Four-steering 3D thoracoscopic laparoscope based on full high-definition image sensor

Abstract

The present invention relates to a four-steering 3D thoracoscope and laparoscope based on a full high-definition image sensor, which is used to collect and transmit 3D thoracoscope and laparoscope images with multiple perspectives during minimally invasive surgery. It has an image acquisition and cold light source module, a thoracoscope and laparoscope body, and an operating handle. A four-steering keel module is connected between the image acquisition and cold light source module and the thoracoscope and laparoscope body. The front end of the operating handle is connected to the rear end of the thoracoscope and laparoscope body, and an image transmission interface and a cold light source interface are provided at the rear end of the operating handle. A four-steering control module is installed in the middle of the operating handle, which is used to control the four-steering keel module to drive the image acquisition and cold light source module to perform large-angle bending in four directions, namely front, back, left, and right, relative to the thoracoscope and laparoscope body. An image signal receiving and forwarding module connected to the image acquisition and cold light source module by wires is provided inside the operating handle. The present invention has the characteristics of clear image acquisition, true color restoration, strong stereoscopic vision, multiple perspectives and directions, and high controllability.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a four-steering 3D thoracoabdominal scope based on a full high-definition image sensor. Background Art

[0002] 3D laparoscopic imaging technology is currently being used more and more widely in clinical diagnosis and treatment. Laparoscopes with 3D imaging capabilities generally require two cameras installed on the front end to simulate the human eye for image acquisition and transmission. The image signals must be spliced together using a specific splicing method to form a visual 3D image signal. The 3D thoracoabdominal scope is a specific implementation of 3D laparoscopic technology and is particularly widely used in minimally invasive surgery. During use, the front end of the 3D thoracoabdominal scope is generally inserted into the human body through an incision in the thoracic and abdominal cavity to capture and transmit intraoperative images.

[0003] Compared to traditional 2D thoracoscopic and laparoscopic images, 3D images provide doctors with a more realistic sense of depth and compensate for the lack of depth information in 2D thoracoscopic and laparoscopic images. This reduces the likelihood of misoperation due to misleading images, significantly shortening the duration of minimally invasive surgeries and significantly reducing surgical risks and intraoperative blood loss. However, existing 3D thoracoscopic and laparoscopic images often suffer from issues such as unclear images, poor color reproduction, and a limited viewing angle. This limited viewing angle specifically refers to the 3D thoracoscopic and laparoscopic image acquisition angle, typically 0 or 30 degrees. This single image acquisition angle limits the 3D thoracoscopic and laparoscopic field of view to a relatively small area. To obtain a comprehensive, multi-angle image of the lesion or to observe the surrounding area, the user must rotate and swing the 3D thoracoscopic and laparoscopic scope around the patient's wound at the appropriate angle. However, these extensive and repeated rotations and swings not only affect surgical efficiency but also increase the amount of force applied to the patient's wound, increasing the risk of secondary injury and infection. In addition, some target areas during surgery are difficult to reach by rotating and swinging the thoracoabdominal endoscope. Summary of the invention

[0004] The technical problem to be solved by the present invention is: in order to overcome the deficiencies in the existing technology, the present invention provides a four-directional 3D thoracoabdominal endoscope based on a full HD image sensor to solve the problems of unclear images, inability to adjust the viewing angle in multiple directions, and high difficulty in operation of the existing 3D thoracoabdominal endoscope.

[0005] The technical solution adopted by the present invention to solve its technical problems is as follows: A four-steering 3D thoracoscope and laparoscope based on a full high-definition image sensor, which has an image acquisition and cold light source module, a thoracoscope and laparoscope body, and an operation handle. A four-steering keel module is connected between the image acquisition and cold light source module and the thoracoscope and laparoscope body. The front end of the operation handle is connected to the rear end of the thoracoscope and laparoscope body. The rear end of the operation handle is provided with an image transmission interface and a cold light source interface. In the middle of the operation handle, there is installed: a four-steering control module for controlling the four-steering keel module to drive the image acquisition and cold light source module to perform large-angle bending in four directions, namely front, back, left, and right, relative to the thoracoscope and laparoscope body. An image signal receiving and forwarding module connected to the image acquisition and cold light source module by a circuit is arranged in the operation handle.

[0006] Specifically, the image acquisition and cold light source module has an image acquisition module and a cold light source module. The image acquisition modules are symmetrically distributed in the middle of the front end face of the image acquisition and cold light source module. The cold light source modules are symmetrically distributed on both sides of the image acquisition module. The rear end of the image acquisition and cold light source module has a gluing interface. The image acquisition module is connected to the image signal receiving and forwarding module by a circuit.

[0007] Further, a transfer ring is arranged between the rear end of the image acquisition and cold light source module and the four-steering keel module. The gluing interface is fixedly connected to the front end of the transfer ring by means of dotting glue. A front-end screw fixing groove fixedly connected to the front end of the four-steering keel module is installed at the rear end of the transfer ring.

[0008] Further, the four-steering keel module has a rubber outer sleeve. One end of the rubber outer sleeve is connected to the transfer ring, and the other end is connected to the thoracoscope and laparoscope body. A keel module is arranged inside the rubber outer sleeve. Traction wires are wound around the keel module. The rear ends of the traction wires are connected to the four-steering control module. A rear-end screw fixing groove fixedly connected to the thoracoscope and laparoscope body is installed in the middle of the rear end of the four-steering keel module.

[0009] Preferably, the four-steering control modules are symmetrically arranged on the left and right sides in the middle of the operation handle. The four-steering control module has a steering collar arranged in the operation handle, a steering sleeve shaft with an inner end rotatably matched with the steering collar, and a steering key installed at the outer end of the steering sleeve shaft. The rear ends of the traction wires pass through the operation handle and are wound around the steering sleeve shaft.

[0010] To avoid damage to the four-steering 3D thoracoscope and laparoscope during cleaning and disinfection, the pressure reducing valve is installed at the top of the front end of the operation handle. The pressure reducing valve includes an openable and closable pressure reducing valve cap and a pressure reducing valve port. The pressure reducing valve port is connected to the operation handle, and the pressure reducing valve cap is installed on the pressure reducing valve port.

[0011] Further, the maximum bending angle of the image acquisition and cold light source module bending in four directions, namely front, back, left, and right, with the central axis of the laparoscope body as the reference is 90°.

[0012] The beneficial effects of the present invention are as follows:

[0013] 1), By adopting a dual-channel full-HD image acquisition chip, the resolution and clarity of the acquired image signal are guaranteed. It can finally output a dual-channel full-HD image signal of 1080p, not less than 30 frames, with high color plateau. The spliced image has a vivid three-dimensional sense.

[0014] 2), The front end of the 3D thoracoscope and laparoscope adopts a four-way steering design, which can bend at large angles in four directions of front, back, left, and right relative to the body of the thoracoscope and laparoscope. The adjustable range of the viewing angle is wide, and it can better adapt to various application scenarios in clinical practice.

[0015] 3), The front and rear ends of the four-way steering keel module are connected to the front-end adapter ring and the rear-end thoracoscope and laparoscope body by screwing screws and dispensing glue. At the same time, the periphery is wrapped with a waterproof, high-temperature resistant, and corrosion-resistant biocompatible glue material, making the keel module firmly installed, with a large bending angle, strong stability, and high durability.

[0016] 4), By adopting a dual-steering key design, the front end can be bent in four directions of front, back, left, and right relative to the body of the laparoscope through two steering keys. The left and right steering keys can be operated independently or in cooperation, so as to realize the adjustment of any angle. The operation is simple and convenient, and the operability is strong. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below in conjunction with the drawings and embodiments.

[0018] Figure 1 It is the system flow chart of the best embodiment of the present invention.

[0019] Figure 2 It is the overall structure schematic diagram of the present invention.

[0020] Figure 3 It is the end face schematic diagram of the image acquisition and cold light source module of the present invention.

[0021] Figure 4 It is the connection schematic diagram of the four-way keel module of the present invention.

[0022] Figure 5 It is the structure schematic diagram of the four-way steering control module of the present invention.

[0023] Figure 6 It is the image signal transmission schematic diagram of the present invention.

[0024] In the figure: 1. Image acquisition and cold light source module; 2. Four-way steering keel module; 3. Thoracoscopic and laparoscopic body; 4. Pressure reducing valve; 5. Four-way steering control module; 6. Operating handle; 7. Image transmission interface; 8. Cold light source interface; 1.2. Cold light source module; 1.1. Image acquisition module; 1.3. Gluing interface; 2.1. Adapter ring; 2.2. Front-end screw fixing groove; 2.3. Traction wire; 2.4. Rear-end screw fixing groove; 4.1. Pressure reducing valve cap; 4.2. Pressure reducing valve port; 5.1. Steering sleeve shaft; 5.2. Steering sleeve ring; 5.3. Rotating shaft cover plate; 5.4. Cover plate lock; 5.5. Locking nut; 5.6. Steering key. Detailed implementation mode

[0025] Now, the present invention will be further described in detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only showing the basic structure of the present invention in a schematic way, so they only show the components related to the present invention.

[0026] As Figure 1 shown is the system flow chart of the four-way steering 3D thoracoscopic and laparoscopic instrument of the present invention. The four-way steering 3D thoracoscopic and laparoscopic instrument is connected to a 3D thoracoscopic and laparoscopic image processor through a video signal transmission cable, and is connected to a medical external cold light source through a cold light source light guide beam. The 3D thoracoscopic and laparoscopic image processor is connected to a 3D medical monitor. Among them, the medical external cold light source provides the light source required for image acquisition for the four-way steering 3D thoracoscopic and laparoscopic instrument through the cold light source light guide beam; the 3D thoracoscopic and laparoscopic image processor receives the dual-channel image signals collected by the four-way steering 3D thoracoscopic and laparoscopic instrument through the video signal transmission cable, and performs post-processing and 3D signal splicing operations on the image signals; finally, the 3D thoracoscopic and laparoscopic image processor outputs a visual 3D image signal to the 3D medical monitor, and the user can generate a 3D stereoscopic vision after wearing 3D glasses.

[0027] As Figure 2 shown, a four-way steering 3D thoracoscopic and laparoscopic instrument based on a full high-definition image sensor includes an image acquisition and cold light source module 1, a four-way steering keel module 2, a thoracoscopic and laparoscopic body 3, a pressure reducing valve 4, a pair of four-way steering control modules 5, an operating handle 6, an image signal interface 7, and a cold light source interface 8.

[0028] The image acquisition and cold light source module 1 is located at the very front end of the thoracoscopic and laparoscopic body 3 and is used for acquiring dual-channel image signals during the operation; the four-way steering keel module 2 is located behind the image acquisition and cold light source module 1. The rear end of the four-way steering keel module 2 is connected to the thoracoscopic and laparoscopic body 3, and the rear end of the laparoscopic body 3 is connected to the operating handle 6, thus forming the overall framework of the four-way steering 3D thoracoscopic and laparoscopic instrument.

[0029] The four-way steering control module 5 is arranged in the middle of the operating handle 6 and can be used to control the four-way steering keel module 2 to drive the image acquisition and cold light source module 1 to perform large-angle bending in the front, rear, left, and right directions relative to the thoracoscopic and laparoscopic body 3. The image signal interface 7 and the cold light source interface 8 are located at the end of the operating handle 6 and are used to conduct the image signal to the 3D thoracoscopic and laparoscopic image processor and transmit the medical external cold light source to the image acquisition and cold light source module 1 respectively. An image signal receiving and forwarding module is arranged in the operating handle 6.

[0030] As Figure 3 shown, the image acquisition and cold light source module 1 is arranged at the very front end of the thoracoscopic and laparoscopic body 3. The image acquisition and cold light source module 1 includes an image acquisition module 1.1 and a cold light source module 1.2. Among them, the image acquisition module 1.1 is symmetrically distributed in the middle of the front end face of the image acquisition and cold light source module 1. Two full high-definition image acquisition chips are built in the image acquisition module 1.1 for the acquisition of dual-channel full high-definition digital image signals. At the same time, a lens group and a protective glass sheet are also built in the image acquisition module 1.1. The protective glass sheet is flush with the front end face of the image acquisition and cold light source module 1, and the lens group is located between the protective glass sheet and the full high-definition image acquisition chip. The protective glass sheet is used to protect the full high-definition image acquisition chip and the lens group, and the lens group is used to focus the front-end light so that it converges on the full high-definition acquisition chip, thereby realizing the acquisition of intraoperative images.

[0031] A wiring harness for image data transmission is connected to the rear end of the image acquisition module 1.1 and is connected to the image signal receiving and forwarding module located inside the operating handle 6, so as to transmit the acquired dual-channel image signals to the image signal receiving and forwarding module. The rear end of the image signal receiving and forwarding module is connected to the image signal interface 7, thus completing the acquisition and transmission of dual-channel signals.

[0032] The cold light source module 1.2 is symmetrically distributed on both sides of the image acquisition module 1.1. Its front end is a fiber optic polishing end for exporting the light source. The rear fiber optic bundle passes through the thoracoscopic and laparoscopic body 3 and is connected to the cold light source interface 8, so as to conduct the external medical cold light source to the front end of the thoracoscopic and laparoscopic body 3 to provide a reliable light source for image acquisition.

[0033] As Figure 4As shown in the figure, a transfer ring 2.1 is provided between the image acquisition and cold light source module 1 and the four-way keel module 2. The rear end of the image acquisition and cold light source module 1 has a gluing interface 1.3, and the gluing interface 1.3 is fixedly connected to the front end of the transfer ring 2.1 by means of dispensing. The rear end of the transfer ring 2.1 is equipped with a front-end screw fixing groove 2.2, and the rear end of the transfer ring 2.1 is fixedly connected to the front end of the four-way keel module 2 by tightening the screw; a rubber outer sleeve is wrapped around the outer periphery of the four-way keel module 2, one end of the rubber outer sleeve is connected to the transfer ring 2.1, and one end is connected to the chest and laparoscope body 3; a keel module is installed on the rubber outer sleeve, and traction wires 2.3 are respectively wound on the keel module. A rear-end screw fixing groove 2.4 is installed in the middle of the rear end of the four-way keel module 2, and the rear end of the four-way keel module 2 can be fixedly connected to the chest and laparoscope body 3 by tightening the screw. Through the above fixing and connecting methods, the traction wire 2.3 can drive the image acquisition and cold light source module 1 to make large-angle bending in four directions of front, back, left and right relative to the chest and laparoscope body 3 under the control of the four-way control module 5.

[0034] As Figure 5 shown, the rear end of the chest and laparoscope body 3 is fixedly connected to the front end of the operation handle 6, and the pressure reducing valve 4 is installed on the top of the front end of the operation handle 6. The pressure reducing valve 4 includes a pressure reducing valve cap 4.1 and a pressure reducing valve port 4.2. The pressure reducing valve port 4.2 is connected to the operation handle 6, and the pressure reducing valve cap 4.1 is installed on the pressure reducing valve port 4.2 by tightening. Among them, the pressure reducing valve cap 4.1 remains open during the cleaning of the four-way 3D chest and laparoscope, and remains tightened and closed during the low-temperature plasma sterilization of the four-way 3D chest and laparoscope, so as to maintain the tightness and integrity of the four-way 3D chest and laparoscope during the cleaning and sterilization processes, and avoid damage to the internal structure of the four-way 3D chest and laparoscope during the cleaning and sterilization processes.

[0035] The four-way control module 5 is symmetrically distributed on both sides of the middle of the operation handle 6, and has a steering sleeve shaft 5.1, a steering sleeve ring 5.2, a shaft cover plate 5.3, a cover plate lock 5.4, a locking nut 5.5 and a steering key 5.6. The steering sleeve ring 5.2 is arranged inside the handle, the steering sleeve shaft 5.1 is rotatably arranged inside the steering sleeve ring 5.2, the shaft cover plate 5.3 is installed on the outer end face of the steering sleeve ring 5.2, the steering sleeve shaft 5.1 extends out of the shaft cover plate 5.3 and is installed with a steering key 5.6, a cover plate lock 5.4 is arranged inside the steering key 5.6, a locking nut 5.5 is arranged outside the steering key 5.6, the cover plate lock 5.4 is sleeved on the steering sleeve shaft 5.1 and presses on the steering sleeve ring 5.2, and the locking nut 5.5 is connected to the outer end of the steering sleeve shaft 5.1.

[0036] The rear end of the traction wire 2.3 is wound around the steering sleeve shaft 5.1. The rotating shaft cover plate 5.3, the steering sleeve ring 5.2 and the steering sleeve shaft 5.1 are nested along their common central axis to form a rotating mechanism that can be rotationally limited. With the cooperation of the cover plate latch 5.4 and the locking nut 5.5, the above rotating mechanism and the steering key 5.6 can be fixed to the side of the operating handle 6. By rotating the steering key 5.6, the above rotating mechanism can be driven to rotate accordingly, and then the four-steering keel module 2 can be driven to rotate accordingly through the traction wire 2.3.

[0037] A pair of four-steering control modules 5 have the same mechanical structure. Specifically, the steering key 5.6 located on the left side of the operating handle 6 can drive the four-steering keel module 2 to bend in the front-back direction relative to the thoracoscopic and laparoscopic body 3, and the maximum bending angle of the front-back bending is 90 degrees; the steering key 5.6 located on the right side of the operating handle 6 can drive the four-steering keel module 2 to bend in the left-right direction relative to the thoracoscopic and laparoscopic body 3, and the maximum bending angle of the left-right bending is 90 degrees. At the same time, the steering keys 5.6 on the left and right sides of the operating handle 6 can be independently controlled, thus greatly increasing the adjustable range of the front end of the thoracoscopic and laparoscopic.

[0038] As Figure 6 shown, in the best embodiment, the image signal receiving and forwarding module located in the operating handle 6 includes: signal receiving chips A and B, signal encoders A and B, and signal forwarding chips A and B. The image acquisition chips A and B in the image acquisition module will respectively collect image signals to obtain dual-channel image signals for generating visible 3D image signals. First, the dual-channel image signals will be respectively transmitted to the image signal receiving and forwarding module through the flexible cable, and will be respectively received and decoded by the signal receiving chips A and B. The decoded dual-channel image signals will enter the signal encoders A and B for long-distance image transmission encoding. And finally, they will be losslessly forwarded over a long distance through the signal forwarding chips A and B, and then the dual-channel image signals will be transmitted to the 3D thoracoscopic and laparoscopic image processor for image post-processing and 3D image stitching to form a visual 3D image signal.

[0039] The structure of the present invention is simple, the operation is convenient, and the perspective is flexibly controllable. It can not only facilitate the operation of clinicians, but also further improve the visual range and image quality of the 3D thoracoscopic and laparoscopic, reduce the harm caused to patients by adjusting the perspective during the operation, and increase the safety and reliability of minimally invasive surgery. In addition, it can also be used in some surgeries with more demanding perspectives, which has important significance for solving difficult and miscellaneous diseases in clinical practice.

[0040] Enlightened by the above-described ideal embodiments of the present invention, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A four-steering 3D thoracoscope and laparoscope based on a full high-definition image sensor, comprising an image acquisition and cold light source module, a thoracoscope and laparoscope body, and an operating handle, characterized in that: There is a four-way steering keel module connected between the image acquisition and cold light source module and the thoracoscopic and laparoscopic body. The front end of the operating handle is connected to the rear end of the thoracoscopic and laparoscopic body. The rear end of the operating handle is provided with an image transmission interface and a cold light source interface. In the middle of the operating handle, there is installed a four-way steering control module for controlling the four-way steering keel module to drive the image acquisition and cold light source module to make large-angle bends in the front, rear, left, and right directions relative to the thoracoscopic and laparoscopic body. An image signal receiving and forwarding module connected to the circuit of the image acquisition and cold light source module is provided in the operating handle. The four-way steering keel module has a rubber outer sleeve. One end of the rubber outer sleeve is connected to the adapter ring, and one end is connected to the thoracoscopic and laparoscopic body. A keel module is provided inside the rubber outer sleeve. Traction wires are wound around the keel module. The rear ends of the traction wires are connected to the four-way steering control module. A rear-end screw fixing groove fixedly connected to the thoracoscopic and laparoscopic body is installed in the middle of the rear end of the four-way steering keel module. The four-way steering control modules are symmetrically arranged on the left and right sides in the middle of the operating handle. The four-way steering control module has a steering collar provided in the operating handle, a steering sleeve shaft whose inner end is rotationally matched with the steering collar, and a steering key installed at the outer end of the steering sleeve shaft. A rotating shaft cover plate is installed on the outer end face of the steering collar. The rear ends of the traction wires pass through the operating handle and are wound around the steering sleeve shaft. The rotating shaft cover plate, the steering collar, and the steering sleeve shaft are nested along their common central axis to form a set of rotatable mechanisms that can be limited in rotation. The rotating mechanism drives the four-way steering keel module to rotate accordingly through the traction wires.

2. The four-steering 3D thoracoscope and laparoscope based on a full-HD image sensor according to claim 1, wherein: The image acquisition and cold light source module has an image acquisition module and a cold light source module. The image acquisition modules are symmetrically distributed in the middle of the front end face of the image acquisition and cold light source module. The cold light source modules are symmetrically distributed on both sides of the image acquisition module. The rear end of the image acquisition and cold light source module has a gluing interface. The image acquisition module is connected to the image signal receiving and forwarding module by a circuit.

3. The four-steering 3D thoracoscope and laparoscope based on a full-HD image sensor according to claim 2, characterized in that: There is an adapter ring between the rear end of the image acquisition and cold light source module and the four-way steering keel module. The gluing interface is fixedly connected to the front end of the adapter ring by dotting. The rear end of the adapter ring is installed with a front-end screw fixing groove fixedly connected to the front end of the four-way steering keel module.

4. The four-steering 3D thoracoscope and laparoscope based on a full high-definition image sensor according to claim 1, characterized in that: The pressure reducing valve is installed at the top of the front end of the operating handle. The pressure reducing valve includes an openable and closable pressure reducing valve cap and a pressure reducing valve port. The pressure reducing valve port is connected to the operating handle, and the pressure reducing valve cap is installed on the pressure reducing valve port.

5. The four-steering 3D thoracoscope and laparoscope based on a full high-definition image sensor according to claim 1, wherein: The maximum bending angle of the image acquisition and cold light source module bending in the front, rear, left, and right directions with the central axis of the laparoscopic body as the reference is 90°.

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