Multi-source fusion sight glass structure and operation auxiliary system

Abstract

The utility model discloses a multi-source fusion sight glass structure, which comprises an operation panel assembly, the operation panel assembly comprises an operation panel body and a connecting piece, and the surface of one side of the connecting piece is connected with the operation panel body; the sight glass assembly comprises a sight glass table body, an inner mirror and a plurality of outer mirrors, one end of the sight glass table body is connected to the surface of the other side of the connecting piece, and the end face of the other end of the sight glass table body is connected with the inner mirror and the outer mirrors surrounding the inner mirror; the operation safety problem caused by the fact that a tool and instrument operator cannot globally observe the global image around the endoscope is effectively avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical equipment, and particularly relates to a multi-source fusion mirror structure and an operation auxiliary system. Background Art

[0002] Endoscope is a medical device that is inserted into the human body cavity to observe physiological pathological changes in the human body. It has been widely used in clinical observation and diagnosis of the ear, nose, throat and other parts of the human body. When the endoscope is inspecting and observing the lesion, it is necessary to change the angle or position. When the endoscope is at a suitable viewing angle, it needs to remain stable without shaking. Therefore, it is very necessary to hold the endoscope stably.

[0003] In the prior art, there are generally two ways to support the endoscope. The first way is to hold the endoscope manually, but this method is energy-consuming and will cause hand tremors after holding for a long time, affecting the accuracy of the operation. The second way is to use an auxiliary endoscope holding robot to stabilize the endoscope through a mechanical endoscope holding arm. However, the existing auxiliary endoscope holding robots can often only obtain the images collected by the endoscope in the channel. When using tools and instruments for treatment, the doctor cannot judge whether the tools and instruments will cause damage to the human tissue around the endoscope channel in the process of entering the lesion area based on the images in the endoscope channel. Therefore, global observation is impossible, and there are safety issues. Utility Model Content

[0004] The purpose of the present application is to provide a multi-source fusion mirror structure and an operation assistance system, aiming to solve the operational safety problem caused by the inability to globally observe the global image around the endoscope in the prior art.

[0005] In a first aspect, an embodiment of the present application provides a multi-source fusion mirror structure, including:

[0006] The operation panel assembly 1 includes an operation panel body 11 and a connecting member 12, wherein one side surface of the connecting member 12 is connected to the operation panel body 11;

[0007] The mirror assembly 2 includes a mirror platform 21, an inner mirror 22 and multiple outer mirrors 23, wherein one end of the mirror platform 21 is connected to the other side surface of the connecting member 12, and the end surface of the other end is connected to the inner mirror 22 and the multiple outer mirrors 23 surrounding the inner mirror 22.

[0008] In an optional embodiment, the plurality of outer mirrors 23 are evenly arranged circumferentially along the inner mirror 22 .

[0009] In an optional embodiment, the lengths of the plurality of outer mirrors 23 are all smaller than the length of the inner mirror 22 .

[0010] In an optional embodiment, the multi-source fusion mirror structure 100 further includes a structured light camera 3 , and the back of the structured light camera 3 is fixed to the other side surface of the connecting member and is away from the operation panel body 11 .

[0011] In an optional embodiment, a plurality of operation buttons 4 are arranged in sequence on the side surface of the connecting member 12 .

[0012] In the second aspect, an embodiment of the present application provides an operation assistance system, wherein the operation assistance system 200 includes a multi-source fusion mirror structure 100 and a mirror holding robot 5, wherein the mirror assembly 2 of the multi-source fusion mirror structure 100 is connected to the mirror holding arm 51 of the mirror holding robot 5 via a connecting piece 12 of the multi-source fusion mirror structure 100.

[0013] In an optional embodiment, an endoscope operation display 6 is provided on the column 52 of the mirror holding robot 5 .

[0014] In an optional embodiment, the mirror holding arm 51 of the mirror holding robot 5 has multiple degrees of freedom in multiple directions, and is used to adjust the position of the mirror assembly 2 of the multi-source fusion mirror structure 100 in multiple directions.

[0015] In an optional embodiment, the operation assistance system 200 further includes a foot switch 53, and the foot switch 53 is used to enable the mirror holding arm 51 to move.

[0016] In an optional embodiment, a parameter monitoring display 7 is also provided on the column 52 of the mirror holding robot 5 .

[0017] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the embodiment of the present application provides a multi-source fusion mirror structure, which surrounds the endoscope with multiple external mirrors. When the endoscope determines the location of the lesion area, the external mirror also simultaneously collects global images of various angles of the corresponding operation channel. When the tool operator enters the operation channel with the tool in hand, the position of the tool can be observed in real time to avoid the tool from being damaged or destroying other normal areas during the process. At the same time, the operation panel assembly is fixedly connected to the mirror assembly, and the tool operator can continue to maintain a downward posture while controlling the tool to enter the operation channel and observing the multi-source images presented on the operation panel body, thereby avoiding interruptions in operation and inconsistent hands and eyes, and effectively improving operation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a structural schematic diagram of a multi-source fusion mirror structure provided in an embodiment of the present application.

[0020] Figure 2 It is a structural schematic diagram of an operation assistance system provided in an embodiment of the present application.

[0021] Figure 3 It is a schematic diagram of the display screen layout of the operation panel body provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0023] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0024] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0025] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0026] The current auxiliary endoscope holding robot can only obtain the image collected by the endoscope itself, that is, the image focused on the patient's lesion area. Then the doctor uses tools and instruments to treat the lesion area according to the observed location of the lesion area. However, relying on the auxiliary endoscope holding robot in the existing technology, the doctor cannot observe the real-time process of the tools and instruments entering the lesion area, nor can he know whether the tools and instruments will touch or even accidentally injure the healthy area outside the lesion area during the process, so there will be certain safety issues.

[0027] The present application first solves the problem of operational safety caused by the inability to observe the global image around the endoscope in the prior art. In the embodiment of the present application, a multi-source fusion mirror structure is provided, including an operation panel assembly 1 and a mirror assembly 2; the mirror assembly 2 includes a mirror platform 21, an endoscope 22 and a plurality of external mirrors 23, wherein the end surface of the mirror platform 21 is connected to the endoscope 22 and the plurality of external mirrors 23 surrounding the endoscope 22. After the mirror assembly 2 is extended into the patient's lesion area, multi-source images can be collected. Specifically, the endoscope 22 can collect the image of the lesion area, and the plurality of external mirrors 23 surrounding the lesion area can collect the multi-angle global images of the operation channel corresponding to the lesion area. The combination of the two can enable the tool and instrument operator to observe the image of the lesion area itself, and can also observe in real time the entire process of the tool and instrument contacting the lesion area at any angle, so as to prevent the tool and instrument from damaging and destroying other healthy areas in the process, so that the tool and instrument operator can observe the global image of the lesion area and the corresponding operation channel. The tools and instruments mainly include scissors, pliers, electric hooks and other tools that are directly operated in the natural cavity of the human body. After the location of the lesion is determined by the endoscope 22, the tool and instrument operator can use the above tools to treat the lesion area. In addition, through the fixed connection between the operation panel assembly 1 and the mirror assembly 2, the tool and instrument operator can maintain a top-down posture to observe the multi-source images presented on the operation panel body 11 without interrupting the current operation, maintaining the continuity of the operation and effectively improving the safety of the operation.

[0028] See also Figure 1 The embodiment of the present application provides a multi-source fusion mirror structure 100, comprising: an operation panel assembly 1, the operation panel assembly 1 comprising an operation panel body 11 and a connecting member 12, one side surface of the connecting member 12 being connected to the operation panel body 11; a mirror assembly 2, the mirror assembly 2 comprising a mirror platform 21, an inner mirror 22 and a plurality of outer mirrors 23, wherein one end of the mirror platform 21 is connected to the other side surface of the connecting member 12, and the end surface of the other end is connected to the inner mirror 22 and the plurality of outer mirrors 23 surrounding the inner mirror 22.

[0029] The embodiment of the present application provides a multi-source fusion mirror structure 100, which surrounds the endoscope 22 with multiple external mirrors 23. When the endoscope 22 determines the location of the lesion area, the external mirror 23 also simultaneously collects global images of various angles of the corresponding operation channel. When the tool operator enters the operation channel with the tool in hand, the location of the tool can be observed in real time to avoid the tool from being damaged or destroying other normal areas during the process. At the same time, the operation panel assembly 1 is fixedly connected to the mirror assembly 2, and the tool operator can continue to maintain a top-down posture while controlling the tool to enter the operation channel and observing the multi-source images presented on the operation panel body 11, thereby avoiding interruptions in operation and inconsistent hands and eyes, and effectively improving the safety of operation.

[0030] In the embodiments that can be implemented in this application, Figure 1 As shown, the plurality of outer mirrors 23 are evenly arranged along the inner mirror 22 in the circumferential direction, that is, the outer mirrors 23 are located on a circular ring with the inner mirror 22 as the center, and the angles formed by adjacent outer mirrors 23 and the inner mirror 22 are all equal.

[0031] In this embodiment, since the outer mirrors 23 are evenly arranged in the circumferential direction, the images collected by the outer mirrors 23 are more evenly distributed, so they can be more conveniently synthesized into a global image, allowing tool operators to observe the global image of the operating channel in real time.

[0032] In an optional embodiment, the outer mirror 23 is a microscope lens that can capture images of human tissue.

[0033] Preferably, in the embodiment that can be realized in the present application, three external mirrors 23 can be provided, and the angle between adjacent external mirrors 23 and internal mirrors 22 is 120 degrees. In this embodiment, the three external mirrors 23 can comprehensively collect images of various angles of the operating channel at 360 degrees to synthesize a global image. It should be noted that the number of external mirrors 23 in the embodiment of the present application can be one or more, and can be set according to the field of view requirements during actual use.

[0034] In an optional embodiment, the lengths of the plurality of outer mirrors 23 are all smaller than the length of the inner mirror 22 .

[0035] In this embodiment, the endoscope 22 can be a hard tube endoscope, which is mainly used for diagnosing and repairing lesions on the surface and shallow natural cavities of the patient. According to functional classification, for example, the endoscope 22 can be used in the nasal cavity, oral cavity, ear canal, etc. Since the endoscope 22 needs to be inserted into the lesion site of the patient, the length of the exoscope 23 should be less than the length of the endoscope 22, so that the image of the operating channel behind the endoscope 22 can be collected.

[0036] In an optional embodiment, the operating panel body 11 and one side surface of the connecting member 12 can be magnetically connected, that is, a first magnet is arranged on the back of the operating panel body 11, and a second magnet is arranged on the outer end of one side surface of the connecting member 12. The contact surfaces of the first magnet and the second magnet have opposite magnetic properties, so that the operating panel body 11 can be adsorbed on the outer end of one side surface of the connecting member 12.

[0037] In an optional embodiment, the operation panel body 11 and one side surface of the connecting member 12 may be fixedly connected by screws.

[0038] In an optional embodiment, the multi-source fusion mirror structure 100 also includes a structured light camera 3, the back of which is fixed to the other side surface of the connecting member 12 and away from the operating panel body 11. The structured light camera 3 can be used to acquire and reconstruct the facial features of the patient in three dimensions to assist the doctor in accurately locating the lesion area. For example, during dental treatment or diagnosis, the structured light camera 3 can be used to generate a three-dimensional image of the patient's teeth to help the doctor determine the pathological conditions and defects of the teeth, and provide a basis for tooth correction and restoration. In addition, the structured light camera 3 and the operating panel body 11 are respectively at the two ends of the connecting member 12. Specifically, the structured light camera 3 is located on the doctor's left hand side, and the operating panel body 11 is located on the doctor's right hand side or the center position, so it will not affect the doctor's field of view.

[0039] In an optional embodiment, the structured light camera 3 may also be replaced by a depth camera, etc., which is not limited in the present application.

[0040] In an optional embodiment, a plurality of operation buttons 4 are arranged in sequence on the side of the connecting member 12. In actual use, the operation button 4 is located on the left hand side of the tool operator, and will not affect the operation of the tool by the dominant hand. Specifically, the operation button 4 can be set according to the usage habits of the tool operator, and each operation button 4 corresponds to a predefined function, that is, the operation button 4 is set to quickly realize the desired function or quickly switch to a predefined mode to reduce the load of the tool operator.

[0041] See also Figure 2The embodiment of the present application also provides an operation assistance system 200, which includes the above-mentioned multi-source fusion mirror structure 100 and a mirror holding robot 5. The mirror assembly 2 of the multi-source fusion mirror structure 100 is connected to the mirror holding arm 51 of the mirror holding robot 5 through the connecting piece 12 of the multi-source fusion mirror structure 100. Compared with manual mirror holding, it is more stable and safer to hold the mirror using the mirror holding robot 5. When the patient lies flat on the seat cushion 8, the mirror holding arm 51 can be dragged to align the mirror assembly 2 with the part to be diagnosed and treated. For example, when the endoscope 22 is a nasal endoscope, the mirror holding arm 51 is dragged to control the endoscope 22 to enter the nasal cavity to detect the location of the lesion in the nasal cavity, and then the global image of the handheld tools and instruments such as medical pliers entering the lesion area is observed in real time through the external mirror 23. According to the global image, the operator can timely adjust the angle or path of the tool instrument entering the lesion area to avoid damaging the normal tissue around the lesion area and causing additional damage.

[0042] In an optional embodiment, a threaded interface is provided at the end of the mirror holding arm 51, and a threaded interface is also provided on one side surface of the connecting piece 12, which cooperate with the threaded interface at the end of the mirror holding arm 51, so that the connecting piece 12 can be fixed on the mirror holding arm 51, thereby enabling the mirror assembly 2 fixed on the connecting piece 12 to be easily and quickly disassembled, repaired or replaced.

[0043] In an optional embodiment, an endoscope operation display 6 is provided on the column 52 of the endoscope holding robot 5. The picture displayed by the endoscope operation display 6 is synchronized with the picture displayed by the operation panel body 11. Specifically, Figure 3 As shown, the endoscopic image collected by the endoscope 22 is located at the center of the screen of the entire endoscopic operation display 6, or at a left position, that is, the endoscopic image of the lesion area is distributed at the center of the field of view of the endoscopic operation display 6, or at a left position. In addition, the global image collected and further synthesized by the external mirror 23 is distributed at the upper right corner of the endoscopic operation display 6. That is to say, when the tool operator holds the tool and enters the operation channel, the image of the tool entering the operation channel is presented in real time at the upper right corner of the endoscopic operation display 6. With the endoscope 22 as the visual origin, the global image is the picture behind the endoscope. At the same time, the plane projection image of the three-dimensional image formed by the structured light camera 3 is distributed at the lower right corner of the endoscopic operation display 6. The image can be a magnetic resonance image, which provides the doctor with a reference for the location of the lesion area. These three types of images are based on the endoscopic image, and the global image and the plane projection image are auxiliary, and form a picture-in-picture layout with the endoscopic image, which can meet the visual field requirements required by the operator during the operation.

[0044] It should be noted that the above layout is only a preferred embodiment. The present application does not specifically limit the layout of the images displayed by the endoscope operation display 6 and the operation panel body 11, and can be adjusted according to actual field of view requirements.

[0045] In an optional embodiment, the mirror holding arm 51 of the mirror holding robot 5 has multiple degrees of freedom in multiple directions, which is used to adjust the position of the mirror assembly 2 in multiple directions. The mirror holding arm 51 includes multiple degrees of freedom in multiple directions, imitates the arm movement of the human body, and can be flexibly rotated and moved. In actual use, the mirror holding arm 51 responds to the operator's dragging action to make the mirror assembly 2 and the structured light camera 4 reach the desired position; the mirror holding arm 51 responds to the operator's key operation on the operation button 4, and adjusts its own posture according to the predefined mode of the corresponding operation button 4.

[0046] In an optional embodiment, the operation assistance system 200 further includes a foot switch 53, and the foot switch 53 is used to enable the mirror holding arm 51 to move. In actual use, when the foot switch 53 is confirmed to be in a stepped-on state, the mirror holding arm 51 can be dragged to adjust the position of the mirror assembly 2 or the structured light camera 3, or the mirror holding arm 51 can be controlled by the operation button 4 to execute a corresponding predefined mode. When the foot switch 53 is in a raised state, the mirror holding arm 51 cannot be dragged, and the mirror holding arm 51 can only maintain the current posture, thereby avoiding the consequences of the operator accidentally touching the mirror holding arm 51 during the operation, and effectively ensuring the safety of the operation process.

[0047] In an optional embodiment, a parameter monitoring display 7 is further provided on the column 52 of the endoscope holding robot 5. The parameter monitoring display 7 can be located above the endoscope operation display 6 to display the patient's real-time physiological parameters. In addition, in an optional embodiment, a plurality of indicator lights 71 are further provided on the parameter monitoring display 7. When the physiological parameters exceed a reasonable range, the indicator lights 71 light up or flash at a certain frequency to warn.

[0048] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0049] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0050] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0051] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A multi-source fusion mirror structure (100), characterized in that: include: An operating panel assembly (1) comprises an operating panel body (11) and a connecting member (12), wherein a side surface of the connecting member (12) is connected to the operating panel body (11); A mirror assembly (2) comprises a mirror platform (21), an inner mirror (22) and a plurality of outer mirrors (23), wherein one end of the mirror platform (21) is connected to the other side surface of the connecting member (12), and the end surface of the other end is connected to the inner mirror (22) and the plurality of outer mirrors (23) surrounding the inner mirror (22).

2. The multi-source fusion mirror structure according to claim 1, characterized in that: The plurality of outer mirrors (23) are evenly arranged in a circumferential direction along the inner mirror (22).

3. The multi-source fusion mirror structure according to claim 1, characterized in that: The lengths of the multiple outer mirrors (23) are all shorter than the length of the inner mirror (22).

4. The multi-source fusion mirror structure according to claim 1, characterized in that: The multi-source fusion mirror structure (100) further comprises a structured light camera (3), the back of the structured light camera (3) being fixed to the other side surface of the connecting member (12) and away from the operating panel body (11).

5. The multi-source fusion mirror structure according to claim 1, characterized in that: A plurality of operating buttons (4) are arranged in sequence on the side surface of the connecting member (12).

6. An operation assistance system, characterized in that: The operation assistance system (200) comprises a multi-source fusion mirror structure (100) as described in any one of claims 1 to 5 and a mirror holding robot (5), wherein the mirror assembly (2) of the multi-source fusion mirror structure (100) is connected to the mirror holding arm (51) of the mirror holding robot (5) via the connecting piece (12) of the multi-source fusion mirror structure (100).

7. The operation assistance system according to claim 6, characterized in that: An endoscope operation display (6) is provided on the upright column (52) of the mirror holding robot (5).

8. The operation assistance system according to claim 6, characterized in that: The mirror holding arm (51) of the mirror holding robot (5) has multiple degrees of freedom in multiple directions, and is used to adjust the position of the mirror assembly (2) of the multi-source fusion mirror structure (100) in multiple directions.

9. The operation assistance system according to claim 8, characterized in that: The operation assistance system (200) further comprises a foot switch (53), wherein the foot switch (53) is used to enable the mirror holding arm (51) to move.

10. The operation assistance system according to claim 6, characterized in that: A parameter monitoring display (7) is also provided on the column (52) of the mirror-holding robot (5).

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