Endoscope manipulation system and method of manipulating endoscope to make the center point of the image match the corresponding position of the target position database when the image photographed by the endoscope unit matches the data in the tool characteristics database
The present invention relates to an endoscope manipulation system, comprising a robot arm unit, an endoscope unit, and a control unit. The robot arm unit comprises a driving part movable under control and a holding part connected with and driven by the driving part to move. The endoscope unit is mounted on the holding part and can perform image photographing on a plurality of operation tools. The control unit is electrically connected with the driving part and the endoscope unit and built in with a tool characteristics database of configuration status corresponding to those operation tools after being mutually assembled into attitude and a target position database corresponding to the tool characteristics database. Furthermore, when the image photographed by the endoscope unit matches the data in the tool characteristics database, the control unit drives the driving part to drive the endoscope unit to move, so as to make the center point of the image subsequently photographed by the endoscope unit matches the corresponding position of the configuration status of those tools in the target position database.一種內視鏡操控系統,包含一機械臂單元、一內視鏡單元及一控制單元,該機械臂單元包括一可受控制而移動的驅動部,及一連接並受該驅動部的帶動而移動的扶持部,該內視鏡單元設置於該扶持部,並可對複數操作工具拍攝影像,該控制單元電連接該驅動部及該內視鏡單元,且內建一對應該等操作工具於相互組成姿態後的配置狀態的工具特徵資料庫,及一對應該工具特徵資料庫的目標位置資料庫,並於該內視鏡單元所拍攝的影像符合該工具特徵資料庫內的資料時,驅使該驅動部帶動該內視鏡單元移動,以使該內視鏡單元接下來所拍攝到的影像的中心點符合該目標位置資料庫中相對應該等操作工具的配置狀態的位置。2‧‧‧機械臂單元21‧‧‧基座部22‧‧‧驅動部23‧‧‧扶持部3‧‧‧內視鏡單元5‧‧‧顯示器7‧‧‧病患8‧‧‧使用者9‧‧‧操作工具91‧‧‧工作端
