CN104083142A - Endoscope capable of performing whole-process examination and treatment - Google Patents
Endoscope capable of performing whole-process examination and treatment Download PDFInfo
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- CN104083142A CN104083142A CN201410380907.5A CN201410380907A CN104083142A CN 104083142 A CN104083142 A CN 104083142A CN 201410380907 A CN201410380907 A CN 201410380907A CN 104083142 A CN104083142 A CN 104083142A
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Abstract
The invention relates to an endoscope capable of performing whole-process examination and treatment. The endoscope comprises an endoscope body insertion part front end (1). The endoscope is characterized in that a slide rail (3) is mounted in a rectangular guide rail slot (4) in the endoscope body insertion part front end (1); an ultrasonic treatment head (2) is mounted on the slide rail (3) and can move up and down; the slide rail (3) can move front and back and can move left and right at the same time in the rectangular guide rail slot (4); ultrasonic vibrators (6), lighting fibers (5) and image channels (7) are arranged near an insertion end of the endoscope body insertion part front end (1) and around the guide rail slot (4); a water inlet and a water outlet which are used for cooling the ultrasonic treatment head during treatment are formed in the guide rail slot (4) around the ultrasonic treatment head (2) and respectively communicated with a corresponding water inlet pipe (9) and a corresponding water outlet pipe (10). The endoscope is simple in structure, complete in function and convenient to operate.
Description
Technical field
The present invention relates to a kind of medical apparatus and instruments, especially one can integrate diagnosis and the integrated diagnostic equipment for the treatment of, specifically a kind of for human intracavity or pipeline can omnidistance indagation and treatment endoscope.
Background technology
At present, the endoscope that health system is used clinically both at home and abroad, most optical systems of utilizing that adopt are carried out image viewing, and part is to adopt ultrasound wave capture to observe inner chamber subcutaneous tissue.Even if there is the endoscope with ultrasonic therapeutic function, restriction due to a treatment focal range, add that ultrasonic therapeutic head cannot move up along the longitudinal Vertical Square for the treatment of face, make subcutaneous pathological tissues in tube chamber can not get treating completely, or because treatment focal length exceeds pathological tissues scope, subcutaneous health tissues in tube chamber is also caused and burnt, cause the unnecessary misery of patient; In addition, if need the subcutaneous pathological tissues for the treatment of different depth, also need the frequent treatment head of changing, bring very large trouble to clinical manipulation doctor.Based on these problems, in the urgent need to a kind of endoscope's the emerging in clinical practice that can eliminate these drawbacks.
Summary of the invention
The object of the invention is can not to move as required to realize for existing endoscope function singleness or the treatment head with the endoscope for the treatment of function the problem of effective treatment, design and a kind ofly can carry out ultrasonoscopy and optical imagery obtains, can make three dimensional orientation along the surface of patient's tube chamber inner disease foci position again moves arbitrarily, to realize in whole-course treatment without changing treatment head and the frequent mirror body insertion section toe angle of adjusting, just can implement the lesions position of patient's tube chamber inner surface and subcutaneous tissue different depth to carry out omnidistance image indagation and thoroughly treatment, and that can not damage human body health tissues can omnidistance indagation and treatment endoscope.
Technical scheme of the present invention is:
A kind of can omnidistance indagation and the endoscope for the treatment of, it comprises mirror body insertion section front end 1, this mirror body insertion section front end 1 is connected with endoscopic procedure portion and crooked rotation in body lumen under it is controlled, it is characterized in that rectangular guideway groove 4 in described mirror body insertion section front end 1, slide rail 3 is installed in rectangular guideway groove 4, ultrasonic therapeutic head 2 is arranged on slide rail 3 and can under the driving of Y-direction driving mechanism, on slide rail 3, moves up and down, slide rail 3 can be interior at guide-track groove 4 under the driving of X-direction driving mechanism is that X-direction moves forward and backward along mirror body insertion section front end 1 horizontal radial, slide rail 3 can also be axially moving left and right of Z-direction at guide-track groove 4 works along mirror body insertion section front end 1 under the driving of Z-direction driving mechanism simultaneously, in the insertion end near mirror body insertion section front end 1, the surrounding of guide-track groove 4, be provided with ultrasonic a period of time 6, lighting fiber 5 and image channel 7, microcam is installed in image channel, described ultrasonic a period of time 6, ultrasonic therapeutic head 2 and lighting fiber 5 are all electrically connected by data signal line 8 and Background control device, and microcam is directly delivered to background computer by the optical imagery of collection and carried out image processing, while being provided with for treatment on ultrasonic therapeutic head 2 guide-track groove 4 around, ultrasonic therapeutic head is carried out to cooling water inlet and outlet, water inlet and outlet are connected with corresponding water inlet pipe 9 and outlet pipe 10 respectively.
Described Y-direction driving mechanism is comprised of the Y-axis micro-step motor 3-2 and the Y-axis travel switch 3-4 that are arranged on slide rail 3, and ultrasonic therapeutic head 2 moves up and down along slide rail 3 under Y-axis micro-step motor 3-2 effect.
Described X-direction driving mechanism is comprised of the X axis micro-step motor 3-1 being connected with slide rail 3 and X axis travel switch 3-3, and X axis micro-step motor 3-1 drives slide rail 3 to do moving forward and backward of X axis.
Described Z-direction driving mechanism is comprised of the Z-axis direction micro-step motor 4-1 and the Z-axis direction travel switch 4-2 that are arranged on guide-track groove 4, and it is axially moving left and right of Z-direction along mirror body insertion section front end 1 that Z-axis direction micro-step motor 4-1 drives slide rail 3 to do.
Described water inlet and outlet are positioned on the both sides up and down or left and right sides of guide-track groove 4.
In the insertion end of described mirror body insertion section front end 1, translucent cover 11 is installed.
Beneficial effect of the present invention:
Endoscope body diversity photoimaging collection of the present invention, ultrasonography collection and ultrasonic therapy function are in one; The ultrasonic therapeutic head of ultrasonic therapy function can be done along human lumen surface and subcutaneous tissue lesions position mobile arbitrarily in three dimensional orientation, thoroughly solve thus because of the restriction of ultrasonic therapeutic head fixed focal length and can not vertically vertically move the brought halfway drawback that focus subcutaneous tissue is treated at tube chamber inner surface; In addition, also solved because of existing endoscope ultrasonic therapeutic head focal range unadjustablely, or exceeded when injected organism tissue focus scope, caused the negative consequence of the healthy when injected organism tissue of burning in treatment.Controlling organization just because of ultrasonic therapeutic head can be under intelligent control program effect, according to the mass range curve of drawing in lesion image, combined treatment calculation of parameter, feedback control treatment head is along tube chamber inner disease foci area three-dimensional dimensional orientation moving treatment, formed pancratic ultrasound wave function, make tube chamber inner surface and hypodermic different depth lesions position be able to thoroughly cover treatment, also having exempted doctor simultaneously needs frequent mobile endoscope insertion part and brings operational inconvenience.Find out thus, endoscope of the present invention has had the misery alleviating in patient treatment in clinical use, improves state of an illness treatment effect, has brought facility also to clinicist on substantial length of operation is used simultaneously.
The present invention is applicable to noinvasive or Wicresoft carries out indagation and treatment to patient's tube chamber inner surface and tube chamber subendothelial tissue lesion tissue; Ultrasonic therapeutic head wherein can move arbitrarily along three dimensions in cavity under controlling organization effect, in omnidistance examination and treatment without changing ultrasonic therapeutic head, also without frequent manually passing insertion section transposition treatment, just can realize at patient's tube chamber inner surface and subcutaneous lesion tissue and implement omnidistance observation and treatment, and can damage healthy tissues, contribute to alleviate patient's misery, also facilitated clinical diagnosis and treatment doctor's operation simultaneously.
The present invention is simple in structure, utilize any movement that existing single group micro-step motor controlling organization can guiding target body makes progress as one-dimensional square under software program is controlled, realized and in three dimensional orientation, done mobile arbitrarily by three cover micro-step motor control volume guiding treatment heads, be very easy to doctor's operation, improve surgical result, promoted operative treatment to intelligent development.
Accompanying drawing explanation
Tu1Shi endoscope of the present invention ultrasonic use treatment flow chart.
Fig. 2 is endoscope insertion part front-end architecture schematic diagram of the present invention.
Fig. 3 is the sectional structure schematic diagram of Fig. 2.
In figure: 1, mirror body insertion section front end, 2, ultrasonic therapeutic head, 3, slide rail, 3-1, X axis micro-step motor, 3-2, Y-axis micro-step motor, 3-3, X axis lead limit switch, 3-4, Y-axis lead limit switch, 4, guide-track groove, 4-1, Z-axis direction micro-step motor, 4-2, Z-axis direction lead limit switch, 5, light-conductive optic fibre, 6, ultrasonic a period of time, 7, image channel, 8, holding wire, 9, water inlet pipe, 9-1, water inlet, 10, outlet pipe, 10-1, outlet, 11, translucent cover.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is further illustrated.
As Figure 2-3.
A kind of can omnidistance indagation and the endoscope for the treatment of, it comprises mirror body insertion section front end 1, this mirror body insertion section front end 1 be connected with endoscopic procedure portion and can be under endoscopic procedure portion controls in body lumen crooked rotation, in the insertion end of mirror body insertion section front end 1, translucent cover 11 is installed, as shown in Figure 2, rectangular guideway groove 4 in the front end 1 of mirror body insertion section, mirror body insertion section front end 1 whole cylindrical structure, cross section is as shown in Figure 3.Slide rail 3 is installed in rectangular guideway groove 4, ultrasonic therapeutic head 2 is arranged on slide rail 3 and can under the driving of Y-direction driving mechanism, on slide rail 3, moves up and down, slide rail 3 can be interior at guide-track groove 4 under the driving of X-direction driving mechanism is that X-direction moves forward and backward along mirror body insertion section front end 1 horizontal radial, and can also under the driving of Z-direction driving mechanism, at guide-track groove 4, to do be axially moving left and right of Z-direction along mirror body insertion section front end 1 to slide rail 3 simultaneously; In the insertion end near mirror body insertion section front end 1, the surrounding of guide-track groove 4, be provided with ultrasonic a period of time 6, lighting fiber 5 and image channel 7, as shown in Figure 3, microcam is installed in image channel, and described ultrasonic a period of time 6, lighting fiber 5 and microcam are all electrically connected by data signal line 8 and Background control device; While being provided with for treatment, ultrasonic therapeutic head is carried out to cooling water inlet and outlet on ultrasonic therapeutic head 2 guide-track groove 4 around, water inlet 9-1 and outlet 10-1 are opened on the both sides up and down or left and right sides of guide-track groove 4, and they are connected with corresponding water inlet pipe 9 and outlet pipe 10 respectively.The driving mechanism of three directions of the present invention can be directly from the corresponding micro drives of market purchasing mechanism, wherein Y-direction driving mechanism is comprised of the Y-axis micro-step motor 3-2 and the Y-axis travel switch 3-4 that are arranged on slide rail 3, and ultrasonic therapeutic head 2 moves up and down along slide rail 3 under Y-axis micro-step motor 3-2 effect.Described X-direction driving mechanism is comprised of the X axis micro-step motor 3-1 being connected with slide rail 3 and X axis travel switch 3-3, and X axis micro-step motor 3-1 drives slide rail 3 to do moving forward and backward of X axis.Described Z-direction driving mechanism is comprised of the Z-axis direction micro-step motor 4-1 and the Z-axis direction travel switch 4-2 that are arranged on guide-track groove 4, and it is axially moving left and right of Z-direction along mirror body insertion section front end 1 that Z-axis direction micro-step motor 4-1 drives slide rail 3 to do.
The present invention utilizes optical system and ultrasound image system capture observation human lumen surface and hypodermic focus situation respectively, for clinicist, carries out diagnoses and treatment; In addition, its insertion section front end is also with the treatment head of ultrasonic therapy function, utilize heat effect, mechanical effect and the cavitation effect of ultrasonic therapy, and under the effect by Jing Tinei intelligence control system mechanism, can, according to size and the region of tube chamber inner surface and subcutaneous tissue lesions position, along the surface of patient's tube chamber inner disease foci position, make three dimensional orientation and move arbitrarily.Can realize thus in whole-course treatment without changing treatment head and the frequent mirror body insertion section front end of adjusting, just can implement the lesions position of patient's tube chamber inner surface and subcutaneous tissue different depth to carry out omnidistance image indagation and thoroughly treatment, and can not damage human body health tissues.The misery that has alleviated thus patient, has improved curative effect, has also facilitated clinicist's operation simultaneously.
When needs inspections and examinations human lumen surface and subcutaneous tissue image, can be chosen in respectively the capture button on mirror body handle, or the software image button that is connected to computer and moves in computer, now can in computer display, observe tube chamber inner surface image and tube chamber subendothelial tissue image, this image can be edited it, intercept, preserves after clinicist carries out diagnostic observation.The lesions position for the treatment of for needs, clinicist can edit drafting on lesion image, draws focus curve ranges, determines thus lesions position and therapeutic domain.The therapeutic domain identifying and figure can relate to following ultrasonic therapy parameter after starting treatment:
I
TP=(P
A)
2/ρc （1）
I
TA=W/S （2）
Wherein: I in formula (1)
tPfor temporal peak intensity, P
afor sound pressure amplitude, ρ is Media density, and c is the velocity of sound; I in formula (2)
tAfor the time average peak sound intensity, W is the acoustical power of probe radiation, and S is the effective swept area of probe.
Due to heat effect, mechanical effect and the cavitation effect that in tube chamber, human body lesion tissue produces under ultrasonic therapy effect, there is following heat energy and sound intensity parameter conversion relation:
Q=2αIt （3）
α=0.026f
1.1 （4）
ΔT=0.052Itf
1.1/ρc
m （5）
Wherein: in formula (3), Q is that (unit is J/cm to heat energy
3), I(unit is W/cm
2) be the sound intensity, α (unit is Np/cm) is acoustical absorptivity; Formula (4) Zhongf(unit is MHz) be ultrasonic frequency; Formula (5) ZhongΔ T(unit is a ° C) under ul-trasonic irradiation, the temperature rise of when injected organism tissue in the t time, c
m(unit is J/cm
3° C) be specific heat, (unit is g/cm to ρ
3) be the mass density of soft tissue.
Above-mentioned various for start the parameter conversion relation producing after treatment at ultrasound wave, call parameter in these clinical practices, or be built in ultrasonic therapy control sequence, or by manually inputting in computer operation, the values such as the heat energy of human body lesions position and temperature rise thus can obtain medical treatment in ultrasonic therapeutic process, the values such as these heat energy and temperature rise, with reference to the value limit given in plug-in, and be preset at area for treatment scope in lesion image, control circuit and program can feed back to these parameter values in ultrasonic therapy control sequence, just can in therapeutic process, control ultrasonic therapeutic head and treat the displacement of face on three-dimensional position along inner chamber, translational speed and treatment time, guarantee the effectiveness to lesions position treatment, and health tissues is not burnt, and can be at therapeutic process and the omnidistance call parameter that records therapeutic outcome at the end, comprise treatment time, treatment position, human body position heat, send the parameter values such as power, and be stored in the picture library of therapentic part state, for doctor inquiry, also play and avoid same lesions position and repeatedly treated or futile treatment simultaneously.
Use procedure of the present invention and method, as Fig. 1, by optical imagery and ultra sonic imaging, can obtain respectively human lumen surface and subcutaneous depth tissue image.By the image of obtaining, can judge lesions position situation for clinical diagnosis and treatment doctor; According to lesions position illness analysis, by clinicist, drawn out the lesions position scope envelope diagram that needs treatment, according to envelope diagram, choose, can calculate ultrasonic therapeutic head needs the parameters such as the distance of stroke, treatment time, longitudinal (Y-direction) and horizontal (Z-direction) translational speed and feeds back to ultrasonic therapeutic head controlling organization, an order that waits treatment head to be controlled to start.If select, start ultrasonic therapeutic, ultrasonic therapeutic head can be made laterally (Z-direction), longitudinal (Y-direction) and vertical tube cavity inner surface orientation (X-direction) moving treatment along focus region inner surface, after the treatment of in moving treatment process and region, can record its motion track, treatment time, therapentic part, and calculate the thermal energy that therapentic part produces, with built-in ultrasonic therapeutic parameter comparison, thereby determine treatment time and the translational speed of ultrasonic therapeutic head, guarantee completeness and the effectiveness of therapentic part, avoid the being repeated property treatment of same position simultaneously.After a certain lesions position treatment, if need, continue to check and treat next position, can from endoscope handle operator panel buttons or computer picture control software, choose corresponding button, start next focus range check and the treatment of a new round; If stop, check or treatment, can choose and exit operation, finish this treatment activity.
Shown in Fig. 2 is endoscope insertion part front-end architecture figure, and it is comprised of parts such as ultrasonic therapeutic head 2, slide rail 3 guide-track grooves 4.Ultrasonic therapeutic head 2 is embedded on slide rail 3, and is moved for it provides Y-axis by slide rail 3; X axis micro-step motor 3-1, Y-axis micro-step motor 3-2, X axis lead limit switch 3-3, Y-axis lead limit switch 3-4 are installed on slide rail 3.Guide-track groove 3 is arranged on guide-track groove 4, and can, under the effect of micro-step motor 4-1 controlling organization, along guide-track groove 4 left and right directions, be that Z-axis direction moves.In therapeutic process, according to selected lesions position scope curve, under the same degree of depth, can drive ultrasonic therapeutic head to make at the uniform velocity moving treatment of X axis and Y-axis along tube chamber inner surface by X axis micro-step motor 3-1 and Y-axis micro-step motor 3-2, and stop the offside movement of ultrasonic therapeutic head by X axis lead limit switch 3-3 and Y-axis lead limit switch 3-4; In different depth subcutaneous tissue focus region, by the Z-axis direction micro-step motor 4-1 being arranged on guide-track groove 4, drive the slide rail 3 that ultrasonic therapeutic head 2 is installed along moving left and right in Z-direction, to guarantee completeness and the effectiveness of lesions position treatment, the direction arrow in figure also illustrates the direction that ultrasonic therapy mechanism moves.One end of water inlet pipe 9 and outlet pipe 10 is connected to water inlet 9-1 and the outlet 10-1 of guide-track groove 4 upper sheds, the other end connects respectively magnetic drive pump, effect is to reduce the temperature that ultrasonic therapeutic head itself produces in therapeutic process, guarantees safety and the effectiveness of therapeutic process.The tube chamber inner surface image that image channel 7 is absorbed by object lens reaches in computer, for inspections and examinations; Holding wire 8 connects the tube chamber subendothelial tissue ultrasonoscopy being generated by ultrasonic a period of time 6 and is sent to computer.Meanwhile, the control signal that acts on ultrasonic therapeutic head 2 is also transmitted by holding wire 8.Translucent cover 11 is fixed on mirror body insertion section top end face, sealing Jing Ti insertion section mechanism, and do not hinder optical channel and ultrasound wave operating path.
Mirror body insertion section tip section figure as shown in Figure 3.Each corresponding sequence number sign on it, all narrations to some extent in Fig. 2.
The present invention observes and therapy equipment as a kind of endoscopic images, optics and each self-generating of ultrasound wave and station diagram that can not function replacement are looked like to carry out capture observation, and can be according to the observation at tube chamber inner surface and hypodermic lesions position, carry out ultrasonic therapy, there is Wicresoft or noninvasive therapeutic effect; By the intelligent control program of setting, according to the degree of depth of lesions position, allow ultrasonic therapeutic head do three-dimensional direction moving treatment, formed a kind of pancratic therapeutic state.Therefore, can be according to setting focus curvilinear figure and treating parameter and avoid healthy when injected organism tissue in therapeutic process, simultaneously, can implement treatment completely to tube chamber inner surface and the subcutaneous tissue lesions position with the needs treatment of different depth, solve thus endoscope on the market and used unicity in function and the no thoroughness for the treatment of.The gate of endoscope in clinical practice opened in Ye Wicresoft or noinvasive, safety, effectiveness aspect.
The part that the present invention does not relate to all prior art that maybe can adopt same as the prior art is realized.
Claims (6)
- One kind can omnidistance indagation and the endoscope for the treatment of, it comprises mirror body insertion section front end (1), this mirror body insertion section front end (1) is connected with endoscopic procedure portion and crooked rotation in body lumen under it is controlled, it is characterized in that rectangular guideway groove (4) in described mirror body insertion section front end (1), slide rail (3) is installed in rectangular guideway groove (4), ultrasonic therapeutic head (2) is arranged on slide rail (3) above and can under the driving of Y-direction driving mechanism, on slide rail (3), moves up and down, slide rail (3) can be that X-direction moves forward and backward along mirror body insertion section front end (1) horizontal radial under the driving of X-direction driving mechanism in guide-track groove (4), slide rail (3) can also be axially moving left and right of Z-direction at guide-track groove (4) work along mirror body insertion section front end (1) under the driving of Z-direction driving mechanism simultaneously, near the insertion end of mirror body insertion section front end (1), the surrounding of guide-track groove (4) is provided with ultrasonic a period of time (6), lighting fiber (5) and image channel (7), microcam is installed in image channel, and described ultrasonic a period of time (6), ultrasonic therapeutic head (2) and lighting fiber (5) are all by data signal line (8) and the electrical connection of Background control device, while being provided with for treatment on ultrasonic therapeutic head (2) guide-track groove (4) around, ultrasonic therapeutic head is carried out to cooling water inlet and outlet, water inlet and outlet are connected with corresponding water inlet pipe (9) and outlet pipe (10) respectively.
- 2. endoscope according to claim 1, it is characterized in that described Y-direction driving mechanism is comprised of the Y-axis micro-step motor (3-2) and the Y-axis limitation travel switch (3-4) that are arranged on slide rail (3), ultrasonic therapeutic head (2) moves up and down along slide rail (3) at Y-axis micro-step motor (3-2).
- 3. endoscope according to claim 1, it is characterized in that described X-direction driving mechanism is comprised of the X axis micro-step motor (3-1) being connected with slide rail (3) and X axis travel switch (3-3), X axis micro-step motor (3-1) drives slide rail (3) to do moving forward and backward of X axis.
- 4. endoscope according to claim 1, it is characterized in that described Z-direction driving mechanism is comprised of the Z-axis direction micro-step motor (4-1) and the Z-axis direction travel switch (4-2) that are arranged on guide-track groove (4), it is axially moving left and right of Z-direction along mirror body insertion section front end (1) that Z-axis direction micro-step motor (4-1) drives slide rail (3) to do.
- 5. endoscope according to claim 1, is characterized in that on both sides up and down or left and right sides that described water inlet and outlet be positioned at guide-track groove (4).
- 6. endoscope according to claim 1, is provided with translucent cover (11) in the insertion end of the mirror body insertion section front end (1) described in it is characterized in that.
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