CN109893092A - The laparoscope outer mirror device of abdominal cavity can be scanned - Google Patents
The laparoscope outer mirror device of abdominal cavity can be scanned Download PDFInfo
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- CN109893092A CN109893092A CN201910125196.XA CN201910125196A CN109893092A CN 109893092 A CN109893092 A CN 109893092A CN 201910125196 A CN201910125196 A CN 201910125196A CN 109893092 A CN109893092 A CN 109893092A
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- 210000000683 abdominal cavity Anatomy 0.000 title claims abstract description 19
- 238000003384 imaging method Methods 0.000 claims abstract description 36
- 238000005192 partition Methods 0.000 claims description 16
- 230000000007 visual effect Effects 0.000 claims description 11
- 230000003287 optical effect Effects 0.000 claims description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 9
- 239000000571 coke Substances 0.000 claims description 5
- 238000007334 copolymerization reaction Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 230000003595 spectral effect Effects 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 abstract description 11
- 230000003902 lesion Effects 0.000 abstract description 7
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 6
- 210000004027 cell Anatomy 0.000 description 10
- 238000010827 pathological analysis Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 238000001356 surgical procedure Methods 0.000 description 7
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- 238000003745 diagnosis Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 208000004232 Enteritis Diseases 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 2
- 230000003321 amplification Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
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Abstract
The present invention provides the laparoscope outer mirror devices that one kind can scan abdominal cavity, including outer visor image system, laparoscope image system and equipment trolley；The outer visor image system includes having laser confocal scanning imaging system；The outer visor image system and laparoscope image system are arranged on the robotic arm of equipment trolley.It performs the operation suitable for laparoscopic minimally invasive surgery and conventional open, the three-dimensional structure image of tissue can be formed, whether lesion and judge that diseased region range, depth and lesion degree provide foundation for analysis cell.
Description
Technical field
The invention belongs to field of medical appliances, and in particular to can scan the laparoscope outer mirror device of abdominal cavity.
Background technique
It is answered extensively currently, various high-tech imaging techniques check pathology and diagnose in various diseases in modern medical service
With.Laser confocal scanning imaging technique is the high-tech imaging technique for integrating optics, electronics and mechanics, can be right
Target carries out Tomography and three-dimensional reconstruction, and the micromorphologies such as observable to cell, molecule, ion have high-resolution high
The features such as sensitivity and good imaging quality, can realize pathological analysis ideally.And currently, laser confocal scanning is imaged
Technology is applied to medical research mostly in a manner of microscope in the field of medicine.
In existing surgical procedure, if desired the pathological tissues of patient are passed through to point of laser co-focusing surface sweeping imaging technique
Analysis processing, realizes pathological analysis, that is, needs for histotomy to be transferred to pathological analysis section, could be by the analysis personnel of profession
Row.The efficiency for often affecting pathological analysis in this way, also affects going on smoothly for operation, increases operation risk.
Summary of the invention
In order to overcome the problems of the prior art, the invention aims to provide a kind of laparoscope that can scan abdominal cavity
Outer mirror device, can realize the scanning imagery at abdominal cavity position in the course of surgery, and auxiliary operation carries out.
To achieve the above object, the used technical solution of the present invention is as follows:
A kind of laparoscope outer mirror device scanning abdominal cavity, including outer visor image system, laparoscope image system
System and equipment trolley；The outer visor image system includes having laser confocal scanning imaging system；The outer visor image
System and laparoscope image system are all arranged on the robotic arm of equipment trolley.
Preferably, the laser confocal scanning imaging system includes camera lens, laser light source host and computer；It is described
Camera lens includes optical lens, light source interface, data line interface, power interface and lens bodies；It is provided with and sweeps in lens bodies
Imaging apparatus, copolymerization coke installation, optical lens, light source interface, data line interface, power interface are all arranged on lens bodies；Institute
Camera lens is stated to connect with the laser light source host and computer respectively.
Preferably, scanning linear velocity at least 2500 lines/second of the scanning means, resolution ratio is no less than 256 ×
256dpi, frame per second >=4 frames/second,；The spectral region of laser light source host is 400-750nm, degree of regulation≤2.5nm.
Preferably, the outer visor image system further includes scene camera system and visual area camera system.
Preferably, the equipment trolley includes boom truck, robotic arm and display, the robotic arm setting exists
The boom truck, the display are arranged in the robotic arm.
Preferably, the boom truck include trolley pedestal, bracket, universal caster wheel, partition, drawer, stingy bottle rack,
Power supply, rear chamber door and drawing handle；The universal caster wheel is set to the bottom of trolley pedestal, and the branch is set up on trolley pedestal；
The partition is arranged in bracket, and the drawer is placed on each partition；The stingy bottle rack is located at the side of bracket；
The power supply is placed in drawer, and drawing handle is set on bracket；Several pairs of supports are equipped in the opposite inside of bracket
Bar, partition are placed on support rod.
Preferably, the robotic arm includes mechanical arm, images and arm and camera shooting is divided to divide arm；After the imaging divides arm
End is fixed on the robotic arm, and display is provided on front end；The camera shooting divides the rear end of arm to be connected to the mechanical arm top, preceding
End is equipped with lens bracket.
Beneficial effects of the present invention are as follows:
By above structure, outer visor laparoscope system of the present invention is suitable for laparoscopic minimally invasive surgery and tradition is opened
The operation of putting property.
By laser confocal imaging system, laparoscope system and other outer mirror system equipment, doctor is made to carry out abdomen
When hysteroscope Minimally Invasive Surgery and conventional open are performed the operation, the three-dimensional structure of tissue can be formed in real time in operating room
Whether image lesion and judge that diseased region range, depth and lesion degree provide foundation for analysis cell, is swept by copolymerization coke
Function is retouched to realize to target progress Tomography and three-dimensional reconstruction, the micromorphologies such as observable to cell, molecule, ion,
The analysis that pathological tissues are realized with cell grade and pathology grade is realized ideally.
By above-mentioned setting, when needing to carry out pathological analysis to pathological tissues in the course of surgery, to pathological tissues
After carrying out surgical biopsy, the lesion pathology of the operation can be obtained in real time directly in operating room；Reduce and turns pathological tissues
The time for moving to pathology department accelerates the process of operation, reduces operation risk.
When the introducing of laser confocal scanning imaging technique is applied to the operation of outer visor, by being scanned to tissue
Detection imaging, obtains the microcosmic human cell tissue flat image of different levels high-resolution, and different levels flat image is store
It is stored to computer, three-dimensional structure reconstruction is carried out using computer, forms the three-dimensional structure image of tissue, pass through observation
Plane cell tissue form and stereostructural shape are capable of the variation of dynamic tracing cell, and discriminatory analysis cell is with no damage
No lesion and the follow-up assessment for judging diseased region range, depth and lesion degree and aftertreatment effect, provide for doctor
Real-time micro-cell organization chart picture information detects tracking pathogenic factor from slight part, greatly improve diagnose the illness it is accurate
Property, reliable diagnosis foundation is provided for clinical operation.
In conventional open operation, the group of surgical scene image and the high definition amplification provided by outer visor imaging system
Knit structural images (or 3D image), can remotely monitor, teaching, and improve operation accuracy, improve procedure efficiency (or
Carry out surgery planning and operation 3D simulated maneuver).And the use of laser confocal scanning system can be cooperated, pass through outer visor
When imaging system monitors operation indoor situations, the expert of pathological analysis can directly with indoor doctor or the analysis personnel of performing the operation
Common cooperation, carries out pathological analysis, improves the accuracy of pathological analysis, reliability.And in Minimally Invasive Surgery, that is, pass through abdominal cavity
Mirror completes the observation and operation of operation.
Outer visor imaging system and laparoscope system are incorporated into same equipment, can adapt to different operation scenes
(including conventional open operation, Minimally Invasive Surgery, Enteritis Operation) improves the utilization rate of equipment, reduces equipment cost.
Detailed description of the invention
Fig. 1 is the schematic diagram of high-definition camera and camera lens 131 of the present invention.
Fig. 2 is laser confocal scanning imaging lens schematic diagram.
Fig. 3 is the one form of them schematic diagram of laparoscope.
Fig. 3 a is that one of work form of laparoscope makees end view
Fig. 4 is that have the outer mirror system schematic diagram of the Integrative laparoscopic of laser confocal scanning imaging function.
Wherein:
11-scene camera systems；111-scene cameras；112-image procossing hosts；12-visual area camera systems；
121-high-definition cameras；1211-optical lens；1212-LED light；122-camera shooting hosts；131-camera lenses；1311-optics
Camera lens；1312-light source interfaces；1313-data line interfaces；1314-power interfaces；1315-lens bodies；132-laser
Light source host；133-computers；21-laparoscopes；2111-optical lens；2112-light-conductive optic fibres；211-objective ends；
212-cold light source tip sides；213-camera shooting interconnecting pieces；22-camera shooting hosts；23-cold light source hosts；3-equipment trolleys；
31-boom trucks；321-mechanical arms；322-imagings divide arm；323-camera shootings divide arm；3235-lens brackets；33-displays
Device.
Specific embodiment
Now in conjunction with attached drawing, the present invention is further illustrated.
The laparoscope outer mirror device of the present invention for scanning abdominal cavity, including outer visor image system 1, abdominal cavity
Mirror image system 2 and equipment trolley 3.
Outer visor image system 1 includes scene camera system 11, visual area camera system 12 and laser confocal scanning imaging
System.
Scene camera system includes scene camera 111 and image procossing host 112；Scene camera system includes at least
1 high-definition camera 121, field angle >=90 °.Image procossing host handles one or more images, has image
Integration, image switching and picture segmentation and Video Out.More camera lens panoramic camera systems can be used in scene camera.
Scene camera shoots surgical scene, and obtained image data is transferred at image procossing host
Reason, image procossing host has the function of image integration, image switching and segmentation etc., after handling one or more images,
It is output on display and images.To real-time visual scene photographed images, it can be achieved that scene or long-range monitoring, teaching, storage
Image can be used as training medical staff, promoted medical staff's medical level capsule information.
Visual area camera system includes high-definition camera system or 3D imaging system.
High-definition camera system includes high-definition camera 121 and camera shooting host 122.The resolution ratio of high-definition camera be 1920 ×
1080, pixel is at least 13,000,000, and frame rate is not less than 30fps.Expansion times of the imaging of high-definition camera system relative to preimage
No less than 22 times of number.The camera lens of high-definition camera can focus, and be adapted to different demands.It is arranged around high-definition camera
There is LED light to provide or reinforce illumination.
High-definition camera to operative site image, by data line by captured image transmitting to image host process after,
Image is shown over the display.Make the whole audience or remote medical nursing personnel that surgery situation can be seen, is visually difficult on operative site point
The institutional framework distinguished or can't see is amplified by high definition lens zoom, over the display the knot of tissue of display of high resolution amplification
Composition picture, doctor's energy fast resolution and precise manipulation effectively improve procedure efficiency to improve operation accuracy, mitigate disease
People's pain and mitigation surgeon stress.
3D imaging system includes 3D camera and 3D camera shooting host.3D camera includes two independent optical lens, at
One or separately 3D imaging system are mounted on camera shooting on equipment trolley and divide arm.3D images two eyes of connector analog people, to same
Target is imaged respectively simultaneously, and 3D camera shooting host handles 2 independent images, is integrated into 3D image mode and is output to display
Device.3D image display pattern has: need to wear the mode for the three-dimensional image that 3D glasses can just be seen, or not need to wear 3D
Glasses can watch the naked eye 3D mode of 3-D image, or be shown over the display in the form of three-dimensional stereo model.
3D can provide the completely new sophistication and clarity that conventional imaging techniques cannot achieve, and what 3D was provided is not plane
Image, but have the recording and visual means of the more preferably medical procedure of depth, shape and shape, the more sense of reality, it cures
Raw diagnosis is more reliable, and doctor can carry out operation guide, surgery planning according to the three-dimensional structure image of tissue, and 3D surgical simulation is drilled
The teaching of experienced and 3D surgical simulation and the duplication of human organ shape etc., and energy and 3D printer combination can print human body device
Official's model.
Laser confocal scanning imaging system 13 includes camera lens 131, laser light source host 132 and computer 133.Camera lens packet
Optical lens 1311, light source interface 1312, data line interface 1313, power interface 1314 and lens bodies 1315 are included；Camera lens
Be provided in main body 1315 scanning means, copolymerization coke installation, optical lens 1211, light source interface 1312, data line interface 1313,
Power interface 1314 is all arranged on lens bodies 1315；Power interface power supply line powers on powers to scanning means.
Scanning linear velocity at least 2500 lines/second, no less than 256 × 256dpi of scanning means, frame per second >=4 frames/second, copolymerization
The adjustable section of pin hole in coke installation, 12-256 μm of adjustable range；The spectral region of laser light source host is adjustable, adjusts model
Enclose 400-750nm, degree of regulation≤2.5nm；Computer has the function such as data sampling and processing, conversion, control and image output
Energy.
Laser confocal scanning image forming job process and principle of the present invention: use laser as light source, by laser light
Source host passes on camera lens through light guide bundles, and camera lens uses confocal principle and device, and benefit is computerizedd control, and carries out to target
Flat scanning imaging, the data obtained are transferred to imaging host through data line, carry out number to observed object using computer
Image procossing observation, analysis, three-dimensional reconstruction simulation and output, finally show over the display.It is with high-resolution, highly sensitive
Degree can carry out tomoscan and imaging to sample, carry out the three-D space structure of not damaged observation and analysis cell, not only may be used
Observe fixed cell, histotomy, can also structure, molecule, ion and vital movement to living cells carry out dynamic in real time
Observation and detection provide effective means for basic medicine and clinical medical research and treatment diagnosis.
Laparoscope image system includes laparoscope 21, camera shooting host 22 and cold light source host 23.Laparoscope includes objective end
211, cold light source tip side 212 and camera shooting interconnecting piece 213, three is sequentially connected.Cold light source tip side connects with cold light source host
It connects, camera shooting interconnecting piece is connect with camera shooting host.Diameter≤15.0mm of objective end, length are 100mm~350mm, are equipped with optics
Camera lens or electronics camera lens.Image connecting pin connection camera at least 2 Zoom Lens, effective resolution 1280 × 720 or
1920 × 1080, it which is provided with button and focusing ring, multiple functions setting and zoom can be carried out.It is logical that water-in and water-out can also be set
Road and instrument channel, water-in and water-out channel and instrument channel all run through objective end, cold light source tip side and camera shooting interconnecting piece.
Laparoscope 21 is stereoplasm tube laparoscope, the end edge Passivation Treatment of objective end；When camera lens is optical lens 2111
When, objective end is connected to light-conductive optic fibre 2112, and light-conductive optic fibre connects cold light source host with light guide bundles by cold light source connector, is abdomen
Hysteroscope provides cold light source lighting, and the light of abdominal cavity internal reflection is reflected on camera through optical lens becomes data image signal,
Camera shooting host is transferred to through data line to be handled and stored, and is shown over the display.
Be integrated in a device by outer visor camera system and laparoscope camera system, make present invention may apply to
Open operation, Minimally Invasive Surgery and part Enteritis Operation, improve the adaptability of equipment.
Equipment trolley 3 includes boom truck 31, robotic arm and display 33, and robotic arm includes mechanical arm 321, imaging
Arm 322 and camera shooting is divided to divide arm 323.Mechanical arm 321 can manually or motor driven or intelligent control drive (such as voice control
Deng), there is brake locking device for inclined roller.Mechanical arm 321 is arranged on boom truck 31.
Equipment trolley includes trolley pedestal, bracket, universal caster wheel, at least three layers of partition, drawer, stingy bottle rack, power supply
And drawing handle.Universal caster wheel is set to the bottom of trolley pedestal, and branch is set up on trolley pedestal；Partition is arranged on bracket, takes out
Drawer is placed on each partition；Stingy bottle rack is located at the side of bracket；Power supply is placed in drawer, is moved back knob handle and is set to branch
On frame.Several pairs of support rods are equipped in the opposite inside of bracket, partition is placed on different pairs of support rod, that is, realizes
The adjusting of partition；Partition load-bearing at least 50g.By above structure, partition is placed on different support rods, and table of equipment car can
Place various sizes of device, adaptation actual use；And power supply is come with, each camera shooting system is supplied to by power supply after can be used as
System electricity consumption.To ensure that the reliability of whole device, going on smoothly for operation is ensured.Cold light source host, laser light source host
132, computer 133, image procossing host 112,3D camera shooting host, camera shooting host 122, camera shooting host 22 are placed on partition.
Imaging divides arm to include movable part and fixed part, and the rear end of fixed part is fixed on principal arm, is equipped on movable part aobvious
Show device, it is preferable that imaging divides the movable part of arm relative to fixed part at least five freedom degree, so that the position of display can adjust
It is whole, show its proper angle direction.The top for dividing the rear end of arm to be connected to principal arm is imaged, front end is equipped with lens bracket；It takes the photograph
As dividing arm to include lever arm and fixed arm, lever arm includes first point of arm and second point of arm；Fixed arm is rotatably mounted on master
On arm, first point of arm is installed in rotation on fixed arm, and second point of arm is rotatably arranged on first point of arm, to make to live
Swing arm has 5 relative to fixed arm but is not limited to 5 freedom degrees；The free end of second point of arm is provided with lens bracket, camera lens
Bracket can connect various camera lens fixtures, and the fixed various camera lenses of camera lens fixture make 1000~3200mm of camera lens terrain clearance；3D imaging
System is mounted on the front end that camera shooting divides arm.For realizing scene camera system, visual area camera system, laparoscope image system it is each
Power supply line, data line and the pipeline of power supply and the connection of equipment are arranged in Tables for machines vehicle robotic arm.Divide arm by camera shooting
Effect, camera lens can need to move with operation, realize the demand of camera shooting and observation analysis.
High-definition camera 121 and laser confocal scanning camera lens 131 are fixed on lens bracket 3235 by camera lens fixture；
High-definition camera 121 is equipped with optical lens 1211 and LED light 1212.Visual area camera is mounted on the top of principal arm, so as to
The indoor most situation of operation is taken, makes the personnel of out operating-room it can be seen that situation in operating room, can monitor
To more detailed surgical procedure, facilitate monitoring and teaching.
The present invention includes at least 3 displays, is high definition medical treatment dedicated display.Wherein size >=24 of a safe display
Inch, resolution ratio are 1920 × 1080, screen proportion 16:9；Another two >=17 inches, resolution ratio is 1280 × 1024, screen ratio
Example 5:4.Visual area camera system, scene camera system, laparoscope system are all connect with display, show visual area by display
The imaging of the imaging of camera system, scene camera system, visual area camera system, scene camera system is shown according to actual demand
On identical or different display.
The preferred embodiment of the present invention has been described in detail above, it should be understood that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel pass through logic analysis, reasoning or available according to limited experiment according to present inventive concept in prior art basis
Technical solution, should be among the protection scope determined by the claims.
Claims (7)
1. the laparoscope outer mirror device that one kind can scan abdominal cavity, it is characterised in that: including outer visor image system, abdominal cavity
Mirror image system and equipment trolley；The outer visor image system includes having laser confocal scanning imaging system；It is described outer
Visor image system and laparoscope image system are all arranged on the robotic arm of equipment trolley.
2. the laparoscope outer mirror device according to claim 1 for scanning abdominal cavity, it is characterised in that: the laser
Confocal scanning imaging system includes camera lens, laser light source host and computer；The camera lens includes that optical lens, light source connect
Mouth, data line interface, power interface and lens bodies；Scanning means, copolymerization coke installation, optical frames are provided in lens bodies
Head, light source interface, data line interface, power interface are all arranged on lens bodies；The camera lens respectively with the laser light source
Host is connected with computer.
3. the laparoscope outer mirror device according to claim 2 for scanning abdominal cavity, it is characterised in that: the scanning
Scanning linear velocity at least 2500 lines/second of device, resolution ratio are no less than 256 × 256dpi, frame per second >=4 frames/second,；Laser light source
The spectral region of host is 400-750nm, degree of regulation≤2.5nm.
4. the laparoscope outer mirror device according to claim 1 for scanning abdominal cavity, it is characterised in that: the outer view
Mirror image system further includes scene camera system and visual area camera system.
5. the laparoscope outer mirror device according to claim 1 for scanning abdominal cavity, it is characterised in that: the equipment
Trolley includes boom truck, robotic arm and display, and the robotic arm is arranged in the boom truck, and the display is set
It sets in the robotic arm.
6. the laparoscope outer mirror device according to claim 4 for scanning abdominal cavity, it is characterised in that: the work
Trolley includes trolley pedestal, bracket, universal caster wheel, partition, drawer, stingy bottle rack, power supply, rear chamber door and drawing handle；Institute
The bottom that universal caster wheel is set to trolley pedestal is stated, the branch is set up on trolley pedestal；The partition is arranged in bracket, described
Drawer is placed on each partition；The stingy bottle rack is located at the side of bracket；The power supply is placed in drawer, push-and-pull
Handle is set on bracket；Several pairs of support rods are equipped in the opposite inside of bracket, partition is placed on support rod.
7. the laparoscope outer mirror device according to claim 4 for scanning abdominal cavity, it is characterised in that: the machine
Arm includes mechanical arm, images and arm and camera shooting is divided to divide arm；Described image divides the rear end of arm fixed on the robotic arm, sets on front end
It is equipped with display；The camera shooting divides the rear end of arm to be connected to the mechanical arm top, and front end is equipped with lens bracket.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910125196.XA CN109893092B (en) | 2019-02-20 | 2019-02-20 | Laparoscope external vision mirror device capable of scanning abdominal cavity |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910125196.XA CN109893092B (en) | 2019-02-20 | 2019-02-20 | Laparoscope external vision mirror device capable of scanning abdominal cavity |
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| Publication Number | Publication Date |
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| CN109893092A true CN109893092A (en) | 2019-06-18 |
| CN109893092B CN109893092B (en) | 2024-03-29 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112043407A (en) * | 2020-09-04 | 2020-12-08 | 广州信筑医疗技术有限公司 | Laser surgical workstation surgical system for clinical disease treatment |
| CN113081311A (en) * | 2021-03-04 | 2021-07-09 | 首都医科大学附属北京安贞医院 | Intelligent operation video acquisition system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070173688A1 (en) * | 2003-07-23 | 2007-07-26 | Young-Woo Kim | Laproscope with flexible binocular camera |
| JP2011510705A (en) * | 2008-01-24 | 2011-04-07 | ライフガード サージカル システムズ | Imaging system for common bile duct surgery |
| CN210902962U (en) * | 2019-02-20 | 2020-07-03 | 广州乔铁医疗科技有限公司 | Laparoscope external view mirror device capable of scanning inside of abdominal cavity |
-
2019
- 2019-02-20 CN CN201910125196.XA patent/CN109893092B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070173688A1 (en) * | 2003-07-23 | 2007-07-26 | Young-Woo Kim | Laproscope with flexible binocular camera |
| JP2011510705A (en) * | 2008-01-24 | 2011-04-07 | ライフガード サージカル システムズ | Imaging system for common bile duct surgery |
| CN210902962U (en) * | 2019-02-20 | 2020-07-03 | 广州乔铁医疗科技有限公司 | Laparoscope external view mirror device capable of scanning inside of abdominal cavity |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112043407A (en) * | 2020-09-04 | 2020-12-08 | 广州信筑医疗技术有限公司 | Laser surgical workstation surgical system for clinical disease treatment |
| CN113081311A (en) * | 2021-03-04 | 2021-07-09 | 首都医科大学附属北京安贞医院 | Intelligent operation video acquisition system |
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| CN109893092B (en) | 2024-03-29 |
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