CN102835977A - 微创医疗装置 - Google Patents
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本发明公开了一种微创医疗装置,其包括有:一工具端、一操作端、一侦测单元、一信号处理模块、一信息控制模块、以及一警示装置。该操作端控制该工具端进行动作,该侦测单元设置于该工具端之上;该信号处理模块与该侦测单元电性连接;该信息控制模块与该信号处理模块电性连接;该警示装置设置于该操作端之上。利用该工具端上的侦测单元将该工具端所接触的数据转换成一电子信号,且经由该信号处理模块传送并透过该信息控制模块判断是否驱动该警示装置产生一警示以通知该操作端上的使用者。
Description
技术领域
本发明是关于一种微创医疗装置,利用于一工具端上所设置的侦测单元,经由信号处理模块传送并透过信息控制模块判断比对是否驱动位于操作端上的一警示装置产生一警示,以达到通知使用者(医生)加以注意的目的。
背景技术
微创手术一向都与现代科技紧密相连,在新科技广泛使用于病人前,确立新仪器的安全性是非常重要的。内视镜外科所带来微创手术(MinimallyInvasive Surgery,MIS)的观念,是透过内视镜及各种影像技术,使外科医师在无须对患者造成巨大伤口的情况下施行手术,对于传统的外科带来了巨大的改变及冲击。内视镜外科正是现代科技发展造福医疗健康的最好写照,近年来,一些新医疗科技发展出的器械使得一些原本内视镜外科不可能执行的手术都陆续成为可能。
内视镜微创手术目前在医界中发展蓬勃,外科医师只须通过几个小伤口,便能将内视镜及各种微创手术器械放入人体,替代传统需要偌大伤口才能完成的手术,能减少手术对组织带来的创伤和出血,使病人在术后能较快康复、较早出院,微小的伤口也不至于影响外观,使伤口痛苦和感染机会大幅降低。基本上,微创外科手术是透过小的切口所进行的外科手术,通常是藉由显微镜或者是内视镜显像来进行,透过某种非常小的CAM或是摄影镜头用以观看身体的内部。也就是说,内视镜原理是将摄影装置经由一个细长的镜头连结电缆和光源机,光源机可透过镜头提供光源,照亮欲见物体的视野,电缆则连结摄影装置与电视屏幕显示欲见的物体。但是,仅以视觉的方式于屏幕上判别身体内部的组织种类显然是不够的,例如神经、血管、尿管、腹膜等,尤其伸入于具有积血或血肉模糊处的人体组织中往往无法经由肉眼分辨而产生视觉误判,使手术上的风险相对提高。
因此,本发明揭露一种微创医疗装置,在微创手术工具的前端增设一侦测单元来感测应力、应变、压力、温度或震动等信号,并将这些感测到的信号传送至一信息控制模块进行比对判读后,再加以可视化显示于屏幕上或是以其它警示方式来通知执行手术的医师。藉此在进行微创手术的过程中,医师将可不再只凭自身感觉来进行手术,而是可以参考屏幕上所可视化显示的应力、应变、压力、温度或震动等信号或是其它警示方式,来得知病患体内或是手术工具前端的状态,达到令手术过程更精确、更安全,也更易于实施的功效。
发明内容
本发明的主要目的是在于提供一种微创医疗装置,利用于一工具端上所设置的侦测单元将该工具端所接触的数据转换成一电子信号,且经由信号处理模块传送并透过该信息控制模块判断是否驱动位于操作端上的一警示装置产生一警示,以达到通知使用者(医生)加以注意的目的。
为达上述的目的,本发明提供了一种微创医疗装置,其包括有:一工具端、一操作端、一侦测单元、一信号处理模块、一信息控制模块,以及一警示装置。该操作端控制该工具端进行动作,该侦测单元设置于该工具端之上;该信号处理模块与该侦测单元电性连接;该信息控制模块与该信号处理模块电性连接;该警示装置设置于该操作端之上。利用该工具端上的侦测单元将该工具端所接触的数据转换成一电子信号,且经由该信号处理模块传送并透过该信息控制模块判断是否驱动该警示装置产生一警示以通知该操作端上的使用者。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其它的附图。
图1为本发明微创医疗装置的操作流程示意图;
图2为本发明微创医疗装置的配置示意图;
图3为本发明微创医疗装置的实施状态示意图;
图4为本发明微创医疗装置的生物模型试验的应力与应变关系图的示意图;
图5为本发明微创医疗装置另一较佳实施例的实施状态示意图。
图号说明:1~微创医疗装置;11~工具端;111~上颚夹;112~下颚夹;12~操作端;121~环形指套;122~环形指套;13~侦测单元;14~信号处理模块;141~角度量测器;143~集线器;15~信息控制模块;151~资料撷取器;152~回馈单元;153~控制电路;154~电源供应器;155~信号扩大器;16~警示装置。
具体实施方式
为了能更清楚地描述本发明所提出的微创医疗装置,以下将配合图标详细说明的。
请参阅图1、图2所示,图1、图2分别为本发明微创医疗装置的操作流程示意图和配置示意图。其中,本发明微创医疗装置1通常使用于医学临床上的微创外科手术中使用的器具,其包括有:一工具端11、一操作端12、一侦测单元13、一信号处理模块14、一信息控制模块15,以及一警示装置16,也就是利用本发明微创医疗装置1进行生物体软组织的夹持、切割或修补,透过该工具端11上所设置的侦测单元13将该工具端11所接触的生物体软组织的状态数据转换成一电子信号,且经由该信号处理模块14传送并透过该信息控制模块15内所建文件的数据库加以比对,进一步判断该工具端11上是否接触到并非要处理的生物体软组织(例如:神经、血管、尿管等),倘若是,则透过该信息控制模块15驱动位于该操作端12上的警示装置16,以触觉感应的方式或是其它种类的警示方式(例如但不局限于:以警示灯产生警示光、以扬声器产生警示声响、以震动组件产生震动、以电击组件产生微弱电击等等)来产生一警示,进而通知执行手术的医事人员使用时能实时加以辨别。
该工具端11可以是:一刀具、一钳具或一夹具,或是其它目前已知悉用的微创医疗器械中用来接触生物体的前端工具。该操作端12与该工具端11相连接并可控制该工具端11进行机械性动作。于本发明的一较佳实施例中,该侦测单元13设置于该工具端11之上,用以感测该工具端11所接触的物体状态;而该警示装置16则设置于该操作端12之上,令使用者(医生)控制该操作端12时可同时接触到该警示装置16。
该侦测单元13可以是:一压力规、一应变规(strain gauge)或已知习用的力量传感器(如超音波等)其中之一。该信号处理模块14设置于该操作端12之上,并与该侦测单元13电性连接。该信号处理模块14包括:一角度量测器141、,以及一集线器143。其中,该角度量测器141用以量化该操作端12的开合角度。该信号处理模块14可透过一排线、一缆线或是一光纤等是有线连接方式,或是透过红外线、蓝牙、无线局域网络(WLAN)等无线传输方式,来与该信息控制模块15进行电性连接或信息的整合连结。该信息控制模块15更包括有:一数据撷取器151、一回馈单元152、一控制电路153、一电源供应器154,以及一信号扩大器155。透过该数据撷取器151将来自该信号处理模块14的电子信号传递至该控制电路153,并经由该控制电路153判断后决定是否启动该回馈单元152,令该操作端12上的该警示装置16通知使用者(医生)。
请参阅图3并配合图2所示,图3为本发明微创医疗装置的实施状态示意图。其中,于本实施例中,该工具端11为一钳具(以下该工具端称之为钳具),而该钳具11包括有:一上颚夹111和一下颚夹112所组合而成。该侦测单元13为一应变规(以下该侦测单元称的为应变规),其至少设置于该钳具11的该上颚夹111或该下颚夹112其中之一的末端处之上,亦可于该上颚夹111及该下颚夹112之上同时设置,用以侦测该钳具11接触某软组织时所产生的压力或应力信号,并且于该钳具11末端处包含该上或下颚夹111、112上所设置的该应变规13均具有防水和防渗漏的设计。此外,控制该钳具11所连结的另一端也就是该操作端12为两环形指套121、122交所构成的交叉状剪刀柄结构,分别提供使用者(医生)的拇指与食指套入并进而控制该钳具11的该上颚夹111及该下颚夹112进行开/闭的夹合动作。
该信号处理模块14的该角度量测器141可以是透过一传动轴或是一齿轮组其中之一结合于两环形指套121、122呈交叉状的轴心处,进一步使该传动轴或是齿轮组得以将两环形指套121、122开/闭合的程度(亦即该钳具11的该上颚夹111及该下颚夹112开/闭合的角度)经由该角度量测器141予以量化后,经由该集线器143将电子信号传送至该信息控制模块15上。当然,在此同时也可一并将该钳具11上所设的该应变规13感测的应力与应变信号透过该集线器143汇整后传送至该信息控制模块15上进一步判读比对分析。
该信息控制模块15透过电源供应器154以提供该数据撷取器151、回馈单元152、控制电路153,以及信号扩大器155所需的必要电力来源。该数据撷取器151将来自该信号处理模块14所搜集的角度、应力、应变等信号经信号扩大器155予以放大后传递至该控制电路153进行判别辨识。于本实施例中,该回馈单元152为一气阀(以下该回馈单元称之为气阀),该气阀152与一气瓶或是一空气帮浦(图中未示)其中之一相连接,并可经由该控制电路153透过电子信号控制的方式操作该气阀152开启与否。该控制电路153可以是一计算机终端机或一分析仪其中之一(以下该控制电路称之为计算机终端机),该计算机终端机153基本上必须具备有:一分析软件、一数据库,以及一屏幕,且透过该数据撷取器151将所搜集的信号数据与该数据库中所内建众多不同实施状态(手术环境)下生物模型试验所呈现的软组织应力与应变关系图加以透过该分析软件进行判读比对,并将所搜集的信号数据以图形化视觉的方式呈现于该屏幕之上。
该警示装置16为一气动组件或是一气囊其中之一(以下该警示装置称之为气囊),并与该信息控制模块15的该气阀152相连结,令该气瓶或是该空气帮浦得以接受来自于该计算机终端机153的判断命令开启该气阀152将气体充填至该气囊16之中。其中,该气囊16设置于该操作端12的两环形指套121、122其中之一。于本实施例中,该气囊16设置于该两环形指套121、122其中之一的内缘处,并与套入于两环形指套121、122内的使用者(医生)的手指皮肤表面进行接触。如图3所示,该气囊16通常设置于供拇指套附的该环形指套121内,以填充气体的方式将该气襄16予以充气,藉以使该气囊16产生一预设的膨胀压力直接接触于使用者(医生)伸于该环形指套121内的该拇指表面,以达到警示的作用。为了避免气囊16膨胀过大会影响使用者(医生)的手术操作,或是因气囊16膨胀不足而无法达到警示效果,该气囊16的膨胀程度应被加以规范。于本实施例中,在该气囊16经充气后膨胀程度的尺寸范围可以是1mm~2mm为较佳,且该气囊16充气力量回馈的上限为700mN;此外,该气囊16充气警示的时间的频率与次数可经由该信息控制模块15予以设定其时间的长短。
请参阅图4并参考图2、图3所示,图4为本发明微创医疗装置的生物模型试验的应力与应变关系图的一示意图。其中,于该计算机终端机153的该数据库中预存众多有关于医疗相关的实验数据档案和不同的生物模型实验的样本数据,以提供于不同微创手术环境下所面临的各种不同的软组织的数据样本参考。举例来说,当本发明微创医疗装置1的该钳具11夹持某一软组织使该软组织持续变形时,该上颚夹111及该下颚夹112上的该应变规13所感测产生的应力或应变信号经该分析软件换算后将所感测的数据记录于该数据库中并于屏幕上显示应力与应变关系图,并且亦可经由该计算机终端机153的分析软件针对该应变规13感测的数据对应于该数据库中现有如图4所示的有关生物模型试验的应力与应变关系图,以判别该钳具11所夹持为何种软组织。是以因应众多不同手术环境情况下的软组织的种类以及应力与应变关系图所成立的该数据库档案来比对与判别目前该钳具11所夹持的软组织的种类与型态,进而以应力与应变关系图的方式呈现于该屏幕之上,并同时控制该气阀152是否予以启动该气囊16以通知使用者(医生)该钳具11目前所夹持的是否为正确夹持的软组织。
进一步举例来说,于生物模型试验的应力与应变关系图中样本组织A以及样本组织B分别代表着同一手术环境下的不同种类的两款软组织型态,当然有更多种不同的组织同时存在于同一手术环境中,在此仅以样本组织A以及样本组织B代表做比较。由于不同的软组织型态(例如:腹膜、尿道、血管、神经...等)其软硬程度经该钳具11夹持后由该应变规13所感测出各有不同的力量大小反应并且转换成电子信号,透过信号放大后也同时会有呈现不同的应力与应变信号所构成的曲线反应,更可藉由其信号曲线的差异进一步透过该计算机终端机153记录于该数据库预先建文件以提供日后不同手术环境的微创手术辨识比对该钳具11所夹持的组织的种类。
例如,样本组织A和样本组织B在相同的应变strain大小之下所呈现的应力stress(Pa)大小就截然不同,显然的,于该计算机终端机153的该数据库中与手术环境相关(类似图4)的应力与应变关系图中可轻易发现,样本组织A于相同条件的应变数据大小下所呈现的应力会比样本组织B的应力较为大,也正意谓着样本组织A的软硬度大于该样本组织B。举例来说,以血管与神经两种软组织为例,样本组织A即代表为相对较硬的「血管组织」,而样本组织B即代表为相对较软的「神经组织」。而于样本组织A曲线(血管组织)和样本组织B曲线(神经组织)的间虚拟有该样本组织A曲线与该样本组织B曲线的数据平均值所构成的一平均曲线X以供辨识参考的分界线,使得该平均曲线X将样本组织A(血管组织)和样本组织B(神经组织)于应力与应变关系图中大致区分成第I区和第II区。
换句话说,本发明微创医疗装置1于施行某特定手术环境下的微创手术时,会于该计算机终端机153的该数据库取出符合本发明微创医疗装置1所施行微创手术的相关生物模型试验的应力与应变关系图(类似图4所示)以供比对辨识,使该钳具11所夹持软组织的应力与应变数据经由该应变规13的感测量化后,透过该信号处理模块14的该集线器143将电子信号藉由该数据撷取器151传递至该计算机终端机153内进而呈现于该屏幕之上,并经由该计算机终端机153与所执行的微创手术相关生物模型试验的应力与应变关系图加以比对,倘若其应力数据落于该第I区时,即判断为样本组织A(血管组织);此外,倘若其应力数据落于该第II区时,则判断为样本组织B(神经组织)。
于本发明微创医疗装置1的操作实例上而言,当该钳具11所夹持或碰触的软组织为样本组织B(神经组织)时,随即经由该计算机终端机153内所预设警示的样本组织(神经组织)经判断辨识后启动该气阀152,令该操作端12上的该气囊16于一定的时间与频率内进行充气膨胀的动作,进而触动并通知使用者(医生)位于该操作端12的该环形指套121以触动其拇指表面皮肤,以触觉的方式告知使用者(医生)目前该钳具11所夹持或碰触的软组织为样本组织B(神经组织),也避免于手术时切断或伤害神经组织的风险。相反的,当该钳具11所夹持或碰触的软组织为样本组织A(血管组织)时,由于并非是预设警示的样本组织型态,因此该气阀152则不会动作呈现关闭状态。
请参阅图5所示,图5为本发明微创医疗装置另一较佳实施例的实施状态示意图。其中,由于图5的本发明微创医疗装置另一较佳实施例其大体上与图2所示的实施例类似,故相同的组件与结构以下将不再赘述。本发明的另一较佳实施例的微创医疗装置与前述图2实施例的不同点在于,该警示装置16可以是一震动组件且设置于该操作端12的该环形指套121内缘,透过细微震动的方式触动使用者(医生)的拇指表面,达到提醒警示的功能。此外,该信号处理模块14与该信息控制模块15间可以是透过一无线传输方式将该电子信号进行双向传输。该无线传输方式可以是:红外线、蓝牙、无线局域网络(WLAN)等悉知无线传输方式其中之一。
综上所述,本发明微创医疗装置的一种微创医疗装置1其包括有:一工具端11、一操作端12、一侦测单元13、一信号处理模块14、一信息控制模块15,以及一警示装置16。该操作端12控制该工具端11进行机械化动作,该侦测单元13设置于该工具端11之上,用以感测该工具端13所接触的软组织并产生一应力电子信号传送至该信号处理模块14;该信号处理模块14与该信息控制模块15电性连接;该警示装置16设置于该操作端12之上。经由该信号处理模块14传送并透过该信息控制模块15比对数据库中相关手术环境下的生物模型试验的应力与应变关系图,利用不同软组织间各别的不同硬度差异,藉此辨识该工具端11是否夹持或接触所预设警示的软组织,进一步判断是否驱动该警示装置16以辅助通知该操作端12上的使用者(医生),达到避免于手术中误判的效果。
以上所述之实施例不受限于本发明之可应用范围,本发明之保护范围应以本发明之申请专利范围内容所界定技术精神及其均等变化所涵括之范围为主者。即大凡依本发明申请专利范围所做之均等变化及修饰,仍将不失本发明之要义所在,亦不脱离本发明之精神和范围,故都应视为本发明的进一步实施状况。
Claims (10)
1.一种微创医疗装置,其包括有:
一工具端;
一操作端,控制该工具端进行动作;
一侦测单元,设置于该工具端之上;利用该工具端上的侦测单元将该工具端所接触的一物体状态数据转换成一电子信号;
一信号处理模块,与该侦测单元电性连接;
一警示装置,用以产生一警示;以及
一信息控制模块,可与该信号处理模块进行信号传输;该信号处理模块可将该电子信号传输给该信息控制模块,并由该信息控制模块根据所传输来的该电子信号来判断是否驱动该警示装置来产生该警示。
2.如权利要求1所述的微创医疗装置,其中,该工具端是:一刀具、一钳具,或一夹具其中之一。
3.如权利要求1所述的微创医疗装置,其中,该侦测单元是:一压力规、一应变规或一超音波其中之一。
4.如权利要求1所述的微创医疗装置,其中,该信号处理模块包括:一角度量测器以及一集线器;其中,该角度量测器用以量化该工具端的开合角度。
5.如权利要求1所述的微创医疗装置,其中,该信息控制模块更包括有:一数据撷取器、一回馈单元、一控制电路、一信号扩大器、以及一电源供应器;其中,透过该数据撷取器将来自该信号处理模块的该电子信号经信号扩大器放大后传递至该控制电路,并经由该控制电路判断后决定是否启动该回馈单元,进而令该警示装置产生该警示。
6.如权利要求5所述的微创医疗装置,其中,该回馈单元是:一气阀;该警示装置设置于该操作端上且一气动组件或一气囊其中之一;该控制电路是一计算机终端机或一分析仪其中之一。
7.如权利要求1所述的微创医疗装置,其中,该警示装置是一震动组件、一警示灯、一扬声器或一电击组件其中之一。
8.如权利要求1所述的微创医疗装置,其中,该工具端的末端处具有防水和防渗漏的设计。
9.如权利要求1所述的微创医疗装置,其中,该信号处理模块与该信息控制模块间透过一无线传输方式将该电子信号进行传输。
10.如权利要求9所述的微创医疗装置,其中,该无线传输方式是:红外线、蓝牙、无线局域网络其中之一。
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