A binocular flexible cystoscope with magnetic navigation positioning

Abstract

The application discloses a binocular flexible cystoscope with magnetic navigation positioning, which comprises a bendable end part, an insertion sheath and a control handle, wherein the bendable end part of the binocular flexible cystoscope with magnetic navigation positioning comprises a vision module and a snake bone; the vision module comprises LED lamps, two micro cameras and a six-dimensional magnetic navigation positioning sensor which is arranged in the vision module; an instrument channel is arranged on the vision module; the vision module is completely sealed by using sealing glue to prevent liquid from entering the module and causing damage to the module; in the bladder examination, the binocular flexible cystoscope with magnetic navigation positioning can realize the following effects: no blind area in the examination, real-time feedback of two-dimensional and three-dimensional model images of the inner wall of the bladder, real-time calibration of lesions in the three-dimensional model images through an AI intelligent algorithm and further reduction of the requirements for the proficiency and relevant experience of operators.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically relating to a binocular flexible cystoscope with magnetic navigation positioning. Background Technology

[0002] Cystoscopy is the most commonly used endoscopic examination in urology, playing a crucial role in the diagnosis of bladder tumors, transurethral surgical procedures, and long-term postoperative follow-up management. Due to the high recurrence rate of bladder cancer, patients often require multiple cystoscopy examinations; therefore, accurate recording and long-term comparison of the examination results are of significant clinical importance.

[0003] Current rigid or flexible cystoscope systems primarily employ two-dimensional imaging for examination and recording. During the examination, the physician observes the bladder wall in sections within a limited field of view, and the results are typically saved as single images or short video clips accompanied by text descriptions. While this method meets basic diagnostic needs, it has certain limitations in representing spatial information.

[0004] First, current cystoscopy techniques cannot record the overall structure of the entire bladder wall. The acquired images are mostly localized, making it difficult to reconstruct the overall morphology of the bladder wall after the examination, and the spatial relationships between different areas cannot be accurately recorded. Second, when multiple re-examinations are required, the insertion path of the endoscope, the order of observation, and the state of bladder filling may differ each time, making it difficult to accurately determine whether lesions observed at different time points are in the same location. Comparison of lesion changes mainly relies on physician experience, lacking a unified spatial reference and objective localization basis. Third, current cystoscopy only provides two-dimensional image information and cannot provide three-dimensional structural data with actual spatial dimensions. Artificial intelligence-assisted diagnosis is also currently mainly based on two-dimensional image analysis, lacking stable spatial structural information support, making it difficult to conduct more precise localization, measurement, and assessment of structural changes.

[0005] With the development of computer vision and 3D modeling technologies, methods for depth estimation and 3D reconstruction of endoscopic images have gradually matured. By restoring the geometric information of intracavitary structures and constructing spatially consistent 3D representations, objective evidence can be provided for lesion localization, extent quantification, and cross-time follow-up comparisons. Simultaneously, intelligent analysis based on 3D structural data helps improve the objectivity and reproducibility of the diagnostic and treatment process. Therefore, establishing a stable 3D structural representation system in cystoscopy has significant clinical value and technical implications.

[0006] However, current methods for 3D reconstruction based on monocular cystoscopy images primarily rely on visual information to estimate depth and cystoscope motion. In actual examinations, the bladder wall is moist and smooth, easily reflecting light, and some areas have less texture. Furthermore, tissues may change shape with filling or manipulation. These factors all affect the stability of image matching, making depth calculation and cystoscope motion estimation prone to errors.

[0007] Meanwhile, traditional cystoscopy systems lack spatial positioning capabilities, failing to provide information on the true position and orientation of the endoscope within the cavity. Due to the lack of a stable spatial reference, establishing a unified three-dimensional coordinate system during reconstruction is difficult, thus limiting overall reconstruction accuracy and global consistency. Summary of the Invention

[0008] Currently, there is a need for a cystoscopy system that can enhance spatial information acquisition capabilities, simultaneously acquiring depth information and stable pose data without compromising the convenience of clinical operation, and fusing multi-source information to provide a reliable data foundation for three-dimensional reconstruction of the bladder wall. Based on this, a binocular flexible cystoscope with magnetic navigation positioning is proposed to acquire pixel-level depth information and real-time spatial positioning information, thereby providing multi-sensor data support for three-dimensional reconstruction of the bladder wall and subsequent intelligent diagnosis.

[0009] An embodiment of the present invention provides a binocular flexible cystoscope with magnetic navigation positioning, the binocular flexible cystoscope with magnetic navigation positioning comprising three parts: a flexible end portion, an insertion sheath, and a control handle.

[0010] The flexible end of the binocular flexible cystoscope with magnetic navigation positioning includes a vision module and a snake bone. The vision module includes an LED light, two miniature cameras, and a six-dimensional magnetic navigation positioning sensor installed inside the vision module. An instrument channel is provided on the vision module, and the inside of the vision module is completely sealed with sealant to prevent liquid from entering the module and causing damage.

[0011] According to one embodiment of the present invention, for example, the inserted sheath includes a sheath and a rotary joint; the sheath is made of a medical-grade flexible polymer, the front end of the sheath is hinged to a snake bone, the rear end of the sheath is fixed to the rotary joint, the rotary joint is connected to a control handle, and can rotate back and forth at a certain angle relative to the control handle to assist the operator in rotating the sheath.

[0012] According to one embodiment of the invention, for example, the snake bone and sheath are covered with a flexible sleeve; the control handle includes an operating handle, a custom button, a communication cable, a negative pressure suction valve, and an instrument channel.

[0013] According to one embodiment of the present invention, for example, an instrument channel hose is provided inside the snake bone, sheath and handle, the instrument channel hose is connected to the instrument channel on the vision module, and inside the control handle, the instrument channel hose is connected to the negative pressure suction valve and the instrument channel through a tee.

[0014] According to one embodiment of the present invention, for example, two steel wire ropes are arranged inside the snake bone and sheath. One end of the two steel wire ropes is fixedly connected to the visual module, and the other end is fixedly connected to the winch of the operating handle through the fixed end of the steel wire rope. The winch is provided with a fixed groove. The visual module is swung up and down by operating the operating handle, thereby realizing blind spot-free examination inside the bladder.

[0015] According to one embodiment of the present invention, for example, a communication board is provided inside the control handle, and cable sleeves are provided inside the snake bone and sheath. The vision module and the six-dimensional magnetic navigation positioning sensor are connected to the communication board inside the control handle via cables. The communication board is connected to the communication cable and is connected to the interface on the image processor of the binocular magnetic navigation positioning flexible cystoscope via the communication cable. The binocular magnetic navigation positioning flexible cystoscope image processor transmits the video signal acquired by the binocular magnetic navigation positioning flexible cystoscope and the signal from the six-dimensional magnetic navigation positioning sensor to the industrial control computer inside the system trolley.

[0016] The present invention relates to a binocular flexible cystoscope with magnetic navigation positioning. The cystoscope integrates binocular vision, a magnetic navigation positioning chip, and an LED light. Its sheath is made of a flexible material, and the visual module at the end of the scope is located at the flexible end of the scope. During bladder examination, it enables blind-spot-free examination and provides real-time feedback of two-dimensional and three-dimensional model images of the bladder wall, offering multi-sensor information for subsequent three-dimensional reconstruction.

[0017] The present invention provides a binocular flexible cystoscope with magnetic navigation positioning, which relates to the field of medical device technology and is an application of three-dimensional panoramic imaging technology in the examination of bladder lesions. It integrates a three-dimensional vision module 0111, and the three-dimensional vision module 0111 also integrates a six-dimensional magnetic navigation positioning sensor 01114.

[0018] The binocular flexible cystoscope with magnetic navigation positioning provided by the present invention has a six-dimensional magnetic navigation positioning sensor 01114 inside that relies on the magnetic field generated by the magnetic generator 021 on the system trolley 02 to provide real-time feedback on the real-time pose of the vision module 0111.

[0019] The binocular flexible cystoscope with magnetic navigation positioning of the present invention can acquire multi-angle images and depth and pose information of the bladder wall. Finally, a high-precision three-dimensional panoramic model of the bladder wall is reconstructed by an industrial control computer, which enables doctors and patients to have a more intuitive and comprehensive understanding of the anatomical structure and lesions in the bladder, reducing the reliance on doctors' experience in diagnosis.

[0020] The present invention provides a binocular flexible cystoscope with magnetic navigation positioning, which integrates two customizable buttons 0132 to assist doctors in acquiring key images during the examination. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of a binocular flexible cystoscope system with magnetic navigation positioning provided in an embodiment of the present invention.

[0022] Figure 2 This is a schematic diagram of a binocular flexible cystoscope with magnetic navigation positioning provided in an embodiment of the present invention.

[0023] Figure 3 This is a schematic diagram of the movement of the flexible end portion of a binocular flexible cystoscope with magnetic navigation positioning provided in an embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of the flexible end section structure of a binocular flexible cystoscope with magnetic navigation positioning provided in an embodiment of the present invention.

[0025] Figure 5 This is a schematic diagram of the visual module structure of a binocular flexible cystoscope with magnetic navigation positioning provided in an embodiment of the present invention.

[0026] Figure 6 This is a schematic diagram of the insertion sheath structure of a binocular flexible cystoscope with magnetic navigation positioning provided in an embodiment of the present invention.

[0027] Figure 7 This invention provides a schematic diagram of the control handle structure of a binocular flexible cystoscope with magnetic navigation positioning.

[0028] Figure 8 This invention provides a schematic diagram of the internal steel wire arrangement structure of the control handle of a binocular flexible cystoscope with magnetic navigation positioning. Detailed Implementation

[0029] To clearly understand the technical solution of the present invention, its detailed structure will be presented in the following description. Obviously, the specific implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below; in addition to these embodiments described in detail, other implementation methods may also be possible.

[0030] like Figure 1 As shown, an embodiment of the present invention provides a binocular flexible cystoscope 01 with magnetic navigation positioning. The magnetically navigation-positioned binocular flexible cystoscope 01 has a six-dimensional magnetic navigation positioning sensor 01114 inside (see...). Figure 5The six-dimensional magnetic navigation and positioning sensor 01114, and relying on the magnetic field generated by the magnetic generator 021 on its system trolley 02, can provide real-time feedback on the real-time pose of the vision module 0111.

[0031] like Figure 2 As shown, the binocular flexible cystoscope 01 with magnetic navigation positioning includes three parts: a flexible end part 011, an insertion sheath 012, and a control handle 013.

[0032] like Figure 3 , Figure 4 As shown, the flexible distal end 011 of the binocular flexible cystoscope 01 with magnetic navigation positioning includes a visual module 0111 and a snake bone 0112. (As shown...) Figure 5 As shown, the vision module 0111 includes an LED light 01112, two miniature cameras 01113, and a six-dimensional magnetic navigation positioning sensor 01114 installed inside the vision module 0111. The vision module 0111 has an instrument channel 01111, which can be used for instrument insertion into the bladder, liquid flushing or bladder filling, and gas induction for bladder filling. The interior of the vision module 0111 is completely sealed with sealant to prevent liquid from entering the module and causing damage.

[0033] like Figure 6 As shown, the insertion sheath 012 includes a sheath 0121 and a rotary connector 0122. The sheath 0121 is made of a medical-grade flexible polymer, including but not limited to polylactic acid (PLA), polycaprolactone (PCL), polyvinyl alcohol (PVA), and polyurethane (PU). The front end of the sheath 0121 is hinged to the snake bone 0112, and the rear end is fixedly connected to the rotary connector 0122. The rotary connector 0122 is connected to a control handle 013 and can rotate back and forth relative to the control handle 013 by a certain angle, such as 220°, assisting the operator in rotating the sheath 012 for easier bladder examination. The snake bone 0112 and the sheath 0121 are covered with a flexible sheath with a smooth surface. This surface protects the internal structure and facilitates entry into the urethra, while also protecting the urethra.

[0034] like Figure 7 As shown, the control handle 013 includes an operating handle 0131, a custom button 0132, a communication cable 0133, a negative pressure suction valve 0134, and an instrument channel 0135. An instrument channel hose is arranged inside the snake bone 0112, the sheath 0121, and the handle. The instrument channel hose is connected to the instrument channel 01111 on the vision module 0111. Inside the control handle 013, the instrument channel hose is connected to the negative pressure suction valve 0134 and the instrument channel 0135 via a tee. Figure 8As shown, two steel wire ropes 0136 are arranged inside the snake bone 0112 and the sheath 0121. One end of the two steel wire ropes 0136 is fixedly connected to the visual module 0111, and the other end is fixedly connected to the winch of the operating handle 0131 through the fixed end 01361 of the steel wire rope. The winch is provided with a fixed groove 01311. By operating the operating handle 0131, the visual module 0111 can be moved up and down, thereby realizing blind spot-free examination inside the bladder. The control handle 013 has a communication board inside, and the snake bone 0112 and sheath 0121 have cable sleeves inside. The vision module 0111 and the six-dimensional magnetic navigation positioning sensor are connected to the communication board inside the control handle 013 via cables. The communication board is connected to the communication cable 0133, and the communication cable 0133 is connected to the interface 0221 on the binocular magnetic navigation positioning flexible cystoscope image processor 022. The binocular magnetic navigation positioning flexible cystoscope image processor 022 transmits the video signal acquired by the binocular magnetic navigation positioning flexible cystoscope 01 and the signal of the six-dimensional magnetic navigation positioning sensor 01114 to the industrial control computer inside the system trolley 02.

Claims

1. A binoeular flexible cystoscope with magnetic navigation positioning, characterized in that, The binocular flexible cystoscope (01) with magnetic navigation positioning includes three parts: a flexible end part (011), an insertion sheath (012), and a control handle (013); The flexible end portion (011) of the binocular flexible cystoscope (01) with magnetic navigation positioning includes a vision module (0111) and a snake bone (0112); the vision module (0111) includes an LED light (01112), two miniature cameras (01113) and a six-dimensional magnetic navigation positioning sensor (01114) installed inside the vision module (0111). An instrument channel (01111) is provided on the vision module (0111). The inside of the vision module (0111) is completely sealed with sealant to prevent liquid from entering the module and causing damage to the module.

2. The bine flexible cystoscope with magnetic navigation positioning of claim 1, wherein, The insertion sheath (012) includes a sheath (0121) and a rotary joint (0122); the sheath (0121) is made of medical-grade flexible polymer, the front end of the sheath (0121) is hinged to the snake bone (0112), the rear end of the sheath (0121) is fixed to the rotary joint (0122), the rotary joint (0122) is connected to the control handle (013) and can rotate back and forth at a certain angle relative to the control handle (013) to assist the operator in rotating the sheath (012).

3. The bine flexible cystoscope with magnetic navigation positioning of claim 2, wherein, The snake bone (0112) and sheath (0121) are covered with a flexible sleeve; The control handle (013) includes an operating handle (0131), a custom button (0132), a communication cable (0133), a negative pressure suction valve (0134), and an instrument channel (0135).

4. The binaisible flexible cystoscope with magnetic navigation positioning of claim 3, wherein, An instrument channel hose is installed inside the snake bone (0112), sheath (0121) and handle. The instrument channel hose is connected to the instrument channel (01111) on the vision module (0111). Inside the control handle (013), the instrument channel hose is connected to the negative pressure suction valve (0134) and the instrument channel (0135) through a tee.

5. The binaisible flexible cystoscope with magnetic navigation positioning of claim 4, wherein, Two steel wire ropes (0136) are installed inside the snake bone (0112) and sheath (0121). One end of the two steel wire ropes (0136) is fixedly connected to the visual module (0111), and the other end is fixedly connected to the winch of the operating handle (0131) through the fixed end (01361) of the steel wire rope. The winch is provided with a fixed groove (01311). By operating the operating handle (0131), the visual module (0111) can be moved up and down, thereby realizing blind spot-free examination inside the bladder.

6. The binaisible flexible cystoscope with magnetic navigation positioning of claim 5, wherein, A communication board is installed inside the control handle (013), and cable sleeves are installed inside the snake bone (0112) and sheath (0121). The vision module (0111) and the six-dimensional magnetic navigation positioning sensor are connected to the communication board inside the control handle (013) via cables. The communication board is connected to the communication cable (0133), and is connected to the interface (0221) on the binocular magnetic navigation positioning flexible cystoscope image processor (022) via the communication cable (0133). The binocular magnetic navigation positioning flexible cystoscope image processor (022) transmits the video signal acquired by the binocular magnetic navigation positioning flexible cystoscope (01) and the signal of the six-dimensional magnetic navigation positioning sensor (01114) to the industrial control computer inside the system trolley (02).

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