A visualization system and method for a convertible wide field of view endoscope

Abstract

The application discloses a visual system and method of a wide-viewing-angle endoscope, and relates to the technical field of medical devices, which comprises at least one micro sensor installed on a surgical cutter; the micro sensor is used for emitting a position signal; a signal receiving and processing module is used for receiving the position signal and performing analysis processing on the position signal to calculate position data of the surgical cutter in space; a control module is used for generating a control instruction according to the position information of the surgical cutter in space; a driving mechanism is used for controlling the movement of a lens according to the control instruction; and a display module is used for displaying the image of a surgical area shot by the lens and the relative position mark of the surgical cutter in the image in real time. The application realizes the accurate automatic following of the lens to the surgical cutter, greatly improves the flexibility and comprehensiveness of the surgical viewing field, effectively reduces the frequency of manual adjustment of the lens by a surgeon, reduces the operation difficulty and risk, and shortens the operation time.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, and more particularly to a visualization system and method for a wide-viewing-angle endoscope with a rotating lens. BACKGROUND

[0002] In modern surgery, endoscopic surgery has become an important minimally invasive surgical method. In the traditional endoscopic system, the lens field of view is relatively fixed during the operation, and the lens position often needs to be manually adjusted to adapt to the changes in the operating area of the surgical instrument, which not only increases the workload of the doctor, but also may cause the lens field of view to shake, the adjustment to be not timely, and other problems during the manual adjustment, affecting the accuracy and efficiency of the operation. In addition, the viewing range of the traditional endoscope is limited, and it is difficult to observe some complex surgical sites comprehensively and clearly, which limits the convenience and safety of surgical operation.

[0003] Therefore, how to provide a visualization system and method for a wide-viewing-angle endoscope with a rotating lens, which always keeps the surgical instrument in the center or a specific relative position of the field of view, thereby providing the surgeon with a clear, stable, and dynamically changing surgical field of view with the surgical instrument is a problem that those skilled in the art need to solve. SUMMARY

[0004] Therefore, the present application provides a visualization system and method for a wide-viewing-angle endoscope with a rotating lens, which ensures that the surgical instrument can be clearly and completely presented in the endoscopic field of view throughout the entire operation, and when the surgical instrument moves in a complex operation path, the endoscopic lens can automatically and smoothly follow, providing the surgeon with a stable, wide, and accurate surgical field of view, greatly improving the operation convenience, accuracy, and safety of the operation, and reducing the occurrence of surgical risks and complications.

[0005] To achieve the above-mentioned purpose, the present application adopts the following technical solution: a visualization system for a wide-viewing-angle endoscope with a rotating lens, comprising:

[0006] At least one micro sensor mounted on the surgical cutter; the micro sensor is used to emit a position signal;

[0007] A signal receiving and processing module for receiving the position signal and performing analysis processing on the position signal to calculate the position data of the surgical cutter in space;

[0008] A control module for generating a control instruction according to the position information of the surgical cutter in space;

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

[0010] The display module is configured to display the image of the surgical area and the relative position of the surgical tool in the image in real time.

[0011] Preferably, the position sensor is installed on the driving mechanism and configured 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.

[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 make the lens accurately move to the target position of the lens and realize accurate adjustment of the field of view.

[0013] Preferably, the position signal is received and analyzed to calculate the position data of the surgical tool in space, including:

[0014] A detection interval is established on a preset time axis, with a current time point as a rear end point and a width of a preset unit time length;

[0015] The signal strength values at the front end point and the rear end point of the detection interval are calculated by difference to determine the change value of the position signal according to the position signal and the corresponding signal strength value;

[0016] The initial position of the surgical tool is calculated according to the signal strength value of the initial position signal at the current time point, and the moving position of the surgical tool is calculated according to the signal strength value at the moving position and the current time point;

[0017] The position data of the surgical tool in space is calculated according to the moving position and the initial position of the surgical tool.

[0018] Preferably, the change difference value is calculated by difference according to the two signal change values of the standard signals;

[0019] It is judged 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, the initial position signal is maintained;

[0021] If the change difference value is greater than the reference difference value, the standard signal with the smaller signal change value is cancelled, and the other standard signal is used 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 feedback position information with the target position and calculates the position error.

[0023] According to the position error, the control module adjusts the control instruction sent to the driving mechanism.

[0024] Preferably, 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 leads the target position, the rotation speed of the motor is decreased. Through this closed-loop control mode, it can be ensured that the lens always accurately follows the movement of the surgical knife according to the predetermined trajectory and speed, and maintains a stable relative position relationship during the movement of the knife.

[0025] Preferably, a visualization method of a wide-viewing-angle convertible endoscope comprises:

[0026] At least one micro sensor is installed on the surgical knife, and the micro sensor emits a position signal;

[0027] The position signal is received and analyzed to calculate the position data of the surgical knife in space;

[0028] A control instruction is generated according to the position information of the surgical knife in space;

[0029] The movement of the lens is controlled according to the control instruction;

[0030] The image of the surgical area taken by the lens and the relative position mark of the surgical knife in the image are displayed in real time.

[0031] According to the above technical solution, compared with the prior art, the present disclosure provides a visualization system and method of a wide-viewing-angle convertible endoscope, which comprises: at least one micro sensor installed on the surgical knife; the micro sensor is used to emit a position signal; a signal receiving and processing module is used to receive the position signal and analyze the position signal to calculate the position data of the surgical knife in space; a control module is used to generate a control instruction according to the position information of the surgical knife in space; a driving mechanism is used to control the movement of the lens according to the control instruction; and a display module is used to display the image of the surgical area taken by the lens and the relative position mark of the surgical knife in the image in real time. Through the installation of the micro sensor on the surgical knife and a series of signal processing, control and driving mechanisms, the present disclosure realizes the accurate automatic following of the lens to the surgical knife, greatly improves the flexibility and comprehensiveness of the surgical field, effectively reduces the frequency of manual adjustment of the lens by the surgeon, reduces the difficulty and risk of surgical operation, and shortens the operation time. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below only constitute a part of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of the provided drawings.

[0033] Figure 1 A visual method flowchart of a wide visual field endoscope with eye conversion is provided. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments only constitute a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0035] The embodiments of the present application disclose a visual system of a wide visual field endoscope with eye conversion, comprising:

[0036] At least one micro sensor installed on the surgical cutter; the micro sensor is used to emit a position signal to reflect the position, direction and motion trail information of the surgical cutter, and the micro sensor is an electromagnetic sensor or an optical sensor;

[0037] A signal receiving and processing module is used to receive the position signal and analyze and process the position signal to calculate the position data of the surgical cutter in space;

[0038] A control module is used to generate a control instruction according to the position information of the surgical cutter in space; the control instruction is used to drive the motion of the lens;

[0039] A driving mechanism is used to control the motion of the lens according to the control instruction; the control lens realizes multi-degree-of-freedom motion, including up-down, left-right movement and rotation;

[0040] A display module is used to display the image of the surgical area shot by the lens and the relative position mark of the surgical cutter in the image in real time. The image of the surgical area is presented in a high-definition and real-time manner, and the relative position mark of the surgical cutter is displayed in a conspicuous manner to facilitate the clear identification of the surgical operator. The position sensor is an encoder, a potentiometer or other sensor types capable of accurately measuring the position.

[0041] The data storage module is used for storing position data of the surgical cutter, position data of the lens, image data taken by the lens, and the like, and the stored data can be indexed and searched in various manners such as time sequence and surgical events, so as to facilitate postoperative analysis, research, and medical accident tracing.

[0042] Specifically, the position sensor is installed on the driving mechanism and is used for monitoring real-time 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 a target position of the lens according to a real-time position of the cutter and the current position information of the lens fed back by the position sensor, calculates a distance and a direction that the lens needs to move, and generates a control instruction, so that the lens is accurately moved to the target position of the lens and the field of view is accurately adjusted.

[0044] Specifically, the position signal is received and analyzed, and position data of the surgical cutter in space is calculated, including:

[0045] A detection interval with a current time point as a rear end point and a width as a preset unit time length is established on a preset time axis;

[0046] According to the position signal and the corresponding intensity value, a difference value of signal intensity values at a front end point and a rear end point of the detection interval is calculated to determine a change value of the position signal;

[0047] An initial position of the surgical cutter is calculated according to an initial position signal and a signal intensity value acquired at the current time point, and a moving position of the surgical cutter is calculated according to the moving position and the signal intensity value acquired at the current time point;

[0048] The position data of the surgical cutter in space is calculated according to the moving position and the initial position of the surgical cutter.

[0049] In one specific embodiment of the present application, in order 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 cutter, the measurement values of the sensors and the predicted values made by the system based on historical data are fully combined, and the optimal position estimation value is calculated by using a Kalman filtering method according to their respective uncertainties (measured by covariance).

[0050] Specifically, if two micro sensors measure the positions of the tool as P1 and P2, the corresponding covariances are Then the fused position estimate is Through such data fusion operations, the information advantages of multiple sensors are effectively integrated, and the position data of the surgical tool in space is finally accurately obtained, providing reliable basis for subsequent control module instruction generation and other operations.

[0051] Specifically, the difference between the two signal change values of the standard signals is calculated to determine the change difference;

[0052] It is judged 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 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 feedback 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 speed of the motor is increased; if the actual position of the lens leads the target position, the speed of the motor is reduced. Through this closed-loop control mode, 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 direction or speed in complex surgical operations, the control module can quickly respond to adjust the movement parameters of the lens, so that the tool is always in the right position in the field of view, providing clear and stable surgical field of view for the surgeon, improving the accuracy and safety of the operation.

[0059] Specifically, a visualization method for a wide field of view endoscope, as shown in Figure 1 , comprises:

[0060] At least one micro sensor is installed on the surgical tool, and the micro sensor emits a position signal;

[0061] The position signal is received and analyzed, and the position data of the surgical tool in space is calculated.

[0062] generating control instructions according to the position information of the surgical cutter in the space;

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

[0064] displaying the image of the surgical area taken by the lens and the relative position mark of the surgical cutter in the image in real time.

[0065] In one specific embodiment of the present application, after the surgery starts, the micro sensor continuously emits position signals, and the signal receiving and processing module immediately captures and analyzes the signals, accurately calculates the position data of the surgical cutter, and the control module generates control instructions according to the cutter position data and the current position information of the lens fed back by the position sensor, and the driving mechanism receives the instructions to control the motor to operate, driving the lens to move in multiple degrees of freedom, ensuring that the lens can always take pictures of the area where the surgical cutter is located at a suitable angle and position during the surgery, and making the surgical cutter in the image of the display module in the ideal relative position. At the same time, the data storage module continuously records various data during the surgery, providing rich and orderly data resources for postoperative comprehensive analysis and research.

[0066] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the related parts can be referred to the method part.

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

Claims

1. A visualization system for a rotatable wide-field endoscope, characterized in that, The application relates to a surgical knife control system, which comprises the following parts: at least one micro sensor installed on a surgical knife; the micro sensor is used for emitting a position signal; a signal receiving and processing module, which is used for receiving the position signal and performing analysis processing on the position signal to calculate the position data of the surgical knife in space; a control module, which is used for generating a control instruction according to the position information of the surgical knife in space; a driving mechanism, which is used for controlling the movement of a lens according to the control instruction; a display module, which is used for displaying the image of a surgical area shot by the lens and the relative position mark of the surgical knife in the image in real time; the signal receiving and processing module is used for receiving the position signal and performing analysis processing on the position signal to calculate the position data of the surgical knife in space, which comprises the following steps: establishing a detection interval with a current time point as a rear end point and a preset unit time length as a width on a preset time axis; performing difference calculation on the signal intensity values at the front end point and the rear end point of the detection interval according to the position signal and the corresponding intensity values to determine the change value of the position signal; calculating the initial position of the surgical knife according to the initial position signal and the signal intensity value obtained at the current time point, and calculating the moving position of the surgical knife according to the moving position and the signal intensity value obtained at the current time point; calculating the position data of the surgical knife in space according to the moving position and the initial position of the surgical knife; when a plurality of micro sensors are installed on the surgical knife, the data fusion technology is adopted to combine the measurement values of the sensors and the predicted values based on historical data, and the Kalman filtering method is adopted to calculate the optimal position estimation value; Wherein, if two micro sensors measure the position of the tool as P1 and P2, the corresponding covariance is and The fused position estimate is .

2. A visualization system for a convertible wide field endoscope according to claim 1, wherein, the application further comprises a position sensor, which is installed on the driving mechanism and is used for monitoring the current position information of the lens in real time and feeding back the current position information of the lens to the control module.

3. A visualization system for a convertible wide field endoscope according to claim 2, wherein, The control module calculates the distance and direction that the lens needs to move according to the target position of the lens determined according to the real-time position of the surgical knife and the current position information of the lens fed back by the position sensor, and generates a control instruction.

4. A visualization system for a convertible wide field endoscope according to claim 3, wherein, 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 feedback position information with the target position and calculates the position error; according to the position error, the control module adjusts the control instruction sent to the driving mechanism.

5. A visualization system for a convertible wide field endoscope according to claim 4, wherein, If the actual position of the lens lags behind the target position, the rotating speed of the motor is increased; if the actual position of the lens leads the target position, the rotating speed of the motor is reduced.

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