Medical electronic endoscope bending angle measuring system and measuring method

Abstract

The invention discloses a system and method for measuring the bending angle of a medical electronic endoscope, and the system comprises a fixed support unit and an angle measurement unit, and the fixed support unit is used for achieving the supporting and fixing of a measured endoscope; the angle measuring unit comprises a calibration piece, an adjusting assembly and a measuring assembly, the calibration piece is provided with a calibration pattern, and the adjusting assembly is used for driving the calibration piece to rotate around a bending node of the measured endoscope, so that the calibration pattern is recognized in the bending process of the measured endoscope, and the measurement accuracy is improved. The measuring assembly is used for measuring the rotation angle of the calibration piece. According to the invention, direct measurement of the bending angle of the electronic endoscope is realized through the calibration piece which rotates at the same angle along with the measured endoscope, and the device is applicable to medical electronic endoscopes of different types and different manufacturers, so that important guarantee is provided for the quality performance and the use safety of the medical electronic endoscopes.

Description

Technical Field

[0001] The invention relates to a bending angle measuring system and a measuring method for a medical electronic endoscope, belonging to the technical field of medical device detection. Background Art

[0002] With the development of science and technology, electronic endoscopes have gradually become an indispensable auxiliary tool in surgical operations. Accurately measuring the bending angle of the endoscope can help doctors better control the direction of the endoscope so that it can accurately reach the target area. If the bending angle is not measured accurately, the endoscope may not be able to accurately reach the surgical operation area, affecting the smooth progress of the operation, and may even cause damage to the surrounding normal tissues. At the same time, the bending part of the electronic endoscope is one of the parts that are easily damaged. By regularly measuring the bending angle, the performance changes of the bending part can be reflected. If the change in the bending angle exceeds the normal range, it may indicate that there are problems with the mechanical structure, optical fiber or electromagnetic components of the bending part, such as mechanical joint wear, optical fiber breakage, etc. This helps to promptly discover potential equipment failures, reasonably arrange equipment maintenance and repairs, and extend the service life of the equipment.

[0003] At present, the main methods for measuring the bending angle of electronic endoscopes are mechanical measurement, optical measurement and electromagnetic measurement. Among them, the mechanical measurement method is to install an angle sensor on the bending part of the electronic endoscope to achieve measurement. Generally speaking, this calibration is carried out in the factory through precise instruments and equipment. By measuring and fitting the angles corresponding to different resistance values ​​for many times, an accurate mathematical model is established; the optical measurement method uses optical elements and imaging principles to measure the bending angle, such as setting up optical fibers or small optical prism systems inside the endoscope, and calculating the bending angle by analyzing the changes in the incident angle and reflection angle of the light; the electromagnetic measurement method uses the principle of electromagnetic induction to measure the bending angle, such as setting a coil at the bending joint. When the joint is bent, the relative position between the coils or the magnetic field coupling relationship will change. By detecting the changes in this electromagnetic parameter, the bending angle can be determined.

[0004] In summary, most of the existing methods for measuring the bending angle of electronic endoscopes require the installation of specific components on the bending part of the electronic endoscope to be measured, such as angle sensors, optical prisms, electromagnetic sensors, etc., to perform indirect measurement of the bending angle. This measurement method is relatively complicated and has a long measurement cycle. It is mostly used for factory inspection of electronic endoscopes and is not suitable for routine measurement and maintenance in hospitals, metrology institutes and other institutions. Summary of the invention

[0005] Purpose of the invention: In view of the problems existing in the prior art, the present invention provides a bending angle measurement system and method for a medical electronic endoscope. By using a calibration piece that rotates at the same angle as the endoscope being measured, direct measurement of the bending angle of the electronic endoscope can be achieved. The system is applicable to electronic endoscopes of different types and manufacturers.

[0006] Technical solution: To achieve the above-mentioned purpose, the present invention provides a bending angle measurement system for a medical electronic endoscope, comprising: A fixed bracket unit, used to support and fix the endoscope under test; An angle measurement unit, including a calibration component, an adjustment component and a measurement component; The calibration piece is provided with a calibration pattern, the adjustment component is used to drive the calibration piece to rotate around the bending node of the endoscope under test, thereby realizing the recognition of the calibration pattern by the endoscope under test during the bending process, and the measurement component is used to measure the rotation angle of the calibration piece.

[0007] Furthermore, the adjustment component includes a rotating track and a first driving unit, wherein the rotating track is arc-shaped, and its center coincides with the bending node of the endoscope under test, and the first driving unit is used to realize the walking drive of the calibration part along the rotating track, thereby realizing the rotation drive of the calibration part around the bending node of the endoscope under test.

[0008] Furthermore, the first driving unit includes a first motor, a slider and a walking wheel, wherein the first motor and the walking wheel are both installed on the slider, the first motor is drivingly connected to the walking wheel, and the slider rolls with the rotating track through the walking wheel, thereby driving the calibration part along the rotating track through the slider to realize walking drive.

[0009] Furthermore, the measuring component includes a grating ruler and a reading head, wherein the grating ruler is distributed on a rotating track, and the reading head moves synchronously with the calibration piece, thereby acquiring the rotation angle of the calibration piece.

[0010] Furthermore, the adjustment component also includes a second driving unit, which is used to realize the telescopic driving of the calibration piece along the radial direction of the rotating track, thereby improving the recognition accuracy of the endoscope.

[0011] Furthermore, the adjustment component also includes a third driving unit, which is used to realize the rotational drive of the rotating track around the axis of the endoscope body under test to determine the bending direction of the endoscope under test.

[0012] Furthermore, the adjustment component also includes a fourth driving unit, which is used to realize linear driving of the rotating track along the axis of the endoscope body under test, so as to achieve that the center of the rotating track coincides with the bending node of the endoscope under test as much as possible.

[0013] Furthermore, the measurement system also includes a control unit, which is respectively connected to the adjustment component and the measurement component by signals, thereby realizing drive control and data collection.

[0014] In addition, the present invention also provides a measurement method based on the above-mentioned medical electronic endoscope bending angle measurement system, comprising the following steps: S1. Support and fix the endoscope to be tested on the fixed bracket unit; S2, adjusting the bending angle of the endoscope to be tested to 0 degrees, so that the endoscope to be tested can recognize the calibration pattern in the initial position; S3, adjusting the bending angle of the endoscope under test to reach the designed angle, and at this time driving the calibration piece to rotate around the bending node of the endoscope under test by adjusting the component until the endoscope under test can recognize the calibration pattern on the calibration piece; S4. The rotation angle of the calibration component is measured by the measuring component, which is the actual bending angle of the endoscope being measured.

[0015] Further, when the center of the calibration pattern is aligned with the center of the endoscope under test, it is determined that the endoscope under test can recognize the calibration pattern.

[0016] Beneficial effects: The present invention realizes direct measurement of the bending angle of the electronic endoscope by following the calibration piece that rotates at the same angle as the endoscope being measured, thereby providing important guarantees for the quality performance and use safety of medical electronic endoscopes. The present invention has a wide range of application prospects and can be applied to medical electronic endoscopes of different types and manufacturers. At the same time, the measurement process is simple and efficient, and there is no need to install specific components inside the electronic endoscope. It is conducive to the realization of routine measurement and maintenance of medical electronic endoscopes, has a high degree of automation and detection accuracy, and is highly practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The structure of the bending angle measurement system of the medical electronic endoscope in the embodiment of the present invention is shown in FIG. Figure 1 ; Figure 2 The structure of the bending angle measurement system of the medical electronic endoscope in the embodiment of the present invention is shown in FIG. Figure 2 ; Figure 3 1. is a circuit schematic diagram of a bending angle measurement system for a medical electronic endoscope according to an embodiment of the present invention; The figure includes: 1. clamping device, 2. endoscope to be tested, 3. self-centering bracket, 4. rotating track, 5. gear bar, 6. walking gear, 7. slider, 8. first motor, 9. electric telescopic cylinder, 10. harmonic servo motor, 11. second motor, 12. lead screw slide, 13. concentric circle cross cursor, 14. coupling, 15. grating ruler, 16. reading head. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. It is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0019] Reference Figure 1 , Figure 2 The present invention provides a bending angle measurement system for a medical electronic endoscope, which mainly includes a fixed support unit, an angle measurement unit and a control unit, wherein the fixed support unit is used to support and fix the endoscope 2 to be measured; the angle measurement unit includes a calibration piece, an adjustment component and a measurement component, the calibration piece is provided with a calibration pattern, the adjustment component is used to drive the calibration piece to rotate around the bending node of the endoscope 2 to be measured, thereby realizing the recognition of the calibration pattern by the endoscope 2 to be measured during the bending process, and the measurement component is used to measure the rotation angle of the calibration piece; the control unit is respectively connected to the adjustment component and the measurement component for signal, thereby realizing drive control and data acquisition.

[0020] Specifically, the fixing bracket unit includes a clamping device 1 and a plurality of self-centering brackets 3 arranged in sequence along the axis direction of the endoscope 2 under test, thereby ensuring that the central axis of the endoscope 2 under test will not be offset. Furthermore, the clamping device 1 can use a flexible chuck to adapt to the endoscope 2 under test of different sizes; the self-centering bracket 3 uses three spring calipers to fix the endoscope 2 under test, and realizes automatic centering by using the principle of three points to determine a circle.

[0021] Specifically, the adjustment component includes a rotating track 4 and a first drive unit, a second drive unit, a third drive unit, and a fourth drive unit, wherein the rotating track 4 is an arc-shaped, and its center coincides with the bending node of the endoscope 2 under test, the first drive unit is used to realize the walking drive of the calibration part along the rotating track 4, the second drive unit is used to realize the radial telescopic drive of the calibration part along the rotating track 4, the third drive unit is used to realize the rotation drive of the rotating track 4 around the axis of the endoscope 2 under test, and the fourth drive unit is used to realize the linear drive of the rotating track 4 along the axis of the endoscope 2 under test.

[0022] The bending angle of a medical electronic endoscope refers to the angle between the axis of the bending section and the axis of the mirror body, and the intersection of the axis of the bending section and the axis of the mirror body can be defined as the bending node. In order to achieve that the calibration piece can rotate at the same angle as the endoscope 2 under test, the calibration piece also needs to rotate around the bending node of the endoscope 2 under test. Therefore, the center of the rotating track 4 must first be located on the axis of the mirror body of the endoscope 2 under test. At the same time, during the movement of the calibration piece, the center line of the calibration piece always coincides with the radial direction of the rotating track 4, so that the calibration piece can rotate around the bending node of the endoscope 2 under test.

[0023] In this embodiment, the rotating track 4 adopts a semicircular design, thereby meeting the bending angle measurement of medical electronic endoscopes with different angle specifications; the calibration pattern adopts a concentric circle cross cursor 13, so that when the cross cursor on the display system of the endoscope 2 under test and the concentric circle cross cursor 13 on the calibration part coincide, it can be determined that the rotation angles of the two are consistent.

[0024] Specifically, the first driving unit includes a first motor 8, a slider 7 and a walking wheel, wherein the first motor 8 and the walking wheel are both installed on the slider 7, the first motor 8 is drivingly connected to the walking wheel, the slider 7 is rollingly matched with the rotating track 4 through the walking wheel, thereby driving the calibration part along the rotating track 4 through the slider 7 to realize walking drive. In order to improve the control accuracy, the walking wheel and the rotating track 4 can be further matched with gears. Exemplarily, gear bars 5 are provided on the upper and lower sides of the rotating track 4, and a corresponding walking gear 6 is provided on the slider 7, thereby realizing the walking control of the slider 7 along the rotating track 4 through the cooperation of the walking gear 6 and the gear bar 5, and at the same time, the first motor 8 is transmission-connected to the upper walking gear 6 through the coupling 14, and the lower walking gear 6 serves as a passive wheel and rotates with the active wheel.

[0025] Endoscopes of different specifications have different display accuracy. Therefore, in order to improve the recognition accuracy of the endoscope, it is preferred to realize the telescopic drive of the calibration piece along the radial direction of the rotating track 4 through the second drive unit to ensure that the cross cursor on the display system of the endoscope 2 under test can completely overlap with the concentric circle cross cursor 13 on the calibration piece. Exemplarily, the second drive unit includes an electric telescopic cylinder 9 mounted on the slider 7, and the calibration piece is set at the end of the electric telescopic cylinder 9, thereby realizing the telescopic drive of the calibration piece along the radial direction of the rotating track 4. At the same time, in order to avoid affecting the movement of the slider 7, a long groove is opened at the center of the width of the rotating track 4, and the electric telescopic cylinder 9 is set to penetrate the long groove in the radial direction.

[0026] The position of the bending node of the endoscope 2 under test is uncertain, so it is preferred to realize the linear drive of the rotating track 4 along the axis of the endoscope body 2 under test through the fourth driving unit, so as to realize that the center of the rotating track 4 coincides with the bending node of the endoscope 2 under test as much as possible. Exemplarily, the fourth driving unit and the fixed support unit are arranged at two ends of the fixed base opposite to each other, and the fourth driving unit includes a second motor 11 and a screw slide 12, and the second motor 11 is connected to the screw slide 12 for driving, and the rotating track 4 is driven by the screw slide 12 to slide and adjust along the fixed base, and during the sliding process, the center of the rotating track 4 is always located on the axis of the endoscope body 2 under test.

[0027] In actual use, the endoscope 2 under test may have different bending directions. In order to ensure that the calibration pattern can be accurately recognized in different directions by the endoscope 2 under test, it is preferred that the third driving unit is used to realize the rotation drive of the rotating track 4 around the axis of the endoscope 2 under test. Exemplarily, the third driving unit includes a harmonic servo motor 10 mounted on a screw slide 12, and its output end is fixedly connected to the rotating track 4 through a coupling 14, thereby realizing the rotation drive of the rotating track 4.

[0028] In order to ensure that the rotating track 4 can be driven to rotate around the axis of the endoscope 2 under test, the self-centering bracket 3 and the harmonic servo motor 10 need to be coaxially arranged. At the same time, in order to ensure that the endoscope 2 under test does not deviate during the clamping process, the endoscope 2 under test in a non-bent state can be calibrated, so it is necessary to further set a concentric circle cross cursor 13 at the end center of the harmonic servo motor 10, so that when the cross cursor on the display system of the endoscope 2 under test and the concentric circle cross cursor 13 coincide, it can be said that the harmonic servo motor 10 and the endoscope 2 under test are coaxial. In addition, the concentric circle cross cursor 13 at the end of the harmonic servo motor 10 is located at the starting end of the rotating track 4. As a calibration pattern at the initial position, it is consistent with the position of the concentric circle cross cursor 13 at the end of the electric telescopic cylinder 9 in the width direction of the rotating track 4, that is, the width center position.

[0029] Specifically, the measuring assembly includes a grating ruler 15 and a reading head 16, wherein the grating ruler 15 is distributed in the long groove of the rotating track 4, and the reading head 16 is installed on the slider 7 so that it keeps moving synchronously with the calibration piece, thereby measuring the rotation angle of the calibration piece. In this embodiment, an absolute grating ruler 15 is used, and 0°-180° is corresponded to the displacement of the absolute grating ruler 15 one by one, so that the reading head 16 can directly read the current angle value.

[0030] Reference Figure 3 The control unit includes a microprocessor and a host computer, wherein the host computer is electrically connected to the microprocessor and the reading head 16 respectively, and further electrically connected to the first motor 8, the harmonic servo motor 10, the second motor 11, and the electric telescopic cylinder 9 through the microprocessor.

[0031] In addition, there is also a measurement method based on the above-mentioned medical electronic endoscope bending angle measurement system, comprising the following steps: S1, placing the front end of the endoscope body of the endoscope 2 to be tested in the self-centering bracket 3, and clamping and fixing the endoscope 2 to be tested by the clamping device 1; S2, adjusting the bending angle of the endoscope 2 to 0 degrees through the operating end of the endoscope 2 under test, observing the concentric circle cross cursor 13 at the end of the harmonic servo motor 10 through the display system, and controlling the second motor 11 to drive the harmonic servo motor 10 to perform linear motion until the cross cursor in the display system and the concentric circle cross cursor 13 at the end of the harmonic servo motor 10 coincide with each other; S3, adjusting the bending angle of the endoscope 2 to the designed angle through the operating end of the endoscope 2 under test, at this time, the harmonic servo motor 10 drives the rotating track 4 to rotate around the axis of the endoscope 2 under test, until the rotating track 4 can be observed in the display system, thereby determining the bending direction, and then finely adjusting the calibration part through the first motor 8, the second motor 11, the harmonic servo motor 10 and the electric telescopic cylinder 9, until the cross cursor in the display system and the concentric circle cross cursor 13 at the end of the electric telescopic cylinder 9 completely overlap; S4. The host computer collects the value of the current absolute grating ruler 15, which is the bending angle value of the endoscope 2 under test.

[0032] It can be seen that the concentric cross cursor 13 at the end of the harmonic servo motor 10 in S2 is coaxial with the scope body segment, and the concentric cross cursor 13 at the end of the electric telescopic cylinder 9 in S3 is coaxial with the bending segment, so the angle between the two is the bending angle of the endoscope 2 being measured.

[0033] The above specific implementations are only descriptions of the preferred implementations of the present invention, and do not limit the protection scope of the present invention. Without departing from the design concept and spirit of the present invention, various modifications, substitutions and improvements made by ordinary technicians in this field to the technical solution of the present invention based on the text description and drawings provided by the present invention should all fall within the protection scope of the present invention.

Claims

1. A bending angle measurement system for a medical electronic endoscope, characterized in that: include: A fixed bracket unit, used to support and fix the endoscope under test; An angle measurement unit, including a calibration component, an adjustment component and a measurement component; The calibration piece is provided with a calibration pattern, the adjustment component is used to drive the calibration piece to rotate around the bending node of the endoscope under test, thereby realizing the recognition of the calibration pattern by the endoscope under test during the bending process, and the measurement component is used to measure the rotation angle of the calibration piece.

2. The bending angle measurement system for medical electronic endoscope according to claim 1, characterized in that: The adjustment component includes a rotating track and a first driving unit, wherein the rotating track is in an arc shape, and its center coincides with the bending node of the endoscope under test. The first driving unit is used to realize the walking drive of the calibration part along the rotating track, thereby realizing the rotation drive of the calibration part around the bending node of the endoscope under test.

3. The bending angle measurement system for medical electronic endoscope according to claim 2, characterized in that: The first driving unit includes a first motor, a slider and a walking wheel, wherein the first motor and the walking wheel are both installed on the slider, the first motor is drivingly connected to the walking wheel, and the slider rolls with the rotating track through the walking wheel, thereby driving the calibration part along the rotating track through the slider to realize walking drive.

4. The bending angle measurement system for medical electronic endoscope according to claim 2, characterized in that: The measuring assembly comprises a grating ruler and a reading head, wherein the grating ruler is distributed on a rotating track, and the reading head moves synchronously with the calibration piece, thereby acquiring the rotation angle of the calibration piece.

5. The bending angle measurement system for medical electronic endoscope according to claim 2, characterized in that: The adjustment assembly also includes a second driving unit, which is used to realize the telescopic driving of the calibration piece along the radial direction of the rotating track.

6. The bending angle measurement system for medical electronic endoscope according to claim 2, characterized in that: The adjustment component also includes a third driving unit, which is used to realize the rotational drive of the rotating track around the axis of the endoscope body to be measured.

7. The bending angle measurement system for medical electronic endoscope according to claim 2, characterized in that: The adjustment component also includes a fourth driving unit, which is used to realize linear driving of the rotating track along the axis of the endoscope body being measured.

8. The bending angle measurement system for medical electronic endoscope according to claim 1, characterized in that: It also includes a control unit, which is respectively connected to the regulating component and the measuring component for signals.

9. A measurement method based on the bending angle measurement system of a medical electronic endoscope according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Support and fix the endoscope to be tested on the fixed bracket unit; S2, adjusting the bending angle of the endoscope to be tested to 0 degrees, so that the endoscope to be tested can recognize the calibration pattern in the initial position; S3, adjusting the bending angle of the endoscope under test to reach the designed angle, and at this time driving the calibration piece to rotate around the bending node of the endoscope under test by adjusting the component until the endoscope under test can recognize the calibration pattern on the calibration piece; S4. The rotation angle of the calibration component is measured by the measuring component, which is the actual bending angle of the endoscope being measured.

10. The measuring method according to claim 9, characterized in that: When the center of the calibration pattern is aligned with the center of the endoscope under test, it is determined that the endoscope under test can recognize the calibration pattern.

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