Endoscopic equipment

Abstract

The utility model relates to the technical field of medical instruments, and discloses endoscopic equipment. Compared with the problem that in the prior art, liquid is attached to an optical lens in the using process of an endoscope, so that interference traces exist in a picture shot by the endoscope, the cleaning device is additionally arranged on the moving track of the image collecting device, and cleaning is conducted through friction between the optical lens and the cleaning device. According to the technical scheme, the image acquisition device comprises the optical lens, the arm body bearing the image acquisition device is driven by the driving assembly to move along the track, the cleaning device is arranged at the track, and in the process that the driving assembly drives the arm body to move from one end of the track to the other end of the track, the arm body drives the optical lens to pass through the cleaning device to generate friction; therefore, the cleaning of the optical lens is realized. According to the technical scheme, by means of friction between the cleaning device and the optical lens, cleaning of the optical lens in the endoscope is achieved, and the internal view effect of the endoscope is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to an endoscopy device. Background Art

[0002] To better monitor and observe the body's health, endoscopes, a device that integrates traditional optics, precision mechanics, and modern electronics, have become widely used in clinical examinations. Equipped with image sensors, optical lenses, and mechanical devices, endoscopes can be inserted through the mouth, into the stomach, or through other natural orifices. As an extension of the doctor's eyes and hands, endoscopes have achieved omnipresent capabilities.

[0003] In practical applications, the cleanliness and clarity of the optical lens ensures the accuracy of the endoscope's internal vision. However, in actual implementation, the optical lens is often adhered to by body fluids, cleaning fluids, water vapor, etc., resulting in blurring of the optical lens, making the internal vision effect poor and affecting the judgment of technicians. With the development of science and technology, in order to improve the internal vision effect, current technology usually uses more advanced anti-fog optical lenses to avoid water vapor adhesion. Although this method avoids the blurring of the optical lens to a certain extent, it increases the cost of the endoscope and cannot prevent the adhesion of water droplets. The endoscope's shooting images still have traces of water droplets.

[0004] Therefore, it can be seen that how to ensure the cleanliness and clarity of the optical lens and improve the endoscope's internal viewing effect is an urgent problem to be solved by those skilled in the art. Utility Model Content

[0005] The utility model aims to provide an endoscope device to solve the problem in the current technology that liquid adheres to the optical lens during the use of the endoscope, resulting in interference marks on the endoscope shooting picture.

[0006] In order to solve the above technical problems, the utility model provides an endoscopy device, comprising: an image acquisition device, a mechanical arm, a track, and a cleaning device;

[0007] The image acquisition device includes an optical lens;

[0008] The robotic arm includes an arm body carrying the image acquisition device, and a driving assembly driving the arm body to move along the track;

[0009] The cleaning device is arranged at the track. When the driving assembly drives the arm body to move from one end of the track to the other end, the arm body drives the optical lens to pass through the cleaning device and rubs against the cleaning device.

[0010] Preferably, the driving assembly is arranged outside the track; at least part of the arm is located inside the track;

[0011] The image acquisition device is located at one end of the arm away from the driving assembly, and the optical lens is a plane mirror;

[0012] The cleaning device is fixed on one end of the track away from the driving assembly.

[0013] In some embodiments, the cleaning device is a cylindrical structure, and the axis of the cylindrical structure is perpendicular to the movement direction of the arm on the track and parallel to the plane where the plane mirror is located;

[0014] The cylindrical structure includes a soft cleaning portion and a hard supporting portion; the cleaning portion at least partially wraps the supporting portion;

[0015] Both ends of the support portion located on the axis of the cylindrical structure are fixed to the track.

[0016] In other embodiments, the cleaning device is a soft brush structure, which includes a soft cleaning portion and a hard supporting portion; both ends of the supporting portion are fixed to the track;

[0017] The cleaning portion is fixed to a side of the supporting portion facing the image acquisition device. The cleaning portion is perpendicular to the movement direction of the arm body on the track and parallel to the plane where the plane mirror is located.

[0018] In other embodiments, a nozzle, a conduit, and a fluid driving device are further included;

[0019] The nozzle is arranged on the arm body near the image acquisition device and is connected to the fluid driving device through the conduit. The fluid driving device outputs fluid and ejects it through the nozzle to facilitate endoscopic flushing operations in narrow spaces.

[0020] The image acquisition device is a waterproof camera;

[0021] The nozzle moves according to feature information of the image data collected by the image collection device.

[0022] On the one hand, the cleaning device includes a supporting part and a cleaning part, and the cleaning part is made of silicone material.

[0023] In another aspect, the track includes a sliding cavity and sidewalls;

[0024] The sliding cavity carries the arm body, the sliding cavity is cylindrical, the arm body is cylindrical, and the diameter of the sliding cavity is slightly larger than the diameter of the arm body;

[0025] The side wall is connected to the sliding cavity and is used to support and fix the sliding cavity;

[0026] A working area opening is provided on one side of the sliding cavity, which is used to provide a channel for image acquisition of the endoscopic device and endoscopic operation of the arm.

[0027] The endoscopic device provided by the present invention is different from the problem in the current technology that liquid adheres to the optical lens during the use of the endoscope, causing interference marks on the endoscope shooting picture. This technical solution adds a cleaning device to the moving track of the image acquisition device, and uses the friction between the optical lens and the cleaning device to clean it. According to this technical solution, the image acquisition device includes an optical lens, and the arm body carrying the image acquisition device moves along the track under the drive of the driving component. The cleaning device is set on the track. In the process of the driving component driving the arm body to move from one end of the track to the other end, the arm body drives the optical lens through the cleaning device and rubs with the cleaning device, thereby achieving cleaning of the optical lens. This technical solution uses the friction between the cleaning device and the optical lens to achieve cleaning of the optical lens in the endoscope, improves the internal viewing effect of the endoscope, prevents liquid adherence to the optical lens from causing interference marks on the endoscope shooting picture, and avoids the expensive cost of using a special optical lens, ensuring the accuracy of the image acquisition device shooting. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 A front view of an endoscopy device provided by an embodiment of the present utility model;

[0030] Figure 2 for Figure 1 A bottom view of an endoscopic device is provided;

[0031] Figure 3 A schematic diagram of a track structure provided by an embodiment of the utility model;

[0032] The reference numerals are as follows: 1 is an optical lens, 2 is an arm body, 3 is a track, 4 is a driving assembly, 5 is a cleaning device, 6 is a sliding cavity, 7 is a side wall, and 8 is a working area opening. DETAILED DESCRIPTION

[0033] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0034] The core of the utility model is to provide an endoscope device for cleaning the optical lens in the endoscope, improving the endoscope's internal viewing effect, and avoiding liquid adhering to the optical lens, which causes interference marks on the endoscope shooting picture.

[0035] In order to enable those skilled in the art to better understand the present invention, the present invention will be described in further detail below with reference to the accompanying drawings and specific implementation methods.

[0036] Figure 1 This is a front view of an endoscopy device provided by an embodiment of the present utility model. Figure 2 for Figure 1 A bottom view of an endoscopic device is provided, such as Figure 1 As shown in FIG2 , the endoscopy device includes: an image acquisition device, a robotic arm, a track 3, and a cleaning device 5;

[0037] The image acquisition device includes an optical lens 1;

[0038] The robotic arm includes an arm body 2 carrying an image acquisition device, and a driving assembly 4 driving the arm body 2 to move along a track 3;

[0039] The cleaning device 5 is arranged on the track 3 . When the driving assembly 4 drives the arm 2 to move from one end of the track 3 to the other end, the arm 2 drives the optical lens 1 to pass through the cleaning device 5 and rubs against the cleaning device 5 .

[0040] First of all, it should be noted that the endoscopic device provided by the present invention is mainly used to clean the optical lens 1. In addition to the optical lens 1, the image acquisition device in the endoscopic device may also include chips for subsequent data analysis, such as processors, single-chip microcomputers, etc., and may also include acquisition devices such as sensors. Therefore, the endoscopic device provided by the present invention can be used as an independent device to perform endoscopic operations alone, or it can cooperate with a host computer to realize automated work.

[0041] The endoscopic device provided by the present invention is applied to the medical field. The image acquisition device can be an oral endoscope, a dental endoscope, a laryngoscope, etc. In order to better understand the present invention, this embodiment is described in detail using an oral endoscope device as an example. The endoscopic device provided by the present invention can specifically be a dental care robot, an anti-caries robot, an irrigator, etc.

[0042] As an endoscopic device for oral cavity imaging, in order to capture blind spots, the image acquisition device needs to be carried and transported by a robotic arm. Specifically, the arm portion of the robotic arm, with the arm 2 acting as a carrier, delivers the image acquisition device to the capture location through its own motion for image capture. It is understood that the image acquisition device carried by the arm 2 here performs the capture function and therefore must include at least the optical lens 1.

[0043] In a specific implementation, the movement of the arm body 2 can be in the form of telescopic, rotating, etc., and its motion trajectory can include multiple degrees of freedom. In a specific implementation, in order to achieve more accurate shooting positioning and a simpler structural design, the movement trajectory of the robotic arm body 2 can be fixed by a track 3. For example, when performing oral dental testing, the corresponding track 3 can be designed according to the arrangement of the teeth, so that the image acquisition device can shoot the teeth along the track 3. In actual applications, in order to better fit the actual shooting scene and achieve more personalized testing of the test personnel, the track 3 can be connected to the robotic arm in a detachable manner so that different personalized tracks 3 can be replaced for different personnel. Of course, in other embodiments, the track 3 and the robotic arm can also be connected by integration, welding, etc. to achieve a more secure fixation and equipment integration effect. In order to achieve more convenient and labor-saving shooting, the movement of the arm body 2 relies on the drive component 4. In a specific implementation, the operation of the drive component 4 can be motor-driven or achieved by manually controlling the lever structure.

[0044] In order to clean the optical lens 1, the endoscopy device provided in this embodiment includes a cleaning device 5, which is arranged on the track 3. When the driving component 4 drives the arm 2 to move from one end of the track 3 to the other end, the arm 2 drives the optical lens 1 to pass through the cleaning device 5 and rubs against the cleaning device 5.

[0045] It can be seen that the cleaning method in this embodiment is carried out by friction between the cleaning device 5 and the optical lens 1. The friction method depends on the relative movement of the cleaning device 5 and the optical lens 1. In specific scenarios, since the working characteristic of the image acquisition device is to shoot with the movement of the arm 2, the cleaning device 5 can be fixed on the track 3, so that the optical lens 1 rubs against the cleaning device 5 on the track 3 when it moves along the track 3 with the arm 2. In other embodiments, the cleaning device 5 and the optical lens 1 can also be controlled to move toward each other.

[0046] When determining the position of the cleaning device 5 on the track 3, in addition to considering its relative position to the optical lens 1, the design can also be based on the volume of the arm 2 and the image capture device's shooting mode. For example, the cleaning device 5 can be placed at one end of the track 3. During shooting, the image capture device only moves within a portion of the track 3. When cleaning is needed, it moves to the other end of the track 3 to rub against the cleaning device 5. Alternatively, the cleaning device 5 can be placed in the center of the track 3. During each movement of the image capture device, it will rub against the cleaning device 5.

[0047] It is understood that friction cleaning requires contact between the cleaning device 5 and the optical lens 1. Therefore, when the optical lens 1 and the cleaning device 5 are set, a contact surface must be ensured between the two. In order to achieve a better cleaning method, the contact surface should be larger than the area of the optical lens 1 to be wiped, so as to ensure that the optical lens 1 can be completely wiped.

[0048] An embodiment of the present invention provides an endoscopy device. Compared with the problem in the current technology that liquid adheres to the optical lens during the use of the endoscope, causing interference marks on the endoscope shooting picture, the present technical solution adds a cleaning device to the moving track of the image acquisition device, and uses the friction between the optical lens and the cleaning device to clean it. According to the present technical solution, the image acquisition device includes an optical lens, and the arm body carrying the image acquisition device moves along the track under the drive of the driving component. The cleaning device is set on the track. In the process of the driving component driving the arm body to move from one end of the track to the other end, the arm body drives the optical lens to pass through the cleaning device and rubs with the cleaning device, thereby achieving cleaning of the optical lens. The present technical solution uses the friction between the cleaning device and the optical lens to achieve cleaning of the optical lens in the endoscope, improves the endoscope's internal viewing effect, prevents liquid adherence to the optical lens from causing interference marks on the endoscope shooting picture, and avoids the expensive cost of using a special optical lens, ensuring the accuracy of the image acquisition device shooting.

[0049] The above embodiments have described the position of the cleaning device 5 on the track 3 in various ways. This embodiment provides a specific placement method. In this embodiment, the drive assembly 4 is disposed outside the track 3, and at least a portion of the arm 2 is located inside the track 3; the image acquisition device is located at the end of the arm 2 away from the drive assembly 4, and the cleaning device 5 is fixed to the end of the track 3 away from the drive assembly 4. It can be understood that in this embodiment, the movement of the arm 2 within the track 3 affects the spatial changes within the track 3. In order to ensure that the cleaning device 5 does not affect the movement of the image acquisition device, the cleaning device 5 is fixed to the end of the track 3 away from the drive assembly 4. This method not only ensures the normal operation of the arm 2, but also ensures the shooting range of the image acquisition device, which is conducive to the design of the length of the track 3.

[0050] In addition, in order to achieve a better wiping effect on the optical lens 1, the optical lens 1 can use a plane mirror, so that when the cleaning device 5 is fixed on the track 3, the optical lens 1 can achieve a better wiping effect and more comprehensive contact with the cleaning device 5 as the arm 2 moves.

[0051] It is understandable that the wiping effect of the optical lens 1 is closely related to the material, structure, and installation method of the cleaning device 5. Based on the above embodiment, this embodiment provides a specific structure of the cleaning device 5. In this embodiment, the cleaning device 5 is a cylindrical structure. The axis of the cylindrical structure is perpendicular to the movement direction of the arm 2 on the track 3 and parallel to the plane of the plane mirror. The cylindrical structure includes a soft cleaning portion and a hard supporting portion. The cleaning portion at least partially wraps around the supporting portion. The two ends of the supporting portion located on the axis of the cylindrical structure are fixed to the track 3.

[0052] In addition, this embodiment provides another structure of the cleaning device 5. In this embodiment, the cleaning device 5 is a soft brush structure, which includes a soft cleaning part and a hard supporting part; both ends of the supporting part are fixed to the track 3; the cleaning part is fixed to the side of the supporting part facing the image acquisition device, and the cleaning part is perpendicular to the movement direction of the arm 2 on the track 3 and parallel to the plane where the plane mirror is located.

[0053] The present utility model provides two structures of cleaning devices 5. When the cleaning device 5 is a cylindrical structure, the cleaning portion at least partially wraps the supporting portion, and the friction between the optical lens 1 and the cleaning device 5 depends on the pressure between the supporting portion and the optical lens 1. When the cleaning device 5 is a soft brush structure, the cleaning portion is fixed to the side of the supporting portion facing the image acquisition device, and the friction between the optical lens 1 and the cleaning device 5 depends on the material of the cleaning portion and the force that drives the cleaning portion when the optical lens 1 moves. In order to achieve a better cleaning effect, the cleaning portion can be made of silicone. The cleaning portion made of silicone has good heat and cold resistance, a long service life, and is not prone to aging and deformation, which may cause deviations in the connection with the supporting portion and thus affect the wiping of the optical lens 1.

[0054] Based on the above embodiment, in this embodiment, the endoscopic device further includes a nozzle, a catheter and a fluid driving device; the nozzle is arranged on the arm 2 near the image acquisition device and is connected to the fluid driving device through the catheter. The fluid driving device outputs the fluid and ejects it through the nozzle to facilitate endoscopic flushing operations in narrow spaces; the image acquisition device is a waterproof camera; the nozzle moves according to the characteristic information of the image data collected by the image acquisition device.

[0055] In this embodiment, the fluid drive device serves as a power source, responsible for introducing the fluid and then ejecting it through the nozzle through the catheter. The nozzle is set on the arm 2 near the image acquisition device, which can achieve a more sophisticated installation structure for the shooting space, improve the applicable scenarios of the endoscopic equipment and expand the operating area.

[0056] The above embodiments have described the connection between the track 3 and the arm 2 in various ways. This embodiment also provides a specific track 3 structure. Figure 3 A schematic diagram of the structure of a track 3 provided in an embodiment of the present utility model is shown as follows: Figure 3 As shown, in this embodiment, the track 3 includes a sliding cavity 6 and a side wall 7; the sliding cavity 6 supports the arm body 2, the sliding cavity 6 is cylindrical, the arm body 2 is cylindrical, and the diameter of the sliding cavity 6 is slightly larger than the diameter of the arm body 2; the side wall 7 is connected to the sliding cavity 6, and is used to support and fix the sliding cavity 6; a working area opening 8 is provided on one side of the sliding cavity 6, which is used to provide a channel for image acquisition of the endoscopic equipment and endoscopic operation of the arm body 2.

[0057] The above is a detailed introduction to the endoscopic device provided by the present invention. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, the present invention can also be improved and modified in several ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0058] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Claims

1. An endoscopic device, characterized in that: include: Image acquisition device, robotic arm, track (3), cleaning device (5); The image acquisition device comprises an optical lens (1); The robotic arm comprises an arm body (2) carrying the image acquisition device, and a driving assembly (4) driving the arm body (2) to move along the track (3); The cleaning device (5) is arranged at the track (3). When the driving assembly (4) drives the arm (2) to move from one end of the track (3) to the other end, the arm (2) drives the optical lens (1) to pass through the cleaning device (5) and rubs against the cleaning device (5).

2. The endoscopic device according to claim 1, wherein The driving assembly (4) is arranged outside the track (3); at least a portion of the arm (2) is located inside the track (3); The image acquisition device is located at an end of the arm (2) away from the driving assembly (4), and the optical lens (1) is a plane mirror; The cleaning device (5) is fixed to an end of the track (3) away from the driving assembly (4).

3. The endoscopic device according to claim 2, wherein: The cleaning device (5) is a cylindrical structure, the axis of the cylindrical structure being perpendicular to the direction of movement of the arm (2) on the track (3) and parallel to the plane where the plane mirror is located; The cylindrical structure includes a soft cleaning portion and a hard supporting portion; the cleaning portion at least partially wraps the supporting portion; Both ends of the support portion located on the axis of the cylindrical structure are fixed to the track (3).

4. The endoscopic device according to claim 2, wherein: The cleaning device (5) is a soft brush structure, comprising a soft cleaning portion and a hard supporting portion; both ends of the supporting portion are fixed to the track (3); The cleaning part is fixed to a side of the support part facing the image acquisition device, and the cleaning part is perpendicular to the movement direction of the arm body (2) on the track (3) and parallel to the plane where the plane mirror is located.

5. The endoscopic device according to claim 2, wherein: Also included are a nozzle, a conduit, and a fluid drive device; The nozzle is arranged on the arm (2) near the image acquisition device and is connected to the fluid driving device through the conduit. The fluid driving device outputs fluid and ejects it through the nozzle to facilitate endoscopic flushing operations in narrow spaces. The image acquisition device is a waterproof camera; The nozzle moves according to feature information of the image data collected by the image collection device.

6. The endoscopic device according to any one of claims 1 to 5, characterized in that: The cleaning device (5) comprises a supporting portion and a cleaning portion, and the cleaning portion is made of silicone material.

7. The endoscopic device according to any one of claims 1 to 5, characterized in that: The track (3) comprises a sliding cavity (6) and a side wall (7); The sliding cavity (6) carries the arm body (2), the sliding cavity (6) is cylindrical, the arm body (2) is cylindrical, and the diameter of the sliding cavity (6) is slightly larger than the diameter of the arm body (2); The side wall (7) is connected to the sliding cavity (6) and is used to support and fix the sliding cavity (6); A working area opening (8) is provided on one side of the sliding cavity (6) for providing a channel for image acquisition of the endoscopic device and endoscopic operation of the arm body (2).

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