控而顯露於該透光段,以利後續作業。A medical device with a control module includes a device body and a control module. The device body includes a hand-held portion, a tool portion opposite the hand-held portion, and a portion between the hand-held portion and the tool portion. The identification part has a shielding section and a light-transmissive section disposed adjacent to each other, and the control module includes a control portion disposed on the handheld portion, and is connected to the control portion and is disposed through the identification portion a transmission portion that is interlocked by the control portion, and a marking portion that is connected and movable by the transmission portion between an unobservable position of a pair of shielding segments and an observable position of the pair of light transmitting segments. The light transmissive section of the instrument body and the control portion and the marking portion of the control module are arranged to enable the indicator portion to be manipulated to be exposed in the light transmissive section for subsequent operation.
Description
本發明是有關於一種醫療器械及內視鏡操控系統,特別是指一種具有操控模組的醫療器械及應用該醫療器械的內視鏡操控系統。The invention relates to a medical device and an endoscope manipulation system, in particular to a medical device with a control module and an endoscope manipulation system using the same.
現有的內視鏡操控系統,如台灣專利號碼TWI517828所示,是用於手術房,且以一控制單元對一影像單元所拍攝的兩個手術器械影像進行識別後,驅使該影像單元移動,每一手術器械具有一色環,該影像單元移動而使該影像的中心點能持續位於兩支手術器械的色環的中央處,進而方便觀察該等色環附近的影像,然而,在手術中,兩支手術器械的色環會頻繁的接近及遠離,因此容易導致該內視鏡單元不斷產生非使用者預期的移動,進而影響手術的進行。The existing endoscope manipulation system, as shown in the Taiwan patent number TWI517828, is used in the operating room, and after the two surgical instrument images captured by one image unit are recognized by a control unit, the image unit is driven to move, each A surgical instrument has a color ring, and the image unit moves so that the center point of the image can be continuously located at the center of the color ring of the two surgical instruments, thereby facilitating observation of images near the color rings, however, during surgery, two The color ring of the surgical instrument will be frequently approached and away, so it is easy to cause the endoscope unit to continuously generate movements that are not expected by the user, thereby affecting the operation.
因此,本發明之目的,即在提供一種至少克服先前技術所述缺點的具有操控模組的醫療器械及應用該醫療器械的內視鏡操控系統。Accordingly, it is an object of the present invention to provide a medical device having a control module that overcomes at least the disadvantages of the prior art and an endoscope manipulation system that uses the medical device.
於是,本發明具有操控模組的醫療器械,包含一器械本體,及一操控模組。Therefore, the medical device with the control module of the present invention comprises a device body and a control module.
該器械本體包括一手持部、一相反該手持部的工具部,及一位於該手持部及該工具部之間的辨識部,該辨識部具有相鄰設置的一遮蔽段及一透光段,該操控模組包括一設置於該手持部的操控部、一連接該操控部且穿設於該辨識部並可受該操控部連動的傳動部,及一連接並可受該傳動部連動地於一對應該遮蔽段的一不可觀測位置及一對應該透光段的可觀測位置之間移動的標示部。The instrument body includes a hand-held portion, a tool portion opposite to the hand-held portion, and an identification portion between the hand-held portion and the tool portion, the identification portion having a shielding section and a light-transmissive section disposed adjacent to each other. The control module includes a control portion disposed on the handheld portion, a transmission portion connected to the control portion and coupled to the identification portion and coupled by the control portion, and a connection and a linkage of the transmission portion A pair of unobservable positions that should cover the segment and a pair of markers that move between observable positions of the light-transmissive segments.
於是,本發明應用具有操控模組的醫療器械的內視鏡操控系統,包含一器械本體、一操控模組、一機械臂單元、一內視鏡單元、一影像辨識模組,及一控制單元。Therefore, the present invention applies an endoscope control system for a medical device having a control module, comprising an instrument body, a control module, a robot arm unit, an endoscope unit, an image recognition module, and a control unit. .
該器械本體包括一手持部、一相反該手持部的工具部,及一位於該手持部及該工具部之間的辨識部,該辨識部具有相鄰設置的一遮蔽段及一透光段,該操控模組包括一設置於該手持部的操控部、一連接該操控部且穿設於該辨識部並可受該操控部連動的傳動部,及一連接並可受該傳動部連動地於一對應該遮蔽段的一不可觀測位置及一對應該透光段的可觀測位置之間移動的標示部,該機械臂單元包括一基座部、一設置於該基座部並可受控制而移動的驅動部,及一連接並受該驅動部的帶動而移動的扶持部,該內視鏡單元設置於該扶持部,並可對該器械本體拍攝影像,該影像辨識模組電連接該內視鏡單元,並於該內視鏡單元所拍攝的影像中對應該器械本體的該透光段處顯露該標示部時,產生一控制訊號,該控制單元電連接該驅動部、該內視鏡單元及該影像辨識模組,並於接收該控制訊號後,根據該控制訊號的內容驅使該驅動部帶動該內視鏡單元移動或驅使該內視鏡單元改變焦距。The instrument body includes a hand-held portion, a tool portion opposite to the hand-held portion, and an identification portion between the hand-held portion and the tool portion, the identification portion having a shielding section and a light-transmissive section disposed adjacent to each other. The control module includes a control portion disposed on the handheld portion, a transmission portion connected to the control portion and coupled to the identification portion and coupled by the control portion, and a connection and a linkage of the transmission portion a pair of unobservable positions that should be shielded and a pair of indicator portions that move between observable positions of the light-transmissive segments, the robotic arm unit including a base portion disposed on the base portion and controllable a moving driving portion, and a supporting portion connected to and driven by the driving portion, the endoscope unit is disposed on the supporting portion, and can capture an image of the device body, and the image recognition module is electrically connected to the inside a control unit that electrically connects the driving portion and the endoscope when the indicator portion is exposed in the light-transmitting portion corresponding to the instrument body in the image captured by the endoscope unit Unit and the image Knowledge module and after receiving the control signal, based on the content of the control signal drives the driving portion drives the moving unit of the endoscope or the endoscope driving unit changes the focal length.
於是,本發明具有操控模組的醫療器械,包含一器械本體,及一操控模組。Therefore, the medical device with the control module of the present invention comprises a device body and a control module.
該器械本體包括一手持部、一相反該手持部的工具部,及一位於該手持部及該工具部之間的辨識部,該辨識部具有一透光段,該操控模組包括一設置於該手持部的操控部,及一電連接該操控部且位於該透光段內的顯示部,該操控部具有至少一控制按鈕,及一電連接該控制按鈕的控制板,該顯示部具有至少一電連接該控制板的顯示燈。The device body includes a hand-held portion, a tool portion opposite to the hand-held portion, and an identification portion between the hand-held portion and the tool portion, the identification portion has a light-transmissive portion, and the control module includes a a control portion of the handheld portion, and a display portion electrically connected to the control portion and located in the transparent portion, the control portion having at least one control button, and a control panel electrically connected to the control button, the display portion having at least A display light electrically connected to the control panel.
於是,本發明應用具有操控模組的醫療器械的內視鏡操控系統,包含一器械本體、一操控模組、一機械臂單元、一內視鏡單元、一影像辨識模組,及一控制單元。Therefore, the present invention applies an endoscope control system for a medical device having a control module, comprising an instrument body, a control module, a robot arm unit, an endoscope unit, an image recognition module, and a control unit. .
該器械本體包括一手持部、一相反該手持部的工具部,及一位於該手持部及該工具部之間的辨識部,該辨識部具有一透光段,該操控模組包括一設置於該手持部的操控部,及一電連接該操控部且位於該透光段內的顯示部,該操控部具有至少一控制按鈕,及一電連接該控制按鈕的控制板,該顯示部具有至少一電連接該控制板的顯示燈,該機械臂單元包括一基座部、一設置於該基座部並可受控制而移動的驅動部,及一連接並受該驅動部的帶動而移動的扶持部,該內視鏡單元設置於該扶持部,並可對該器械本體拍攝影像,該影像辨識模組電連接該內視鏡單元,並於該內視鏡單元所拍攝的影像中對應該器械本體的該透光段處的該顯示燈發光時,產生一控制訊號,該控制單元電連接該驅動部、該內視鏡單元及該影像辨識模組,並於接收該控制訊號後,根據該控制訊號的內容驅使該驅動部帶動該內視鏡單元移動或驅使該內視鏡單元改變焦距。The device body includes a hand-held portion, a tool portion opposite to the hand-held portion, and an identification portion between the hand-held portion and the tool portion, the identification portion has a light-transmissive portion, and the control module includes a a control portion of the handheld portion, and a display portion electrically connected to the control portion and located in the transparent portion, the control portion having at least one control button, and a control panel electrically connected to the control button, the display portion having at least a display light electrically connected to the control panel, the mechanical arm unit includes a base portion, a driving portion disposed on the base portion and movable and controlled, and a connection and being driven by the driving portion The support unit is disposed on the support portion and can capture an image of the device body. The image recognition module is electrically connected to the endoscope unit and corresponds to the image captured by the endoscope unit. When the indicator light at the light-transmitting section of the apparatus body emits light, a control signal is generated, and the control unit is electrically connected to the driving part, the endoscope unit and the image recognition module, and after receiving the control signal, according to the The Content system signals drive the driving portion drives the moving unit of the endoscope or the endoscope driving unit changes the focal length.
本發明之功效在於:藉由設置該器械本體的該透光段,及該操控模組的操控部及該標示部或該顯示部,使該標示部或該顯示部能受操控而顯露於該透光段,以利後續作業。The effect of the present invention is that the indicator portion or the display portion can be controlled to be exposed by the light-transmitting portion of the instrument body, the control portion of the control module, and the indicator portion or the display portion. Translucent section for subsequent operations.
在本發明被詳細描述之前,應當注意在以下的說明內容中,類似的元件是以相同的編號來表示。Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same reference numerals.
參閱圖1、2、3,本發明具有操控模組的醫療器械及應用該醫療器械的內視鏡操控系統之一第一實施例,該具有操控模組的醫療器械2包含一器械本體3,及一操控模組4,該內視鏡操控系統包含該醫療器械2、一機械臂單元5、一內視鏡單元6、一影像辨識模組7,及一控制單元8。Referring to Figures 1 and 2, a first embodiment of a medical device having a control module and an endoscope control system using the same, the medical device 2 having a control module includes an instrument body 3, And a control module 4, the endoscope control system comprises the medical device 2, a mechanical arm unit 5, an endoscope unit 6, an image recognition module 7, and a control unit 8.
該器械本體3包括一手持部31、一相反該手持部31的工具部32,及一位於該手持部31及該工具部32之間的辨識部33。於本實施例中,該工具部32為手術夾鉗,但並不限於此,該工具部32也可以是其它型式的手術工具。The instrument body 3 includes a hand piece 31, a tool portion 32 opposite to the hand portion 31, and an identification portion 33 between the hand portion 31 and the tool portion 32. In the present embodiment, the tool portion 32 is a surgical clamp, but the invention is not limited thereto, and the tool portion 32 may be another type of surgical tool.
該辨識部33具有相鄰設置的一遮蔽段331及一透光段332。於本實施例中,該透光段332為透明材料製成。The identification portion 33 has a shielding segment 331 and a light transmitting segment 332 disposed adjacent to each other. In the embodiment, the light transmitting section 332 is made of a transparent material.
參閱圖2、4、5,該操控模組4包括一設置於該手持部31的操控部41、一連接該操控部41且穿設於該辨識部33並可受該操控部41連動的傳動部42,及一連接並可受該傳動部42連動地於一對應該遮蔽段331的一不可觀測位置(見圖2)及一對應該透光段332的可觀測位置(見圖4、5)之間移動的標示部43。於本實施例中,該標示部43的顏色與該遮蔽段331相異。Referring to FIGS. 2, 4, and 5, the control module 4 includes a control portion 41 disposed on the handheld portion 31, a transmission connected to the control portion 41, and configured to be coupled to the identification portion 33 and coupled to the control portion 41. The portion 42, and a connection and can be coupled by the transmission portion 42 to an unobservable position of a pair of shielding segments 331 (see FIG. 2) and a pair of observable positions of the light transmitting segment 332 (see FIGS. 4 and 5). The indicator portion 43 that moves between. In this embodiment, the color of the indicator portion 43 is different from the shielding segment 331.
該操控部41具有一樞設於該手持部31的操控輪411。The operating portion 41 has a steering wheel 411 pivotally mounted to the hand portion 31.
該傳動部42具有一位於該手持部31及該工具部32之間且穿設於該辨識部33內並穿過該標示部43的軸桿421、一可受該操控輪411捲繞並連接該標示部43的拉繩422,及一設置於該軸桿421相反該操控輪411的一側以供該拉繩422繞設的滑輪件423。於本實施例中,該拉繩422是環繞於該操控輪411及該滑輪件423。The transmission portion 42 has a shaft 421 disposed between the hand portion 31 and the tool portion 32 and passing through the identification portion 33 and passing through the indicator portion 43 . The shaft 421 can be wound and connected by the steering wheel 411 . The pull cord 422 of the indicator portion 43 and a pulley member 423 disposed on a side of the shaft 421 opposite to the steering wheel 411 for winding the drawstring 422. In the present embodiment, the drawstring 422 is wrapped around the steering wheel 411 and the pulley member 423.
參閱圖2、3、6,該機械臂單元5包括一基座部51、一設置於該基座部51並可受控制而移動的驅動部52,及一連接並受該驅動部52的帶動而移動的扶持部53。2, 3, and 6, the mechanical arm unit 5 includes a base portion 51, a driving portion 52 disposed on the base portion 51 and movable and controlled, and a connection and driven by the driving portion 52. And the moving support portion 53.
該內視鏡單元6設置於該扶持部53,並可對該器械本體3拍攝影像。The endoscope unit 6 is disposed on the support portion 53 and can capture an image of the instrument body 3.
該影像辨識模組7電連接該內視鏡單元6,並於該內視鏡單元6所拍攝的影像中對應該器械本體3的該透光段332處顯露該標示部43時,產生一控制訊號。要說明的是,該控制訊號的型式可以有很多種,可以是用來驅使該內視鏡單元6接下來所拍攝到的影像的中心點是位於一預定目標點,也可以是用來驅使該內視鏡單元6改變焦距,或是驅使位於所拍攝影像的其他機械臂單元(圖未示)作動,但不以此為限。The image recognition module 7 is electrically connected to the endoscope unit 6 and generates a control when the indicator portion 43 is exposed in the light transmission section 332 of the instrument body 3 in the image captured by the endoscope unit 6 Signal. It should be noted that the control signal may be of various types, and may be used to drive the center point of the image captured by the endoscope unit 6 to be located at a predetermined target point, or may be used to drive the The endoscope unit 6 changes the focal length or drives other mechanical arm units (not shown) located in the captured image, but is not limited thereto.
該控制單元8電連接該驅動部52、該內視鏡單元6及該影像辨識模組7,並於接收該控制訊號後,根據該控制訊號的內容驅使該驅動部52帶動該內視鏡單元6移動或驅使該內視鏡單元6改變焦距。The control unit 8 is electrically connected to the driving unit 52, the endoscope unit 6 and the image recognition module 7, and after receiving the control signal, drives the driving unit 52 to drive the endoscope unit according to the content of the control signal. 6 moves or drives the endoscope unit 6 to change the focal length.
參閱圖5、7,使用時,當使用者操作使該操控輪411轉動時,會帶動該拉繩422環繞轉動,該標示部43受該拉繩422拉動而沿該軸桿421移動,藉此使該標示部43於該不可觀測位置及該可觀測位置之間移動。Referring to FIGS. 5 and 7, in use, when the user operates to rotate the steering wheel 411, the pull cord 422 is rotated, and the indicator portion 43 is pulled by the pull cord 422 to move along the shaft 421. The indicator portion 43 is moved between the unobservable position and the observable position.
參閱圖3、5、7,而當該使用者使用該醫療器械2進行手術時,是以該內視鏡單元6所拍攝的影像作為輔助,若需要改變該內視鏡單元6所拍攝的影像的位置,只要操作該操控輪411使該標示部43移動至該可觀測位置後,由於所拍攝的影像中會拍攝到由該器械本體3的該透光段332處所顯露的該標示部43(見圖8),因此該影像辨識模組7就能根據該標示部43的影像而得知使用者欲改變該內視鏡單元6所拍攝的影像的位置,進而產生該控制訊號,接著該控制單元8就會驅使該驅動部52帶動該內視鏡單元6移動,以使該內視鏡單元6接下來所拍攝到的影像的中心點是位於該預定目標點(見圖9)。Referring to FIGS. 3, 5, and 7, when the user performs the operation using the medical device 2, the image taken by the endoscope unit 6 is used as an aid, and if the image captured by the endoscope unit 6 needs to be changed, The position of the indicator portion 43 that is exposed by the light-transmitting section 332 of the instrument body 3 is captured in the captured image as long as the control wheel 411 is operated to move the indicator portion 43 to the observable position ( As shown in FIG. 8), the image recognition module 7 can know that the user wants to change the position of the image captured by the endoscope unit 6 according to the image of the indicator portion 43 to generate the control signal, and then the control. The unit 8 drives the driving unit 52 to move the endoscope unit 6 so that the center point of the image captured by the endoscope unit 6 is located at the predetermined target point (see FIG. 9).
要說明的是,該預定目標點可以是預設的任何位置,但也可以與該標示部43相關的位置,例如是該標示部43的中心處,或是偏離該標視部43一預定距離的位置。It should be noted that the predetermined target point may be any position preset, but the position associated with the indicator portion 43 may be, for example, at the center of the indicator portion 43 or a predetermined distance from the target portion 43. s position.
參閱圖2、3、7,而當該內視鏡單元6所拍攝到的影像的中心點是位於該預定目標點後,操作使該標示部43移動至該不可觀測位置後,由於影像中不再有該標示部43,該控制單元8就不會再驅使該驅動部52帶動該內視鏡單元6移動,而能進行後續手術,而能避免現有技術會產生非預期移動的問題。Referring to FIGS. 2, 3, and 7, when the center point of the image captured by the endoscope unit 6 is located at the predetermined target point, the operation causes the indicator portion 43 to move to the unobservable position, since the image is not Further, the indicator portion 43 does not drive the driving portion 52 to move the endoscope unit 6 to perform subsequent operations, thereby avoiding the problem that the prior art may cause unintended movement.
由於使用者只要以單手操作該操控部41,就能改變該內視鏡單元6接下來所拍攝到的影像的中心點,因此能方便使用者的手術操作。Since the user can operate the manipulation portion 41 with one hand, the center point of the image captured by the endoscope unit 6 can be changed, thereby facilitating the user's surgical operation.
參閱圖10、11,本發明的一第二實施例是類似於該第一實施例,其差異之處在於:Referring to Figures 10 and 11, a second embodiment of the present invention is similar to the first embodiment in that:
該傳動部42具有該軸桿421、該拉繩422,及一設置於該軸桿421及該標示部43之間以恆對該標示部43施加一朝對應該遮蔽段331的方向移動的彈性力的彈性件424。The transmission portion 42 has the shaft 421, the pull cord 422, and a spring disposed between the shaft 421 and the indicator portion 43 to apply a direction to the indicator portion 43 to move in a direction corresponding to the shielding portion 331. Force elastic member 424.
當使用者操作該操控輪411帶動該拉繩422,並克服該彈性件424的彈性力時,就能帶動使該標示部43移動至該可觀測位置。When the user operates the control wheel 411 to drive the pull cord 422 and overcome the elastic force of the elastic member 424, the indicator portion 43 can be moved to the observable position.
而當使用者不再操作該操控輪411時,該標示部43就會受到該彈性件424的彈性力拉回至該不可觀測位置。When the user no longer operates the steering wheel 411, the indicator portion 43 is pulled back to the unobservable position by the elastic force of the elastic member 424.
如此,該第二實施例也可達到與上述第一實施例相同的目的與功效。As such, the second embodiment can achieve the same objects and effects as the first embodiment described above.
參閱圖12、13,本發明的一第三實施例是類似於該第二實施例,其差異之處在於:Referring to Figures 12 and 13, a third embodiment of the present invention is similar to the second embodiment in that:
該工具部32為電燒刀。The tool portion 32 is an electric burner.
如此,該第三實施例也可達到與上述第二實施例相同的目的與功效。Thus, the third embodiment can achieve the same objects and effects as the second embodiment described above.
參閱圖14、15、16,本發明的一第四實施例是類似於該第一實施例,其差異之處在於:Referring to Figures 14, 15, and 16, a fourth embodiment of the present invention is similar to the first embodiment in that:
該操控模組4包括一設置於該手持部31的操控部41,及一電連接該操控部41且位於該透光段332內的顯示部44。The control module 4 includes a control portion 41 disposed on the handheld portion 31, and a display portion 44 electrically connected to the manipulation portion 41 and located in the transparent portion 332.
該操控部41具有三控制按鈕412,及一電連接該等控制按鈕412的控制板413。The control unit 41 has three control buttons 412 and a control board 413 electrically connected to the control buttons 412.
該顯示部44具有三電連接該控制板413的顯示燈441。The display unit 44 has three display lamps 441 electrically connected to the control board 413.
該影像辨識模組7於該內視鏡單元6所拍攝的影像中對應該器械本體3的該透光段332處的至少一顯示燈441發光時,產生該控制訊號,並由該控制單元8驅使該驅動部52帶動該內視鏡單元6移動,以使該內視鏡單元6接下來所拍攝到的影像的中心點是位於一預定目標點,也可以驅使該內視鏡單元6改變焦距,或是驅使位於所拍攝影像的其他機械臂單元(圖未示)作動。於本實施例中,該等顯示燈441的組合發光變化可以是對應不同的預定目標點。The image recognition module 7 generates the control signal when the at least one display light 441 at the light-transmitting section 332 of the apparatus body 3 is illuminated by the image capturing module 7 in the image captured by the endoscope unit 6 and is controlled by the control unit 8 The driving unit 52 is driven to move the endoscope unit 6 so that the center point of the image captured by the endoscope unit 6 is located at a predetermined target point, and the endoscope unit 6 can be driven to change the focal length. Or drive other robotic arm units (not shown) located in the captured image. In this embodiment, the combined illumination changes of the display lamps 441 may be corresponding to different predetermined target points.
當使用者按下該等控制按鈕的412的其中一者時,對應的該顯示燈441即會發光,就可藉此改變接下來所拍攝到的影像的中心點。要說明的是,控制按鈕412及顯示燈441也可以都只有一個,而能使影像的中心點只對應一個預定目標點。When the user presses one of the control buttons 412, the corresponding display light 441 will emit light, thereby changing the center point of the next captured image. It should be noted that there may be only one control button 412 and the display light 441, and the center point of the image may correspond to only one predetermined target point.
如此,該第四實施例也可達到與上述第一實施例相同的目的與功效。Thus, the fourth embodiment can achieve the same objects and effects as the first embodiment described above.
參閱圖2、15,綜上所述,藉由設置該器械本體3的該透光段332,及該操控模組4的操控部41及該標示部43或該顯示部44,使該標示部43或該顯示部44能受操控而顯露於該透光段332,以利後續作業,故確實能達成本發明之目的。Referring to FIGS. 2 and 15 , in summary, the indicator portion is provided by the light-transmitting section 332 of the instrument body 3, the control portion 41 of the control module 4, the indicator portion 43 or the display portion 44. 43 or the display portion 44 can be manipulated to be exposed to the light-transmissive section 332 for subsequent operations, so that the object of the present invention can be achieved.
惟以上所述者,僅為本發明之實施例而已,當不能以此限定本發明實施之範圍,凡是依本發明申請專利範圍及專利說明書內容所作之簡單的等效變化與修飾,皆仍屬本發明專利涵蓋之範圍內。However, the above is only the embodiment of the present invention, and the scope of the invention is not limited thereto, and all the equivalent equivalent changes and modifications according to the scope of the patent application and the patent specification of the present invention are still The scope of the invention is covered.
2‧‧‧醫療器械2‧‧‧ medical equipment
3‧‧‧器械本體3‧‧‧Device body
31‧‧‧手持部31‧‧‧Handheld Department
32‧‧‧工具部32‧‧‧ Tools Department
33‧‧‧辨識部33‧‧‧ Identification Department
331‧‧‧遮蔽段331‧‧ ‧ occlusion
332‧‧‧透光段332‧‧‧Transparent section
4‧‧‧操控模組4‧‧‧Control module
41‧‧‧操控部41‧‧‧Control Department
411‧‧‧操控輪411‧‧‧Control wheel
412‧‧‧控制按鈕412‧‧‧Control button
413‧‧‧控制板413‧‧‧Control panel
42‧‧‧傳動部42‧‧‧Transmission Department
421‧‧‧軸桿421‧‧‧ shaft
422‧‧‧拉繩422‧‧‧Drawstring
423‧‧‧滑輪件423‧‧‧Pulley parts
424‧‧‧彈性件424‧‧‧Flexible parts
43‧‧‧標示部43‧‧‧Marking Department
44‧‧‧顯示部44‧‧‧Display Department
441‧‧‧顯示燈441‧‧‧ display lights
5‧‧‧機械臂單元5‧‧‧Mechanical arm unit
51‧‧‧基座部51‧‧‧Base section
52‧‧‧驅動部52‧‧‧ Drive Department
53‧‧‧扶持部53‧‧‧Support Department
6‧‧‧內視鏡單元6‧‧‧Endoscope unit
7‧‧‧影像辨識模組7‧‧‧Image recognition module
8‧‧‧控制單元8‧‧‧Control unit
本發明之其他的特徵及功效,將於參照圖式的實施方式中清楚地呈現,其中: 圖1是本發明具有操控模組的醫療器械及應用該醫療器械的內視鏡操控系統的一第一實施例的一醫療器械的立體圖; 圖2是該第一實施例的該醫療器械的一剖視示意圖,說明一標示部位於一不可觀測位置; 圖3是該第一實施例的一系統方塊圖; 圖4是一類似於圖1的視圖,說明該標示部位於一可觀測位置; 圖5是一類似於圖2的視圖,說明該標示部位於該可觀測位置; 圖6是該第一實施例的一機械臂單元及一內視鏡單元的一立體圖; 圖7是該第一實施例的一使用狀態圖; 圖8是該第一實施例的一內視鏡單元的拍攝影像,該標示部位於該可觀測位置; 圖9是一類似於圖8的視圖,說明該內視鏡單元的拍攝影像的中心點移動至一預定目標點的狀態; 圖10是本發明具有操控模組的醫療器械及應用該醫療器械的內視鏡操控系統的一第二實施例的一醫療器械的剖視示意圖,說明一標示部位於一不可觀測位置; 圖11是一類似於圖10的視圖,說明該標示部位於一可觀測位置; 圖12是本發明具有操控模組的醫療器械及應用該醫療器械的內視鏡操控系統的一第三實施例的一醫療器械的剖視示意圖,說明一標示部位於一不可觀測位置; 圖13是一類似於圖12的視圖,說明該標示部位於一可觀測位置; 圖14是本發明具有操控模組的醫療器械及應用該醫療器械的內視鏡操控系統的一第四實施例的一醫療器械的一立體圖; 圖15是該第四實施例的該醫療器械的一剖視示意圖;及 圖16是該第四實施例的一系統方塊圖。Other features and effects of the present invention will be apparent from the following description of the drawings, wherein: FIG. 1 is a first embodiment of a medical device with a control module and an endoscope control system using the same. 2 is a perspective view of a medical device of the first embodiment; FIG. 2 is a cross-sectional view of the medical device of the first embodiment, illustrating a marking portion at an unobservable position; FIG. 3 is a system block of the first embodiment. Figure 4 is a view similar to Figure 1, illustrating the indicator portion in an observable position; Figure 5 is a view similar to Figure 2, illustrating the indicator portion in the observable position; Figure 6 is the first FIG. 7 is a view showing a state of use of the first embodiment; FIG. 8 is a view showing a state of use of the first embodiment; FIG. The indicator portion is located at the observable position; FIG. 9 is a view similar to FIG. 8 illustrating a state in which the center point of the captured image of the endoscope unit moves to a predetermined target point; FIG. 10 is a view of the present invention having a control module medical instruments A cross-sectional view of a medical device according to a second embodiment of the endoscope operating system of the medical device, illustrating a marking portion at an unobservable position; and FIG. 11 is a view similar to FIG. 10 illustrating the marking portion 12 is a cross-sectional view of a medical device with a control module and a third embodiment of an endoscope control system using the same, illustrating a marking portion located at a Figure 13 is a view similar to Figure 12, showing the indicator portion in an observable position; Figure 14 is a view of a medical device having a manipulation module of the present invention and an endoscope manipulation system using the same A perspective view of a medical device of the fourth embodiment; Fig. 15 is a cross-sectional view of the medical device of the fourth embodiment; and Fig. 16 is a system block diagram of the fourth embodiment.
Claims (6)
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US20040006333A1 (en) * | 1994-09-09 | 2004-01-08 | Cardiofocus, Inc. | Coaxial catheter instruments for ablation with radiant energy |
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US20040006333A1 (en) * | 1994-09-09 | 2004-01-08 | Cardiofocus, Inc. | Coaxial catheter instruments for ablation with radiant energy |
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