CN104127209B - Chamber mirror holographic imaging surgery systems - Google Patents
Chamber mirror holographic imaging surgery systems Download PDFInfo
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- CN104127209B CN104127209B CN201410393829.2A CN201410393829A CN104127209B CN 104127209 B CN104127209 B CN 104127209B CN 201410393829 A CN201410393829 A CN 201410393829A CN 104127209 B CN104127209 B CN 104127209B
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- glove
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- digitorum manus
- articulations digitorum
- peritoneoscope
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3201—Scissors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/00296—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an endoscope
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- 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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- 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
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- 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
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Pathology (AREA)
- Ophthalmology & Optometry (AREA)
- Dentistry (AREA)
- Mechanical Engineering (AREA)
- Endoscopes (AREA)
Abstract
A kind of chamber mirror holographic imaging surgery systems comprises the rotatable peritoneoscope in end, display device, controllable operation apparatus, and its technical essential is: described rotatable peritoneoscope front end is provided with hard end; Display device comprises staggered slit grating formula three-dimensional display, the photoelectric signal converter corresponding with right and left eyes image; Controllable operation apparatus is made up of operation device and control device; Control device comprises position sensor and glove controller and control gloves or body sense trap setting, and glove controller is arranged on glove wrist, the some position receiver ends of arrangement in position sensor, and glove controller is provided with localizing emission end; Control gloves is provided with start end, selecting side, trigger end, sensor.Fundamentally solve existing endoscope-assistant surgery equipment to execute in art process limited view serious, observe inconvenient, execute art process and easily cause the problems such as lasting pneumoperitoneum.
Description
Technical field
The invention belongs to medical instruments field, particularly relate to a kind of visual or take a picture the inspection chamber of human body or the surgical device of pipe, specifically a kind of chamber mirror holographic imaging surgery systems.This system can improve the imaging technique of original cavity mirror system, is also optionally applied in robotic surgical system.
Background technology
Along with the development of science and technology, present stage major part surgery open operation as abdominal, open chest surgery etc., gradually substitute by endoscope-assistant surgery.Due to endoscope-assistant surgery Wicresoft, not only obviously shorten being in hospital the cycle of patient, and alleviate the misery of patients'perioperative greatly.But endoscope-assistant surgery still has its limitation.First, endoscope-assistant surgery requires relatively high to the technical merit of patient, therefore hinders its universal and development.Secondly, partial surgical needs to match with special position, and as operation on gallbladder needs head height position, gynecilogical operation needs head low level etc.Again, CO
2, O
2or N
2in the full medium as most of endoscope-assistant surgery, but usually can produce larger impact to human body, as persistence gases at high pressure easily cause thromboembolism, abdominal pressure to increase the impact easily causing breath cycle, obese people institute is more so influenced.
Numerous drawbacks of endoscope-assistant surgery are mainly because the feature of endoscope-assistant surgery imaging causes, the operation visual area that its display presents is a kind of planar graph, this planar graph clearly cannot express the relation between the anatomical structure of surgery Yezhong and histoorgan, and this just the operation of endoscope-assistant surgery and conventional open compare topmost defect.For overcoming this defect, once 3D endoscope-assistant surgery had been invented, if publication No. is the application for a patent for invention of CN103767668A, disclose one " hard multi-channel 3D ventriculoscope system ", it comprise hard multi-channel ventricularendoscope with, light source main frame, described hard multi-channel ventricularendoscope comprises hard working tips, the first end, front end of described hard working tips is provided with two separate optical lens and the CCD imaging system simulating the imaging of people's right and left eyes respectively corresponding with it, described hard multi-channel ventricularendoscope is also connected with 3D main frame, and possess the monitor of 3D rendering display mode.This hard multi-channel 3D ventriculoscope system obtains two cover images of same image by having the double-lens camera system independently balanced, then image through data line transfer to 3D host process, shown by monitor, thus obtain the brainpan image of 3D vision, provide the third dimension of operation to be subject to doctor.Although it can reach the object reducing operating difficulty further and improve operation safety coefficient, but, apparent, execute in art process and execute patient and must wear 3D glasses, use procedure is still convenient not, still carry out in the high pressure pneumoperitoneum of persistence in art, do not overcome all drawbacks of endoscope-assistant surgery completely.
And for example Authorization Notice No. is that the patent of invention of CN100387182C discloses a kind of no-pneumoperitoneum three dimension peritoneoscope, and it is by main part, swivel neck, form without shadow light source, image pickup part, direction controlling part.Main part comprises shank, outlet nozzle, knee portion; Swivel neck comprises: elasticity crust, on revolve end, lower fixed end, drawhead, prerotation vane, the stator of rotating band head end, bending guide rod, 3 connecting axles; Photographic head comprises miniature CCD camera or high-quality miniature CMS stylus, lead-in wire, external power supply plug, photographic head and light source are common source plug, power supply and video line are drawn by the outlet nozzle of main part, medical adhesive sealing outlet, direction controlling part comprises: 2 control handles, central shaft, 2 end axles, gyrator, bending guide rod, rotating band.Although this peritoneoscope overcomes the problem executed and continue pneumoperitoneum in art process, its imaging end is also only common 2D video signal, therefore still clearly cannot express the anatomical structure of surgery Yezhong.
Summary of the invention
The object of this invention is to provide a kind of chamber mirror holographic imaging surgery systems, fundamentally solve existing endoscope-assistant surgery equipment to execute in art process limited view serious, observe inconvenient, execute art process and easily cause the problems such as lasting pneumoperitoneum.
The object of the present invention is achieved like this: this chamber mirror holographic imaging surgery systems comprises the rotatable peritoneoscope in end, display device, controllable operation apparatus, its technical essential is: described rotatable peritoneoscope front end is provided with hard end, and hard end is provided with pair of lens, some light sources; Display device comprises the staggered slit grating formula three-dimensional display corresponding with right and left eyes image, photoelectric signal converter between slit grating formula three-dimensional display and peritoneoscope; Controllable operation apparatus is made up of operation device and control device, and operation device comprises some mechanical arms, is arranged on the mechanical hand of mechanical arm tail end or other operating theater instruments; Control device comprises position sensor and glove controller and control gloves or body sense trap setting, glove controller is arranged on glove wrist, the some position receiver ends of arrangement in position sensor, on glove controller, opposite side is respectively provided with a localizing emission end matched with receiving terminal; Control gloves is provided with and is positioned at little finger of toe and upper start end, be positioned at the mechanical arm on forefinger and/or middle finger and/or fourth finger or mechanical finger selecting side, be positioned at the trigger end in thumb finger belly, more than one the articulations digitorum manus medial and lateral pointed of control gloves are respectively equipped with sensor.
Described articulations digitorum manus outer sensors is single resistance, and articulations digitorum manus inner sensors is made up of the resistance of some parallel connections, and when finger stretches, articulations digitorum manus outer sensors is connected, and articulations digitorum manus inner sensors disconnects; When digital flexion, articulations digitorum manus outer sensors disconnects, and articulations digitorum manus inner sensors is according to the parallel resistance place in circuit of digital flexion degree by some.
In described glove controller, battery and the receiving terminal coil for wireless charging are installed, in position sensor, are provided with the transmitting terminal coil matched.
Described rotatable peritoneoscope comprises chamber mirror main body, is socketed in the manipulation portion of chamber mirror back body, is socketed in the knee portion of chamber mirror body front part, the connecting rod be arranged in knee portion, the rotating part that is arranged on power interface on connecting rod and imaging interface, is arranged on front end, knee portion.
Other operating theater instruments described comprise separate tissue pincers or tissue scissors or ultrasound knife.
The advantage that the present invention has and positive technique effect are:
Rotatable peritoneoscope front end is provided with hard end, hard end is provided with pair of lens, some light sources, peritoneoscope front end can rotate freely, and is gathered under the irradiation of light source by the camera lens on hard end to Intraabdominal image, forms the picture signal corresponding with people's right and left eyes.Display device comprises the staggered slit grating formula three-dimensional display corresponding with right and left eyes image, photoelectric signal converter between slit grating formula three-dimensional display and peritoneoscope, by photoelectric signal converter picture signal converted to the right and left eyes image on slit grating formula three-dimensional display, and form 3D rendering by slit grating formula three-dimensional display.3D process and holographic projection system are carried out fully in visual area, by geometric ratio or the anatomical structure of amplifying patient's diseased organ and peripheral organs, by its holographic projection display, can provide anatomical structure clearly for patient, facilitate operation technique.The hologram image executing art tissue is presented on external, art process can be executed by multi-angle observation.Persistence high pressure pneumoperitoneum without the need to traditional chamber mirror maintains operation process to the exposure of visual area.Less to the dependency of position, avoid the impact of serious breathing that some endoscope-assistant surgery special posture causes and circulation.Reduce the technical requirement of endoscope-assistant surgery to patient, make it promote and use becomes possibility.By line holographic projections, the anatomical structure of patient's diseased region can be appeared completely.The image that line holographic projections goes out, adds the precision manipulated in endoscope-assistant surgery process, and it is unintelligible to reduce the visual field in art to a large extent, causes accidentally injuring tissue.
Controllable operation apparatus is made up of operation device and control device, and operation device comprises some mechanical arms, is arranged on the mechanical hand of mechanical arm tail end or separate tissue pincers, tissue scissors, other operating theater instruments such as ultrasound knife; Control device comprises position sensor and glove controller and control gloves or body sense trap setting, glove controller is arranged on glove wrist, the some position receiver ends of annular arrangement in position sensor, on glove controller, opposite side is respectively provided with a localizing emission end matched with receiving terminal; Drive the localizing emission end on glove controller to do corresponding rotation when hand rotates, two transmitting terminals to position receiver end real time emission signal, thus can obtain the signal of now hand rotation, and are reflected on mechanical arm by this turn signal, and then manipulate.Control gloves is provided with the start end be positioned on little finger of toe, be positioned at the mechanical arm on forefinger and/or middle finger and/or fourth finger or mechanical finger selecting side, be positioned at the trigger end in thumb finger belly, more than one the articulations digitorum manus medial and lateral pointed of control gloves are respectively equipped with sensor.Control manipulator motion by a control gloves, another control gloves controls mechanical hand or other operating theater instruments, thus realizes manipulating completely.Articulations digitorum manus inner sensors is for receiving the bending signal of finger, thus controller mechanical arm or mechanical finger is bending, and articulations digitorum manus outer sensors, for confirming that operation signal now produced by digital flexion, prevents erroneous judgement.When trigger end and start end are touched, operation glove start, and prevent maloperation; When trigger end and mechanical arm or mechanical finger selecting side are touched, operation signal spreads out of, and is controlled corresponding mechanical arm or mechanical finger by the rotation that is bending, hand of finger.Also directly can be caught the operating gesture of hand by body sense trap setting, and then controller mechanical arm is bending, realizes identical function.
Accompanying drawing explanation
Fig. 1 is laparoscopically main TV structure schematic diagram;
Fig. 2 is the sectional structure schematic diagram of rotating part;
Fig. 3 is the sectional structure schematic diagram of chamber mirror main body;
Fig. 4 is the distributing position schematic diagram of each passage on hard end;
Fig. 5 is the image-forming principle schematic diagram of hologram screen;
Fig. 6 is surgery systems surface structure schematic diagram of the present invention;
Fig. 7 is the using state structural representation of position sensor;
Fig. 8 is the surface structure schematic diagram of control gloves;
Fig. 9 is the arrangement schematic diagram of position sensor inner position receiving terminal;
Figure 10 is the structural representation of control gloves joint sensor;
Figure 11 is the electrical block diagram of control gloves sensor operating principles;
Figure 12 is the another kind of gesture control system schematic diagram of the present invention;
Figure 13 is the structural representation of a kind of mechanical hand of mechanical arm tail end;
Figure 14 is the wireless charging theory structure schematic diagram of glove controller;
Figure 15 is the surface structure schematic diagram of the control gloves with pressure apparatus.
Description of reference numerals: 1 rotating part, 2 knee portions, 3 outlet nozzles, 4 connecting rods, 5 power interfaces, 6 imaging interfaces, 7 gyrators, 8 end axles, 9 control handles, 10 end axles, 11 chamber mirror main bodys, 12 times fixed ends, 13 lead-in wires, 14 bending section crusts, end is revolved on 15, 16 prerotation vanes, 17 pull bars, 18 rotating bands, 19 stators, 20 axles, 21 bending guide rod bodies, 22 drive links, 23 camera lens passages, 24 light source passages, 25 position sensors, 26 slit grating formula three-dimensional displays, 27 mechanical arms, 28 control gloves, 29 glove controllers, 30 localizing emission ends, 31 start ends, 32 mechanical arms or mechanical finger selecting side, 33 trigger ends, 34 wires, 35 position receiver ends, 36 articulations digitorum manus inner sensors, 37 articulations digitorum manus outer sensors, 38 body sense trap settings, 39 motion capture screens, 40 telescoping mechanisms, 41 pressure apparatus.
Detailed description of the invention
Content of the present invention is described in detail below in conjunction with Figure of description.Imaging system, as shown in Fig. 1 ~ 5, comprises the parts such as the rotatable peritoneoscope in end, display device.Wherein, preferably, the rotatable peritoneoscope adopted comprises chamber mirror main body 11, is socketed in the manipulation portion at mirror main body 11 rear portion, chamber, is socketed in the knee portion 2 of mirror main body 11 front portion, chamber, the connecting rod 4 be arranged in knee portion 2, the rotating part 1 that is arranged on power interface 5 on connecting rod 4 and imaging interface 6, is arranged on front end, knee portion 2, and knee portion 2 end is provided with outlet nozzle 3.Be provided with pull bar 17, rotating band 18 in knee portion 2, pull bar 17 end is connected with the drive link 22 in gyrator 7.Manipulation portion comprises gyrator 7, end axle 8, control handle 9, end axle 10.Rotating part 1 comprise being socketed in bending section crust 14 in knee portion 2 by above revolving end 15, being arranged on the prerotation vane 16 revolved in end 15, stator 19, axle 20, be arranged on bending guide rod body 21 bottom axle 20, be arranged in bending section crust 14 being provided with under fixed end 12, lead-in wire 13.
Stator 19, axle 20 are fixed on rotating band 18 end, and bending guide rod body 21 is fixed on axle 20 end.Rotatable peritoneoscope front end is provided with hard end, and hard end is provided with a pair camera lens for picture signal collection, for providing enough visual areas illumination some light sources.Camera lens is fixed on hard end by light source passage 24 by camera lens passage 2, light source.Display device comprises the staggered slit grating formula three-dimensional display 26 corresponding with right and left eyes image, photoelectric signal converter between slit grating formula three-dimensional display 26 and peritoneoscope.The structure of the display screen of slit grating formula three-dimensional display 26 as shown in Figure 5, at the anaglyph of the image surface alternate right and left eyes of plane display, because a point light action for grating makes the light of anaglyph pass to right and left eyes respectively along different directions, after brain overlap, form 3-D view.The present invention is on the basis of raster type free 3 stereo display technique, respectively by the input of two chamber mirror photographic head as imaging signal, export chamber mirror image as display screen L, R image by after software processes, make to execute patient without the need to the situation executing art position can be observed intuitively by the device such as glasses, the helmet, make visual area more accurately directly perceived, operation process is more convenient.Camera lens front-end configuration laser shows wide device, clearly can mark the scope captured by different camera lens, can avoid the overlap that causes in the process of multiple lens shooting or leak clapping.
Controllable operation apparatus, as shown in Fig. 6 ~ 11, is made up of operation device and control device.Wherein, operation device comprises some mechanical arms 27, is arranged on other operating theater instruments such as the mechanical hand of mechanical arm 27 end or separate tissue pincers, tissue scissors, ultrasound knife.Control device comprises position sensor 25 and glove controller 29 and control gloves 28, and glove controller 29 is connected with position sensor 25 by wire/wireless, and position sensor 25 is connected with terminal, and terminal is connected with operation device.Glove controller 29 is arranged on glove wrist, the some position receiver ends 35 of arrangement in position sensor 25, and on glove controller 29, opposite side is respectively provided with a localizing emission end 30(matched with receiving terminal as laser, infrared etc.).Control gloves 28 is provided with the start end 31 be positioned on little finger of toe, be positioned at the mechanical arm on forefinger and/or middle finger and/or fourth finger or mechanical finger selecting side 32, be positioned at the trigger end 33 in thumb finger belly, more than one the articulations digitorum manus medial and lateral pointed of control gloves 28 are respectively equipped with sensor, and each touch-control end on control gloves 28 and sensor are all connected by wire 34 with glove controller 29.Articulations digitorum manus outer sensors 37 is single resistance, and articulations digitorum manus inner sensors 36 is made up of the resistance of some parallel connections, and when finger stretches, articulations digitorum manus outer sensors 37 is connected, and articulations digitorum manus inner sensors 36 disconnects.When digital flexion, articulations digitorum manus outer sensors 37 disconnects, and articulations digitorum manus inner sensors 36 is according to the parallel resistance place in circuit of digital flexion degree by some.
The operation principle of said structure is set forth below by way of control procedure.After control gloves 28 is dressed, respectively the circulus of both hands through position sensor 25 is kept flat, make the localizing emission end 30 of glove controller 29 be positioned at the centre of circulus, the localizing emission end 30 of the back of the hand and palmar side, in vertical state, carries out position initialization.Various operating theater instruments needed for operation and/or mechanical hand are arranged on mechanical arm 27 end.With left hand controller mechanical arm 27, right control mechanical hand or other operating theater instruments are example.First touched the start end 31 of little finger of toe root by the trigger end 33 of left hand thumb, glove controller 29 starts.According to operation needs, the trigger end 33 of left hand thumb is touched corresponding mechanical arm selecting side 32 on forefinger/middle finger/fourth finger, select corresponding mechanical arm 27.Rotated by hand, localizing emission end 30 send laser or infrared signal streak the position receiver end 35 of the same number of turns (in Y-axis, distance is identical) in position sensor 25 successively, and according to the angle that streaked position receiver end 35 quantity determination mechanical arm 27 rotates.Again by bending corresponding finger, the angle that controller mechanical arm 27 is bending.For forefinger, when forefinger second joint bends, articulations digitorum manus outer sensors 37 disconnects (resistance CR1 disconnects), and inner sensors is connected.Inner sensors is made up of the resistance (R1 ~ Rn) of some parallel connections, when digital flexion is to maximum angle, and whole resistance (R1 ~ Rn) place in circuit, electric current is now maximum; When digital flexion is to minimum angles, only have resistance R1 to connect, now electric current is minimum.Thus the degree of crook of finger can be judged according to the size of current signal, and then the degree of crook of controller mechanical arm 27.The control procedure of mechanical hand is with mechanical arm 27, and difference is only also to control the telescopic level of telescoping mechanism 40 at alignment sensor along the move distance of Y-axis by glove controller 29.
As the optimal technical scheme adopting other auxiliary facilities, as shown in Figure 12 ~ 14,
As shown in figure 12, the sensor of articulations digitorum manus medial and lateral is replaced to the more simple body sense trap setting 38 of structure, the operating gesture of hand is caught in the specific region of position sensor 25 front end, the gesture caught is as shown in motion capture screen 39, by this gestural feedback to manipulation end computer, thus realize manipulation function.
As shown in figure 13, for wherein a kind of with mechanical arm structure akin mechanical hand surface structure schematic diagram, and be provided with telescoping mechanism 40 in the junction of mechanical hand and mechanical arm, when glove controller 29 seesaws in position sensor 25, the motion that corresponding signal controls telescoping mechanism can be produced, thus realize finer manipulation.
Theory diagram as shown in figure 14, can install battery and the receiving terminal coil for wireless charging, be provided with the transmitting terminal coil matched in position sensor 25 in glove controller 29.The battery of glove controller 29 is connected with electric quantity detecting circuit, Real-Time Monitoring battery capacity, and set charge threshold.Once battery capacity is reduced to certain percentage, then the driver of transmitting terminal coil starts, and is battery charging, until electricity is full of.
As shown in figure 15, in control glove, be also provided with pressure transducer 41, when carrying out corresponding operating, by pressure transducer, 41 couples of operators feed back, and are convenient to the carrying out manipulated.
Claims (5)
1. a chamber mirror holographic imaging surgery systems, comprises the rotatable peritoneoscope in end, display device, controllable operation apparatus, it is characterized in that: described rotatable peritoneoscope front end is provided with hard end, and hard end is provided with pair of lens, some light sources; Display device comprises the staggered slit grating formula three-dimensional display corresponding with right and left eyes image, photoelectric signal converter between slit grating formula three-dimensional display and peritoneoscope; Controllable operation apparatus is made up of operation device and control device, and operation device comprises some mechanical arms, is arranged on the mechanical hand of mechanical arm tail end or other operating theater instruments; Control device comprises position sensor and glove controller and control gloves or body sense trap setting, glove controller is arranged on glove wrist, the some position receiver ends of arrangement in position sensor, on glove controller, opposite side is respectively provided with a localizing emission end matched with receiving terminal; Control gloves is provided with the start end be positioned on little finger of toe, be positioned at the mechanical arm on forefinger and/or middle finger and/or fourth finger or mechanical finger selecting side, be positioned at the trigger end in thumb finger belly, more than one the articulations digitorum manus medial and lateral pointed of control gloves are respectively equipped with sensor.
2. mirror holographic imaging surgery systems in chamber according to claim 1, it is characterized in that: described articulations digitorum manus outer sensors is single resistance, and articulations digitorum manus inner sensors is made up of the resistance of some parallel connections, when finger stretches, articulations digitorum manus outer sensors is connected, and articulations digitorum manus inner sensors disconnects; When digital flexion, articulations digitorum manus outer sensors disconnects, and articulations digitorum manus inner sensors is according to the parallel resistance place in circuit of digital flexion degree by some.
3. mirror holographic imaging surgery systems in chamber according to claim 1 and 2, is characterized in that: install battery and the receiving terminal coil for wireless charging in described glove controller, be provided with the transmitting terminal coil matched in position sensor.
4. mirror holographic imaging surgery systems in chamber according to claim 3, is characterized in that: described rotatable peritoneoscope comprises chamber mirror main body, is socketed in the manipulation portion of chamber mirror back body, is socketed in the knee portion of chamber mirror body front part, the connecting rod be arranged in knee portion, the rotating part that is arranged on power interface on connecting rod and imaging interface, is arranged on front end, knee portion.
5. mirror holographic imaging surgery systems in chamber according to claim 4, is characterized in that: other operating theater instruments described comprise separate tissue pincers or tissue scissors or ultrasound knife.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410393829.2A CN104127209B (en) | 2014-08-12 | 2014-08-12 | Chamber mirror holographic imaging surgery systems |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410393829.2A CN104127209B (en) | 2014-08-12 | 2014-08-12 | Chamber mirror holographic imaging surgery systems |
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| CN104127209A CN104127209A (en) | 2014-11-05 |
| CN104127209B true CN104127209B (en) | 2016-03-23 |
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| CN113077662A (en) * | 2021-04-03 | 2021-07-06 | 刘铠瑞 | Laparoscopic surgery and training system based on 5G network technology application |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6701296B1 (en) * | 1988-10-14 | 2004-03-02 | James F. Kramer | Strain-sensing goniometers, systems, and recognition algorithms |
| US5339799A (en) * | 1991-04-23 | 1994-08-23 | Olympus Optical Co., Ltd. | Medical system for reproducing a state of contact of the treatment section in the operation unit |
| CN100387182C (en) * | 2004-07-16 | 2008-05-14 | 杜运生 | One hole no-pneumoperitoneum three dimension laparoscope |
| EP1871267B1 (en) * | 2005-02-22 | 2018-09-12 | Mako Surgical Corp. | Haptic guidance system |
| JP5384869B2 (en) * | 2008-07-24 | 2014-01-08 | オリンパスメディカルシステムズ株式会社 | Endoscopic treatment system |
| US8521331B2 (en) * | 2009-11-13 | 2013-08-27 | Intuitive Surgical Operations, Inc. | Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument |
| CN202137764U (en) * | 2011-06-08 | 2012-02-08 | 杨少毅 | Man-machine interactive glove |
| CN103767668A (en) * | 2012-10-18 | 2014-05-07 | 广州宝胆医疗器械科技有限公司 | Hard multichannel three-dimensional ventriculoscope system |
| CN204016369U (en) * | 2014-08-12 | 2014-12-17 | 梁迪 | Chamber mirror holographic imaging surgery systems |
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