Device and method for automatically flushing endoscope for endoscope holding robot

• Main Authors: HUANG KAI, TAN ZHIDONG, SONG RIHUI, LI JIAN, WEN WEIPING, WEN YIHUI
• Format: Patent
• Language: Chinese; English
• Published: 25.10.2022
• Subjects: DIAGNOSIS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MEDICAL OR VETERINARY SCIENCE; SURGERY

The invention relates to the technical field of automatic endoscope flushing, in particular to an automatic endoscope flushing device and method for an endoscope holding robot. A fuzzy endoscope in an operation is automatically cleaned through holding movement of a mechanical arm, and in the movement process, a series of target nodes are set, obstacle avoidance path planning is conducted between the adjacent target nodes, and the purpose that the mechanical arm automatically holds the endoscope to move, so that automatic cleaning is conducted is achieved; through fuzzy judgment of the endoscope, the endoscope can be cleaned under the condition that manual participation is not needed. 本发明涉及内窥镜自动冲洗技术领域，更具体地，涉及一种用于内窥镜握持机器人的自动冲洗内窥镜的装置及方法。对手术中模糊的内窥镜，通过机械臂握持运动来进行自动清洗，在运动过程中，通过设定一系列目标节点，在相邻目标节点之间进行避障路径规划，实现了机械臂自动握持内窥镜运动从而进行自动清洗；通过内窥镜的模糊判断，在不需要人工参与的情况下，便能实现将内窥镜清洗干净。