CN110772211A - Visual follow-up display system for endoscopic surgery - Google Patents
Visual follow-up display system for endoscopic surgery Download PDFInfo
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- CN110772211A CN110772211A CN201911123408.7A CN201911123408A CN110772211A CN 110772211 A CN110772211 A CN 110772211A CN 201911123408 A CN201911123408 A CN 201911123408A CN 110772211 A CN110772211 A CN 110772211A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
- A61B1/00048—Constructional features of the display
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00174—Optical arrangements characterised by the viewing angles
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- 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
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- 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
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/368—Correlation of different images or relation of image positions in respect to the body changing the image on a display according to the operator's position
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Abstract
The invention discloses a visual follow-up display system for endoscopic surgery, which comprises a head-wearing device, a control module, a driving mechanism, an endoscopic mirror body and an endoscopic support, wherein the head-wearing device can sense the head movement of a surgical operator in real time, head pose information of the surgical operator is converted into an electric signal through a sensor and is transmitted to the control module, the control module controls the driving mechanism to drive an endoscopic lens to move, the angle of the camera is changed in a follow-up mode, and an image shot by the camera is transmitted to a display screen of the head-wearing device in real time.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an imaging system for endoscopic surgery.
Background
With the development and maturity of minimally invasive surgery, endoscopic techniques are increasingly applied to clinical surgery. At present, the chamber mirror image system that laparoscopic surgery used adopts stereoplasm shaft-like camera more, and its activity and observation angle are limited, need a special operating personnel to operate the camera in the use, and often can meet the observation blind area, and the visual angle can make the operation difficulty with the inconsistent condition of operation operator, and when emergency appeared, this kind of passive vision acquisition mode would produce very big risk. The main points are as follows: the control hysteresis, namely the speed of the eyes not to catch up with the hands and the brain, thereby delaying the operation time; the control instability, the acquisition of the surgical field of view by the camera system is greatly influenced by the operating personnel of the endoscope camera, the rotation and the shaking of the lens can not only interfere the observation of the surgical operator, but also can generate the illusion of 'hand-eye separation', the surgical operator can not conveniently observe the surgical operation area in time according to own will, and the risk pre-judging capability is reduced. At present, no related endoscopic surgery display system exists in China.
Disclosure of Invention
Therefore, a need exists for a novel endoscopic surgery display system capable of sensing head movement of a surgical operator and controlling an endoscopic camera to follow the movement through an obtained pose signal, which aims at the technical problems.
A visual follow-up display system for laparoscopic surgery, comprising:
the head-mounted equipment is integrated with a display screen and a sensor and is fixed on the head of an operator through an adjustable fixing band;
the control module comprises a processor and a light source and is connected with the head-mounted equipment in a wireless connection or data line connection mode;
the driving mechanism comprises a driving motor, and the driving motor is connected to the control module through a data line;
the endoscope body comprises an endoscope camera, a horizontal support, an endoscope body trunk and an endoscope body base, wherein the endoscope body trunk is of a hollow structure, and the endoscope camera is arranged at the front end of the endoscope body;
the endoscope bracket comprises a ball joint, a sleeve fixer, a slide rail and a slide block, wherein one end of the endoscope bracket is fixed on an operating table through the sleeve fixer, and the other end of the endoscope bracket is connected with the endoscope body base through the slide rail.
In one embodiment, a gyroscope, an acceleration sensor and a gravity sensor are arranged in the head-mounted device, so that real-time pose information of the head of an operator can be acquired, and the pose information is converted into an electric signal and transmitted to the control module.
In one embodiment, the head-mounted device comprises a miniature display screen, the miniature display screen is arranged in front of the head-mounted device, and the head-mounted device receives the real-time image sent by the control module and displays the image on the display screen.
In one embodiment, the driving mechanism comprises 3 driving motors, 2 driving motors are arranged on the endoscope body base, 1 driving motor is arranged at one end of the endoscope support sliding rail, and the driving motors are connected to the control module through data lines and are regulated and controlled by the control module to drive the endoscope camera and the endoscope support sliding block to move.
In one embodiment, an optical fiber, a second data line, a transmission line and a transmission part are arranged inside the endoscope body, one end of the optical fiber is connected with a light source window on the main body of the endoscope body, and the other end of the optical fiber is led out from the endoscope body base and connected to a light source of the control module; one end of the second data line is connected with the endoscope camera, and the other end of the second data line is connected with the control module; one end of the transmission line is fixedly connected to a driving wheel of the driving motor, and the other end of the transmission line is fixedly connected to the driving wheel of the driving motor after passing around the guide pulley and the pulley of the endoscope camera; one end of the transmission piece is rotatably connected to the eccentric shaft of the driving motor, and the other end of the transmission piece is rotatably connected to the horizontal support.
In one embodiment, when the head of the operator does deflection motion, the endoscope camera can deflect along with the head motion of the operator in real time, and the deflection directions are the same.
In another embodiment, the vision follow-up system can be used not only for minimally invasive endoscopic surgery, but also for an image system of a surgical robot.
The visual follow-up display system for the endoscopic surgery at least has the following advantages:
when the head of the operator rotates horizontally (namely, in the left-right direction), the head-mounted equipment senses the head movement of the operator, and sends an electric signal to the control module through the data line, and the control module controls the horizontal support to rotate horizontally through the driving mechanism; when the head of the operator rotates in a pitching manner (namely, in the up-and-down direction), the head-mounted equipment senses the head movement of the operator, sends an electric signal to the control module through the data line, and the control module controls the endoscope camera to rotate in a pitching manner through the driving mechanism; when the head of the operator moves back and forth in a translation manner, the head-mounted equipment senses the head movement of the operator, and sends an electric signal to the control module through the data line, and the control module controls the endoscope camera to adjust the focal length; when an operator steps on the safety pedal and the head of the operator moves back and forth in a translation mode, the head-mounted equipment senses the head of the operator to move, an electric signal is sent to the control module through the data line, and the control module controls the telescopic movement of the endoscope body of the endoscope through the driving mechanism. The function that the image of chamber mirror camera follows the real-time follow-up of operation operator head-mounted equipment has been realized, has improved controlling chamber mirror image system, has improved the security and the comfort level of operation for operation operator has stronger sense of immersing.
Drawings
FIG. 1 is a general schematic view of a visual follow-up display system for endoscopic surgery according to the present invention;
FIG. 2 is a schematic diagram of one embodiment of a structure of an endoscopic scope;
FIG. 3 is a schematic diagram of one embodiment of the front end structure of the endoscope body of the endoscope;
FIG. 4 is a schematic diagram of one embodiment of a cavity mirror camera structure;
FIG. 5 is a schematic diagram of another embodiment of the front end structure of the endoscope body;
FIG. 6 is a schematic cross-sectional view of one embodiment of an endoscopic scope;
FIG. 7 is a schematic view of one embodiment of a base of a laparoscopic lens;
FIG. 8 is a schematic view of one embodiment of an endoscopic stent structure;
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below. The terms "vertical," "horizontal," "left," "right," "front," "back," and the like as used herein are for illustrative purposes only and are not intended to be exclusive embodiments.
Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terms used herein in the specification of the present invention are for the purpose of describing particular embodiments only and are not intended to limit the present invention. The features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all combinations of the features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the features.
Referring to fig. 1, in an embodiment, the head-mounted device 100 is in a cap shape, and a gyroscope, an acceleration sensor, and a gravity sensor are disposed in the cap shape, and the head-mounted device 100 is worn on the head of an operator (such as a surgeon), so as to obtain real-time pose information of the head of the operator, convert the pose information into an electrical signal, and transmit the electrical signal to the control module 200 through the first data line 501. The head-mounted device 100 comprises a display screen 101, the display screen 101 is arranged in front of the head-mounted device 100, and the display screen 101 faces the positions of the eyes of the operator.
Referring to fig. 2, 3, 4, 6 and 7, in one embodiment, the main stem 340 of the endoscopic scope is a hollow structure. The front end of the endoscope trunk 340 is provided with 1 pair of connecting lugs 345, and the connecting lugs 345 are arranged in parallel up and down and provided with through holes. One end of the cavity mirror camera 342 is formed with 1 pair of engaging lugs 343, and the engaging lugs 343 are arranged in parallel from side to side and are provided with through holes. The front end and the rear end of the horizontal bracket 341 are respectively provided with a connecting lug, the rear end connecting lug 346 is arranged up and down in parallel and is provided with two pairs of through holes, and the rear end connecting lug 346 is lapped on the front end connecting lug 345 of the main body 340 of the endoscope body and can rotate around the second rotating shaft 322. The connecting lug 344 at the front end of the horizontal support 341 is arranged in parallel left and right and is provided with a through hole, and the connecting lug 344 at the front end of the horizontal support 341 is lapped on the connecting lug 343 of the endoscope camera and can rotate around the first rotating shaft 324.
Further, the transmission rod 332 passes through the hollow inside of the endoscopic mirror 340, one end of the transmission member 332 is rotatably connected to the horizontal bracket 341 and is rotatable about the shaft 325, and the other end of the transmission member 332 is rotatably connected to the eccentric shaft 315 of the driving motor 313 and is rotatable about the eccentric shaft 315.
Furthermore, a pulley 237 is formed at one end of the cavity mirror camera 342, a wire groove and a central hole 327 are formed on the pulley 237, and when the assembly is performed, the first rotating shaft 324 passes through the central hole 327 of the pulley 237, so that the cavity mirror camera 342 can rotate around the first rotating shaft 324.
Furthermore, the second rotating shaft 322 and the guiding column 323 are respectively sleeved with 2 guiding pulleys 326, and the transmission line 331 is wound around the guiding pulleys 326 and 237.
Further, a transmission line 331 is disposed inside the main trunk 340 of the endoscopic scope, one end of the transmission line 331 is fixedly connected to the motor driving wheel 314, and the other end of the transmission line 331 is fixedly connected to the motor driving wheel 314 after passing around the guide pulley 326 and the pulley 237.
Furthermore, a stop pin 316 is arranged at the pulley of the endoscope camera, and the stop pin 316 prevents the transmission line 331 and the pulley 237 from sliding.
When the endoscope camera 342 needs to deflect left and right, the eccentric shaft 315 of the driving motor drives the transmission member 332 to move, and the transmission member 332 drives the horizontal bracket 341 to rotate around the second rotating shaft 322; when the cavity mirror camera 342 needs to deflect up and down, the motor driving wheel 314 drives the transmission line 331 to move, the transmission line 331 drives the pulley 237 to rotate around the second rotating shaft 324, and the cavity mirror camera 342 deflects up and down.
Referring to fig. 7, in one embodiment, the endoscopic scope base 320 further includes a guiding wheel 326 and a guiding post 321, the guiding wheel 326 is sleeved on the guiding post 321, and the transmission line 331 is wound on the guiding wheel 326.
Referring to fig. 5, another embodiment is described, in which the front end of the endoscopic scope body adopts a multi-joint structure 347, and 2 pairs (4) of transmission lines 331 are arranged inside a main trunk 340 of the endoscopic scope body, wherein 1 pair of transmission lines are vertically and symmetrically arranged, and 1 pair of transmission lines are horizontally and symmetrically arranged. One end of the transmission line is fixedly connected to the motor driving wheel 314, and the other end of the transmission line is fixedly connected to the endoscope camera 342. When the cavity mirror camera 342 needs to deflect left and right, the horizontal group transmission line is tightened or loosened under the driving of the driving motor 313, and the transmission line drives the cavity mirror camera 342 to deflect left and right; when the lens needs to deflect up and down, the vertical group transmission line is tightened or loosened under the driving of the driving motor 312, and the transmission line drives the endoscope camera 342 to deflect up and down.
Referring to fig. 1, 3, 4, 6 and 7, in one embodiment, the endoscopic camera 342 sends a second data line 503, the second data line 503 runs inside the endoscopic scope 300, and the second data line 503 is led out from the endoscopic scope base 320 and connected to the control module processor 202.
Referring to fig. 1, fig. 3, fig. 6 and fig. 7, in an embodiment, an optical fiber 602 is disposed in the main trunk 340 of the endoscopic scope, one end of the optical fiber 602 is connected to a light source window 603 on the main trunk 340 of the endoscopic scope, and the other end of the optical fiber 602 is led out from the base 320 of the endoscopic scope and is connected to the light source 201 of the control module.
Referring to fig. 1, 2 and 8, in one embodiment, the endoscope bracket comprises a ball joint 402, a tightening bolt 401 and a sleeve holder 404. The sleeve fixer 404 can be sleeved on the edge of the operating table, screwed and fixed through the screwing bolt 401, the endoscope body is positioned at a proper angle through adjusting the ball joint 402, and then screwed and fixed through the screwing bolt 401.
Further, the base 320 of the endoscope body is fixed on a sliding block 412, the sliding block 412 is connected with a sliding rail 411 in a sliding manner, one end of the sliding rail 411 is provided with a driving motor 311, the driving motor 311 is connected with the sliding block 412 through a screw rod 333, the sliding block 412 is provided with a thread matched with the screw rod 333, the driving motor 311 can drive the screw rod 333 to rotate, and the screw rod 333 pulls the sliding block 412 to slide along the sliding rail 411, so that the telescopic function of the endoscope body is realized.
Of course, in other embodiments, the laparoscopic scaffold 400 may also be a robotic arm of other kinds or surgical robots.
In summary, when the head of the operator deflects left and right, the head-mounted device 100 senses the head movement information of the operator and sends the collected electric signal to the control module 200, the control module 200 controls the driving motor 313 to operate, and the driving motor 313 drives the horizontal support 341 to swing left and right through the transmission part 332, so that the endoscope camera 342 follows up left and right; when the head of the operator tilts and deflects, the head-mounted device 100 sends the collected motion electric signal to the control module 200, the control module 200 controls the driving motor 312 to operate, and the driving motor 312 drives the pulley 237 and the endoscope camera 342 to tilt and deflect through the transmission line 331, so that the tilting follow-up of the endoscope camera is realized; when the head of the operator performs front-back displacement, the head-mounted device 100 senses the head movement of the operator and sends displacement information to the control module 200, and the control module 200 adjusts the focal length of the camera according to the displacement to realize the focusing function; when an operator steps on the safety pedal 203, the head of the operator performs a back-and-forth displacement motion, the control module controls the driving motor 311 at the sliding rail 411 to operate, and the driving motor 311 drives the sliding block 412 to slide through the screw rod 333, so that the telescopic function of the endoscopic mirror body 300 is realized. To sum up, realized through the function of operation operator head motion control chamber mirror camera follow-up.
The above embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. The invention discloses a visual follow-up display system for endoscopic surgery, which is characterized by comprising:
the head-mounted equipment is integrated with a display screen and a sensor and is fixed on the head of an operator through an adjustable fixing band;
the control module comprises a processor and a light source and is connected with the head-mounted equipment in a wireless connection or data line connection mode;
the driving mechanism comprises a driving motor, and the driving motor is connected to the control module through a data line;
the endoscope body comprises an endoscope camera, a horizontal support, an endoscope body trunk and an endoscope body base, wherein the endoscope body trunk is of a hollow structure, and the endoscope camera is arranged at the front end of the endoscope body;
the endoscope bracket comprises a ball joint, a screwing fixing structure, a sliding rail and a sliding block, wherein one end of the endoscope bracket is fixed on an operating table through the screwing fixing structure, and the other end of the endoscope bracket is connected with the endoscope body base through the sliding rail.
2. A visual follow-up display system for laparoscopic surgery according to claim 1, wherein said head-mounted device is provided with one or two display screens, said display screens being positioned in front of said head-mounted device, facing the eyes of the operator.
3. A visual follow-up display system for laparoscopic surgery according to claim 2, wherein said display screen displays 2D or 3D images.
4. The visual follow-up display system for endoscopic surgery as claimed in claim 1, wherein a gyroscope, an acceleration sensor and a gravity sensor are arranged inside the head-mounted device, so that the pose information of the head of the operator can be obtained in real time.
5. A visual follow-up display system for laparoscopic surgery according to claim 1, wherein said control module is further provided with a safety pedal.
6. The visual follow-up display system for laparoscopic surgery of claim 1, wherein said driving mechanism comprises 2 to 4 driving motors, said driving motors are disposed at one end of said laparoscopic mirror base and laparoscopic scaffold slide rail.
7. The visual follow-up display system for endoscopic surgery as claimed in claim 1, wherein the driving motor is used for realizing the deflection of the camera angle by driving the endoscopic camera to deflect or driving the endoscopic mirror body to deflect integrally.
8. The visual follow-up display system for endoscopic surgery as set forth in claim 1, wherein the endoscopic camera and the horizontal support are rotatable about a first rotation axis and a second rotation axis and have a degree of motion of 2 degrees of freedom.
9. The visual follow-up display system for endoscopic surgery as claimed in claim 1, wherein the optical fiber, the second data line, the transmission line and the transmission component are arranged inside the main body of the endoscopic scope, one end of the optical fiber is connected to the light source window on the endoscopic scope, and the other end of the optical fiber is led out from the base of the endoscopic scope and connected to the light source of the control module; one end of the second data line is connected with the endoscope camera, and the other end of the second data line is led out from the endoscope body base and connected with the control module; one end of the transmission line is fixedly connected to a driving wheel of the driving motor, and the other end of the transmission line is fixedly connected to the driving wheel of the driving motor after passing around the guide pulley and the pulley of the endoscope camera; one end of the transmission piece is rotatably connected to the eccentric shaft of the driving motor, and the other end of the transmission piece is rotatably connected to the horizontal support.
10. A visual follow-up display system for laparoscopic surgery as claimed in claim 8, wherein when the head of the operator makes a deflecting movement, said laparoscopic camera can deflect in real time following the head movement of the operator, and the deflecting direction is the same.
11. A visual follow-up display system for laparoscopic surgery according to claim 1, characterized in that it can be used not only for minimally invasive laparoscopic surgery, but also for image systems of surgical robots.
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| CN201911123408.7A CN110772211A (en) | 2019-11-18 | 2019-11-18 | Visual follow-up display system for endoscopic surgery |
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| CN201911123408.7A CN110772211A (en) | 2019-11-18 | 2019-11-18 | Visual follow-up display system for endoscopic surgery |
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| CN112932390A (en) * | 2021-03-14 | 2021-06-11 | 中北大学 | Camera full attitude adjustment mechanism suitable for narrow lumen environment |
| WO2022107073A1 (en) * | 2020-11-19 | 2022-05-27 | Auris Health, Inc. | Endoscope and mounting system for a robotic surgical system |
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