Endoscope Holding Device Rotation Mechanism
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Solution Overview
Problem
Existing endoscope holding devices become large when trying to rotatably hold oblique-viewing and forward-viewing endoscopes with camera heads, leading to interference with the operator's arm and hindering surgery.
Innovation Solution
An endoscope holding device with a housing that accommodates a relay optical system, a first rotation unit to rotate the endoscope, and a second rotation unit to rotate the imaging device, allowing for independent rotation of the endoscope and camera head while maintaining a compact size.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the rigid endoscope and the camera head portion are rotatably held by the robot arm, then the rotation control is achieved, but the endoscope holding device becomes large and interferes with the operator's arm
Solution Approach 1:
The patent divides the rotation control into two independent units: a first rotation unit for rotating the endoscope and a second rotation unit for rotating the camera head. This segmentation allows each unit to be compact while achieving the overall rotation control function, resolving the contradiction between operational capability and device size.
Solution Approach 2:
The first rotation unit and second rotation unit are nested within a single endoscope holding device housing. The first rotation unit rotates the endoscope around a first optical axis, and the second rotation unit rotates the camera head around a second optical axis, with both units integrated in a compact nested configuration that prevents interference with the operator's arm.
2Adaptability or versatility
If the endoscope is rotated with respect to the scope axis, then the field of view can be adjusted, but the polarization deviates in forward-viewing endoscopes
Solution Approach 1:
The patent incorporates a rotation angle acquisition unit that detects the rotation angle of the endoscope. This feedback information is used by the control unit to calculate and control the rotation angle of the camera head, ensuring that the optical axes remain aligned and polarization is maintained during rotation operations.
Solution Approach 2:
The relay optical system acts as an intermediary between the endoscope and the camera head. It transfers the optical image while maintaining the relationship between the optical axes, allowing rotation control without compromising polarization alignment in forward-viewing endoscopes.
Data Source
AI summary
The present disclosure provides an endoscope holding device, an endoscopic surgery system, and a control method capable of curbing an increase in size.According to the present disclosure, an endoscope holding device includes: a housing that accommodates a relay optical system and is disposed in a robot arm; a first rotation unit that is disposed in the housing and rotates an endoscope with respect to an optical axis of the relay optical system, the endoscope being fixed such that light emitted from the endoscope enters the relay optical system, and a second rotation unit that is disposed in the housing and rotates an imaging device with respect to the optical axis of the relay optical system, the imaging device being fixed such that light emitted from the relay optical system enters the imaging device.