CN106343942A - 一种腹腔镜镜头偏转自动告警装置 - Google Patents

一种腹腔镜镜头偏转自动告警装置 Download PDF

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CN106343942A
CN106343942A CN201610903153.6A CN201610903153A CN106343942A CN 106343942 A CN106343942 A CN 106343942A CN 201610903153 A CN201610903153 A CN 201610903153A CN 106343942 A CN106343942 A CN 106343942A
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chip microcomputer
alarm
deflection
gyroscope
lens
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王行环
杨琨
罗斌
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Wuhan Tangji Science & Technology Co ltd
Zhongnan Hospital of Wuhan University
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Wuhan Tangji Science & Technology Co ltd
Zhongnan Hospital of Wuhan University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00057—Operational features of endoscopes provided with means for testing or calibration
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00101—Insertion part of the endoscope body characterised by distal tip features the distal tip features being detachable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00131—Accessories for endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02—Operational features
    • A61B2560/0223—Operational features of calibration, e.g. protocols for calibrating sensors

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
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  • Radiology & Medical Imaging (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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  • Molecular Biology (AREA)
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  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Signal Processing (AREA)
  • Endoscopes (AREA)

Abstract

本发明公开了一种腹腔镜镜头偏转自动告警装置，它由陀螺仪，单片机、报警器、电源、无线网络和上位机组成。本发明能对腹腔镜镜头的偏转自动报警，使医生在观看图像的过程中能随时对腹腔镜镜头的方位进行校正以避免手术误差，同时还能自动对腹腔镜图像进行实时几何校正，以修正旋转带来的图像畸变，进一步减小手术误差。本发明具有结构简单，操作方便等优点。

Description

一种腹腔镜镜头偏转自动告警装置
技术领域
本发明属于医疗器械领域，具体涉及一种腹腔镜镜头偏转自动告警装置。
背景技术
腹腔镜手术是常用的微创外科手术方式，它通过腹壁打洞，伸入长杆器械进入腹腔进行手术操作。和传统开放式手术相比，腹腔镜手术创伤小，出血少，恢复快，腹部外科手术总量的约70％都是通过腹腔镜完成。
进行腹腔镜手术时，手术者的视野方向是由镜头的方向决定的。目前临床腹腔镜上使用的镜头没有方向提示，需要持镜医生根据经验进行控制。医生在手术中需要进行目测，从而分散了注意力，另外由于没有统一的标准，在腹腔镜手术中，常常出现镜头方向的偏转造成手术视野的误判。
发明内容
本发明的目的是提供一种腹腔镜镜头偏转自动告警装置，使医生在进行腹腔镜手术时，能随时对腹腔镜镜头的方位进行校正，从而避免手术误差。
上述目的是通过以下技术方案实现的：
一种腹腔镜镜头偏转自动告警装置，它包括陀螺仪，单片机、报警器和电源，所述陀螺仪，单片机、报警器和电源通过电路连接，所述陀螺仪用于测量腹腔镜镜头的偏转角并将数据传输给单片机，所述单片机用于判断偏转角数据是否在设定值以内并控制报警器发出警报，所述电源用于陀螺仪，单片机、报警器的供电。
所述腹腔镜镜头偏转自动告警装置还包括无线网络和上位机，所述单片机通过无线网络与上位机连接，所述无线网络用于将单片机的偏转角数据转化成无线信号并发送到上位机，所述上位机可以根据旋转角数据对腹腔镜图像进行实时几何校正，修正旋转带来的畸变。
本发明与腹腔镜镜头配合使用，在进行腹腔镜手术前，先将陀螺仪刚性固定在腹腔镜主轴上，在腹腔镜手术过程中，陀螺仪记录腹腔镜的偏转角，并将偏转角数据传输给单片机，单片机判断偏转角是否在设定值范围内，当超过设定值时，单片机控制报警器发出警报，使医生在观看图像的过程中能随时对腹腔镜镜头的方位进行校正以避免手术误差。同时，单片机还将记录的偏转角数据通过无线网络传输到上位机，上位机根据旋转角自动对腹腔镜图像进行实时几何校正，从而修正旋转带来的图像畸变，进一步减小手术误差。
本发明采用外挂的连接方式，不改变腹腔镜的正常结构，能用于不同型号的腹腔镜。
附图说明
图1是本发明的结构示意图。
具体实施方式
以下根据附图与实施例对本发明进行详细地说明。
实施例
如图1所示，一种腹腔镜镜头偏转自动告警装置，它由陀螺仪，单片机、报警器、电源、无线网络和上位机组成，所述陀螺仪，单片机、报警器和电源通过电路连接，所述陀螺仪用于测量腹腔镜镜头的偏转角并将数据传输给单片机，所述单片机用于判断偏转角数据是否在设定值以内并控制报警器发出警报，所述单片机通过无线网络与上位机连接，所述无线网络用于将单片机的偏转角数据转化成无线信号并发送到上位机，上位机根据旋转角数据对腹腔镜图像进行实时几何校正，从而修正旋转带来的图像畸变，减小手术误差。所述电源用于陀螺仪，单片机、报警器的供电。
在进行腹腔镜手术前，先将陀螺仪刚性固定在腹腔镜主轴上，在腹腔镜手术过程中，陀螺仪记录腹腔镜滚转、俯仰、偏航等多个偏转角，并将偏转角数据传输给Arduino单片机。单片机判断偏转角(以腹腔镜剖面中心为轴心)是否大于设定的15度，当大于15度时，单片机控制报警器发出警报，此时医生立刻对腹腔镜镜头的方位进行校正，从而避免手术误差。同时，单片机还将记录的偏转角数据通过无线网络传输到上位机，上位机根据旋转角自动对腹腔镜图像进行实时几何校正，从而修正旋转带来的图像畸变，进一步减小手术误差。

Claims (2)

1.一种腹腔镜镜头偏转自动告警装置，其特征在于：包括陀螺仪，单片机、报警器和电源，所述陀螺仪，单片机、报警器和电源通过电路连接，所述陀螺仪用于测量腹腔镜镜头的偏转角并将数据传输给单片机，所述单片机用于判断偏转角数据是否在设定值以内并控制报警器发出警报，所述电源用于陀螺仪，单片机、报警器的供电。
2.如权利要求1所述的腹腔镜镜头偏转自动告警装置，其特征在于：还包括无线网络和上位机，所述单片机通过无线网络与上位机连接，所述无线网络用于将单片机的偏转角数据转化成无线信号并发送到上位机，所述上位机用于根据旋转角数据对腹腔镜图像进行实时几何校正，修正旋转带来的畸变。
CN201610903153.6A 2016-10-17 2016-10-17 一种腹腔镜镜头偏转自动告警装置 Pending CN106343942A (zh)

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Citations (8)

* Cited by examiner, † Cited by third party
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CN103479320A (zh) * 2013-09-25 2014-01-01 深圳先进技术研究院 主动式蛇形内窥镜机器人系统
CN203493616U (zh) * 2013-10-23 2014-03-26 哈尔滨医科大学 腹腔镜旋转角度监视器
CN104224089A (zh) * 2014-09-15 2014-12-24 天津大学 一种具备抗干扰能力的带有手术导航功能的内窥镜系统
CN104349731A (zh) * 2012-05-31 2015-02-11 伊西康内外科公司 具有取向感测的外科器械
WO2015119573A1 (en) * 2014-02-05 2015-08-13 National University Of Singapore Systems and methods for tracking and displaying endoscope shape and distal end orientation
CN105142494A (zh) * 2013-07-12 2015-12-09 奥林巴斯株式会社 内窥镜系统
CN204863093U (zh) * 2015-08-06 2015-12-16 桂林电子科技大学 具有轨迹显示功能的肠镜系统
US20160073854A1 (en) * 2014-09-12 2016-03-17 Aperture Diagnostics Ltd. Systems and methods using spatial sensor data in full-field three-dimensional surface measurement

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104349731A (zh) * 2012-05-31 2015-02-11 伊西康内外科公司 具有取向感测的外科器械
CN105142494A (zh) * 2013-07-12 2015-12-09 奥林巴斯株式会社 内窥镜系统
CN103479320A (zh) * 2013-09-25 2014-01-01 深圳先进技术研究院 主动式蛇形内窥镜机器人系统
CN203493616U (zh) * 2013-10-23 2014-03-26 哈尔滨医科大学 腹腔镜旋转角度监视器
WO2015119573A1 (en) * 2014-02-05 2015-08-13 National University Of Singapore Systems and methods for tracking and displaying endoscope shape and distal end orientation
US20160073854A1 (en) * 2014-09-12 2016-03-17 Aperture Diagnostics Ltd. Systems and methods using spatial sensor data in full-field three-dimensional surface measurement
CN104224089A (zh) * 2014-09-15 2014-12-24 天津大学 一种具备抗干扰能力的带有手术导航功能的内窥镜系统
CN204863093U (zh) * 2015-08-06 2015-12-16 桂林电子科技大学 具有轨迹显示功能的肠镜系统

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Application publication date: 20170125