Endoscope control device

Abstract

The application relates to the technical field of endoscopes, and provides an endoscope control device, which comprises: an operation end comprising a first driving mechanism, a force feedback structure and a display, the first driving mechanism is used for controlling endoscope travel and steering switching, the force feedback structure is used for controlling endoscope rotation, and the display is used for displaying the real-time state of the endoscope; and a robot end comprising a mechanical arm, a second driving mechanism and an endoscope connected in sequence, and the mechanical arm is in communication connection with the first driving mechanism and the force feedback structure. The endoscope control device has the advantages that an operator can control the endoscope to travel, steer and rotate in the human body by operating the force feedback structure and the first driving mechanism with both hands, the operator can control the endoscope action according to the real-time state of the endoscope displayed by the display, the operator does not need to manually operate the endoscope, the intelligent degree of the endoscope control device and the precision of the endoscope action in the human body are improved, and the damage of the endoscope action to the human organs in the human body is avoided.

Description

Technical Field

[0001] This invention relates to the field of endoscopy technology, and more particularly to an endoscopy control device. Background Technology

[0002] To observe or treat lesions inside the human body, doctors insert an endoscope into the body through natural cavities or other artificial openings. They then observe the images reflected by the endoscope and perform surgical treatment on the lesion. During this process, doctors control the angle of the endoscope's tip, continuously inserting it into the esophagus, bronchus, or digestive tract until it reaches the vicinity of the lesion.

[0003] Currently, common manipulation methods fall into two main categories. The first is the traditional handheld endoscope, where the surgeon needs one hand to hold the handle to control the direction and angle, and the other hand to hold the endoscope for insertion. This method places a significant demand on the surgeon's experience, skills, and physical strength. The second is the robotic teleoperation control method, where the surgeon sends operation signals through input devices such as the master hand, pedals, and handles, and the receiving device receives the operation signals to perform corresponding actions. Teleoperation control can obtain force feedback through input devices such as the master hand, simulating the contact force when the surgeon actually holds the endoscope or when the endoscope contacts the walls of natural cavities, thus improving the safety of endoscopic surgery. Teleoperation is simple, intuitive, and precise, effectively assisting surgeons in performing endoscopic surgery more efficiently, conveniently, and accurately. However, the current robotic teleoperation control method has a relatively low level of intelligence; in actual operation, the surgeon still needs to manually move and turn the endoscope. Summary of the Invention

[0004] This invention provides an endoscope control device to address the shortcomings of existing robotic endoscope control devices, which have a low level of intelligence.

[0005] This invention provides an endoscope control device, comprising: an operating end, the operating end including: a first drive mechanism, a force feedback structure, and a display, the first drive mechanism being used to control the endoscope's movement and steering switching, the force feedback structure being used to control the endoscope's rotation, and the display being used to display the endoscope's real-time status; and a robot end, the robot end including: a robotic arm, a second drive mechanism, and the endoscope connected in sequence, the robotic arm being communicatively connected to the first drive mechanism and the force feedback structure.

[0006] According to an endoscope control device provided by the present invention, the endoscope includes a connected outer sheath and an insertion part, the outer sheath being connected to a second drive mechanism, and at least one end of the outer sheath and at least one end of the insertion part being flexible ends, wherein when one end of the insertion part is a flexible end, the flexible end is the end of the insertion part not connected to the outer sheath.

[0007] According to an endoscope control device provided by the present invention, the insertion part is sleeved with the outer sheath part, and the diameter of the insertion part is smaller than the diameter of the outer sheath part.

[0008] According to an endoscope control device provided by the present invention, the first driving mechanism includes: a first driving member, the first driving member being used to control the overall movement of the outer sheath and the insertion part; and a second driving member, the second driving member being used to control the movement of the insertion part.

[0009] According to an endoscope control device provided by the present invention, the first drive mechanism further includes a steering knob having three switchable positions; when the steering knob is in the first position, the insertion part is steered; when the steering knob is in the second position, the insertion part and the outer sheath remain in their current state; and when the steering knob is in the third position, the outer sheath is steered.

[0010] According to an endoscope control device provided by the present invention, the force feedback structure includes: an operating handle; a universal joint connected to the operating handle; an angle compass, the surface of which is provided with a circular groove, the universal joint being disposed in the circular groove and rotatably connected to the angle compass, the universal joint being slidable within the circular groove; wherein the rotational displacement of the universal joint maps to the rotational angle of the endoscope.

[0011] According to an endoscope control device provided by the present invention, the operating handle includes: a rotating part connected to a universal joint; and an operating part, a first end of which is connected to the rotating part, and a second end of which is provided with a contact for providing force feedback information of the endoscope.

[0012] According to an endoscope control device provided by the present invention, the operating part and the rotating part are provided with a plurality of rotational joints so that the operating part has a plurality of degrees of freedom, and the rotating part is also provided with a plurality of translational joints so that the operating part can translate.

[0013] According to an endoscope control device provided by the present invention, the operating end further includes a console, and the force feedback structure and the first drive mechanism are disposed on the console.

[0014] According to an endoscope control device provided by the present invention, the robot end further includes an equipment cabinet, which is a liftable equipment cabinet, and the robotic arm is mounted on the equipment cabinet.

[0015] The endoscope control device provided by this invention, by setting up a force feedback structure, a first drive mechanism, a display, a robotic arm, and a second drive mechanism, allows the operator to control the endoscope's movement, direction, and rotation within the human body by operating the force feedback structure and the first drive mechanism with both hands. The operator can control the endoscope's movements based on the real-time status displayed on the display, eliminating the need for manual operation of the endoscope. This improves the intelligence level of the endoscope control device and the accuracy of the endoscope's movements within the human body, preventing damage to human organs during endoscope movements. Furthermore, the endoscope control device provided by this invention reduces the labor intensity of long-term surgical operations, and by keeping the operator away from surgical instruments, it reduces cross-infection, radiation risks, and splashes of bodily fluids onto the operator. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the endoscope control device provided by the present invention;

[0018] Figure 2 yes Figure 1 The diagram shows the structure of an endoscope.

[0019] Figure 3 yes Figure 1 The diagram shows the structure of the first drive mechanism.

[0020] Figure 4 This is a diagram showing the multiple positions of the steering knob;

[0021] Figure 5 yes Figure 1 The diagram shows a schematic of the force feedback structure.

[0022] Figure 6 This is a schematic diagram of the joint angles when the endoscope rotates;

[0023] Figure 7 This is a schematic diagram of the displacement of the universal joint when it rotates;

[0024] Figure 8 This is a flowchart of the turning pattern of the outer sheath and the insertion part;

[0025] Figure label:

[0026] 10: Force feedback structure; 11: Operating part; 12: Rotating part; 13: Universal joint; 14: Angle compass; 20: First drive mechanism; 21: First drive component; 22: Second drive component; 23: Steering knob; 30: Display; 40: Control console; 50: Robotic arm; 60: Second drive mechanism; 70: Endoscope; 71: Outer sheath; 72: Insertion part; 80: Equipment cabinet; 111: Contact point; 112: First rotary joint; 121: Second rotary joint; 122: First translational joint; 123: Second translational joint; 124: Third rotary joint; 125: Fourth rotary joint. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0028] The terms "first" and "second" in the specification and claims of this invention may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0029] The following is combined with Figures 1-8 The endoscopic control device of the present invention is described.

[0030] like Figure 1 As shown, in an embodiment of the present invention, the endoscope control device includes an operating end and a robot end. The operating end includes a force feedback structure 10, a first drive mechanism 20, and a display 30. The robot end includes a robotic arm 50, a second drive mechanism 60, and an endoscope 70. The force feedback structure 10 controls the rotation of the endoscope 70, the first drive mechanism 20 controls the movement and steering of the endoscope 70, and the display 30 displays the real-time status of the endoscope 70. The robotic arm 50 is connected to the second drive mechanism 60, and the second drive mechanism 60 is connected to the endoscope 70. The robotic arm 50 is also communicatively connected to the force feedback structure 10 and the first drive mechanism 20.

[0031] Specifically, the operator sits at the operating end, operates the first drive mechanism 20 with their left hand and the force feedback structure 10 with their right hand. The first drive mechanism 20 and the force feedback structure 10 send signals to the robotic arm 50. The robotic arm 50 moves, which drives the second drive mechanism 60. The second drive mechanism 60 drives the endoscope 70 into the human body through the body's natural cavities or surgical opening. The display 30 shows the status of the endoscope 70 in the human body in real time. The operator operates the force feedback structure 10 and the first drive mechanism 20 according to the real-time status of the endoscope 70 to drive the endoscope 70 to the lesion location.

[0032] Furthermore, in this embodiment, operating the first drive mechanism 20 can control the endoscope 70 to move forward, backward, or turn, and operating the force feedback structure 10 can control the endoscope 70 to rotate. In this embodiment, the force feedback structure 10 has multiple degrees of freedom, so that the endoscope 70 can rotate at multiple angles in the human body to reach the lesion location.

[0033] The endoscope control device provided in this embodiment of the invention, by setting up a force feedback structure, a first drive mechanism, a display, a robotic arm, and a first drive mechanism, allows the operator to control the endoscope's movement, direction, and rotation within the human body by operating the force feedback structure and the first drive mechanism with both hands. The operator can control the endoscope's movements based on the real-time status displayed on the display, eliminating the need for manual operation of the endoscope. This improves the intelligence level of the endoscope control device and the accuracy of the endoscope's movements within the human body, preventing damage to human organs during endoscope movements. Furthermore, the endoscope control device provided in this embodiment of the invention can reduce the labor intensity of long-term surgical operations, and keeping the operator away from surgical instruments can reduce cross-infection, lower radiation risks, and prevent bodily fluids from splashing onto the operator.

[0034] like Figure 2 As shown, in an embodiment of the present invention, the endoscope 70 includes a connected outer sheath portion 71 and an insertion portion 72. The outer sheath portion 71 is connected to the second drive mechanism 60, and at least one end of the outer sheath portion 71 and at least one end of the insertion portion 72 are flexible ends, wherein when one end of the insertion portion 72 is a flexible end, the flexible end is the end at which the insertion portion 72 is connected to the outer sheath portion 71.

[0035] Specifically, in this embodiment, either or both ends of the outer sheath 71 can be flexible ends, and either or both ends of the insertion part 72 can also be flexible ends. Providing flexible ends to the outer sheath 71 and the insertion part 72 allows bending at the connection points between the outer sheath 71 and the second drive mechanism 60, and between the outer sheath 71 and the insertion part 72, thereby facilitating the movement of the outer sheath 71 and the insertion part 72 within the human body. Furthermore, when only one end of the insertion part 72 is a flexible end, this flexible end is the end of the insertion part 72 not connected to the outer sheath 71, i.e., the flexible end is the end of the endoscope 70. The flexible end can reduce the collision force between the end of the endoscope 70 and human organs, thereby reducing the damage to human organs caused by the endoscope 70 during its movement within the human body.

[0036] Furthermore, in an embodiment of the present invention, the endoscope 70 further includes an imaging element and a light source. The imaging element and the light source are disposed at the end of the insertion portion 72 that is not connected to the outer sheath portion 71. The light source is used to provide illumination for the imaging element, and the imaging element is used to capture the real-time status of the endoscope 70 inside the human body and the condition of lesions.

[0037] Furthermore, such as Figure 2 As shown, in an embodiment of the present invention, the insertion part 72 is sleeved with the outer sheath part 71, and the diameter of the insertion part 72 is smaller than the diameter of the outer sheath part 71. Specifically, the insertion part 72 can retract into the outer sheath part 71 or extend out of the outer sheath part 71. When the lesion is in a narrow cavity, the smaller diameter of the insertion part 72 allows it to enter the narrow cavity.

[0038] like Figure 3 As shown, in an embodiment of the present invention, the first driving mechanism 20 includes a first driving member 21 and a second driving member 22. The first driving member 21 is used to control the overall movement of the outer sheath portion 71 and the insertion portion 72, and the second driving member 22 is used to control the movement of the insertion portion 72.

[0039] Specifically, when the endoscope 70 is outside the body, the outer sheath 71 and the insertion part 72 act as a single unit. When the operator operates the first drive member 21, the outer sheath 71 and the insertion part 72 move forward as a whole and enter the body. When the endoscope 70 reaches a narrow cavity or opening, the operator operates the second drive member 22, the outer sheath 71 remains stationary, and the insertion part 72 enters the cavity or opening.

[0040] Furthermore, in this embodiment, the shapes of the first driving member 21 and the second driving member 22 can be varied. Specifically, for example, both the first driving member 21 and the second driving member 22 can be rod-shaped structures. When the first driving member 21 is pushed forward, both the outer sheath portion 71 and the insertion portion 72 move forward; when the first driving member 21 is pushed backward, both the outer sheath portion 71 and the insertion portion 72 move backward. Correspondingly, when the second driving member 22 is pushed forward, the insertion portion 72 moves forward; when the second driving member 22 is pushed backward, the insertion portion 72 moves backward. Optionally, the first driving member 21 and the second driving member 22 can also be block-shaped structures. When the first end of the block-shaped structure is pressed, the endoscope 70 moves forward; when the second end of the block-shaped structure is pressed, the endoscope 70 moves backward.

[0041] It should be noted that in this embodiment, the insertion part 72 is sleeved with the outer sheath part 71. When the second driving member 22 is operated, the outer sheath part 71 remains stationary and the insertion part 72 extends; while when the insertion part 72 retracts, the insertion part 72 retracts into the outer sheath part 71.

[0042] Furthermore, in this embodiment, the displacement of the first drive member 21 and the second drive member 22 is mapped to the travel speed of the endoscope 70.

[0043] like Figure 4 As shown, in an embodiment of the present invention, the first drive mechanism 20 further includes a steering knob 23. The steering knob 23 has three switchable positions. When the steering knob 23 is in the first position, the insertion part 72 turns; when the steering knob 23 is in the second position, neither the insertion part 72 nor the outer sheath part 71 turns, and the insertion part 72 and the outer sheath part 71 remain in their current state; when the steering knob 23 is in the third position, the outer sheath part 71 turns.

[0044] Specifically, the operator can control the steering mode of the endoscope 70 by rotating the steering knob 23. When the steering knob 23 is rotated to the E position, it is the steering mode of the insertion part 72; when the steering knob 23 is rotated to the S position, it is the steering mode of the outer sheath part 71; when the steering knob 23 is rotated to the N position, neither the outer sheath part 71 nor the insertion part 72 will be steered.

[0045] like Figure 5 As shown, in an embodiment of the present invention, the force feedback structure 10 includes: an operating handle, a universal joint 13, and an angle compass 14. The first end of the universal joint 13 is rotatably connected to the angle compass 14, and the second end of the universal joint 13 is connected to the operating handle. The surface of the angle compass 14 is provided with a circular groove, and the universal joint 13 is disposed within this circular groove and rotatably connected to the angle compass 14. The universal joint 13 can slide within the circular groove, wherein the rotational displacement of the universal joint 13 maps to the rotational angle of the endoscope 70.

[0046] Specifically, when operating the operating handle, the universal joint 13 can freely rotate and slide within the circular groove of the angle compass 14, thereby obtaining the relative displacement value of the universal joint 13 within the angle compass 14. The orientation of the universal joint 13 within the angle compass 14 is consistent with that of the endoscope 70. For example, when the operator moves the operating handle to the left, the endoscope 70 bends to the left, and the image captured by the camera element looks to the left. Specifically, as... Figure 6 As shown, the joint angle at the end of the endoscope 70 includes the bending angle θ and the azimuth angle. Using a positive kinematic model, joint angles It can determine the position of the endoscope tip 70. For example... Figure 7 As shown, Figure 7 This section provides a specific calculation example of how the displacement of the universal joint 13 is mapped to the joint angle at the end of the endoscope 70 when the operator operates the control handle. Specifically, the positive direction Ox on the angle compass 14 points to the positive x-direction of the force feedback structure 10, and the positive direction Oy points to the negative z-direction of the force feedback structure 10. Assume that the universal joint 13 is currently moved to point S, at which point S is d from the center O of the angle compass 14, and the angle between OS and Ox is... but

[0047]

[0048] Where R is the radius of the circular groove in the angle compass 14, i.e., the limit position that the universal joint 13 can move within the angle compass 14, and θ max It is the upper limit of the set bending angle.

[0049] To improve the operator's control precision over the universal joint 13, the force feedback structure 10 generates a constant force pointing towards the tabletop, making it difficult for the operator to lift the universal joint 13. This forces it to rotate and slide only within the angle compass 14, reducing the operator's range of motion. When the operator is performing other activities, such as controlling the movement of the endoscope 70, inserting tools or instruments, or pumping water, the downward pressure provided by the force feedback structure 10 stabilizes the universal joint 13, preventing accidental movement. Furthermore, it eliminates the need for the operator to continuously hold the force feedback structure 10 to stabilize the endoscope 70's orientation.

[0050] Furthermore, such as Figure 8 As shown, after the operator switches to the steering mode of the insertion section 72, the universal joint 13 may move to a new position. At this time, the universal joint 13 is moved back to the previously determined joint angle position, and the steering mode is switched to the steering mode of the outer sheath 71. The outer sheath 71 still receives the same joint angle input signal as before, so that the outer sheath 71 will not produce a large change in bending angle.

[0051] Furthermore, such as Figure 5As shown, in an embodiment of the present invention, the operating handle includes an operating part 11 and a rotating part 12. The rotating part 12 is connected to a universal joint 13, the first end of the operating part 11 is connected to the rotating part 12, and the second end of the operating part 11 is provided with a contact 111, which is used to provide force feedback information of the endoscope 70.

[0052] Specifically, when the operator operates the operating unit 11, the operating unit 11 drives the universal joint 13 to rotate via the rotating part 12, thereby causing the endoscope 70 to rotate. The contact point 111 can provide force feedback information to the operator's fingertips. When the endoscope 70 or surgical instruments are operated or collide inside the human body, the contact point 111 will provide the operator with intuitive force feedback information to improve the safety and reliability of the operation of the endoscope 70.

[0053] Furthermore, the operating part 11 and the rotating part 12 are provided with multiple rotating joints so that the operating part 11 has multiple degrees of freedom, and the rotating part 12 is also provided with multiple translational joints so that the operating part 11 can translate.

[0054] Specifically, the operating part 11 is provided with a first rotary joint 112, and the rotating part 12 is provided with a second rotary joint 121, a first translational joint 122, a second translational joint 123, a third rotary joint 124, and a fourth rotary joint 125, thereby giving the operating part 11 six degrees of freedom, and the operating part 11 can also translate. When the first translational joint 122 and the second translational joint 123 swing, the endoscope 70 can be controlled to swing.

[0055] like Figure 1 As shown, in an embodiment of the present invention, the operating end further includes a console 40, on which a force feedback structure 10 and a first drive mechanism 20 are disposed. The robot end also includes an equipment cabinet 80, which is a height-adjustable equipment cabinet, on which a robotic arm 50 is disposed. In this embodiment, the height of the equipment cabinet 80 can be adjusted according to the patient's position, thereby adjusting the height of the robotic arm 50 so that the endoscope 70 can enter the human body.

[0056] The endoscope control device provided in this embodiment of the invention controls the endoscope by using a force feedback structure. The force feedback information provided by the contacts on the force feedback structure can help the operator better control the force feedback structure, and the force feedback structure is stable and not easily disturbed. At the same time, the downward pressure provided by the force feedback structure can stabilize the universal joint, making it less likely to be accidentally moved, and the operator does not need to hold the force feedback structure continuously to stabilize the direction of the endoscope, thus improving the accuracy of the endoscope's movement inside the body.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An endoscope control device, characterized in that, include: The operating terminal includes: a first drive mechanism, a force feedback structure, and a display. The first drive mechanism is used to control the movement and steering of the endoscope, the force feedback structure is used to control the rotation of the endoscope, and the display is used to show the real-time status of the endoscope. The robot end includes: a robotic arm, a second drive mechanism, and an endoscope connected in sequence. The endoscope includes an outer sheath and an insertion part connected together. The outer sheath is connected to the second drive mechanism. The robotic arm is communicatively connected to the first drive mechanism and the force feedback structure. The first drive mechanism also includes a steering knob, which has three switchable positions; When the steering knob is in the first position, the insertion part changes direction; when the steering knob is in the second position, the insertion part and the outer sheath remain in their current state; and when the steering knob is in the third position, the outer sheath changes direction.

2. The endoscope control device according to claim 1, characterized in that, At least one end of the outer sheath and at least one end of the insertion portion are flexible ends, wherein when one end of the insertion portion is a flexible end, the flexible end is the end of the insertion portion that is not connected to the outer sheath.

3. The endoscope control device according to claim 2, characterized in that, The insertion part is sleeved with the outer sheath part, and the diameter of the insertion part is smaller than the diameter of the outer sheath part.

4. The endoscope control device according to claim 3, characterized in that, The first driving mechanism includes: A first driving member is used to control the overall movement of the outer sheath and the insertion part; The second driving member is used to control the movement of the insertion part.

5. The endoscope control device according to claim 1, characterized in that, The force feedback structure includes: Operating handle; Universal joint, the universal joint being connected to the operating handle; An angle compass, the surface of which is provided with a circular groove, the universal joint is disposed in the circular groove and rotatably connected to the angle compass, and the universal joint can slide within the circular groove; The rotational displacement of the universal joint is mapped to the rotational angle of the endoscope.

6. The endoscope control device according to claim 5, characterized in that, The operating handle includes: A rotating part, which is connected to the universal joint; The operating part has a first end connected to the rotating part and a second end provided with a contact point for providing force feedback information of the endoscope.

7. The endoscope control device according to claim 6, characterized in that, The operating part and the rotating part are provided with multiple rotational joints so that the operating part has multiple degrees of freedom, and the rotating part is also provided with multiple translational joints so that the operating part can translate.

8. The endoscope control device according to claim 1, characterized in that, The operating terminal also includes a console, on which the force feedback structure and the first drive mechanism are disposed.

9. The endoscope control device according to claim 1, characterized in that, The robot also includes an equipment cabinet, which is a liftable equipment cabinet, and the robotic arm is mounted on the equipment cabinet.

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