109 results about "Endoscopic manipulation" patented technology

The invention provides an endoscope rotation angle determination method and device, an endoscope system and a storage medium, and relates to the technical field of data processing.The method comprises the steps that a high texture feature point set and a low texture feature point set in a current frame of view image are obtained, and feature weights corresponding to feature points in different feature point sets are determined; an optical flow field is determined by combining a Lucas-Kanade optical flow method of pyramid layering, a rotation angle difference value of a current frame of view image relative to a previous frame of view image is determined through the optical flow field and an endoscope motion model, and then a target rotation angle is determined. By combining the high texture feature, the low texture feature and the weight of each feature point and balancing the contribution of each feature point to the calculation of the optical flow field, the robustness of the optical flow field can be enhanced, the accuracy of the rotation angle difference value is further improved, a relatively accurate judgment basis can be provided for a user, and the effect of improving the operation convenience of the endoscope is achieved.

The utility model discloses an endoscope water-gas switching valve and an endoscope operating handle, wherein the endoscope water-gas switching valve comprises a cylinder, a piston and a switching mechanism; the cylinder is provided with an air inlet nozzle, an air outlet nozzle, a water inlet nozzle and a water outlet nozzle; the air inlet nozzle, the air outlet nozzle and the water inlet nozzle are located on one side of the cylinder and extend obliquely downward, and the water outlet nozzle is arranged on the other side of the cylinder and extends horizontally; a plurality of sealing rings are arranged on the piston, and the plurality of sealing rings separate the inner cavity of the cylinder and the space between the piston into a plurality of independent annular cavities constituting a part of the corresponding fluid channel; the switching mechanism drives the piston to move, so as to realize the connection between the air inlet nozzle and the air outlet nozzle or the connection between the water inlet nozzle and the water outlet nozzle. The air inlet nozzle, the air outlet nozzle and the water inlet nozzle in the endoscope water-gas switching valve of the utility model are all located on the same side of the cylinder, which is conducive to the layout of the water-gas pipeline in the endoscope operating handle, making the water-gas pipeline in the endoscope operating handle more concise.

The present invention relates to a medical robot, and in particular to a flexible endoscope manipulation robot. The robot comprises a flexible endoscope support unit and a flexible endoscope main operation robot arranged on the flexible endoscope support unit, wherein the flexible endoscope main operation robot comprises a flexible endoscope positioning unit, a flexible endoscope conveying unit, a flexible endoscope operation unit and a flexible endoscope following unit, wherein the flexible endoscope positioning unit is connected to the flexible endoscope support unit, and the flexible endoscope operation unit is connected to the flexible endoscope positioning unit through the flexible endoscope following unit; the flexible endoscope operation unit is used to connect to the flexible endoscope and control the movement of the flexible endoscope; the flexible endoscope conveying unit is arranged on the flexible endoscope positioning unit, and is used to clamp and convey the flexible endoscope. The present invention realizes intelligent robot intervention by precisely controlling the flexible endoscope and combining remote teleoperation to avoid X-ray radiation to the doctor, and integrates sensor information.

The invention relates to a control method of an endoscope system, a controller, the endoscope system and a storage medium. The method comprises the following steps: firstly, acquiring type data corresponding to a target object operated by an endoscope system; then, according to the type data, operating parameter values having a mapping relationship with the type data are determined. Finally, operation of the endoscope system is controlled based on the operating parameter values. Thus, by pre-establishing the mapping relation between the type data of the target object and the operation parameter value, the matched operation parameter value can be automatically called according to the type of the target object operated by the endoscope, the situation that operation parameters need to be manually and frequently adjusted in the endoscope operation process is reduced, and the operation efficiency of the endoscope system is improved.

There is provided a program causing a computer to execute processing including: acquiring an endoscopic image of a subject from an endoscope; acquiring a three-dimensional medical image obtained by capturing an image of an internal body portion of the subject by means of X-ray CT, X-ray cone beam CT, MRI-CT, or an ultrasonic diagnosis apparatus configured to capture a three-dimensional image of an internal body portion of the subject; generating a virtual endoscopic image reconfigured from the three-dimensional medical image, based on the acquired endoscopic image; calculating distance image information in the endoscopic image based on the virtual endoscopic image and the endoscopic image; and outputting operation assistance information on an operation of the endoscope based on the distance image information and the three-dimensional medical image.

A method for tensioning stay wires of an endoscope includes providing a semi-assembled endoscope including a handle and an insertion cord extending in a distal direction from the handle, the insertion cord having a distal curved section connected to a first stay wire and a second stay wire, a plurality of pull wires, each having a first wire end connected to the bending section at a distal end of the bending section and disposed in a respective wire tube extending from a proximal end of the bending section to the handle, each pull wire having a proximal end further extending out of the wire tube; providing a wire tensioner comprising a first wire holder and a second wire holder; providing a wire fastener; stabilizing the semi-assembled endoscope relative to the wire tensioner and the wire fastener; arranging each wire gripper to grip a respective one of the pull wires; activating a wire tensioner to tension the pull wires; and activating the wire fasteners to secure the pull wires in a tensioned state. Furthermore, an endoscope manufactured by the method and a wire tensioning machine are disclosed.

The invention discloses an externally-driven electric power-assisted endoscope operation part structure and an endoscope, and belongs to the technical field of endoscopes, the endoscope comprises an operation part structure, the operation part structure comprises an operation handle provided with a hand wheel and an endoscope body pipe steel wire traction mechanism, and the endoscope body pipe steel wire traction mechanism comprises a middle shaft and a driving wheel; a force sensor is arranged between the hand wheel and the driving wheel; the power assisting mechanism comprises a driving module provided with a driving motor, the driving module is arranged outside the operating handle and is connected with the operating handle through a hose, the driving motor is in transmission connection with the roller through an inhaul cable which is a steel wire rope, and the hose serves as an outer sleeve of the inhaul cable; the device further comprises a first measuring module and a second measuring module. According to the scheme, the influence of the power assisting structure on the size and the weight of the operating handle can be effectively reduced, and meanwhile the power assisting precision can be guaranteed.

The utility model is applicable to the technical field of endoscopes, and provides a wireless and wired switching system of an endoscope, which comprises an endoscope main body, a camera module, a wired interface, a wireless transmitter and a control unit, the wired interface is used for wired transmission, the wireless transmitter is used for wireless transmission, and the control unit is used for controlling the camera module. The control unit is mainly used for controlling switching of signal transmission between the wired interface and the wireless transmitter, the control unit comprises a single chip microcomputer, a mode switching module and an automatic signal switching module, so that the endoscope main body can be efficiently switched between a wired working mode and a wireless working mode, the technology of only depending on wired transmission in the prior art is replaced, and the working efficiency of the endoscope main body is improved. A transmission working mode can be freely selected according to actual application requirements, the flexibility and convenience of endoscope operation are improved, and medical accidents are greatly reduced.

The embodiment of the invention provides an operation part and an endoscope. The operation part comprises a shell, a driving mechanism, a pull wire and a guide piece. A sliding groove is formed in the shell. Part of the driving mechanism and part of the pull wire are located in the sliding groove. The guiding piece is fixed to the sliding groove, the traction line comprises a first traction section, and the first traction section penetrates through the driving mechanism and the part, located outside the driving mechanism, of the sliding groove. The guiding piece is provided with a guiding channel. One end of the pull wire is connected with a forceps lifting device of the endoscope, and the other end of the pull wire penetrates through the guide channel and is connected with the driving mechanism. The driving mechanism can drive the pull wire to move relative to the guide piece and the sliding groove so as to achieve lifting and resetting of the clamp lifting device. The guide channel wraps at least part of the first traction section. According to the operation part provided by the embodiment of the invention, the guide channel can provide structural limitation on the movement of the pull wire relative to the chute, so that the probability that the pull wire is arched or bent is reduced, and the operation reliability of the operation part is improved.

1. The name of this design product: Endoscope operating handle. 2. Purpose of this design product: used for the operation of endoscopic medical devices. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the key points of the design: main view. 5. Other situations that require explanation: Point A in the figure is made of transparent material.

The utility model discloses an operation assembly and an endoscope. The operation assembly further comprises a handle main body, a front end part, a driving part and a locking structure; the front end part is arranged at the front end of the handle main body; the driving part is connected with the front end part, and the driving part moves to adjust the movement of the front end part; the locking structure is arranged close to the rear end of the handle main body and comprises an adjusting part and a locking part which are connected with each other; the adjusting part rotates under the action of external force and drives the locking part to move, so that the locking part has a locking state which acts on the driving part and enables the driving part to be fixed relative to the handle main body, and has an unlocking state which enables the locking part to be separated from the driving part and enables the driving part to move relative to the handle main body; when the locking state and the unlocking state are switched, the one-way rotation stroke of the adjusting part is not larger than 90 degrees. The adjusting part can be better located in a hand operation area of an operator, operation is more convenient and faster, the operation comfort level is higher, and the surgical treatment efficiency can be improved.

The invention relates to the technical field of endoscopes, and provides an insertion part of an endoscope and the endoscope. The insertion part of the endoscope comprises a tube body and a head end seat connected to the far end of the tube body, and a first through hole and a second through hole which are formed in the head end seat in the near-far end direction are formed in the head end seat; the first channel pipe and the second channel pipe are arranged in the pipe body; the first channel pipe is communicated with the first through hole to form a first working channel, and the second channel pipe is communicated with the second through hole to form a second working channel; the laser transmission optical fiber is installed in the second working channel, and the far end of the laser transmission optical fiber is used for being exposed to a far end opening of the second working channel so as to output laser to the outer side of the far end of the second through hole; and the imaging element is arranged on the head end seat and is used for shooting an object positioned on the outer side of the head end seat. The invention mainly solves the technical problem that the operation of an endoscope which needs to use a laser transmission optical fiber is inconvenient.

The invention discloses an instrument fixing device for a lung operation, relates to the technical field of medical instruments, and aims to solve the technical problems that an endoscope fixing device in the current lung operation only performs fixation from an operation end, the head end is easy to shake during operation, the two ends are difficult to independently and finely adjust, and the operation flexibility is influenced. Through the design of the supporting assembly, the operation end fixing assembly and the head end fixing assembly, the operation end fixing assembly can independently clamp the operation end of the endoscope; the head end fixing assembly and the operation end fixing assembly are connected and mutually independent, and a separable fixing structure of the head end can independently complete clamping and releasing of the head end. Through the design of the operation end fixing assembly and the head end fixing assembly, regulation and control of the two ends are achieved through independent adjustment, shaking caused by fixing of one end and follow-up of the other end of a traditional device is avoided, the requirement that the positions of the two ends of an endoscope need to be frequently and finely adjusted can be flexibly met, and the stability and flexibility of surgical operation are greatly improved.

The utility model discloses an electronic distance measurement warning device for assisting an endoscope, which comprises an endoscope operation part, an insertion part and a biopsy duct, and is characterized by comprising an electronic distance measurement device, the electronic distance measuring device comprises a biopsy hole connecting part, an instrument channel, an adjusting knob, a distance measuring sensor and a display screen; the biopsy hole connecting part is arranged on one side of the electronic distance measuring device and can be connected with the biopsy hole channel; the instrument channel penetrates through the electronic distance measuring device and is connected with the biopsy hole connecting part, the instrument channel and the biopsy hole connecting part are located on the same axis, and an operation doctor can be visually and effectively prompted whether the length of an instrument is in place or not.

The objective of the invention is to provide the intelligent terminal device based on the 3D simulation teaching of the nasal endoscope operation technology, through a three-cavity integrated advanced nasal endoscope, a trainee can carry out a simulation teaching experiment in a nasal cavity model, and the knowledge and operation experience of the trainee on the mechanical structure, fluid control, man-machine interaction and other aspects of the device are cultivated. Artificial blood is injected into the semi-visual nasal cavity model to form a set of complete endoscope teaching process integrating optical, flushing and suction modules.

The utility model discloses an operating handle and an endoscope, the operating handle comprises a shell, a coiling mechanism and an interference mechanism, and the shell comprises two plate bodies which define a mounting cavity; the winding mechanism comprises a winder and a pull wire, so that the winding mechanism is driven to move in the rotating process of the winder, and the insertion pipe can move in a lateral bending manner; the interference mechanism comprises an interference part and a pressing part which are sequentially arranged in the axial direction of the winder, the interference part is fixedly connected with the adjacent plate body, the surface of one axial end of the interference part is a concave-convex surface, the concave-convex surface comprises a first outer convex surface, a second outer convex surface and an inner concave surface, and the protruding height of the second outer convex surface in the axial direction is larger than that of the first outer convex surface; the abutting piece comprises a moving part capable of moving on the concave-convex face and an interference part abutting against the surface of the shaft end of the winder, the moving part moves on the first outer convex face, the second outer convex face and the inner concave face, and the axial abutting force of the interference part on the winder is driven to be adjustable. According to the utility model, the unlocking modes of the endoscope are more diversified.

The utility model discloses an endoscope insertion tube adapter and an endoscope operating system, and the endoscope insertion tube adapter comprises a connecting tube; one end of the connecting pipe is connected with the insertion pipe, and the other end is connected with the snake bone; a spring tube mounting hole site is arranged in the connecting tube; by the adoption of the endoscope insertion tube adapter, the adapter effect can be achieved, the insertion tube is connected with the tail of the snake bone through the endoscope insertion tube adapter, and therefore the connecting precision between the insertion tube and the snake bone is improved, the yield of products is improved, and production benefits are improved; besides, by the adoption of the endoscope insertion tube adapter, the connection strength between the insertion tube and the snake bone can be improved, and control over the bending precision of the snake bone in the operation process is improved. In addition, the utility model further discloses an endoscope operating system using the endoscope insertion tube adapter.

An endoscope operation assisting device (2000) acquires a shape data sequence (50) representing time-varying shape data of an endoscope body (40). The endoscope operation assisting device (2000) uses the shape data sequence (50) to determine an insertion method for inserting the endoscope body (40). The endoscope operation assisting device (2000) outputs insertion method information (20) related to the determined insertion method.

The invention provides a system suitable for an endoscope based on AI glasses and a display method, and relates to the technical field of crossing of medical instruments and artificial intelligence wearable equipment. The system comprises an endoscope main body, a signal processing and transmitting module and an AI glasses terminal, the endoscope body collects real-time pictures of a target part, the signal processing and transmitting module carries out encoding processing on the pictures and then wirelessly sends the pictures, the AI glasses terminal receives, decodes and displays the pictures, meanwhile, target recognition and auxiliary prompting are achieved through the built-in AI processing unit, and integration of visual operation and AI auxiliary diagnosis and treatment is achieved. According to the display method, efficient and accurate endoscope operation is achieved through the steps of image collection, code transmission, decoding display, AI auxiliary recognition and brightness self-adaptive adjustment. The defects that a traditional endoscope display device is limited, transmission is unstable, and the AI fusion degree is low are overcome, the operation view of a doctor is liberated, the diagnosis and treatment precision and efficiency are improved, and the system is suitable for endoscope operation scenes such as hospital operating rooms and endoscope centers.

This item is an operation dial for an endoscope. By rotating the operation dial for an endoscope, the tip of the endoscope can be bent. By rotating the central lock dial, the operation dial for an endoscope can be locked and maintained in its bent state.

A novel water and gas conveying connector for an endoscope relates to the field of water and gas conveying of endoscopes and comprises an outer shell, an upper connector is fixedly mounted in an inner cavity of the outer shell, the upper end of the upper connector is communicated with an output pipe, the lower end of the upper connector is fixedly connected with a connecting cylinder, and an inner cavity of the connecting cylinder is communicated with an inner cavity of the upper connector. The lower end face of the connecting cylinder is rotationally connected with a switching disc, a circular flow channel is formed in the switching disc, and the circular flow channel is communicated with an inner cavity of the connecting cylinder. According to the endoscope switching device, switching of steam input is completed by rotating the handle part, steam can be conveyed to a human body conveniently when a doctor uses an endoscope to operate, and the endoscope switching device is convenient to use and high in practicability. And when air supply and water supply are not needed, the handle part can be rotated by 90 degrees, so that the circular flow channel is not communicated with the two through holes, sealing is formed, and double-layer protection is formed between the circular flow channel and a main switch of the endoscope.

The invention belongs to the technical field of medical simulation. According to the digestive endoscope virtual simulation training system and the digestive endoscope operation evaluation method, a background control terminal carries a visual interaction platform and a user assessment system, an attitude sensor is arranged in a box body, a handle is used for simulating key operation of an endoscope, and the visual interaction platform is connected with the user assessment system. A virtual digestive tract modeling scene is configured in the visual interaction platform; the handle and the attitude sensor are both in communication connection with the control terminal; the control terminal is in communication connection with the background control terminal; the visual interaction platform restores the operation behavior track of the endoscope in the virtual digestive tract modeling scene according to the received posture data of the endoscope and in combination with the virtual digestive tract modeling scene; an endoscope video is collected through a camera on a handle, and a user assessment system performs operation evaluation on the digestive endoscope according to an operation behavior track, the endoscope video and a diagnosis report of a user; and the accurate restoration of the endoscope operation process is realized.

1. The name of the design product: the holding part of the handle of endoscope operation. 2. The use of the design product: the handle of endoscope operation is used for the user to hold and operate the endoscope, and the holding part includes the part for the user to hold. 3. The design points of the design product: the shape of the product. 4. The picture or photo that best shows the design points: perspective view 1. 5. The kit description of other circumstances that need to be explained: the part coated with red translucent in the figure is the unclaimed part, and the uncoated part is the claimed part.

The embodiment of the present application provides an operating part and an endoscope. The operating part comprises a shell, a driving mechanism, a traction line and a guide. The shell is formed with a sliding groove. Part of the driving mechanism and part of the traction line are located in the sliding groove. The guide is fixed to the sliding groove. The traction line comprises a first traction section, and the first traction section is arranged in the driving mechanism and the part of the sliding groove outside the driving mechanism. The guide has a guide channel. One end of the traction line is used for being connected with a forceps elevator of the endoscope, and the other end of the traction line passes through the guide channel and is connected with the driving mechanism. The driving mechanism can drive the traction line to move relative to the guide and the sliding groove, so that the lifting and resetting of the forceps elevator are realized. The guide channel wraps at least part of the first traction section. The operating part provided by the embodiment of the present application can provide structural restriction on the movement of the traction line relative to the sliding groove, so that the probability of arching or bending of the traction line is reduced, and the operation reliability of the operating part is improved.

1. The name of the product of this design: Endoscope operator. 2. Purpose of the product of this design: used to hold an endoscope and operate the insertion part of the endoscope inserted into the body cavity. 3. The design key point of this appearance design product lies in the shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

The utility model provides an endoscope storage cabinet, which relates to the technical field of endoscope storage cabinets and comprises a storage cabinet, an air heater communicated with the inside of the storage cabinet is arranged on the lower portion of the storage cabinet, double doors are arranged on the storage cabinet, and observation windows are arranged on the double doors. A clamping seat used for clamping an operation part of the endoscope, a mounting block and a supporting rod used for supporting a light guide plug of the endoscope are sequentially arranged in the storage cabinet from top to bottom, and two wire grooves used for clamping a light guide hose of the endoscope and an endoscope insertion tube are formed in the mounting block; ultraviolet lamps and photocatalyst substrates positioned on one sides of the ultraviolet lamps are arranged on the side walls and the bottom surface of the storage cabinet; according to the device, a plurality of endoscopes can be vertically stored in the storage cabinet, pipelines of the endoscopes can be bent so as to avoid the problem that the endoscopes are damaged due to the fact that the endoscopes are straightened due to weight, meanwhile, double disinfection is arranged, and the effect is further improved compared with that of single photocatalyst disinfection.

The present application relates to the technical field of medical instruments, and discloses an endoscope operation judgment method and device, an endoscope equipment and a storage medium, the method comprising: creating a log file; recording operation information of a user when using the endoscope in the log file; and judging the operation norm of the user when using the endoscope according to the information recorded in the log file. The present application adds a log function in the endoscope system, records the operation process of the endoscope user, facilitates subsequent finding of improper operation in the endoscope use process, improves the operation norm and safety of the user in the use process, and also facilitates positioning of equipment failure problems caused by improper operation.

The utility model relates to the technical field of medical instruments, in particular to an endoscope control assembly and an endoscope. The utility model provides a control assembly of an endoscope, which comprises a motor, a transmission gear set, a control board, a power line and a mounting part, and provides the endoscope comprising the control assembly. According to the control assembly of the endoscope, rotation of the insertion tube can be controlled easily, the left-right rotation direction and the rotation angle of the insertion tube can be controlled, the operation convenience of the endoscope is improved, a limiting structure is arranged, excessive rotation of a front-end pipeline is prevented, meanwhile, component parts of the control assembly can be assembled through products of general models, and the cost is reduced. And the cost can be controlled without customization.

The present application relates to the technical field of endoscope temperature pressure control, and particularly relates to an endoscope temperature pressure control method and system, the method comprising the following steps: preliminarily judging the type of a pressure event; when the type of the pressure event is a fuzzy rate pressure event, analyzing the characteristic change of an endoscope front end image; if the characteristic change of the image does not satisfy a preset change condition, starting active heat response detection; if the characteristic change of the image satisfies the preset change condition or the active heat response detection judges that the endoscope front end contacts a high-heat-conductivity medium, confirming a potential tissue contact event; when the potential tissue contact event is confirmed, not performing an exhaust operation; after receiving a warning signal, reducing the heat output of the endoscope front end or enhancing the heat dissipation capacity of the endoscope front end; when the inhibition period ends or the target body cavity pressure returns to a preset safe pressure range, resuming the execution of pressure and temperature regulation modes. The above can improve the safety of endoscope operation.

1. The name of this design product: endoscope operating handle. 2. Purpose of this design product: used to operate an endoscope. 3. The design key point of this appearance design product lies in the shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.