Visualization system and method of eye-rotatable wide-view endoscope

Abstract

The invention discloses a visualization system and method for an eye-rotatable wide-view endoscope, and relates to the technical field of medical instruments, and the system comprises at least one micro sensor which is installed on a surgical knife; the micro sensor is used for transmitting a position signal; the signal receiving and processing module is used for receiving the position signal, analyzing and processing the position signal, and calculating to obtain position data of the surgical knife in the space; the control module is used for generating a control instruction according to the position information of the surgical knife in the space; the driving mechanism is used for controlling movement of the lens according to the control instruction; the display module is used for displaying the operation area image shot by the lens and the relative position identification of the operation knife in the image in real time. According to the invention, accurate and automatic following of the lens to the surgical knife is realized, the flexibility and comprehensiveness of the surgical field are greatly improved, the frequency of manually adjusting the lens by a surgeon is effectively reduced, the surgical operation difficulty and risk are reduced, and the surgical time is shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more specifically, to a visualization system and method for a rotatable-eye wide-field endoscope. Background Art

[0002] In modern surgical operations, endoscopic surgery has become an important minimally invasive surgical method. During the surgical process of traditional endoscopic systems, the field of view of the lens is relatively fixed. It is often necessary to manually adjust the position of the lens to adapt to the change of the operation area of the surgical instrument. This not only increases the workload of the doctor, but also may cause problems such as shaking of the lens field of view and untimely adjustment during the manual adjustment process, affecting the accuracy and efficiency of the surgery. In addition, the field of view of traditional endoscopes is limited, and it is difficult to observe some complex surgical sites comprehensively and clearly, restricting the convenience and safety of surgical operations.

[0003] Therefore, how to provide a visualization system and method for a rotatable-eye wide-field endoscope, which always keeps the surgical instrument at the center or a specific relative position in the field of view, so as to provide a clear, stable and dynamically changing surgical field along with the surgical instrument for the surgeon is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the present invention provides a visualization system and method for a rotatable-eye wide-field endoscope, which ensures that the surgical instrument can be clearly and completely presented in the endoscope field of view throughout the surgical process, and when the surgical instrument moves along a complex operation path, the endoscope lens can automatically and smoothly follow, providing a stable, wide and accurate surgical field for the surgeon, greatly improving the operation convenience, accuracy and safety of the surgery, and reducing the occurrence of surgical risks and complications.

[0005] To achieve the above object, the present invention adopts the following technical solutions: A visualization system for a rotatable-eye wide-field endoscope, comprising:

[0006] At least one micro sensor installed on the surgical tool; the micro sensor is used for emitting position signals;

[0007] A signal receiving and processing module, which is used for receiving the position signal, parsing and processing the position signal, and calculating the position data of the surgical tool in space;

[0008] A control module, which is used for generating a control instruction according to the position information of the surgical tool in space;

[0009] A driving mechanism, the driving mechanism is used for controlling the movement of the lens according to the control instruction;

[0010] A display module for real-time displaying the image of the surgical area captured by the lens and the relative position identification of the surgical tool in the image.

[0011] Preferably, it further includes a position sensor installed on the driving mechanism for real-time monitoring of the current position information of the lens and feeding back the current position information of the lens to the control module.

[0012] Preferably, the control module determines the target position of the lens according to the real-time position of the tool and the current position information of the lens fed back by the position sensor, calculates the distance and direction that the lens needs to move, and generates a control instruction to accurately move the lens to the target position of the lens and achieve precise adjustment of the visual field.

[0013] Preferably, it receives the position signal, performs parsing and processing on the position signal, and calculates the position data of the surgical tool in space, including:

[0014] Establish a detection interval with the current time point as the rear endpoint and a width of a preset unit duration on a preset time axis;

[0015] According to the position signal and the corresponding intensity value, calculate the difference value of the signal intensity values at the front endpoint and the rear endpoint of the detection interval to determine the change value of the position signal;

[0016] Calculate to determine the initial position of the surgical tool according to the signal intensity value obtained from the initial position signal at the current time point, and calculate to determine the moving position of the surgical tool according to the moving position and the signal intensity value obtained at the current time point;

[0017] Calculate to determine the position data of the surgical tool in space according to the moving position and the initial position of the surgical tool.

[0018] Preferably, calculate the difference value of the two signal change values of the standard signal to determine the change difference value;

[0019] Judge whether the change difference value is greater than a preset reference difference value;

[0020] If the change difference value is not greater than the reference difference value, maintain the initial position signal;

[0021] If the change difference value is greater than the reference difference value, cancel the standard signal with a smaller signal change value among the two standard signals, and use the other standard signal as the initial position signal.

[0022] Preferably, during the movement of the lens, the position sensor installed on the driving mechanism monitors the current position information of the lens and feeds it back to the control module; the control module compares the fed-back position information with the target position and calculates the position error;

[0023] Based on the position error, the control module adjusts the control instructions sent to the drive mechanism.

[0024] Preferably, if the actual position of the lens lags behind the target position, the rotational speed of the motor is increased; if the actual position of the lens is ahead of the target position, the rotational speed of the motor is decreased. Through this closed-loop control method, it can be ensured that the lens always accurately follows the movement of the surgical tool along a predetermined trajectory and speed, and maintains a stable relative position relationship during the movement of the tool.

[0025] Preferably, a visualization method for a rotatable wide-field endoscope includes:

[0026] Install at least one micro sensor on the surgical tool, and the micro sensor emits a position signal;

[0027] Receive the position signal, perform parsing and processing on the position signal, and calculate the position data of the surgical tool in space;

[0028] Generate a control instruction according to the position information of the surgical tool in space;

[0029] Control the movement of the lens according to the control instruction;

[0030] Realtime display the surgical area image captured by the lens and the relative position identifier of the surgical tool in the image.

[0031] As can be seen from the above technical solutions, compared with the prior art, the present invention discloses a visualization system and method for a rotatable wide-field endoscope, including: at least one micro sensor installed on the surgical tool; the micro sensor is used to emit a position signal; a signal receiving and processing module, which is used to receive the position signal and perform parsing and processing on the position signal to calculate the position data of the surgical tool in space; a control module, which is used to generate a control instruction according to the position information of the surgical tool in space; a drive mechanism, the drive mechanism is used to control the movement of the lens according to the control instruction; a display module, which is used to realtime display the surgical area image captured by the lens and the relative position identifier of the surgical tool in the image. The present invention realizes the precise automatic following of the lens to the surgical tool by installing a micro sensor on the surgical tool and a series of signal processing, control and drive mechanisms, greatly improves the flexibility and comprehensiveness of the surgical field of view, effectively reduces the frequency of manual adjustment of the lens by the surgeon, reduces the difficulty and risk of surgical operation, and shortens the surgical time. Description of the Drawings

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0033] Figure 1 It is a schematic flowchart of the visualization method of a rotatable multi-field-of-view endoscope provided by the present invention. Specific embodiments

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0035] The embodiment of the present invention discloses a visualization system for a rotatable multi-field-of-view endoscope, including:

[0036] At least one micro sensor installed on the surgical tool; the micro sensor is used to emit position signals to reflect the position, direction and movement trajectory information of the surgical tool, and the micro sensor is an electromagnetic sensor or an optical sensor;

[0037] A signal receiving and processing module for receiving the position signals and performing parsing and processing on the position signals to calculate the position data of the surgical tool in space;

[0038] A control module for generating control instructions according to the position information of the surgical tool in space; the control instructions are used to drive the movement of the lens;

[0039] A driving mechanism for controlling the movement of the lens according to the control instructions; controlling the lens to achieve multi-degree-of-freedom movement, including up, down, left, right movement and rotation;

[0040] A display module for real-time displaying the surgical area image captured by the lens and the relative position identifier of the surgical tool in the image. The surgical area image is presented in a high-definition and real-time manner, and the relative position identifier of the surgical tool is displayed in a prominent manner for easy identification by the surgical operator. The position sensor is an encoder, a potentiometer or other sensor types that can accurately measure the position.

[0041] It also includes a data storage module for storing information such as the position data of the surgical tool, the position data of the lens, and the image data captured by the lens. The stored data can be indexed and retrieved in various ways such as chronological order and surgical events, facilitating postoperative analysis, research, and medical accident tracing.

[0042] Specifically, it further includes a position sensor installed on the driving mechanism for real-time monitoring of the current position information of the lens and feeding back the current position information of the lens to the control module.

[0043] Specifically, the control module determines the target position of the lens based on the real-time position of the tool and the current position information of the lens fed back by the position sensor, calculates the distance and direction that the lens needs to move, and generates a control instruction. The lens is accurately moved to the target position of the lens, achieving precise adjustment of the field of view. The driving mechanism receives the control instruction from the control module to control the rotation speed and direction of the motor, thereby driving the lens to automatically follow the tool along a predetermined trajectory and speed. When the tool advances forward, the lens correspondingly translates forward and adjusts the angle, always keeping the tool at the center of the field of view or a specific relative position.

[0044] Specifically, it receives the position signal, analyzes and processes the position signal, and calculates the position data of the surgical tool in space, including:

[0045] Establish a detection interval with the current time point as the rear endpoint and a width of a preset unit duration on a preset time axis;

[0046] According to the position signal and the corresponding intensity value, calculate the difference between the signal intensity values at the front endpoint and the rear endpoint of the detection interval to determine the change value of the position signal;

[0047] Calculate based on the signal intensity value obtained from the initial position signal at the current time point to determine the initial position of the surgical tool, and calculate based on the moving position and the signal intensity value obtained at the current time point to determine the moving position of the surgical tool;

[0048] Calculate based on the moving position and the initial position of the surgical tool to determine the position data of the surgical tool in space.

[0049] In a specific embodiment of the present invention, to further improve the accuracy and reliability of the position data, a data fusion technology is adopted. When multiple micro sensors are installed on the surgical tool, the measured values of each sensor and the predicted values made by the system based on historical data and the like are fully combined, and according to their respective uncertainties (measured by covariance), the Kalman filtering method is used to calculate the optimal position estimate value.

[0050] Specifically, if the positions of the tool measured by two micro sensors are P1 and P 2 , and the corresponding covariances are Then the fused position estimate value Through such data fusion operations, the information advantages of multiple sensors are effectively integrated, and finally the position data of the surgical tool in space is accurately obtained, providing a reliable basis for operations such as the generation of instructions for the subsequent control module.

[0051] Specifically, the difference calculation is performed based on the two signal change values of the standard signal to determine the change difference;

[0052] Judge whether the change difference is greater than the preset reference difference;

[0053] If the change difference is not greater than the reference difference, the initial position signal is maintained;

[0054] If the change difference is greater than the reference difference, the standard signal with the smaller signal change value among the two standard signals is cancelled, and the other standard signal is used as the initial position signal.

[0055] Specifically, during the movement of the lens, the position sensor installed on the driving mechanism monitors the current position information of the lens and feeds it back to the control module; the control module compares the fed-back position information with the target position and calculates the position error;

[0056] According to the position error, the control module adjusts the control instruction sent to the driving mechanism.

[0057] Specifically, if the actual position of the lens lags behind the target position, the rotation speed of the motor is increased; if the actual position of the lens is ahead of the target position, the rotation speed of the motor is decreased. Through this closed-loop control method, it can be ensured that the lens always accurately follows the movement of the surgical tool according to the predetermined trajectory and speed, and maintains a stable relative position relationship during the movement of the tool.

[0058] Specifically, when the surgical tool suddenly changes its direction or speed during complex surgical operations, the control module can quickly respond and adjust the movement parameters of the lens, so that the tool is always in a suitable position in the field of view, providing a clear and stable surgical field of view for the surgeon and improving the accuracy and safety of the surgery.

[0059] Specifically, a visualization method for a rotatable wide-field endoscope, as Figure 1 shown, includes:

[0060] Install at least one micro sensor on the surgical tool, and the micro sensor emits a position signal;

[0061] Receive the position signal, and perform parsing and processing on the position signal to calculate the position data of the surgical tool in space;

[0062] Generate control instructions based on the position information of the surgical tool in space;

[0063] Control the movement of the lens according to the control instructions;

[0064] Realtime display the image of the surgical area captured by the lens and the relative position identifier of the surgical tool in the image.

[0065] In a specific embodiment of the present invention, after the operation starts, the micro sensor continuously emits position signals, and the signal receiving and processing module immediately captures and analyzes these signals, accurately calculates the position data of the surgical tool. The control module quickly generates control instructions based on these tool position data and the current position information of the lens fed back by the position sensor. After receiving the instructions, the driving mechanism controls the motor to operate, driving the lens to perform multi-degree-of-freedom movement, ensuring that during the operation, the lens can always capture the area where the surgical tool is located at an appropriate angle and position, and making the surgical tool in an ideal relative position in the image of the display module. At the same time, the data storage module continuously records various data during the operation, providing rich and orderly data resources for comprehensive analysis and research after the operation.

[0066] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0067] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A visualization system of a rotatable wide-view laparoscope, characterized in that: include: At least one micro sensor mounted on the surgical tool; the micro sensor is used to transmit a position signal; A signal receiving and processing module, used for receiving the position signal, analyzing and processing the position signal, and calculating the position data of the surgical tool in space; A control module, used for generating control instructions according to the position information of the surgical tool in space; A driving mechanism, the driving mechanism being used to control the movement of the lens according to a control instruction; The display module is used to display the surgical area image captured by the lens and the relative position mark of the surgical tool in the image in real time.

2. The visualization system of a rotatable wide-view laparoscope according to claim 1, characterized in that: It also includes a position sensor, which is installed on the driving mechanism and is used to monitor the current position information of the lens in real time and feed back the current position information of the lens to the control module.

3. The visualization system of a rotatable wide-view laparoscope according to claim 2, characterized in that: The control module determines the target position of the lens according to the real-time position of the tool and the current position information of the lens fed back by the position sensor, calculates the distance and direction the lens needs to move, and generates control instructions.

4. The visualization system of a rotatable wide-view laparoscope according to claim 1, characterized in that: Receiving the position signal, analyzing and processing the position signal, and calculating the position data of the surgical tool in space, including: Establishing a detection interval on a preset time axis with the current time point as the end point and a width as a preset unit time length; According to the position signal and the corresponding strength value, the signal strength values ​​at the front end point and the rear end point of the detection interval are calculated to determine the change value of the position signal; The initial position of the surgical tool is determined by calculating the signal strength value obtained at the current time point according to the initial position signal, and the moving position of the surgical tool is determined by calculating the signal strength value obtained at the current time point according to the moving position; Calculation is performed based on the moving position and initial position of the surgical tool to determine the position data of the surgical tool in space.

5. The visualization system of a rotatable wide-view laparoscope according to claim 4, characterized in that: Performing difference calculation based on two signal change values ​​of the standard signal to determine the change difference; Determine whether the change difference is greater than a preset benchmark difference; If the change difference is not greater than the reference difference, the initial position signal is maintained; If the change difference is greater than the reference difference, the standard signal with the smaller signal change value among the two standard signals is cancelled, and the other standard signal is used as the initial position signal.

6. The visualization system of a rotatable wide-view laparoscope according to claim 3, characterized in that: During the movement of the lens, the position sensor installed on the drive mechanism monitors the current position information of the lens and feeds it back to the control module; the control module compares the fed-back position information with the target position and calculates the position error; Based on the position error, the control module adjusts the control instructions sent to the drive mechanism.

7. The visualization system of a rotatable wide-view laparoscope according to claim 6, characterized in that: If the actual position of the lens lags behind the target position, increase the speed of the motor; if the actual position of the lens is ahead of the target position, reduce the speed of the motor.

8. A visualization method of a rotatable wide-field laparoscope, using a visualization system of a rotatable wide-field laparoscope according to any one of claims 1 to 7, characterized in that: include: At least one micro sensor is installed on the surgical tool, and the micro sensor transmits a position signal; Receiving the position signal, and performing analytical processing on the position signal to calculate and obtain the position data of the surgical tool in space; Generate control instructions according to the position information of the surgical tool in space; Control the movement of the lens according to control instructions; The image of the surgical area captured by the lens and the relative position mark of the surgical knife in the image are displayed in real time.

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