WO2021056124A1 - 内视镜的辅助操作结构 - Google Patents

内视镜的辅助操作结构 Download PDF

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Publication number
WO2021056124A1
WO2021056124A1 PCT/CN2019/000191 CN2019000191W WO2021056124A1 WO 2021056124 A1 WO2021056124 A1 WO 2021056124A1 CN 2019000191 W CN2019000191 W CN 2019000191W WO 2021056124 A1 WO2021056124 A1 WO 2021056124A1
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WIPO (PCT)
Prior art keywords
pressing
endoscope
module
manipulator
turntable
Prior art date
Application number
PCT/CN2019/000191
Other languages
English (en)
French (fr)
Inventor
陈明尧
Original Assignee
宝麒铭投资股份有限公司
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Application filed by 宝麒铭投资股份有限公司 filed Critical 宝麒铭投资股份有限公司
Priority to PCT/CN2019/000191 priority Critical patent/WO2021056124A1/zh
Priority to US17/762,998 priority patent/US20220354341A1/en
Priority to JP2022518408A priority patent/JP7354428B2/ja
Publication of WO2021056124A1 publication Critical patent/WO2021056124A1/zh

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    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00011—Operational features of endoscopes characterised by signal transmission
    • A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
    • 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
    • A61B1/00011—Operational features of endoscopes characterised by signal transmission
    • A61B1/00018—Operational features of endoscopes characterised by signal transmission using electrical cables
    • 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
    • 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
    • A61B1/00112—Connection or coupling means
    • A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
    • A61B1/00124—Connectors, fasteners and adapters, e.g. on the endoscope handle electrical, e.g. electrical plug-and-socket connection
    • 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
    • A61B1/00131—Accessories for endoscopes
    • A61B1/0014—Fastening element for attaching accessories to the outside of an endoscope, e.g. clips, clamps or bands
    • 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
    • A61B1/05—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 characterised by the image sensor, e.g. camera, being in the distal end portion
    • 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
    • A61B1/06—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 with illuminating 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
    • A61B1/06—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 with illuminating arrangements
    • A61B1/0661—Endoscope light sources
    • A61B1/0676—Endoscope light sources at distal tip of an 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
    • A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
    • A61B1/2736—Gastroscopes
    • 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
    • A61B1/31—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 for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes

Definitions

  • the invention relates to the related technical field of surgical medical instruments and instruments, in particular to an auxiliary operation structure of an endoscope.
  • endoscopy such as gastroscopes and colonoscopy
  • gastroscopes and colonoscopy can be used not only as invasive detection instruments, but also for minimally invasive surgery.
  • endoscopy for local resection, so as to avoid the pain of traditional surgical treatment.
  • FIG. 1A shows a perspective view of a conventional endoscope
  • FIG. 1B shows a perspective view of another conventional endoscope
  • the endoscope 1'shown in FIG. 1A and FIG. 1B is a gastroscope (Gastroscope), and its structure includes: an operating module 11', a cable set 12', and a pipe 13'.
  • the cable set 12' is connected between the operating module 11' and a host (not shown).
  • one end of the pipe 13' is connected to the operation module 11', and the other end is equipped with an illumination unit and a camera unit.
  • the operation module 11' of the endoscope 1' will be provided with a plurality of control units, including: image fixing button F1', first function button F2', second function button F3', and third function Button F4', suction button F5', fluid delivery button F6', instrument insertion channel F7', first fixed knob F8', first angle adjustment dial F9', second fixed knob F10', and second angle adjustment Turntable F11'.
  • the doctor When using the endoscope 1', the doctor will hold the operating module 11' with one hand (for example, the right hand), and use the other hand (for example: the left hand) as a feeding mechanism for the duct 13' .
  • the doctor uses his left hand to deliver the tube 13' into a patient's body, and then uses the lighting unit and the camera unit at the front end of the tube 13' to capture an image of a part to be detected or a part to be operated in the patient's body.
  • the physician when the tube 13' is located in the patient's body, the physician must manipulate the plurality of control units on the operating module 11'. For example, when the doctor rotates the first angle adjustment dial F9', the front end of the tube 13' will move left/right.
  • the doctor rotates the second angle adjustment dial F11', the front end of the tube 13' will move up/down. Further, after the front end of the pipe 13' is gradually fed and moved to the site to be operated, the doctor can then send a surgical instrument into the site to be operated through the device insertion channel F7', and then use the operation The instrument performs a minimally invasive surgical treatment on the site to be operated.
  • the main purpose of the present invention is to provide an auxiliary operation structure of the endoscope.
  • the physician can easily control the internal control device by manipulating the manipulator with his hands.
  • the control module of the endoscope is used to operate the endoscope to complete an invasive detection or a minimally invasive operation.
  • the doctor's hands do not need to hold the control module of the endoscope, so it will not cause any burden or injury to the doctor's wrist or arm.
  • the inventor of the present case provides the auxiliary operation structure of the endoscope, which includes a control module, a man-machine interface module, and a clamping module;
  • the control module includes an endoscope, a plurality of pressing units, a plurality of turntable driving units, and a plurality of knob driving units; wherein the endoscope includes an operating module, a cable set, and a pipe, one end of the pipe is connected
  • the operation module has a lighting unit and a camera unit mounted on the other end.
  • the operation module is provided with a plurality of buttons, a plurality of dials, and a plurality of knobs; wherein the plurality of pressing units are connected to the plurality of the operation module Keys; the plurality of turntable drive units are connected to the plurality of turntables of the operation module; the plurality of knob drive units are connected to the plurality of knobs of the operation module;
  • the man-machine interface module includes a host, a display screen, and a manipulator.
  • the host is signal-connected to the display screen and the manipulator.
  • the host is connected to the plurality of pressing units and the plurality of turntable drives in a wired or wireless manner.
  • Unit and the plurality of knob drive units, the cable set of the endoscope is connected between the operation module and the host;
  • the clamping module is connected to the host in a wired or wireless manner to allow the pipeline to penetrate the clamping module and stabilize the pipeline, and then perform forward and backward movement control of the pipeline based on the control of the manipulator, so that the pipeline A front end moves back and forth toward a patient's part to be tested or an operation part;
  • each of the pressing units can be driven to correspondingly press each of the keys
  • each of the turntable driving units can be driven to correspondingly drive each of the turntables to rotate
  • each of the knobs The driving unit can be driven to correspondingly drive each of the knobs to rotate.
  • the controller is one or a combination of the following: joystick, mouse, keyboard, touch screen, handle, steering wheel, but not limited to this.
  • the auxiliary operation structure of the endoscope of the present invention further includes a box for the endoscope, the plurality of pressing units, the plurality of turntable driving units, and the plurality of knob driving units It is contained therein, and a front end of the pipe of the endoscope and a main electrical connection end of the cable set are both exposed outside the box body.
  • a motor inside the clamping module there is a motor inside the clamping module, the rotating shaft of the motor extends out to form an extension shaft, the extension shaft is provided with a transfer wheel, and the pipe enters the clamp through an entrance of the clamping module Holding module, the pipe is carried on the transfer wheel in the internal part of the clamping module, the pipe contacts a roller fixed inside the clamping module above the internal part of the clamping module, and the pipe depends on the clamping module
  • An outlet of the module enters the clamping module, so that the pipe is movably clamped by the transfer wheel and the roller, and the transfer wheel rotates in different directions to drive the pipe to move forward and backward steadily.
  • the plurality of buttons of the operation module include: an image fixing button, a first function button, a second function button, a third function button, A button for enabling suction and a button for fluid delivery.
  • the plurality of pressing units include:
  • a first pressing unit connected to the image fixing button for pressing the image fixing button based on the control of the manipulator;
  • a second pressing unit connected to the first function button, for pressing the first function button based on the control of the manipulator;
  • a third pressing unit connected to the second function button, for pressing the second function button based on the control of the manipulator;
  • a fourth pressing unit connected to the third function button, for pressing the third function button based on the control of the manipulator;
  • a fifth pressing unit connected to the attraction activation button for pressing the attraction activation button based on the control of the manipulator;
  • a sixth pressing unit is connected to the fluid delivery button for pressing the fluid delivery button based on the control of the manipulator.
  • the first pressing unit, the second pressing unit, the third pressing unit, the fourth pressing unit, the fifth pressing unit, and the second pressing unit are any one of the following: an electrically-driven keystroke or a cylinder-type keystroke.
  • the plurality of turntables include: a first angle adjustment turntable and a second angle adjustment turntable.
  • the plurality of turntable drive units include:
  • a first turntable drive unit connected to the first angle adjustment turntable, for driving the first angle adjustment turntable to rotate by an angle based on the control of the manipulator;
  • a second turntable driving unit is connected to the second angle adjustment turntable for driving the second angle adjustment turntable to rotate by an angle based on the control of the manipulator.
  • the first turntable driving unit and the second turntable driving unit are both a rotatable turntable package, and each is driven by a motor to rotate .
  • the plurality of knobs include: a first fixed knob and a second fixed knob.
  • the plurality of knob driving units includes:
  • a first knob driving unit connected to the first fixed knob for driving the first fixed knob to rotate by an angle based on the control of the manipulator;
  • a second knob driving unit is connected to the second fixed knob for driving the second fixed knob to rotate by an angle based on the control of the manipulator.
  • the first knob driving unit and the second knob driving unit are both a rotatable turntable kit or a conveyor belt, and each is driven by a motor While turning.
  • the main advantage of the present invention is that when the auxiliary operation structure of the endoscope of the present invention is applied, the physician can easily control the control module of the endoscope to operate the inner endoscope as long as the doctor manipulates the manipulator with his hands.
  • the sight glass completes an invasive inspection or a minimally invasive surgery.
  • the doctor's hands do not need to hold the control module of the endoscope, so it will not cause any burden or injury to the doctor's wrist or arm.
  • Fig. 1A shows a perspective view of a conventional endoscope
  • FIG. 1B shows another perspective view of the existing endoscope
  • Fig. 2 shows an application schematic diagram of an auxiliary operation structure of an endoscope of the present invention
  • 3A shows a schematic diagram of the clamping module of the auxiliary operation structure of the endoscope of the present invention
  • 3B shows another schematic diagram of the clamping module of the auxiliary operation structure of the endoscope of the present invention
  • FIG. 4 shows a perspective view of an endoscope incorporating the auxiliary operation structure of the endoscope of the present invention
  • Figure 5 shows a perspective view of the endoscope combined with the auxiliary operation structure of the endoscope of the present invention from another perspective;
  • Fig. 6 shows the auxiliary operation structure of the endoscope of the present invention and a perspective view of the endoscope
  • Fig. 7 shows the auxiliary operation structure of the endoscope of the present invention and a perspective view of the endoscope.
  • FIG. 2 shows the application schematic diagram of the auxiliary operation structure of the endoscope of the present invention
  • FIG. 3A shows the schematic diagram of the clamping module of the auxiliary operation structure of the endoscope of the present invention
  • FIG. 3B shows the auxiliary operation of the endoscope of the present invention
  • FIG. 4 shows a perspective perspective view of an endoscope combined with the auxiliary operation structure of the endoscope of the present invention
  • FIG. 5 shows the auxiliary operation structure of the endoscope combined with the present invention Another perspective view of the endoscope.
  • the auxiliary operation structure 1 of the endoscope of the present invention includes a control module 10, a man-machine interface module 30, and a clamping module 12;
  • the control module 10 includes an endoscope 2, a plurality of pressing units, a plurality of turntable driving units, and a plurality of knob driving units; wherein the endoscope 2 includes an operating module 21, a cable set 22, and a pipe 23 One end of the pipe 23 is connected to the operating module 21, and the other end is equipped with a lighting unit and a camera unit.
  • the operation module 21 is provided with a plurality of buttons, a plurality of turntables, and a plurality of knobs; wherein the plurality of pressing units are connected to the plurality of buttons of the operation module; the plurality of turntable drive units are connected to the operation module The plurality of turntables; the plurality of knob drive units are connected to the plurality of knobs of the operation module;
  • the man-machine interface module 30 includes a host 32, a display screen 31, and a manipulator 15.
  • the host 32 is connected to the display screen 31 and the manipulator 15, and the host 32 is wired or wirelessly connected to the plurality of The pressing unit, the plurality of turntable drive units and the plurality of knob drive units, the cable set 22 of the endoscope 2 is connected between the operation module 21 and the host 32;
  • the clamping module 12 is arranged between the control module 10 and the patient, and is signal-connected to the control module 10, and is connected to the host 32 through the control module 10 in a wired or wireless manner for the pipe 23 to penetrate the Clamp the module 12 and stabilize the pipeline 23, and then perform forward and backward movement control of the pipeline 23 based on the control of the manipulator 15, so that a front end of the pipeline 23 moves forward and backward toward a patient's part to be tested or a surgical site;
  • the manipulator 15 when the manipulator 15 is operated, the manipulator 15 transmits a control signal to the host 32, and then passes through the host 32 and the plurality of pressing units, the plurality of dial drive units and the plurality of knob drive units. Wired or wirelessly connected, the host 32 can transmit control signals to it, so by operating the manipulator 15, each of the pressing units can be driven to press each of the keys correspondingly, and each of the turntable drive units can be Drive to drive each of the turntables to rotate correspondingly, and each of the knob driving units can be driven to correspondingly drive each of the knobs to rotate.
  • FIGS. 4, 5, and 6 show that the plurality of buttons include: an image fixing button F1, a first function button F2 (FIG. 5), a second function button F3, and a third function button.
  • Function button F4 Figure 5
  • a suction activation button F5 and a fluid delivery button F6.
  • the plurality of turntables includes a first angle adjustment dial F9 (FIG. 6) and a second angle adjustment dial F11 (FIG. 6)
  • the plurality of knobs includes a first fixed knob F8 (FIG. 6) and a second angle adjustment dial F11 (FIG. 6).
  • Two fixed knob F10 Figure 6).
  • FIG. 6 shows the auxiliary operation structure of the endoscope of the present invention and a perspective perspective view of the endoscope
  • FIG. 7 shows the auxiliary operation structure and the endoscope of the endoscope of the present invention. A perspective view of the mirror.
  • the plurality of pressing units includes: a first pressing unit P1, a second pressing unit P2, and a third pressing unit P3 , A fourth pressing unit P4 (FIG. 6), a fifth pressing unit P5, and a sixth pressing unit P6.
  • the first pressing unit P1 is connected to the image fixing button F1 for pressing the image fixing button F1 based on the control of the manipulator 15.
  • the second pressing unit P2 is connected to the first function button F2 for pressing the first function button F2 based on the control of the manipulator 15.
  • the third pressing unit P3 is connected to the second function button F3 for pressing the second function button F3 based on the control of the manipulator 15.
  • the fourth pressing unit P4 is connected to the third function button F4 for pressing the third function button F4 based on the control of the manipulator 15.
  • the fifth pressing unit P5 is connected to the attraction activation button F5 for pressing the attraction activation button F5 based on the control of the manipulator 15.
  • the sixth pressing unit P6 is connected to the fluid delivery button F6 for pressing the fluid delivery button F6 based on the control of the manipulator 15.
  • 4, 5, 6, and 7 illustrate the first pressing unit P1, the second pressing unit P2, the third pressing unit P3, the fourth pressing unit P4, the fifth pressing unit P5,
  • the sixth pressing unit P6 is a cylinder type keystroke.
  • each of the pressing units (P1 to P6) may also be an electrically driven keystroke.
  • the present invention makes the plurality of turntable drive units include a first turntable drive unit D1 (FIG. 7) and a second turntable drive unit D2 ( Figure 7).
  • first turntable driving unit D1 is connected to the first angle adjustment turntable F9 for driving the first angle adjustment turntable based on the control of the manipulator 15 F9 rotates an angle.
  • second turntable driving unit D2 is connected to the second angle adjustment turntable F11 for driving the second angle adjustment turntable F11 to rotate by an angle based on the control of the manipulator 15.
  • Figures 4, 5, 6, and 7 show that the first turntable drive unit D1 and the second turntable drive unit D2 are both a rotatable turntable kit, and are based on a first motor D11 ( Figure 6) It rotates with the driving of a second motor D21 ( Figure 7).
  • the present invention allows the plurality of knob driving units to include a first knob driving unit S1 (FIG. 7) and a second knob driving unit S2 (FIG. 7 ).
  • the first knob driving unit S1 is connected to the first fixed knob F8 (FIG. 6) for driving the first knob based on the control of the manipulator 15
  • the fixed knob F8 rotates one angle.
  • the second knob driving unit S2 is connected to the second fixed knob F10 for driving the second fixed knob F10 to rotate by an angle based on the control of the manipulator 15.
  • the first knob driving unit S1 is a rotatable turntable kit
  • the second knob driving unit S2 is a conveyor belt, and both are based on a first Three motors S11 and a fourth motor S21 are driven to rotate.
  • FIG. 2 shows the controller 15 as a joystick device
  • the implementable aspect of the controller 15 should not be limited to a joystick.
  • the controller 15 may be One or a combination of the following: joystick, mouse, keyboard, touch screen, handle, steering wheel, but not limited to this.
  • the manipulator 15 is connected to the plurality of pressing units (P1 to P6), the plurality of turntable drive units (D1 to D2) and the plurality of knob drives through the host 32 in a wired or wireless manner Unit (S1 ⁇ S2).
  • the user controls each of the pressing units (P1 to P6) by operating the manipulator 15 to correspondingly press each of the buttons ( F1 to F6), to drive each of the turntable drive units (D1 to D2) to correspondingly drive each of the turntables (F9, F11) on the operating module 21 to rotate, and/or to make each of the knob drive units (S1 ⁇ S2) correspondingly drive each of the knobs (F8, F10) to rotate.
  • the endoscope 2 in the case of applying the auxiliary operation structure 1 of the endoscope of the present invention, the endoscope 2, the plurality of pressing units, the plurality of turntable driving units, and the plurality of knob driving units are accommodated In a box 11, a front end of the pipe 23 of the endoscope 2 and a main electrical connection end of the cable set 22 are exposed outside the box 11. Further, the physician can sit in front of a control table, where a display screen 31 and a host 32 are provided on the control table. Then, as long as the doctor uses his hands to control the manipulator 15 placed on the desktop of the control table, he can easily control the endoscope 2 without causing any burden or injury to the doctor's wrist or arm.
  • the doctor can manipulate the manipulator 15 so that the pipe 23 passing through the clamping module 12 is fed by the clamping module 12 and moves toward a target, such as a patient. A part of the body to be tested or a part to be operated on. Then, the physician can use the lighting unit and the camera unit at the front end of the pipe 23 to capture images of the part to be inspected or the part to be operated, and the relevant images will be displayed on the display screen 31 in real time under the control of the host 32.
  • the doctor can then send a surgical instrument into the site to be operated through an instrument insertion channel F7, and then use the operation
  • the instrument performs a minimally invasive surgical treatment on the site to be operated.
  • the clamping module 12 has a motor 46 inside.
  • the rotation shaft of the motor 46 extends to form an extension shaft 45.
  • the extension shaft 45 is provided with a transmission wheel 42.
  • the pipe 23 enters the clamping module 12 via an inlet 47 of the clamping module 12, the pipe 23 is carried on the transfer wheel 42 inside the clamping module 12, and the pipe 23 is inside the clamping module 12 The upper part of the part contacts a roller 44 fixed inside the clamping module 12.
  • the pipe 23 leaves the clamping module 12 by means of an outlet 48 of the clamping module 12, so that the pipe 23 can be moved by the conveying wheel 42. Clamping with the roller 44, by virtue of the rotation of the transfer wheel 42 in different directions, drives the pipe 23 to move steadily back and forth, so that the pipe 23 can be introduced into the surgical site or withdrawn from the surgical site.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biophysics (AREA)
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  • Optics & Photonics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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  • Gastroenterology & Hepatology (AREA)
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Abstract

一种内视镜的辅助操作结构（1），包括：一控制模块（10）、一人机界面模块（30）与一夹持模块（12）；该控制模块（10）的复数个按压单元（P1、P2、P3、P4、P5、P6）、复数个转盘驱动单元（D1、D2）、复数个旋钮驱动单元（S1、S2）连接至控制模块（10）的一内视镜（2）的一操作模块（21）之上的复数个控制单元。在此内视镜（2）的辅助操作结构（1）的情况下，医师只要以其双手置于操控器（15）进行操控，便可以很轻松地控制内视镜（2）的操作模块（21），以操作该内视镜（2）完成一侵入式检测或一微创手术。于侵入式检测或微创手术的过程中，对医师的双手无须握持内视镜（2）的操作模块（21），因此不会对医师的手腕或手臂造成额外的负担或职业伤害。

Description

内视镜的辅助操作结构 技术领域
本发明涉及手术医疗器械与仪器的相关技术领域，尤指一种内视镜的辅助操作结构。
背景技术
随着医疗仪器和技术的进步，胃镜、大肠镜等内视镜(Endoscopy)不仅可以作为侵入式检测的仪器，也能用来进行微创手术。例如：在肿瘤侵犯深度未超过黏膜下层且无淋巴转移的情况下，就可以考虑利用内视镜来进行局部切除就好，免除传统手术治疗的痛苦。
图1A显示现有的一种内视镜的一视角立体图，且图1B显示现有的内视镜的另一视角立体图。更详细地说明，图1A和图1B所示的内视镜1’为一胃镜(Gastroscope)，其结构包括：一操作模块11’、一电缆线组12’、以及一管道13’。其中，该电缆线组12’连接于该操作模块11’和一主机(未图标)之间。并且，该管道13’的一端连接该操作模块11’，且其另一端搭载有照明单元和摄像单元。依据目前常见的设计，内视镜1’的操作模块11’上会设有复数个控制单元，包括：影像固定按键F1’、第一功能按键F2’、第二功能按键F3’、第三功能按键F4’、启用吸引按键F5’、流体输送按键F6’、器械置入通道F7’、第一固定旋钮F8’、第一角度调整转盘F9’、第二固定旋钮F10’、以及第二角度调整转盘F11’。
使用此内视镜1’时，医师会以其一只手(例如：右手)握持该操作模块11’，并以其另一只手(例如：左手)作为该管道13’的一馈送机构。简单地说，医师使用其左手将管道13’送入一患者的体内，接着利用管道13’前端的照明单元和摄像单元撷取该患者体内的一待检测部位或一待手术部位的影像。特别说明的是，当管道13’位于患者的体内的时，医师必须操控该操作模块11’之上的该复数个控制单元。举例而言，在医师转动该第一角度调整转盘F9’时，管道13’的前端即会往左/往右移动。另一方面，在医师转动该第二角度调整转盘F11’时，管道13’的前端即会往上/往下移动。进一步地，在管道13’的前端被逐渐地馈送移动至该待手术部位之后，医师便可接着通过该器械置入通道F7’将一手术器械送入该待手术部位之处，接着以该手术器械对该待手术部位执行一微创手术处理。
由上述说明可知，医师在操作如图1A和图1B所示的内视镜1’的时，其右手必须持续地握持、控制所述内视镜1’的操作模块11’，直至管道13’的前端被逐渐地馈送至患者体内的一目标部位(如待手术部位或待检测部位)。在长时间握持操作模块11’的情况下，医师的手腕及/或手臂必然会感到酸痛，严重者还可能造成医师的手腕及/或手臂受到伤害。
由上述说明可知，实有必要设计出一套辅助机构用以结合至如图1所示的内视镜1’，令医师可以在不握持该操作模块11’和该管道13’的情况下，通过操作该辅助机构即可使用该内视镜1’完成一侵入式检测或一微创手术。有鉴于此，本案发明人系极力加以研究，而终于研发完成本发明的一种内视镜的辅助操作结构。
发明内容
本发明的主要目的在于提出一种内视镜的辅助操作结构，在应用本发明的内视镜的辅助操作结构的情况下，医师只要以其双手操控该操控器，便可以很轻松地控制内视镜的操控模块，以操作该内视镜完成一侵入式检测或一微创手术。于侵入式检测或微创手术的过程中，对医师的双手无须握持内视镜的操控模块，因此不会对医师的手腕或手臂造成任何负担或伤害。
另一方面，对于操作内视镜的医师而言，其在使用本发明的内视镜的辅助操作结构的情况下，也能够通过前述操控器而直觉地操作内视镜，进而顺利地完成一侵入式检测或一微创手术。
为了达成上述本发明的主要目的，本案发明人提供所述内视镜的辅助操作结构，包括一控制模块、一人机界面模块与一夹持模块；
该控制模块包括一内视镜、复数个按压单元、复数个转盘驱动单元与复数个旋钮驱动单元；其中该内视镜包括一操作模块、一电缆线组、以及一管道，该管道的一端连接该操作模块，且其另一端搭载有照明单元和摄像单元，该操作模块之上设有复数个按键、复数个转盘、与复数个旋钮；其中该复数个按压单元，连接至该操作模块的复数个按键；该复数个转盘驱动单元，连接至该操作模块的复数个转盘；该复数个旋钮驱动单元，连接至该操作模块的复数个旋钮；
该人机界面模块包括一主机、一显示屏幕与一操控器，该主机系信号连接该显示屏幕与该操控器，该主机并以有线或无线方式连接该复数个按压单元、 该复数个转盘驱动单元与该复数个旋钮驱动单元，该内视镜的电缆线组连接于该操作模块和该主机之间；
该夹持模块其以有线或无线方式连接该主机，用以供该管道穿入该夹持模块并稳定该管道，进而基于该操控器的控制而对该管道执行前后移动控制，使该管道的一前端朝向一病人的待测部位或手术部位前后移动；
其中，凭借操作该操控器，各所述按压单元能够被驱动以对应地按压各所述按键，各所述转盘驱动单元可被驱动以对应地带动各所述转盘进行转动，且各所述旋钮驱动单元可被驱动以对应地带动各所述旋钮进行转动。
于一可行实施例中，其中，该操控器是以下之一或以下的组合：游戏杆、鼠标、键盘、触摸屏、手把、方向盘，但不以此为限。
于一可行实施例中，本发明的内视镜的辅助操作结构更包括一箱体，用以将该内视镜、该复数个按压单元、该复数个转盘驱动单元、和复数个旋钮驱动单元容置于其中，且该内视镜的该管道的一前端和该电缆线组的一主电连接端都露出于该箱体之外。
于一可行实施例中，该夹持模块内部有一马达，该马达的转轴系延伸而出形成一延伸轴，该延伸轴上设有一传送轮，该管道凭借该夹持模块的一入口进入该夹持模块，该管道于该夹持模块内部部分系承载于该传送轮上，该管道于该夹持模块内部部分的上方接触一固设于该夹持模块内部的滚轮，该管道凭借该夹持模块的一出口离开入该夹持模块，使该管道可移动地被该传送轮与该滚轮夹持，凭借该传送轮不同方向的旋转，带动该管道稳定的前后移动。
于前述本发明的内视镜的辅助操作结构的实施例中，该操作模块的该复数个按键包括：一影像固定按键、一第一功能按键、一第二功能按键、一第三功能按键、一启用吸引按键、以及一流体输送按键。
于前述本发明的内视镜的辅助操作结构的实施例中，该复数个按压单元包括：
一第一按压单元，连接至该影像固定按键，用以基于该操控器的控制而按压该影像固定按键；
一第二按压单元，连接至该第一功能按键，用以基于该操控器的控制而按压该第一功能按键；
一第三按压单元，连接至该第二功能按键，用以基于该操控器的控制而按压该第二功能按键；
一第四按压单元，连接至该第三功能按键，用以基于该操控器的控制而按压该第三功能按键；
一第五按压单元，连接至该启用吸引按键，用以基于该操控器的控制而按压该启用吸引按键；以及
一第六按压单元，连接至该流体输送按键，用以基于该操控器的控制而按压该流体输送按键。
于前述本发明的内视镜的辅助操作结构的实施例中，该第一按压单元、该第二按压单元、该第三按压单元、该第四按压单元、该第五按压单元、以及该第六按压单元分别为下列任一：电驱动式的按键打击器或汽缸式按键打击器。
于前述本发明的内视镜的辅助操作结构的实施例中，该复数个转盘包括：一第一角度调整转盘以及一第二角度调整转盘。
于前述本发明的内视镜的辅助操作结构的实施例中，该复数个转盘驱动单元包括：
一第一转盘驱动单元，连接至该第一角度调整转盘，用以基于该操控器的控制而驱动该第一角度调整转盘转动一个角度；以及
一第二转盘驱动单元，连接至该第二角度调整转盘，用以基于该操控器的控制而驱动该第二角度调整转盘转动一个角度。
于前述本发明的内视镜的辅助操作结构的实施例中，该第一转盘驱动单元与该第二转盘驱动单元都为一可转动式的转盘套件，且系各自基于一马达的驱动而转动。
于前述本发明的内视镜的辅助操作结构的实施例中，该复数个旋钮包括：一第一固定旋钮以及一第二固定旋钮。
于前述本发明的内视镜的辅助操作结构的实施例中，该复数个旋钮驱动单元包括：
一第一旋钮驱动单元，连接至该第一固定旋钮，用以基于该操控器的控制而驱动该第一固定旋钮转动一个角度；以及
一第二旋钮驱动单元，连接至该第二固定旋钮，用以基于该操控器的控制而驱动该第二固定旋钮转动一个角度。
于前述本发明的内视镜的辅助操作结构的实施例中，该第一旋钮驱动单元与该第二旋钮驱动单元都为一可转动式的转盘套件或一传送带，且各自基于一马达的驱动而转动。
本发明的主要优点是：在应用本发明的内视镜的辅助操作结构的情况下，医师只要以其双手操控该操控器，便可以很轻松地控制内视镜的操控模块，以操作该内视镜完成一侵入式检测或一微创手术。于侵入式检测或微创手术的过程中，对医师的双手无须握持内视镜的操控模块，因此不会对医师的手腕或手臂造成任何负担或伤害。
另一方面，对于操作内视镜的医师而言，其在使用本发明的内视镜的辅助操作结构的情况下，也能够通过前述操控器而直觉地操作内视镜，进而顺利地完成一侵入式检测或一微创手术。
附图说明
图1A显示现有的一种内视镜的一视角立体图；
图1B显示现有的内视镜的另一视角立体图；
图2显示本发明的一种内视镜的辅助操作结构的应用示意图；
图3A显示本发明的内视镜的辅助操作结构夹持模块的示意图；
图3B显示本发明的内视镜的辅助操作结构夹持模块的另一示意图；
图4显示结合本发明的内视镜的辅助操作结构的一内视镜的一视角立体图；
图5显示结合本发明的内视镜的辅助操作结构的该内视镜的另一视角立体图；
图6显示本发明的内视镜的辅助操作结构和内视镜的一视角立体图；
图7显示本发明的内视镜的辅助操作结构和内视镜的一视角立体图。
附图标记说明：<本发明>内视镜的辅助操作结构1；控制模块10；箱体11；夹持模块12；操控器15；内视镜2；操作模块21；电缆线组22；管道23；人机界面模块30；显示屏幕31；主机32；传送轮42；滚轮44；延伸轴45；马达46；入口47；出口48；影像固定按键F1；第一功能按键F2；第二功能按键F3；第三功能按键F4；启用吸引按键F5；流体输送按键F6；器械置入通道F7；第一固定旋钮F8；第一角度调整转盘F9；第二固定旋钮F10；第二角度调整转盘F11；第一按压单元P1；第二按压单元P2；第三按压单元P3；第四按压单元P4；第五按压单元P5；第六按压单元P6；第一转盘驱动单元D1；第一马达D11；第二转盘驱动单元D2；第二马达D21；第一旋钮驱动单元S1；第三马达S11；第二旋钮驱动单元S2；第四马达S21；<现有>内视镜1’；操作模块11’；电缆线组12’；管道13’；影像固定按键F1’；第一功能按键F2’；第二功能 按键F3’；第三功能按键F4’；启用吸引按键F5’；流体输送按键F6’；器械置入通道F7’；第一固定旋钮F8’；第一角度调整转盘F9’；第二固定旋钮F10’；第二角度调整转盘F11’。
具体实施方式
为了能够更清楚地描述本发明所提出的一种内视镜的辅助操作结构，以下将配合图式，详尽说明本发明的较佳实施例。
图2显示本发明的一种内视镜的辅助操作结构的应用示意图，图3A显示本发明的内视镜的辅助操作结构夹持模块的示意图，图3B显示本发明的内视镜的辅助操作结构夹持模块的另一示意图，图4显示结合本发明的内视镜的辅助操作结构的一内视镜的一视角立体图，且图5显示结合本发明的内视镜的辅助操作结构的该内视镜的另一视角立体图。
如图2、图3A、图3B、图4、图5与图6所示，本发明的内视镜的辅助操作结构1包括一控制模块10、一人机界面模块30与一夹持模块12；
该控制模块10包括一内视镜2、复数个按压单元、复数个转盘驱动单元与复数个旋钮驱动单元；其中该内视镜2包括一操作模块21、一电缆线组22、以及一管道23，该管道23的一端连接该操作模块21，且其另一端搭载有照明单元和摄像单元。该操作模块21之上设有复数个按键、复数个转盘、与复数个旋钮；其中该复数个按压单元，连接至该操作模块的复数个按键；该复数个转盘驱动单元，连接至该操作模块的复数个转盘；该复数个旋钮驱动单元，连接至该操作模块的复数个旋钮；
该人机界面模块30包括一主机32、一显示屏幕31与一操控器15，该主机32系信号连接该显示屏幕31与该操控器15，该主机32并以有线或无线方式连接该复数个按压单元、该复数个转盘驱动单元与该复数个旋钮驱动单元，该内视镜2的电缆线组22连接于该操作模块21和该主机32之间；
该夹持模块12设于该控制模块10与病人之间，其与该控制模块10信号连接，并通过该控制模块10以有线或无线方式连接该主机32，用以供该管道23穿入该夹持模块12并稳定该管道23，进而基于该操控器15的控制而对该管道23执行前后移动控制，使该管道23的一前端朝向一病人的待测部位或手术部位前后移动；
其中，当操作该操控器15时，该操控器15系将操控信号传给该主机32， 在通过该主机32与该复数个按压单元、该复数个转盘驱动单元与该复数个旋钮驱动单元的有线或无线方式连接，该主机32可对其传出操控信号，因此凭借操作该操控器15，各所述按压单元可被驱动以对应地按压各所述按键，各所述转盘驱动单元可被驱动以对应地带动各所述转盘进行转动，且各所述旋钮驱动单元可被驱动以对应地带动各所述旋钮进行转动。
于一可行实施例中，图4、图5与图6系显示该复数个按键包括：一影像固定按键F1、一第一功能按键F2(图5)、一第二功能按键F3、一第三功能按键F4(图5)、一启用吸引按键F5、一流体输送按键F6。并且，该复数个转盘包括一第一角度调整转盘F9(图6)以及一第二角度调整转盘F11(图6)，且该复数个旋钮包括一第一固定旋钮F8(图6)以及一第二固定旋钮F10(图6)。
请再同时参阅图6与图7，其中图6显示本发明的内视镜的辅助操作结构和内视镜的一视角立体图，且图7显示本发明的内视镜的辅助操作结构和内视镜的一视角立体图。
于一可行实施例中，如图4、图5、图6、与图7所示，该复数个按压单元包括：一第一按压单元P1、一第二按压单元P2、一第三按压单元P3、一第四按压单元P4(图6)、一第五按压单元P5、以及一第六按压单元P6。其中，该第一按压单元P1连接至该影像固定按键F1，用以基于该操控器15的控制而按压该影像固定按键F1。并且，该第二按压单元P2连接至该第一功能按键F2，用以基于该操控器15的控制而按压该第一功能按键F2。另一方面，该第三按压单元P3连接至该第二功能按键F3，用以基于该操控器15的控制而按压该第二功能按键F3。
承上述说明，该第四按压单元P4连接至该第三功能按键F4，用以基于该操控器15的控制而按压该第三功能按键F4。并且，该第五按压单元P5连接至该启用吸引按键F5，用以基于该操控器15的控制而按压该启用吸引按键F5。再者，该一第六按压单元P6，连接至该流体输送按键F6，用以基于该操控器15的控制而按压该流体输送按键F6。图4、图5、图6、与图7系绘示该第一按压单元P1、该第二按压单元P2、该第三按压单元P3、该第四按压单元P4、该第五按压单元P5、以及该第六按压单元P6都为一汽缸式按键打击器。然而，在可行的实施例中，各所述按压单元(P1～P6)也可以是一电驱动式的按键打击器。
对应于内视镜2的操作模块21的设计，于一可行实施例中，本发明系令该复数个转盘驱动单元包括一第一转盘驱动单元D1(图7)与一第二转盘驱动单元 D2(图7)。如图4、图5、图6、和图7所示，该第一转盘驱动单元D1连接至该第一角度调整转盘F9，用以基于该操控器15的控制而驱动该第一角度调整转盘F9转动一个角度。并且，该第二转盘驱动单元D2连接至该第二角度调整转盘F11，用以基于该操控器15的控制而驱动该第二角度调整转盘F11转动一个角度。图4、图5、图6、和图7系绘示该第一转盘驱动单元D1与该第二转盘驱动单元D2都为一可转动式的转盘套件，且分别基于一第一马达D11(图6)与一第二马达D21(图7)的驱动而转动。
更详细地说明，本发明令该复数个旋钮驱动单元包括一第一旋钮驱动单元S1(图7)与一第二旋钮驱动单元S2(图7)。如图4、图5、图6、和图7所示，该第一旋钮驱动单元S1连接至该第一固定旋钮F8(图6)，用以基于该操控器15的控制而驱动该第一固定旋钮F8转动一个角度。并且，该第二旋钮驱动单元S2连接至该第二固定旋钮F10，用以基于该操控器15的控制而驱动该第二固定旋钮F10转动一个角度。由图4、图5、图6、和图7可发现，第一旋钮驱动单元S1为一可转动式的转盘套件，而该第二旋钮驱动单元S2为一传送带，且两者分别基于一第三马达S11和一第四马达S21的驱动而转动。
需要说明的是，即使图2系以一游戏杆装置表示所述操控器15，应可理解所述操控器15的可实施态样不应只限制为游戏杆，例如：该操控器15可为以下之一或以下的组合：游戏杆、鼠标、键盘、触摸屏、手把、方向盘，但不以此为限。
实际应用本发明的时，该操控器15系通过该主机32以有线或无线方式连接该复数个按压单元(P1～P6)、该复数个转盘驱动单元(D1～D2)与该复数个旋钮驱动单元(S1～S2)。如此设置，使用者(也即医师)通过操作该操控器15的方式，控制各所述按压单元(P1～P6)以对应地按压内视镜2的操作模块21之上的各所述按键(F1～F6)，驱动各所述转盘驱动单元(D1～D2)以对应地带动该操作模块21之上的各所述转盘(F9、F11)进行转动，及/或令各所述旋钮驱动单元(S1～S2)对应地带动各所述旋钮(F8、F10)进行转动。
继续地参阅图2，在应用本发明的内视镜的辅助操作结构1的情况下，该内视镜2、该复数个按压单元、该复数个转盘驱动单元、和复数个旋钮驱动单元容置于一箱体11之中，且该内视镜2的该管道23的一前端和该电缆线组22的一主电连接端都露出于该箱体11之外。进一步地，医师可以坐在一控制桌前面，其中该控制桌之上设有一显示屏幕31和一主机32。接着，医师只要以其双手操 控置于该控制桌的桌面上的操控器15，便可以很轻松地控制内视镜2，不会对医师的手腕或手臂造成任何负担或伤害。
再者，医师可操控所述操控器15，进而使得穿设于该夹持模块12的管道23受到该夹持模块12的进给馈送而朝向一目标物前进，该目标物例如：是一患者体内的一待检测部位或一待手术部位。接着，医师便可以利用管道23前端的照明单元和摄像单元撷取该待检测部位或该待手术部位的影像，相关影像便会通过主机32的控制而实时显示在显示屏幕31之上。最终，在夹持模块12将管道23的前端逐渐地馈送至该待手术部位之后，医师便可接着通过一器械置入通道F7将一手术器械送入该待手术部位之处，接着以该手术器械对该待手术部位执行一微创手术处理。
作为一实施例，如图3A、图3B所示，该夹持模块12内部有一马达46，该马达46的转轴系延伸而出形成一延伸轴45，该延伸轴45上设有一传送轮42，该管道23凭借该夹持模块12的一入口47进入该夹持模块12，该管道23于该夹持模块12内部部分系承载于该传送轮42上，该管道23于该夹持模块12内部部分的上方接触一固设于该夹持模块12内部的滚轮44，该管道23凭借该夹持模块12的一出口48离开该夹持模块12，使该管道23可移动地被该传送轮42与该滚轮44夹持，凭借该传送轮42不同方向的旋转，带动该管道23稳定的前后移动，如此可使该管道23引入手术部位或是退出手术部位。
以上说明对本发明而言只是说明性的，而非限制性的，本领域普通技术人员理解，在不脱离本发明的技术构思的情况下，可作出许多修改、变化或等效，但都将落入本发明的保护范围之内。

Claims (9)

  1. 一种内视镜的辅助操作结构，其特征在于：包括一控制模块、一人机界面模块与一夹持模块；
    该控制模块包括一内视镜、复数个按压单元、复数个转盘驱动单元与复数个旋钮驱动单元；其中该内视镜包括一操作模块、一电缆线组、以及一管道，该管道的一端连接该操作模块，且其另一端搭载有照明单元和摄像单元，该操作模块之上设有复数个按键、复数个转盘、与复数个旋钮；其中该复数个按压单元连接至该操作模块的复数个按键；该复数个转盘驱动单元连接至该操作模块的复数个转盘；该复数个旋钮驱动单元连接至该操作模块的复数个旋钮；
    该人机界面模块包括一主机、一显示屏幕与一操控器，该主机信号连接该显示屏幕与该操控器，该主机并以有线或无线方式连接该复数个按压单元、该复数个转盘驱动单元与该复数个旋钮驱动单元，该内视镜的电缆线组连接于该操作模块和该主机之间；
    该夹持模块以有线或无线方式连接该主机，用以供该管道穿入该夹持模块并稳定该管道，进而基于该操控器的控制而对该管道执行前后移动控制，使该管道的一前端朝向一病人的待测部位或手术部位前后移动；
    其中，凭借操作该操控器，各所述按压单元可被驱动以对应地按压各所述按键，各所述转盘驱动单元可被驱动以对应地带动各所述转盘进行转动，且各所述旋钮驱动单元能够被驱动以对应地带动各所述旋钮进行转动。
  2. 根据权利要求1所述的内视镜的辅助操作结构，其特征在于，该操控器是以下之一或以下的组合：游戏杆、鼠标、键盘、触摸屏、手把、方向盘。
  3. 根据权利要求1所述的内视镜的辅助操作结构，其特征在于，还包括一箱体，用以将该内视镜、该复数个按压单元、该复数个转盘驱动单元、和复数个旋钮驱动单元容置于其中，且该内视镜的该管道的一前端和该电缆线组一主电连接端都露出于该箱体之外。
  4. 根据权利要求1所述的内视镜的辅助操作结构，其特征在于，夹持模块内部有一马达，该马达的转轴系延伸而出并且形成一延伸轴，该延伸轴上设有一传送轮，该管道凭借该夹持模块的一入口进入该夹持模块，该管道在该夹持模块内部部分承载于该传送轮上，该管道在该夹持模块内部部分的上方接触一固 设于该夹持模块内部的滚轮，该管道凭借该夹持模块的一出口离开入该夹持模块，使该管道可移动地被该传送轮与该滚轮夹持，凭借该传送轮不同方向的旋转，带动该管道稳定的前后移动。
  5. 根据权利要求1所述的内视镜的辅助操作结构，其特征在于，该复数个按键包括：一影像固定按键、一第一功能按键、一第二功能按键、一第三功能按键、一启用吸引按键、以及一流体输送按键；
    该复数个按压单元包括：
    一第一按压单元，连接至该影像固定按键，用以基于该操控器的控制而按压该影像固定按键；
    一第二按压单元，连接至该第一功能按键，用以基于该操控器的控制而按压该第一功能按键；
    一第三按压单元，连接至该第二功能按键，用以基于该操控器的控制而按压该第二功能按键；
    一第四按压单元，连接至该第三功能按键，用以基于该操控器的控制而按压该第三功能按键；
    一第五按压单元，连接至该启用吸引按键，用以基于该操控器的控制而按压该启用吸引按键；以及
    一第六按压单元，连接至该流体输送按键，用以基于该操控器的控制而按压该流体输送按键。
  6. 根据权利要求5所述的内视镜的辅助操作结构，其特征在于，该第一按压单元、该第二按压单元、该第三按压单元、该第四按压单元、该第五按压单元、以及该第六按压单元分别为下列任一：电驱动式的按键打击器或汽缸式按键打击器。
  7. 根据权利要求1所述的内视镜的辅助操作结构，其特征在于，该复数个转盘包括：一第一角度调整转盘以及一第二角度调整转盘；
    该复数个转盘驱动单元包括：
    一第一转盘驱动单元，连接至该第一角度调整转盘，用以基于该操控器的控制而驱动该第一角度调整转盘转动一个角度；以及
    一第二转盘驱动单元，连接至该第二角度调整转盘，用以基于该操控器的控制而驱动该第二角度调整转盘转动一个角度；
    该第一转盘驱动单元与该第二转盘驱动单元都为一可转动式的转盘套件， 且系各自基于一马达的驱动而转动。
  8. 根据权利要求1所述的内视镜的辅助操作结构，其特征在于，该复数个旋钮包括：一第一固定旋钮以及一第二固定旋钮；
    该复数个旋钮驱动单元包括：
    一第一旋钮驱动单元，连接至该第一固定旋钮，用以基于该操控器的控制而驱动该第一固定旋钮转动一个角度；以及
    一第二旋钮驱动单元，连接至该第二固定旋钮，用以基于该操控器的控制而驱动该第二固定旋钮转动一个角度。
  9. 根据权利要求1所述的内视镜的辅助操作结构，其特征在于，该第一旋钮驱动单元与该第二旋钮驱动单元都为一可转动式的转盘套件或一传送带，且各自基于一马达的驱动而转动。
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CN104667412A (zh) * 2013-11-26 2015-06-03 韦伯斯特生物官能(以色列)有限公司 用于导管插入的机器人辅助器

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