CN1553782A - 具有无线接口的自动内诊镜 - Google Patents

具有无线接口的自动内诊镜 Download PDF

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CN1553782A
CN1553782A CNA03800898XA CN03800898A CN1553782A CN 1553782 A CN1553782 A CN 1553782A CN A03800898X A CNA03800898X A CN A03800898XA CN 03800898 A CN03800898 A CN 03800898A CN 1553782 A CN1553782 A CN 1553782A
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endoscope
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endoscope apparatus
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С¬�������������׵¡���ά��
小卢西恩·艾尔弗雷德·库维伦
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Boston Scientific Ltd Barbados
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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
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00011—Operational features of endoscopes characterised by signal transmission
    • A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00059—Operational features of endoscopes provided with identification means for the endoscope
    • 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
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00103—Constructional details of the endoscope body designed for single use
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052—Constructional details of control elements, e.g. handles
    • A61B1/0053—Constructional details of control elements, e.g. handles using distributed actuators, e.g. artificial muscles
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • 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
    • A61B1/05—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 characterised by the image sensor, e.g. camera, being in the distal end portion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Z—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR
    • G16Z99/00—Subject matter not provided for in other main groups of this subclass
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/0058—Flexible endoscopes using shape-memory elements
    • 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
    • A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
    • A61B1/2736—Gastroscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/0043—Catheters; Hollow probes characterised by structural features
    • A61M2025/0058—Catheters; Hollow probes characterised by structural features having an electroactive polymer material, e.g. for steering purposes, for control of flexibility, for locking, for opening or closing

Abstract

一种内诊镜装置及其操作方法。该内诊镜装置包括内诊镜部分和控制及显示单元。内诊镜部分优选地包括：(i)放置在内诊镜部分的远端并且提供内诊镜数据的传感器；(ii)基于接收的控制信号控制内诊镜部分的操作的一个或多个电气控制的执行器(例如，电活化聚合体执行器)；(iii)和传感器以及一个或多个电气控制的执行器连接并且发射从传感器接收的内诊镜数据并且将接收的控制信号转发到一个或多个电气控制的执行器的第一无线收发器；和(iv)与传感器、第一无线收发器以及一个或多个电气控制的执行器连接的便携式电源(例如，电池)。控制及显示单元优选地包括：(i)通过无线链路和内诊镜部分中的第一收发器连接并且从第一收发器接收内诊镜数据并且发射控制信号到第一收发器的第二无线收发器；(ii)和第二无线收发器连接并且通过第一和第二无线收发器发送控制信号到一个或多个内诊镜部分中的执行器的控制部分；以及(iii)显示经由第一和第二无线收发器从传感器接收的信息的显示部分。本发明的另一方面提出了一种用于提供一次性内诊镜到一个或多个医院的方法。

Description

具有无线接口的自动内诊镜
相关申请的陈述
本申请是于2001年10月5日提交的题目为“Robotic Endoscope”的美国第09/971,419号申请的后续部分。
技术领域
本发明涉及一种自动内诊镜，并且更为特别的，涉及一种适于遥控的自动内诊镜。
背景技术
内诊镜诊断在美国和其它国家是一个普通程序，可能在一般的医院收入中是仅次于介入心脏病学的。
传统的内诊镜检查通常使用由内部张力线操纵的灵活的内诊镜。这些探测器通常包括用于照明，灌洗和成像(通常在远端具有CCD照相机)的装置，以及工作通道，通过该工作通道可以引入例如活组织检查钳、肿瘤勒除器和电灼疗法探测器。这种设备允许内科医师看到并且处理息肉以及其它一般的消化道、胃肠道和呼吸道的紊乱。
即使经过20年的改进，目前用于肠胃病学的内诊镜仍然复杂并且昂贵。另外，医院必须保持有大量的现有库存内诊镜备用。而且，通常内诊镜在昂贵的清洗机器中由人工清洗并消毒。结果，医院中的肠胃病学部门必须投入可观的资金成本到内诊镜和控制台，以及大量的人员时间和地面空间来存储并且重新处理内诊镜。减少内诊镜库存，测试，准备和处理的需要将可以释放大量的医院资源，用于节约成本或增加患者数量。
发明内容
现有的内诊镜的上述缺点由本发明解决。根据本发明的第一方面，提供了一种内诊镜装置，其包括内诊镜部分以及控制及显示单元。
内诊镜部分优选的包括：(i)放置在内诊镜部分的远端并且提供内诊镜数据的传感器；(ii)一个或多个电气控制的执行器(例如，电活化聚合体执行器)，其基于接收的控制信号控制内诊镜部分的操作；(iii)和传感器以及一个或多个电气控制的执行器连接的第一无线收发器，它发射从传感器接收的内诊镜数据并且将接收的控制信号转发到一个或多个电气控制的执行器；以及(iv)和传感器，第一无线收发器，以及一个或多个电气控制的执行器连接的便携式电源(例如，电池)。
控制及显示单元优选的包括：(i)通过无线链路和在内诊镜部分的第一收发器连接的第二无线收发器，其从第一收发器接收内诊镜数据并且发射控制信号到第一收发器；(ii)和第二无线收发器连接的控制部分，其通过第一和第二无线收发器发送控制信号到在内诊镜部分的一个或多个执行器；以及(iii)显示部分，其显示从传感器通过第一和第二无线收发器接收的信息。
电气控制的执行器优选的是电活化聚合体执行器，因为这种执行器具有一次性的经济性。
优选的，控制及显示单元包括个人计算机，比如桌上型或膝上型计算机，这是因为它们的低成本和容易获得。
在一些实施例中，控制部分进一步包括手动操纵设备，其可以将手的运动转换为要通过第一和第二无线收发器发送到执行器的控制信号。这种手动操纵设备的一个实例是操纵杆。
传感器优选的包括能量源，通常是光源，比如发光二极管，还包括成象检测器，通常是照相机，比如CMOS照相机。
在一些实施例中，内诊镜部分进一步包括可由用户操作的控制柄。将控制柄放置在内诊镜部分的近端并且优选的将它在近端集成在内诊镜内。如果需要的话，可以将便携式电源和无线接口放置在控制柄内。
在一些实施例中，内诊镜装置进一步包括和控制及显示单元连接的远程服务器。例如，控制及显示单元可以进一步包括比如调制解调器的网络接入设备来通过网络接入远程服务器。远程服务器适于执行许多功能，包括内诊镜库存跟踪，诊断帮助和患者调度。
远程服务器可以包括，例如，内诊镜库存数据、患者数据和检查图象的数据库。
在某些实施例中，第一收发器自动向控制及显示单元传送关于内诊镜部分的标识数据，例如，协助参数的建立和初始化，在产品族中的特定内诊镜的校准，以及内诊镜库存跟踪。
根据本发明的另一方面，提供了一种检查身体内腔的方法。在本方法中，向操作者提供上面所述的内诊镜装置，然后操作者将内诊镜部分插入身体内腔，同时使用控制及显示单元的控制部分控制内诊镜部分的形状。使用内诊镜部分的传感器检测身体内腔。在插入内诊镜部分并且检查身体内腔之后，如果需要的话，操作者可以进行治疗过程。
在内诊镜装置的控制及显示单元和远程服务器连接的地方，可以使用远程服务器，例如，跟踪内诊镜库存，执行患者调度，访问存储在和远程服务器相关联的数据库中的患者数据和图象，并且将检查和本地医院内部网或互联网中的医疗资源结合。
根据本发明的另一方面，提供了一种用于提供一次性内诊镜给一个或多个医院的方法。这个方法包括：(a)检测和在一个或多个医院的每个一次性内诊镜相关联的标识符(例如，使用其中第一收发器自动向控制及显示单元传送标识数据的实施例)；(b)将标识的一次性内诊镜信息和关于调度过程的信息一起发送到中央服务器；(c)基于调度过程和标识的一次性内诊镜信息确定在一个或多个医院的一次性内诊镜的未来需求；(d)转发一次性内诊镜未来需求到制造一次性内诊镜的制造厂；以及(e)调度制造操作和载运操作，以在库存耗尽前提供一次性内诊镜未来需求到一个或多个医院。
本发明的优点很多并且包括内诊镜库存的减少和内诊镜准备和处理所需的员工时间，器材，以及地面空间的减少(或消除)。
本发明的这些和其它实施例以及优点将通过下面的详细描述和附图清楚的显示，其中附图通过实例的方式示出了本发明的特征。
附图说明：
图1是一原理图，示出了根据本发明的执行器；
图2-3是原理图，示出了在本发明的内诊镜中，执行器相对于结构元件的配置的一些可能的选择；
图4-5是原理性的透视图，示出了用于本发明的内诊镜的结构元件和执行器；
图6A-B是原理性的透视图，示出了放置在薄片上，用于本发明的内诊镜的结构元件和相关组件；
图7是一原理性的透视图，示出了根据本发明的实施例，具有并入其中的结构元件的薄片；
图8A-C是原理性的顶视图，示出了根据本发明的实施例，在衬底上的执行器的一些可能的方向；
图9是一原理性的透视图，示出了根据本发明的实施例的内诊镜的主体部分；
图10是一原理性的透视图，示出了根据本发明的内诊镜模块；
图11是一原理性的透视图，示出了根据本发明的内诊镜的远端；
图12A-C是原理性的透视图，示出了本发明的内诊镜在给定的插入深度保持它们的方向的能力；并且
图13以方框图格式示出了根据本发明的实施例的内诊镜装置的一个示例性的实施例。
图14是一原理性视图，示出了根据本发明的内诊镜装置。
图15示出了根据本发明的实施例，用于提供用在医院中的内诊镜的方法。
具体实施方式
现在参考图14，根据本发明的优选实施例，将内诊镜部分1400构造为伸长的主体，其包括由控制及显示单元比如计算机1454控制的许多电子执行器(没有示出)。
在图14中由区域A围绕并且在图11中更详细的示出的内诊镜部分1400的工作末端1403具有检测身体内腔的传感系统。更为特别的，现在参考图11，示出的特定工作末端1103具有包括能量源1121(例如，光源)和成像子系统1122(例如，成像检测器比如照相机)的传感系统。工作通道1120也在图11中示出。
再次参考图14，在内诊镜部分1400的近端提供电源(没有示出)，包括驱动器(没有示出)的无线接口，以及工作通道1420。内诊镜部分的无线接口和在远程计算机1454中的配对无线接口通信，该计算机担任数据和图象管理站。包括操纵杆1456的操纵系统用在这个特定实施例中。
本发明的内诊镜系统优选的使用低成本的系统组件来实现一次性的经济性。例如，如上所述，本发明的内诊镜优选的使用无线接口芯片集，而不是使用昂贵并且通常不可靠的电连接器。现在可从很多渠道获得廉价的无线接口，包括从Motorola获得的BluetoothTM无线接口和例如，从Cisco，Apple和Lucent获得的IEEE 802.11b无线接口。依靠其经济性，可将无线接口提供给，例如，在内诊镜部分中的每一模块，或者甚至是内诊镜部分的每一执行器。
用在内诊镜部分中的传感系统优选的包括位于或靠近其远端的能量源和成像子系统(也在这里作为“成像检测器”提到)。例如，能量源可以是比如发光二极管(例如，发射白光的激光二极管)的光源或者光纤光源，比如在其远端具有扩散器的一束光纤，其中当前优选发光二极管。成像系统可以是，例如，光纤或照相机，比如CCD照相机芯片或CMOS照相机芯片。低成本的CMOS或飞点成像子系统是当前优选的并且可从多个渠道获得，包括Micron Photobit(Pasadena，CA)，Conexant(Newport Beach，CA)，CByond(Oak Park，CA)，Microvision(Bothell，WA)，Micromedical(Castle Pines Village，CO)，Photon Vision Systems(Cortland，NY)，Sarnoff Laboratories(Princeton，NJ)，Vanguard Labs(Taiwan)和许多其它出售商。
当然，也可能有其它基于光或者不基于光的系统，工作于光谱的可见区域或其它区域，使用反射的辐射或荧光，检测内生的或者外生的(例如，引起的对比剂染色)响应，或者包括类似超声或光学相干断层扫描的其它成像形式。
本发明的内诊镜通常具有相似的外观。例如，优选地向内诊镜提供延伸内诊镜部分整个长度的一条或多条工作通道，从而允许，例如，比如活组织检查钳，勒除器，以及电灼疗法探测器这样的工具的吹入、灌洗以及引入。但是，像在下面更为详细的描述的那样，本发明的内诊镜优选的使用低成本的由电活化聚合体制成的电子执行器并将其集成进内诊镜结构，而不是使用传统的牵引线(有时作为Bowden缆线提到)。虽然只要在现有技术中已知的简单的牵引线或探针系统具有良好的制造经济性，它们就可以用在本发明中，但是目前电活化聚合体执行器在这方面更为优越。另外，电活化执行器可以在沿内诊镜部分的长度控制其形状和硬度上提供另外的优势，这将从下面的描述中清楚的看到。
用于本发明的内诊镜的电源通常是电池。通过在内诊镜中构造电池电源，降低了互联成本和复杂性。而且，如果需要的话，可以提供在再使用方面的内置限制，例如，限制内诊镜用于单一的患者从而避免交叉感染的问题。
基本上可以在内诊镜中的任何地方提供一个或多个电池，但是优选的在内诊镜的近端提供，其可以是，例如，以集成的封装的控制柄的形式。也可以在内诊镜的近端提供用于无线接口的电子装置，包括用于电子执行器的驱动器和其它组件。
配对的控制及显示单元优选的是计算机，比如标准膝上型个人计算机，其可以提供处理，存储和显示功能，并且还可以配备配对的无线接口和合适的操作软件。如果需要的话，计算机鼠标垫，内置的或外围的操纵杆，或者模拟设备可以用来基于将要在下面详细描述的图象分析来，例如，手动的或者以半自动辅助操纵并且控制内诊镜。
膝上型电脑优选地例如经由网络、拨号或者无线连接而连接到因特网。一旦计算机能够连到网上，就可以在一个或多个远程数据库中存储，分析，检索，并且共享图象和患者研究成果。可以选择性的由计算机提供在内诊镜和膝上型电脑之间的无线连接，用于内诊镜模型，配置，序列号，校准，以及其它数据的自动识别。这个自动识别特征和基于网络的库存以及患者调度管理系统的集成允许库存的自动管理，重新排序和按时提供，减少库存和处理成本。如果需要的话，用户提示可以提出并且确认重新排序。
通常在消毒的封装中提供内诊镜。一旦将内诊镜从封装中移出，就可以打开它的电源，例如，通过(a)将它拿到计算机的附近，计算机可以自动识别它的接近并且将其打开，(b)手动接合一个小的密闭电源开启开关，(c)使用可以包括在内诊镜上的开关棒按键，等等。如果需要的话，可以建立欢迎屏幕来请求登陆和患者信息。然后用户通常控制内诊镜，执行检查(例如，选择图象和视频序列用于在检查过程中的存储和注释)，完成检查，并且退出。
本发明的内诊镜装置的一个特定实施例在图13中以方框图的格式呈现。示出的内诊镜系统包括内诊镜部分1300和控制及显示单元比如计算机1354。内诊镜部分由电池1323供电。在内诊镜1300和计算机1354之间提供无线接口1360a和1360b(包括驱动器)。将控制信号从计算机1354通过无线接口1360a，1360b发送到内诊镜部分1300。控制信号包括那些最终要从和电子接口1360b相关联的驱动器发送到执行器1310的信号，但是也可以包括其它信号，例如，到在内诊镜1300的远端的LED 1321和照相机1322的信号。同时，也将数据从内诊镜部分1300通过无线接口1360a，1360b发送到计算机1354，该数据包括来自照相机1322的图象数据和，如果存在的话，来自应变仪，深度计等(没有示出)的数据。
通常，计算机1354包括处理器1362，存储器1363和显示器1364。通过无线接口1360a，1360b发射的照相机数据在显示器1364上示出。使用这个信息，操作者可以操作操纵控制1356，其输出由操作软件1365使用来计算控制信号的数据(以及任意的其它相关数据，比如来自应变仪的数据，等)。将控制信号通过在无线接口1360b中的驱动器发送到在内诊镜1300中的执行器1310，来操纵并控制内诊镜部分1300的形状。
在示出的实施例中，膝上型电脑和远程服务器1371通过调制解调器1370和因特网1373连接，从而允许，例如，图象和患者研究成果在一个或多个远程数据库1372中存储，检索，分析和共享。
现在转到图15，根据本发明的另一方面，公开了用于提供用在医院中的内诊镜的方法1500。这个方法1500使得医院可以控制和内诊镜相关联的成本，包括获得成本以及和医院资源的分配相关联的成本两者，其中医院资源包括，比如，用于库存的地面空间，用于先前使用的内诊镜的杀菌的清洁室，以及分配来执行这些功能的人力资源。本发明的方法1500包括一次性内诊镜，如上所述，可以避免和杀菌和再使用相关联的成本，以及具有能连网的个人计算机1502的无线接口，其中个人计算机提供库存控制和制造调度，使得可以采用按时提供机制来减少库存大小，并且由此节省和库存大小相关联的成本。这样，可以认为连续过程1500以将特定内诊镜提供给医院1501开始。如上所述，内诊镜是一次性设备，其封装在一个消毒容器中。之后将在其容器中的内诊镜拿到能连网的个人计算机或工作站1502的附近。在计算机和内诊镜之间的无线接口可以穿过封装操作。这使得计算机可以通过序列号在数据库1512中登记内诊镜，其中计算机1502通过网络1510，比如因特网与该数据库连接。数据库1512维持制造日期，患者信息，总医院库存，涉及内诊镜的其它调度操作，等的记录。如果需要的话，内诊镜数据库1512可以和医院信息系统(医院数据库)连接，允许结合患者记录，患者图象数据库，其它形式的扫描，实验室数据等。作为登记过程1502的一部分，特定的患者操作1504和新接收的内诊镜相关联。这包括计划使用的日期。一旦登记了设备，将设备放在医院库存1503中，该库存可以小很多并由此节省每单元的成本。在操作1504中使用一次性内诊镜之后，可以将内诊镜丢弃在医院的废品容器中，或者返回到制造厂用于循环1505。通过比较在医院中内诊镜的排定的使用，网络计算机(例如，服务器1511)和数据库1512可以确定替换需要，包括何时需要替换的日期。数据库1512和相关服务器1511将基于替换需要确定制造需求。将这些制造需求和其它医院的需要集合起来，从而安排在制造过程1506中的制造级别。单元是从制造过程1506接受的，之后它们被封装1507，存储在仓库库存1508中，并且之后直接载运到那些为其制造的医院1509。这减少了在制造商和医院处的成本，从而减少了和内诊镜相关联的成本。于是单元在不同医院的计划操作之前按时到达。
现在将更详细的描述内诊镜部分。在本发明的优选实施例中，随着内诊镜部分的前进，优选地控制执行器使得内诊镜的伸长主体在三维空间中的总体形状反映内诊镜部分要插入的内腔的自然(即，无应变的)形状，从而将对内腔的压力最小化。内诊镜部分顺应要检查的器官的自然轨道。好比对应于器官自然形状的波沿着内诊镜部分运动，从而最小化其和内腔壁的接触以及对内腔壁的压力。
与本发明的内诊镜相结合使用的执行器是电气控制的执行器(作为在这里使用的，“电气控制的执行器”包括那些由光子活化的执行器)，比如，压电执行器，形状记忆执行器和/或电活化聚合体执行器。
基于电活化聚合体的执行器是优选的，其是作为“导电聚合体”提到的塑料族中的一员。电活化聚合体是一类特征在于它们响应于电激励改变形状的能力的聚合体。它们通常的结构特征是成对的主干并且具有在氧化或还原的情况下增加导电性的能力。一些通常的电活化聚合体是聚苯胺，聚吡咯和聚乙炔。聚吡咯的图如下：
Figure A0380089800161
在它们的无杂质形式下，这些材料通常是半导体。但是，在聚合体的氧化或还原的情况中，其导电型增加。氧化或还原引起电荷不平衡，并接着造成流入离子流入材料以平衡电荷。这些离子，或者掺杂物，从和聚合物表面连接的离子导电电解质介质进入聚合体。电解质可能是凝胶体，固体或液体。如果离子在聚合体被氧化或还原时已经存在与聚合体中，它们可能离开聚合体。
人们熟知通过大量离子移入或移出聚合体，可能在特定导电聚合体中完成尺寸的改变。例如，在一些导电聚合体中，因为在链间插入离子而发生膨胀，然而在其它聚合体中链间互斥是主要效果。这样，离子的大量移入和移出材料都引起聚合体的膨胀或收缩。
现在，25％左右的线膨胀或体膨胀是可能的。从尺寸的变化产生的应力可能在3Mpa左右，远大于由光滑的肌肉细胞产生的。
现在参考图1，示例性的示出了执行器10的横截面。执行器10的活动构件12具有和电解质14连接的表面并且具有轴11。活动构件12包括响应于离子流出或流入活动构件12而收缩或膨胀的导电聚合体。离子由电解质14提供，其在活动构件12的表面的至少一部分最多整个表面上与构件12相邻，以允许离子在两个介质之间流动。许多几何形状可以用于构件12和电解质14的相对放置。根据本发明的优选实施例，构件12可能是膜，纤维或者纤维组，或者多个膜和纤维的组合，这些膜和纤维被放置为配对作用，以在基本上沿着轴11的纵向方向上施加张力。可以在电解质14内捆扎或分布光纤。
活动构件12包括电活化聚合体。很多具有所需的张力特性的电活化聚合体是本领域普通技术人员熟知的。根据本发明的优选实施例，活动构件12是聚吡咯膜。这种聚吡咯膜可能通过根据由M.Yamauraet al.，“Enhancement of Electrical Conductivity of Polypyrrole Film byStretching：Counter-ion Effect，”Synthetic Metals，vol.36，pp.209-224(1988)，中描述并且在这里引入作为参考的方法，由电解沉积合成。除了聚吡咯，任意显示收缩或膨胀特性的导电聚合体的使用都在本发明的范围内。聚苯胺和聚乙炔就是两个这种导电聚合体的实例。
只要允许离子移动，电解质14可能是液体，凝胶体或固体。另外，如果电解质14是固体，它应该和活动构件12一起移动而不应该分层。当电解质14是凝胶体，例如，它可能是琼脂或包括盐掺杂物的聚甲基丙烯酸甲酯(PMMA)凝胶体。相对电极18和电解质14电接触，以提供电荷到在构件12和电解质14之间的电势差的源20的返回路径。相对电极18可能是任意电导体，例如，其它导电聚合体，导电聚合体凝胶体，或者金属，比如金，其可能通过电镀，化学沉积或印刷提供。为了活化执行器10，电流在活动构件12和相对电极18之间传递，引起构件12的收缩或膨胀。另外，执行器可能具有用于将电解质和周围环境隔开的柔性外壳。
关于执行器的结构的另外的信息，它们的设计考虑，以及可能在其中使用的材料和组件可以在，例如，授权给Massachusetts Institute ofTechnology的美国专利No.6,249,076，以及Proceedings of theSPIE，Vol.4329(2001)，“Smart Structures and Materials 2001：Electroactive Polymer and Actrator Devices(参看，特别的，Madden et al，“Polypyrrole actuators：modeling and performance，”pp.72-83)中找到，这两个都在这里全部引入作为参考。
通常，作为用于本发明的设备的故障保护机制的一部分，选择的执行器是当电源中断时松开的类型是有益的。
可以以多种方式将执行器放置在本发明的内诊镜中。例如，执行器可以分开制造并且顺序固定于内诊镜的结构元件。另外，多个执行器或执行器阵列可以放置在与内诊镜相关联的材料薄片，例如，聚合体薄片上。
图2示出了根据本发明的执行器和结构元件的一个可能的结构，应该理解执行器和结构元件的和数量，以及这些元件彼此之间的空间布置可以在各个实施例中有很大不同。在所述的特定实施例中，示出了一系列的四个环形结构元件202，三个执行器210放置在每一对结构元件202之间。
通常，本发明的内诊镜的形状可以从电活化聚合体的内在的由位置决定的电特性推断。但是，如果需要的话，可以采用许多传感器，比如应变仪来提供与执行器和结构元件在部件内的方向相关的电反馈。这个电反馈还提供许多另外的优点，包括生理改变的补偿，更好的稳定性，纠错功能，和免除漂移。适于用在本发明中的应变仪包括(a)反馈电活化聚合体元件，其阻抗和电阻作为设备中应力量的函数而改变以及(b)现有的应变仪，其中设备的电阻作为在设备中应力量的函数改变，从而使得应力量很容易被量化并监控。这种应变仪可从多种商业渠道获得，包括National Instrument Co.，Ausin，TX，并且包括压电应变仪(其中电阻随着应力非线性改变)和接合的金属应变仪(其中电阻通常随着压力线性改变)。后一个应变仪包括非常精细的线路或者以栅格图案排列的金属箔。将栅格接合到可能直接固定于应力受到监控的衬底上的薄的支座或托架。因此，将衬底所经受的应力直接传递到应变仪，其响应电阻的变化。通过商业渠道获得的应变仪通常具有在30到3000Ω范围内的正常的电阻值，并且120Ω，350Ω和1000Ω的设备尤其普遍。
优选的进一步向部件提供复原力，使得整个部件倾向于基本上线性的结构(虽然本领域一般技术人员将认可，部件可能还倾向于非线性的结构)。在这样一个实施例中，执行器可能用作偏离这个基本上线性的结构。可以提供许多机械装置来向部件施加合适的偏向性。例如，可以将部件插入弹性套筒(没有示出)，其趋向于在由执行器施加的任意扭曲力不存在的任意时间中将系统复原为基本线性的结构。作为一个选择，可以将一系列弹簧(没有示出)或者其它合适的弹性元件放置在结构元件之间，来复原部件到基本线性的结构。作为另一选择，在部件中的结构元件可以是足够弹性的来复原部件到基本线性的结构。一旦提供偏向力，可以通过简单的缩短放置在多种结构元件之间的一个或多个执行器，而将部件弯曲为多种结构。
虽然如图2所示的部件具有沿着三个平行轴放置的执行器，基于上面的描述能够做出多种更改。例如，在结构元件302之间的执行器310可以交错排列，如图3所示。
另外，如果需要，可以不向部件提供复原整个部件到偏向(例如，基本上线性)结构的偏向力，而在结构元件之间提供一系列支点。以这种方式，通过放置彼此拉紧的至少两个执行器，可以将部件弯曲为所需结构。于是，在这种类型的系统中的执行器以类似于在活的生物体，比如蛇，中的骨骼肌的操作的原理操作。
另外，关于结构元件可以有很多结构和更改。例如，虽然在图2-4中将结构元件作为一系列的闭环描述，结构元件也可以包括开环，和蛇的椎骨结构类似。另外，如果需要的话，环可以由多种长度的管替代。例如，可以使用以类似于已知的血管，胆管或食管内支的方式构造的一系列短管。这种结构在图4中示出，其中将多个执行器410放置在一系列类似内支架的元件402之间。
还可以将结构元件组合为一个整体结构。这样，例如，在一些上述实施例中的分隔的环可以由单一的螺旋式结构元件代替，同时在螺旋的相邻转弯之间放置执行器。但是，应该注意，螺旋的相邻与例如图3所示的一系列分隔的环的作用非常类似。
在其它情况中，单一的伸长管可以用作结构元件。如上所述，这种结构的设计可以是类似内支架的元件的形式。例如，参考图5，执行器510可以放置在网孔结构502的相邻元件之间。如果柔性或弹性材料用在结构中，可以设置网孔结构502使得它具有内在的偏向或记忆使得其可以复原部件到最初的(例如，基本上线性)的构造。之后，执行器502可以用来按照需要从这个构造偏转结构，来反映内诊镜插入其中的内腔的自然形状。当然，如果需要的话，也可以提供偏向的源，比如弹性套筒(在这里显示为插入网格结构502内)。
在上述实施例中，执行器和结构元件直接连接。但是，这不必作为，例如，在图6A和6B中示出的情况。图6A示出了包括线网格的结构元件602，以及两个柔性薄片605和609。将一系列执行器610(以数字标出了一个执行器)，以及一个用于从控制设备发射控制信号到执行器610的控制总线611(没有示出和执行器610的单独互连)印刷在一个薄片609上。将多个应变仪或反馈聚合体元件606(以数字标出了一个应变仪)，以及用于从应变仪606发射信息到控制设备的读出总线607(没有示出和应变仪606单独互连)印刷在另一个薄片605上。
优选的，在结构元件中采用的两个薄片包括人造橡胶材料，例如，苯乙烯-丁二烯共聚物，聚氯丁烯，丁腈橡胶，丁基橡胶，聚硫橡胶，顺式-1，4-聚异戊二烯，乙烯丙稀三元共聚物，硅树脂橡胶，或聚氨酯橡胶。另外，可以从硬度更大的聚合物制造薄片，比如那些用在电子印刷电路或电缆中的，比如，聚酰亚胺(例如，Kapton)，并且通过例如利用激光而选择性切割来提供合适的柔韧性。
使用本领域技术人员已知的合适方式，将薄片彼此对齐并且将层接合在一起来形成一个整体的块。这种方式可能包括，例如，层压，点焊，类似于多层印刷电路的片通孔的夹层电连接，粘合层或连接层的使用，等。之后将接合的结构615裹在结构元件602周围，并且将边缘结合以提供如图6B所示的圆柱部件620。如果需要的话，可能在部件外放置保护性外壳。在这个设计中，结构元件602，接合结构615或两者都用来使整个部件偏向在优选的构造中，通常是线性构造。执行器610用来偏转这个结构到所需角度，而且应变仪606提供关于这个偏转的程度的反馈。
如果需要的话，也可以以印刷薄片的形式提供结构元件和应变仪606以及执行器610。例如，图7示出了在其上印刷有一系列相对坚硬的结构元件702的薄片701，这些结构元件当卷起时，将形成类似于那些如图4所示的结构元件。
通常，将执行器定向到控制所需的方向，一定程度上像蛇的肌肉。例如，图8A，8B和8C示出了三个薄片809，每一具有一系列执行器810(在每一图中标出了一个执行器)，它们被定向到多种方向。通过将这些薄片层压在一起，可以创建层压的结构(没有示出)，其可以弯曲，可以沿圆周方向缩短，等。
在本发明的内诊镜中的各个执行器和应变仪优选的和控制设备通信，并且由控制设备单独的控制(例如，使用在上述电接口中的驱动器)。这允许为了整个设备的构造的效果改变而监控/驱动这些元件。
执行器和应变仪可以利用链接这些元件中的每一个到设备的专用电路和控制设备(例如，无线接口)直接通信。但是，更为优选的是，采用在一个阵列中的这些元件，在这个阵列中每一元件通过公用通信电缆与控制设备通信。来自每一元素的信号可以是数字的或模拟的。如果需要的话，可以提供数字模拟转换器和模拟数字转换器来将信号从一种格式转换为另一种格式。
来自每一元件的信号可以通过多路复用而方便地在公用电缆上管理和发射。可能用于这个目的的多路复用方案包括频分多路复用，波分多路复用，或时分多路复用。可以在电缆的每一末端和沿着它的长度的每一执行器或测量器的位置，采用合适的多路复用器和多路信号分离器。
在电子数据存储的方面，可能给予每一执行器和应变仪一个在电子存储器中的分开的地址，在该存储器中存储关于元件状态的信息。可以访问这个信息来确定设备的状态，或者为了在设备上或它的元件上执行操作。在其中存储信息的存储器可能是易失型或非易失型，并且可能在设备本身中，但是优选的在遥控和显示单元(例如，膝上型计算机)中。这样，例如，如果在每一模块中有16个执行器和16个应变仪并且在整个内诊镜中有256个模块，则将有256×32或213个地址。这样可以使用，例如，16比特总线或电缆和解码器寻址这些组件。
可能有多个电缆构造。例如，电缆可能和执行器直接连接。另外，可以将电缆印刷在薄片上，在这个情况中，每一在其上印刷有执行器(如果需要的话，以及应变仪)的平坦的薄片在将需要的元件印刷在柔性衬底上这方面与柔性印刷电路板相似。可以向每一层提供它自己的迹线线路和控制电缆(例如，上面讨论的读出和控制总线)。另外，执行器和应变仪还可以和分隔的互联层连接，例如，通过片通孔或者过孔(这里也执行“铆钉”的功能将复合材料保持在一起)。这些通孔可以连接为放置在互连层上的一系列导垫迹线线路，其中迹线线路和“脊髓”，比如沿着设备的长度方向的电缆束，平直电缆或带状电缆相连接。
本发明的内诊镜部分通常提供有滑动的，光滑的外套以帮助它在患者的内腔中前进。光滑的外壳对本领域普通技术人员来说是已知的，并且包括，但不限制于，水凝胶外套，硅树脂，和比如聚四氟乙烯的含氟聚合物。
本发明的内诊镜还提供有和现有内诊镜共同的特征。例如，内诊镜部分可以提供有用于灌洗的通道(例如，用于盐的传递的管道)和吹入的通道(例如，用于消耗二氧化碳的管)。另外，通常提供工作通道，其延伸通过伸长的主体并且允许用在现有内诊镜中的外科器械前进到远端(以及用于灌洗和吹入法的通道，如果没有在设备中另外提供的话)。这种外科器械包括活组织检查探测器(例如，勒除器或打捞管)，活组织检查钳，以及电外科探测器(例如，用于RF切除的电灼疗法探测器)。
任意数量的技术可以用来让内诊镜在患者的身体内腔中前进，这些患者通常是脊椎动物，并且优选的是人。例如，可以手动插入内诊镜，就像在现有技术中所做的那样。手动插入或者是直接的(例如，通过控制柄的方式)，或者通过手动驱动机械装置的操作(例如，通过转动曲柄的操作)。内诊镜还可以通过驱动机械装置使用驱动算法前进(例如，电伺服支出马达)。但是，本发明的优选技术不包括任意形式的内部固定，因为它可能引起检查的个体的不舒适。
可以根据本发明监控内诊镜的前进距离。多种方法可以用于这个目的。例如，可以使用多种深度计或线性位移传感器。作为一个实例，可以提供深度计，其包括其旋转被监控的旋转齿轮。作为另一实例，可以使用包括深度码的线性位移传感器来确定内诊镜前进的程度，其中深度码可以光学的读出(使用，例如，条形码和光源和检测器)或者磁性的读出(例如，使用，磁码和霍耳效应传感器)。这些以及许多其它的已知方法都可以用于确定前进距离。
优选的将本发明的内诊镜划分为一系列的“偏转模块”，其中每一个包括允许模块在三维空间中响应控制设备的输入而采用多种形状的多个执行器。模块的数量越多，内诊镜的三维方向的控制越好。在图9中示出了具有十八个模块904和一个工作末端903的内诊镜900的简化的原理图。通过操纵每一模块的偏转建立内诊镜的总体形状。如图10所示，可以驱动执行器来将给定的模块1004从第一位置(由实线指示)偏转到第二位置(由虚线指示)。作为一个特定的实例，模块可以包括在两个或多个如上所述的结构元件之间的一组执行器，允许模块以上，下，左，右的方式弯曲。当然，还有很多其它选择。还可以获得在偏转中的其它自由度，例如，用于膨胀和收缩的直径变化，其可能用于传递内支架；或者长度变化，其可能用于推进或进入。
每一模块的曲率通常由施加到每一执行器的电压更改。如上所述，优选地向内诊镜提供多个应变仪，它们可以提供用于电反馈的检测功能。这个电反馈将提供许多优点，包括更好的稳定性，纠错能力以及免除漂移。更为优选的，为内诊镜中的每一执行器提供应变仪。然而，在执行器响应于电输入的行为是高度可预测的范围内，不需要电反馈。
如上所述，优选的向内诊镜提供操纵系统，其是用来控制在内诊镜的工作末端(也在这里作为“引入模块”提到)中电执行器的。执行这个任务由很多选择。例如，可以向内诊镜提供在图象指导下操作的手动操纵系统。例如，来自计算机的电气控制可以基于使用操纵杆等的手动操纵输入。操纵杆等由操作者基于从内诊镜的远端提供的图象来操纵。操作者通常将尽力保持引入模块在身体内腔的中间。
作为另一实例，基于像上面所述的来自传感系统的输入，可以通过边缘检测或中心搜索算法，提供电气控制来保持内诊镜的远端在身体内腔的中心。
在很多优选的实施例中，将以半自动方式操纵内诊镜，例如，使用像上面所述的计算机算法来建议行进方向，以及经过训练的操作者接收或者拒绝计算机生成的建议。在这个情况中，可能需要修改算法使其基于操作者的配置反映操作者的偏好，操作者的配置可能包括检测历史和数据库，并且优选的如上面所述能连网。
一旦达到期望位置，工作末端应用特定的诊断或治疗功能，就像现有的内诊镜那样。
随着内诊镜前进进入身体内腔，可以将内诊镜的期望形状的三维表现存储进存储器，并且随着插入深度的增加进一步添加数据。
根据一个优选实施例，将作为前进距离的函数的引入模块的方向存储到计算机，用作用于之后的偏转模块的映射。可以例如从上述深度计或线性位移传感器提供距离数据。可以例如使用来自操纵步骤的输入(例如，来自操纵杆的输入或来自中心搜索计算机算法的输入)或来自位置传感器或应变仪的输入，提供关于引入模块的方向的数据。使用这个映射，将用于执行器的电气控制信号作为插入深度的函数计算。结果，随着之后的模块达到先前被引入模块占据的位置，在这些模块中的执行器的操作使得它们采用的方向为引入模块在这个特定的插入深度时的方向。
上面所述的结果是内诊镜保持其在三维空间中的路径，反映它行进通过的轨迹(轨道)的形状。这在图12A一12C中示出，这些图包括内诊镜的简化的原理图，其中内诊镜包括许多偏转模块1204(标出了一个)和一个工作末端1203，以及例如在插入点提供的线性位移传感器1230。这些图示出了内诊镜的方向：刚刚插入之后(图12A)，在插入的中间点(图12B)以及完全插入的点(图12C)。从这些图中可以看到，随着它的前进，内诊镜在插入的给定深度保持它的方向。
虽然参考一些示例性的实施例描述本发明，但是对本领域普通技术人员来说，对于上述实施例可以有很多变化，即使在元件没有被作为示例明确的指示的地方。应该了解这些变化都在本发明的教导之中，并且仅仅由下面附加的权利要求限定。

Claims (33)

1.一种内诊镜装置，包括：
(a)内诊镜部分，其进一步包括：
(i)传感器，放置在所述内诊镜部分的远端并且提供内诊镜数据；
(ii)一个或多个电气控制的执行器，基于接收的控制信号控制内诊镜部分的操作；
(iii)第一无线收发器，其与传感器以及一个或多个电气控制的执行器连接，发射从传感器接收的内诊镜数据并且将接收的控制信号转发到一个或多个电气控制的执行器；以及
(iv)便携式电源，其与传感器、第一无线收发器以及一个或多个电气控制的执行器连接；和
(b)控制及显示单元，其进一步包括：
(i)第二无线收发器，经由无线链路和在所述内诊镜部分中的第一收发器连接，接收来自第一收发器的内诊镜数据并且将控制信号发射到第一收发器；
(ii)控制部分，和第二无线收发器连接，并经由所述第一和第二无线收发器发送控制信号到内诊镜部分中的一个或多个执行器；以及
(iii)显示部分，显示经由所述第一和第二无线收发器从所述传感器接收的信息。
2.如权利要求1所述的内诊镜装置，其中所述便携式电源包括电池。
3.如权利要求1所述的内诊镜装置，其中所述一个或多个电气控制的执行器包括一个或多个电活化聚合体执行器。
4.如权利要求1所述的内诊镜装置，其中所述控制及显示单元包括个人计算机。
5.如权利要求1所述的内诊镜装置，其中所述控制部分进一步包括手动操纵设备，其将手的运动转换为要经由第一和第二无线收发器发送到一个或多个执行器的控制信号。
6.如权利要求5所述的内诊镜装置，其中所述操纵设备包括操纵杆。
7.如权利要求1所述的内诊镜装置，其中所述传感器包括输出能量的能量源和检测反射能量的成象检测器。
8.如权利要求7所述的内诊镜装置，其中所述能量源包括光源，
9.如权利要求8所述的内诊镜装置，其中所述光源包括发光二极管。
10.如权利要求7所述的内诊镜装置，其中所述成象检测器包括照相机。
11.如权利要求10所述的内诊镜装置，其中所述照相机包括CMOS照相机。
12.如权利要求1所述的内诊镜装置，其中所述内诊镜部分进一步包括工作通道。
13.如权利要求1所述的内诊镜装置，其中所述内诊镜部分进一步包括可由用户操作的控制柄，其放置在所述内诊镜部分的近端，并且在所述近端集成在所述内诊镜内。
14.如权利要求1所述的内诊镜装置，其中所述便携式电源和所述无线接口放置在所述控制柄内。
15.如权利要求1所述的内诊镜装置，进一步包括与控制及显示单元连接的远程服务器。
16.如权利要求15所述的内诊镜装置，其中所述控制及显示单元进一步包括网络接入设备来通过网络接入所述远程服务器。
17.如权利要求16所述的内诊镜装置，其中所述网络接入设备包括调制解调器。
18.如权利要求15所述的内诊镜装置，其中所述远程服务器适于跟踪内诊镜库存。
19.如权利要求15所述的内诊镜装置，其中远程服务器适于执行患者调度。
20.如权利要求15所述的内诊镜装置，其中所述远程服务器包括患者数据和检查图象的数据库。
21.如权利要求1所述的内诊镜装置，其中所述第一收发器自动向所述控制及显示单元传送对于所述内诊镜部分的标识数据。
22.一种检查身体内腔的方法，包括：
向操作者提供内诊镜装置，所述内诊镜装置包括：(a)内诊镜部分，其进一步包括：(i)传感器，放置在所述内诊镜部分的远端并且提供内诊镜数据；(ii)一个或多个电气控制的执行器，基于接收的控制信号控制内诊镜部分的操作；(iii)第一无线收发器，和传感器以及一个或多个电气控制的执行器连接，发射从传感器接收的内诊镜数据并且将接收的控制信号转发到一个或多个电气控制的执行器；(iv)便携式电源，和传感器、第一无线收发器以及一个或多个电气控制的执行器连接；和(b)控制及显示单元，其包括：(i)第二无线收发器，经由无线链路和在所述内诊镜部分中的第一收发器连接，从第一收发器接收内诊镜数据并且发射控制信号到第一收发器；(ii)控制部分，和第二无线收发器连接，经由所述第一和第二无线收发器发送控制信号到在内诊镜部分中的一个或多个执行器；以及(iii)显示部分，显示经由所述第一和第二无线收发器从所述传感器接收的信息；
将所述内诊镜装置的所述内诊镜部分插入身体内腔，同时使用所述控制部分控制所述内诊镜部分的形状。
使用所述内诊镜部分的所述传感器检测所述身体内腔。
23.如权利要求22所述的方法，其中所述电气控制的执行器包括电活化聚合体执行器。
24.如权利要求22所述的方法，其中所述控制及显示单元包括个人计算机。
25.如权利要求22所述的方法，其中所述控制部分进一步包括手动操纵设备，其将操作者的手的运动转换为用于所述一个或多个执行器的控制信号，其中所述操作者操作所述手动操纵设备来控制所述执行器。
26.如权利要求22所述的方法，其中所述传感器包括光源和照相机。
27.如权利要求22所述的方法，进一步包括在所述内腔中使用所述内诊镜装置进行治疗过程。
28.如权利要求22所述的方法，其中所述内诊镜装置进一步包括和控制及显示单元连接的远程服务器。
29.如权利要求28所述的方法，其中所述远程服务器适于跟踪内诊镜库存。
30.如权利要求28所述的方法，其中远程服务器适于执行患者调度。
31.如权利要求28所述的方法，其中所述远程服务器进一步包括数据库，并且所述远程服务器适于访问在所述数据库中存储的患者数据和图象。
32.如权利要求22所述的方法，其中将标识所述内诊镜部分的数据从所述内诊镜部分自动发送到所述控制及显示单元。
33.一种用于向一个或多个医院提供一次性内诊镜的方法，包括：
检测与在一个或多个医院的每个一次性内诊镜相关联的标识符；
将标识的一次性内诊镜信息和关于调度过程的信息一起发送到中央服务器；
基于所述调度过程和所述标识的一次性内诊镜信息，确定在一个或多个医院的一次性内诊镜的未来需求；
转发所述一次性内诊镜未来需求到制造所述一次性内诊镜的制造厂；以及
调度制造操作和载运操作，来在库存完全耗尽前提供所述一次性内诊镜未来需求到所述一个或多个医院。
CNA03800898XA 2002-06-21 2003-06-19 具有无线接口的自动内诊镜 Pending CN1553782A (zh)

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