WO2022087918A1 - 一种内腔镜机器人及其使用方法 - Google Patents
一种内腔镜机器人及其使用方法 Download PDFInfo
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- WO2022087918A1 WO2022087918A1 PCT/CN2020/124524 CN2020124524W WO2022087918A1 WO 2022087918 A1 WO2022087918 A1 WO 2022087918A1 CN 2020124524 W CN2020124524 W CN 2020124524W WO 2022087918 A1 WO2022087918 A1 WO 2022087918A1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B34/30—Surgical robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Definitions
- the invention relates to the technical field of medical devices, in particular to an endoscopic robot and a method for using the same.
- endoscopy such as gastroscope and hysteroscopy
- Gastroscopy is to enter the stomach through a gastroscope, so that the doctor can observe the actual situation in the stomach or obtain the test objects, so as to give a diagnosis of the stomach.
- Existing gastroscopes are mainly operated manually, which has many disadvantages. Not only is the comfort very poor, but it also brings painful experience to patients, and may even lead to serious consequences such as adverse reactions or gastric perforation. Patient comfort and ease of examination are urgently needed.
- the main purpose of the present invention is to provide an endoscopic robot and a method for using the same, so as to avoid the disadvantages of low inspection accuracy and poor patient comfort caused by the operation of common endoscopic endoscopes only by relying on the experience of medical personnel.
- the endoscopic robot is supported and fixed in the cavity, and can move freely in the cavity, which improves the inspection efficiency and effect of endoscopic examination and improves the comfort of patients. Safety incidents are of great significance.
- the present invention provides an endoscopic robot, the endoscopic robot includes: a casing, a support assembly and an image acquisition device,
- the support assembly includes at least one support arm, the support arm includes a support seat, an angle adjustment device and a telescopic device, the support seat contacts the inner wall and supports, the angle adjustment device is used to adjust the angle of the support arm, the telescopic device The device is used to adjust the length of the support arm.
- the support arm extends and is supported in the cavity, so that the position of the endoscopic robot in the cavity is fixed;
- the image acquisition device is used for capturing images in the cavity.
- the support base is provided with an adsorption device, and the adsorption device is used for adsorption on the inner wall.
- the endoscopic robot further includes a robotic arm, and the image acquisition device is arranged on the robotic arm, so that the image acquisition device can acquire images at a suitable position.
- the endoscopic robot further includes a surgical arm for performing medical operations and operations in the cavity, and the surgical arm includes a knife, scissors, needles, forceps, clips, and electric welding heads. , at least one of an electric soldering head, an electric baking head, a light probe, a radioactive probe, an ultrasonic probe, an electromagnetic probe, a rinsing device, and a cleaning device.
- the endoscopic robot further includes a medicine application device, and the medicine application device is used for applying medicine in the cavity.
- the endoscopic robot further includes a processor, and the processor can automatically control the endoscopic robot according to the intracavity image according to the intracavity image captured by the image acquisition device. Perform medical surgery and operations.
- the endoscopic robot further includes a communication module for returning a captured intracavity image and/or receiving an operation instruction, and the endoscopic robot performs the operation according to the received operation instruction operate.
- the endoscopic robot can move the position in the cavity by adjusting the lengths and angles of different support arms.
- the endoscopic robot transmits the captured intracavity images to an external server, and constructs a patient's intracavity model, which is used to show medical personnel the real situation in the patient's cavity, and perform the procedure.
- Symptom analysis giving diagnostic results, design/recommendation/determination of surgery or operation plan, locating the operation site, assisting in the execution of surgery/operation.
- the present invention also provides a method for using the endoscopic robot as described above, the method comprising:
- S2 The support arm is extended and supported in the cavity to fix the position of the endoscopic robot in the cavity;
- S3 The image acquisition device captures an image in the cavity.
- the present invention provides an endoscopic robot and a method of using the same.
- the endoscopic robot comprises: a casing, a support component and an image acquisition device.
- the use method of the endoscopic robot includes: the endoscopic robot enters the cavity; the support arm extends and supports in the cavity to fix the position of the endoscopic robot in the cavity; the image acquisition device captures the image in the cavity .
- the endoscopic robot and its using method of the present invention avoid the disadvantages of low inspection accuracy and poor patient comfort caused by common gastroscopes, hysteroscopes, etc. that can only be operated by relying on the experience of medical personnel, and improve the internal cavity
- the inspection efficiency and effect of endoscopy improves the comfort of patients, and is of great significance for improving medical quality, improving medical experience, and avoiding medical safety accidents.
- FIG. 1 is a schematic diagram of an endoscopic robot according to the present invention.
- FIG. 2 is a schematic diagram of a support arm of an endoscopic robot according to the present invention.
- FIG. 3 is a flow chart of a method of using an endoscopic robot according to the present invention.
- FIG. 1 is a schematic diagram of an endoscopic robot according to the present invention.
- the endoscopic robot of the present invention includes: a casing 11 , a support assembly and an image acquisition device 13 .
- the endoscopic robot of the present invention can be used for gastroscopy/surgery, hysteroscopy/surgery, and the like.
- the casing 11 is used to wrap the endoscopic robot to prevent liquid from entering and corroding.
- the support assembly includes at least one support arm 120 , and the support arm 120 includes a support base 121 , an angle adjustment device 123 and a telescopic device 122 , as shown in FIG. 2 .
- FIG. 2 is a schematic diagram of a support arm of an endoscopic robot according to the present invention.
- the support base 121 contacts and supports the inner wall
- the angle adjustment device 123 is used to adjust the angle of the support arm 120
- the telescopic device 122 is used to adjust the length of the support arm 120 .
- the support arm 120 can be located on the outer surface of the casing 11; or the casing 11 has an interlayer, and the supporting arm 120 is located in the interlayer; or it is located inside the casing 11, and extends out of the casing 11 through an opening when stretched, and the support seat 121 contacts the inner wall and is in the cavity.
- the angle of the support arm 120 can be adjusted by the angle adjustment device 123
- the length of the support arm 120 can be adjusted by the telescopic device 122 .
- the joint support of the plurality of support arms 120 makes the position of the endoscopic robot in the cavity fixed.
- the number of the support arms 120 included in the support assembly is preferably 4 or 6, and other numbers are also possible.
- Each support arm 120 includes the shape, size, and position according to the actual situation in the cavity, and the appropriate angle and angle are selected.
- the length, together with the support, can fix the position of the endoscopic robot in the cavity.
- the telescopic device 122 and the angle adjustment device 123 can be driven by electric or other means, and the telescopic device 122 can also be expanded and contracted by means of inflation.
- the endoscopic robot may further include a battery for power supply.
- the endoscopic robot of the present invention can also monitor the pressure of the support arm 120 on the inner wall by setting a pressure sensor on the support arm 120, and set a suitable threshold value. When the pressure on the inner wall reaches or approaches the threshold value, the support arm 120 is restricted from continuing to Elongate to prevent injury to the patient.
- the support base 121 may be provided with a soft pad.
- the support base 121 may also be provided with an adsorption device, and the adsorption device is used for adsorption on the inner wall.
- the adsorption device is preferably a negative pressure adsorption device, and can also be other types of adsorption devices.
- the support base 121 can also be selected from a material with a certain coefficient of friction, which can also play a role of preventing sliding.
- the image acquisition device 13 is used for capturing images in the cavity.
- the image acquisition device 13 may be a camera, an infrared imaging device, an ultrasonic imaging device, etc., which is not limited in the present invention.
- the endoscopic robot of the present invention may include one image acquisition device 13 , or may include multiple image acquisition devices 13 .
- the image capturing device 13 may be located at the front, rear or side of the housing 11, and may also include a corresponding light source for imaging.
- the endoscopic robot of the present invention can also establish an intracavity model through intracavity images captured by the image acquisition device 13 at different positions and angles, and can also include a holographic model for inspection and subsequent diagnosis and treatment.
- the endoscopic robot of the present invention may further include a robotic arm, and the image acquisition device 13 is disposed on the robotic arm, so that the image acquisition device 13 can acquire images at a suitable position.
- the image acquisition device 13 may be located inside the casing 11 or mounted on a robotic arm, and the robotic arm extends out of the casing 11 to acquire images in the cavity.
- the image acquisition device 13 may also include a rotation device, which can make the image acquisition device 13 rotate, so that the image acquisition device 13 can be combined with a robotic arm to capture images in the cavity at more angles and more positions, and can obtain more suitable positions and angles.
- the intracavity image avoids the poor effect of medical images shot by common gastroscopes and the like, so that the results obtained by the endoscopic robot of the present invention for gastroscopy are more accurate.
- An endoscopic robot of the present invention may further include an operating arm 14 for performing medical operations and operations in the cavity, and the operating arm includes knives, scissors, needles, forceps, clamps, electric welding tips, electrocautery tips, At least one of an electric roasting head, a light probe, a radioactive probe, an ultrasonic probe, an electromagnetic probe, a flushing device, and a cleaning device.
- the operating arm can be used for cutting, shearing, puncturing, suturing, clipping, welding, irrigation, sampling, probing, coagulation, hemostasis, tissue separation and incision, dredging, radiation therapy, phototherapy, hyperthermia, magnetic therapy, cleaning operations such as waste or wastewater.
- the cleaning device is preferably a device similar to a vacuum cleaner.
- the radioactive probe is preferably a gamma knife. Inspections such as gastroscopy can be performed during examinations, or relevant appropriate surgical operations can be performed after the results of the examination.
- the surgical arm 14 can also be retracted and rotated to facilitate the movement of the surgical arm to an appropriate position.
- the operating arm can also be equipped with a pressure sensor to monitor the pressure on the inner wall and set a suitable threshold. When the pressure on the inner wall reaches or approaches the threshold, the operation of the operating arm is restricted to prevent harm to the patient.
- the surgical arm can be placed inside the shell/sandwich and can be extended out of the shell during operation.
- the operating arm can also be arranged outside the housing, and is close to the target position to perform the relevant operation during operation.
- the endoscopic robot of the present invention may further comprise a medicine application device for applying medicine in the stomach.
- the drug application device can be a spray device, which is used to spray the medicine to the position where the medicine needs to be applied; it can also be a smear device, which is used to apply the medicine to the position where the medicine needs to be applied; it can also be an injection device, which is used to inject the medicine to the designated position. ; can also be an implantable device for implanting a drug at a specific location.
- the medicine application device can be located on the surface of the housing 11 or on the operating arm 14, or the medicine application device can also have a retractable and rotatable mechanical arm, which is convenient for the medicine application device to move to an appropriate position to apply medicine.
- the parts of the endoscopic robot in contact with the cavity can be provided with local anesthetics, thereby reducing local irritation and sensitivity and improving the comfort of patients.
- An endoscopic robot of the present invention may further include a processor, which can automatically control the endoscopic robot to perform medical operations and operations according to the actual situation in the cavity according to the intracavity image captured by the image acquisition device 13 .
- the endoscopic robot may further include a communication module for returning a captured intracavity image and/or receiving an operation instruction, and the endoscopic robot operates according to the received operation instruction.
- the server gives the actual operation plan according to the intracavity image, and sends the corresponding operation instruction to the endoscopic robot.
- the processor controls the endoscopic robot to operate according to the operation instruction.
- the above operating instructions may also be given by medical personnel according to intracavity images.
- the endoscopic robot of the present invention can also be operated through the combination of its own processor and external medical personnel or servers to give an operation plan.
- the endoscopic robot when the endoscopic robot operates in the cavity, it can receive operation instructions sent from the outside through a wired or wireless communication module, and then perform corresponding operations according to the operation instructions, or it can be based on the actual situation of the intracavity image, The corresponding actions are performed automatically.
- the method for giving the operation plan based on the intracavity image may be: based on the intracavity image to identify the lesion to give the inspection result, and then according to the result combined with the surgical template to give the appropriate surgical plan, the surgical template may be obtained according to the surgical treatment specification, or It can be obtained through the continuous accumulation and refinement of clinicians in the process of surgical treatment, or through big data analysis, or through artificial intelligence deep learning.
- the surgical template can be continuously adjusted and updated during use.
- the endoscopic robot of the present invention can also move the endoscopic robot in the stomach by adjusting the lengths and angles of different support arms 120 .
- the endoscopic robot When the endoscopic robot is supported and fixed in the cavity by a plurality of support arms 120, if a moving position is required for photographing or performing medical operations, the endoscopic robot can be moved in the cavity by adjusting the length and angle of different support arms 120 Location.
- the telescopic device 122 of the support arm 120 under the endoscopic robot can be adjusted to shorten the length of the support arm below, and the telescopic device 122 of the support arm 120 above the endoscopic robot can be adjusted to lengthen the length of the support arm above, which is equivalent to
- the angle and length of the support arms 120 in other directions also need to be adjusted according to the actual situation in the cavity, so that the endoscopic robot can be supported and fixed in the new position after the movement.
- the adjustment of the length and angle of each support arm can be analyzed by the processor according to the actual situation in the cavity and given specific instructions for adjustment, or the server can give the actual adjustment instruction according to the image in the cavity and send it to the endoscopic robot. , which is adjusted by the endoscopic robot according to the instructions.
- the endoscopic robot of the present invention is supported and fixed by moving the support arm, and the position of the endoscopic robot in the cavity can be moved more conveniently to perform photographing or medical operations. Compared with moving the position by the magnet, the endoscopic robot of the present invention At the same time, the mirror robot can move to any position in the cavity, and the effect of shooting or medical operation is better.
- the endoscopic robot of the present invention can also determine the position of the endoscopic robot in the cavity through the positioning device.
- the positioning device may be a B-ultrasound device or an X-ray device, which is positioned by penetrating irradiation.
- the endoscopic robot of the present invention can transmit the captured intracavity images to an external server to construct an intracavity model of a patient, which is used to show medical personnel the real situation in the patient's cavity, analyze symptoms, give diagnostic results, Design/recommendation/determination of surgery or operation plan, positioning operation site, assisting in the execution of surgery/operation.
- the intracavity model can be constructed using the captured intracavity images alone or in combination with the images of the human body cavity.
- the image in the human body cavity may be a general human body cavity image, or may be an intracavity image of a patient acquired by a B-ultrasound device or an X-ray device.
- the intracavity model can easily show the medical staff the real situation in the patient cavity. The medical staff can analyze the symptoms, give the diagnosis results, design/recommend/determine the operation or operation plan through the intracavity model, and can also combine the intracavity model.
- the model locates the operation site and assists in the execution of the surgery/operation.
- the endoscopic robot of the present invention can enter the cavity in a corresponding manner, for example, enter the stomach through oral administration, enter the uterine cavity through the vagina, or enter through other methods.
- the endoscopic robot can have a hub connected to the outside of the human body at the tail, and the tube can include wires, data cables, inflatable tubes, infusion tubes, drug delivery tubes, waste discharge tubes, and the like.
- the endoscopic robot can also be a separate capsule robot without a pipeline.
- the hub can also have a support function to push the endoscopic robot to the desired position, and the hub can also be detached from the endoscopic robot, which is convenient for the endoscopic robot to be stowed and discharged through the intestine, or to use
- the related devices such as the support arm or the surgical arm can be retracted or detached, which is convenient for the endoscopic robot to be ejected or pulled out of the body.
- the support components, surgical arms, etc. are all in a retracted state, shrinking to the inside of the shell or close to the shell.
- the support components are supported again. Open, when the operation is over, the related components return to the retracted state, which is convenient for removing or taking out the endoscopic robot.
- FIG. 3 is a flow chart of a method of using an endoscopic robot according to the present invention.
- the use method of the endoscopic robot of the present invention includes:
- S2 The support arm is extended and supported in the cavity to fix the position of the endoscopic robot in the cavity;
- S3 The image acquisition device captures an image in the cavity.
- a method of using an endoscopic robot of the present invention is based on an endoscopic robot of the present invention, and their technical features correspond one-to-one. Reference can be made to the description of the aforementioned endoscopic robot, which will not be repeated here.
- the endoscopic robot includes: a casing, a support component, and an image acquisition device.
- the use method of the endoscopic robot includes: the endoscopic robot enters the cavity; the support arm extends and supports in the cavity to fix the position of the endoscopic robot in the cavity; the image acquisition device captures the image in the cavity .
- the endoscopic robot and its using method of the present invention avoid the disadvantages of low inspection accuracy and poor patient comfort caused by common gastroscopes, hysteroscopes, etc. that can only be operated by relying on the experience of medical personnel.
- the endoscopic robot is supported and fixed in the cavity, and can move freely in the cavity, which improves the inspection efficiency and effect of gastroscopy, hysteroscopy, etc., and improves the comfort of patients. , Avoiding medical safety accidents is of great significance.
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Abstract
一种内腔镜机器人及其使用方法，内腔镜机器人包括：外壳（11）、支撑组件和影像获取装置（13）。内腔镜机器人的使用方法包括：内腔镜机器人进入腔内；支撑臂（120）伸出并在腔内支撑，固定内腔镜机器人在腔内的位置；影像获取装置（13）拍摄腔内的影像。通过内腔镜机器人及其使用方法，避免普通胃镜、宫腔镜等只能依靠医务人员的经验进行操作而造成的检查准确性低及患者舒适性差的弊端，改善了胃镜检查、宫腔镜检查等的检查效率和效果，提高了患者的舒适性。
Description
本发明涉及医疗器械技术领域，特别是涉及一种内腔镜机器人及其使用方法。
随着人们生活水平的提高，人们对于医疗服务的需求越来越高，内腔镜作为医生用来检查人体内病变的一种诊断方式，例如胃镜、宫腔镜等，应用范围十分广泛。
胃镜检查是通过胃镜进入胃内部，使医生可以观察到胃内的实际情况或取得检测物，从而给出对胃部的诊断。现有胃镜主要是通过手工人力操作，存在诸多弊端，不仅舒适性很差，给患者带来痛苦的体验，甚至可能导致不良反应或胃穿孔等严重后果，因而，提高胃镜检查的自动化程度，提高患者的舒适性和检查的易操作性，是迫切需要的。
发明内容
本发明的主要目的是：提供一种内腔镜机器人及其使用方法，避免普通内腔镜只能依靠医务人员的经验进行操作而造成的检查准确 性低及患者舒适性差的弊端，通过支撑臂使内腔镜机器人支撑并固定在腔内，并可在腔内自由移动，改善了内腔镜检查的检查效率和效果，提高了患者的舒适性，对于提高医疗质量、改善医疗体验、避免医疗安全事故有着重要的意义。
为实现上述目的，本发明提供了一种内腔镜机器人，所述内腔镜机器人包括：外壳、支撑组件和影像获取装置，
所述支撑组件包括至少一个支撑臂，所述支撑臂包括支撑座、角度调节装置和伸缩装置，所述支撑座接触内壁并支撑，所述角度调节装置用于调节支撑臂的角度，所述伸缩装置用于调节支撑臂的长度，在所述支撑组件工作时，支撑臂伸出并在腔内支撑，使内腔镜机器人在腔内的位置固定；
所述影像获取装置用于拍摄腔内的影像。
如上所述的一种内腔镜机器人，所述支撑座设置有吸附装置，所述吸附装置用于吸附在内壁上。
如上所述的一种内腔镜机器人，所述内腔镜机器人还包括机械臂，所述影像获取装置设置在所述机械臂上，使所述影像获取装置能够在合适的位置获取影像。
如上所述的一种内腔镜机器人，所述内腔镜机器人还包括手术臂，用于在腔内进行医疗手术及操作，所述手术臂包括刀、剪、针、钳、 夹、电焊头、电烙头、电烤头、光照探头、放射性探头、超声波探头、电磁探头、冲洗装置、清理装置中的至少一个。
如上所述的一种内腔镜机器人，所述内腔镜机器人还包括上药装置，所述上药装置用于在腔内上药。
如上所述的一种内腔镜机器人，所述内腔镜机器人还包括处理器，所述处理器能够根据所述影像获取装置拍摄的腔内影像自动控制所述内腔镜机器人根据腔内实际情况进行医疗手术及操作。
如上所述的一种内腔镜机器人，所述内腔镜机器人还包括通讯模块，用于回传拍摄的腔内影像和/或接收操作指令，所述内腔镜机器人按照接收的操作指令进行操作。
如上所述的一种内腔镜机器人，所述内腔镜机器人通过调节不同支撑臂的长度和角度，使内腔镜机器人在腔内移动位置。
如上所述的一种内腔镜机器人，所述内腔镜机器人将拍摄的腔内影像传输至外部服务器，构建出患者的腔内模型，用于向医务人员展现患者腔内的真实情况，进行症状分析、给出诊断结果、手术或操作方案的设计/推荐/确定、定位操作位点、辅助手术/操作的执行。
本发明还提供一种如上所述的内腔镜机器人的使用方法，所述方法包括：
S1：所述内腔镜机器人进入腔内；
S2：支撑臂伸出并在腔内支撑，固定内腔镜机器人在腔内的位置；
S3：所述影像获取装置拍摄腔内的影像。
本发明的一种内腔镜机器人及其使用方法，内腔镜机器人包括：外壳、支撑组件和影像获取装置。内腔镜机器人的使用方法包括：所述内腔镜机器人进入腔内；支撑臂伸出并在腔内支撑，固定内腔镜机器人在腔内的位置；所述影像获取装置拍摄腔内的影像。通过本发明的一种内腔镜机器人及其使用方法，避免普通胃镜、宫腔镜等只能依靠医务人员的经验进行操作而造成的检查准确性低及患者舒适性差的弊端，改善了内腔镜检查的检查效率和效果，提高了患者的舒适性，对于提高医疗质量、改善医疗体验、避免医疗安全事故有着重要的意义。
图1是本发明一种内腔镜机器人的示意图。
图2是本发明一种内腔镜机器人支撑臂的示意图。
图3是本发明一种内腔镜机器人的使用方法的方法流程图。
为进一步阐述本发明达成预定目的所采取的技术手段及功效，以下结合附图及实施例，对本发明的具体实施方式，详细说明如下。
本发明第一实施例参阅图1。图1是本发明一种内腔镜机器人的示意图。如图所示，本发明的内腔镜机器人包括：外壳11、支撑组件和影像获取装置13。本发明的内腔镜机器人可以用于胃镜检查/手术、宫腔镜检查/手术等。
外壳11用于包裹内腔镜机器人，防止液体进入及腐蚀。
支撑组件包括至少一个支撑臂120，支撑臂120包括支撑座121、角度调节装置123和伸缩装置122，如图2所示。图2是本发明一种内腔镜机器人支撑臂的示意图。支撑座121接触内壁并支撑，角度调节装置123用于调节支撑臂120的角度，伸缩装置122用于调节支撑臂120的长度。
支撑臂120可以位于外壳11的外表面；或者外壳11具有夹层，支撑臂120位于的夹层内；或者位于外壳11内部，撑开时通过开孔伸出外壳11，支撑座121接触内壁并在腔内支撑，通过角度调节装置123可以调节支撑臂120的角度，伸缩装置122可以调节支撑臂120的长度。多个支撑臂120的共同配合支撑，使内腔镜机器人在腔内的位置固定。在本发明中，支撑组件所包含的支撑臂120的数量优选为4个或6个，也可以为其他数量，各个支撑臂120根据腔内实际情况包括形状、大小、位置，选择适合的角度和长度，共同配合支撑 使内腔镜机器人在腔内的位置固定。伸缩装置122和角度调节装置123可以是电动或其他方式驱动的，伸缩装置122也可以通过充气的方式来实现伸缩。所述内腔镜机器人还可以包括电池，用于供电。
本发明的内腔镜机器人，还可以通过在支撑臂120设置压力传感器，监测支撑臂120对内壁的压力，并设置适合旳阈值，当对内壁的压力达到或接近阈值时，限制支撑臂120继续伸长，防止对患者造成伤害。
本发明的内腔镜机器人，为了增加舒适性，支撑座121可以设置有软垫。为了增加固定的稳固性，支撑座121还可以设置有吸附装置，所述吸附装置用于吸附在内壁上。在本发明中，吸附装置优选为负压吸附装置，也可以是其他类型的吸附装置。支撑座121也可以选用具有一定摩擦系数的材料，也可以起到防止滑动的作用。
影像获取装置13用于拍摄腔内的影像。影像获取装置13可以是摄像头、红外成像装置、超声波成像装置等，本发明不作限制。本发明的内腔镜机器人，可以包括一个影像获取装置13，也可以包括多个影像获取装置13。影像获取装置13可以位于外壳11的前部、后部或侧面，还可以包括配合成像的相应光源。本发明的内腔镜机器人，还可以通过影像获取装置13所拍摄的不同位置、不同角度的腔内影像，建立腔内模型，也可以包括全息模型，用于检查以及后续的诊断和治疗。
本发明的内腔镜机器人还可以包括机械臂，影像获取装置13设置在所述机械臂上，使影像获取装置13能够在合适的位置获取影像。影像获取装置13可以位于外壳11的内部，也可以安装在机械臂上，经由机械臂伸出外壳11外获取腔内的影像。影像获取装置13还可以包括旋转装置，可以使影像获取装置13进行旋转，从而可以结合机械臂使影像获取装置13以更多角度更多位置拍摄腔内的影像，能够获取位置和角度更合适的腔内影像，避免了普通胃镜等拍摄的医学影像效果不佳的情况，使得通过本发明的内腔镜机器人进行胃镜检查得到的结果更准确。
本发明的一种内腔镜机器人，还可以包括手术臂14，用于在腔内进行医疗手术及操作，所述手术臂包括刀、剪、针、钳、夹、电焊头、电烙头、电烤头、光照探头、放射性探头、超声波探头、电磁探头、冲洗装置、清理装置中的至少一个。手术臂可以用于进行切、剪、穿刺、缝合、夹取、焊接、冲洗、取样、探查、电凝、止血、组织分离与切开、疏通、放射治疗、光疗、热疗、磁疗、清理废物或废水等操作。本发明中，清理装置优选为类似吸尘器的装置。本发明中，放射性探头优选为伽玛刀。在胃镜等检查时可以进行取检等操作，或者是在检查有结果后可以进行相关适合的手术操作。手术臂14还可以伸缩和旋转，方便手术臂移动到适当的位置。手术臂还可以设置压力传感器，监测对内壁的压力，并设置适合旳阈值，当对内壁的压力达到或接近阈值时，限制手术臂的操作，防止对患者造成伤害。手术臂 可以设置于外壳内部/夹层，操作时可伸出到壳外。手术臂也可以设置于外壳外部，操作时靠近目标位置实施相关手术。
本发明的内腔镜机器人还可以包括上药装置，用于在胃内上药。上药装置可以是喷射装置，用于向需要上药的位置喷射药水；也可以是涂抹装置，用于向需要上药的位置涂抹药物；也可以是注射装置，用于将药物注射至指定位置；也可以是植入装置，用于在特定位置植入药物。上药装置可以位于外壳11表面，也可以位于手术臂14，或者上药装置也可以具有可伸缩和旋转的机械臂，方便上药装置移动到适当的位置上药。
本发明的一种内腔镜机器人，内腔镜机器人与腔内接触的部件如支撑臂、手术臂等，可以有局麻药物，降低局部刺激性和敏感性，提高患者的舒适性。
本发明的一种内腔镜机器人，还可以包括处理器，所述处理器能够根据影像获取装置13拍摄的腔内影像自动控制所述内腔镜机器人根据腔内实际情况进行医疗手术及操作。在本发明中，内腔镜机器人还可以包括通讯模块，用于回传拍摄的腔内影像和/或接收操作指令，所述内腔镜机器人按照接收的操作指令进行操作。通过将腔内影像传输至外部的服务器，由服务器根据腔内影像给出实际的操作方案，并将对应的操作指令发送给内腔镜机器人，内腔镜机器人的通讯模块接收到操作指令后，处理器按照操作指令控制内腔镜机器人进行操作。上述操作指令也可以是由医务人员根据腔内影像给出的。本发明的内 腔镜机器人也可以是通过自身的处理器和外部的医务人员或服务器结合给出操作方案进行操作。在本发明中，内腔镜机器人在腔内进行操作时，可以是通过有线或无线通讯模块接收外部发送的操作指令，然后按照操作指令进行相应操作，也可以是根据腔内影像的实际情况，自动进行相应的操作。
基于腔内影像给出操作方案的方法可以是；基于腔内影像识别病灶给出检查结果，再根据结果结合手术模板给出适合的手术方案，手术模板可以是根据手术治疗规范得到的，或者是通过临床医生在手术治疗过程中不断积累和细化得到的，也可以是通过大数据分析得到的，或者是通过人工智能深度学习得到的，手术模板可以在使用过程中不断调整及更新。
本发明的内腔镜机器人，还可以通过调节不同支撑臂120的长度和角度，使内腔镜机器人在胃内移动位置。当内腔镜机器人通过多个支撑臂120支撑并固定在腔内时，如果拍摄或进行医疗操作需要移动位置，可以通过调节不同支撑臂120的长度和角度，使内腔镜机器人在腔内移动位置。例如：可以调节内腔镜机器人下方的支撑臂120的伸缩装置122使下方的支撑臂长度缩短，同时调节内腔镜机器人上方的支撑臂120的伸缩装置122使上方的支撑臂长度伸长，相当于内腔镜机器人在腔内向下移动，其他方位的支撑臂120也需要根据腔内实际情况调整角度及长度，使内腔镜机器人可以在移动后的新位置支撑并固定。各支撑臂的长度和角度的调节可以是由处理器根据腔内实际 情况分析并给出调节的具体指令，也可以是由服务器根据腔内影像给出实际的调节指令并发送给内腔镜机器人，由内腔镜机器人按照指令进行调节。
本发明的内腔镜机器人通过移动支撑臂来支撑固定，并移动内腔镜机器人的在腔内的位置，可以更方便的进行拍摄或医疗操作，相对于通过磁石移动位置，本发明的内腔镜机器人同时可以移动到腔内任意位置，拍摄或医疗操作的效果更好。
本发明的内腔镜机器人，还可以通过定位装置确定内腔镜机器人的在腔内的位置。所述定位装置可以是B超装置或X光装置，通过穿透照射来定位。
本发明的内腔镜机器人，可以将拍摄的腔内影像传输至外部服务器，构建出患者的腔内模型，用于向医务人员展现患者腔内的真实情况，进行症状分析、给出诊断结果、手术或操作方案的设计/推荐/确定、定位操作位点、辅助手术/操作的执行。
构建腔内模型可以单独使用拍摄的腔内影像，也可以再结合人体腔内的图像。人体腔内的图像可以是通用的人体腔内图像，也可以是通过B超装置或X光装置等获取的患者腔内图像。通过腔内模型可以方便的向医务人员展现患者腔内的真实情况，医务人员可以通过腔内模型进行症状分析、给出诊断结果、手术或操作方案的设计/推荐/确定，还可以结合腔内模型定位操作位点、辅助手术/操作的执行。
本发明的内腔镜机器人进入腔内可以采用相应的方式，例如：通过口服进入胃内，通过***进入宫腔内，也可以采用其他方式进入。内腔镜机器人可以在尾部带有连接至人体外的集线管，管内可以包括电线、数据线、充气管、输液管、输药管、排废管等。内腔镜机器人也可以不带管线，为单独的胶囊状机器人。集线管还可以有支撑作用，用于将内腔镜机器人推送到所需位置，集线管还可以从内腔镜机器人脱开，便于内腔镜机器人收起后经肠道排出，或者使用结束后，相关装置如支撑臂或手术臂可以收回或分离，便于内腔镜机器人排出或拉出人体外。内腔镜机器人进入人体的过程中，支撑组件、手术臂等都处于收起状态，收缩至外壳内部或紧贴外壳，当内腔镜机器人到达合适位置或接收到相应指令时，支撑组件再撑开，当操作结束后，相关组件又回到收起状态，便于排除或取出内腔镜机器人。
本发明第二实施例参阅图3。图3是本发明一种内腔镜机器人的使用方法的方法流程图。本发明的内腔镜机器人的使用方法，包括：
S1：所述内腔镜机器人进入腔内；
S2：支撑臂伸出并在腔内支撑，固定内腔镜机器人在腔内的位置；
S3：所述影像获取装置拍摄腔内的影像。
本发明的一种内腔镜机器人的使用方法是基于本发明的一种内腔镜机器人的，它们技术特征一一对应，可以参照前述一种内腔镜机器人的说明，在此不再赘述。
综上所述，本发明的一种内腔镜机器人及其使用方法，内腔镜机器人包括：外壳、支撑组件和影像获取装置。内腔镜机器人的使用方法包括：所述内腔镜机器人进入腔内；支撑臂伸出并在腔内支撑，固定内腔镜机器人在腔内的位置；所述影像获取装置拍摄腔内的影像。通过本发明的一种内腔镜机器人及其使用方法，避免普通胃镜、宫腔镜等只能依靠医务人员的经验进行操作而造成的检查准确性低及患者舒适性差的弊端，通过支撑臂使内腔镜机器人支撑并固定在腔内，并可在腔内自由移动，改善了胃镜检查、宫腔镜检查等的检查效率和效果，提高了患者的舒适性，对于提高医疗质量、改善医疗体验、避免医疗安全事故有着重要的意义。
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限定本发明的保护范围，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
Claims (10)
- 一种内腔镜机器人，其特征在于，所述内腔镜机器人包括：外壳、支撑组件和影像获取装置，所述支撑组件包括至少一个支撑臂，所述支撑臂包括支撑座、角度调节装置和伸缩装置，所述支撑座接触内壁并支撑，所述角度调节装置用于调节支撑臂的角度，所述伸缩装置用于调节支撑臂的长度，在所述支撑组件工作时，支撑臂伸出并在腔内支撑，使内腔镜机器人在腔内的位置固定；所述影像获取装置用于拍摄腔内的影像。
- 根据权利要求1所述的一种内腔镜机器人，其特征在于：所述支撑端设置有吸附装置，所述吸附装置用于吸附在内壁上。
- 根据权利要求1所述的一种内腔镜机器人，其特征在于：所述内腔镜机器人还包括机械臂，所述影像获取装置设置在所述机械臂上，使所述影像获取装置能够在合适的位置获取影像。
- 根据权利要求1所述的一种内腔镜机器人，其特征在于：所述内腔镜机器人还包括手术臂，用于在腔内进行医疗手术及操作，所述手术臂包括刀、剪、针、钳、夹、电焊头、电烙头、电烤头、光照探头、放射性探头、超声波探头、电磁探头、冲洗装置、清理装置中的至少一个。
- 根据权利要求1所述的一种内腔镜机器人，其特征在于：所述内 腔镜机器人还包括上药装置，所述上药装置用于在腔内上药。
- 根据权利要求1-5中任一权利要求所述的一种内腔镜机器人，其特征在于：所述内腔镜机器人还包括处理器，所述处理器能够根据所述影像获取装置拍摄的腔内影像自动控制所述内腔镜机器人根据腔内实际情况进行医疗手术及操作。
- 根据权利要求1-5所述的一种内腔镜机器人，其特征在于：所述内腔镜机器人还包括通讯模块，用于回传拍摄的腔内影像和/或接收操作指令，所述内腔镜机器人按照接收的操作指令进行操作。
- 根据权利要求6或7所述的一种内腔镜机器人，其特征在于：所述内腔镜机器人通过调节不同支撑臂的长度和角度，使内腔镜机器人在腔内移动位置。
- 根据权利要求1-8所述的一种内腔镜机器人，其特征在于：所述内腔镜机器人将拍摄的腔内影像传输至外部服务器，构建出患者的腔内模型，用于向医务人员展现患者腔内的真实情况，进行症状分析、给出诊断结果、手术或操作方案的设计/推荐/确定、定位操作位点、辅助手术/操作的执行。
- 一种如权利要求1-9中任一权利要求所述的内腔镜机器人的使用方法，其特征在于，所述方法包括：S1：所述内腔镜机器人进入腔内；S2：支撑臂伸出并在腔内支撑，固定内腔镜机器人在腔内的位置；S3：所述影像获取装置拍摄腔内的影像。
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