An out-of-cabin endoscope system with a surgical assistant arm

Abstract

A kind of off-cabin endoscope system with surgical auxiliary arm, comprising the following component group: endoscope illumination, image acquisition and transmission device, endoscope image tracking device, endoscope shell device and surgical arm device, display screen and central console;The outline of the endoscope shell device is triangular, and round arc shape is used at the end of triangle, and the whole is obtuse round triangle;The surgical arm device is an auxiliary device attached to the endoscope shell device, the surgical arm of the surgical arm device uses a certain hardness of flexible material, and the end of the surgical arm device is a functional end, and the appearance adopts platform hook shape.Further optimization and meet the various needs of endoscopic surgery.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology and relates to an off-board endoscope system with an attached surgical arm device. Background Technology

[0002] Endoscopes are now widely used in various medical surgical fields, covering almost all clinical departments. Typical applications include laparoscopic surgery, gastrointestinal resection, orthopedic arthroscopic surgery, gynecological uterine and ovarian surgery, and otolaryngological sinus surgery. Currently, during endoscopic surgery, surgeons typically use their left hand to hold the illumination handle to illuminate the surgical field, simultaneously acquiring and transmitting images to an information processing center for final display on a monitor. The surgeon uses their right hand to hold the surgical instruments, requiring a unique technique that necessitates extensive specialized training to master.

[0003] Invention document ZL 202420289145.7 discloses an intelligent endoscope system. This system fixes the illumination and image acquisition transmission device, thus completely freeing the surgeon's left hand and making the surgery more precise and effective. It also allows for intelligent control of the illumination direction and image acquisition position, facilitating the procedure. However, the endoscope device is prone to rolling and sliding, making it difficult to fix securely and preventing image acquisition according to the preset purpose. It also cannot capture images when retracting tissue to expose the surgical field; and it cannot handle common issues such as bleeding and effusion. Summary of the Invention

[0004] This invention provides a detachable endoscope system with an attached surgical auxiliary arm. It is an optimized version of the intelligent endoscope system (Invention No. ZL 2024 2 0289145.7), incorporating a clinically essential auxiliary surgical arm. This additional surgical auxiliary arm, building upon the revolutionary breakthrough of two-handed operation achieved by the original intelligent endoscope system (Invention No. ZL 2024 20289145.7), further enables auxiliary functions such as placing and fixing the lens at any point within the surgical field, expanding the surgical field of view with multi-directional surgical retractors, applying pressure for hemostasis, filling cavities, and providing pressure support. The detachable design allows surgeons greater control over lighting and lens placement at any distance and location. The specific technical solution is as follows:

[0005] This invention provides an off-board endoscope system with an attached surgical arm, comprising the following components: an endoscope illumination device, an image acquisition and transmission device, an endoscope image tracking device, an endoscope housing device and a surgical arm device, a display screen and a central control panel; the endoscope housing device has a triangular outline with rounded ends, forming an overall blunt-rounded triangle; the surgical arm device is an auxiliary device attached to the endoscope housing device, and the surgical arm of the surgical arm device is made of a flexible material with a certain degree of rigidity, and the end of the surgical arm device is a functional end with a platform hook-like appearance.

[0006] According to one embodiment of the present invention, the surgical arm device further includes a right-angle bend and a pusher mechanism. The right-angle portion of the right-angle bend is hinged to the outer surface of the endoscope housing device. One end of the right-angle bend is detachably connected to the surgical arm, and the other end of the right-angle bend abuts against the pusher mechanism. The pusher mechanism is located on the inner surface of the endoscope housing device. When the pusher mechanism pushes, it drives the right-angle bend to rotate, thereby causing one end of the right-angle bend to stand upright, thereby causing the surgical arm to move from being parallel to and attached to the outer surface of the endoscope housing device to being upright on the outer surface of the endoscope housing device.

[0007] According to one embodiment of the present invention, the pusher mechanism is provided with a force sensor.

[0008] According to one embodiment of the present invention, one end of the right-angle elbow is detachably connected to the surgical arm by screwing or plugging.

[0009] According to one embodiment of the present invention, the endoscopic system is classified into nasal endoscope type, laparoscopic type, arthroscopic type and other types required by various clinical needs, depending on the surgical scenario used, and the surgical arms are matched in type and quantity according to the type.

[0010] According to one embodiment of the present invention, the endoscope illumination, image acquisition and transmission device is a miniaturized image data acquisition and transmission device, which can adjust the illumination intensity and image range as needed.

[0011] According to one embodiment of the present invention, the endoscope illumination, image acquisition and transmission device is equipped with a lens cleaning device and a liquid recovery device.

[0012] According to one embodiment of the present invention, the endoscopic image tracking device can be adjusted by issuing instructions based on the comprehensive coordination control of the central control console, thereby controlling the direction in which the camera in the endoscopic illumination, image acquisition and transmission device is pointing.

[0013] According to one embodiment of the present invention, the endoscope housing device and the endoscope illumination, image acquisition and transmission device are connected by an embedded fixed locking structure.

[0014] According to one embodiment of the present invention, the display screen and the central control console are located outside the body and are wiredly connected to the endoscope lighting, image acquisition and transmission device; the display screen and the central control console are a comprehensive information processing center, including a voice receiving terminal, a host, a display, keyboard and mouse, used to control the pointing direction of the mobile endoscope camera, adjust the lighting intensity, adjust the image size, focus the surgical field of view, perform comprehensive image analysis and medical record management.

[0015] Technical effects:

[0016] The purpose of this invention is to further improve upon the existing intelligent endoscope system (Invention No. ZL 2024 2 0289145.7) by reconfiguring the composition and structure of the endoscope and adding functional components. This allows for intelligent control of lighting direction and image acquisition position, facilitating surgery. The addition of a surgical arm enables surgeons to adjust the surgical field of view at any time, even observing areas previously inaccessible by the endoscope. Furthermore, this invention allows for magnification of areas requiring attention. Simultaneously, because the camera position can be locked, the surgeon's left hand, used for holding the endoscope, is freed up, enabling two-handed operation and reducing the surgeon's workload. This represents a revolutionary improvement in the field of endoscope manufacturing and use. For ENT and ophthalmologists using nasal endoscopes, general surgeons using laparoscopy, and orthopedic surgeons using arthroscopy, the surgical spaces they frequently face are confined to the nasal cavity, sinuses, abdominal cavity, and joint cavities. Traditional endoscopes require one hand to hold the endoscope, making surgical operations difficult and requiring extensive training. Therefore, freeing up the surgeon's left hand and enabling two-handed operation is particularly important.

[0017] Endoscopes typically operate in the cavities of the human body, which are usually confined spaces but interconnected with many adjacent cavities. The triangular outline of the endoscope housing allows the device to maintain stability within a small footprint, preventing it from rolling, sliding, or falling. It also allows for further fixation using the surgical arm device. The endoscope housing and the endoscope illumination, image acquisition, and transmission devices are connected by an embedded, locking structure to ensure that the endoscope will not dislodge from the system once it is positioned and secured. The eyelid retractor shape is used to allow for traction and expansion of the surgical field as needed, and the platform function can be used for functions such as applying pressure after packing hemostatic sponges, preventing blood or exudate from overflowing into the surgical field after packing cavities, and fixing the endoscope's position.

[0018] In particular, the right-angle bend and pusher mechanism of the surgical arm device can keep the surgical arm in a retracted state when the endoscope enters the cavity of the human body, which facilitates the entry of the endoscope and avoids causing discomfort or even damage to the human cavity. When the endoscope enters the target position, the surgical arm is opened by the right-angle bend and pusher mechanism, and the opening angle can be adjusted in time according to the position of the cavity, thereby fixing the endoscope and realizing its corresponding function through the tip. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the lens cleaning device and liquid recovery device of the present invention;

[0021] Figure 3 This is a cross-sectional view of the endoscope housing device of the present invention;

[0022] Figure 4 This is a schematic diagram of the pusher mechanism of the present invention;

[0023] Figure 5 This is a schematic diagram of the pusher mechanism of the present invention in conjunction with a right-angle elbow;

[0024] Figure 6 This is a schematic diagram of the end of the surgical arm device of the present invention. Detailed Implementation

[0025] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings. However, it should be noted that these embodiments are not intended to limit the present invention. Any equivalent changes or substitutions in function, method, or structure made by those skilled in the art based on these embodiments are within the scope of protection of the present invention.

[0026] like Figure 1-6 As shown, the present invention discloses an off-board endoscope system with an auxiliary surgical arm, comprising the following components: an endoscope illumination, image acquisition and transmission device 1, an endoscope image tracking device 2, an endoscope housing device 3, a surgical arm device 4, a display screen and a central control console 5.

[0027] The endoscope housing 3 has a triangular outline with rounded ends, and the overall shape is a blunt, rounded triangle.

[0028] The surgical arm device 4 is an auxiliary device attached to the endoscope housing device 3. The surgical arm 41 of the surgical arm device 4 is made of a flexible material with a certain degree of hardness. The end 42 of the surgical arm device 4 is the functional end and has a platform hook shape in appearance.

[0029] Endoscopes typically operate in the cavities of the human body, which are usually confined spaces but interconnected with many adjacent cavities. The triangular design of the endoscope's outer shell helps maintain stability within a small footprint, preventing it from rolling, sliding, or falling. Furthermore, the surgical arm device further stabilizes its position. The surgical arm device 4 is a multi-arm assembly fixed to the surface of the endoscope's outer shell device 3. The surgical arms are made of a flexible material with a certain degree of rigidity. The number of surgical arms varies depending on the type and application of the endoscope; four, six, or more can be selected. The functional end of the surgical arm has a platform hook shape, which can be customized to resemble an eyelid hook. Figure 3 As shown. The reason for using the shape of the eyelid retractor is that it can both expand the surgical field as needed, and use the platform function to achieve functions such as pressing after packing hemostatic sponge, preventing blood or exudate from overflowing the surgical field after filling the cavity, and fixing the position of the endoscope.

[0030] This system will be divided into various types according to different surgical scenarios, such as nasal endoscopy, laparoscopy, and arthroscopy, to replace the current endoscopic systems.

[0031] As an embodiment of the present invention, the surgical arm device 4 further includes a right-angle bend 43 and a pusher mechanism 44. The right-angle portion of the right-angle bend 43 is hinged to the outer surface of the endoscope housing device 3. One end of the right-angle bend 43 is detachably connected to the surgical arm 41, and the other end of the right-angle bend 43 abuts against the pusher mechanism 44.

[0032] The pusher mechanism 44 is located on the inner surface of the endoscope housing device 3. When the pusher mechanism 44 pushes, it drives the right-angle elbow 43 to rotate, thereby causing one end of the right-angle elbow 43 to stand upright, thereby causing the surgical arm 41 to move from being parallel to the outer surface of the endoscope housing device 3 to being upright on the outer surface of the endoscope housing device 3.

[0033] As an embodiment of the present invention, a force sensor is provided inside the pusher mechanism 44.

[0034] As an embodiment of the present invention, one end of the right-angle elbow 43 is detachably connected to the surgical arm 41 by screwing or plugging.

[0035] As an embodiment of the present invention, depending on the surgical scenario, the endoscopic system is divided into: nasal endoscope type, laparoscopic type, arthroscopic type and other types required by clinical needs, and the surgical arms 41 are matched in type and quantity according to the type.

[0036] As an embodiment of the present invention, the endoscope illumination, image acquisition and transmission device 1 is a miniaturized image data acquisition and transmission device, which can adjust the illumination intensity and image range as needed.

[0037] In the aforementioned endoscopic system with an attached surgical arm, the endoscopic illumination, image acquisition, and transmission device 1 is significantly different from existing endoscopic systems. Because this endoscopic system requires extreme thinness and miniaturization, it must independently perform image acquisition and wired information transmission. However, while this is similar to the well-established image acquisition and transmission technology of gastroscopy capsules currently used in clinical practice, its posture adjustment principle differs. Therefore, the endoscopic illumination, image acquisition, and transmission device 1 of this patent can employ similar image acquisition and transmission technology to gastroscopy capsules, but it needs to be further thinned and miniaturized to better adapt to the operating environment of minimally invasive surgery.

[0038] As an embodiment of the present invention, the endoscope illumination, image acquisition and transmission device 1 is equipped with a lens cleaning device and a liquid recovery device.

[0039] The endoscope illumination, image acquisition, and transmission device 1 is a miniaturized image data acquisition and transmission device, and the illumination intensity and image range can be adjusted as needed. Additionally, a lens cleaning device A and a fluid recovery device B are attached to the endoscope illumination, image acquisition, and transmission device 1, such as... Figure 2 As shown, A can be used to rinse the camera, removing debris and bloodstains to maintain a clear view. B can keep the surgical field clean and can be used for autologous blood transfusion when necessary.

[0040] As an embodiment of the present invention, the endoscope image tracking device 2 can be adjusted by issuing instructions based on the comprehensive coordination control of the central control console 5, and control the direction in which the camera in the endoscope illumination, image acquisition and transmission device points.

[0041] The endoscopic image tracking device 2 is located between the endoscopic illumination, image acquisition and transmission device 1 and the endoscopic housing device 3. It allows for fine adjustments to the lens direction and focus position based on settings made by the surgeon or assistant on the display screen and central control panel 5, ensuring the surgical field is always aimed at the tip of the surgical instrument. This endoscopic image tracking device 2 should have anti-shake functionality, automatic camera tracking, and the ability to move according to instructions to meet the requirements for stable, fine-tuned, and transferable surgical field of view.

[0042] In one embodiment of the present invention, the endoscope housing 3 and the endoscope illumination, image acquisition and transmission device 1 are connected by an embedded, fixed, and locking structure. This ensures that the endoscope will not detach from the system after it has been placed and secured in position.

[0043] In one embodiment of the present invention, the display screen and central control unit 5 are located externally and are wiredly connected to the endoscopic lighting, image acquisition and transmission device 1. The display screen and central control unit 5 is a comprehensive information processing center, including a voice receiving terminal, a host computer, a monitor, keyboard, and mouse, used to control the pointing direction of the movable endoscopic camera, adjust the lighting intensity, adjust the image size, focus the surgical field, perform comprehensive image analysis, and manage medical records. The display screen and central control unit 5 are wiredly connected to the endoscopic lighting, image acquisition and transmission device 1, rendering and displaying the information obtained by 1 on the display screen according to the surgeon's needs. Commands are issued to fix or adjust the position of the endoscopic lighting, image acquisition and transmission device 1 located at the head end. Furthermore, the surgeon can use a mouse, touchscreen, voice control, etc., to manipulate the endoscopic image tracking device 2 to achieve the purpose of moving the endoscopic camera pointing direction, adjusting the lighting intensity, adjusting the image size, and focusing the surgical field, according to the surgeon's requirements. In addition, its medical record management software system can refer to currently commonly used clinical endoscopic systems for surgical data collection, storage, editing, etc.

[0044] The aforementioned display screen and central control unit 5 are connected to the endoscope lighting, image acquisition and transmission device 1 via a wired connection for two reasons: 1. Surgeries performed using endoscope systems are typically lengthy and involve a large amount of information transmission, while the endoscope lighting, image acquisition and transmission device 1 requires a small size; therefore, a wired connection is used. 2. This prevents abnormal displacement, rolling, slippage, or loss of the endoscope system during surgery, and even if such occurrences happen, they are easy to locate. Loss of items or surgical instruments in the surgical cavity is a major surgical accident. Since the endoscope system's main advantage is its small size, allowing it to operate without affecting the surgical field, a wired connection eliminates this concern for the surgeon. Furthermore, the small diameter, adjustable length, and flexible twisting of the connecting wires allow for flexible placement of the lens end.

[0045] The advantages of the present invention are demonstrated below through a specific surgical procedure:

[0046] Before the surgery begins, similar to commonly used clinical endoscopic systems, the patient's medical record is created using the display screen and the medical record management software system on the central control panel 5, and functional modules are selected. The module operation interface is then accessed. The main surgical field is in the center, with multiple selectable surgical fields on one side, which can be switched at any time via voice or manual commands. Video recording can be paused, stopped, resumed, and terminated at any time, and high-definition photos can be taken at any time during the process.

[0047] After establishing the standard surgical access, the first endoscopic system with an attached surgical arm is inserted through one of the channels. After rough positioning, a second system is placed under its illumination. Because the surgical arm is made of a flexible material with a certain degree of rigidity, one or more auxiliary arms can be used to assist in fixing the position and orientation of the lens after the endoscopic illumination, image acquisition and transmission device 1 is placed. Then, under its illumination, the position of the first system is determined and fixed. At the same time, the surgical arm can be used to perform operations such as traction and pushing on the surgical field. It is even possible to place a third or more systems, or to place them alternately, to achieve the purpose of entering hidden cavities and displaying obstructed, curved, or hidden surgical fields, such as diverticula behind various cavity walls, which is not possible with existing endoscopic systems.

[0048] During the surgery, the focus position and surgical field size can be adjusted by voice or manual control, and the surgical field under different lenses can be switched at the same time.

[0049] Although the surgical arm in this system is called an auxiliary arm, it actually serves multiple surgical assistant functions. The hook mode at the functional end of the surgical arm can be used to retract and expand the surgical field, and the platform function at the functional end can be used for functions such as applying pressure after packing hemostatic sponges, preventing blood or exudate from overflowing the surgical field after filling cavities, and fixing the endoscope position. The right-angle bend design of the surgical arm not only facilitates the insertion and removal of the endoscope, but also further enhances its role as a surgical assistant through force sensors, allowing for control of force to better serve the needs of the surgery.

[0050] Once the endoscopic system is set up, the surgeon can insert surgical instruments through the familiar skin channels, allowing for two-handed operation. This represents a revolutionary improvement over previous endoscopic surgical techniques.

[0051] During the surgery, the surgeon can still use the familiar method of observing the images on display screen 5 to guide the surgical operation. Another innovation of this endoscopic system is that the main screen displays the primary surgical field selected by the surgeon, while other surgical fields from other cameras are displayed alongside it, such as... Figure 4 As shown. At this point, if the surgeon wishes to change the surgical field, they can switch to another surgical field at any time. Furthermore, during the procedure, unexpected and subtle abnormalities such as bleeding points will be fully and accurately displayed to the surgeon with the coordinated assistance of this endoscopic system.

[0052] The outer casing 3 of this endoscopic system has a blunt, rounded triangular shape, resembling a large triangular capsule. The triangular shape is chosen to increase its stability, preventing it from easily flipping, rolling, sliding, or falling after being fixed in place. Its size depends on the type of endoscopic system; for example, nasal endoscopes and arthroscopic systems are relatively smaller, with shorter and fewer surgical arms; while laparoscopic systems require a larger size, with longer and more surgical arms.

[0053] The housing 3 of this endoscopic system is fixed and locked with an embedded structure to prevent slippage between it and the endoscopic illumination, image acquisition and transmission device 1. The endoscopic image tracking device 2 is located between the endoscopic illumination, image acquisition and transmission device 1 and the endoscopic housing 3. It allows for fine adjustments to the lens direction and focus position based on settings made by the surgeon or assistant on the display screen and central control panel 5, ensuring the surgical field is always aimed at the tip of the surgical instrument. This device's focus adjustment function is performed after the surgeon has fixed the endoscopic lens position and selected the main surgical field, ensuring a clear and stable surgical field. Therefore, the endoscopic image tracking device 2 also features anti-shake functionality, automatic camera tracking, and the ability to move according to instructions, meeting the requirements for stable, fine-tuned, and transferable surgical views.

[0054] During surgery, given the frequent need to retract tissue and expose the surgical field, the position and direction of the retractor on the surgical arm can be adjusted under the guidance of another endoscopic image in the same group. This allows for a function never before seen in endoscopic systems, a function that clinicians urgently desire. This is a unique feature of this patent, distinguishing it from all other currently used clinical endoscopic systems.

[0055] In the event of common bleeding or effusion, under the guidance of multiple endoscopic images within the same group, after sealing the bleeding or leakage point with packing material, pressure can be applied using the platform surface of the auxiliary arm platform hook to reduce or stop the bleeding and leakage. This is a function that previous endoscopic systems never had, yet it is a function that clinicians urgently hope endoscopic systems will possess.

[0056] After the surgery, remove the endoscope system. If it is abnormally displaced, rolled, slipped, or lost and cannot be found, it can be located through the connecting wire to avoid losing surgical instruments.

[0057] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0058] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0059] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A dismountable endoscope system with an attached surgical arm, characterized in that, It comprises the following components: an endoscope illumination, image acquisition and transmission device (1), an endoscope image tracking device (2), an endoscope housing device (3), a surgical arm device (4), a display screen and a central control panel (5); the endoscope housing device (3) has a triangular outline with rounded ends, and the whole is a blunt rounded triangle; the surgical arm device (4) is an auxiliary device attached to the endoscope housing device (3), the surgical arm (41) of the surgical arm device (4) is made of a flexible material with a certain hardness, and the end (42) of the surgical arm device (4) is a functional end with a platform hook shape in appearance; The surgical arm device (4) also includes a right-angle bend (43) and a pusher mechanism (44). The right-angle portion of the right-angle bend (43) is hinged to the outer surface of the endoscope housing device (3). One end of the right-angle bend (43) is detachably connected to the surgical arm (41), and the other end of the right-angle bend (43) abuts against the pusher mechanism (44). The pusher mechanism (44) is located on the inner surface of the endoscope housing device (3). When the pusher mechanism (44) pushes, the abutting force drives the right-angle bend (43) to rotate around the hinge point, thereby causing one end of the right-angle bend (43) to stand upright, thereby causing the surgical arm (41) to move from being parallel to the outer surface of the endoscope housing device (3) to standing upright on the outer surface of the endoscope housing device (3). The pusher mechanism (44) is equipped with a force sensor. The force sensor further enhances the role of the surgical assistant, allowing for better control of the force to meet the needs of the surgery. When the endoscope enters the cavity of the human body, the surgical arm is in a retracted state, which facilitates the entry of the endoscope and avoids causing discomfort or even damage to the body cavity. When the endoscope enters the target position, the surgical arm is opened by the right-angle bend and the pusher mechanism, and the opening angle can be adjusted in time according to the position of the cavity, thereby fixing the endoscope and realizing its corresponding function through the tip.

2. The endoscope system according to claim 1, characterized in that, One end of the right-angle elbow (43) is detachably connected to the surgical arm (41) by screwing or plugging.

3. The endoscope system according to claim 1, characterized in that, Depending on the surgical scenario, the endoscopic system is divided into: nasal endoscope, laparoscopic, arthroscopic and other types required by clinical needs, and the surgical arm (41) is matched in type and quantity according to the type.

4. The endoscope system according to claim 1, characterized in that, The endoscope illumination, image acquisition and transmission device (1) is a miniaturized image data acquisition and transmission device, which can adjust the illumination intensity and image range as needed.

5. The endoscope system according to claim 1, characterized in that, The endoscope illumination, image acquisition and transmission device (1) is equipped with a lens cleaning device and a liquid recovery device.

6. The endoscope system according to claim 1, characterized in that, The endoscope image tracking device (2) can be adjusted by issuing instructions based on the comprehensive coordination control of the central control console (5), and control the direction in which the camera in the endoscope lighting, image acquisition and transmission device points.

7. The endoscope system according to claim 1, characterized in that, The endoscope housing device (3) and the endoscope illumination, image acquisition and transmission device (1) are embedded fixed locking structures.

8. The endoscope system according to claim 1, characterized in that, The display screen and central control unit (5) are located outside the body and are wired to the endoscope lighting, image acquisition and transmission device (1). The display screen and central control unit (5) is a comprehensive information processing center, including a voice receiving terminal, host, display, keyboard and mouse, used to control the pointing direction of the mobile endoscope camera, adjust the lighting intensity, adjust the image size, focus the surgical field, perform comprehensive image analysis and medical record management.

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