CN110013320A - A kind of laparoscope outer mirror device of Application Optics coherence tomography techniques - Google Patents
A kind of laparoscope outer mirror device of Application Optics coherence tomography techniques Download PDFInfo
- Publication number
- CN110013320A CN110013320A CN201910125194.0A CN201910125194A CN110013320A CN 110013320 A CN110013320 A CN 110013320A CN 201910125194 A CN201910125194 A CN 201910125194A CN 110013320 A CN110013320 A CN 110013320A
- Authority
- CN
- China
- Prior art keywords
- arm
- oct
- laparoscope
- camera
- image system
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000003325 tomography Methods 0.000 title claims abstract description 19
- 238000003384 imaging method Methods 0.000 claims abstract description 30
- 238000005192 partition Methods 0.000 claims description 14
- 230000000007 visual effect Effects 0.000 claims description 14
- 239000000523 sample Substances 0.000 claims description 12
- 230000003287 optical effect Effects 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 11
- 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 7
- 230000008520 organization Effects 0.000 claims description 3
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 5
- 210000000056 organ Anatomy 0.000 abstract description 3
- 238000012014 optical coherence tomography Methods 0.000 description 46
- 230000001575 pathological effect Effects 0.000 description 8
- 238000004458 analytical method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 238000001356 surgical procedure Methods 0.000 description 6
- 238000003745 diagnosis Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 210000000683 abdominal cavity Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000003902 lesion Effects 0.000 description 3
- 208000004232 Enteritis Diseases 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000010827 pathological analysis Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 200000000007 Arterial disease Diseases 0.000 description 1
- 208000035143 Bacterial infection Diseases 0.000 description 1
- 230000003187 abdominal effect Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000002547 anomalous effect Effects 0.000 description 1
- 208000022362 bacterial infectious disease Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 210000000748 cardiovascular system Anatomy 0.000 description 1
- 230000002939 deleterious effect Effects 0.000 description 1
- 208000002925 dental caries Diseases 0.000 description 1
- 210000002249 digestive system Anatomy 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 208000024693 gingival disease Diseases 0.000 description 1
- 238000002683 hand surgery Methods 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 210000000867 larynx Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 238000002161 passivation Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000007920 subcutaneous administration Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0062—Arrangements for scanning
- A61B5/0066—Optical coherence imaging
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
- A61B2090/3735—Optical coherence tomography [OCT]
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- Molecular Biology (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Radiology & Medical Imaging (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Gynecology & Obstetrics (AREA)
- Endoscopes (AREA)
Abstract
The present invention provides a kind of laparoscope outer mirror devices of Application Optics coherence tomography techniques, including outer visor image system, laparoscope image system and machine trolley；The outer visor image system includes OCT image system；The outer visor image system and laparoscope image system are arranged on the robotic arm of machine trolley.It can be suitably used for laparoscopic minimally invasive surgery and conventional open operation, and OCT is introduced into outer visor operation, be scanned simultaneously three-dimensional imaging to the tissue microstructure of certain depth under human organ surface.
Description
Technical field
The invention belongs to field of medical appliances, and in particular to a kind of outer visor of the laparoscope of Application Optics coherence tomography techniques
Device.
Background technique
Optical coherence tomography (OpticalCoherenceTomography, OCT) imaging is a kind of novel imaging skill
Art is the another new tomography technology after X-ray, CT and mr imaging technique.OCT is a kind of light of hurtless measure
Imaging technique is learned, can detecte in body surface of living body tissue 2~3mm Form microstructure, be capable of providing micron dimension
Real-time one-dimensional depth, two-dimensional cross sectional and the tomography three-dimensional imaging of resolution ratio and millimeter magnitude imaging depth.Based on from sample
The light of different material layer backscattering in this, OCT image can provide the structural information of sample, in biomedical and many fields
Be widely used, OCT technology medical domain for example ophthalmology, dermatology, cardiovascular system, digestive system and in terms of
Using more and more extensive.
Existing type of surgery includes abdominal, Minimally Invasive Surgery and Enteritis Operation, and in order to right in these operations
Pathological tissues in operation carry out observation and pathological study, need to carry out surgical biopsy, pathological tissues are transferred to pathological study
Department carries out pathological study, this results in the too long of operating time, during this, also has deleterious effect to patient.Namely
It says, if necessary to which the pathological tissues of patient are carried out optical coherence tomography analysis, that is, needs histotomy being transferred to disease
It manages analysis section and carries out OCT analysis, just can be carried out.The efficiency for often affecting pathological analysis in this way, also affects the smooth of operation
It carries out.
Summary of the invention
In order to overcome the problems of the prior art, the purpose of the invention is to provide a kind of Application Optics coherence tomography techniques
Laparoscope outer mirror device, by OCT technology introduce operating room in, improve the efficiency of surgical procedure.
To achieve the above object, the used technical solution of the present invention is as follows:
A kind of laparoscope outer mirror device of Application Optics coherence tomography techniques, including outer visor image system, laparoscope
Image system and machine trolley；The outer visor image system includes OCT image system；The outer visor image system and abdominal cavity
Mirror image system is arranged on the robotic arm of machine trolley.
Preferably, the OCT image system includes OCT camera lens and OCT host；The OCT camera lens and the OCT master
Machine connects, and is integrated with camera and scanning means in the OCT camera lens.
Preferably, 5500~36000 lines of sweep speed/second of the scanning means, real-time imaging rates are no less than 20
Frame/second, maximum scan range 12mm × 12mm × 3.4mm.
Preferably, the OCT camera lens includes OCT probe, high-definition camera, light guide bundles interface, power interface and camera lens
Main body；
OCT probe includes light source, optical splitter, the first receiver, second receiver, interferometer and picture processing chip；Institute
The light wave that light source is launched is stated, identical two beam of frequency is divided by optical splitter, wherein a branch of be used as reference arm by the first receiver
The interferometer is directly received and returns to, another Shu Zuowei sample arm emits the light returned to destination organization, Tissue reflectance
Interferometer is received and passes back to by second receiver, interferometer is transferred to image after carrying out interference processing to the light that passback comes
Handle chip, treated that signal calculates its interference data obtains OCT signal according to interference for picture processing chip；The host packet
Drive electronics and controller are included, OCT signal is output to display after being transferred to OCT host process.
Preferably, the outer visor image system further includes scene camera system and visual area camera system.
Preferably, the laparoscope image system includes laparoscope, cold light source host and camera shooting host；The laparoscope
It is sequentially connected including objective end, cold light source tip side and camera shooting interconnecting piece, three；The cold light source host connects with the cold light source
Head end connection, the camera shooting interconnecting piece are connect with the camera shooting host.
Preferably, the machine trolley includes boom truck, robotic arm and display, the robotic arm setting
In the boom truck, the display is arranged in the robotic arm；The boom truck includes trolley pedestal, bracket, extremely
Few two pieces of partitions, stingy bottle rack and drawing handle；The bracket is arranged on the trolley pedestal, and the partition is arranged in institute
It states in bracket, the stingy bottle rack is arranged in the bracket side.
Preferably, the robotic arm includes mechanical arm, images and arm and camera shooting is divided to divide arm；Imaging divides the rear end of arm solid
Determine on the robotic arm, display is installed in front end；The camera shooting divides the rear end of arm to be connected to mechanical arm top, and front end is equipped with camera lens
Bracket.
Preferably, the imaging divides arm to include movable part and fixed part, the rear end of fixed part is fixed on the robotic arm, living
Display is installed, imaging divides the movable part of arm relative to fixed part at least 5 freedom degrees in dynamic portion.
Preferably, the camera shooting divides 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 principal arm, and first point of arm is installed in rotation on fixed arm, and second point of arm is rotationally set
It sets on first point of arm；The free end of second point of arm is provided with lens bracket, lens bracket connection lens fixture.
Beneficial effects of the present invention are as follows:
By above structure, the laparoscope outer mirror device of Application Optics coherence tomography techniques of the present invention is applicable in
It performs the operation in laparoscopic minimally invasive surgery and conventional open.
By the effect of OCT image system, make to carry out pathological tissues at once in open operation, Minimally Invasive Surgery
It analyzes and determines, accelerates the judgement to lesion reason, to accelerate the progress of operation.And it is imaged by visual area camera and scene
Head can remotely monitor surgical procedure, can also carry out real-time teaching by camera shooting and video, and pass through visual area camera and scene
Camera can also allow the pathological analysis personnel of OCT analytical technology to real to the pathological tissues in operation in real time in out operating-room
Shi Jinhang judgement is being monitored the process of operation and real-time monitoring to improve operation accuracy, improve procedure efficiency
When, also facilitate the personnel of out operating-room to assist, realize surgery planning and operation 3D simulated maneuver.
By the way that OCT technology to be introduced into outer visor operation, to the microcosmic knot of tissue of certain depth under human organ surface
Structure is scanned and three-dimensional imaging, and doctor judges various lesion sizes, position and curative effect according to tissue microstructure anomalous variation
Judgement, applied to the diagnosis and monitoring of ophthalmology disease, the diagnosis of the subcutaneous film bacterial infection of ear larynx rhinology, the early stage caries of dentistry
With the diagnosis and prevention of gum disease, the research of atherosis spot in arterial disease, and during removing tumor operation point
Whether there is or not cancer, the how many tissues of excision etc. for analysis.
Detailed description of the invention
Fig. 1 is the schematic diagram of OCT camera lens of the present invention, high-definition camera.
Fig. 2 is OCT (optical coherence tomography) 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 structural schematic diagram of the invention.
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-OCT camera lenses；1311—
OCT probe, 1312-high-definition cameras, 1313-light guide bundles interfaces, 1314-power interfaces；1315-lens bodies；132—
OCT 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-machine trolleys；
31-boom trucks；32-robotic arms；321-mechanical arms；322-imagings divide arm；323-camera shootings divide arm；33-displays.
Specific embodiment
Now in conjunction with attached drawing, the present invention is further illustrated.
Referring to FIG. 1 to 4, the outer visor system of the laparoscope of a kind of Application Optics coherence tomography techniques of the present invention
System, including outer visor image system, laparoscope image system and machine trolley 3.
Outer visor image system includes scene camera system 11, visual area camera system 12 and OCT image 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 whole
It closes, image switches and picture divides and Video Out.Scene camera system uses more camera lens panoramic camera systems.
Scene camera 111 shoots surgical scene, and gained image data is transferred at image procossing host
Reason, image procossing host has the function of image integration, image switching and segmentation etc., defeated after handling one or more images
Out to imaging on display, output image can be the image an of camera or multiple cameras shooting image is spliced into
One complete image or multiple cameras shooting image are arranged in an image.
By the indoor scene of scene camera system real-time visual operation, realizes scene or long-range monitoring, teaching, store
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 121 is
1920 × 1080, pixel is at least 13,000,000, frame rate is not less than 30fps.The imaging of high-definition camera system is relative to preimage
Expand multiple and is no less than 22 times.The camera lens of high-definition camera can focus, and be adapted to different demands.High-definition camera camera lens week
It encloses and LED light offer is provided or reinforces illuminating.
The camera shooting that high-definition camera is mounted on machine trolley divides the free end of arm, images to operative site, passes through data line
After captured image transmitting to camera shooting host process, image is shown over the display.Pass through above-mentioned function, real-time visual hand
Surgery situation can be seen in art position image, the whole audience or remote medical nursing personnel, is visually difficult to differentiate or can't see on operative site
Institutional framework, amplified by high definition lens zoom, over the display display of high resolution amplification institutional framework image, doctor
Energy fast resolution and precise manipulation effectively improve procedure efficiency to improve operation accuracy, mitigate patient's pain and mitigate
Surgeon stress.
3D imaging system includes 3D camera and 3D camera shooting host；3D camera includes two independent optical lens,
It is mounted on camera shooting and divides arm front end.3D images two eyes of connector analog people, same target is imaged respectively simultaneously, 3D images host
2 independent images are handled, is integrated into 3D image mode and is output to display.3D image display pattern has: need to wear 3D
The mode for the three-dimensional image that glasses can just be seen, or do not need to wear 3D glasses and can watch the naked eye of 3-D image
3D mode, or 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.
OCT image system includes 133 processing system of OCT camera lens 131, OCT host 132 and computer；OCT camera lens and OCT
Host connection.OCT camera lens and measured target distance are controlled to adjust with manual or computer.
OCT camera lens includes that scanning means, OCT probe 1311, high-definition camera 1312, light guide bundles interface 1313, power supply connect
Mouth 1314 and lens bodies 1315；Power interface is connected with power supply line, drives scanning means.The sweep speed 5500 of scanning means
~36000 lines/second, real-time imaging rates are no less than 20 frames/second, maximum scan range 12mm × 12mm × 3.4mm.
OCT probe 53 includes light source 531, optical splitter 532, the first receiver 533, second receiver 534, interferometer 535
With picture processing chip 536.The light wave that light source 531 is launched is divided into identical two beam of frequency by optical splitter 532, wherein a branch of
The interferometer 535, another Shu Zuowei sample arm are directly received and returned to by the first receiver 533 as reference arm 5321
To destination organization, the light that Tissue reflectance is returned receives and passes back to interferometer 535 by second receiver 534 for 5322 transmittings, does
535 pairs of interferometer return the light that comes and carry out being transferred to picture processing chip 536 after interference processing, and picture processing chip 536
According to interference, treated that signal calculates its interference data obtains OCT signal.
Host includes drive electronics and controller, and OCT signal is transferred to after OCT host 8 is handled and is output to display,
The tissue faultage image of OCT image system available clearly two dimension or three dimensional depth structure, assists in doctor
Accurately judge the property of lesion, and accurate treatment operation plan can be made in real time at the scene.
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；The cold light source host connects with the cold light source
Head end connection, the camera shooting interconnecting piece are connect with the camera shooting host.Diameter≤15.0mm of objective end, length be 100mm~
350mm can be optical lens or electronics camera lens.Camera at least 2 Zoom Lens of connecting pin connection are imaged, are effectively differentiated
Rate 1280 × 720 or 1920 × 1080, which is provided with button and focusing ring, can carry out multiple functions setting and zoom.It can be with
Setting water-in and water-out channel and instrument channel, water-in and water-out channel are all run through objective end, cold light source tip side with instrument channel and are taken the photograph
As interconnecting piece.
Laparoscope is stereoplasm tube laparoscope, the end edge Passivation Treatment of objective end；When camera lens is optical lens 2111,
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 abdominal cavity
Mirror provides cold light source lighting, and the light of abdominal cavity internal reflection is reflected on camera through optical lens becomes data image signal, warp
Data line is transferred to camera shooting host and is handled and stored, and shows over the display.
It is integrated in the present invention by outer mirror system and laparoscope, make outer visor laparoscopic apparatus of the present invention can
To be suitable for open operation, Minimally Invasive Surgery and part Enteritis Operation, the adaptability of equipment is improved.
Machine trolley includes boom truck 31, robotic arm 32 and display 33, and 32 series of robotic arm includes mechanical arm
321, imaging divides arm 322 and camera shooting to divide arm 323.
Boom truck 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, and drawing handle is set to branch
On frame.Camera shooting host 112,3D camera shooting host, OCT host are all placed on partition.
Several pairs of support rods are equipped in the opposite inside of bracket, partition is placed on different support rods, i.e., in fact
The adjusting of existing partition；Partition load-bearing at least 50g.By the cooperation of different pairs of support rods and partition, make partition and partition it
Between space can arbitrarily adjust, so as to place various sizes of drawer or equipment, be more convenient concrete application scene need
It asks.
Robotic arm includes principal arm, images and arm and camera shooting is divided to divide arm；It can manually or motor driven or intelligent control
It drives (such as voice control), there is brake locking device for inclined roller.Principal arm is mounted on boom truck.
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 to have at least five freedom degree relative to fixed part, so that the position of display can be with
Adjustment, shows 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；
Camera shooting divides arm to include lever arm and fixed arm, and lever arm includes first point of arm and second point of arm；Fixed arm is rotatably mounted on
On principal 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, preferably
Ground makes lever arm have at least five freedom degree relative to fixed arm；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 OCT camera lens 131 are fixed on lens bracket 3235 by camera lens fixture；High-definition camera
121 are equipped with optical lens 1211 and LED light 1212.Visual area camera is mounted on the top of principal arm, so as to take operation
Indoor most situation makes the personnel of out operating-room it can be seen that situation in operating room, can monitor more detailed
Surgical procedure facilitates 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 (10)
1. a kind of laparoscope outer mirror device of Application Optics coherence tomography techniques, it is characterised in that: including outer visor image system
System, laparoscope image system and machine trolley；The outer visor image system includes OCT image system；The outer visor image
System and laparoscope image system are arranged on the robotic arm of machine trolley.
2. the laparoscope outer mirror device of Application Optics coherence tomography techniques according to claim 1, it is characterised in that: institute
The OCT image system stated includes OCT camera lens and OCT host；The OCT camera lens is connect with the OCT host, the OCT camera lens
Inside it is integrated with camera and scanning means.
3. the laparoscope outer mirror device of Application Optics coherence tomography techniques according to claim 2, it is characterised in that: institute
State 5500~36000 lines of sweep speed/second of scanning means, real-time imaging rates are no less than 20 frames/second, maximum scan range
12mm×12mm×3.4mm。
4. the laparoscope outer mirror device of Application Optics coherence tomography techniques according to claim 2, it is characterised in that: institute
Stating OCT camera lens includes OCT probe, high-definition camera, light guide bundles interface, power interface and lens bodies；
OCT probe includes light source, optical splitter, the first receiver, second receiver, interferometer and picture processing chip；The light
The light wave that source is launched is divided into identical two beam of frequency by optical splitter, wherein a branch of direct by the first receiver as reference arm
Receive and return to the interferometer, another Shu Zuowei sample arm emits to destination organization, and the light that Tissue reflectance is returned is by the
Two receivers receive and pass back to interferometer, and interferometer is transferred to image procossing after carrying out interference processing to the light that passback comes
Chip, treated that signal calculates its interference data obtains OCT signal according to interference for picture processing chip；The host includes driving
Dynamic electronic device and controller, OCT signal are output to display after being transferred to OCT host process.
5. the laparoscope outer mirror device of Application Optics coherence tomography techniques according to claim 1, it is characterised in that: institute
Stating outer visor image system further includes scene camera system and visual area camera system.
6. the laparoscope outer mirror device of Application Optics coherence tomography techniques according to claim 1, it is characterised in that: institute
Stating laparoscope image system includes laparoscope, cold light source host and camera shooting host；The laparoscope includes that objective end, cold light source connect
Head end and camera shooting interconnecting piece, three are sequentially connected；The cold light source host is connect with the cold light source tip side, and the camera shooting connects
Socket part is connect with the camera shooting host.
7. the outer mirror system of the Integrative laparoscopic according to claim 1 with OCT function, it is characterised in that: described
Machine trolley include boom truck, robotic arm and display, the robotic arm setting is described aobvious in the boom truck
Show that device is arranged in the robotic arm；The boom truck includes trolley pedestal, bracket, at least two pieces of partitions, stingy bottle rack
And drawing handle；The bracket is arranged on the trolley pedestal, and the partition is arranged in the bracket, the small gas cylinder branch
Frame is arranged in the bracket side.
8. the laparoscope outer mirror device of Application Optics coherence tomography techniques according to claim 7, it is characterised in that: institute
Robotic arm is stated to include mechanical arm, image and arm and camera shooting is divided to divide arm；Imaging divides the rear end of arm fixed on the robotic arm, front end peace
Fill display；The camera shooting divides the rear end of arm to be connected to mechanical arm top, and front end is equipped with lens bracket.
9. the laparoscope outer mirror device of Application Optics coherence tomography techniques according to claim 8, it is characterised in that: institute
Stating imaging divides arm to include movable part and fixed part, and the rear end of fixed part is fixed to be equipped with display on the robotic arm on movable part,
Imaging divides the movable part of arm relative to fixed part at least 5 freedom degrees.
10. the laparoscope outer mirror device of Application Optics coherence tomography techniques according to claim 8, it is characterised in that:
The camera shooting divides arm to include lever arm and fixed arm, and lever arm includes first point of arm and second point of arm；Fixed arm is rotatably pacified
On principal 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；?
The free end of second point of arm is provided with lens bracket, lens bracket connection lens fixture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910125194.0A CN110013320A (en) | 2019-02-20 | 2019-02-20 | A kind of laparoscope outer mirror device of Application Optics coherence tomography techniques |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910125194.0A CN110013320A (en) | 2019-02-20 | 2019-02-20 | A kind of laparoscope outer mirror device of Application Optics coherence tomography techniques |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110013320A true CN110013320A (en) | 2019-07-16 |
Family
ID=67189021
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910125194.0A Pending CN110013320A (en) | 2019-02-20 | 2019-02-20 | A kind of laparoscope outer mirror device of Application Optics coherence tomography techniques |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110013320A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103209656A (en) * | 2010-09-10 | 2013-07-17 | 约翰霍普金斯大学 | Visualization of registered subsurface anatomy reference to related applications |
| US20150272697A1 (en) * | 2014-03-27 | 2015-10-01 | The Institute Of Optics And Electronics, The Chinese Academy Of Sciences | Microscopic surgery system and navigation method guided by optical coherence temography |
| CN105263398A (en) * | 2013-03-15 | 2016-01-20 | 圣纳普医疗(巴巴多斯)公司 | Surgical imaging systems |
| CN107625512A (en) * | 2017-09-14 | 2018-01-26 | 南方医科大学南方医院 | A kind of OCT laparoscopes structure |
| CN108338840A (en) * | 2018-04-17 | 2018-07-31 | 成都博恩思医学机器人有限公司 | A kind of laparoscopic surgery holds robot system with endoscope |
| CN210727882U (en) * | 2019-02-20 | 2020-06-12 | 广州乔铁医疗科技有限公司 | Laparoscope external view mirror device applying optical coherence tomography technology |
-
2019
- 2019-02-20 CN CN201910125194.0A patent/CN110013320A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103209656A (en) * | 2010-09-10 | 2013-07-17 | 约翰霍普金斯大学 | Visualization of registered subsurface anatomy reference to related applications |
| CN105263398A (en) * | 2013-03-15 | 2016-01-20 | 圣纳普医疗(巴巴多斯)公司 | Surgical imaging systems |
| US20150272697A1 (en) * | 2014-03-27 | 2015-10-01 | The Institute Of Optics And Electronics, The Chinese Academy Of Sciences | Microscopic surgery system and navigation method guided by optical coherence temography |
| CN107625512A (en) * | 2017-09-14 | 2018-01-26 | 南方医科大学南方医院 | A kind of OCT laparoscopes structure |
| CN108338840A (en) * | 2018-04-17 | 2018-07-31 | 成都博恩思医学机器人有限公司 | A kind of laparoscopic surgery holds robot system with endoscope |
| CN210727882U (en) * | 2019-02-20 | 2020-06-12 | 广州乔铁医疗科技有限公司 | Laparoscope external view mirror device applying optical coherence tomography technology |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9119552B2 (en) | Apparatus and method for endoscopic 3D data collection | |
| CN109893258B (en) | Integrated external-view mirror laparoscope system | |
| US11406255B2 (en) | System and method for detecting abnormal tissue using vascular features | |
| WO2020045015A1 (en) | Medical system, information processing device and information processing method | |
| Wenzl et al. | Three-dimensional video-endoscopy: clinical use in gynaecological laparoscopy | |
| JP2003310611A (en) | Real-time position superimposing device of tomographic slice image and human body image, and method therefor | |
| KR101772187B1 (en) | Method and device for stereoscopic depiction of image data | |
| JP3707830B2 (en) | Image display device for surgical support | |
| CN102824154A (en) | Combined endoscope imaging system based on OCT (Optical Coherence Tomography) and imaging method | |
| JP2012518504A (en) | Navigation endoscope device using eye tracker | |
| CN106859766B (en) | Navigation system for being resetted in shaft fracture marrow | |
| CN110169821B (en) | Image processing method, device and system | |
| KR20140032919A (en) | Medical technical assembly and method for producing images | |
| Dwyer et al. | A miniaturised robotic probe for real-time intraoperative fusion of ultrasound and endomicroscopy | |
| CN210727882U (en) | Laparoscope external view mirror device applying optical coherence tomography technology | |
| CN109893092A (en) | The laparoscope outer mirror device of abdominal cavity can be scanned | |
| CN109893257B (en) | Integrated external-view mirror laparoscope system with color Doppler ultrasound function | |
| CN210902962U (en) | Laparoscope external view mirror device capable of scanning inside of abdominal cavity | |
| CN109907835B (en) | Integrated external-view laparoscopic device using infrared thermal imaging | |
| Vasilyev et al. | Stereoscopic vision display technology in real-time three-dimensional echocardiography-guided intracardiac beating-heart surgery | |
| CN110013320A (en) | A kind of laparoscope outer mirror device of Application Optics coherence tomography techniques | |
| CN110013321A (en) | Visor outside a kind of robot with OCT function | |
| CN210185721U (en) | Integrated endoscope laparoscope system with color Doppler ultrasound function | |
| CN210277364U (en) | Integrated external-view mirror laparoscope system | |
| CN102100542A (en) | Integrated infrared heat-scanning cholecystoscope system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |