WO2020127751A1 - Commande de mouvement de caméra - Google Patents

Commande de mouvement de caméra Download PDF

Info

Publication number
WO2020127751A1
WO2020127751A1 PCT/EP2019/086331 EP2019086331W WO2020127751A1 WO 2020127751 A1 WO2020127751 A1 WO 2020127751A1 EP 2019086331 W EP2019086331 W EP 2019086331W WO 2020127751 A1 WO2020127751 A1 WO 2020127751A1
Authority
WO
WIPO (PCT)
Prior art keywords
camera
control
endoscope
actuator unit
wheels
Prior art date
Application number
PCT/EP2019/086331
Other languages
German (de)
English (en)
Inventor
Ronald KEFURT
Original Assignee
Kefurt Ronald
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kefurt Ronald filed Critical Kefurt Ronald
Publication of WO2020127751A1 publication Critical patent/WO2020127751A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
    • A61B1/00042—Operational features of endoscopes provided with input arrangements for the user for mechanical operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00045—Display arrangement
    • A61B1/00048—Constructional features of the display
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00066—Proximal part of endoscope body, e.g. handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052—Constructional details of control elements, e.g. handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/045—Control thereof
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/012—Head tracking input arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00112—Connection or coupling means
    • A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
    • A61B1/00128—Connectors, fasteners and adapters, e.g. on the endoscope handle mechanical, e.g. for tubes or pipes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00207—Electrical control of surgical instruments with hand gesture control or hand gesture recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00216—Electrical control of surgical instruments with eye tracking or head position tracking control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/368—Correlation of different images or relation of image positions in respect to the body changing the image on a display according to the operator's position
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/372—Details of monitor hardware
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/502—Headgear, e.g. helmet, spectacles
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays
    • G02B27/017—Head mounted
    • G02B2027/0178—Eyeglass type
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/0093—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 with means for monitoring data relating to the user, e.g. head-tracking, eye-tracking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality

Definitions

  • the invention relates to a camera movement control for a camera of an endoscope with a camera control unit which can be operated by camera control wheels for controlling the
  • the field of application of the invention is in particular flexible endoscopes, primarily in medical but also in
  • Endoscopes come in numerous areas of technology and
  • the camera is preferably a video camera eithow supplies moving to the operator real-Z.
  • the endoscope is a tube system with a proximal end, which comprises a camera control unit, consisting of two wheels controlled by hand. This
  • Control unit enables movement of the distal end of the endoscope in two axes.
  • there is also a working channel at the proximal end which is used to insert devices such as needles, scissors, etc. to manipulate at the distal end
  • One or more light sources and a camera are located at the distal end.
  • Range are usually operated via two control wheels at the operating end of the endoscope - this means that the surgeons use two hands to guide the endoscope, back and forth, and to operate the endoscope camera
  • Endoscope cameras are known, but they are very
  • the object of the invention is to provide a camera movement control of the type mentioned above, which enables operation without a hand, so that in addition to the “leading” hand, a second hand is freely available.
  • Another task is to specify a camera control with which existing endoscopes can be retrofitted and which can be operated mechanically again very quickly if the camera control malfunctions.
  • Actuator unit for driving the camera steering wheels of the
  • Camera control unit is provided, and that the actuator unit at one endoscope operating end of the endoscope can be brought into engagement with the camera control wheels and by one
  • Quick release fastener can be fixed.
  • the actuator unit provided according to the invention enables the surgeons to control the endoscope camera, e.g. over head movements or gestures, and to use the free hand for other activities.
  • the actuator unit can be removed, whereupon the manual, analog control wheels of the endoscope are again available.
  • the actuator unit can be removed, whereupon the manual, analog control wheels of the endoscope are again available.
  • Analog / conventional endoscopes can be retrofitted.
  • head movement detection unit which is configured to detect and in head movements of the operator
  • the control of the camera is based on the head movements of the
  • control signals are then based on the invention
  • Endoscope attachable actuator unit added and in
  • the operator's head movement is mechanically converted to the endoscope, it can be used to perform significantly more complex movements.
  • the number of movement axes operated in the endoscope is not subject to any restrictions. In the case of a motion control of more than two axes, the number of control Z ahnun increased in each case by a
  • Head movement detection unit can be coupled with a mixed reality (MR) glasses, and the head movement detection unit configured to be directional and output from the MR glasses Convert position data into control signals for the actuator unit.
  • MR mixed reality
  • the movement control of the camera tip of the endoscope is thus carried out by the movement of the MR glasses on the head of the
  • Head movements of the operator are taken over or recorded by MR glasses, which in turn are recorded by an actuator unit that can be placed on analog endoscopes and in
  • a further embodiment of the invention can consist in that image signals output by the endoscope camera are displayed by the display unit of the MR glasses as an image, preferably (but not necessarily) as a 3D image.
  • the movement control of the camera can be combined with the display of a moving 3D image of the camera from the direction in which the camera is controlled by the head movement with the aid of the operator's head movements. This creates a natural perspective for the operator, e.g. during the surgical procedure with the MR glasses looks exactly in the direction in which the camera is to be pivoted, which enables intuitive camera control.
  • control by gestures of the operator can also be carried out. For example, closing the hand into a fist can be used for calibration, e.g. as the starting point of the movement. The further movement of the hand in the room leads to the control of the motors in direct relation to the axes. Furthermore, through live image recognition Points, areas, objects etc. are recognized and marked in the output stream of the endoscope. After marking the desired object, the change in position of the camera at the distal end of the flexible endoscope is determined by the electrical drive system of the actuator unit using a directly inversely proportional one
  • the actuator may comprise at least an electric motor having a drive shaft, via which control Z ahnson or timing-belt pulleys are driven which are coupled to the camera control wheels.
  • Torque transmission to the camera control wheels may control the Z ahnun each have a central hole, whose contours in a further embodiment of the invention
  • the movement control of the actuator can be advantageously carried out according to a further embodiment of the invention by the control ahnson with Z
  • Translation gears are in meshing engagement that on Drive shafts of the first and second motors are attached.
  • the actuator unit to be placed and be connected by the quick release fastener to the endoscope-operating-end, said ahnzier by the fitting operation, the actuator provided in the control with the Z
  • Steering wheels can be brought into engagement.
  • control pulleys can each have a central hole, the contours of which are adapted to the outer contours of the camera control wheels, so that when the actuator unit is placed on the endoscope operating end
  • Control pulleys are pushed over the camera control wheels and can be brought into engagement with each other coaxially.
  • the central hole of the control ahncken Z and the timing-belt pulleys of the respective design is adapted to the fullest possible frictional connection between control ahngann Z or to produce timing pulleys and camera control wheels.
  • control belt pulleys can each be coupled to drive pulleys of a first and a second electric motor via a V-belt and can be driven via these.
  • the control belt pulleys can each be coupled to drive pulleys of a first and a second electric motor via a V-belt and can be driven via these.
  • Control pulleys can each be formed from an inner part and an outer part, the outer circumference of the inner part and the inner circumference of the outer part being matched to one another and, when brought into engagement, form a form-fitting connection.
  • the inner part can be designed according to the contours of the different camera control wheels, while the outer part can be left unchanged. Then only the outer part of the control pulley always has to be placed on the respective adapted inner part and not the entire control pulley.
  • the actuator unit can be accommodated in an attachment, which is attached to the
  • Endoscope operating end is detachably fixable. This enables the actuator unit to be installed in a manageable manner
  • the quick-release fastener can thus be formed by any suitable, common fastener system.
  • the fast application and rapid removal of the actuator unit or the drive attachment that is made possible in the In the event of a technical failure or malfunction of the electric drive, manual control operation can be restored immediately.
  • the quick application also enables a quick change of the actuator unit to other endoscopes. This means that several endoscopes with only one actuator unit or only one drive attachment can be closed
  • Control gears or timing pulleys are included.
  • the control gears or control pulleys are interchangeable in order to be able to adapt the camera control wheels to different designs, which can vary from manufacturer to manufacturer.
  • Control pulleys are easily placed on the endoscope operating end and these are brought into engagement with the camera control wheels.
  • a further embodiment of the invention can consist in that the motors are coupled to a torque sensor which detects and outputs the torque currently applied by the motor.
  • a torque sensor which detects and outputs the torque currently applied by the motor.
  • the engine is switched off. Furthermore, the limitation of the torque is intended to prevent an undesirably high pressure of the distal end endoscope on its surroundings. Furthermore, the motor can be switched off if the operator's head and / or hand moves too quickly, which can be detected by acceleration sensors.
  • Fig.l and 2 is a schematic representation of an embodiment of the camera movement control according to the invention in one
  • FIGS. 1, 2 and 3 an exploded view and an oblique view of an embodiment of a half-open actuator unit of the camera movement control according to the invention according to FIGS. 1, 2 and 3;
  • FIGS. 8 and 9 show a side view and a rear view of the half-open actuator unit according to FIGS. 4 and 5; 10 shows an endoscope with an attached actuator unit according to FIGS. 4 to 9;
  • Fig.ll is a schematic plan view of another
  • FIG. 12 shows a schematic front view of the actuator unit according to FIG.
  • Fig.l and Fig.2 show an endoscope 10 with a
  • Endoscope tube 2 which has a camera 3 at its distal end, which is preferably formed by a video camera, and a camera movement controller 1 at its proximal operating end 4.
  • the distal end of the endoscope tube 2 can be controlled via inner cable pulls (not shown) and, as indicated by the arrows, can be pivoted up and down as well as to the left and to the right.
  • inner cable pulls not shown
  • a mechanism is provided in the operating end 4 of the endoscope tube 2, which acts on the cable pulls via camera control wheels 19, 20 (FIG. 3) and controls the movement of the camera 3 by an operator 15, e.g. an operator, by turning the camera control wheels 19, 20 by hand in a manner known per se.
  • FIG.l and 2 are the arrows
  • Movement angle ranges indicated for the camera namely up and down and right-left each + -180 °. This one too
  • the movement angle range can be designed differently as required.
  • the invention provides that one
  • Actuator unit 22 is provided for driving the camera control wheels 19, 20 of the camera control unit 21, which is shown in FIG. 3 in a side view, an exploded view and a view from below, in a state in which the
  • Actuator unit 22 is separated from the camera control unit 21.
  • the actuator unit 22 can be brought into engagement with the camera control wheels 19, 20 at the endoscope operating end 4 of the endoscope 3 and can be detachably fixed by a quick-release fastener 81, 82 (FIGS. 4, 5).
  • the invention thus comprises an electrically operated attachment to the existing one
  • a head movement detection unit 23 is provided, which is configured to detect head movements of the operator 15 and to convert them into control signals for the actuator unit 22, so that the control of the movement of the
  • Endoscope camera 3 by the head movements of the operator 15.
  • the head movement detection unit 23 is coupled to a mixed reality (MR) glasses 11, wherein the
  • Head movement detection unit 23 is configured, direction and position data output from the MR glasses 11 in
  • the communication links for all components used can be wired or wireless
  • two arithmetic units 30, 31 are exemplary of the conversion into control signals for the actuator unit 22, e.g. are realized by microcontrollers, shown in which software level 1 and software level 2 are located.
  • the software parameters 1 translate the MR parameters to universal ones
  • Direction and position data In software level 2, the direction and position data are converted into servo position data for the actuator unit 22.
  • the actuator unit 22 picks up the servo position data from software level 2 and drives the control unit 21 accordingly, by means of the
  • the movement control of the camera 3 of the endoscope 10 is thus carried out by the movement of the MR glasses 11 on the head of the operator 15.
  • the head movements of the operator 15 are recorded by MR glasses 11, and these in turn are converted by the actuator unit 22 into a movement of the control wheels 19, 20 of the camera control unit 21 in order to achieve the desired one
  • Embodiment realized two axes of movement of the endoscope camera 3, but only one or more than two can Movement axes can be provided. In the present case there is a pitching movement of the operator's head about an imaginary axis, that in the operator's neck transversely to the spine
  • Actuator unit 22 the two electric motors 41, 42 with
  • Control Z ahncken 51, 52 are driven, the camera 3 of the endoscope can be coupled with the steering wheels 19, 20 which are provided to control the camera position.
  • attachment housing part 70 is shown, which
  • Components of the actuator unit 22 are stored or to which they are attached.
  • the diameters of the control wheels 19, 20 can vary depending on the type.
  • the attachable actuator unit 22 can be any shape.
  • Steering wheel sizes can be adjustable.
  • the electric motors 41, 42 can be controlled continuously and smoothly.
  • the actuator unit 22 can be placed on the endoscope operating end 4 and can be fastened with a quick-release fastener 81, 82
  • Endoscope operating end 4 connectable, with the
  • the actuator unit 22 is detachably attached to the endoscope 10.
  • the housing 70 has a receiving device 80 for the band-shaped quick-release fastener 81, 82 with which the
  • Actuator unit 22 can be clamped to the operating end 4.
  • the quick fastener 81, 82 is necessary in the case of a
  • the control Z ahncken 51, 52, 58 each have a central hole 57, on whose contours to the outer contours of the control wheels 51,
  • the applied torque can be transmitted to the control wheels 19, 20 without jerking.
  • the control Z ahnate 19, 20 are on the outer circumference with
  • Gear wheels 54, 55 in meshing engagement on drive shafts 43, 44 of the first and second motors
  • the actuator unit 22 can be designed such that the
  • Steering wheel sizes are customizable.
  • control gear 52 is coupled to the control wheel 20 and that the control gear 51 is brought into engagement with the control wheel 19 on the level above.
  • the controlled camera 3 of the endoscope carries out an image / video transmission to the MR glasses 11 in order to provide the operator with a visual representation of those recorded by the camera 3
  • MR glasses project onto 2 transparent monitors, in
  • the glasses are essentially left and right, each a visual signal (image signal from the endoscope camera 3). This Representation is perceived by the operator as a 2D or 3D image in front of the real room.
  • the glasses are oriented in space by sensors and can therefore digitally output any axis movements of their own.
  • the transparency of the monitors enables the real environment to be captured as usual and enriched or supplemented by digital signals (images).
  • the movement of the operator's head is recorded and translated into movement parameters.
  • control parameters of the actuator unit 22 can be selected via a user interface:
  • Zero position of the endoscope tip must be set automatically when (suddenly) exiting.
  • a hardware-related controller translates the position data of the hololens of the MR glasses 11 into control positions of the
  • Actuator unit 22 Output signals are therefore control pulses for the electric motors 41, 42 of the actuator unit 22.
  • the central ones are therefore control pulses for the electric motors 41, 42 of the actuator unit 22.
  • Control impulses are converted into control movements based on the position data supplied from the mixed reality application.
  • 11 and 12 show a further embodiment of the invention, in which an actuator unit 22 ′′ has two electric motors 101, 102
  • the control pulleys 104, 114 each have a central one
  • Camera control wheels 19, 20 are adapted so that when the actuator unit 22 'is placed on the endoscope operating end 4 the
  • Control pulleys 104, 114 are pushed over the camera control wheels 19, 20 and can be brought into engagement with one another coaxially thereon.
  • the timing pulleys 104, 114 are further formed each from an inner part 210 and an outer part 211, the outer periphery 270 of the inner part 210 and the inner periphery 271 of the outer part 211 are adapted to one another and, when brought into engagement with one another, form a positive connection.
  • the outer circumference of the inner part 210 and the inner circumference of the outer part 211 are wavy in Fig.ll, but can also be formed by other geometric figures.
  • the actuator unit 22 ′′ is accommodated in an attachment 209, which can be detachably fastened to the endoscope operating end 4 by the quick fastener 107, the quick fastener 107 being an elastic belt which can be guided around the endoscope operating end 4 and through a quick release device, for example a buckle or Velcro fastener, push button, can be closed.
  • a quick release device for example a buckle or Velcro fastener, push button
  • the attachment 209 is designed as an open housing on its underside and in this are the motors 101, 102 and
  • Timing pulleys 104, 114 added.
  • Torque sensor are coupled, which detects and outputs the torque currently applied by the engine. An increase in the detected torque is detected and when a preset threshold value is exceeded, the

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Endoscopes (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)

Abstract

L'invention concerne une commande de mouvement de caméra (1) pour une caméra (3) d'un endoscope, (10) comprenant une unité de commande de caméra (21) pouvant être actionnée par des roues de commande de caméra (19, 20) et étant destinée à permettre la commande des mouvements de caméra par un opérateur (15), un ensemble actionneur (22, 22'), destiné à entraîner les roues de commande de caméra (19, 20) de l'unité de commande de caméra (21), étant prévu et ledit ensemble actionneur (22, 22') pouvant être mis en contact avec les roues de commande de caméra (19, 20), à une extrémité d'actionnement d'endoscope (4) de l'endoscope (3), et pouvant être fixé de manière détachable par une fermeture rapide (81, 82, 107).
PCT/EP2019/086331 2018-12-19 2019-12-19 Commande de mouvement de caméra WO2020127751A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA382/2018 2018-12-19
ATA382/2018A AT522029B1 (de) 2018-12-19 2018-12-19 Kamerabewegungssteuerung

Publications (1)

Publication Number Publication Date
WO2020127751A1 true WO2020127751A1 (fr) 2020-06-25

Family

ID=69157789

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2019/086331 WO2020127751A1 (fr) 2018-12-19 2019-12-19 Commande de mouvement de caméra

Country Status (2)

Country Link
AT (1) AT522029B1 (fr)
WO (1) WO2020127751A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05300873A (ja) * 1992-04-28 1993-11-16 Olympus Optical Co Ltd 内視鏡用湾曲制御装置
US20100268031A1 (en) * 2008-10-22 2010-10-21 Koyama Reiji Electric bending endoscope
DE202010009234U1 (de) * 2010-06-18 2011-11-02 Martin Neumann Endoskopiervorrichtung
EP2856923A1 (fr) * 2012-05-29 2015-04-08 Tokyo Institute of Technology Système d'actionnement d'endoscope

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180333046A1 (en) * 2017-05-16 2018-11-22 Mehringer-Pieper Innovations, LLC Endoscopic camera control system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05300873A (ja) * 1992-04-28 1993-11-16 Olympus Optical Co Ltd 内視鏡用湾曲制御装置
US20100268031A1 (en) * 2008-10-22 2010-10-21 Koyama Reiji Electric bending endoscope
DE202010009234U1 (de) * 2010-06-18 2011-11-02 Martin Neumann Endoskopiervorrichtung
EP2856923A1 (fr) * 2012-05-29 2015-04-08 Tokyo Institute of Technology Système d'actionnement d'endoscope

Also Published As

Publication number Publication date
AT522029A1 (de) 2020-07-15
AT522029B1 (de) 2021-03-15

Similar Documents

Publication Publication Date Title
EP3130305B1 (fr) Bras de support medical
EP2792341B1 (fr) Procédé et dispositif destinés à la commande d'une table d'opération
WO2015078585A2 (fr) Bras de robot comportant un module d'entrée de données
EP3247303A1 (fr) Système de téléopération à retour de force haptique intrinsèque par adaptation dynamique des caractéristiques de la force de préhension et des coordonnées de l'effecteur terminal
DE102012110190B4 (de) Manuell betätigte Robotersteuerung und Verfahren zum Steuern eines Robotersystems
WO2016075241A1 (fr) Bras de support intelligent pour chirurgie de la tête avec commandes sensibles au contact
DE202013012268U1 (de) Manuelles Steuersystem zum Manövrieren eines Endoskops
EP3119564A1 (fr) Doigt de préhension, pointe de préhension et mâchoire de préhension, ainsi que système robotique
EP3753520A1 (fr) Dispositif de manipulation médical de commande d'un dispositif de manipulation
DE102013004692A1 (de) 3D-Eingabegerät mit einem zusätzlichen Drehregler
EP2689716B1 (fr) Endoscope
EP2907468A1 (fr) Élément de commande pour un dispositif de positionnement d'un dispositif médical
WO2016096456A1 (fr) Procédé permettant de coupler et de découpler de manière fiable un appareil d'entrée de données
DE202010009234U1 (de) Endoskopiervorrichtung
DE102014016824A1 (de) Intelligenter Haltearm für die Kopfchirurgie mit berührungsempfindlicher Bedienung
EP3363399B1 (fr) Unité de commande pour un système chirurgical assisté par robot
WO2020127751A1 (fr) Commande de mouvement de caméra
DE202013004682U1 (de) Endoskopievorrichtung
DE102016117751A1 (de) Medizinischer Haltearm mit mechatronischer Schnittstelle und System aus dem Haltearm und einem Assistenzsystem
DE102016211209A1 (de) Steuerung eines Kraftfahrzeugs
DE102004009135B3 (de) Vorrichtung zur von Hand fernsteuerbaren Navigation einer in einen menschlichen Körper einführbaren Sonde
WO2005047076A1 (fr) Dispositif pour utiliser un vehicule
DE102021110086A1 (de) Manuell betätigbare Steuervorrichtung und medizinisches Instrument mit einer derartigen Steuervorrichtung
DE112016003481T5 (de) Manipulatorsystem
EP3753521A1 (fr) Dispositif de manipulation médical d'un dispositif de manipulation

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19835386

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: FESTSTELLUNG EINES RECHTSVERLUSTS NACH REGEL 112(1) EPUE (EPA FORM 1205A VOM 17/09/2021)

122 Ep: pct application non-entry in european phase

Ref document number: 19835386

Country of ref document: EP

Kind code of ref document: A1