CN103536269A - Single-port laparoscopic minimally-invasive surgery imaging system - Google Patents
Single-port laparoscopic minimally-invasive surgery imaging system Download PDFInfo
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- CN103536269A CN103536269A CN201310533434.3A CN201310533434A CN103536269A CN 103536269 A CN103536269 A CN 103536269A CN 201310533434 A CN201310533434 A CN 201310533434A CN 103536269 A CN103536269 A CN 103536269A
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Abstract
The invention discloses a single-port laparoscopic minimally-invasive surgery imaging system. The single-port laparoscopic minimally-invasive surgery imaging system comprises a drive end, an illumination end and an imaging end. The drive end comprises a position adjusting mechanism and a nickel-titanium wire. The illumination end comprises an illumination module and an unfolding and retracting mechanism. The imaging end comprises a camera shooting module and a visual angle adjusting mechanism. The drive end controls the camera shooting position of the imaging end, the illumination end controls the illumination intensity, a light emitting diode (LED) lamp can be protected through the unfolding and retracting mechanism, and the imaging end can obtain an ideal imaging visual angle through the visual angle adjusting mechanism. Accordingly, after the imaging system extends into a human body through a surgical cannula, and ideal imaging angles and positions can be obtained through the adjusting mechanisms of the drive end and the imaging end. The maximum diameter of the imaging system is only 7mm, and the single-port laparoscopic minimally-invasive surgery imaging system has the advantages of being small in size, high in flexibility, convenient to use and the like.
Description
Technical field
The present invention relates to medical equipment technical field, particularly a kind of peritoneoscope Minimally Invasive Surgery imaging system.
Background technology
In modern medical service field, Minimally Invasive Surgery has successfully reduced patient's postoperative pain, complication, the hospital stays and has improved postoperative cicatrix situation.Although through human body natural's tract endoscopic surgery (natural orifice trans-luminal endoscopic surgery, NOTES) method is without any need for otch, but technical difficulty is higher, operating theater instruments need to be carried out the surgical action such as clip suture after the body cavities by a long and narrow complexity, the existing NOTES operation of major part mechanism all exists volume excessive, many defects such as performance accuracy is inadequate, be difficult to meet the specification requirement of endoscope sewing operation, cause this class apparatus not to be widely used clinically.Therefore due to the advantage of Minimally Invasive Surgery uniqueness, more patient starts to select Minimally Invasive Surgery.
In Minimally Invasive Surgery, laparoscopic surgery is a large class.In most laparoscopic procedures, often need two or more little otch for operating theater instruments, peritoneoscope and veress needle.But along with people have higher requirement to the effect of Minimally Invasive Surgery, the quantity of operative incision is further controlled, finally there is scholar to propose single-hole laparoscopic surgery, it can insert a plurality of perforators or a perforator with a plurality of operations duct by the little otch of a 1.5cm～4cm, by operation duct implantation surgery apparatus, complete operation technique, conventionally get the little otch of umbilical part, but be not limited solely to umbilical part.It can reduce to one by the needed otch of operation, so single-hole laparoscopic surgery will become an important development direction of Minimally Invasive Surgery, so be of great significance for the imaging system research tool in single-hole laparoscopic surgery robot.
Summary of the invention
The object of this invention is to provide a kind of single-hole laparoscopic Minimally Invasive Surgery imaging system, this system is mainly used in the laparoscopic surgery of single otch, this system can provide outstanding imaging in laparoscopic surgery, and this system can stretch into by the sleeve pipe of drive end mechanical hand and under the condition of single otch, carries out complete laparoscopic surgery simultaneously.The maximum gauge of this system under closed position only has 7mm, and the sleeve pipe that can be 10mm by diameter smoothly enters abdominal cavity from otch and arrives desirable image space.
According to object of the present invention, a kind of peritoneoscope Minimally Invasive Surgery imaging system is provided, this system can be take the otch that a kind of attitude of closure is 10mm from sleeve pipe by diameter and be entered abdominal cavity, by drive end, arrive desirable image space, its illumination end is launched to throw light on afterwards, and imaging end and drive end regulate shooting direction and position to carry out imaging.The imaging end of this system is integrated with photographic head and visual angle guiding mechanism, illumination end is integrated with two row LED lamps and launches contracting mechanism, drive end is integrated with position adjusting mechanism and drives the nitinol alloy wire of use, and nitinol alloy wire can accurately be controlled to picture end and arrive desirable image space.
Single-hole laparoscopic Minimally Invasive Surgery imaging system imaging end of the present invention is comprised of visual angle guiding mechanism and photographing module.
In the present invention, the maximum gauge of imaging end only has 7mm.Visual angle guiding mechanism has the nearly rotatable scope of 123 °, adopts quadric chain, and the common push-and-pull drive rod of nitinol alloy wire by two drive ends slides in ground way, by drive rod, drives imaging end to rotate around fixed axis, realizes visual angle adjustment; In photographing module, photographic head is fixed in sleeve, carries out normal imaging.
Single-hole laparoscopic Minimally Invasive Surgery imaging system illumination end of the present invention is comprised of lighting module and expansion contracting mechanism.
In illumination end of the present invention, lighting module is comprised of 14 LED lamps, by heat-conducting glue, is attached to expansion plate both sides, totally seven arranges, and heat-conducting glue can carry out heat conduction, prevents that LED lamp back side local temperature is too high.Launch contracting mechanism and adopt quadric chain; nitinol alloy wire push-and-pull slide block one by a drive end slides in ground way; slide block is cemented on connector; drive connector to drive slide block two to slide up and down at the axis direction of fixed axis; slide block two drivening rods drive expansion plate to shrink and launch around fixed axis; during contraction state; lighting module is all taken in expansion plate; expansion plate is closed into the cylinder that diameter is 7mm; LED lamp in the time of can effectively protecting off working state when having reduced diameter dimension, illumination end full-size when deployed condition is 16mm.
Single-hole laparoscopic Minimally Invasive Surgery imaging system drive end of the present invention is comprised of position adjusting mechanism and nitinol alloy wire.
In drive end of the present invention, have four nitinol alloy wires, a position adjusting mechanism of controlling in drive end, an expansion contracting mechanism of controlling illumination end, two visual angle guiding mechanisms that are simultaneously controlled to picture end.Position adjusting mechanism drives slide block to slide in ground way by a nitinol alloy wire push-and-pull, and slide block push-and-pull drive rod drives lighting module and image-forming module jointly around fixed axis, to rotate, and its rotating range is 90 °.
According to an aspect of the present invention, provide a kind of single-hole laparoscopic Minimally Invasive Surgery imaging system, this system comprises:
Drive end, drive end comprises position adjusting mechanism and many B alloy wires;
Illumination end, illumination end comprises lighting module and launches contracting mechanism; And
Imaging end, imaging end comprises photographing module and visual angle guiding mechanism; Wherein,
Many B alloy wires are adjusted position and the visual angle of illumination end and imaging end for control position guiding mechanism, and launch or shrink and open or close lighting module for controlling the expansion contracting mechanism of illumination end, and for being controlled to the visual angle guiding mechanism of picture end, thereby after imaging system stretches in human body by surgery cannula, by the position adjusting mechanism of drive end and the visual angle guiding mechanism of imaging end, obtain required imaging angle and position.
Preferably, B alloy wire is nitinol alloy wire.
Preferably, B alloy wire has four, a position adjusting mechanism of controlling in drive end, an expansion contracting mechanism of controlling illumination end, two visual angle guiding mechanisms that are simultaneously controlled to picture end.
Preferably, lighting module can comprise housing, expansion plate, fixed block and ligthing paraphernalia, and expansion plate connects by fixed block and can rotate around fixed block, and ligthing paraphernalia is arranged on expansion plate.
Preferably, launching contracting mechanism consists of slide block one, fixed axis, slide block two, connecting rod and the ground way that is positioned on the housing of lighting module, fixed axis is fixed on housing, slide block one can on ground way, slide and slide block two can slide on fixed axis, thereby drivening rod rotates, the rotation of connecting rod drives expansion plate to rotate around fixed block.
Preferably, visual angle guiding mechanism consists of the ground way in drive rod, rotating shaft and housing, and drive rod can slide along the ground way in housing, thereby drives photographing module to rotate around rotating shaft.
Preferably, the position adjusting mechanism of drive end comprises external shell, slide block, connecting rod and rotates rotating shaft and fixing rotating shaft, push-pull belt movable slider by B alloy wire externally moves forward and backward on the slide rail of housing, slide block is connected by revolute pair with connecting rod, drivening rod motion, rotate rotating shaft and is connected with the housing of lighting module with fixing rotating shaft, connecting rod drives and rotates rotating shaft around fixedly rotating shaft rotation, thereby has realized imaging end and illumination end around fixedly rotating shaft rotation.
Preferably, photographing module comprises photographic head and sleeve, and photographic head is arranged in sleeve.
In single-hole laparoscopic Minimally Invasive Surgery imaging system of the present invention, maximum outside diameter is 7mm, it can, by diameter only for the surgery cannula of 10mm enters human body, also can successively enter surgery mechanical hands by same sleeve pipe and form complete single-hole laparoscopic minimally invasive surgery system.This is significantly smaller than the integral diameter of existing single-hole laparoscopic minimally invasive surgery system middle sleeve in the world, and it generally surpasses 15mm.Thus, this system can enter human body by the control arrival operative site of drive end through narrow surgery cannula with a kind of retracted posture of closure, and drive end control illumination end is deployed into operating attitude and is driven into picture end and is adjusted to picture visual angle afterwards.And imaging end of the present invention can stretch and carry out visual angle adjustment significantly and by a small margin neatly, make operator with native system, to carry out imaging auxiliary Minimally Invasive Surgery easily.That is, it is little that the present invention has volume, the advantage that flexibility ratio is high and easy to use.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of single-hole laparoscopic Minimally Invasive Surgery imaging system of the present invention;
Fig. 2 is the right view of the biopsy cavity marker devices of imaging end of the present invention;
Fig. 3 A is the axonometric chart that illumination end of the present invention is partly launched attitude;
Fig. 3 B is the axonometric chart that illumination end of the present invention is launched attitude completely;
Fig. 3 C is the axonometric chart of illumination end closed position of the present invention;
Fig. 4 A is the axonometric chart of drive end of the present invention; And
Fig. 4 B is the axonometric chart of a part for drive end of the present invention.
The specific embodiment
Below with reference to accompanying drawing, preferred embodiment of the present invention is elaborated, so that clearer understanding objects, features and advantages of the present invention.It should be understood that embodiment shown in the drawings is not limitation of the scope of the invention, and just for the connotation of technical solution of the present invention is described.
As illustrated in fig. 1 and 2, single-hole laparoscopic minimally invasive surgery system of the present invention is comprised of imaging end 1, illumination end 2 and drive end 3 three parts.Imaging end 1 is comprised of photographing module 4 and visual angle guiding mechanism 5.Photographing module 4 is comprised of the protection sleeve 14 of photographic head 13 and outside thereof; Visual angle guiding mechanism 5 illustrates with reference to Fig. 2.Illumination end is by launching contracting mechanism 6 and lighting module 7 forms, lighting module is comprised of expansion plate and 14 LED lamps being arranged on expansion plate, certainly also can be by the LED lamp of other quantity, for example 4,6,8 or 10 LED lamps compositions, illumination end illustrates with reference to Fig. 3 A.Drive end is comprised of position adjusting mechanism 8 and nitinol alloy wire 9, nitinol alloy wire has four, a position adjusting mechanism 8 of controlling in drive end, an expansion contracting mechanism 6 of controlling illumination end, two visual angle guiding mechanisms 5 that are simultaneously controlled to picture end, drive end illustrates with reference to Fig. 4 A.
Fig. 2 illustrates the partial sectional view of visual angle guiding mechanism 5 in imaging end 1 of the present invention.As shown in Figure 2, the nitinol alloy wire push-and-pull by drive end drives drive rod 10 in the interior translation of ground way 12, and drive rod 10 drives imaging end integral body around rotating shaft 11 rotations, and its maximum rotation angle range can reach 123 °.Photographic head 13 is contained in protection sleeve 14.
As shown in Figure 3A, for illumination end of the present invention is launched attitude, launch in contracting mechanism 6, slide block 1 is connected by ground way with top shell 21, fixed axis 16 is connected by axis hole with top shell 21, they are the important component part of launching contracting mechanism, below with reference to Fig. 3 B, illustrate.Lighting module has seven groups of 14 LED lamp 17(or other ligthing paraphernalias), be arranged on expansion plate 20, can be photographic head 13 imagings enough light sources are provided, expansion plate 20 is connected by two fixed blocks 18,18 of fixed blocks are connected on top shell 21, when launching contracting mechanism 6 driving expansion plates 20 contractions or launching, expansion plate can be rotated around fixed block 18.Lumen tube 19 is connected in the middle of two fixed blocks 18, there are three cavity pipelines its inside, can pass through the nitinol alloy wire 9 of three drive ends 3, a middle nitinol alloy wire is for controlling the expansion contracting mechanism 6 of illumination end, and two nitinol alloy wires of both sides symmetry are for be controlled to the visual angle guiding mechanism 5 of picture end simultaneously.
As shown in Figure 3 B, for illumination end of the present invention is removed the expansion attitude after top shell 21, by the push-pull belt movable slider 1 of nitinol alloy wire 9, in the interior front and back of ground way 12 of top shell 21, slided.Slide block 1 is consolidated with connector 22, and connector 22 is by ground way 22a band movable slider 2 23 motions on it.Because slide block 2 23 is connected with fixed axis 16 simultaneously, fixed axis 16 is fixed on top shell 21, relatively fixing, so slide block 2 23 slides along fixed axis 16 under the driving of connector 22, drive two connecting rods 24 to rotate, connecting rod 24 drives expansion plate 20 to take connecting axle 25 as center of rotation rotation.
As shown in Figure 3 C; for illumination end of the present invention is removed the closed position after top shell 21, it is when closed position, and maximum gauge is only 7mm; 14 LED lamps 17 are taken in closed expansion plate 20, can effectively protect like this LED lamp and circuit thereof not to be damaged.
As shown in Fig. 4 A and 4B, be the position adjusting mechanism 8 of drive end of the present invention and drive end, position adjusting mechanism 8 comprises external shell 26, slide block 27, connecting rod 28 and rotates rotating shaft 29 and fixing rotating shaft 30.Push-pull belt movable slider 27 by nitinol alloy wire 9 externally moves forward and backward on the slide rail of housing 26, slide block 27 is connected by revolute pair with connecting rod 28, drivening rod 28 motions, rotating rotating shaft 29 is connected with top shell 21 with fixing rotating shaft 30, connecting rod 28 drives and rotates rotating shaft 29 around fixedly rotating shaft 30 rotations, thereby realized imaging end 1 and illumination end 2 around fixedly rotating shaft 30 rotations, its maximum rotatable scope is 90 °, thereby realizes position and the visual angle being significantly adjusted to as holding.
In work process, single-hole laparoscopic Minimally Invasive Surgery imaging system illumination end needs first in first closure attitude, and whole imaging system forms the cylinder attitude of a sealing.Under this attitude, imaging end 1, the sleeve pipe that illumination end 2 and drive end 3 are 10mm through diameter enters human body by single otch in abdominal cavity, then pull nitinol alloy wire 9 to drive the expansion contracting mechanism 6 of illumination end to make illumination end expansion plate 20 Unscrews, opening 14 LED lamps 17 throws light on, the photographic head 13 that is opened into picture end starts imaging, by push-and-pull nitinol alloy wire 9 activation point guiding mechanisms 8 and visual angle guiding mechanism 5, adjust locus and the view directions of photographic head, to reach desirable image-forming condition, then single-hole laparoscopic Minimally Invasive Surgery mechanical hand can be extend into operative site by surgery cannula, carry out complete single-hole laparoscopic Minimally Invasive Surgery operation.
In single-hole laparoscopic Minimally Invasive Surgery imaging system of the present invention, imaging system maximum outside diameter is 7mm, it can be by diameter only for the surgery cannula of 10mm enters human body, and this is significantly smaller than the integral diameter of surgery cannula in the existing single-hole laparoscopic minimally invasive surgery system in world, and it generally surpasses 15mm.Thus, this system can enter human body through narrow surgery cannula with a kind of retracted posture of closure, and the control by drive end launches and arrive operative site.And imaging end of the present invention can stretch and carry out visual angle adjustment significantly and by a small margin neatly, make operator with native system, to carry out imaging auxiliary Minimally Invasive Surgery easily.
Below described preferred embodiment of the present invention in detail, but it will be appreciated that, after having read above-mentioned teachings of the present invention, those skilled in the art can make various changes or modifications the present invention.For example, nitinol alloy wire also can by such as there is high strength and elastomeric marmem substitutes.These equivalent form of values fall within the application's appended claims limited range equally.
Claims (8)
1. a single-hole laparoscopic Minimally Invasive Surgery imaging system, is characterized in that, described system comprises:
Drive end, described drive end comprises position adjusting mechanism and many B alloy wires;
Illumination end, described illumination end comprises lighting module and launches contracting mechanism; And
Imaging end, described imaging end comprises photographing module and visual angle guiding mechanism; Wherein,
Described many B alloy wires are for controlling position and the visual angle that described position adjusting mechanism is adjusted described illumination end and described imaging end, and launch or shrink and open or close described lighting module for controlling the expansion contracting mechanism of described illumination end, and for controlling the visual angle guiding mechanism of described imaging end, thereby after described imaging system stretches in human body by surgery cannula, by the position adjusting mechanism of described drive end and the visual angle guiding mechanism of described imaging end, obtain required imaging angle and position.
2. single-hole laparoscopic Minimally Invasive Surgery imaging system as claimed in claim 1, is characterized in that, described B alloy wire is nitinol alloy wire.
3. single-hole laparoscopic Minimally Invasive Surgery imaging system as claimed in claim 1, it is characterized in that, described B alloy wire has four, a position adjusting mechanism of controlling in described drive end, an expansion contracting mechanism of controlling described illumination end, two visual angle guiding mechanisms of simultaneously controlling described imaging end.
4. single-hole laparoscopic Minimally Invasive Surgery imaging system as claimed in claim 1, it is characterized in that, described lighting module comprises housing, expansion plate, fixed block and ligthing paraphernalia, described expansion plate is connected and can be rotated around described fixed block by described fixed block, and described ligthing paraphernalia is arranged on described expansion plate.
5. single-hole laparoscopic Minimally Invasive Surgery imaging system as claimed in claim 4, it is characterized in that, described expansion contracting mechanism consists of slide block one, fixed axis, slide block two, connecting rod and the ground way that is positioned on the housing of lighting module, described fixed axis is fixed on described housing, described slide block one can on described ground way, slide and described slide block two can slide on described fixed axis, thereby drive described connecting rod to rotate, the rotation of described connecting rod drives described expansion plate to rotate around described fixed block.
6. single-hole laparoscopic Minimally Invasive Surgery imaging system as claimed in claim 4, it is characterized in that, described visual angle guiding mechanism consists of the ground way in drive rod, rotating shaft and described housing, described drive rod can slide along the ground way in described housing, thereby drives described photographing module to rotate around described rotating shaft.
7. single-hole laparoscopic Minimally Invasive Surgery imaging system as claimed in claim 1, it is characterized in that, the position adjusting mechanism of described drive end comprises external shell, slide block, connecting rod and rotation rotating shaft and fixedly rotating shaft, push-and-pull by B alloy wire drives described slide block to move forward and backward on the slide rail of described external shell, described slide block is connected by revolute pair with described connecting rod, drive described link motion, described rotation rotating shaft is connected with the housing of lighting module with described fixedly rotating shaft, described connecting rod drives described rotation rotating shaft to rotate around described fixedly rotating shaft, thereby having realized described imaging end and described illumination end rotates around described fixedly rotating shaft.
8. single-hole laparoscopic Minimally Invasive Surgery imaging system as claimed in claim 1, is characterized in that, described photographing module comprises photographic head and sleeve, and described photographic head is arranged in described sleeve.
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Citations (4)
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| EP1176912B1 (en) * | 1999-05-06 | 2003-12-17 | Karl Storz GmbH & Co. KG | Retractor for use in endoscopic surgery |
| US20070073109A1 (en) * | 2005-09-23 | 2007-03-29 | Irion Klaus M | Lighting system for endoscopic examinations |
| CN101040775A (en) * | 2006-03-23 | 2007-09-26 | 伊西康内外科公司 | Disposable endoscope devices |
| CN101801278A (en) * | 2007-09-11 | 2010-08-11 | 坎布里奇内窥镜设备有限公司 | Surgical operating instrument |
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2013
- 2013-10-30 CN CN201310533434.3A patent/CN103536269B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1176912B1 (en) * | 1999-05-06 | 2003-12-17 | Karl Storz GmbH & Co. KG | Retractor for use in endoscopic surgery |
| US20070073109A1 (en) * | 2005-09-23 | 2007-03-29 | Irion Klaus M | Lighting system for endoscopic examinations |
| CN101040775A (en) * | 2006-03-23 | 2007-09-26 | 伊西康内外科公司 | Disposable endoscope devices |
| CN101801278A (en) * | 2007-09-11 | 2010-08-11 | 坎布里奇内窥镜设备有限公司 | Surgical operating instrument |
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