TWI762812B - Endoscope and endoscope equipment and positioning method of endoscope - Google Patents

Abstract

An endoscope, an endoscope device and a positioning method of the endoscope, the endoscope includes a catheter, an imaging fiber and a magnetic sensor. The imaging optical fiber is inserted into the conduit, the imaging optical fiber includes a light source transmission part and an image transmission part, the light source transmission part has a light output end for outputting light to irradiate a target, and the image transmission part has an object side end for Receive the shadow light reflected by the target; the magnetic sensor can be induced by an external magnetic field to identify the current position of the endoscope; the endoscope equipment includes a guiding device and the above-mentioned endoscope, the guiding device It includes a main tube and a direction control module, the direction control module is operated by personnel to control the bending direction of the main tube, and the tube of the endoscope is passed through the main tube and can be protruded from the main tube.

Description

Endoscope and endoscope equipment and positioning method of endoscope

The present invention relates to an endoscope; in particular, it refers to an endoscope provided with a magnetic sensor.

Endoscopy is a technology developed mainly to enable people to observe the environment that is not easy to enter. It is mainly used in medical equipment and can enter the human body through various channels to observe the internal conditions of the human body. The function of the endoscope is to reduce the discomfort of the patient and reduce the size of the wound to complete the diagnosis of the affected part in the body. Its known structure includes an image transmission unit, a lighting unit and a catheter. The image inside the human body is acquired by the lighting unit, and then the image is sent out by the image transmission unit, so as to assist the medical personnel in diagnosing the affected part in the body.

Endoscopy is widely used in various medical examinations, such as the diagnosis and treatment of cranial cavity, stomach, chest, spine, brain, etc. However, the operation of endoscopy must be manually controlled by medical personnel, and it is currently used in diagnosis and treatment. Hard tube endoscopy, for some patients with the affected part in the small lumen, it is easy to change the direction of the hard tube or because the hard tube may also cause damage, which not only affects the interpretation of the affected part by medical personnel, but also affects the diagnosis and treatment effect.

For the operation of the affected part in the small lumen, there is also a magnetic navigation technology. The magnetic navigation technology is to install a magnetic sensor at the front end of the surgical tool or catheter, and the external magnetic navigation device judges the telecommunication of the magnetic sensor. number to push the position of the leading end of the catheter. However, magnetic navigation technology must be combined with the patient's MRI or tomographic images to deduce the leading end of the catheter. The position in the small lumen is judged by the physician whether it has reached the affected part. Of course, the position obtained in this way is not completely accurate, and there are still errors.

Even if a surgical instrument is used to enter the position of the distal end of the catheter, after the treatment of the affected part is performed, the situation after the treatment cannot be known, and the success of the operation cannot be guaranteed.

Therefore, the conventional endoscopy and magnetic navigation technologies are still not perfected and need to be improved.

In view of this, the purpose of the present invention is to provide an endoscope, an endoscope device and a positioning method of the endoscope, which can observe the image where the magnetic sensor is located.

In order to achieve the above object, the present invention provides an endoscope including a catheter, an imaging fiber and a magnetic sensor. The conduit includes a flexible section and a front end; the imaging optical fiber is inserted into the conduit, the imaging optical fiber includes a light source transmission part and an image transmission part, and the light source transmission part has a light-emitting end located at the front end, The light-emitting end is used for outputting light to illuminate a target, the image transmission part has an object-side end located at the front end, and the object-side end is used for receiving the shadow light reflected by the target; the magnetic sensor is arranged on the object-side end. At the front end, the magnetic sensor can be induced by an external magnetic field to identify the current position of the endoscope.

The present invention further provides an endoscope device comprising a guiding device and the above-mentioned endoscope. The guiding device includes a main pipe and a direction control module, the main pipe includes a main body and a main flexible section, the main pipe has at least one main channel, and the main flexible section has a front port communicating with the at least one a main channel; the direction control module is connected to the main body, and the direction control module has at least one control part, the at least one control part is connected to the main flexible section and is operated by personnel to control the movement of the main flexible section Bending direction; the catheter of the endoscope is passed through the at least one main channel and can be protruded from the front port.

The effect of the present invention is that, the front end of the endoscope and the catheter of the endoscope device is provided with an image fiber and a magnetic sensor, and the magnetic sensor can sense the external magnetic field, and at the same time, the magnetic sensor can be sensed by the image fiber. The image output of the location of the detector can be used to not only know where the magnetic sensor is, but also to observe the image at the same time.

〔this invention〕

1: Magnetic Navigation System

100: Endoscope

10: Catheter

12: Flexible segment

14: Front end

20: Imaging fiber

22: Light source transmission part

22a: light output end

24: Video Transmission Department

24a: Object side end

30: Magnetic sensor

32: Conductive thread

40: Fixed seat

42: Channel

44: First Piercing

46: Second Piercing

50: Surgical Instruments

200: Endoscopic display device

300: Magnetic Navigation Device

400: Surgical instrument control end

500: light source

600: Endoscopy Equipment

60: Main lead

62: Main channel

64: main body

66: Main flexible segment

66a: Front port

70: Direction control module

72: Control Department

80: Control device

82: Active joint group

84: Control Line

700: Navigation Display

34: Magnetic Field Generator

800: Locator

90: Reference magnetic sensor

D: pipe diameter

M: video

P: feature point

A: Reference point

W: Navigation path

T: target position

S: location

FIG. 1 is a schematic diagram of an endoscope according to a preferred embodiment of the present invention.

FIG. 2 is a schematic cross-sectional view of the endoscope according to the above-mentioned preferred embodiment.

FIG. 3 is a schematic diagram of the endoscope apparatus according to the above-mentioned preferred embodiment.

FIG. 4 is a schematic diagram of a magnetic navigation system according to a preferred embodiment of the present invention.

FIG. 5 is a schematic diagram of setting feature points according to the above-mentioned preferred embodiment.

FIG. 6 is a schematic diagram of setting reference points in the above-mentioned preferred embodiment.

FIG. 7 is a schematic diagram of the image display of the above-mentioned preferred embodiment.

In order to explain the present invention more clearly, a preferred embodiment is given and described in detail as follows in conjunction with the drawings. Please refer to FIG. 1 and FIG. 2 , which are an endoscope 100 according to a preferred embodiment of the present invention. The endoscope 100 is connected to the endoscope display device 200 , the magnetic navigation device 300 , the surgical instrument control end 400 and the light source, respectively. 500.

The endoscope 100 of the preferred embodiment of the present invention includes a catheter 10, an imaging fiber 20 and a magnetic sensor 30. The catheter 10 includes a flexible section 12 and a front end 14, and the flexible section 12 is a bendable section The spring tube, the front end 14 is used to approach the detection target; the diameter of the catheter 10 D is 2 mm. In other embodiments, the diameter D of the catheter 10 may be 2-4 mm, so the catheter 10 can enter the small lumen for detection.

The image fiber 20 is inserted into the conduit 10 and includes a light source transmission portion 22 and an image transmission portion 24. The light source transmission portion 22 has a light-emitting end 22a, and the image transmission portion 24 has an object-side end 24a. The light-emitting end 22a and the object-side end 24a are both located at the front end portion 14 of the conduit 10, the light source transmission portion 22 is connected to the light source 500, and the image transmission portion 24 is connected to the endoscope display device 200, whereby the light source After the transmission part 22 receives the light from the light source 500 , the light-emitting end 22 a outputs the light to illuminate a target, and the object-side end 24 a receives the image light reflected by the target and outputs it to the endoscope display device 200 , so that the user can observe the image of the object to be measured in real time through the endoscope display device 200 .

In the present embodiment, the magnetic sensor 30 is disposed on the front end 14 of the conduit 10 , and the magnetic sensor 30 has a two-conductive wire 32 , which is inserted into the conduit 10 and connected to the magnetic The navigation device 300 is used for receiving the current provided by the magnetic navigation device 300. The magnetic navigation device 300 establishes an external magnetic field outside the object to be tested. The user can set a navigation path in the magnetic navigation device 300, so that the catheter follows The navigation path is moved to the target position, and the image of the endoscope display device 200 is transmitted by the image transmission unit 24 to observe the image of the target to be measured in real time to confirm whether the position of the catheter 10 accurately reaches the target position.

The endoscope 100 further includes a fixing seat 40, the fixing seat 40 is combined with the flexible section 12 of the catheter 10, and the fixing seat 40 has the front end portion 14; the fixing seat 40 has at least a channel 42, a The first through hole 44, in this embodiment, the number of channels 42 is one, the image fiber 20 passes through the channel 42, and the light-emitting end 22a and the object-side end 24a are fixed to the first through hole 44, the magnetic sensing The device 30 is disposed on the fixing seat 40 and is located in the first through hole 44, and the two conductive wires 32 of the magnetic sensor 30 pass through the channel 42, the fixing seat 40 can be arranged The magnetic sensor 30 and the imaging optical fiber 20 are stably disposed on the front end portion 14 of the catheter 10 to avoid improper interference or collision between the imaging optical fiber 20 and the magnetic sensor 30 .

The endoscope 100 further includes a surgical instrument 50 and the fixing seat 40 has a second through hole 46 , the second through hole 46 is located on one side of the first through hole 44 , and the surgical instrument 50 is inserted into the catheter 10 , One end is connected to the manipulation end 400 of the surgical instrument, and the other end passes through the channel 42 of the fixed seat 40, and the surgical instrument 50 can be passed through the second through hole 46 relative to the fixed seat 40. The surgical instrument 50 can be a knife, A clamp or a related surgical instrument such as a tube or a combination thereof, the user can operate the surgical instrument 50 through the surgical instrument control end 400 to perform surgery. Please refer to FIG. 3 again, which is an endoscope apparatus 600 using the endoscope 100 of the present embodiment, which includes a main guide tube 60 , a direction control module 70 and the endoscope 100 in the above embodiment, the main guide tube 60 It has at least one main channel 62. In this embodiment, the number of at least one main channel 62 is one. The main pipe 60 includes a main body 64 and a main flexible section 66. The main body 64 is connected to the direction control module 70, the main flexible section 66 has a front port 66a communicating with the main channel 62, the catheter 10 of the endoscope 100 is passed through the main channel 62 and can be protruded from the front port 66a, the main flexible section 66 There is a movable joint, the movable joint is connected with a plurality of control wires (not shown), the direction control module 70 has at least one control part 72, and the at least one control part 72 is connected to the movable joint through the control wires , whereby the operator can control the bending direction of the movable joint by pulling the control wire through at least one control portion 72 , so that after the front port 66a of the main catheter 60 is close to the target position, the endoscope 100 is guided by the external magnetic field to make the endoscope 100 The catheter 10 is extended to enter the tiny lumen.

It is worth mentioning that the endoscope 100 includes a control device 80, a movable joint group 82 and a plurality of control wires 84, wherein the movable joint group 82 is disposed in the flexible section 12, and the movable joint group 82 passes through The manipulation wires 84 are connected to the manipulation device 80, whereby the manipulation The operator can pull the control wires 84 through the control device 80 to control the bending direction of the movable joint group 82 .

According to the above, it is the endoscope 100 and the endoscope device 600 of the present invention. The front end portion 14 of the catheter 10 of the endoscope 100 and the endoscope device 600 is provided with the imaging optical fiber 20 and the magnetic sensor 30 , the magnetic sensor 30 can be controlled by the magnetic force of the external magnetic navigation device 300 to drive the catheter 10 to move to the target position, and at the same time, the image of the location of the magnetic sensor 30 can be output through the imaging fiber 20 to determine the catheter Whether the 10 reaches the target position accurately, and after the operator performs the operation on the affected part with the surgical instrument 50, the image that can be transmitted to the endoscope display device 200 through the image fiber 20 confirms the processed situation.

The positioning method of the endoscope 100 of the present embodiment is applied to a magnetic navigation system 1 as shown in FIG. , Endoscope device 600, in addition to this magnetic navigation system 1 also includes a navigation display 700 and a locator 800, wherein the magnetic navigation device 300 is electrically connected with the navigation display 700 and the locator 800 respectively, the A reference magnetic sensor 90 is disposed on the positioner 800 , wherein the magnetic navigation device 300 includes a magnetic field generator 34 , and the reference magnetic sensor 90 is used for receiving the magnetic field of the magnetic field generator 34 and outputting a corresponding electrical signal to the magnetic navigation device 300 .

The positioning method of the endoscope 100 of this embodiment includes the following steps A to E, wherein: first, in step A, the user imports the data of an image M of the affected area into a magnetic navigation device 300 and displays it on the navigation display Displaying 700 the image M, the image M can be from computed tomography (CT) or magnetic resonance imaging (MRI); then in step B, as shown in FIG. 5 , the user sets a plurality of feature points on the image M P, and record the coordinates of the feature points P on the image M; preferably It further includes planning a navigation path in the image M and displaying the navigation path on the image. In this embodiment, there are at least four feature points.

In step C, as shown in FIG. 6 , the user places the magnetic field generator 34 at a position corresponding to the affected part of the patient, and places the reference magnetic sensor 90 on a plurality of reference points A on the affected part of the patient in sequence , wherein the reference points A correspond to the feature points P respectively, and the magnetic navigation device 300 senses the magnetic field emitted by the magnetic field generator 34 at the reference points A by the reference magnetic sensor 90 to obtain Corresponding to the reference magnetic field signal data and coordinates of these reference points A, the magnetic navigation device 300 records the coordinates of these reference points A and the reference magnetic field signal data, and then the magnetic navigation device 300 associates the coordinates of each reference point A with each feature The coordinates of the points are aligned to obtain the pair-wise relationship data. In this embodiment, the number of the reference points A is at least four. Furthermore, when the magnetic navigation device 300 judges that the deviation between the position of the reference point A selected by the user and the actual position of the corresponding feature point P in the affected area exceeds a predetermined distance, the user is prompted to re-select the reference point. In an embodiment, the predetermined distance is 2 mm.

In step D, the user inserts the catheter 10 of the endoscope 100 into the affected part of the patient, and the magnetic navigation device 300 senses 30 the magnetic field emitted by the magnetic field generator 34 through the magnetic sensor to obtain a Positioning magnetic field signal data, the magnetic navigation device 300 obtains an image coordinate of the magnetic sensor 30 according to the positioning magnetic field signal data, the reference magnetic field signal data and the coordinates of the reference points A.

In step E, the position of the image M and the magnetic sensor 30 on the image M is displayed on the navigation display 700 (ie, the first display area defined in the present invention) according to the image coordinates, please refer to FIG. 7 , The image M displays the navigation path W planned by the user, the target position T and the position S of the magnetic sensor 30 on the image M, and simultaneously displays the image of the target received by the object side end 24a in the image M. Mirror display device 200 (ie, the present invention defined second display area), whereby the user can determine whether the catheter 10 has reached the target position accurately.

In practice, the navigation display 700 and the endoscope display device 200 can also be integrated on the same screen, and the screen has a first display area and a second display area.

The above descriptions are only preferred feasible embodiments of the present invention, and any equivalent changes made by applying the description of the present invention and the scope of the patent application should be included in the patent scope of the present invention.

100: Endoscope

12: Flexible segment

14: Front end

20: Imaging fiber

22: Light source transmission part

22a: light output end

24: Video Transmission Department

24a: Object side end

30: Magnetic sensor

32: Conductive thread

40: Fixed seat

42: Channel

44: First Piercing

46: Second Piercing

50: Surgical Instruments

82: Active joint group

84: Control Line

D: pipe diameter

Claims (8)

An endoscope, comprising: a catheter, including a flexible section and a front end; an image fiber, passing through the catheter, wherein the image fiber includes a light source transmission part and an image transmission part; the light source transmission part The image transmission part has a light-emitting end located at the front end, and the light-emitting end is used for outputting light to illuminate a target; the image transmission part has an object-side end located at the front-end portion, and the object-side end is used to receive the image light reflected by the target. ; And a magnetic sensor, arranged at the front end, the magnetic sensor is used to sense the external magnetic field, and output the corresponding electrical signal; a fixed seat, the fixed seat is combined with the flexible section, and the fixed The seat has the front end; the fixing seat has at least one channel and a first through hole, the image optical fiber passes through the at least one channel; the light output end of the light source transmission part and the object side end of the image transmission part are located in the first through hole ; the magnetic sensor is located in the first through hole; and a movable joint group, a plurality of control wires and a control device, wherein the movable joint group is arranged in the flexible section, and the movable joint group is controlled by the movable joint group A wire is connected to the manipulation device, and the manipulation device can controllably pull the manipulation wires to control the bending direction of the movable joint group. The endoscope according to claim 1, further comprising a surgical instrument, the surgical instrument passing through the conduit and passing through the at least one channel; the fixing seat has a second perforation, the second perforation is located in the first hole A perforated side for the surgical instrument to pass through. The endoscope according to claim 1, wherein the diameter of the catheter is 2-4 mm. The endoscope of claim 1, wherein the magnetic sensor has two conductive wires, the two conductive wires are passed through the conduit and pass through the at least one channel. An endoscopic device comprising: A guiding device includes a main pipe and a direction control module, the main pipe includes a main body and a main flexible section, the main pipe has at least one main channel, and the main flexible section has a front port communicating with the main pipe At least one main channel; the direction control module is connected to the main body, and the direction control module has at least one control part, the at least one control part is connected to the main flexible section and is operated by personnel to control the main flexible section and the endoscope as described in any one of claims 1 to 4, the catheter of the endoscope passing through the at least one main channel and being able to protrude from the front port. A method for positioning an endoscope as claimed in claim 1, comprising the following steps: A. providing an image of the affected area; B. setting a plurality of feature points in the image, and recording the coordinates of the feature points on the image C. Place a magnetic field generator at a position corresponding to the affected part of the patient, and place a reference magnetic sensor at a plurality of reference points on the affected part of the patient in sequence, and these reference points correspond to these feature points respectively; Align the coordinates of each of the reference points with the coordinates of each of the feature points to obtain a pair of positional relationship data; and use the reference magnetic sensor to sense the magnetic field emitted by the magnetic field generator at the reference points respectively , to obtain a plurality of reference magnetic field signal data corresponding to these reference points; D. Insert the catheter of the endoscope into the affected part of the patient, and the magnetic sensor senses the magnetic field emitted by the magnetic field generator to Obtain a positioning magnetic field signal data; obtain a positioning coordinate of the magnetic sensor according to the positioning magnetic field signal data, the reference magnetic field signal data and the coordinates of the reference points; obtain a positioning coordinate according to the positioning coordinate and the alignment relationship data An image coordinate of the magnetic sensor; E. Display the image and the position of the magnetic sensor on the image in a first display area according to the image coordinate, and the target received by the side of the object The image is displayed in a second display When the deviation between the position of the selected reference point and the actual position of the corresponding feature point on the affected area exceeds a predetermined distance, the reference point is re-selected. The method for positioning an endoscope according to claim 6, wherein the number of the feature points is at least four; the number of the reference points is at least four. The method for positioning an endoscope as claimed in claim 6, further comprising planning a navigation path from the image; and displaying the navigation path on the image in the first display area.

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