An arthoscope with assisted positioning function and its control method

Abstract

This invention relates to the field of arthroscopic technology and discloses an arthroscopic endoscope with assisted positioning function and its control method. The endoscope includes a guiding component and a control panel. The guiding component includes a rotating plate movably mounted inside a handheld block, protrusions movably mounted on the rotating plate, and a membrane layer fixedly mounted on one side of the handheld block. The control panel includes a pose acquisition module, a voice processing module, a marker management module, a guiding control module, a tactile feedback module, and a data storage module. This invention transforms abstract navigation information into orientation and pressure signals that can be perceived by the fingers in real time through the protrusions and membrane layer, enabling users to efficiently and accurately reposition the endoscope using only touch. Combined with a multimodal feedback system, it achieves precise marking and intelligent return of key points and automatically generates structured surgical records containing timestamps, images, poses, and voice, greatly improving surgical efficiency and medical safety.

Description

Technical Field

[0001] This invention relates to the field of arthroscopic technology, specifically to an arthroscopic endoscope with auxiliary positioning function and a control method thereof. Background Technology

[0002] In minimally invasive surgery, the tip of an arthroscope is typically inserted into the body through the joint incision to acquire and transmit intraoperative images. The clear field of vision it provides is a key guarantee for the success of the surgery.

[0003] For example, patent application CN118697268A discloses an arthoscope with puncture function. This technical solution is to set up an instrument channel and an image acquisition module in the puncture needle, so that when medical staff find lesions such as effusion or small bone spurs by viewing the images acquired by the image acquisition module, they can directly perform surgical operations through the instrument channel without having to build an additional channel. This reduces examination time and patient pain, and also reduces medical costs.

[0004] For example, patent application CN120130915A discloses an endoscope that can deflect an arthroscopic camera in a confined space. This technical solution is to set the camera to a rotatable structure, so that the camera deflection accuracy is better than the original snake bone bending accuracy, resulting in better observation. It can better observe the surgical position or the internal space of the equipment in detail. The camera can be rotated up and down in a narrow channel, which is convenient for doctors or other technicians to observe. It can achieve more precise and fine rotation adjustment of the camera.

[0005] It should be noted that during the operation, the endoscope lens needs to be temporarily moved away from the current observation point, for example, to change surgical instruments or clean up bleeding to improve the field of vision. After the lens is moved away, the doctor needs to manually readjust the lens back to the original key anatomical position or lesion area based on experience and memory. The process is time-consuming and the positioning accuracy is difficult to guarantee, which undoubtedly prolongs the operation time. Summary of the Invention

[0006] Technical problems to be solved

[0007] In view of the above-mentioned shortcomings of the prior art, the present invention provides an arthroscopic endoscope with auxiliary positioning function and a control method, which can effectively solve the problems of the prior art.

[0008] Technical solution

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] The present invention provides an arthroscopic endoscope with auxiliary positioning function, including a camera, an eyepiece fixedly connected to the camera, a cylindrical lens group fixedly connected to the eyepiece, and a hand-held block. The hand-held block is fixedly installed on the side of the camera away from the eyepiece, and the side of the hand-held block away from the camera is connected to the camera body via a cable.

[0011] The guide assembly includes a rotating plate movably mounted inside the handheld block, a protrusion movably mounted on the rotating plate, and a membrane layer fixedly mounted on the side of the handheld block. An electric push rod is fixedly mounted on the side of the rotating plate away from the protrusion, and the output end of the electric push rod is fixedly connected to the protrusion.

[0012] A motor is fixedly installed inside the hand-held block, a rotating rod is fixedly installed at the output end of the motor, a gear is fixedly installed on the rotating rod, and a toothed block is fixedly installed on the edge of the rotating plate. The gear and the toothed block are meshed and connected.

[0013] A button for triggering the marker point and initiating the return guide function is fixedly installed on the side of the hand-held block away from the membrane layer. A control panel for controlling the operation of the motor and electric actuator is also fixedly installed on the hand-held block.

[0014] Furthermore, the electric actuator is used to drive the bumps closer to or further away from the film layer;

[0015] When the electric actuator extends, it pushes the protrusion to move closer to the film layer, causing the film layer to bulge locally.

[0016] When the electric push rod retracts, it drives the bump to move away from the film layer, causing the local protrusions in the film layer to flatten.

[0017] Furthermore, the height of the bump protrusion is proportional to the real-time distance between the tip of the cylindrical lens group and the target marker point;

[0018] When the real-time distance is greater than the first distance threshold, the electric push rod extends to its maximum stroke, so that the protrusion height of the film layer reaches the maximum.

[0019] When the real-time distance decreases to less than or equal to the first distance threshold but greater than the second distance threshold, the stroke of the electric actuator decreases accordingly, causing the height of the film protrusion to decrease synchronously.

[0020] When the real-time distance is less than or equal to the second distance threshold, the electric push rod retracts completely, causing the bump to separate from the film layer and the film layer to return to flatness.

[0021] Among them, the first distance threshold is greater than the second distance threshold.

[0022] Furthermore, the control panel includes a pose acquisition module, a voice processing module, a marker management module, a guidance control module, a haptic feedback module, and a data storage module;

[0023] The pose acquisition module is used to acquire and calculate the six-degree-of-freedom spatial pose data of the endoscope tip in real time;

[0024] The voice processing module is used to receive and recognize voice commands, and send the recognition results to the tag management module and the guidance control module;

[0025] A short press of the button generates the first trigger signal. When the marker management module receives the first trigger signal, it creates and stores a marker point. The marker point data includes the precise pose data at the trigger time, the corresponding endoscopic video frame, and the associated voice annotation file.

[0026] When the button is pressed and held, a second trigger signal is generated. When the guidance control module receives the second trigger signal, it calls the pose data of the target marker point and continuously calculates the spatial deviation between the target marker point and the current real-time pose data, generating a visual guidance signal and a tactile control signal containing direction and distance information.

[0027] The tactile feedback module receives the tactile control signal and converts it into a drive command for the electric push rod and the rotating plate to control the protrusion position and height of the bump;

[0028] The data storage module is used to store all marker point data and surgical procedure record packages.

[0029] Furthermore, when the marker management module receives the first trigger signal, it immediately records the current pose as a marker point and simultaneously starts the voice processing module to record a voice message, using the recorded voice message as a voice annotation for the marker point.

[0030] When the guidance control module receives the second trigger signal, the voice processing module is simultaneously started to perform voice recognition;

[0031] The system will match the recognized speech content with the speech notes of all stored markers. If the match is successful, the target of the guidance control mode will be set to the matched marker.

[0032] Furthermore, the working principle of the guidance control module in generating tactile control signals is as follows:

[0033] The tactile control signals include the rotation angle control signal of the rotating plate and the stroke control signal of the electric push rod;

[0034] After receiving the rotation angle control signal, the motor drives the rotating plate to rotate, so that the circumferential orientation of the protrusion points to the target mark point;

[0035] A first distance threshold D1 and a second distance threshold D2 are pre-set within the system, where D1 > D2;

[0036] After receiving the stroke control signal, the electric linear actuator compares the distance value between the target marker point and the current real-time pose data with the first distance threshold D1 and the second distance threshold D2, and controls the extension stroke of the electric linear actuator based on the comparison result.

[0037] Furthermore, when the distance value is greater than the first distance threshold D1, the electric push rod stroke control signal outputs the maximum value, driving the electric push rod to extend to the maximum stroke, so that the protrusion is lifted to the maximum height;

[0038] When the distance value is less than or equal to the first distance threshold D1 and greater than the second distance threshold D2, the value of the electric push rod stroke control signal is proportional to the distance value, and the electric push rod stroke decreases accordingly, thus reducing the height of the protrusion.

[0039] When the distance value is less than or equal to the second distance threshold D2, the electric push rod stroke control signal outputs a zero value, driving the electric push rod to retract completely, causing the bump to separate from the film layer.

[0040] Furthermore, the working principle of the guidance control module in generating visual guidance signals is as follows:

[0041] Visual guidance signals are used to overlay and generate graphical user interface (GUI) elements on the display, including:

[0042] A direction indicator element, indicating the same direction as the line connecting the current pose and the target marker point, in the form of an arrow or a fan shape;

[0043] The distance indicator element displays the real-time distance between the current pose and the target marker point. The visual fill ratio is inversely proportional to the real-time distance value.

[0044] A method for controlling an arthroscopy includes the following steps:

[0045] Marker point creation steps: A short press of the button generates the first trigger signal. The system records the precise spatial pose data of the current endoscope tip as a marker point. At the same time, the recording function is activated to record and store a voice note, which is then associated with the marker point.

[0046] Guided mode activation steps: Press and hold button one to generate a second trigger signal. The system will start the speech recognition function and match the recognized speech content with the speech notes of all stored marker points. If the match is successful, the matched marker point will be set as the target point and the guided mode will be entered.

[0047] Spatial deviation calculation steps: In guided mode, the system acquires the current pose data of the endoscope tip in real time and calculates the spatial deviation between the endoscope tip and the target point. The spatial deviation includes directional deviation and distance deviation.

[0048] Multimodal guidance steps: The system synchronously generates visual guidance signals and tactile control signals based on the calculated spatial deviation;

[0049] Visual guidance signals are used to overlay graphical user interface (GUI) elements on the display, including direction indicator elements and distance indicator elements;

[0050] Tactile control signals are used to drive the motor and electric actuator, control the orientation and height of the bumps, and guide the operation in a tactile manner.

[0051] Beneficial effects

[0052] The technical solution provided by this invention has the following advantages compared with the prior art:

[0053] This invention features a guiding assembly consisting of a rotating plate, protrusions, and a membrane layer. This assembly can convert navigation information into perceptible tactile signals. During guidance, the orientation of the protrusions indicates the target direction, and the height of the protrusions indicates the distance. This allows doctors to complete most of the coarse adjustments and alignment operations by touch alone, without having to take their eyes off the monitor in the surgical area. This greatly reduces the visual and cognitive load on doctors and improves the smoothness and focus of the surgery.

[0054] This invention, through its control panel, can calculate the spatial deviation between the endoscope tip and the preset marker point in real time, and provides doctors with intuitive navigation information through a visual guidance interface. It effectively overcomes the drawbacks of traditional methods that rely entirely on doctors' experience and spatial memory, greatly reduces the difficulty of repositioning, and enables doctors to quickly and accurately adjust the endoscope lens back to the original key anatomical position or lesion area, significantly shortening the operation time. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0056] Figure 1 This is a schematic diagram of the structure of the arthoscope in an embodiment of the present invention;

[0057] Figure 2 This is a schematic diagram of the structure of button one and button two in an embodiment of the present invention;

[0058] Figure 3 This is a schematic diagram of the structure of the guide component in an embodiment of the present invention;

[0059] Figure 4This is a schematic diagram of the engagement of gears and gear blocks in an embodiment of the present invention;

[0060] Figure 5 This is a schematic diagram of the guidance in an embodiment of the present invention. Figure 1 ;

[0061] Figure 6 This is a schematic diagram of the guidance in an embodiment of the present invention. Figure 2 ;

[0062] Figure 7 This is a flowchart illustrating the control panel of the present invention;

[0063] Figure 8 This is a system overall workflow diagram of the control panel of the present invention;

[0064] Figure 9 A flowchart for creating marker points for the control panel of this invention;

[0065] Figure 10 This is a flowchart of the marker point invocation and guidance process of the control panel of this invention;

[0066] Figure 11 This is a flowchart of the surgical procedure record chain generation process of the control panel of the present invention;

[0067] Figure 12 This is a schematic diagram of a control method for an arthroscopy.

[0068] Label Explanation:

[0069] 1. Camera; 11. Eyepiece; 12. Cylindrical lens group;

[0070] 2. Handheld block; 21. Button 1; 22. Button 2;

[0071] 3. Guide assembly; 31. Rotating plate; 32. Protrusion; 33. Film layer; 34. Electric actuator; 35. Motor; 36. Rotating rod; 37. Gear; 38. Tooth block;

[0072] 4. Control Panel. Detailed Implementation

[0073] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0074] The present invention will be further described below with reference to embodiments.

[0075] Example 1

[0076] Reference Figure 1 - Figure 6 This is the first embodiment of the present invention, which provides an arthroscopic endoscope with auxiliary positioning function, including a camera 1, an eyepiece 11 fixedly connected to the camera 1, a cylindrical lens group 12 fixedly connected to the eyepiece 11, and a hand block 2. The hand block 2 is fixedly installed on the side of the camera 1 away from the eyepiece 11. The side of the hand block 2 away from the camera 1 is connected to the camera body through a cable. In actual use, the operator holds the hand block 2 with the thumb at the membrane layer 33 and the other fingers at the side of the hand block 2 away from the membrane layer 33.

[0077] Depend on Figure 3 As shown, it also includes a guide assembly 3, which includes a rotating plate 31 movably mounted inside the handheld block 2, a protrusion 32 movably mounted on the rotating plate 31, and a membrane layer 33 fixedly mounted on the side of the handheld block 2. An electric push rod 34 is fixedly mounted on the side of the rotating plate 31 away from the protrusion 32. The output end of the electric push rod 34 is fixedly connected to the protrusion 32. The membrane layer 33 is made of an elastic biocompatible material, including but not limited to medical silicone or thermoplastic polyurethane film, with a thickness between 0.1 mm and 0.5 mm. The edge of the membrane layer 33 is sealed and fixedly connected to the handheld block 2.

[0078] A motor 35 is fixedly installed inside the handheld block 2. A rotating rod 36 is fixedly installed at the output end of the motor 35. A gear 37 is fixedly installed on the rotating rod 36. A toothed block 38 is fixedly installed on the edge of the rotating plate 31. The gear 37 and the toothed block 38 are meshed and connected. In actual use, the rotating rod 36 is driven to rotate by the motor 35. Under the action of the gear 37 and the toothed block 38, the rotating plate 31 is driven to rotate, thereby adjusting the position of the protrusion 32.

[0079] A button 1 21 and a button 2 22 are fixedly installed on the side of the handheld block 2 away from the membrane layer 33. Button 1 21 is located on the side of button 2 22 closer to the camera 1. A control panel 4 is fixedly installed on the side of the handheld block 2 away from button 1 21.

[0080] A button 21 for triggering the marker point and starting the return guide function is fixedly installed on the side of the handheld block 2 away from the membrane layer 33. A control panel 4 for controlling the operation of the motor 35 and the electric push rod 36 is fixedly installed on the handheld block 2.

[0081] The electric actuator 34 is used to drive the bump 32 closer to or further away from the film layer 33;

[0082] Specifically, when the electric push rod 34 extends, it pushes the protrusion 32 to move closer to the film layer 33, causing the film layer 33 to bulge locally. When the electric push rod 34 retracts, it drives the protrusion 32 to move away from the film layer 33, causing the local bulge of the film layer 33 to flatten.

[0083] The height of the protrusion 32 is related to the real-time distance between the tip of the cylindrical lens group 12 and the target mark point. That is, the height of the protrusion 32 is proportional to the real-time distance between the tip of the cylindrical lens group 12 and the target mark point. When the real-time distance is greater than the first distance threshold D1, the electric push rod 34 extends to the maximum stroke, so that the protrusion height of the film layer 33 reaches the maximum.

[0084] When the real-time distance decreases to less than or equal to the first distance threshold D1 but greater than the second threshold D2, the stroke of the electric push rod 34 decreases accordingly, causing the protrusion height of the membrane layer 33 to decrease synchronously. When the real-time distance is less than or equal to the second distance threshold D2, the electric push rod 34 retracts completely, causing the protrusion 32 to separate from the membrane layer 33, and the membrane layer 33 returns to flatness.

[0085] like Figure 5 As shown, when the target marker is located above the tip of the cylindrical lens group 12, the motor 35 starts and drives the protrusion 32 to move to the position above the film layer 33. Then the electric push rod 34 starts and drives the protrusion 32 to abut against the film layer 33, thereby causing the film layer 33 to bulge locally.

[0086] like Figure 6 As shown, when the target mark is located to the upper left of the tip of the cylindrical lens group 12, the motor 35 starts and drives the protrusion 32 to move to the upper left position of the film layer 33. Then the electric push rod 34 starts and drives the protrusion 32 to abut against the film layer 33, thereby making the film layer 33 locally protrude. It should be noted that the arrow in the figure indicates the direction of movement of the cylindrical lens group 12.

[0087] The first distance threshold D1, the second distance threshold D2, etc. are set by combining large-scale model analysis of sample data with human experience to be entered and stored. They can also be appropriately adjusted based on seasonal or rational influence conditions.

[0088] This embodiment, through the rotating plate 31, protrusions 32, and membrane layer 33, can convert navigation information into perceptible tactile signals. During the guidance process, the orientation of the protrusions 32 indicates the target direction, and the height of the protrusions indicates the distance. This allows the doctor to complete most of the coarse adjustment and alignment operations by touch alone without having to take their eyes off the surgical area monitor, greatly reducing the doctor's visual and cognitive load and improving the smoothness and focus of the surgery.

[0089] Example 2

[0090] Reference Figure 7 - Figure 11 Based on the basic principles of Embodiment 1, the control panel 4 is further described as follows: The control panel 4 includes a pose acquisition module, a voice processing module, a marker management module, a guidance control module, a haptic feedback module, and a data storage module.

[0091] The pose acquisition module is used to acquire and process the six-degree-of-freedom spatial pose data of the endoscope tip in real time. The pose data is acquired through a pose sensing system integrated into the endoscope. Specifically:

[0092] The pose sensing system is an electromagnetic positioning system, which includes an electromagnetic field generator placed outside the patient's body and a miniature electromagnetic sensor. The miniature electromagnetic sensor is fixedly encapsulated inside the endoscope tip. When the sensor is located within a specific spatial electromagnetic field emitted by the field generator, it will sense a corresponding electrical signal. The pose acquisition module calculates the three-dimensional position and three-dimensional orientation of the sensor relative to the field generator, namely pitch angle, yaw angle, and roll angle, by solving the electrical signal, thereby obtaining the real-time six-degree-of-freedom pose data of the endoscope tip.

[0093] Meanwhile, an inertial measurement unit (IMU) is integrated inside the endoscope to collect acceleration and angular velocity information. The pose acquisition module uses a Kalman filter algorithm to fuse electromagnetic positioning data and inertial measurement data. It uses the high-frequency characteristics of the IMU to compensate for the delay and jitter of the EM data, and uses the absolute positioning capability of the EM data to correct the integral drift error of the IMU. Finally, it outputs high-precision, high-real-time, and more anti-interference six-degree-of-freedom pose data.

[0094] In addition, the pose data calculation also needs to be performed by hand-eye calibration to determine the transformation relationship between the coordinate system of the miniature electromagnetic sensor and the coordinate system of the endoscope camera 1, so as to ensure that the calculated pose corresponds completely in space with the video image acquired by the endoscope.

[0095] The voice processing module is used to receive and recognize the doctor's voice commands, and send the recognition results to the tag management module and the guidance control module;

[0096] When button 21 is pressed briefly, a first trigger signal is generated. When the marker management module receives the first trigger signal, it creates and stores a marker point. The marker point data includes the precise pose data at the trigger time, the corresponding endoscopic video frame, and the associated voice annotation file.

[0097] Press and hold button 21 to generate a second trigger signal. When the guidance control module receives the second trigger signal, it calls the pose data of the target marker point and continuously calculates its spatial deviation from the current real-time pose data to generate a visual guidance signal and a tactile control signal containing direction and distance information.

[0098] When the marker management module receives the first trigger signal, it immediately records the current pose as a marker point and simultaneously starts the voice processing module to record a voice message, using the recorded voice message as a voice annotation for the marker point.

[0099] When the guidance control module receives the second trigger signal, it synchronously starts the voice processing module to perform voice recognition.

[0100] At the same time, the system will match the recognized voice content with the voice notes of all stored markers. If the match is successful, the target of the guidance control mode will be automatically set as the matched marker.

[0101] The button 21 is designed to map the marking and return functions to the same physical button for short and long presses, which is intuitive and cost-effective. When the doctor is observing a key area, his thumb can naturally fall on button 21 to make a short mark. The whole process does not require the doctor to take his eyes off the monitor or his hands off the instrument, minimizing the interference with the surgical workflow.

[0102] Meanwhile, in complex surgeries, such as joint debridement and exploration of multiple lesions, doctors usually create multiple marker points. Traditional methods require selection from a list, which is cumbersome and prone to errors. This invention automatically calls the target point through voice annotation recognition. Doctors only need to verbally state the previously annotated name while long-pressing, such as the posterior horn of the medial meniscus, and the system can automatically match and navigate to that point, completely avoiding the risk of incorrect selection among multiple marker points.

[0103] In summary, the system in this invention automatically binds and stores the three elements of pose data, video frames, and voice annotations, which not only provides guidance during the operation but also constitutes a complete and traceable surgical record after the operation. This record can clearly restore the doctor's decision-making process and the objects operated on during the operation, providing strong data support for medical quality and safety.

[0104] The process of creating marker points:

[0105] When a doctor manipulates the endoscope to center the lesion or key anatomical structure, such as the posterior horn of the medial meniscus of the knee joint, they briefly press button 21 on the hand block 2.

[0106] This operation generates a first trigger signal and transmits it to the tag management module.

[0107] The tag management module responds immediately and performs the following operations:

[0108] S1: Request and record the precise six-degree-of-freedom pose data of the endoscope tip at the current moment from the pose acquisition module.

[0109] S11: Capture the current video frame from the image processing unit.

[0110] S12: Send a start recording command to the voice processing module.

[0111] S13: The doctor then provides a verbal description, such as: "Tear of the posterior horn of the medial meniscus." The voice processing module then reduces noise and encodes the recorded audio file before sending it back to the tag management module.

[0112] The marker management module associates and binds the aforementioned pose data, video frames, and voice annotation files to generate a complete marker point data package, which is then stored in the data storage module. Simultaneously, the system can generate a virtual marker, such as a number or icon, at the corresponding location on the video screen as a reminder.

[0113] Marker point invocation and boot process:

[0114] When the surgery reaches a certain stage, such as after changing instruments, and it is necessary to observe the previously marked posterior horn of the medial meniscus again, the doctor presses and holds button 21 on the handpiece.

[0115] This operation generates a second trigger signal and transmits it to the guidance control module.

[0116] The boot control module responds immediately and performs the following operations:

[0117] S2: Send a command to the speech processing module to start speech recognition.

[0118] S21: The doctor makes a verbal note about the target point while pressing and holding, such as: posterior horn of the medial meniscus.

[0119] S22: The voice processing module recognizes the voice segment in real time, converts it into text information such as: posterior angle of the medial meniscus, and sends it back to the guidance control module.

[0120] The guidance and control module sends the recognition result to the tag management module, requesting voice annotation matching among all stored tag points.

[0121] The marker management module traverses all the voice annotation files of the marker points and finds the most matching marker point data package through voice-to-text technology or audio feature comparison, which is the point corresponding to the previously stored posterior horn tear of the medial meniscus.

[0122] If a match is successful, the marker management module sends the pose data of the target marker point to the guidance control module.

[0123] The guidance control module then activates the guidance mode: using the target point pose it receives as a reference, it continuously reads the current real-time pose and calculates the spatial deviation vector between the two, including direction and distance, and then generates a visual guidance signal to be sent to the display and a tactile control signal to be sent to the tactile feedback module, thus guiding the doctor to manually and accurately return the endoscope to the target position.

[0124] The working principle of the guidance control module in generating tactile control signals is as follows:

[0125] The tactile control signals include the rotation angle control signal of the rotating plate 31 and the stroke control signal of the electric push rod 34;

[0126] The value of the rotation angle control signal of the rotating plate 31 is determined by the horizontal projection direction of the line connecting the current pose and the target marker point. This signal drives the rotating plate 31 to rotate, so that the circumferential orientation of the protrusion 32 points to the target marker point.

[0127] The value of the stroke control signal for the electric linear actuator 34 is determined by the distance between the current pose and the target marker point;

[0128] A first distance threshold D1 and a second distance threshold D2 are pre-set within the system, where D1 > D2;

[0129] When the distance value is greater than the first distance threshold D1, the electric push rod 34 outputs the maximum value of the stroke control signal, driving the electric push rod 34 to extend to the maximum stroke, so that the protrusion 32 is lifted to the maximum height.

[0130] When the distance value is less than or equal to the first distance threshold D1 and greater than the second distance threshold D2, the value of the electric push rod 34 stroke control signal is proportional to the distance value, and the stroke of the electric push rod 34 is reduced accordingly, and the lifting height of the protrusion 32 is reduced.

[0131] When the distance value is less than or equal to the second distance threshold D2, the electric push rod 34 outputs a zero value for the stroke control signal, driving the electric push rod 34 to retract completely, so that the protrusion 32 separates from the film layer 33.

[0132] The working principle of the visual guidance signal generation by the guidance control module is as follows:

[0133] Visual guidance signals are used to overlay and generate graphical interface elements on the display, including:

[0134] The direction indicator element indicates the same direction as the line connecting the current pose and the target marker point, and its shape is an arrow or a fan. The distance indicator element indicates the real-time distance between the current pose and the target marker point, and the visual fill ratio is inversely proportional to the real-time distance value.

[0135] The haptic feedback module receives haptic control signals and converts them into drive commands for the electric push rod 34 and the rotating plate 31 to control the protrusion orientation and height of the bump 32;

[0136] The data storage module is used to store all marker point data and surgical procedure record packages.

[0137] Meanwhile, a second button 22 is set on the handheld block 2. When the second button 22 is pressed briefly, a third trigger signal is generated. At this time, the surgical node recording operation is performed: the current endoscope image, the endoscope pose data at the current moment and the system timestamp are bound together to generate an independent data packet and store it in the data storage module.

[0138] When button 22 is pressed and held, the fourth trigger signal is generated. When the voice processing module receives the fourth trigger signal, it records the audio and associates the recorded audio notes with the newly generated data packet for storage.

[0139] The system records multiple data packets sequentially to form a complete surgical procedure record chain.

[0140] Traditional surgical recordings are only continuous linear videos, making it difficult to quickly locate key moments. This invention automatically packages key moments (video frames, poses, timestamps) into independent data packets in response to a short press of button 22. This structured recording method greatly facilitates rapid retrieval, review, and examination after surgery, eliminating the need to blindly search through lengthy videos.

[0141] Meanwhile, simple surgical videos cannot capture the doctor's decision-making process. This invention allows doctors to make voice annotations by pressing and holding button 22, enabling them to verbally describe their operational intentions, judgments, or special circumstances discovered at the time of recording surgical milestones, such as severe synovial hyperplasia requiring cleaning. This makes the stored data package not only contain objective data but also incorporate subjective clinical context, forming a more detailed surgical report. Its teaching and auditing value far surpasses that of simple video recordings.

[0142] Furthermore, each record automatically generated by the system contains pose data and a precise timestamp, which strictly corresponds to the video footage. This data is recorded in real time and automatically during the operation, objectively reflecting the actual path and focus of observation of the endoscope inside the patient's body. This greatly enhances the authenticity and reliability of the records, providing strong and irrefutable objective evidence for dealing with possible medical disputes.

[0143] The detailed work process is as follows:

[0144] To record the surgical procedure, briefly press button 22:

[0145] When the surgery reaches a critical step, for example, in knee arthroscopy before the meniscus is to be sutured, the doctor briefly presses button 22 on the handpiece.

[0146] This operation generates a third trigger signal and transmits it to the control system.

[0147] The control system responds immediately and performs the following actions:

[0148] S3: Freeze the current video stream and capture a high-definition static endoscopic image, showing the state of the meniscus before suturing.

[0149] S31: Request and record the precise pose data of the endoscope tip at the current moment from the pose acquisition module, that is, the specific position and orientation of the lens in the joint cavity at this moment.

[0150] S32: Get the current precise timestamp from the system clock.

[0151] The control system binds the endoscopic images, pose data, and timestamps, compresses them into a single data packet, and then encrypts and stores it in the data storage module. This data packet is assigned a unique sequence ID for management purposes.

[0152] During the node voice annotation process, long press button 22:

[0153] After completing the above short press operation, for example, if the meniscus suture has been completed, the doctor may press and hold button 22 on the handpiece if they feel it is necessary to explain the node.

[0154] This operation generates a fourth trigger signal and transmits it to the control system.

[0155] The control system responds immediately and performs the following actions:

[0156] S4: Start the voice processing module to record.

[0157] S41: The doctor provides a verbal description, such as using an inside-out technique to suture the posterior horn of the medial meniscus, with a total of 3 sutures implanted, and the tension is good.

[0158] S42: The voice processing module performs noise reduction and encoding on the recorded audio files.

[0159] The control system associates and stores the voice annotation with the newly generated data packet with a unique sequence ID, ensuring that the voice annotation strictly corresponds to the previously recorded surgical snapshot.

[0160] The formation of the surgical procedure recording chain:

[0161] Throughout the entire surgical procedure, the doctor repeats the above short and long press operations at each key stage, such as initial exploration, lesion discovery, cleaning, suturing completion, and final examination.

[0162] The system will automatically link these independent data packets together according to the order of timestamps to form a process record chain that is sorted by time and fully records the key nodes of the surgery and their context information.

[0163] After the surgery, this record can be visualized and replayed in the form of a timeline, fully reproducing the entire operation and key decision points.

[0164] In summary, this embodiment, through its pose acquisition module and guidance control module, can calculate the spatial deviation between the endoscope tip and the preset marker point in real time, and provide doctors with intuitive navigation information through a visual guidance interface. This effectively overcomes the drawbacks of traditional methods that rely entirely on doctors' experience and spatial memory, greatly reduces the difficulty of repositioning, and enables doctors to quickly and accurately adjust the endoscope lens back to the original key anatomical position or lesion area, significantly shortening the operation time.

[0165] Example 3

[0166] Reference Figure 12 The third embodiment of the present invention provides a method for controlling an arthroscopic endoscope, comprising the following steps:

[0167] Marker point creation steps: When the button 21 is pressed briefly, the first trigger signal is generated. The system records the precise spatial pose data of the endoscope tip as the marker point. At the same time, the recording function is started to record and store a voice note, and the voice note is associated and bound with the marker point.

[0168] Guided mode startup steps: Press and hold button 121 to generate a second trigger signal. The system will start the speech recognition function and match the recognized speech content with the speech notes of all stored marker points. If the match is successful, the matched marker point will be set as the target point and the guided mode will be entered.

[0169] Spatial deviation calculation steps: In guided mode, the system acquires the current pose data of the endoscope tip in real time and calculates the spatial deviation between the current endoscope tip and the target point. The spatial deviation includes directional deviation and distance deviation.

[0170] Multimodal guidance steps: The system synchronously generates visual guidance signals and tactile control signals based on the calculated spatial deviation;

[0171] Visual guidance signals are used to overlay graphical user interface (GUI) elements on the display, including direction indicator elements and distance indicator elements;

[0172] The tactile control signal is used to drive the motor 35 and the electric push rod 34 to work, control the orientation and height of the protrusion 32, and guide the operation in a tactile manner.

[0173] In summary:

[0174] This invention achieves intuitive tactile navigation through the designed protrusions 32 and membrane 33. The rotating plate 31 is driven to rotate by the motor 35, thereby changing the circumferential orientation of the protrusions 32 to indicate the target direction. At the same time, the lifting stroke of the protrusions 32 is precisely controlled by the electric push rod 34, so that the height of the protrusions 32 lifting the membrane 33 changes linearly with the distance. This mechanical linkage mechanism transforms abstract navigation information into orientation and pressure signals that can be perceived by the fingers in real time. This allows doctors to efficiently and accurately reposition the endoscope by touch while focusing on the surgical field. Combined with a multimodal feedback system, it achieves accurate marking and intelligent return of key points, and can automatically generate a structured surgical record containing timestamps, images, poses, and voice, which greatly improves surgical efficiency, positioning accuracy, and medical safety.

[0175] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. An arthroscopic endoscope with auxiliary positioning function, comprising a camera (1), an eyepiece (11) fixedly connected to the camera (1), and a cylindrical lens group (12) fixedly connected to the eyepiece (11), characterized in that: It also includes a handheld block (2), which is fixedly installed on the side of the camera (1) away from the eyepiece (11), and the side of the handheld block (2) away from the camera (1) is connected to the camera body via a cable; The guide assembly (3) includes a rotating plate (31) movably mounted inside the handheld block (2), a protrusion (32) movably mounted on the rotating plate (31), and a membrane layer (33) fixedly mounted on the side of the handheld block (2). An electric push rod (34) is fixedly mounted on the side of the rotating plate (31) away from the protrusion (32), and the output end of the electric push rod (34) is fixedly connected to the protrusion (32). A motor (35) is fixedly installed inside the hand block (2). A rotating rod (36) is fixedly installed at the output end of the motor (35). A gear (37) is fixedly installed on the rotating rod (36). A toothed block (38) is fixedly installed on the edge of the rotating plate (31). The gear (37) and the toothed block (38) are meshed and connected. A button (21) for triggering the marker point and starting the return guidance function is fixedly installed on the side of the hand block (2) away from the membrane layer (33). A control panel (4) for controlling the operation of the motor (35) and the electric push rod (34) is fixedly installed on the hand block (2).

2. An arthoscope with auxiliary positioning function according to claim 1, characterized in that: The electric push rod (34) is used to drive the bump (32) to move closer to or away from the film layer (33); When the electric push rod (34) extends, it pushes the protrusion (32) to move closer to the film layer (33), causing the film layer (33) to bulge locally; When the electric push rod (34) retracts, it drives the protrusion (32) to move away from the film layer (33), causing the local protrusion of the film layer (33) to flatten.

3. An arthroscopy with auxiliary positioning function according to claim 2, characterized in that: The height of the protrusion (32) is proportional to the real-time distance between the tip of the cylindrical lens group (12) and the target marker point; When the real-time distance is greater than the first distance threshold, the electric push rod (34) extends to the maximum stroke, so that the protrusion height of the membrane layer (33) reaches the maximum. When the real-time distance decreases to less than or equal to the first distance threshold but greater than the second distance threshold, the stroke of the electric push rod (34) decreases accordingly, causing the protrusion height of the membrane layer (33) to decrease synchronously; When the real-time distance is less than or equal to the second distance threshold, the electric push rod (34) retracts completely, causing the protrusion (32) to separate from the membrane (33), and the membrane (33) to return to flatness.

4. An arthoscope with auxiliary positioning function according to claim 1, characterized in that: The control panel (4) includes a pose acquisition module, a voice processing module, a marker management module, a guidance control module, a haptic feedback module, and a data storage module; The pose acquisition module is used to acquire and calculate the six-degree-of-freedom spatial pose data of the endoscope tip in real time. The voice processing module is used to receive and recognize voice commands, and send the recognition results to the tag management module and the guidance control module. When the button is pressed briefly (21), a first trigger signal is generated. When the marker management module receives the first trigger signal, it creates and stores a marker point. The marker point data includes the precise pose data at the trigger time, the corresponding endoscope video frame, and the associated voice annotation file. Press and hold button 1 (21) to generate a second trigger signal. When the guidance control module receives the second trigger signal, it calls the pose data of the target marker point and continuously calculates the spatial deviation between the target marker point and the current real-time pose data to generate a visual guidance signal and a tactile control signal containing direction and distance information. The tactile feedback module receives the tactile control signal and converts the tactile control signal into a driving command for the electric push rod (34) and the rotating plate (31) to control the protrusion orientation and height of the protrusion (32); The data storage module is used to store all marker point data and surgical procedure record packages.

5. An arthoscope with auxiliary positioning function according to claim 4, characterized in that: When the marker management module receives the first trigger signal, it immediately records the current pose as a marker point and simultaneously starts the voice processing module to record a voice message, using the recorded voice message as a voice note for the marker point. When the guidance control module receives the second trigger signal, the voice processing module is simultaneously activated to perform voice recognition; The system matches the recognized speech content with the speech notes of all stored markers. If a match is found, the target of the guidance control module is set as the matched marker.

6. An arthroscopy with auxiliary positioning function according to claim 5, characterized in that: The working principle of the guidance control module in generating tactile control signals is as follows: The tactile control signal includes a rotation angle control signal for the rotating plate (31) and a stroke control signal for the electric push rod (34); After receiving the rotation angle control signal, the motor (35) drives the rotating plate (31) to rotate, so that the circumferential orientation of the protrusion (32) points to the target mark point; A first distance threshold D1 and a second distance threshold D2 are pre-set within the system, where D1 > D2; After receiving the stroke control signal, the electric push rod (34) compares the distance value between the target marker point and the current real-time pose data with the first distance threshold D1 and the second distance threshold D2, and controls the extension stroke of the electric push rod (34) according to the comparison result.

7. An arthroscopy with auxiliary positioning function according to claim 6, characterized in that: When the distance value is greater than the first distance threshold D1, the electric push rod (34) outputs the maximum value of the stroke control signal, driving the electric push rod (34) to extend to the maximum stroke, so that the protrusion (32) is lifted to the maximum height; When the distance value is less than or equal to the first distance threshold D1 and greater than the second distance threshold D2, the value of the electric push rod (34) stroke control signal is proportional to the distance value, and the stroke of the electric push rod (34) is reduced accordingly, and the lifting height of the protrusion (32) is reduced. When the distance value is less than or equal to the second distance threshold D2, the electric push rod (34) outputs a zero value in the stroke control signal, driving the electric push rod (34) to retract completely, so that the protrusion (32) separates from the film layer (33).

8. An arthroscopy with auxiliary positioning function according to claim 7, characterized in that: The working principle of the visual guidance signal generated by the guidance control module is as follows: The visual guidance signals are used to overlay graphical user interface (GUI) elements on the display, including: A direction indicator element, indicating the same direction as the line connecting the current pose and the target marker point, in the form of an arrow or a fan shape; The distance indicator element displays the real-time distance between the current pose and the target marker. The visual fill ratio is inversely proportional to the real-time distance value.

9. A method for controlling an arthroscopy, using an arthroscopy with auxiliary positioning function as described in any one of claims 1 to 8, characterized in that: Includes the following steps: Marker point creation steps: When the button is pressed briefly (21), a first trigger signal is generated. The system records the precise spatial pose data of the current endoscope tip as a marker point. At the same time, the recording function is started to record and store a voice note. The voice note is then associated with and bound to the marker point. Guided mode startup steps: Press and hold button one (21) to generate a second trigger signal, the system starts the speech recognition function, and matches the recognized speech content with the speech notes of all stored markers; If a match is successful, the matched marker point is set as the target point, and the system enters guided mode. Spatial deviation calculation steps: In guided mode, the system acquires the current pose data of the endoscope tip in real time and calculates the spatial deviation between the current endoscope tip and the target point. The spatial deviation includes directional deviation and distance deviation. Multimodal guidance steps: The system synchronously generates visual guidance signals and tactile control signals based on the calculated spatial deviation; The visual guidance signals are used to overlay graphical user interface (GUI) elements on the display, including direction indicator elements and distance indicator elements; The tactile control signal is used to drive the motor (35) and electric push rod (34) to work, control the orientation and height of the protrusion (32), and guide the operation in a tactile manner.

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