Flexible control endoscopic operation assistance system and control method

Abstract

This invention discloses a flexible control endoscopic operation assistance system and control method. The system includes an industrial control computer, an observation screen, an endoscope handle, an insertion tube, a bed, and a support located beside the bed. An OCT probe and a force sensor are located at the end of the insertion tube. The method includes using a drive mechanism to extend and retract the OCT probe, and utilizing an impedance controller built into the industrial control computer. Through inputting desired motion commands and contact force warning values, and cyclically calculating reference elongation, desired end-effector acceleration, and drive mechanism output, the OCT probe is extended and retracted, and displacement and end-effector contact force are measured, achieving compliant contact between the OCT probe and the patient's internal cavity. The flexible control endoscopic operation assistance system obtained by this invention can control the acceleration accuracy of the OCT probe at the end of the endoscope insertion tube, making it exhibit compliant characteristics similar to a spring-damped system. This avoids the probe at the top of the insertion tube "overshooting," causing patient pain and reducing patient burden.

Description

Technical Field

[0001] This invention relates to a flexible control endoscopic operation assistance system and control method. Background Technology

[0002] Medical endoscopes assist doctors in directly observing the tissues and organs inside a patient's body, thereby improving diagnostic accuracy. With the development of OCT (Optical Coherence Tomography), endoscopes can not only examine the surface of tissue cavities but also detect the microscopic structures within tissues. Currently, when using endoscopes, doctors typically insert them manually. The efficiency of the examination and whether the patient experiences pain during the procedure depend entirely on the doctor's visual observation of the feedback images and their operational experience, resulting in a high level of difficulty in endoscopic operation and challenges for newcomers. Furthermore, because the light penetration depth of OCT technology is limited, it often requires close proximity to the organ's inner wall for detection, further increasing the operational difficulty and limiting the effective application of OCT technology in endoscopy. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art by providing a flexible control endoscope operation assistance system and control method that can assist doctors in operating endoscopes.

[0004] To achieve the above objectives, the flexible control endoscope operation assistance system designed in this invention includes an industrial control computer, an observation screen, an endoscope handle, an insertion tube, a bed, and a support located next to the bed. The insertion tube is equipped with a micro motor, a telescopic transmission component, an OCT probe, and a force sensor at its end. The micro motor is equipped with an encoder at its tail. The micro motor is connected to the OCT probe and force sensor via the telescopic transmission component. The OCT probe is movably and sealedly connected to the insertion tube. The industrial control computer is electrically connected to the observation screen, the endoscope handle, the micro motor, the encoder, the OCT probe, and the force sensor.

[0005] To facilitate the fixation of the endoscope and reduce the motion error of the OCT probe, the bracket includes a handle bracket and a tubing clamp, the tubing clamp being equipped with a braking block and a clamping cylinder for driving the braking block.

[0006] To facilitate transmission, the telescopic transmission component includes a screw connected to a micro motor and a nut connected to the screw drive. The end of the nut is connected to a force sensor and an OCT probe, and a guide structure is provided between the nut and the inside of the insertion tube.

[0007] For safety reasons, the industrial computer is equipped with an emergency stop switch.

[0008] The flexible control endoscope operation assistance method designed in this invention uses the aforementioned flexible control endoscope operation assistance system and includes the following steps:

[0009] a. The operator holds the endoscope handle and the insertion tube, inserts the insertion tube into the patient's internal cavity, and controls the insertion tube tip to reach and align with the position to be examined by observing the screen and the endoscope handle;

[0010] b. After the insertion tube tip reaches the position to be inspected, the operator fixes the endoscope handle to the bracket to prevent the insertion tube position from changing, and inputs the contact force warning value and movement command to the industrial control computer. The movement command includes the expected value x of the extension of the OCT probe tip of the insertion tube. d and the initial end contact force h of the OCT probe specified by the operator. e0 ;

[0011] c. The impedance controller built into the industrial computer calculates the reference elongation x according to the motion command and the impedance control formula. c The impedance control formula is:

[0012]

[0013] Where M, B, and K represent the mass matrix, damping matrix, and stiffness matrix of the OCT probe, respectively. When step c is executed after step b, h... e0 Substituting h into the formula en ;

[0014] d. Calculate the corresponding reference extension amount x c Then, the desired OCT probe tip acceleration 'a' is calculated using the motion control formula, which is:

[0015]

[0016] K p K is the proportionality coefficient. d x is the differential coefficient. e This refers to the actual position of the OCT probe tip.

[0017] e. After calculating the end acceleration a, the output torque τ of the micro motor is calculated according to the transmission formula. The industrial control computer controls the micro motor to output the corresponding torque, driving the OCT probe to move according to the end acceleration a.

[0018] f. When the extension of the OCT probe reaches x c At that instant, the force sensor detected the instantaneous end contact force h. en Simultaneously, the encoder records the current actual extension amount and uses this actual extension amount as the new x. eThen repeat step c until the OCT probe extension reaches the desired value x. d At the same time h en Below the contact force warning value;

[0019] g. During steps b to f, if the force sensor detects a value greater than the contact force warning value, the industrial control computer will issue an alarm to the operator and automatically drive the OCT probe to retract to the previous position.

[0020] Another flexible control endoscopic operation assistance system designed in this invention includes an industrial computer, an observation screen, an endoscope handle, an insertion tube, a bed, and a support located next to the bed. The support includes a handle support and a tubing clamp. The tubing clamp is equipped with a braking block and a clamping cylinder for driving the braking block. The support is connected to a drive mechanism located next to the bed. The drive mechanism is equipped with a displacement sensor. The end of the insertion tube is equipped with an OCT probe and a force sensor. The OCT probe is sealed to the insertion tube. The industrial computer is electrically connected to the observation screen, the endoscope handle, the drive mechanism, the displacement sensor, the OCT probe, and the force sensor.

[0021] The drive mechanism includes a push cylinder and a sliding track. The piston rod of the push cylinder is connected to a bracket, and the bottom of the bracket is slidably connected to the sliding track.

[0022] For safety reasons, the industrial computer is equipped with an emergency stop switch.

[0023] The flexible control endoscope operation assistance method designed in this invention uses another flexible control endoscope operation assistance system mentioned above, and includes the following steps:

[0024] a. The operator holds the endoscope handle and the insertion tube, inserts the insertion tube into the patient's internal cavity, and controls the insertion tube tip to reach and align with the position to be examined by observing the screen and the endoscope handle;

[0025] b. After the insertion tube tip reaches the position to be inspected, the operator fixes the endoscope handle to the bracket to prevent the insertion tube position from changing, and inputs the contact force warning value and movement command to the industrial control computer. The movement command includes the expected value x of the extension of the OCT probe tip of the insertion tube. d and the initial end contact force h of the OCT probe specified by the operator. e0 ;

[0026] c. The impedance controller built into the industrial computer calculates the reference elongation x according to the motion command and the impedance control formula. c The impedance control formula is:

[0027]

[0028] Where M, B, and K represent the mass matrix, damping matrix, and stiffness matrix of the endoscope handle, support, and insertion tube as a whole, respectively. When step c is executed after step b, h... e0 Substituting h into the formula en ;

[0029] d. Calculate the corresponding reference extension amount x c Then, the desired OCT probe tip acceleration 'a' is calculated using the motion control formula, which is:

[0030]

[0031] K p K is the proportionality coefficient. d x is the differential coefficient. e This refers to the actual position of the OCT probe tip.

[0032] e. After calculating the end acceleration a, the output value of the drive mechanism is calculated according to the transmission formula. The output value can be torque or force depending on the output mode of the drive mechanism. The industrial control computer controls the drive mechanism to drive the OCT probe to move according to the end acceleration a.

[0033] f. When the extension of the OCT probe reaches x c At that instant, the force sensor detected the instantaneous end contact force h. en Simultaneously, the displacement sensor records the current actual extension amount, and uses this actual extension amount as the new x. e Then repeat step c until the OCT probe extension reaches the desired value x. d At the same time h en Below the contact force warning value;

[0034] g. During steps b to f, if the force sensor detects a value greater than the contact force warning value, the industrial control computer will issue an alarm to the operator and automatically drive the OCT probe to retract to the previous position.

[0035] The flexible control endoscope operation assistance system and control method obtained by this invention can assist users in controlling the endoscope to enter the human body cavity, reducing the difficulty of using the endoscope. At the same time, through the impedance controller, it can control the acceleration movement accuracy of the OCT probe at the end of the endoscope insertion tube, so that it exhibits the compliant characteristics similar to a spring damping system, avoiding the phenomenon of the probe at the top of the insertion tube "overshooting", causing pain to the patient and reducing the burden on the patient. Attached Figure Description

[0036] Figure 1 This is a connection diagram of Embodiment 1 of the flexible control endoscope operation assistance system of the present invention;

[0037] Figure 2This is a partial structural diagram of the end of the insertion tube in Example 1;

[0038] Figure 3 This is a connection diagram of Embodiment 2 of the flexible control endoscope operation assistance system of the present invention;

[0039] Figure 4 This is a schematic diagram of the installation of the bed, drive mechanism and endoscope handle in Example 2;

[0040] Figure 5 This is a schematic diagram of the fit between the pipeline clamp and the insertion tube in Example 2.

[0041] In the diagram: OCT probe 1, force sensor 2, nut 3, screw 4, guide structure 5, sealing gasket 6, micro motor 7, encoder 8, insertion tube 9, endoscope handle 10, bed 11, bracket 12, push cylinder 13, sliding rail 14, handle bracket 120, pipeline clamp 121, clamping cylinder 122. Detailed Implementation

[0042] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0043] Example 1:

[0044] The flexible control endoscope operation assistance system described in this embodiment, such as Figure 1 and Figure 2 As shown, it includes an industrial control computer, an observation screen, an endoscope handle, an insertion tube 9, a bed, and a support located next to the bed. The insertion tube 9 is equipped with a micro motor 7, a telescopic transmission component, an OCT probe 1, and a force sensor 2 at its end. The micro motor 7 is equipped with an encoder 8 at its tail. The micro motor 7 is connected to the OCT probe 1 and the force sensor 2 via the telescopic transmission component. The OCT probe 1 is movably and sealedly connected to the insertion tube 9. The industrial control computer is electrically connected to the observation screen, the endoscope handle, the micro motor 7, the encoder 8, the OCT probe 1, and the force sensor 2.

[0045] To facilitate the fixation of the endoscope and reduce the motion error of the OCT probe 1, the bracket includes a handle bracket and a tubing clamp, and the tubing clamp is equipped with a braking block and a clamping cylinder for driving the braking block.

[0046] For ease of transmission, such as Figure 2 As shown, the telescopic transmission component includes a screw 4 connected to a micro motor 7 and a nut 3 connected to the screw 4 in a transmission manner. The end of the nut 3 is connected to a force sensor 2 and an OCT probe 1. A guide structure 5 is provided between the nut 3 and the inner side of the insertion tube 9. In this embodiment, a sealing gasket 6 is provided in the guide structure 5.

[0047] To ensure safety, such as Figure 1 As shown, the industrial control computer is connected to an emergency stop switch. In actual operation, in order to ensure safety, the emergency stop switch can directly cut off the power supply to the micro motor 7 under the control of the operator to stop the movement of the OCT probe 1, so as to avoid accidents caused by automatic control failure.

[0048] The flexible control endoscope operation assistance method designed in this invention uses the aforementioned flexible control endoscope operation assistance system and includes the following steps:

[0049] a. The operator holds the endoscope handle and the insertion tube 9, inserts the insertion tube 9 into the patient's internal cavity, and controls the end of the insertion tube 9 to reach and align with the position to be examined through the observation screen and the endoscope handle; the position to be examined is the patient's lesion. The operator inserts the insertion tube 9 into the patient's internal cavity, such as the stomach, using the traditional operation method, until the insertion tube 9 reaches the position but has not yet contacted the lesion. Then, the operator adjusts the orientation of the end of the insertion tube 9 by adjusting the large and small knobs on the endoscope handle to achieve alignment. The large and small knobs are common structures on endoscope handles and will not be described in detail in this article.

[0050] b. After the end of the insertion tube 9 reaches the position to be inspected, the operator fixes the endoscope handle to the bracket to prevent the position of the insertion tube 9 from changing, and inputs the contact force warning value and movement command to the industrial control computer. The movement command includes the expected value x of the extension of the OCT probe 1 at the end of the insertion tube 9. d and the initial end contact force h of OCT probe 1 as specified by the operator. e0 Expected value x d The operator judges the location, size, and distance of the lesion by observing the screen display; the contact force h at the end is determined by this. e0 This refers to the force generated when the OCT probe 1 comes into contact with the lesion. In this embodiment, since a handle bracket and a tubing clamp are provided, after alignment, the operator fixes the endoscope handle to the handle bracket and clamps the exposed part of the insertion tube 9 with the tubing clamp, thereby achieving relative fixation between the insertion tube 9 and the patient.

[0051] c. The impedance controller built into the industrial computer calculates the reference elongation x according to the motion command and the impedance control formula. c The impedance control formula is:

[0052]

[0053] Where M, B, and K represent the mass matrix, damping matrix, and stiffness matrix of OCT probe 1, respectively. These three matrices can be obtained from the physical parameters of the specific device. When executing step c after step b, h... e0 Substituting h into the formula en ;

[0054] d. Calculate the corresponding reference extension amount x c Then, the desired end-effector acceleration 'a' of the OCT probe 1 was calculated using the motion control formula, which is:

[0055]

[0056] K p K is the proportionality coefficient. d x is the differential coefficient. e This refers to the actual position of the end of OCT probe 1;

[0057] e. After calculating the terminal acceleration a, the output torque τ of the micromotor 7 is calculated according to the transmission formula. The industrial control computer controls the micromotor 7 to output the corresponding torque, driving the OCT probe 1 to move according to the terminal acceleration a. The transmission formula, in this embodiment, refers to the formula obtained from the transmission relationship between the nut 3, the screw 4, and the micromotor 7. The transmission formula can be:

[0058]

[0059] In the above formula, P is the lead and η is the transmission efficiency of the telescopic transmission component, which can be obtained through testing.

[0060] f. When the extension of OCT probe 1 reaches x c At that instant, force sensor 2 detected the instantaneous end contact force h. en Simultaneously, encoder 8 records the current actual extension amount and uses this actual extension amount as the new x. e Then repeat step c until the extension of OCT probe 1 reaches the desired value x. d At the same time h en Below the contact force warning value;

[0061] g. During step e, if the value detected by force sensor 2 exceeds the contact force warning value, the industrial control computer will issue an alarm to the operator and automatically drive OCT probe 1 to retract to the previous position; the previous position refers to the previously recorded actual position x. e In step e, when the micro motor 7 pushes the OCT probe 1 closer to the lesion, the force sensor 2 detects the contact force value in real time. When the value exceeds the contact force warning value, the industrial control computer immediately controls the micro motor 7 to reverse, causing the OCT probe 1 to move in the opposite direction to the actual position x recorded in the previous step f. e This ensures patient safety. At this time, the industrial control computer issues an alarm to the operator and can prompt the operator to input new motion commands.

[0062] The flexible control endoscope operation assistance system provided in this embodiment helps the user to contact the OCT probe 1 with the lesion, reducing the difficulty of using the endoscope. At the same time, through the impedance controller, it can control the acceleration accuracy of the OCT probe 1 at the end of the endoscope insertion tube 9, so that it exhibits the compliant characteristics of a spring damping system, avoiding the phenomenon of the probe at the top of the insertion tube 9 "overshooting", causing pain to the patient and reducing the burden on the patient.

[0063] Example 2:

[0064] The flexible control endoscope operation assistance system described in this embodiment, such as Figure 3 , Figure 4 and Figure 5 As shown, it includes an industrial control computer, an observation screen, an endoscope handle 10, an insertion tube 9, a bed 11, and a support 12 located next to the bed 11. The support 12 includes a handle support 120 and a tubing clamp 121. The tubing clamp 121 is equipped with a braking block and a clamping cylinder 122 for driving the braking block. The support 12 is connected to a drive mechanism located next to the bed 11. The drive mechanism is equipped with a displacement sensor. The end of the insertion tube 9 is equipped with an OCT probe and a force sensor. The OCT probe is sealed to the insertion tube 9. The industrial control computer is electrically connected to the observation screen, the endoscope handle 10, the drive mechanism, the displacement sensor, the OCT probe, and the force sensor.

[0065] like Figure 4 As shown, the drive mechanism includes a push cylinder 13 and a sliding rail 14. The piston rod of the push cylinder 13 is connected to the bracket 12, and the bottom of the bracket 12 is slidably connected to the sliding rail 14.

[0066] To ensure safety, such as Figure 3 As shown, the industrial control computer is connected to an emergency stop switch. In actual operation, in order to ensure safety, the emergency stop switch can cut off the power supply to the drive mechanism under the control of the operator to stop the movement of the OCT probe and avoid accidents caused by automatic control failure.

[0067] The flexible control endoscope operation assistance method designed in this invention uses another flexible control endoscope operation assistance system mentioned above, and includes the following steps:

[0068] a. The operator holds the endoscope handle 10 and the insertion tube 9, inserts the insertion tube 9 into the patient's internal cavity, and controls the end of the insertion tube 9 to reach and align with the position to be examined by observing the screen and the endoscope handle 10; the relevant operations for the position to be examined and alignment have been described in Example 1;

[0069] b. After the end of the insertion tube 9 reaches the position to be inspected, the operator fixes the endoscope handle 10 on the bracket 12 to prevent the position of the insertion tube 9 from changing, and inputs the contact force warning value and movement command to the industrial control computer. The movement command includes the expected value x of the extension of the OCT probe at the end of the insertion tube 9. d and the initial end contact force h of the OCT probe specified by the operator. e0 ;

[0070] c. The impedance controller built into the industrial computer calculates the reference elongation x according to the motion command and the impedance control formula. c The impedance control formula is:

[0071]

[0072] In this embodiment, since the drive mechanism is located on the side of the bed 11 and is connected to the support 12 for transmission, when calculating the impedance, M, B, and K represent the mass matrix, damping matrix, and stiffness matrix of the entire assembly consisting of the fixed endoscope handle 10, support 12, and insertion tube 9, respectively. When executing step c after step b, h... e0 Substituting h into the formula en ;

[0073] d. Calculate the corresponding reference extension amount x c Then, the desired OCT probe tip acceleration 'a' is calculated using the motion control formula, which is:

[0074]

[0075] K p K is the proportionality coefficient. d x is the differential coefficient. e This refers to the actual position of the OCT probe tip.

[0076] e. After calculating the terminal acceleration a, the output value of the drive mechanism is calculated according to the transmission formula. This output value can be torque or force depending on the output mode of the drive mechanism. The industrial control computer controls the drive mechanism to drive the OCT probe to move according to the terminal acceleration a. In this embodiment, the drive mechanism is placed on the side of the bed 11 and uses a push cylinder 13. After the pipeline clamp 121 clamps the insertion tube 9, the movement of the bracket 12 and the speed at which the insertion tube 9 extends are consistent. Therefore, in this embodiment, the output value of the drive mechanism is the push-pull force F of the cylinder. The transmission formula is: F = Ma. The industrial control computer can control the push cylinder 13 to output the corresponding push-pull force F by controlling the air source and solenoid valve of the air circuit where the push cylinder 13 is located.

[0077] f. When the extension of the OCT probe reaches x c At that instant, the force sensor detected the instantaneous end contact force h. enSimultaneously, the displacement sensor records the current actual extension amount. Since the movement of the support 12 and the insertion tube 9 extend into the inner cavity are synchronized, that is, the extension amount of the OCT probe is synchronized with the movement amount of the support 12, the displacement collected by the displacement sensor is used as the actual extension amount of the OCT probe, and this actual extension amount is used as the new x. e Then repeat step c until the OCT probe extension reaches the desired value x. d At the same time h en Below the contact force warning value;

[0078] g. During steps b to f, if the force sensor reading exceeds the contact force warning value, the industrial control computer will issue an alarm to the operator and automatically drive the OCT probe to retract to the previous position; the previous position refers to the previously recorded actual position x. e In step e, when the micro-motor pushes the OCT probe closer to the lesion, the force sensor detects the contact force value in real time. When this value exceeds the contact force warning value, the industrial control computer immediately controls the micro-motor to reverse, causing the OCT probe to move in the opposite direction to the actual position x recorded in the previous step f. e This ensures patient safety. At this time, the industrial control computer issues an alarm to the operator and can prompt the operator to input new motion commands.

[0079] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A flexible controlled endoscope operation assisting system, characterized by The application relates to a kind of endoscope systems, including industrial computer, observation screen, endoscope handle, insertion tube, bed and support located beside bed, the end of insertion tube is equipped with micro motor, telescopic transmission part, OCT probe and force sensor, the tail of micro motor is equipped with encoder, micro motor is driven connection with OCT probe and force sensor through telescopic transmission part, OCT probe is movably and sealingly connected with insertion tube, the support includes handle support and pipeline clamp, the pipeline clamp is equipped with brake block and the clamping cylinder of brake block, the telescopic transmission part includes screw rod connected with micro motor and nut driven connection with screw rod, the end of nut is connected with force sensor and OCT probe, guiding structure is arranged between nut and the inside of insertion tube;After the end of insertion tube reaches the position to be worked, operator fixes endoscope handle on support to prevent the position of insertion tube from changing, and inputs contact force warning value and motion instruction to industrial computer, motion instruction includes the expected value of the extension amount of OCT probe at the end of insertion tube and the initial end contact force of OCT probe specified by operator ; the impedance controller built in industrial computer calculates reference extension amount according to motion instruction according to impedance control formula , and the impedance control formula is: ; wherein M, B, K represent the mass matrix, damping matrix and stiffness matrix of the OCT probe respectively, after step b, when step c is executed, the in the formula is substituted by ; the corresponding reference extension is calculated, after which the expected acceleration a of the end of the OCT probe is calculated using the motion control formula: wherein is the proportional coefficient, is the differential coefficient, is the actual position of the end of the OCT probe; after the end acceleration a is calculated, the output torque τ of the micro motor is calculated according to the transmission formula, the industrial computer controls the micro motor to output the corresponding torque, and drives the OCT probe to move according to the end acceleration a; when the extension of the OCT probe reaches the instant , the force sensor detects the instant end contact force , at the same time, the encoder or displacement sensor records the current actual extension, and takes the actual extension as the new , and repeats the above steps until the extension of the OCT probe reaches the expected value , at the same time is lower than the contact force warning value; if the force sensor detection value is greater than the contact force warning value, the industrial computer will issue a warning to the operator, and automatically drive the OCT probe to retreat to the previous position.

2. The flexible controlled endoscope operation assist system according to claim 1, characterized by The industrial computer is connected with an emergency stop switch. The industrial computer is connected with an emergency stop switch.

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