Steerable orthopedic endoscope system with navigation function

Abstract

The invention belongs to the field of orthopedic surgery, and particularly relates to a steerable orthopedic endoscope system with a navigation function, the steerable orthopedic endoscope system comprises a handle, an endoscope body, a rotation adjusting assembly, an angle detection assembly, a processor, an optical navigation assembly and an electromagnetic navigation assembly, the endoscope body comprises a rod part, a bendable part and a lens, and a snake bone is arranged in the bendable part; the rotation adjusting assembly comprises a rotating wheel and two traction cables. The angle detection assembly comprises an identifier arranged on the rotating wheel and a detection device used for identifying the identifier; the processor is electrically connected with the angle detection assembly and the rotation adjusting assembly. By the adoption of the steerable orthopedic endoscope system with the navigation function, the position and posture information of the lens can be obtained based on the rotating angle of the rotating wheel, the lens is co-positioned through optomagnetic compounding, the orthopedic endoscope can be more accurately used for observation and operation, the medical safety risk is reduced, the learning curve of a doctor is shortened, and the operation efficiency is improved. The operation quality is improved.

Description

[0001] The present patent application claims the domestic priority of the invention application with the application number CN202410247234.X, the application date of March 5, 2024, and the invention name of "variable angle endoscope". TECHNICAL FIELD

[0002] The present application relates to the field of orthopedic surgery, in particular to a steerable orthopedic endoscope system with navigation function. BACKGROUND

[0003] With the deepening of the concept of minimally invasive, endoscopy of orthopedic surgery has become an important trend of surgical technology development. Through orthopedic endoscopy, orthopedic surgeons can complete intraoperative diagnosis and operation through a small wound, greatly improving patient satisfaction and reducing medical costs. However, the current orthopedic endoscope (arthroscopy, intervertebral foramen mirror) is a rigid columnar design, with a fixed field of view angle, which is difficult to adapt to the irregular environment of the surgical area, and there are visual blind spots and operation prohibited areas in use. In addition, the current endoscope system lacks navigation design, and surgeons can only imagine the spatial position of the lens and operating instruments through the intraoperative anatomic structure. This technology has a long learning curve and a high risk of iatrogenic injury. There is an urgent need for an orthopedic endoscope with variable observation angle and navigation capability to complete various surgeries including joint surgery, spinal surgery, and trauma surgery. SUMMARY

[0004] To eliminate the surgical blind spots and prohibited areas in orthopedic endoscopic surgery, shorten the learning period of orthopedic endoscopic surgery, and improve surgical safety and quality, the lens provides a steerable orthopedic endoscope system with navigation function. The endoscope system can obtain the pose information of the lens based on the rotation angle of the rotating wheel, and co-locate the lens through light-magnetic composite, so as to more accurately use the orthopedic endoscope for observation and operation, reduce the risk of medical safety, shorten the learning curve of doctors, and improve the quality of surgery.

[0005] Embodiments of the present application provide a steerable orthopedic endoscope system with navigation function, comprising:

[0006] a handle;

[0007] a lens body comprising a rod portion connected to the handle, a bendable portion located at the front end of the rod portion, and a lens located at the front end of the bendable portion, the bendable portion is provided with a snake bone, so that the bendable portion can be bent to different angles;

[0008] a rotation adjusting assembly comprising a rotating wheel and two traction cables arranged on both sides of the rotating wheel in the radial direction, the two traction cables are connected with the snake bone to adjust the bending degree of the bendable portion;

[0009] An angle detection component includes a mark disposed on the rotating wheel and a detection device for identifying the mark, wherein the detection device obtains the rotation angle of the rotating wheel by detecting changes in the mark;

[0010] A processor, electrically connected to the angle detection component and the rotation adjustment component, receives rotation angle information acquired by the angle detection component and calculates the pose of the lens relative to the rod based on the rotation angle information, the pose including the coordinates and orientation angle of the lens;

[0011] The system includes an optical navigation component and an electromagnetic navigation component. The processor adjusts the origin of the optical navigation component based on the pose information of the lens, so that the perspective field of view of the optical navigation component is consistent with the field of view of the lens. The electromagnetic navigation component provides reference coordinates for the lens.

[0012] In some embodiments, the processor calculates the lens pose relative to the rod based on the rotation angle information, including:

[0013] The x-axis and y-axis coordinates (x, y) of the lens are determined according to the following mathematical expression:

[0014]

[0015]

[0016] Where n is the number of terms in the polynomial, a j b j , respectively, are the coefficients of the j-th terms in the vertical and horizontal axes, determined by fitting based on multiple calibration results, and θ is the rotation angle of the wheel.

[0017] In some embodiments, the processor calculating the lens pose relative to the rod based on the rotation angle information further includes:

[0018] The normal to the lens is determined according to the following mathematical expression, and the angle of the normal is used as the direction angle of the lens:

[0019]

[0020] Where, x i =g(θ) i ), k i =f′(g(θ) i )), y i =f(g(θ) i )).

[0021] In some embodiments, the optical navigation component includes a reference frame and a reflector ball disposed on the handle, and the electromagnetic navigation component includes an electromagnetic positioning sensor disposed at the front end of the bend.

[0022] In some embodiments, the identifier is a grating, and the detection device is a sensor used in conjunction with the grating.

[0023] In some embodiments, the wheel is driven by a motor, which is embedded in the handle.

[0024] In some embodiments, the handle is provided with a button for turning the motor on and off.

[0025] The present invention employs a steerable orthopedic endoscope system with navigation function. This orthopedic endoscope system controls the traction cable through a rotating wheel to adjust the bending angle of the bendable part. An angle detection component detects the rotation angle of the rotating wheel and sends it to a processor. The processor calculates the position and pose information of the lens relative to the rod based on the rotation angle information. The orthopedic endoscope system can use photomagnetic composite to co-position the lens based on the position and pose information, so as to use the orthopedic endoscope system for observation and operation more accurately, reduce medical safety risks, shorten the doctor's learning curve, and improve the quality of surgery. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of a steerable orthopedic endoscope system with navigation capabilities.

[0027] In the diagram: lens 10; rod 20; flexible part 21; handle 30; rotating wheel 40; traction cable 41; grating 50; motor 60; button 61; reference frame 70; reflector ball 71; electromagnetic positioning sensor 80. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0029] The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0030] The orientations or positional relationships indicated by terms such as "upper," "lower," "left," "right," "middle," "longitudinal," "lateral," "horizontal," "inner," "outer," "radial," and "circumferential" used in this specification are based on the orientations or positional relationships shown in the accompanying drawings and are only for the purpose of simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] like Figure 1 As shown, this invention discloses a steerable orthopedic endoscope system with navigation function, which includes a handle 30, an endoscope body, a rotation adjustment component, an angle detection component, and a processor. The endoscope body includes a rod 20 connected to the handle 30, a flexible portion 21 located at the front end of the rod 20, and a lens 10 located at the front end of the flexible portion 21. The flexible portion 21 is provided with a snake-like structure, which allows the flexible portion 21 to be bent into different angles, ensuring that the lens 10 can meet the field of vision requirements of different positions inside the human body.

[0032] The rotation adjustment assembly of this embodiment includes a rotating wheel 40 and two traction cables 41 arranged radially on both sides of the rotating wheel 40. The two traction cables 41 are connected to a snake skeleton. The rotating wheel 40 drives the snake skeleton to move through the traction cables 41, thereby adjusting the curvature of the bendable part 21. During the rotation of the rotating wheel 40, the traction cable 41 on one side of the rotating wheel 40 tightens, and the traction cable 41 on the other side of the rotating wheel 40 loosens, causing the bendable part 21 to bend towards the side where the traction cable 41 is tightened. In this embodiment, the rotating wheel 40 is preferably driven by a motor 60, which is preferably a servo motor. The starting and closing of the motor 60 is controlled by a button 61 on the handle 30, and the servo motor 60 is embedded inside the handle 30. It should be noted that the method of controlling the bending of the bendable part 21 using the rotating wheel 40, traction cables 41, and snake skeleton is prior art, so its specific structure and principle will not be described in detail in this embodiment.

[0033] The angle detection component in this embodiment includes a mark disposed on the rotating wheel 40 and a detection device for identifying the mark. The detection device obtains the rotation angle of the rotating wheel 40 by detecting changes in the mark. Preferably, the mark in this embodiment is a grating 50, and the detection device is preferably a sensor used in conjunction with the grating 50. The grating 50 and sensor provide high measurement accuracy and good stability. In some embodiments, the mark can be a conductor disposed on the rotating wheel 40, and the corresponding detection device is a pin. The rotation angle of the rotating wheel 40 is obtained through an electrical circuit formed by the contact between the pin and the conductor. It should be noted that using a grating 50 and a sensor to detect the rotation angle of an object is prior art, and will not be described further in this embodiment.

[0034] In this embodiment, the processor is electrically connected to the angle detection component and the rotation adjustment component. The processor receives the rotation angle information acquired by the angle detection component and calculates the pose (coordinates and orientation angle) of the lens 10 relative to the rod 20 based on the rotation angle information. It should be noted that because the lens 10 is controlled by the wheel 40, the traction cable 41, and the serpentine frame, the lens 10 is constrained to move within a plane; that is, the lens 10 can only move within a plane containing a certain radial direction of the rod 20. Therefore, the z-axis coordinate of the lens 10 relative to the rod 20 is 0, and the coordinates of the lens 10 relative to the rod 20 are (x, y, 0). This embodiment mainly aims to calculate the x-axis and y-axis coordinates of the lens 10 relative to the rod 20. The processor in this embodiment can be a conventional STM32F4 or F7 series microcontroller, etc.

[0035] The processor calculates the pose of lens 10 relative to rod 20 based on rotation angle information as follows:

[0036] First, the polynomial function curve of the lens 10 trajectory is defined. The mathematical expression of the x-axis and y-axis coordinates (x, y) of the lens 10 relative to the rod 20 is represented by Formula 1, as follows:

[0037]

[0038] Where n is the number of terms in the polynomial, a j The coefficient of the j-th term in the ordinate is determined by fitting the results of multiple calibrations.

[0039] Next, we define a polynomial function relating the x-axis coordinate of lens 10 to the rotation angle θ of the rotating wheel 40. When θ > 0, the coordinates of lens 10 are monotonically non-increasing in the x-axis direction as the rotation angle θ increases. Let x = g(θ), then the x-axis coordinates of lens 10 can be represented by a polynomial function of the rotation angle θ, as shown in Formula 2:

[0040]

[0041] Among them, b j The coefficient of the j-th term in the x-axis. θ j The coefficient of the j-th term in the rotation angle is determined by fitting the results of multiple calibrations.

[0042] a in this embodiment j and θ j The specific calculation method is as follows:

[0043] First, calculate the coordinates (x, y) of lens 10 relative to rod 20. i ,y iThe mapping relationship between ,0) and the rotation angle θ of the rotating wheel 40 is defined as follows: Let Δα be the rotation angle of the rotating wheel 40 in a single rotation, and let θ be the rotation angle of the rotating wheel 40 when the rotating wheel rotates for the i-th time. i =i·Δα, record the coordinates (x, y) of lens 10 relative to rod 20 at this moment. i ,y i ,0), where i=0,1,2…,m.

[0044] After counting the data m+1 times, the rotation angle θ of the rotating wheel 40 and the coordinates (x, y) of the lens 10 are obtained. i ,y i The list data of ,0) is represented by Formula 3 as follows:

[0045]

[0046] Then, Equation 3 is transformed into matrix form, represented by Equation 4, as follows:

[0047]

[0048] set up The formula Y = XA is obtained;

[0049] Next, using the least squares method, let the formula for the sum of squared errors be:

[0050] E = (Y - XA) T ·(Y-XA)

[0051] The simplified formula for the sum of squared errors is:

[0052] E=Y T YY T XA-A T X T Y+A T X T XA;

[0053] Then order To minimize the error between the obtained data and the actual data, we can use Formula 5:

[0054]

[0055] Therefore, by using the least squares method, the curve equation Y = XA of lens 10 relative to rod 20 can be obtained, and the coefficient a can be determined. j .

[0056] From Formula 1, we know that the y-axis coordinate of lens 10 can be calculated from the x-axis coordinate of lens 10. From Formula 2, we know that the x-axis coordinate of lens 10 can be calculated from the rotation angle θ of the rotating wheel 40. Let the simplified expression for the x-axis coordinate of lens 10 and θ be X = ΘB, where:

[0057]

[0058] Formula 6 is obtained using the least squares method, as follows:

[0059] B=(Θ T Θ) -1 Θ T X (6)

[0060] The coefficient b can then be determined. j The parameters of the function x = g(θ) with respect to the rotation angle θ can be obtained. Combining formulas 1 and 2, we get the following formula:

[0061] y = f(g(θ)).

[0062] Because the polynomial function is continuous and differentiable, we have:

[0063] When the rotation angle of the rotating wheel 40 is θ i At that time, the coordinates of lens 10 relative to rod 20 are (g(θ)). i ),f(g(θ i ),0), the normal direction at this point is the direction angle of lens 10, and the equation of the normal direction of lens 10 is expressed by formula 7:

[0064]

[0065] Where, x i =g(θ) i ), k i =f′(g(θ) i )), y i =f(g(θ) i )).

[0066] In summary, when the rotation angle θ of the rotating wheel 40 is greater than 0, the pose of the lens 10 relative to the rod 10 can be obtained based on the value of the rotation angle θ. Since the lens 10 can only move within a plane containing a certain radial direction of the rod 20, and the movable path of the lens 10 is symmetrical about the central axis of the rod 20, when the rotation angle θ of the rotating wheel 40 is less than 0, the pose of the lens 10 is symmetrical about the central axis of the rod 20 when the rotation angle θ is greater than 0.

[0067] In this embodiment, the orthopedic endoscope system controls the traction cable 41 via the rotating wheel 40 to adjust the bending angle of the flexible part 21. The angle detection component detects the rotation angle of the rotating wheel 40 and sends it to the processor. The processor calculates the position and pose of the lens 10 relative to the rod 20 based on the rotation angle information, so as to more accurately use the orthopedic endoscope system to search for lesions and reduce medical safety risks.

[0068] The orthopedic endoscope system of this embodiment also includes an optical navigation component and a magnetic navigation component, both of which are electrically connected to the processor. The optical navigation component includes a reference frame 70 and a reflector ball 71 mounted on the handle 30, and the electromagnetic navigation component includes an electromagnetic positioning sensor 80 located at the front end of the curved section. The processor adjusts the origin of the optical navigation component based on the pose information of the lens 10, ensuring that the field of view of the optical navigation component matches the field of view of the lens 10, thus guaranteeing navigation accuracy. The electromagnetic navigation component provides reference coordinates for the lens 10. When the difference between the reference coordinates and the coordinates of the lens 10 is too large, it alerts the physician to check for damage to the orthopedic endoscope system to ensure the safety of the surgery.

[0069] It should be noted that the method of fitting positioning information from optical navigation technology and / or electromagnetic navigation technology and / or endoscopic system navigation technology is existing technology, therefore the specific principles of navigation will not be described in detail in this embodiment. It should also be noted that the lens 10 in this embodiment uses a right-handed coordinate system.

[0070] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0071] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A steerable orthopedic endoscope system with navigation function, characterized in that, include: Handle (30); The lens body includes a rod (20) connected to the handle (30), a flexible part (21) located at the front end of the rod (20), and a lens (10) located at the front end of the flexible part (21). The flexible part (21) is provided with a snake bone, so that the flexible part (21) can be bent into different angles. The rotating adjustment assembly includes a wheel (40) and two traction cables (41) arranged radially on both sides of the wheel (40), the two traction cables (41) being connected to the snake bone to adjust the curvature of the bendable part (21). An angle detection component includes a mark disposed on the rotating wheel (40) and a detection device for identifying the mark, wherein the detection device obtains the rotation angle of the rotating wheel (40) by detecting changes in the mark; The processor is electrically connected to the angle detection component and the rotation adjustment component. The processor receives the rotation angle information obtained by the angle detection component and calculates the pose of the lens (10) relative to the rod (20) based on the rotation angle information. The pose includes the coordinates and orientation angle of the lens (10). The processor adjusts the origin of the optical navigation component based on the pose information of the lens (10) so that the perspective field of view of the optical navigation component is consistent with the field of view of the lens (10); the electromagnetic navigation component provides reference coordinates for the lens (10).

2. The steerable orthopedic endoscope system with navigation function according to claim 1, characterized in that: The processor calculates the pose of the lens (10) relative to the rod (20) based on the rotation angle information, including: The x-axis coordinates and y-axis coordinates (x, y) of the lens (10) are determined according to the following mathematical expression: Where n is the number of terms in the polynomial, a j b j θ represents the coefficients of the j-th terms in the vertical and horizontal axes, respectively, and is determined by fitting based on multiple calibration results. θ is the rotation angle of the wheel (40).

3. The steerable orthopedic endoscope system with navigation function according to claim 2, characterized in that: The processor also calculates the pose of the lens (10) relative to the rod (20) based on the rotation angle information, including: The normal to the lens (10) is determined according to the following mathematical expression, and the angle of the normal is taken as the direction angle of the lens (10): among them, x i =g(θ i )、k i =f′(g(θ i ))、y i =f(g(θ i ))。 4. The steerable orthopedic endoscope system with navigation function according to any one of claims 1-3, characterized in that: The optical navigation component includes a reference frame (70) and a reflector ball (71) disposed on the handle (30), and the electromagnetic navigation component includes an electromagnetic positioning sensor (80) disposed at the front end of the curved portion.

5. The steerable orthopedic endoscope system with navigation function according to claim 1, characterized in that: The identifier is a grating (50), and the detection device is a sensor used in conjunction with the grating (50).

6. The steerable orthopedic endoscope system with navigation function according to claim 1, characterized in that: The wheel (40) is driven by a motor (60), which is embedded in the handle (30).

7. The steerable orthopedic endoscope system with navigation function according to claim 6: the handle (30) is provided with a button (61) for turning the motor (60) on and off.

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