CN104101607A - Image acquisition device for surgical stapler detection - Google Patents
Image acquisition device for surgical stapler detection Download PDFInfo
- Publication number
- CN104101607A CN104101607A CN201410286114.7A CN201410286114A CN104101607A CN 104101607 A CN104101607 A CN 104101607A CN 201410286114 A CN201410286114 A CN 201410286114A CN 104101607 A CN104101607 A CN 104101607A
- Authority
- CN
- China
- Prior art keywords
- stapler
- clamping table
- grain
- fixture
- surgical stapler
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Dovetailed Work, And Nailing Machines And Stapling Machines For Wood (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The invention relates to an image acquisition device for surgical stapler detection, and belongs to medical device detection equipment. The image acquisition device is used for detecting drop needle for a surgical stapler, and solves the problems that the detection types are single, and the imaging effect is affected in the conventional surgical stapler drop needle detection device based on machine vision. The image acquisition device comprises a horizontal base, a bracket, a visual system, a stepping motor, a ball screw, a sliding table and a surgical stapler clamp, wherein the surgical stapler clamp comprises a fixed base and a clamping table, a plurality of second-order step round holes are formed in the clamping table, the size of each second order step round hole is equal to that of a to-be-detected tubular surgical stapler, a groove is formed in the top surface of the clamping table, and the width of the groove is equal to the width of a stripe-shape surgical stapler. According to the image acquisition device, the accurate motion control can be realized, the flatness of shooting surfaces of the surgical stapler samples can be guaranteed, the defects that the positions and angles of the sample are changed caused by power transmission can be overcome, and the detection for surgical stapler samples with various types can be realized; meanwhile, repeated calibration is not required, and the measuring procedures are simplified.
Description
Technical field
The invention belongs to medicine equipment checkout equipment, be specifically related to a kind of image collecting device detecting for stapler, for stapler is carried out to dropped stitch detection.
Background technology
Stapler (surgical stapler) is the operating theater instruments that current surgery is conventional, and it replaces traditional manual suture, and the dirty stump sealing of device and the otch that are mainly used in surgical operation therapy coincide.The staple that stapler adopts is very thin, and quantity is many, easily comes off, if dropped stitch may cause stitching incomplete, the complication such as Anastomotic bleeding, narrow, intestinal fistula occurs, and directly affects result for the treatment of.Stapler dropped stitch detects to become and ensures stapler quality, effectively prevents seepage, reduces the key of the incidence of anastomotic leakage.Yet domestic production producer adopts manual type to detect stapler dropped stitch, its labour intensity is high, particularly in fatigue or energy, easily forms erroneous judgement unconcentrated in the situation that.
The Chinese invention patent application of publication number CN1789914A discloses a kind of needle drop detection system for anastomat, this system utilization list Vision Builder for Automated Inspection, the stapler image collecting is carried out to image processing, yet, because this system platform is fixed, chucking position is fixed, there is obvious problem in the detection for the strip stapler of large specification, meanwhile, for dissimilar stapler, need change dissimilar fixture, so just need to again demarcate system, waste time and energy; The Chinese invention patent application of publication number CN101957196A discloses a kind of automatic detection device of anastomat based on machine vision, electrical control, utilizing motor to drive travelling belt that stapler is sent to suitable position repeatedly takes, to solve a detection difficult problem for the strip stapler of large specification, yet, stapler is to be directly placed on travelling belt and to detect, there is following problem: be 1. only limited to highly less stapler kind, because the athletic meeting of travelling belt causes highly larger stapler rolling; 2. it is fixing that testing staff places the position, angle of stapler; 3. because stapler quality is less, the startup of travelling belt and motion all can affect position, the angle of stapler; 4. stapler self bottom out-of-flatness, causes stapler to take face tilt.The problems referred to above all can impact imaging effect, thereby increase the workload that successive image is processed.
Invention Inner holds
The invention provides a kind of image collecting device detecting for stapler, solve that the existing detection kind of the existing anastomat staple number detector based on machine vision is single, the affected problem of imaging effect, increasing detectable stapler kind, simplify program that stapler detects, the accuracy that improves testing result, for the automated production of Medical stapler provides condition.
A kind of image collecting device detecting for stapler provided by the present invention, comprise horizontal base, support, vision system, stepper motor, ball-screw, slide unit and stapler fixture, the door case type structure that described support forms for column and crossbeam by one, vertically be fixed on horizontal base, described vision system is fixed on the crossbeam centre position of described support, it is characterized in that:
Described ball-screw between two columns of described support, be fixed on horizontal base and and described two orthogonal thereto relations of column, described slide unit is positioned on ball-screw and with the slide block of ball-screw and is connected; Described stepper motor is fixed on horizontal base, is connected, thereby drives slide unit to carry out rectilinear motion along ball-screw by shaft coupling with ball-screw;
Described stapler fixture and described slide unit are connected by screw, while carrying out rectilinear motion with slide unit, through under described vision system.
Described vision system can comprise annular light source, light source base, camera lens, camera, phase machine clamp, Manual angular position platform, elevating bracket; Described annular light source is loaded on light source base, and light source base and described camera lens are slidably connected, and can vertically move with respect to camera lens; Described camera lens is installed on camera front end; The vertical projection of camera lens is positioned at annular light source central authorities, and described camera is fixed on the platform of Manual angular position by phase machine clamp, and Manual angular position platform is fixed on elevating bracket, and the crossbeam of described elevating bracket and described support is slidably connected, and can fix by screw.
Described image collecting device, described stapler fixture consists of firm banking and the grain-clamping table of one, described firm banking is flat rectangular block structure, firm banking has a plurality of mounting holes, for stapler fixture is fixed on to described slide unit, described grain-clamping table is rectangular block shape structure, be connected on described firm banking end face, described grain-clamping table has a plurality of second order step circular holes, each second order step circular hole is all perpendicular to described grain-clamping table end face, their center of circle connecting line overlaps with described grain-clamping table end face horizontal center line, the upper bore dia of each second order step circular hole is greater than lower bore dia, identical with the upper and lower side drum diameter of tube type anastomat to be detected respectively, described grain-clamping table end face has groove along the center of circle connecting line of each second order step circular hole, and described each second order step circular hole is communicated with grain-clamping table side, and the width of described groove is identical with the width of stripe shape stapler to be detected.
Further, on described stapler fixture, the upper hole of described a plurality of second order step circular holes has different-diameter and the degree of depth, the upper bore dia of GORO DAIMON step circular hole and the degree of depth be not corresponding to diameter and the degree of depth of the tube type anastomat upper end cylinder of different size, so that the tube type anastomat of different size to be detected is while being individually fixed in not GORO DAIMON step circular hole, the level height that the tube type anastomat of different size detects surperficial level height and described grain-clamping table end face is consistent.
Further, on described stapler fixture, the connected component of described groove between each second order step circular hole and the connected component of second order step circular hole and grain-clamping table side have different depth, axial height corresponding to stripe shape stapler to be detected, so that stripe shape stapler to be detected is while being fixed in groove, the level height that stripe shape stapler detects surperficial level height and described grain-clamping table end face is consistent.
Again further, on described stapler fixture, the connected component sidewall of described groove between each second order step circular hole has depression, and the shape of the lateral projections structure of the shape caving on sidewall and stripe shape stapler to be detected matches, to fix stripe shape stapler to be detected.
The present invention utilizes stepper motor, ball-screw, slide unit and stapler fixture, realizes the concrete location of stapler sample and accurately motion control; The polytype size customization of the stapler of the required detection of described stapler fixture, is fixed on slide unit, can improve the versatility of stapler pick-up unit, and the impact of the motion that overcomes slide unit on detected stapler sample position and angle, without repeating demarcation; Not only can guarantee the smooth of stapler sample shooting surface, overcome because of the position of the caused sample of power transmission and the variation of angle, and can realize the detection of polytype stapler sample, need not repeatedly demarcate simplified measurement program; In the process of demarcating at pick-up unit, annular light source locus and the light intensity of vision system, operating distance and the focal length of camera lens, camera are adjustable, thereby have guaranteed the acquisition quality of stapler sample image.
While using the present invention to detect stapler, comprise the steps:
The first step, when first use image collecting device, need to demarcate it, comprises locus and the light intensity of annular light source, the operating distance of camera lens, camera and the adjustment of focal length;
Second step, is placed on stapler sample to be detected in the specific groove of stapler fixture, and the motion of stepper motor is controlled, and controls vision system and aligns stapler sample;
The 3rd step, according to the kind of detected stapler sample, selects the detecting pattern corresponding with this type of stapler, controls vision system stapler sample to be detected is carried out to image acquisition, according to selected detecting pattern, to gathering image, carries out image processing;
The 4th step, carries out Comprehensive Comparison to processing result image, finally determines and the dropped stitch situation of the stapler sample that output detects (dropped stitch whether; If dropped stitch, will indicate the particular location of dropped stitch groove);
The 5th step, testing staff is according to testing result, detected stapler sample is classified, if dropped stitch is not classified as specification product, if dropped stitch, on sample, facilitate staff to repair it dropped stitch result queue, after to be repaired completing, classify as stapler sample to be detected, re-start dropped stitch and detect.
In above-mentioned the 3rd step～five step, the image acquisition of vision system is controlled, is gathered the algorithm process of image and the functions such as decision-making judgement of stapler dropped stitch, by software programming, is realized, and does not belong to content of the present invention.
Accompanying drawing explanation
Fig. 1 is schematic perspective view of the present invention.
Fig. 2 is the schematic perspective view of stapler fixture;
Fig. 3 is the left view of stapler fixture;
Fig. 4 is the A-A cut-open view of Fig. 3;
Fig. 5 is the vertical view of stapler fixture;
Fig. 6 is the installation design sketch of model AKGWB-25.5 Pipy digestive tract stapler sample;
Fig. 7 is the installation design sketch of model AKGZB-34 tubular hemorrhoid anastomat sample;
Fig. 8 is the installation design sketch of model AKZFC-45 linear anastomat sample;
Fig. 9 is the installation design sketch of model AKLCB-75 straight cuts type stapler sample;
Figure 10 is the installation design sketch of model AKLCB-100 straight cuts type stapler sample;
Figure 11 is apparatus of the present invention schematic appearance;
Figure 12 is for being used FB(flow block) of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further described.
As shown in Figure 1, embodiments of the invention, comprise horizontal base 112, support 110, vision system, stepper motor 111, ball-screw 113, slide unit 114 and stapler fixture 102, the door case type structure that described support 110 forms for column and crossbeam by one, vertically be fixed on horizontal base 112, described vision system is fixed on the crossbeam centre position of described support 110;
Described ball-screw 113 between two columns of described support 110, be fixed on horizontal base 112 and and described two orthogonal thereto relations of column, described slide unit 114 is positioned on ball-screw 113 and with the slide block of ball-screw and is connected; Described stepper motor 111 is fixed on horizontal base 112, is connected, thereby drives slide unit 114 to carry out rectilinear motion along ball-screw by shaft coupling with ball-screw 113;
Described stapler fixture 101 is connected by screw with described slide unit 114, while carrying out rectilinear motion with slide unit 114, through under described vision system.
As shown in Figure 1, described vision system comprises annular light source 103, light source base 104, camera lens 105, camera 107, phase machine clamp 106, Manual angular position platform 108, elevating bracket 109; Described annular light source 103 is loaded on light source base 104, and light source base 104 is slidably connected with described camera lens 105, can vertically move with respect to camera lens 105; Described camera lens 105 is installed on camera 107 front ends, and the vertical projection of camera lens is positioned at annular light source 103 central authorities; Described camera 107 is fixed on Manual angular position platform 108 by phase machine clamp 106, and Manual angular position platform 108 is fixed on elevating bracket 109, and described elevating bracket 109 is slidably connected with the crossbeam of described support 110, and can fix by screw.
Described vision system is for gathering stapler sample image to be detected, wherein, annular light source directly affects and gathers the quality of image, follow-up picture signal is processed the selection of complexity and algorithm, applicant utilizes white annular LED light source, stapler sample to be detected is carried out to orthodromic illumination projection, guarantee outstanding clarification of objective, guarantee enough brightness and stability, avoid the variation of object space to impact image quality.By adjusting Manual angular position platform and elevating bracket, adjust height and the angle of camera.Camera selects to have the Guppy PRO of the AVT company series digital camera (F-201B/C) of CCD type photo-sensitive cell and telecentric lens, and the reflected light through stapler or refract light are carried out to image acquisition.
As Fig. 2, Fig. 3, Fig. 4, shown in Fig. 5, the embodiment of described stapler fixture 101 consists of firm banking and the grain-clamping table of one, described firm banking is flat rectangular block structure, firm banking has a plurality of mounting holes, for stapler fixture is fixed on to described slide unit 114, described grain-clamping table is rectangular block shape structure, be connected on described firm banking end face, described grain-clamping table has 2 second order step circular holes, each second order step circular hole is all perpendicular to described grain-clamping table end face, their center of circle connecting line overlaps with described grain-clamping table end face horizontal center line, the upper bore dia of each second order step circular hole is greater than lower bore dia, identical with the upper and lower side drum diameter of tube type anastomat to be detected respectively, described grain-clamping table end face has groove along the center of circle connecting line of each second order step circular hole, and described each second order step circular hole is communicated with grain-clamping table side, and the width of described groove is identical with the width of stripe shape stapler to be detected.
In the present embodiment, firm banking length W1=84mm, width L1=122mm, grain-clamping table top width L2=66mm, the recess width L3=8.5mm of grain-clamping table end face, firm banking both sides mounting hole spacing L4=36mm, mounting hole is to the distance W 2=19mm at firm banking edge, the distance W 3=46mm between the mounting hole of two of the same sides, stapler fixture whole height H1=85mm, firm banking height H 2=20mm, mounting hole diameter D1=6.5mm.
As shown in Figure 4, Figure 5, on described stapler fixture, the upper hole of described 2 second order step circular holes has different-diameter and the degree of depth, the upper bore dia of GORO DAIMON step circular hole and the degree of depth be not corresponding to diameter and the degree of depth of the tube type anastomat upper end cylinder of different size, so that the tube type anastomat of different size to be detected is while being individually fixed in not GORO DAIMON step circular hole, the level height that the tube type anastomat of different size detects surperficial level height and described grain-clamping table end face is consistent.
In the present embodiment, the upper bore dia D2=34mm of first second order step circular hole, upper hole depth H1-H3, the height H 3=36mm of bottom, upper hole, the upper hole circle heart is to the distance W 5=27mm of grain-clamping table one lateral edges, lower bore dia D3=21mm, the height H 4=26mm at top, lower hole, for laying tubular hemorrhoid anastomat; The upper bore dia D5=26mm of second second order step circular hole, upper hole depth H1-H5, the height H 5=58mm of bottom, upper hole, the upper hole circle heart is to the distance W 4=66mm of grain-clamping table one lateral edges, lower bore dia D4=21mm, the height H 6=53mm at top, lower hole, for laying Pipy digestive tract stapler;
On described stapler fixture, the connected component of described groove between each second order step circular hole and the connected component of second order step circular hole and grain-clamping table side have different depth, axial height corresponding to stripe shape stapler to be detected, so that stripe shape stapler to be detected is while being fixed in groove, the level height that stripe shape stapler detects surperficial level height and described grain-clamping table end face is consistent; In Fig. 4, H7=24mm, H8=24mm, H10=28mm.
In the present embodiment, on described stapler fixture, described groove has depression at the connected component of first second order step circular hole and grain-clamping table side and the connected component sidewall between 2 second order step circular holes, the shape of the lateral projections structure of the shape caving on sidewall and stripe shape stapler to be detected matches, to fix stripe shape stapler to be detected; In Fig. 4, Fig. 5, the deep depth H 9=14mm that caves in, superficial part depth H 11=5mm, this is recessed in the recessed width W 8=1.5mm of a sidewall, with groove intersection arc radius Rad4=1.5mm; At the recessed width W 11=1.5mm of another side sidewall, depression straight flange end is to first second order step circular hole distance of center circle from W6=21mm, with groove intersection arc radius Rad3=1.5mm.Another cup depth H12=5mm, this is recessed in the recessed width W 9=1.5mm of a sidewall, and depression straight flange end is to first second order step circular hole distance of center circle from W7=19.5mm, with groove intersection arc radius Rad1=1.5mm; At the recessed width W 10=1.5mm of another side sidewall, with groove intersection arc radius Rad2=1.5mm.
In embodiments of the present invention, model AKZFC-45 linear anastomat, model AKLCB-75, AKLCB-100 straight cuts type stapler, model AKGWB-25.5 Pipy digestive tract stapler and the model AKGZB-34 tubular hemorrhoid anastomat that Changzhou stapler company produces of take is example, the size of above-mentioned stapler fixture 101 is designed according to the physical dimension of above-mentioned 5 kinds of stapler samples to be detected, for fixing these 5 kinds of stapler samples to be detected.
H7, H8 are the degree of depth of straight cuts type stapler groove; H9, H11, H12 are for the fixing degree of depth of the groove of linear anastomat side; H10 is the degree of depth for the groove of fixing linear anastomat bottom; W6 is that the fixedly distance of the forward direction groove of linear anastomat side is arrived in the tubular hemorrhoid anastomat groove center of circle; W7 is that the fixedly distance of the backward groove of linear anastomat side is arrived in the tubular hemorrhoid anastomat groove center of circle; W8, W11 are the width of the forward direction rectangular recess of fixedly linear anastomat side; W9, W10 are the fixing width of the backward rectangular recess of linear anastomat side; Rad1, Rad2 are for the fixing radius of the backward rounded grooves of linear anastomat side; Rad3, Rad4 are for the fixing radius of the forward direction rounded grooves of linear anastomat side.
As shown in Figure 6, stapler sample 201 is model AKGWB-25.5 Pipy digestive tract stapler, and its upper end pipe diameter is 26mm, is highly 27mm; Lower end pipe diameter is 21mm, is highly 53mm.Stapler fixture 101 utilizes second second order step circular hole that upper bore dia is 26mm to fix stapler sample 201, and after guaranteeing that stapler sample 201 installs, its upper level is consistent with the upper level of stapler fixture 101.
As shown in Figure 7, stapler sample 202 is model AKGZB-34 tubular hemorrhoid anastomat, and its upper end pipe diameter is 34mm, is highly 49mm; Lower end pipe diameter is 21mm, is highly 26mm.Stapler fixture 101 utilizes first second order step circular hole that upper bore dia is 34mm to fix stapler sample 202, and after guaranteeing that stapler sample 202 installs, its upper level is consistent with the upper level of stapler fixture 101.
As shown in Figure 8, stapler sample 203 is model AKZFC-45 linear anastomat, and its forward direction height is 28mm, and backward height is 24mm, and abdomen end face width is 8.5mm, and wherein two sided width is respectively 1.5mm.Stapler fixture 101 utilizes groove that the degree of depth is 24mm and 28mm and side-facing depressions to be combined with to fix stapler sample 203, and guarantees that its upper level is consistent with the upper level of stapler fixture 101.
Fig. 9, Figure 10 are respectively the installation design sketch of stapler sample 204 and stapler sample 205.In embodiments of the present invention, stapler sample 204 is model AKLCB-75 straight cuts type stapler, and it is highly 24mm, and width is 11.6mm, and abdomen end face width is 8.5mm; Stapler sample 205 is model AKLCB-100 straight cuts type stapler, and it is highly 24mm, and width is 11.6mm, and abdomen end face width is 8.5mm.Because the top upper surface of stapler sample 204,205 is greater than stapler fixture top recess width L3, and abdomen end face width equals stapler fixture 101 top recess width L3 just, therefore stapler fixture 101 utilizes groove that width is 8.5mm and the top upper surface of stapler sample 204,205 to be combined with, fix stapler sample 204,205, and guarantee that the two upper level is identical.
As shown in figure 11, the present invention can be covered by sheet metal shell 001, by being arranged on the touch-screen 002 on sheet metal shell 001, completes the associative operation that stapler detects, and realizes man-machine interaction.Scram button 003, start button 004, reset button 005 can be installed on sheet metal shell 001.After start, press reset button 005, stapler fixture 101 resets to initial position, personnel to be detected are placed on stapler sample in stapler fixture 101, after being correlated with and being arranged by touch-screen 002, press start button 004, apparatus of the present invention start to carry out the detection of stapler, meanwhile, the corresponding information in testing process all can show on touch-screen 002.Especially, when there is mistake, press scram button 003, can end trace routine.
As shown in figure 12, for using the overhaul flow chart of image collecting device.First stapler sample to be detected is put into the groove of stapler fixture; According to the type of detected stapler sample, in stapler pick-up unit touch-screen 002, select the detecting pattern corresponding with this type of stapler; Start detection, stapler pick-up unit is controlled the linear module of ball-screw by power transmission and is moved, thereby realizes the linear movement of stapler fixture; Vision system carries out image acquisition to the stapler sample on stapler fixture; Stapler pick-up unit carries out image processing to collected view data; Stapler pick-up unit, by the result of processing according to image, carries out dropped stitch decision-making; If dropped stitch, is not classified as specification product; If dropped stitch, is classified as substandard product, and dropped stitch result (dropped stitch number and position) is marked on sample, staff repairs it, after to be repaired completing, classifies as stapler sample to be detected, re-starts dropped stitch and detects.
Claims (6)
1. the image collecting device detecting for stapler, comprise horizontal base (112), support (110), vision system, stepper motor (111), ball-screw (113), slide unit (114) and stapler fixture (102), the door case type structure that described support (110) forms for column and crossbeam by one, vertically be fixed on horizontal base (112), described vision system is fixed on the crossbeam centre position of described support, it is characterized in that:
Described ball-screw (113) is positioned between two columns of described support (110), be fixed on horizontal base (112) upper and and described two orthogonal thereto relations of column, it is upper and be connected with the slide block of ball-screw that described slide unit (114) is positioned at ball-screw (113); It is upper that described stepper motor (111) is fixed on horizontal base (112), is connected, thereby drives slide unit (114) to carry out rectilinear motion along ball-screw by shaft coupling with ball-screw (113);
Described stapler fixture (101) is connected by screw with described slide unit (114), while carrying out rectilinear motion with slide unit (114), through under described vision system.
2. image collecting device as claimed in claim 1, is characterized in that:
Described vision system comprises annular light source (103), light source base (104), camera lens (105), camera (107), phase machine clamp (106), Manual angular position platform (108), elevating bracket (109); It is upper that described annular light source (103) is loaded on light source base (104), and light source base (104) is slidably connected with described camera lens (105), can vertically move with respect to camera lens (105); Described camera lens (105) is installed on camera (107) front end, and the vertical projection of camera lens is positioned at annular light source (103) central authorities; Described camera (107) is fixed on Manual angular position platform (108) by phase machine clamp (106), Manual angular position platform (108) is fixed on elevating bracket (109), described elevating bracket (109) is slidably connected with the crossbeam of described support (110), and can fix by screw.
3. image collecting device as claimed in claim 1 or 2, is characterized in that:
Described stapler fixture (101) consists of firm banking and the grain-clamping table of one, described firm banking is flat rectangular block structure, firm banking has a plurality of mounting holes, for stapler fixture is fixed on to described slide unit (114), described grain-clamping table is rectangular block shape structure, be connected on described firm banking end face, described grain-clamping table has a plurality of second order step circular holes, each second order step circular hole is all perpendicular to described grain-clamping table end face, their center of circle connecting line overlaps with described grain-clamping table end face horizontal center line, the upper bore dia of each second order step circular hole is greater than lower bore dia, identical with the upper and lower side drum diameter of tube type anastomat to be detected respectively, described grain-clamping table end face has groove along the center of circle connecting line of each second order step circular hole, and described each second order step circular hole is communicated with grain-clamping table side, and the width of described groove is identical with the width of stripe shape stapler to be detected.
4. image collecting device as claimed in claim 3, is characterized in that:
On described stapler fixture, the upper hole of described a plurality of second order step circular holes has different-diameter and the degree of depth, the upper bore dia of GORO DAIMON step circular hole and the degree of depth be not corresponding to diameter and the degree of depth of the tube type anastomat upper end cylinder of different size, so that the tube type anastomat of different size to be detected is while being individually fixed in not GORO DAIMON step circular hole, the level height that the tube type anastomat of different size detects surperficial level height and described grain-clamping table end face is consistent.
5. image collecting device as claimed in claim 3, is characterized in that:
On described stapler fixture, the connected component of described groove between each second order step circular hole and the connected component of second order step circular hole and grain-clamping table side have different depth, axial height corresponding to stripe shape stapler to be detected, so that stripe shape stapler to be detected is while being fixed in groove, the level height that stripe shape stapler detects surperficial level height and described grain-clamping table end face is consistent.
6. image collecting device as claimed in claim 5, is characterized in that:
On described stapler fixture, the connected component sidewall of described groove between each second order step circular hole has depression, and the shape of the lateral projections structure of the shape caving on sidewall and stripe shape stapler to be detected matches, to fix stripe shape stapler to be detected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410286114.7A CN104101607B (en) | 2014-06-24 | 2014-06-24 | A kind of image collecting device for anastomat detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410286114.7A CN104101607B (en) | 2014-06-24 | 2014-06-24 | A kind of image collecting device for anastomat detection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104101607A true CN104101607A (en) | 2014-10-15 |
| CN104101607B CN104101607B (en) | 2016-08-31 |
Family
ID=51669935
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410286114.7A Active CN104101607B (en) | 2014-06-24 | 2014-06-24 | A kind of image collecting device for anastomat detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104101607B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107052797A (en) * | 2017-06-13 | 2017-08-18 | 昆山嘉斯特自动化技术有限公司 | A kind of check valve kludge |
| CN108433761A (en) * | 2018-05-25 | 2018-08-24 | 常州筑光电科技有限公司 | A kind of automation stapler assembly machine |
| CN108931527A (en) * | 2018-06-01 | 2018-12-04 | 深圳华云数码有限公司 | A kind of visual detection equipment |
| CN109048263A (en) * | 2018-09-19 | 2018-12-21 | 天津万和医疗器械有限公司 | A kind of nail bin production equipment of the anti-missing nail detection function of band |
| CN109225936A (en) * | 2018-10-24 | 2019-01-18 | 佛山市多谱光电科技有限公司 | A kind of AOI automatic checkout equipment |
| CN110681612A (en) * | 2019-10-28 | 2020-01-14 | 南京工业职业技术学院 | Medical anastomat detection device |
| CN110802033A (en) * | 2019-10-28 | 2020-02-18 | 南京工业职业技术学院 | Anastomotic nail detection device |
| CN112858315A (en) * | 2021-01-25 | 2021-05-28 | 常州安康医疗器械有限公司 | Circular anastomat anastomosis nail detector |
| CN113390886A (en) * | 2020-03-11 | 2021-09-14 | 上海宝信软件股份有限公司 | Imaging device for detecting surface defects of grinded strip steel and using method thereof |
| CN113751346A (en) * | 2021-09-16 | 2021-12-07 | 安徽科技学院 | Product handling device |
| CN113959353A (en) * | 2021-10-20 | 2022-01-21 | 武汉奥绿新生物科技股份有限公司 | Optical titanium nail detection platform |
| CN114994063A (en) * | 2022-05-31 | 2022-09-02 | 常州威克医疗器械有限公司 | Binding detection equipment for hemorrhoid stapler |
| CN116224461A (en) * | 2023-05-08 | 2023-06-06 | 山东中医药大学附属医院 | Detection device for anorectal anastomat |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101427912A (en) * | 2008-09-23 | 2009-05-13 | 上海理工大学 | Drop needle detecting device with handle anastomat punch head and detecting method thereof |
| CN101551230A (en) * | 2009-05-26 | 2009-10-07 | 上海理工大学 | Detecting device for resist-nailed seat of anastomat and detecting method thereof |
| CA2679174A1 (en) * | 2008-09-18 | 2010-03-18 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with device for indicating when the instrument has cut through tissue |
| CN101957196A (en) * | 2010-07-15 | 2011-01-26 | 上海大学 | Machine vision based automatic detection device of anastomat |
| CN103057746A (en) * | 2012-12-17 | 2013-04-24 | 华中科技大学 | Transport mechanism of infusion tubes |
| CN103307962A (en) * | 2013-06-28 | 2013-09-18 | 中国地质大学（武汉） | Automatic flatness measuring machine |
| CN103350351A (en) * | 2013-07-16 | 2013-10-16 | 山东理工大学 | Desktop three-axis gantry type micro machining machine tool |
-
2014
- 2014-06-24 CN CN201410286114.7A patent/CN104101607B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2679174A1 (en) * | 2008-09-18 | 2010-03-18 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with device for indicating when the instrument has cut through tissue |
| CN101427912A (en) * | 2008-09-23 | 2009-05-13 | 上海理工大学 | Drop needle detecting device with handle anastomat punch head and detecting method thereof |
| CN101551230A (en) * | 2009-05-26 | 2009-10-07 | 上海理工大学 | Detecting device for resist-nailed seat of anastomat and detecting method thereof |
| CN101957196A (en) * | 2010-07-15 | 2011-01-26 | 上海大学 | Machine vision based automatic detection device of anastomat |
| CN103057746A (en) * | 2012-12-17 | 2013-04-24 | 华中科技大学 | Transport mechanism of infusion tubes |
| CN103307962A (en) * | 2013-06-28 | 2013-09-18 | 中国地质大学（武汉） | Automatic flatness measuring machine |
| CN103350351A (en) * | 2013-07-16 | 2013-10-16 | 山东理工大学 | Desktop three-axis gantry type micro machining machine tool |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107052797A (en) * | 2017-06-13 | 2017-08-18 | 昆山嘉斯特自动化技术有限公司 | A kind of check valve kludge |
| CN108433761A (en) * | 2018-05-25 | 2018-08-24 | 常州筑光电科技有限公司 | A kind of automation stapler assembly machine |
| CN108931527A (en) * | 2018-06-01 | 2018-12-04 | 深圳华云数码有限公司 | A kind of visual detection equipment |
| CN109048263A (en) * | 2018-09-19 | 2018-12-21 | 天津万和医疗器械有限公司 | A kind of nail bin production equipment of the anti-missing nail detection function of band |
| CN109225936A (en) * | 2018-10-24 | 2019-01-18 | 佛山市多谱光电科技有限公司 | A kind of AOI automatic checkout equipment |
| CN110802033B (en) * | 2019-10-28 | 2024-04-02 | 南京工业职业技术学院 | Staple detection device |
| CN110681612A (en) * | 2019-10-28 | 2020-01-14 | 南京工业职业技术学院 | Medical anastomat detection device |
| CN110802033A (en) * | 2019-10-28 | 2020-02-18 | 南京工业职业技术学院 | Anastomotic nail detection device |
| CN110681612B (en) * | 2019-10-28 | 2024-04-02 | 南京工业职业技术学院 | Medical anastomat detection device |
| CN113390886A (en) * | 2020-03-11 | 2021-09-14 | 上海宝信软件股份有限公司 | Imaging device for detecting surface defects of grinded strip steel and using method thereof |
| CN112858315B (en) * | 2021-01-25 | 2023-08-04 | 常州安康医疗器械有限公司 | Circular anastomat nail detector |
| CN112858315A (en) * | 2021-01-25 | 2021-05-28 | 常州安康医疗器械有限公司 | Circular anastomat anastomosis nail detector |
| CN113751346A (en) * | 2021-09-16 | 2021-12-07 | 安徽科技学院 | Product handling device |
| CN113959353A (en) * | 2021-10-20 | 2022-01-21 | 武汉奥绿新生物科技股份有限公司 | Optical titanium nail detection platform |
| CN113959353B (en) * | 2021-10-20 | 2024-05-14 | 武汉奥绿新生物科技股份有限公司 | Optical titanium nail detection platform |
| CN114994063A (en) * | 2022-05-31 | 2022-09-02 | 常州威克医疗器械有限公司 | Binding detection equipment for hemorrhoid stapler |
| CN116224461A (en) * | 2023-05-08 | 2023-06-06 | 山东中医药大学附属医院 | Detection device for anorectal anastomat |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104101607B (en) | 2016-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104101607A (en) | Image acquisition device for surgical stapler detection | |
| CN203935231U (en) | Anastomat checkout equipment | |
| CN109934821B (en) | Part defect detection method and system | |
| US9062966B2 (en) | Method of inspecting a three dimensional shape | |
| CN110609040B (en) | Optical detection method of diaphragm | |
| CN110658201B (en) | Optical detection mechanism of diaphragm | |
| CN110567973B (en) | Piston detection platform and method based on image acquisition | |
| KR20150107355A (en) | Apparatus for Detecting Surface Defect of Cable | |
| CN106940319B (en) | Optical fiber image transmission element defect detection method and device | |
| CN113724256B (en) | Lighting mirror body light efficiency test system of endoscope | |
| KR101497684B1 (en) | Apparatus of screening inspection for a bad injection syringes | |
| US7132671B2 (en) | Substrate testing device and substrate testing method | |
| JP5204547B2 (en) | Internal inspection device | |
| CN108020474A (en) | A kind of quality detecting system for fatigue test specimen | |
| WO2024082503A1 (en) | Image acquisition method and apparatus for light-transmitting tube, and tube diameter measurement method and apparatus for light-transmitting tube | |
| CN114858421B (en) | Method for testing illumination parameter of operation shadowless lamp | |
| CN207923625U (en) | A kind of quality detecting system for fatigue test specimen | |
| CN203981610U (en) | Radiographic film automatic evaluation system | |
| CN202916287U (en) | Secreta analysis workstation | |
| CN211718154U (en) | Bus cable sequence checking device | |
| JP2009025262A (en) | X-ray analyzer | |
| CN108333181A (en) | A kind of full-automatic quality detecting system for fatigue test specimen | |
| CN211741851U (en) | Light-transmitting cylindrical lens detection device | |
| KR20230022725A (en) | Lighting module inspection device for machine vision and light module inspection method for machine vision using thereof | |
| CN111123686A (en) | Light-transmitting cylindrical lens detection device and detection method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |