CN108451640A - Magnetic anchoring type operation guiding system and application method based on coherent fiber bundle principle - Google Patents
Magnetic anchoring type operation guiding system and application method based on coherent fiber bundle principle Download PDFInfo
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- 230000001427 coherent effect Effects 0.000 title claims abstract description 61
- 239000000835 fiber Substances 0.000 title claims abstract description 61
- 238000004873 anchoring Methods 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 23
- 239000007850 fluorescent dye Substances 0.000 claims abstract description 15
- 210000002784 stomach Anatomy 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 230000003993 interaction Effects 0.000 claims abstract description 5
- 230000005284 excitation Effects 0.000 claims description 21
- 239000000523 sample Substances 0.000 claims description 15
- 239000013307 optical fiber Substances 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 7
- PXAWCNYZAWMWIC-UHFFFAOYSA-N [Fe].[Nd] Chemical compound [Fe].[Nd] PXAWCNYZAWMWIC-UHFFFAOYSA-N 0.000 claims description 6
- MOFVSTNWEDAEEK-UHFFFAOYSA-M indocyanine green Chemical compound [Na+].[O-]S(=O)(=O)CCCCN1C2=CC=C3C=CC=CC3=C2C(C)(C)C1=CC=CC=CC=CC1=[N+](CCCCS([O-])(=O)=O)C2=CC=C(C=CC=C3)C3=C2C1(C)C MOFVSTNWEDAEEK-UHFFFAOYSA-M 0.000 claims description 6
- 229960004657 indocyanine green Drugs 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 6
- NRTOMJZYCJJWKI-UHFFFAOYSA-N Titanium nitride Chemical compound [Ti]#N NRTOMJZYCJJWKI-UHFFFAOYSA-N 0.000 claims description 5
- 241000931526 Acer campestre Species 0.000 claims description 3
- 210000000683 abdominal cavity Anatomy 0.000 claims description 3
- 230000003187 abdominal effect Effects 0.000 claims description 3
- 239000006185 dispersion Substances 0.000 claims description 3
- 239000003365 glass fiber Substances 0.000 claims description 3
- 238000010253 intravenous injection Methods 0.000 claims description 3
- 230000003902 lesion Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 239000011347 resin Substances 0.000 claims description 3
- 229920005989 resin Polymers 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims description 2
- 239000011248 coating agent Substances 0.000 claims 2
- 238000000576 coating method Methods 0.000 claims 2
- 238000002357 laparoscopic surgery Methods 0.000 abstract description 12
- 230000002980 postoperative effect Effects 0.000 abstract description 6
- 238000011084 recovery Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
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- 201000011510 cancer Diseases 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000002059 diagnostic imaging Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 201000007270 liver cancer Diseases 0.000 description 2
- 208000014018 liver neoplasm Diseases 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000975 dye Substances 0.000 description 1
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
-
- 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
- A61B2017/00238—Type of minimally invasive operation
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
- A61B2034/2057—Details of tracking cameras
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3937—Visible markers
- A61B2090/3941—Photoluminescent markers
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- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The disclosure provides a kind of magnetic anchoring type operation guiding system and application method based on coherent fiber bundle principle, including：Laser, the fluorescent dye adhered to for exciting human tissue；Magnetic is anchored laparoscope, stretches into human body, the fluorescent image for exciting and transmitting tissue；Coherent fiber bundle component is used for transmission the fluorescent image of tissue；External image processing unit, for handling and showing the fluorescent image；And external magnetic cell controls fit-state and the running fix of magnetic the anchoring laparoscope and stomach wall by being anchored laparoscope interaction with the magnetic.In the magnetic anchoring type operation guiding system and application method based on coherent fiber bundle principle that the disclosure provides, the characteristics of using coherent fiber bundle flexible, the diameter of current single-hole laparoscopic notch can be reduced, so that the stamp card size of single-hole laparoscopic surgery is reduced to the stamp card size of conventional porous laparoscopic surgery, is more advantageous to patient's post-operative recovery.
Description
Technical field
This disclosure relates to laparoscopic technique field more particularly to a kind of magnetic anchoring type surgical navigational based on coherent fiber bundle principle
System and application method.
Background technology
With advancing by leaps and bounds for industrial manufacturing technology, be fused to carry out new technology, the new method of related discipline have established heavily fortified point
Fixed basis, in addition the operation that doctor is more and more consummate so that many past open operations have been taken by intracavity operation now
And instead of, laparoscopic surgery is exactly one of which.Laparoscopic surgery is deep to be welcome by doctor and patient compared with traditional operation,
Especially postoperative scar is small and meets aesthetic requirement, it is easier to be accepted by patients.Traditional laparoscopic surgery, which generally requires, is suffering from
The stamp card of 3-4 diameter 5-10mm is arranged to be placed in laparoscope, the drawing surgical instruments such as instrument and cutting device in person's abdomen.
On this basis, surgeon is exploring always the operation formula of more minimally invasiveization, to make patient with minimally invasive
Obtain maximum value.What developed recently got up is that surgeon pursues ultra micro woundization through navel single-hole laparoscopic surgery (LESS)
Practice result.In single-hole laparoscopic surgery, unique stamp card, laparoscope, drawing instrument and cutting device are set in patient's umbilical region
Enter from unique stamp holding, to reduce wound quantity.
However, present inventor has found during realizing the disclosure, due to laparoscope, drawing instrument and cutter
Tool enters from unique stamp holding so that single-hole laparoscopic stabs card diameter in 30mm or so, hence it is evident that it is more than conventional laparoscopic stamp card,
Difficulty is increased to patient postoperative rehabilitation；Block so that different in operation in addition, three kinds of instruments are placed in the same stamp simultaneously
Instrument interferes with each other, it is difficult to efficient operation triangle is formed, to increase operating difficulty, increase operation risk.
Disclosure
(1) technical problems to be solved
Based on above-mentioned technical problem, the disclosure provide a kind of magnetic anchoring type operation guiding system based on coherent fiber bundle principle and
Application method, to alleviate single-hole laparoscopic surgery in the prior art, stamp card is relatively large in diameter, and it is difficult to increase patient's post-operative recovery
Degree, and a variety of instruments are placed in the same stamp card to increase operating difficulty, increase the technical issues of operation risk simultaneously.
(2) technical solution
According to one aspect of the disclosure, a kind of magnetic anchoring type operation guiding system based on coherent fiber bundle principle is provided, is wrapped
It includes：Laser, for emitting laser, the fluorescent dye that exciting human tissue adheres to；Magnetic is anchored laparoscope, with the laser
It is connected, is stretched into human body by optical fiber, the fluorescent image for exciting and transmitting tissue；Coherent fiber bundle component, and it is described
Magnetic is anchored laparoscope connection, and extends to outside human body, is used for transmission the fluorescent image of tissue；External image processing unit,
It is connect with the coherent fiber bundle component, for handling and showing the fluorescent image；And external magnetic cell, by with the magnetic anchor
Determine laparoscope interaction, controls fit-state and the running fix of magnetic the anchoring laparoscope and stomach wall.
In some embodiments of the present disclosure, the magnetic anchoring laparoscope includes：Internal magnet is used for and the external magnetic list
Member interaction；Excitation probe, connect with the optical fiber, for emitting laser；Image receiving unit, with the coherent fiber bundle component
Connection, the fluorescent image of the tissue for receiving laser excitation；And laparoscope shell, it is wrapped in the internal magnet, institute
The outside for stating excitation probe and described image transmission assembly, for fixing and being isolated above-mentioned component.
In some embodiments of the present disclosure, described image receiving unit includes：Reflecting prism is set to the excitation and visits
Head is other, the fluorescence for converging the laser excitation；Object lens, both ends respectively with the exit facet of the reflecting prism and the biography
Video beam component is oppositely arranged, and the fluorescence for receiving the reflecting prism reflection simultaneously forms initial pictures；Wherein, the laparoscope
It is corresponded on shell and is provided with opening at the excitation probe and the reflecting prism.
In some embodiments of the present disclosure, the external magnetic cell includes：External magnet, working face and the internal magnet
Interaction；Magnetic screen shell is wrapped on the non-working surface of the external magnet, the magnetic for shielding the external magnet non-working surface
Property；Outer magnetic cell shell is wrapped on the outside of the external magnet and the magnetic screen shell, for being the external magnet and the magnetic cup
It covers shell and protection is provided；And handle, and the outer magnetic cell cage connection, for manipulating the external magnetic cell.
In some embodiments of the present disclosure, wherein：The external magnet includes N50 neodymium iron borons, and surface is provided with nitridation
Titanium plated film, the shape of the external magnet are cylinder, diameter between 20mm between 40mm, height between 5mm to 15mm it
Between；The outer magnetic cell shell and the handle include high molecular material.
In some embodiments of the present disclosure, the external image processing unit includes：CCD camera, chip center with
The center of the coherent fiber bundle component output end is located at same horizontal line；Data processing centre connect with the CCD camera, is used for
Handle the fluorescent image of the tissue of the CCD camera acquisition；And display, it connect, uses with the data processing centre
In the fluorescent image of display tissue.
In some embodiments of the present disclosure, the fluorescent dye is indocyanine green, and the optical maser wavelength of the laser is
785nm, the quantum efficiency highest wavelength band of the CCD camera is between 820nm between 840nm.
In some embodiments of the present disclosure, wherein：Magnetic anchoring laparoscope is cylinder, internal diameter between 5mm extremely
Between 15mm, length is between 30mm between 50mm；The internal magnet includes N50 neodymium iron borons, and surface is provided with titanium nitride
Plated film, the internal magnet are cuboid, length between 25mm between 35mm, width between 3mm between 7mm, height
Between 1mm between 5mm；The laparoscope shell includes photosensitive resin；Dispersion lens are provided in the excitation probe, are used for
So that laser is evenly distributed and forms the circular field of view range of diameter at least 5cm at operating distance 8cm to 12cm.
In some embodiments of the present disclosure, wherein：The coherent fiber bundle component includes N glass fibre, the coherent fiber bundle group
The beam diameter of part between 1mm between 3mm, outer diameter between 2mm between 4mm, N >=5000.
According to another aspect of the disclosure, a kind of magnetic anchoring type operation guiding system based on coherent fiber bundle principle is also provided
Application method, based on the magnetic anchoring type surgical navigational based on coherent fiber bundle principle described in any one of the claims 1 to 9
System, including：Step A：Preoperative intravenous injection fluorescent dye, opens the laser, and setting laser parameter is contaminated with the fluorescence
Material matches, and laser, which is transmitted to the magnetic, by the optical fiber is anchored laparoscope, is formed at operating distance 8cm to 12cm straight
The circular field of view range of diameter at least 5cm；Step B：The external image processing unit is opened, and according to the optical of fluorescent dye
Receiving wave range is arranged in matter, and being anchored laparoscope by the magnetic captures the fluorescent image of affected area tissue, and passes through coherent fiber bundle
Component is transmitted at external image processing unit；Step C：The mobile shape that the magnetic is anchored laparoscope is controlled by external magnetic cell
State is scanned full abdominal tissue, it may be found that suspicious lesions be presented at the external image processing unit, guided operation
Process.
(3) advantageous effect
It can be seen from the above technical proposal that the magnetic anchoring type surgical navigational system based on coherent fiber bundle principle that the disclosure provides
System and application method have the advantages that one of them or in which a part：
(1) due to coherent fiber bundle flexible the characteristics of, can reduce the diameter of current single-hole laparoscopic notch, make single hole
The stamp card size of laparoscopic surgery is reduced to the stamp card size of conventional porous laparoscopic surgery, is more advantageous to patient's post-operative recovery；
(2) coherent fiber bundle of flexible material is not easy to occur with drawing instrument or cutting device in the course of surgery dry with optical fiber
It relates to, reduces operation difficulty；
(3) by magnetic anchored mode, it can be achieved that magnetic anchoring laparoscope fitting stomach wall, moves freely in stomach wall, realize abdominal cavity
Comprehensive, various visual angles diagnostic imagings are organized, there is help well particularly with the detection of section remnants stoves in cancer art.
Description of the drawings
Fig. 1 is the structural schematic diagram of magnetic anchoring type operation guiding system of the embodiment of the present disclosure based on coherent fiber bundle principle.
Fig. 2 is the structural schematic diagram that magnetic is anchored laparoscope in system shown in Fig. 1.
Fig. 3 is the structural schematic diagram of external magnetic cell in system shown in Fig. 1.
Fig. 4 is the flow of the application method of magnetic anchoring type operation guiding system of the embodiment of the present disclosure based on coherent fiber bundle principle
Figure.
【Embodiment of the present disclosure main element symbol description in attached drawing】
1- stamp cards；2- human skins；10- lasers；
20- magnetic is anchored laparoscope；30- coherent fiber bundle components；The external image processing units of 40-；
The external magnetic cells of 50-；
11- optical fiber；21- internal magnets；22- excitation probes；
23- reflecting prisms；24- object lens；25- laparoscope shells；
41-CCD cameras；42- displays；51- external magnets；
52- magnetic screen shells；The outer magnetic cell shells of 53-；54- handles.
Specific implementation mode
In the magnetic anchoring type operation guiding system and application method based on coherent fiber bundle principle that the embodiment of the present disclosure provides, profit
The characteristics of with coherent fiber bundle flexible, the diameter of current single-hole laparoscopic notch is reduced, while reducing operation difficulty.
To make the purpose, technical scheme and advantage of the disclosure be more clearly understood, below in conjunction with specific embodiment, and reference
The disclosure is further described in attached drawing.
Fig. 1 is the structural schematic diagram of magnetic anchoring type operation guiding system of the embodiment of the present disclosure based on coherent fiber bundle principle.
According to one aspect of the disclosure, as shown in Figure 1, a kind of magnetic anchoring type operation based on coherent fiber bundle principle of offer is led
Boat system, including：Laser 10, for emitting laser, the fluorescent dye that exciting human tissue adheres to；Magnetic is anchored laparoscope
20, it is connect, is stretched into human body, the fluorescent image for exciting and transmitting tissue by optical fiber 11 with laser 10；It passes
Video beam component 30 connect with magnetic anchoring laparoscope 20, and extends to outside human body, is used for transmission the fluorescent image of tissue；Body
Outer image processing unit 40 is connect with coherent fiber bundle component 30, for handling and showing fluorescent image；And external magnetic cell 50,
It is interacted by being anchored laparoscope 20 with magnetic, fit-state and running fix of the control magnetic anchoring laparoscope 20 with stomach wall, by
In the coherent fiber bundle flexible the characteristics of, the diameter of current single-hole laparoscopic notch is reduced, the stamp of single-hole laparoscopic surgery is made
Card size is reduced to the stamp card size of conventional porous laparoscopic surgery, is more advantageous to patient's post-operative recovery；And flexible material
Coherent fiber bundle is not easy to interfere with drawing instrument or cutting device with optical fiber in the course of surgery, reduces operation difficulty；Simultaneously
It by magnetic anchored mode, it can be achieved that magnetic anchoring laparoscope is bonded stomach wall, is moved freely in stomach wall, realizes that abdominal tissue is comprehensive, more
The diagnostic imaging at visual angle has help well particularly with the detection of section remnants stoves in cancer art.
Fig. 2 is the structural schematic diagram that magnetic is anchored laparoscope in system shown in Fig. 1.
In some embodiments of the present disclosure, as shown in Fig. 2, magnetic anchoring laparoscope 20 includes：Internal magnet 21, is used for and body
Outer magnetic cell 50 interacts；Excitation probe 22, connect with optical fiber 11, for emitting laser；Image receiving unit, with coherent fiber bundle
Component 30 connects, the fluorescent image of the tissue for receiving laser excitation；And laparoscope shell 25, it is wrapped in internal magnet
21, the outside of excitation probe 22 and image transmitting component, for fixing and being isolated above-mentioned component.
In some embodiments of the present disclosure, as shown in Fig. 2, image receiving unit includes：Reflecting prism 23 is set to sharp
By hair probe 22, the fluorescence for converging laser excitation；Object lens 24, both ends respectively with the exit facet of reflecting prism 23 and pass picture
Tread assembly 30 is oppositely arranged, and the fluorescence for receiving the reflection of reflecting prism 23 simultaneously forms initial pictures；Wherein, laparoscope shell 25
It is provided with opening at upper corresponding excitation probe 22 and reflecting prism 23.
Fig. 3 is the structural schematic diagram of external magnetic cell in system shown in Fig. 1.
In some embodiments of the present disclosure, as shown in figure 3, external magnetic cell 50 includes：External magnet 51, working face with
Internal magnet 21 interacts；Magnetic screen shell 52 is wrapped on the non-working surface of external magnet 51, for shielding 51 inoperative of external magnet
The magnetism in face；Outer magnetic cell shell 53 is wrapped in 52 outside of external magnet 51 and magnetic screen shell, for being external magnet 51 and magnetic screen
Shell 52 provides protection；And handle 54, it is connect with outer magnetic cell shell 53, for manipulating external magnetic cell 50.
In some embodiments of the present disclosure, wherein：External magnet 51 includes N50 neodymium iron borons, and surface is provided with titanium nitride
Plated film, the shape of the external magnet 51 are cylinder, diameter between 20mm between 40mm, height between 5mm to 15mm it
Between；Outer magnetic cell shell 53 and handle 54 include high molecular material.
In some embodiments of the present disclosure, as shown in Figure 1, external image processing unit 40 includes：CCD camera 41,
Chip center and the center of 30 output end of coherent fiber bundle component are located at same horizontal line；Data processing centre connects with CCD camera 41
It connects, the fluorescent image of the tissue for handling the acquisition of CCD camera 41；And display 42, it is connect with data processing centre,
Fluorescent image for showing tissue.
In some embodiments of the present disclosure, fluorescent dye is indocyanine green, and the optical maser wavelength of laser 10 is 785nm,
For the quantum efficiency highest wavelength band of CCD camera 41 between 820nm between 840nm, indocyanine green (ICG) is a kind of medical dye
Material, biological safety is high, is injected into patient's body by intravenous route and is metabolized out in vitro through hepatic route, and liver cancer cells
It is very poor to its metabolic capability, it can be achieved that ICG is excited in the enrichment of liver cancer tissue by 785nm near infrared lights, generate 830nm more
The near infrared light of long-wave band and realize positioning and navigation.
In some embodiments of the present disclosure, wherein：Magnetic be anchored laparoscope 20 be cylinder, internal diameter between 5mm extremely
Between 15mm, length is between 30mm between 50mm；Internal magnet 21 includes N50 neodymium iron borons, and surface is provided with titanium nitride plating
Film, the internal magnet 21 are cuboid, length between 25mm between 35mm, width between 3mm between 7mm, height
Between 1mm between 5mm；Laparoscope shell 25 includes photosensitive resin；Dispersion lens are provided in excitation probe 22, are swashed for making
Light is evenly distributed and forms the circular field of view range of diameter at least 5cm at operating distance 8cm to 12cm.
In some embodiments of the present disclosure, wherein：Coherent fiber bundle component 30 includes N glass fibre, the coherent fiber bundle component
30 beam diameter between 1mm between 3mm, outer diameter between 2mm between 4mm, N >=5000.
Fig. 4 is the flow of the application method of magnetic anchoring type operation guiding system of the embodiment of the present disclosure based on coherent fiber bundle principle
Figure.
According to another aspect of the disclosure, as shown in figure 4, also providing a kind of magnetic anchoring type hand based on coherent fiber bundle principle
The application method of art navigation system, the magnetic anchoring type surgical navigational system based on coherent fiber bundle principle provided based on the embodiment of the present disclosure
System, including：Step A：Preoperative intravenous injection fluorescent dye opens laser 10, and setting laser parameter matches with fluorescent dye,
Laser is transmitted to magnetic by optical fiber 11 and is anchored laparoscope 20, forms the diameter at least circle of 5cm at operating distance 8cm to 12cm
Form visual field range；Step B：External image processing unit 40 is opened, and receiving wave range is arranged according to the optical property of fluorescent dye,
It is anchored laparoscope 20 by magnetic and captures the fluorescent image of affected area tissue, and external figure is transmitted to by coherent fiber bundle component 30
As at processing unit 40；Step C：The mobile status that magnetic is anchored laparoscope 20 is controlled by external magnetic cell 50, to full abdominal cavity group
Knit and be scanned, it may be found that suspicious lesions be presented at the external image processing unit, guided operation process.
So far, attached drawing is had been combined the embodiment of the present disclosure is described in detail.It should be noted that in attached drawing or saying
In bright book text, the realization method for not being painted or describing is form known to a person of ordinary skill in the art in technical field, and
It is not described in detail.In addition, the above-mentioned definition to each element and method be not limited in mentioning in embodiment it is various specific
Structure, shape or mode, those of ordinary skill in the art simply can be changed or replaced to it.
According to above description, those skilled in the art should be to the magnetic anchoring type based on coherent fiber bundle principle of disclosure offer
Operation guiding system and application method have clear understanding.
In conclusion magnetic anchoring type operation guiding system and the application method profit based on coherent fiber bundle principle that the disclosure provides
The characteristics of with coherent fiber bundle flexible, reduces laparoscope, drawing instrument and shears the interference between instrument, can reduce and work as
The diameter of preceding single-hole laparoscopic notch, while reducing operation difficulty.
It should also be noted that, the direction term mentioned in embodiment, for example, "upper", "lower", "front", "rear", " left side ",
" right side " etc. is only the direction of refer to the attached drawing, not is used for limiting the protection domain of the disclosure.Through attached drawing, identical element by
Same or similar reference numeral indicates.When that understanding of this disclosure may be caused to cause to obscure, conventional structure will be omitted
Or construction.
And the shape and size of each component do not reflect actual size and ratio in figure, and only illustrate the embodiment of the present disclosure
Content.In addition, in the claims, any reference mark between bracket should not be configured to the limit to claim
System.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of each open aspect,
Above in the description of the exemplary embodiment of the disclosure, each feature of the disclosure is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：It is i.e. required to protect
The disclosure of shield requires features more more than the feature being expressly recited in each claim.More precisely, such as front
Claims reflect as, open aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific implementation mode are expressly incorporated in the specific implementation mode, wherein each claim itself
All as the separate embodiments of the disclosure.
Particular embodiments described above has carried out further in detail the purpose, technical solution and advantageous effect of the disclosure
It describes in detail bright, it should be understood that the foregoing is merely the specific embodiment of the disclosure, is not limited to the disclosure, it is all
Within the spirit and principle of the disclosure, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the disclosure
Within the scope of shield.
Claims (10)
1. a kind of magnetic anchoring type operation guiding system based on coherent fiber bundle principle, including：
Laser, for emitting laser, the fluorescent dye that exciting human tissue adheres to；
Magnetic is anchored laparoscope, is connect, is stretched into human body by optical fiber with the laser, for exciting and transmitting tissue
Fluorescent image；
Coherent fiber bundle component connect with magnetic anchoring laparoscope, and extends to outside human body, is used for transmission the fluorogram of tissue
Picture；
External image processing unit is connect with the coherent fiber bundle component, for handling and showing the fluorescent image；And
External magnetic cell controls the patch of magnetic the anchoring laparoscope and stomach wall by being anchored laparoscope interaction with the magnetic
Conjunction state and running fix.
2. the magnetic anchoring type operation guiding system according to claim 1 based on coherent fiber bundle principle, the magnetic is anchored abdominal cavity
Mirror includes：
Internal magnet, for interacting with the external magnetic cell；
Excitation probe, connect with the optical fiber, for emitting laser；
Image receiving unit is connect with the coherent fiber bundle component, the fluorescent image of the tissue for receiving laser excitation；With
And
Laparoscope shell is wrapped in the outside of the internal magnet, the excitation probe and described image transmission assembly, for fixing
And above-mentioned component is isolated.
3. the magnetic anchoring type operation guiding system according to claim 2 based on coherent fiber bundle principle, described image reception group
Part includes：
Reflecting prism is set to excitation probe side, the fluorescence for converging the laser excitation；
Object lens, both ends are oppositely arranged with the exit facet of the reflecting prism and the coherent fiber bundle component respectively, for receiving
It states the fluorescence of reflecting prism reflection and forms initial pictures；
Wherein, it is corresponded on the laparoscope shell and is provided with opening at the excitation probe and the reflecting prism.
4. the magnetic anchoring type operation guiding system according to claim 2 based on coherent fiber bundle principle, the external magnetic cell
Including：
External magnet, working face interact with the internal magnet；
Magnetic screen shell is wrapped on the non-working surface of the external magnet, the magnetism for shielding the external magnet non-working surface；
Outer magnetic cell shell is wrapped on the outside of the external magnet and the magnetic screen shell, for being the external magnet and the magnetic
Shielding case provides protection；And
Handle, and the outer magnetic cell cage connection, for manipulating the external magnetic cell.
5. the magnetic anchoring type operation guiding system according to claim 4 based on coherent fiber bundle principle, wherein：
The external magnet includes N50 neodymium iron borons, and surface is provided with titanium nitride coating, and the shape of the external magnet is cylinder,
Diameter is between 20mm between 40mm, and height is between 5mm between 15mm；
The outer magnetic cell shell and the handle include high molecular material.
6. the magnetic anchoring type operation guiding system according to claim 1 based on coherent fiber bundle principle, at the external image
Managing unit includes：
CCD camera, chip center and the center of the coherent fiber bundle component output end are located at same horizontal line；
Data processing centre connect with the CCD camera, the fluorogram of the tissue for handling the CCD camera acquisition
Picture；And
Display is connect with the data processing centre, the fluorescent image for showing tissue.
7. the magnetic anchoring type operation guiding system according to claim 6 based on coherent fiber bundle principle, the fluorescent dye are
Indocyanine green, the optical maser wavelength of the laser are 785nm, the quantum efficiency highest wavelength band of the CCD camera between
820nm is between 840nm.
8. the magnetic anchoring type operation guiding system according to claim 2 based on coherent fiber bundle principle, wherein：
Magnetic anchoring laparoscope is cylinder, internal diameter between 5mm between 15mm, length between 30mm to 50mm it
Between；
The internal magnet includes N50 neodymium iron borons, and surface is provided with titanium nitride coating, which is cuboid, and length is situated between
In 25mm between 35mm, width is between 3mm between 7mm, and height is between 1mm between 5mm；
The laparoscope shell includes photosensitive resin；
Dispersion lens are provided in the excitation probe, for making laser be evenly distributed and at operating distance 8cm to 12cm
Form the circular field of view range of diameter at least 5cm.
9. the magnetic anchoring type operation guiding system according to any one of claim 1 to 8 based on coherent fiber bundle principle,
In：
The coherent fiber bundle component includes N glass fibre, and between 1mm between 3mm, outer diameter is situated between the beam diameter of the coherent fiber bundle component
In 2mm between 4mm, N >=5000.
10. a kind of application method of the magnetic anchoring type operation guiding system based on coherent fiber bundle principle, based on the claims 1 to
The magnetic anchoring type operation guiding system based on coherent fiber bundle principle described in any one of 9, including：
Step A：Preoperative intravenous injection fluorescent dye opens the laser, sets laser parameter and the fluorescent dye phase
Match, laser, which is transmitted to the magnetic, by the optical fiber is anchored laparoscope, and diameter is formed at operating distance 8cm to 12cm at least
The circular field of view range of 5cm；
Step B：The external image processing unit is opened, and receiving wave range is arranged according to the optical property of fluorescent dye, is passed through
The magnetic anchoring laparoscope captures the fluorescent image of affected area tissue, and is transmitted at external image by coherent fiber bundle component
It manages at unit；
Step C：The mobile status that the magnetic is anchored laparoscope is controlled by external magnetic cell, full abdominal tissue is scanned,
The suspicious lesions that will be seen that are presented at the external image processing unit, guided operation process.
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| CN111419393A (en) * | 2020-04-13 | 2020-07-17 | 西安交通大学医学院第一附属医院 | Magnetic anchoring laser energy device for cavity mirror operation of puncture reducing card |
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