TWI639407B - Medical device with control module and endoscope control system using the same - Google Patents

Abstract

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

Medical device with control module and endoscope control system using the same

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.

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.

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.

Therefore, the medical device with the control module of the present invention comprises a device body and a control module.

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.

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. .

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.

Therefore, the medical device with the control module of the present invention comprises a device body and a control module.

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.

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. .

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.

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.

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.

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.

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.

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.

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.

The operating portion 41 has a steering wheel 411 pivotally mounted to the hand portion 31.

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.

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.

The endoscope unit 6 is disposed on the support portion 53 and can capture an image of the instrument body 3.

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.

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.

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.

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).

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.

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.

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.

Referring to Figures 10 and 11, a second embodiment of the present invention is similar to the first embodiment in that:

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.

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.

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.

As such, the second embodiment can achieve the same objects and effects as the first embodiment described above.

Referring to Figures 12 and 13, a third embodiment of the present invention is similar to the second embodiment in that:

The tool portion 32 is an electric burner.

Thus, the third embodiment can achieve the same objects and effects as the second embodiment described above.

Referring to Figures 14, 15, and 16, a fourth embodiment of the present invention is similar to the first embodiment in that:

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.

The control unit 41 has three control buttons 412 and a control board 413 electrically connected to the control buttons 412.

The display unit 44 has three display lamps 441 electrically connected to the control board 413.

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.

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.

Thus, the fourth embodiment can achieve the same objects and effects as the first embodiment described above.

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.

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‧‧‧ medical equipment

3‧‧‧Device body

31‧‧‧Handheld Department

32‧‧‧ Tools Department

33‧‧‧ Identification Department

331‧‧ ‧ occlusion

332‧‧‧Transparent section

4‧‧‧Control module

41‧‧‧Control Department

411‧‧‧Control wheel

412‧‧‧Control button

413‧‧‧Control panel

42‧‧‧Transmission Department

421‧‧‧ shaft

422‧‧‧Drawstring

423‧‧‧Pulley parts

424‧‧‧Flexible parts

43‧‧‧Marking Department

44‧‧‧Display Department

441‧‧‧ display lights

5‧‧‧Mechanical arm unit

51‧‧‧Base section

52‧‧‧ Drive Department

53‧‧‧Support Department

6‧‧‧Endoscope unit

7‧‧‧Image recognition module

8‧‧‧Control unit

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)

A medical device with a control module, comprising: a device body, comprising: 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 phase a shielding section and a light transmitting section disposed adjacent to each other; and a control module comprising: a control portion disposed on the handheld portion, a transmission connected to the control portion and disposed through the identification portion and coupled by the control portion And a portion of the connecting portion and movable by the transmission portion between an unobservable position of the pair of shielding sections and an observable position of the pair of transparent sections, the color of the marking portion and the shielding The control unit has a steering wheel pivotally disposed on the hand-held portion, the transmission portion having a shaft disposed between the hand-held portion and the tool portion and passing through the identification portion and passing through the indicator portion And a drawstring that can be wound by the steering wheel and connected to the indicator portion. The medical device with a control module according to claim 1, wherein the transmission portion further has a pulley member disposed on a side of the shaft opposite the steering wheel for winding the cable. The medical device with a control module according to claim 1, wherein the transmission portion further has a shaft portion disposed between the shaft and the indicator portion to constantly apply a direction to the indicator portion to move in a direction corresponding to the shielding portion. The elastic member of the elastic force. An endoscope manipulation system for a medical device having a control module, comprising: An 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-transmitting section disposed adjacent to each other a control module includes a control portion disposed on the hand-held 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 can be linked by the transmission portion a marking portion that moves between an unobservable position of the pair of obscured segments and an observable position of the pair of transmissive segments; a mechanical arm unit including a base portion and a base portion a driving portion that is controlled to move, and a supporting portion that is connected and driven by the driving portion; an endoscope unit is disposed on the supporting portion and can capture an image of the device body; an image recognition module Electrically connecting the endoscope unit, and generating a control signal when the indicator portion is displayed in the light transmission section corresponding to the apparatus body in the image captured by the endoscope unit; and a control unit electrically connecting the Drive unit Unit, and the image recognition 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. A medical device having a control module, comprising: An 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 light-transmissive portion; and a control module including a control portion disposed on 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 The portion has at least one display light electrically connected to the control panel. An endoscope control system for a medical device having a control module includes: a device body including a hand portion, a tool portion opposite the hand portion, and an identification between the hand portion and the tool portion The control unit has a light-transmitting section; a control module includes a control portion disposed on the hand-held portion, and a display portion electrically connected to the control portion and located in the light-transmitting portion, the control portion having at least a control button, and a control panel electrically connected to the control button, the display portion has at least one display lamp electrically connected to the control panel; a mechanical arm unit includes a base portion, and is disposed on the base portion a driving portion that is controlled to move, and a supporting portion that is connected and driven by the driving portion; an endoscope unit is disposed on the supporting portion and can capture an image of the device body; An image recognition module electrically connecting the endoscope unit and generating a control signal when the indicator light at the light transmitting section of the apparatus body is illuminated in the image captured by the endoscope unit; and The control unit is electrically connected to the driving unit, the endoscope unit and the image recognition module, and after receiving the control signal, drives the driving unit to move or drive the endoscope unit according to the content of the control signal. The mirror unit changes the focal length.