CN103315781A - Endoscope noninvasive surgery system - Google Patents
Endoscope noninvasive surgery system Download PDFInfo
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- CN103315781A CN103315781A CN201310290266XA CN201310290266A CN103315781A CN 103315781 A CN103315781 A CN 103315781A CN 201310290266X A CN201310290266X A CN 201310290266XA CN 201310290266 A CN201310290266 A CN 201310290266A CN 103315781 A CN103315781 A CN 103315781A
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Abstract
The invention discloses an endoscope noninvasive surgery system. The system comprises a function end and a control end. The function end comprises an endoscope body, a flexible sleeve pipe, a camera shooting illumination module and a function mechanical arm. A rigid pipe body section is arranged at the front end of the endoscope body. The control end comprises a control end base, an endoscope body control module, a camera shooting illumination module control module and a function mechanical arm control module, wherein the endoscope body control module, the camera shooting illumination module control module and the function mechanical arm control module respectively control stretching and / or bending of the endoscope body, the camera shooting illumination module and the function mechanical arm, so that a surgical instrument carried by the function mechanical arm can enter a surgical site under the posture that the surgical instrument is retracted into a rigid pipe body, and the endoscope body, the camera shooting illumination module and the function mechanical arm can stretch and / or bend after the surgical instrument reaches the surgical site. The endoscope noninvasive surgery system has the advantages of being small in size, convenient to use and the like.
Description
Technical field
The present invention relates to the medical equipment technical field, particularly non-invasive procedures system of a kind of endoscope.
Background technology
Minimally Invasive Surgery is because little, the operating time of its wound and the plurality of advantages such as rehabilitation duration is short and the post-operative complication probability of happening is little are able to fast development in clinical operation.At present, many foods endoscope-assistant surgery at home many hospitals extensively carried out and the favorable comment of having agreed.Yet when the operation objective for implementation was adiposis patient, the introducing of a plurality of body surface wounds still had very high human body invasive, can't realize Wicresoft truly.And through human body natural's tract endoscopic surgery (natural orifice trans-luminal endoscopic surgery, NOTES) utilize human body natural's tube chamber to carry out endoscopic surgery and need not at the body surface opening, can realize to greatest extent the Wicresoft that performs the operation.But because the NOTES technical difficulty is higher, operating theater instruments need to be carried out the surgical action such as clip suture afterwards by the body cavities of a long and narrow complexity, most of NOTES operation mechanism that has now all exists volume excessive, many defectives such as performance accuracy is inadequate, be difficult to satisfy the specification requirement of endoscope sewing operation, cause this class apparatus not to be widely used clinically.
Summary of the invention
The purpose of this invention is to provide non-invasive procedures system of a kind of endoscope, this system is mainly used in the endoscopic surgery through human body natural's tract, and the function such as required shooting illumination and clamping puncture in the integrated endoscopic procedures of this systemic-function end.This system can arrive operative site with endoscope's body attitude by narrow human body natural's tract under a kind of closed position.
According to purpose of the present invention, non-invasive procedures system of a kind of endoscope is provided, this system can enter into operative site through narrow human body natural's tract with a kind of endoscope's body attitude of closure, and its function end is extensible to a kind of operating attitude to carry out operation technique afterwards.The function end of this system is integrated with required shooting illumination functions and two operating forcepies with clamping and puncture function in the endoscopic surgery operation, shooting lighting module and operating forceps are carried respectively and are controlled by three flexible continuum mechanical arms, and flexible continuum mechanical arm all can be controlled by the flexible continuum of control corresponding to control end.
Endoscope of the present invention non-invasive procedures systemic-function end is made of the functional machinery arm of endoscope body, shooting lighting module, shooting lighting module mechanical arm and two symmetries.
The endoscope body is the tubular structure of 10 to 12 millimeters of external diameters among the present invention.This endoscope body front end is one section rigidity body, is used for taking in the functional machinery arm, and main body is to reach half meter flexible Continuum Structure.This rigidity body preferably is about 20 millimeters, perhaps also can be other size.This flexibility Continuum Structure is made of structural bone, distance piece and terminal stay.In the flexible Continuum Structure of endoscope body front end rigidity body and main body, have respectively for shooting lighting module mechanical arm and functional machinery arm by and the passage that passes through of air feed medicine supplying pipe road.By the length of the flexible Continuum Structure bone of control subject, the flexible continuum mechanical arm in this endoscope body and the endoscope body can be realized the motion that curves of two degree of freedom.This endoscope external body cover has the be inserted into inside of human body of flexible sleeve to guarantee that this endoscope can be smooth of the overtube by name of similar U.S. Obex company production.
Shooting lighting module main body is one group of photographic head that is packaged with the LED illumination among the present invention, in the valve jacket that this photographic head is installed on.Preferably, 12 millimeters of this valve jacket external diameters, long 10 millimeters.The shooting lighting module is that arc flexible continuum mechanical arm carries by the cross section.The flexible continuum mechanical arm of this bow-shaped cross-section is made of the flexible Continuum Structure of two joints, and this flexibility continuum mechanical arm is made of structural bone, distance piece and terminal stay equally.But four degree of freedom curves motion in the flexible continuum mechanical arm of this bow-shaped cross-section implementation space.Simultaneously, it can stretch in the passage that above-mentioned endoscope body provides.Leave the passage that supplies front end camera module supply line and signal line to pass through on the flexible continuum mechanical arm of this bow-shaped cross-section.
Functional machinery arm main body is the flexible continuum mechanical arm of similar trapezoid cross section among the present invention, the instruments such as its front end portability operating forceps or surgical clips.This flexibility continuum mechanical arm is similarly two joint structures, but the curving of two degree of freedom in the single-unit implementation space.The same with shooting lighting module mechanical arm, this flexibility continuum mechanical arm is made of structural bone, distance piece and terminal stay, and can stretch in the passage that the endoscope body provides.Under the endoscopic system closure state, the entrained operation tool of this flexibility continuum mechanical arm can be completely retracted among the endoscope body.In this flexibility continuum mechanical arm, the passage that provides front end operation tool control line or device for cleaning pipeline to cross is arranged.
Said structure is the function end of this non-invasive procedures system of endoscope, and shooting lighting module and functional machinery arm must be carried to the body operation position by the endoscope body.The control end of this non-invasive procedures system of endoscope all is positioned at outside the patient body.Control end can modularly be divided into the control module of endoscope body, the control module of shooting lighting module and the control module of functional machinery arm according to the function end.Endoscope body control module is positioned at whole control end foremost, belongs to the control end pedestal to be fixedly connected with.The control module of the control module of shooting lighting module and two cover functional machinery arms is positioned at the back of endoscope body control module, and these three modules can move to realize the extension and contraction control to each mechanical arm of front end in integral body front and back on the linear movement group on the control end pedestal.
Endoscope body control module front end is the flexible Continuum Structure bone of endoscope body dash receiver, and the receiver hole to should flexible Continuum Structure bone distributing is arranged on it, and this receiver hole back is connected with the transition stainless steel tube.The structural bone of flexible Continuum Structure is passed receiver hole and is entered in these transition stainless steel tubes.These transition stainless steel tubes are amplified to same distribution shape but the structural bone amplification board of large-size with the guide structure bone by reduced size.After stretching out from amplification board, structural bone reconstructs a flexible Continuum Structure of control of amplifying with respect to the flexible continuum of endoscope body with a series of distance pieces and stay.Simultaneously, this amplifies flexible continuum distance piece and stay and other four root knot llex cornuta and again consists of a flexible Continuum Structure, becomes to drive flexible continuum.Drive the flexible Continuum Structure that flexible Continuum Structure bone distributed dimension is slightly larger than amplification.The four root knot llex cornuta other ends that drive flexible Continuum Structure are connected on the chuck of four differential heads.Can control the flexible Continuum Structure bone length of driving by rotation differential head, point to thereby control drives the upset of the terminal stay of flexible continuum.Controlling the terminal stay of the flexible continuum of the stay of flexible continuum and amplification shares, thereby corresponding motion is done in the meeting of amplifying flexible continuum, its structural bone can be extended shortening according to certain rules, and these structural bone are flexible Continuum Structure bones of endoscope body, and its length can change because of the length of amplifying rear flexible Continuum Structure bone the corresponding opposite length variations that occurs.The length variations of structural bone curves accordingly motion and can cause the flexible continuum of endoscope.Structural relation can realize the motion that curves by two degree of freedom on the space of the flexible continuum of endoscope body of four differential heads control, one joint thus.
Shooting lighting module control module and endoscope body control module are similar.The flexible continuum mechanical arm of shooting lighting module bow-shaped cross-section is connected to shooting lighting module control module by endoscope body and endoscope body control module.The flexible Continuum Structure bone of this bow-shaped cross-section arrives amplification board by a dash receiver through stainless steel tube, consists of afterwards the flexible Continuum Structure of two joints after the amplification.Outside amplifying flexible Continuum Structure, the flexible continuum of driving is arranged equally.Drive flexible Continuum Structure bone and after the stainless steel tube break-in, be connected to differential head end.Eight differential heads are controlled the motion that curves of four degree of freedom of the flexible continuum of this bow-shaped cross-section.The lighting module control module of making a video recording simultaneously can be along two optical axis rectilinear motions, and its driving is a screw rod.This motion can be controlled and give birth to a whole feeding of shooting lighting module.
The control module of two functional machinery arms is basic identical with shooting lighting module control module, and difference is cross sectional shape.Simultaneously, it is terminal that the control line of the operation tools such as function end mechanical tong also can export to the differential head with stainless steel tube from the dash receiver relevant position, to realize manual control.
According to a preferred embodiment of the invention, provide non-invasive procedures system of a kind of endoscope, described system comprises:
Function end, described function end comprise the endoscope body, are enclosed within flexible sleeve, shooting lighting module and functional machinery arm on the described endoscope body, and described endoscope body front end is provided with one section rigidity body;
Control end, described control end comprises control end pedestal, endoscope body control module, shooting lighting module control module and functional machinery arm control module, and described endoscope body control module, described shooting lighting module control module and described functional machinery arm control module are installed on the described control end pedestal; Wherein,
Described endoscope body control module, described shooting lighting module control module and described functional machinery arm control module are controlled respectively the flexible of described endoscope body, described shooting lighting module and described functional machinery arm and/or are curved, thereby so that the operating theater instruments of being carried by described functional machinery arm can enter into operative site under the attitude of the described rigidity body of retraction, and after arriving operative site, described endoscope body, described shooting lighting module and described functional machinery arm can stretch and/or curve.
In above-described embodiment, preferably, described control end pedestal is provided with screw rod and back shaft, and described shooting lighting module and described functional machinery arm can move along described back shaft linearity, and described linear movement is by described screw drive.
Preferably, described endoscope phosphor bodies is the flexible Continuum Structure of endoscope, the flexible Continuum Structure of described endoscope is by the flexible Continuum Structure bone of endoscope, the terminal stay of the flexible continuum of the flexible continuum distance piece of endoscope and endoscope consists of, described endoscope flexible Continuum Structure bone one end is fixed in the terminal stay of the flexible continuum of described endoscope, the other end passes the flexible continuum distance piece of described endoscope, and be connected to described endoscope body control module, thereby can control curving of described endoscope phosphor bodies by the length of regulating the flexible Continuum Structure bone of described endoscope.
Preferably, described shooting lighting module comprises photographic head, illuminator, and the flexible continuum mechanical arm of bow-shaped cross-section, the flexible continuum mechanical arm of described bow-shaped cross-section has the flexible continuum distance piece of bow-shaped cross-section, the flexible continuum first segment of bow-shaped cross-section structural bone, the flexible continuum second section of bow-shaped cross-section structural bone, the flexible continuum first segment stay of bow-shaped cross-section and second section stay, wherein, flexible continuum the first structural bone of described bow-shaped cross-section one end is connected with described shooting lighting module control module, the other end passes the flexible continuum distance piece of a plurality of bow-shaped cross-sections, is fixed in flexible continuum the first stay of described bow-shaped cross-section; Flexible continuum the second structural bone of bow-shaped cross-section one end is connected with described shooting lighting module control module, the other end passes the flexible continuum distance piece of a plurality of bow-shaped cross-sections, and pass flexible continuum the first stay of described bow-shaped cross-section, be fixed in flexible continuum the second stay of described bow-shaped cross-section.
Preferably, described functional machinery arm main body is the flexible continuum mechanical arms in two joint class trapezoid cross sections, the flexible continuum mechanical arm in described class trapezoid cross section comprises the flexible continuum distance piece in class trapezoid cross section, class trapezoid cross section flexible continuum first segment structural bone, class trapezoid cross section flexible continuum second section structural bone, the flexible continuum first segment stay in class trapezoid cross section and second section stay, wherein, the first structural bone one end is connected with described functional machinery arm control module, the other end passes the flexible continuum distance piece in a plurality of described classes trapezoid cross section, then is fixed in flexible continuum the first stay in described class trapezoid cross section; Class trapezoid cross section flexible continuum second section structural bone one end is connected with described functional machinery arm control module, the other end passes the flexible continuum distance piece in a plurality of described classes trapezoid cross section, and pass flexible continuum the first stay in described class trapezoid cross section, then be fixed in flexible continuum the second stay in described class trapezoid cross section.
Preferably, described endoscope body control module is provided with endoscope's flexible Continuum Structure bone dash receiver, the transition stainless steel tube, the flexible continuum amplification board of endoscope, flexible continuum and endoscope body drives structure bone and endoscope body differential head amplify in endoscope, wherein, described endoscope amplifies flexible continuum and is provided with that flexible continuum distance piece amplifies in endoscope and flexible continuum stay amplifies in endoscope, and the flexible Continuum Structure bone of described endoscope passes through described endoscope flexible Continuum Structure bone dash receiver successively, described transition stainless steel tube also extends to the flexible continuum amplification board of described endoscope; The flexible Continuum Structure bone of described endoscope passes described endoscope and amplifies flexible continuum distance piece after passing from the flexible continuum amplification board of described endoscope, and is fixed in described endoscope and amplifies flexible continuum stay; Described endoscope body driving machine llex cornuta one end is fixed in described endoscope and amplifies flexible continuum stay, the other end passes the flexible continuum amplification board of the flexible continuum distance piece of described amplification and described endoscope successively, and be connected with described endoscope body differential head, thereby control curving of described endoscope body by rotating described endoscope body differential head.
Preferably, described shooting lighting module control module is provided with the flexible Continuum Structure bone of shooting lighting module dash receiver, the transition stainless steel tube, the flexible continuum amplification board of shooting lighting module, two joint shooting lighting modules amplify flexible continuum and shooting lighting module drives structure bone and shooting lighting module differential head, wherein, described shooting lighting module amplifies flexible continuum and is provided with that the shooting lighting module amplifies flexible continuum distance piece and the shooting lighting module amplifies flexible continuum stay, and the flexible Continuum Structure bone of described shooting lighting module passes through the flexible Continuum Structure bone of described shooting lighting module dash receiver successively, described transition stainless steel tube also extends to the flexible continuum amplification board of described shooting lighting module; After the flexible Continuum Structure bone of described shooting lighting module passes from the flexible continuum amplification board of described shooting lighting module, pass described shooting lighting module and amplify flexible continuum distance piece, and be fixed in described shooting lighting module and amplify flexible continuum stay; Described shooting lighting module driving machine llex cornuta one end is fixed in described shooting lighting module and amplifies flexible continuum stay, the other end passes successively described shooting lighting module and amplifies flexible continuum distance piece and the flexible continuum amplification board of described shooting lighting module, and be connected with described shooting lighting module differential head, thereby control curving of described shooting lighting module mirror body by rotating described shooting lighting module differential head.
Preferably, described functional machinery arm control module is provided with the flexible Continuum Structure bone of functional machinery arm dash receiver, the transition stainless steel tube, the flexible continuum amplification board of functional machinery arm, two joint functional machinery arms amplify flexible continuum and functional machinery arm drives structure bone and functional machinery arm differential head, wherein, described functional machinery arm amplifies flexible continuum and is provided with that the functional machinery arm amplifies flexible continuum distance piece and the functional machinery arm amplifies flexible continuum stay, and the flexible Continuum Structure bone of described functional machinery arm passes through the flexible Continuum Structure bone of described functional machinery arm dash receiver successively, described transition stainless steel tube also extends to the flexible continuum amplification board of described functional machinery arm; The flexible Continuum Structure bone of described functional machinery arm passes described functional machinery arm and amplifies flexible continuum distance piece after passing from the flexible continuum amplification board of described functional machinery arm, and is fixed in described functional machinery arm and amplifies flexible continuum stay; Described functional machinery arm driving machine llex cornuta one end is fixed in described functional machinery arm and amplifies flexible continuum stay, the other end passes successively described functional machinery arm and amplifies flexible continuum distance piece and the flexible continuum amplification board of described functional machinery arm, and be connected with described functional machinery arm differential head, thereby control curving of described functional machinery arm mirror body by rotating described functional machinery arm differential head.
In the non-invasive procedures system of endoscope of the present invention, the endoscope body diameter is about 12 millimeters, even little of 10mm, and this is significantly smaller than the diameter of existing endoscope body, and it generally surpasses 15mm.Thus, this system can enter into operative site through narrow human body natural's tract with a kind of endoscope's body attitude of closure, and its function end is extensible to a kind of operating attitude to carry out operation technique afterwards.And function end of the present invention can stretch and curve towards all directions neatly, so that the operator can carry out non-invasive procedures with native system easily.That is, the present invention has little, the easy to use advantage of volume.
Description of drawings
Fig. 1 is the overall structure axonometric chart of non-invasive procedures system of endoscope of the present invention;
Fig. 2 A is the structural perspective of endoscope body of the present invention;
Fig. 2 B is the front view that the rigidity of the endoscope body of Fig. 2 A is held cavity;
Fig. 3 A is the axonometric chart of endoscope of the present invention shooting lighting module;
Fig. 3 B is the front view of space disc of flexible Continuum Structure of the lighting module of Fig. 3 A;
Fig. 4 A is the structural perspective of functional machinery arm of the present invention;
Fig. 4 B is the front view of space disc of the functional machinery arm of Fig. 4 A;
Fig. 5 is the structural perspective of non-invasive procedures system of endoscope of the present invention control end pedestal;
Fig. 6 A is the structural perspective of endoscope body driver module of the present invention;
Fig. 6 B is the front view of space disc of the endoscope body driver module of Fig. 6 A;
Fig. 7 A is the structural perspective of shooting lighting module driver module of the present invention;
Fig. 7 B is the front view of space disc of the shooting lighting module driver module of Fig. 7 A;
Fig. 8 A is the structural perspective of functional machinery arm driver module of the present invention;
Fig. 8 B is the plane graph of the functional machinery arm driver module of Fig. 8 A; And
Fig. 9 A and 9B are respectively the function end closure of non-invasive procedures system of endoscope of the present invention and the structural perspective of launching (duty).
The specific embodiment
Below with reference to accompanying drawing preferred embodiment of the present invention is elaborated, so that clearer understanding purpose of the present invention, characteristics and advantage.It should be understood that embodiment shown in the drawings is not limitation of the scope of the invention, and just for the connotation of technical solution of the present invention is described.
As shown in Figure 1, non-invasive procedures system of endoscope of the present invention is comprised of function end 1 and control end 2 two large divisions.Function end 1 is comprised of endoscope body 3 and flexible sleeve 4 thereof, shooting lighting module 5 and two functional machinery arms 6,7.Control end 2 is made of control end pedestal 8, endoscope body control module 9, shooting lighting module control module 10 and two functional machinery arm control modules 11,12.Certainly, although do not point out, in the system of the present invention, according to actual needs, also can contain not only two functional machinery arms, for example, can contain three or four or more mechanical arm.
Shown in Fig. 2 A, endoscope body 3 front ends of the present invention are that rigidity is held cavity 13, are used for holding when the function end is closed each surgery instrument that is positioned at endoscope body front end.The main body of endoscope body 3 is the flexible Continuum Structure 14 of endoscope, and the flexible Continuum Structure 14 of this endoscope is comprised of the flexible Continuum Structure bone 15 of endoscope, the flexible continuum stay 17 of the flexible continuum distance piece 16 of endoscope and endoscope.This endoscope body 3 for shooting and the mechanical arm of lighting module 5 and functional machinery arm 6,7 and air feed medicine supplying pipe road respective channel is provided.Wherein, shown in Fig. 2 B, the passage that arcuate channel 18 passes through for the mechanical arm for shooting and lighting module 5; The passage of class trapezoidal channel 19,20 for passing through for functional machinery arm 6,7; Class triangle and the passage of circular channel 21 for passing through for breather, delivery tube; Passage or the distributing position of circular hole 22 for passing through for the flexible Continuum Structure bone 15 of endoscope around the cross section.
As shown in Figure 3A, the photographic head 22 of LED illumination that the shooting of endoscope of the present invention non-invasive procedures systemic-function end and lighting module are integrated, this photographic head 22 are installed in external diameter and the endoscope bulk phase valve jacket 23 together.Valve jacket 23 and photographic head 22 are carried by the flexible continuum mechanical arm 24 of two joints of a bow-shaped cross-section.But the stretching motion that curves motion and integral body of four degree of freedom on these flexibility continuum mechanical arm 24 implementation spaces.The chief component parts of the flexible continuum mechanical arm of bow-shaped cross-section comprise the flexible continuum distance piece 25 of bow-shaped cross-section, the flexible continuum first segment of bow-shaped cross-section structural bone 26, the flexible continuum second section of bow-shaped cross-section structural bone 27, the flexible continuum first segment stay 28 of bow-shaped cross-section and second section stay 29, wherein, the first structural bone 26 1 ends are connected (hereinafter will be described in more detail) with control end, the other end passes a plurality of flexible continuum distance pieces 25, then is fixed in the first stay 28.Similarly, the second structural bone 27 1 ends are connected (hereinafter will be described in more detail) with control end, and the other end passes a plurality of flexible continuum distance pieces 25, and passes the first stay 28, then is fixed in the second stay 29.Leave the passage 30 that passes through for make a video recording illuminalive power-supply and signal line at the flexible continuum mechanical arm of bow-shaped cross-section, shown in Fig. 3 B.
Shown in Fig. 4 A, the functional machinery arm 6 of non-invasive procedures system of endoscope of the present invention, 7 main bodys are flexible continuum mechanical arms 31 of two joints of similar trapezoid cross section.But the stretching motion that curves motion and integral body of four degree of freedom on these flexibility continuum mechanical arm 31 implementation spaces.Similar with the flexible continuum mechanical arm 24 of bow-shaped cross-section, the chief component parts of flexible continuum mechanical arm 31 comprise the flexible continuum distance piece 32 in class trapezoid cross section, class trapezoid cross section flexible continuum first segment structural bone 33, class trapezoid cross section flexible continuum second section structural bone 34, the flexible continuum first segment stay 35 in class trapezoid cross section and second section stay 36, wherein, the first structural bone 33 1 ends are connected (hereinafter will be described in more detail) with control end, the other end passes a plurality of flexible continuum distance pieces 32, then is fixed in the first stay 35.Similarly, the second structural bone 34 1 ends are connected (hereinafter will be described in more detail) with control end, and the other end passes a plurality of flexible continuum distance pieces 25, and passes the first stay 35, then is fixed in the second stay 36.Flexible continuum mechanical arm 6, the 7 front end portability operating forcepies 37 in such trapezoid cross section and the suture needle 38 that can from operating forceps, stretch out.Flexible continuum mechanical arm leaves the passage 39,40 that supplies suture needle 38 and mechanical tong drive wire to pass through in the class trapezoid cross section, shown in Fig. 4 B.Here, class is trapezoidal to be referred to similarly to trapezoidal shape, but not exclusively is trapezoidal shape.
Fig. 5 is the structural representation of non-invasive procedures system of endoscope of the present invention control end pedestal 8.As shown in Figure 5, control end pedestal 8 mainly is comprised of structure pedestal 41, back shaft 42, screw rod 43, is used for installing endoscope body control module, shooting lighting module control module and functional machinery arm control module, hereinafter will further describe.
Fig. 6 A and 6B are the structural representations of endoscope body control (driving) module 9 of the present invention.Shown in Fig. 6 A and 6B, in the endoscope body control module 9 of the present invention, be provided with endoscope's flexible Continuum Structure bone dash receiver 44, transition stainless steel tube 45, the flexible continuum amplification board 46 of endoscope, endoscope and amplify flexible continuum and differential head 49.The flexible Continuum Structure bone 15 of endoscope passes through endoscope's flexible Continuum Structure bone dash receiver 44, transition stainless steel tube 45 successively, and extends to the flexible continuum amplification board 46 of endoscope.Amplify flexible continuum distance piece 47 and stay 48 composition endoscopies with endoscope after structural bone 15 passes from amplification board 46 and amplify flexible continuum.Simultaneously, amplifying flexible continuum distance piece 47 and stay 48 and four consists of endoscope by the structural bone 50 of differential head 49 control length and drives flexible continuum.Endoscope amplifies flexible Continuum Structure bone hole 51 and drives flexible Continuum Structure bone hole 52 and shows on the distance piece that the distribution that endoscope amplifies flexible Continuum Structure bone 15 and drives flexible Continuum Structure bone 50 is shared by two flexible continuuies, shown in Fig. 6 B.By rotating differential head 49, control the attitude that this drives flexible continuum thereby can control the length that endoscope drives flexible Continuum Structure bone 50.Share stay because flexible continuum amplifies in endoscope with driving flexible continuum, amplify flexible continuum and can follow and drive flexible continuum motion occurs to curve accordingly, its structural bone 15 amplify flexible continuum one end length can corresponding elongating or shortening.Because structural bone 15 is endoscope body flexibility Continuum Structure bone simultaneously, its length variations in amplifying flexible continuum can make it in the flexible continuum one segment length generation inverse variation of endoscope body.Thereby the athletic meeting that curves of amplifying flexible continuum causes flexible one of the continuum of endoscope body to curve accordingly motion.According to above structural relation, can realize the control that curves of the flexible continuum of endoscope mirror body by rotation differential head 49.
Fig. 7 A and 7B are the structural representations of shooting lighting module control (driving) module 10 of the present invention.Shown in Fig. 7 A and 7B, thereby shooting lighting module control module can be along the integral telescopic of the control of back shaft 42 linear movements in the control end pedestal 8 shooting lighting module in the non-invasive procedures system of endoscope.This linear movement can be driven by screw rod 43.In the shooting lighting module control module, the first segment structural bone 26 of the flexible continuum mechanical arm 24 of bow-shaped cross-section and second section structural bone 27 consist of respectively two joints with a series of amplification distance pieces 56 and stay 57 and amplify arc flexible Continuum Structure by behind dash receiver 53, transition stainless steel tube 54 and the amplification board 55.Amplify flexible continuum distance piece 56 and stay 57 and again consist of the flexible Continuum Structure of the two arc drivings of joint with 8 structural bone 59 by 58 controls of differential head simultaneously.Drive arc flexible Continuum Structure bone 59 when being connected to differential head 58, by stainless steel tube 60 transition break-ins with the reasonable arrangement space.Similar with the flexible continuum driving principle of endoscope body, can realize the control that curves to 24 4 degree of freedom of the two arc flexible continuum mechanical arms of joint by control differential head 58.Shown in Fig. 7 B, aperture 61 is put for amplifying the flexible Continuum Structure position of bone on the distance piece 56, and put for driving the flexible Continuum Structure position of bone in hole 62.
Fig. 8 A and 8B are the structural representation of functional machinery arm control module.The structural principle of functional machinery arm control module is basic identical with shooting lighting module control module.Its integral body can be driven along back shaft 42 linear movements by screw rod 43.Similar with shooting lighting module control module, in the functional machinery arm control module, structural bone 33,34 consists of the flexible continuum of the trapezoidal amplification of class again in the flexible continuum mechanical arm 31 in two joint class trapezoid cross sections after stainless steel tube 63 transition.Amplify flexible continuum and be furnished with and drive flexible continuum, the length that drives flexible Continuum Structure bone 65 by 64 controls of differential head can finally realize the control that curves to four degree of freedom in space of the flexible continuum mechanical arms in two joint class trapezoid cross sections.Amplify flexible continuum and drive flexible Continuum Structure bone and distribute and can be from its shared distance piece 66 find out the distribution in hole.The control line of functional machinery arm front end robot pincers 37 and the control line of suture needle 38 also can be connected to the differential head by stainless steel tube, thereby realize manually control.
In the work process, endoscope's non-invasive procedures systemic-function end need at first be in the first closure attitude, be that functional machinery arm 6,7 is retracted in the endoscope body 3 fully, the shooting lighting module is reduced to valve jacket 23 and fits fully with endoscope body front end rigid body 13, and whole surgery systems function end forms the cylinder attitude of a sealing.Under this attitude, adjust endoscope body 3 attitudes, the function end of surgery systems is extend into operative site.Drive forwards afterwards shooting lighting module 5 and adjust its attitude, stretch out functional machinery arm 6,7, the associative operation of performing the operation.After operation was finished, the function end was got back to closed position, withdraws from outside the patient body.Fig. 9 A and 9B are endoscope's non-invasive procedures system closed position and operating attitude schematic diagram.
In the non-invasive procedures system of endoscope of the present invention, the endoscope body diameter is about 12 millimeters, even little of 10mm, and this is significantly smaller than the diameter of existing endoscope body, and it generally surpasses 15mm.Thus, this system can enter into operative site through narrow human body natural's tract with a kind of endoscope's body attitude of closure, and its function end is extensible to a kind of operating attitude to carry out operation technique afterwards.And function end of the present invention can stretch and curve towards all directions neatly, so that the operator can carry out non-invasive procedures with native system easily.
Below described preferred embodiment of the present invention in detail, but it will be appreciated that, after having read above-mentioned teachings of the present invention, those skilled in the art can make various changes or modifications the present invention.These equivalent form of values fall within the application's appended claims limited range equally.
Claims (10)
1. a non-invasive procedures system of endoscope is characterized in that, described system comprises:
Function end, described function end comprise the endoscope body, are enclosed within flexible sleeve, shooting lighting module and functional machinery arm on the described endoscope body, and described endoscope body front end is provided with one section rigidity body;
Control end, described control end comprises control end pedestal, endoscope body control module, shooting lighting module control module and functional machinery arm control module, and described endoscope body control module, described shooting lighting module control module and described functional machinery arm control module are installed on the described control end pedestal; Wherein,
Described endoscope body control module, described shooting lighting module control module and described functional machinery arm control module are controlled respectively the flexible of described endoscope body, described shooting lighting module and described functional machinery arm and/or are curved, thereby so that the operating theater instruments of being carried by described functional machinery arm can enter into operative site under the attitude of the described rigidity body of retraction, and after arriving operative site, described endoscope body, described shooting lighting module and described functional machinery arm can stretch and/or curve.
2. non-invasive procedures system of endoscope according to claim 1, it is characterized in that, described control end pedestal is provided with screw rod and back shaft, and described shooting lighting module and described functional machinery arm can move along described back shaft linearity, and described linear movement is by described screw drive.
3. non-invasive procedures system of endoscope according to claim 1 is characterized in that, the external diameter of described endoscope body is 10mm-12mm.
4. non-invasive procedures system of endoscope according to claim 1 is characterized in that, described operating theater instruments is arranged on mechanical tong and the suture needle of surgical functions mechanical arm front end.
5. non-invasive procedures system of endoscope according to claim 1, it is characterized in that, described endoscope phosphor bodies is the flexible Continuum Structure of endoscope, the flexible Continuum Structure of described endoscope is by the flexible Continuum Structure bone of endoscope, the terminal stay of the flexible continuum of the flexible continuum distance piece of endoscope and endoscope consists of, described endoscope flexible Continuum Structure bone one end is fixed in the terminal stay of the flexible continuum of described endoscope, the other end passes the flexible continuum distance piece of described endoscope, and be connected to described endoscope body control module, thereby can control curving of described endoscope phosphor bodies by the length of regulating the flexible Continuum Structure bone of described endoscope.
6. non-invasive procedures system of endoscope according to claim 1, it is characterized in that, described shooting lighting module comprises photographic head, illuminator, and the flexible continuum mechanical arm of bow-shaped cross-section, the flexible continuum mechanical arm of described bow-shaped cross-section has the flexible continuum distance piece of bow-shaped cross-section, the flexible continuum first segment of bow-shaped cross-section structural bone, the flexible continuum second section of bow-shaped cross-section structural bone, the flexible continuum first segment stay of bow-shaped cross-section and second section stay, wherein, flexible continuum the first structural bone of described bow-shaped cross-section one end is connected with described shooting lighting module control module, the other end passes the flexible continuum distance piece of a plurality of bow-shaped cross-sections, is fixed in flexible continuum the first stay of described bow-shaped cross-section; Flexible continuum the second structural bone of bow-shaped cross-section one end is connected with described shooting lighting module control module, the other end passes the flexible continuum distance piece of a plurality of bow-shaped cross-sections, and pass flexible continuum the first stay of described bow-shaped cross-section, be fixed in flexible continuum the second stay of described bow-shaped cross-section.
7. non-invasive procedures system of endoscope according to claim 1, it is characterized in that, described functional machinery arm main body is the flexible continuum mechanical arms in two joint class trapezoid cross sections, the flexible continuum mechanical arm in described class trapezoid cross section comprises the flexible continuum distance piece in class trapezoid cross section, class trapezoid cross section flexible continuum first segment structural bone, class trapezoid cross section flexible continuum second section structural bone, the flexible continuum first segment stay in class trapezoid cross section and second section stay, wherein, the first structural bone one end is connected with described functional machinery arm control module, the other end passes the flexible continuum distance piece in a plurality of described classes trapezoid cross section, then is fixed in flexible continuum the first stay in described class trapezoid cross section; Class trapezoid cross section flexible continuum second section structural bone one end is connected with described functional machinery arm control module, the other end passes the flexible continuum distance piece in a plurality of described classes trapezoid cross section, and pass flexible continuum the first stay in described class trapezoid cross section, then be fixed in flexible continuum the second stay in described class trapezoid cross section.
8. non-invasive procedures system of endoscope according to claim 5 is characterized in that,
Described endoscope body control module is provided with endoscope's flexible Continuum Structure bone dash receiver, transition stainless steel tube, the flexible continuum amplification board of endoscope, endoscope and amplifies flexible continuum and endoscope body drives structure bone and endoscope body differential head, wherein
Described endoscope amplifies flexible continuum and is provided with that flexible continuum distance piece amplifies in endoscope and flexible continuum stay amplifies in endoscope, and the flexible Continuum Structure bone of described endoscope passes through successively described endoscope flexible Continuum Structure bone dash receiver, described transition stainless steel tube and extends to the flexible continuum amplification board of described endoscope
The flexible Continuum Structure bone of described endoscope passes described endoscope and amplifies flexible continuum distance piece after passing from the flexible continuum amplification board of described endoscope, and is fixed in described endoscope and amplifies flexible continuum stay,
Described endoscope body driving machine llex cornuta one end is fixed in described endoscope and amplifies flexible continuum stay, the other end passes the flexible continuum amplification board of the flexible continuum distance piece of described amplification and described endoscope successively, and be connected with described endoscope body differential head, thereby control curving of described endoscope body by rotating described endoscope body differential head.
9. non-invasive procedures system of endoscope according to claim 6, it is characterized in that, described shooting lighting module control module is provided with the flexible Continuum Structure bone of the lighting module dash receiver of making a video recording, transition stainless steel tube, the flexible continuum amplification board of the lighting module of making a video recording, two joints are made a video recording, and lighting modules amplify flexible continuum and shooting lighting module drives structure bone and the lighting module differential head of making a video recording, wherein
Described shooting lighting module amplify flexible continuum be provided with the shooting lighting module amplify flexible continuum distance piece and the shooting lighting module amplify flexible continuum stay, and the flexible Continuum Structure bone of described shooting lighting module passes through successively the flexible Continuum Structure bone of described shooting lighting module dash receiver, described transition stainless steel tube and extends to the flexible continuum amplification board of described shooting lighting module
The flexible Continuum Structure bone of described shooting lighting module passes described shooting lighting module and amplifies flexible continuum distance piece after passing from the flexible continuum amplification board of described shooting lighting module, and is fixed in described shooting lighting module and amplifies flexible continuum stay,
Described shooting lighting module driving machine llex cornuta one end is fixed in described shooting lighting module and amplifies flexible continuum stay, the other end passes successively described shooting lighting module and amplifies flexible continuum distance piece and the flexible continuum amplification board of described shooting lighting module, and be connected with described shooting lighting module differential head, thereby control curving of described shooting lighting module mirror body by rotating described shooting lighting module differential head.
10. non-invasive procedures system of endoscope according to claim 7 is characterized in that,
Described functional machinery arm control module is provided with the flexible Continuum Structure bone of functional machinery arm dash receiver, transition stainless steel tube, the flexible continuum amplification board of functional machinery arm, two joint functional machinery arms and amplifies flexible continuum and functional machinery arm drives structure bone and functional machinery arm differential head, wherein
Described functional machinery arm amplifies flexible continuum and is provided with that the functional machinery arm amplifies flexible continuum distance piece and the functional machinery arm amplifies flexible continuum stay, and the flexible Continuum Structure bone of described functional machinery arm passes through successively the flexible Continuum Structure bone of described functional machinery arm dash receiver, described transition stainless steel tube and extends to the flexible continuum amplification board of described functional machinery arm
The flexible Continuum Structure bone of described functional machinery arm passes described functional machinery arm and amplifies flexible continuum distance piece after passing from the flexible continuum amplification board of described functional machinery arm, and is fixed in described functional machinery arm and amplifies flexible continuum stay,
Described functional machinery arm driving machine llex cornuta one end is fixed in described functional machinery arm and amplifies flexible continuum stay, the other end passes successively described functional machinery arm and amplifies flexible continuum distance piece and the flexible continuum amplification board of described functional machinery arm, and be connected with described functional machinery arm differential head, thereby control curving of described functional machinery arm mirror body by rotating described functional machinery arm differential head.
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